version: 66.08
glider: 141
mission: 15
dive: 315
start: 4 8 111 13 20 16
data:
$ID,141
$MISSION,15
$DIVE,315
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-35520.223
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,080411,082328,6654.027,-6014.769,181,99.0,181,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.28
$_SM_ANGLEo,-45.4
$GPS2,080411,082328,6654.027,-6014.769,181,99.0,181,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,241.4,20308,-17.5,-10.000
$D_GRID,615
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,167,0.00,0.00,-147.55,0.000,2,0.000,0.000,113,2504,3159,0,0,0,0,0,0
$GC,170,-0.62,-146.0,5.5,-7.8,26,202,13.18,2.30,-10.88,0.000,4,0.334,0.073,2651,1069,3629,0,0,0,0,0,0
$GC,332,-0.50,-146.0,43.9,-18.1,54,339,0.17,2.33,0.00,0.000,6,0.217,0.064,2695,2491,3631,0,0,0,0,0,0
$GC,677,-0.41,-146.0,99.1,-14.3,115,685,0.12,2.35,0.00,0.000,4,0.233,0.079,2724,3907,3631,0,0,0,0,0,0
$GC,742,-0.46,-146.0,107.0,-10.9,121,748,0.00,2.25,0.00,0.000,6,0.000,0.048,2724,2474,3631,0,0,0,0,0,0
$GC,1067,-0.49,-146.0,140.3,-10.0,152,1071,0.00,2.22,0.00,0.000,4,0.000,0.066,2725,1074,3631,0,0,0,0,0,0
$GC,1088,-0.52,-146.0,142.7,-10.3,153,1095,0.00,2.30,0.00,0.000,6,0.000,0.063,2725,2497,3631,0,0,0,0,0,0
$GC,1414,-0.57,-146.0,173.3,-9.4,184,1419,0.15,2.35,0.00,0.000,4,0.121,0.079,2673,3903,3631,0,0,0,0,0,0
$GC,1429,-0.57,-146.0,175.1,-9.6,185,1436,0.00,2.22,0.00,0.000,6,0.000,0.050,2673,2487,3630,0,0,0,0,0,0
$GC,1757,-0.50,-146.0,218.5,-13.2,216,1761,0.12,2.35,0.00,0.000,4,0.226,0.077,2700,3899,3630,0,0,0,0,0,0
$GC,1786,-0.50,-146.0,222.2,-11.6,218,1791,0.00,2.22,0.00,0.000,6,0.000,0.050,2701,2489,3630,0,0,0,0,0,0
$GC,2111,-0.50,-146.0,255.6,-10.3,248,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2489,3631,0,0,0,0,0,0
$GC,2432,-0.50,-146.0,288.1,-9.6,278,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2489,3631,0,0,0,0,0,0
$GC,2753,-0.53,-146.0,317.4,-8.6,308,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2489,3630,0,0,0,0,0,0
$GC,3080,-0.56,-146.0,345.8,-8.2,339,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2489,3630,0,0,0,0,0,0
$GC,3398,-0.60,-146.0,373.3,-8.6,369,3402,0.00,2.25,0.00,0.000,4,0.000,0.065,2701,1080,3631,0,0,0,0,0,0
$GC,3426,-0.65,-146.0,376.2,-9.5,371,3433,0.15,2.30,0.00,0.000,6,0.122,0.062,2651,2495,3630,0,0,0,0,0,0
$GC,3751,-0.57,-146.0,417.5,-13.5,402,3755,0.00,2.30,0.00,0.000,4,0.000,0.078,2651,3899,3630,0,0,0,0,0,0
$GC,3791,-0.51,-146.0,422.7,-13.2,405,3796,0.17,2.22,0.00,0.000,6,0.199,0.049,2694,2486,3630,0,0,0,0,0,0
