version: 66.08
glider: 141
mission: 15
dive: 5
start: 2 20 111 6 45 20
data:
$ID,141
$MISSION,15
$DIVE,5
$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,-3
$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,100
$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,9
$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,-22022.932
$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,2910
$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,2300
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,24
$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,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,200211,044800,6709.970,-5651.878,0,2075.5,0,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.28
$_SM_ANGLEo,11.2
$GPS2,200211,044800,6709.970,-5651.878,0,2075.5,0,-37.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$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,290.3,163861,-17.5,-10.000
$D_GRID,365
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.15,0.000,2,0.000,0.000,2932,3560,3198,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.4,-0.0,1,47,0.68,4.25,-9.40,0.000,4,0.150,0.060,2715,881,3629,0,0,0,0,0,0
$GC,116,-0.65,-146.0,19.0,-10.6,16,123,0.00,2.28,0.00,0.000,6,0.000,0.058,2715,2312,3630,0,0,0,0,0,0
$GC,461,-0.68,-146.0,55.5,-9.5,77,468,0.00,2.22,0.00,0.000,4,0.000,0.075,2714,3705,3629,0,0,0,0,0,0
$GC,622,-0.73,-146.0,71.7,-10.5,105,629,0.12,2.20,0.00,0.000,6,0.135,0.050,2674,2278,3629,0,0,0,0,0,0
$GC,960,-0.73,-146.0,114.7,-11.9,155,964,0.00,2.30,0.00,0.000,4,0.000,0.075,2673,3704,3627,0,0,0,0,0,0
$GC,1067,-0.73,-146.0,126.6,-10.9,164,1071,0.00,2.17,0.00,0.000,6,0.000,0.052,2673,2300,3627,0,0,0,0,0,0
$GC,1396,-0.73,-146.0,163.3,-10.4,195,1400,0.00,2.30,0.00,0.000,4,0.000,0.076,2673,3708,3626,0,0,0,0,0,0
$GC,1485,-0.73,-146.0,172.6,-9.6,202,1493,0.00,2.17,0.00,0.000,6,0.000,0.051,2673,2294,3626,0,0,0,0,0,0
$GC,1812,-0.73,-146.0,207.6,-11.0,233,1816,0.00,2.28,0.00,0.000,4,0.000,0.075,2673,3710,3625,0,0,0,0,0,0
$GC,1885,-0.73,-146.0,215.7,-10.4,239,1889,0.00,2.17,0.00,0.000,6,0.000,0.051,2673,2300,3625,0,0,0,0,0,0
$GC,2215,-0.73,-146.0,249.4,-10.2,270,2219,0.00,2.28,0.00,0.000,4,0.000,0.073,2673,3704,3625,0,0,0,0,0,0
$GC,2357,-0.73,-146.0,263.9,-10.5,282,2360,0.00,2.15,0.00,0.000,6,0.000,0.050,2673,2300,3625,0,0,0,0,0,0
$GC,2687,-0.73,-146.0,298.5,-10.2,313,2691,0.00,2.30,0.00,0.000,4,0.000,0.073,2674,3707,3626,0,0,0,0,0,0
$GC,2730,-0.76,-146.0,303.1,-10.7,316,2737,0.00,2.17,0.00,0.000,6,0.000,0.048,2673,2293,3626,0,0,0,0,0,0
$GC,3057,-0.76,-146.0,336.1,-9.8,347,3061,0.00,2.25,0.00,0.000,4,0.000,0.072,2673,3704,3627,0,0,0,0,0,0
$GC,3135,-0.80,-146.0,344.0,-9.4,353,3142,0.00,2.17,0.00,0.000,6,0.000,0.048,2673,2291,3626,0,0,0,0,0,0
$STATE,3351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3351,begin apogee
$GC,3357,-0.12,0.0,365.5,9.7,374,3478,0.62,0.00,113.85,1.009,6,0.182,0.000,2862,2139,3030,0,0,0,0,0,0
$STATE,3479,end apogee,CONTROL_FINISHED_OK
$STATE,3479,begin climb
$GC,3481,0.62,146.0,368.4,0.0,385,3611,0.70,2.45,117.18,0.949,4,0.087,0.070,3113,764,2432,0,0,0,0,0,0
$GC,3635,0.44,146.0,354.3,16.8,399,3640,0.22,2.33,0.00,0.000,6,0.197,0.059,3058,2151,2429,0,0,0,0,0,0
$GC,3960,0.34,146.0,310.4,13.9,429,3965,0.12,2.30,0.00,0.000,4,0.202,0.071,3027,3561,2425,0,0,0,0,0,0
$GC,4085,0.28,146.0,294.4,13.2,440,4090,0.12,2.25,0.00,0.000,6,0.193,0.053,3005,2163,2425,0,0,0,0,0,0
$GC,4416,0.34,176.0,263.7,8.6,471,4450,0.00,2.35,24.20,0.873,4,0.000,0.068,