$GC,4116,-0.55,-146.0,452.4,-8.7,435,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2486,3631,0,0,0,0,0,0
$GC,4438,-0.59,-146.0,480.3,-9.0,465,4442,0.00,2.22,0.00,0.000,4,0.000,0.064,2694,1080,3632,0,0,0,0,0,0
$GC,4460,-0.62,-146.0,482.7,-8.9,466,4467,0.00,2.30,0.00,0.000,6,0.000,0.062,2694,2499,3632,0,0,0,0,0,0
$GC,4786,-0.67,-146.0,509.8,-8.4,497,4791,0.15,2.33,0.00,0.000,4,0.118,0.077,2641,3905,3631,0,0,0,0,0,0
$GC,4803,-0.67,-146.0,511.6,-9.0,498,4807,0.00,2.22,0.00,0.000,6,0.000,0.048,2641,2482,3631,0,0,0,0,0,0
$GC,5133,-0.58,-146.0,555.6,-13.8,529,5138,0.12,2.25,0.00,0.000,4,0.220,0.063,2669,1081,3632,0,0,0,0,0,0
$GC,5162,-0.54,-146.0,559.4,-13.4,531,5166,0.00,2.28,0.00,0.000,6,0.000,0.062,2669,2489,3632,0,0,0,0,0,0
$STATE,5358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5358,begin apogee
$GC,5364,-0.12,0.0,580.3,11.0,549,5496,0.50,0.00,123.82,1.296,6,0.188,0.000,2813,2265,3030,0,0,0,0,0,0
$STATE,5496,end apogee,CONTROL_FINISHED_OK
$STATE,5496,begin climb
$GC,5498,0.62,146.0,585.3,0.0,561,5641,0.80,2.60,128.60,1.248,4,0.138,0.070,3065,881,2431,0,0,0,0,0,0
$GC,5680,0.54,146.0,573.7,11.2,577,5687,0.00,2.47,0.00,0.000,6,0.000,0.055,3065,2283,2429,0,0,0,0,0,0
$GC,6007,0.45,146.0,537.0,12.3,608,6012,0.20,2.40,0.00,0.000,4,0.181,0.069,3013,3687,2424,0,0,0,0,0,0
$GC,6073,0.43,146.0,529.3,10.5,613,6081,0.00,2.33,0.00,0.000,6,0.000,0.054,3021,2282,2424,0,0,0,0,0,0
$GC,6400,0.47,178.7,500.8,8.5,644,6435,0.00,2.42,28.00,1.180,4,0.000,0.069,3031,868,2300,0,0,0,0,0,0
$GC,6470,0.52,193.2,494.5,9.3,650,6493,0.00,2.33,14.52,1.120,6,0.000,0.054,3031,2278,2240,0,0,0,0,0,0
$GC,6810,0.52,193.2,460.9,10.2,682,6814,0.00,2.33,0.00,0.000,4,0.000,0.070,3031,3698,2237,0,0,0,0,0,0
$GC,6856,0.49,193.2,455.8,11.9,686,6860,0.00,2.33,0.00,0.000,6,0.000,0.054,3041,2264,2236,0,0,0,0,0,0
$GC,7181,0.49,193.2,421.1,10.4,716,7185,0.00,2.25,0.00,0.000,4,0.000,0.067,3052,865,2235,0,0,0,0,0,0
$GC,7220,0.49,193.2,416.8,11.4,719,7224,0.00,2.28,0.00,0.000,6,0.000,0.055,3052,2278,2234,0,0,0,0,0,0
$GC,7546,0.49,193.2,380.9,10.8,749,7550,0.00,2.30,0.00,0.000,4,0.000,0.070,3052,3686,2234,0,0,0,0,0,0
$GC,7587,0.43,193.2,376.1,13.1,752,7592,0.20,2.25,0.00,0.000,6,0.181,0.054,3011,2270,2234,0,0,0,0,0,0
$GC,7912,0.55,237.3,349.5,8.0,782,7957,0.00,2.40,39.10,1.132,4,0.000,0.068,3015,860,2061,0,0,0,0,0,0
$GC,7998,0.73,280.6,342.5,8.0,789,8049,0.25,2.33,40.15,1.107,6,0.084,0.055,3113,2277,1885,0,0,0,0,0,0
$GC,8366,0.64,280.6,279.2,17.3,824,8370,0.15,2.30,0.00,0.000,4,0.196,0.069,3075,3682,1876,0,0,0,0,0,0
$GC,8423,0.64,280.6,270.4,15.0,829,8427,0.00,2.30,0.00,0.000,6,0.000,0.055,3083,2270,1873,0,0,0,0,0,0
$GC,8748,0.64,280.6,226.3,13.8,859,8752,0.00,2.28,0.00,0.000,4,0.000,0.067,3093,855,1873,0,0,0,0,0,0
$GC,8814,0.64,280.6,217.2,13.4,864,8821,0.00,2.28,0.00,0.000,6,0.000,0.054,3094,2274,1871,0,0,0,0,0,0
$GC,9139,0.64,280.6,174.2,12.5,895,9143,0.00,2.30,0.00,0.000,4,0.000,0.070,3093,3684,1871,0,0,0,0,0,0
$GC,9183,0.60,280.6,168.2,13.9,898,9190,0.17,2.28,0.00,0.000,6,0.191,0.055,3059,2270,1870,0,0,0,0,0,0
$GC,9508,0.70,301.1,138.3,9.1,929,9532,0.00,2.35,17.17,1.004,4,0.000,0.070,3059,867,1801,0,0,0,0,0,0
$GC,9571,0.84,322.7,132.4,9.0,934,9601,0.22,2.28,20.70,0.998,6,0.090,0.055,3145,2276,1713,0,0,0,0,0,0
$GC,9928,0.80,322.7,78.8,13.3,980,9935,0.00,2.33,0.00,0.000,4,0.000,0.072,3145,3691,1707,0,0,0,0,0,0
$GC,9981,0.73,322.7,70.6,15.4,989,9989,0.20,2.30,0.00,0.000,6,0.204,0.057,3105,2269,1705,0,0,0,0,0,0
$GC,10327,0.79,324.7,35.3,9.9,1050,10334,0.00,2.28,0.00,0.000,4,0.000,0.069,3111,868,1704,0,0,0,0,0,0
$GC,10391,0.86,324.7,28.7,10.2,1061,10398,0.00,2.25,0.00,0.000,6,0.000,0.054,3111,2277,1703,0,0,0,0,0,0
$FREEZE,8.94,-1.741,-1.782,3,41,0
$STATE,10577,end climb,FINISH_DEPTH_REACHED
$STATE,10577,begin subsurface finish
$FINISH1,8.9,1.026084,69
$GC,10583,0.09,69.4,8.9,-10.6,1094,10628,0.68,2.38,-36.95,0.000,4,0.149,0.088,2899,3686,2749,0,0,0,0,0,0
$FINISH2,8.1
$STATE,10629,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10629,begin surface
$RAFOS_CLK,626
$RAFOS,1,1302278943,16.166666,16.150833,105,67,66,59,53,50,586,226,167,208,184,119
$RAFOS,0,1302278466,16.033333,16.018333,123,60,54,54,53,52,611,210,232,159,219,111
$RAFOS_FIX,6654.027344,-6014.769043,080411,080828,4,111,0.39
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.029211
$HUMID,47.51
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.5
$ALTIM_BOTTOM_PING,551.3,42.9
$24V_AH,22.3,43.583
$10V_AH,10.0,24.118
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.725,108.800,412.075,0.000,0.000,98.860,17.419,0.000,2.000,0.000,183.288,2639.169,5713.577,588.314,2075.405,432.840,0.000,1578.550,0.000,1759.609,1080.000,15.993,0.000
$DEVICE_MAMPS,333.540,87.975,1295.910,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,783.928,840.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150436
$DATA_FILE_SIZE,43445,1101
$CAP_FILE_SIZE,132413,0
$CFSIZE,260165632,230838272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.2
$GPS,080411,082328,6654.027,-6014.769,181,99.0,181,-37.5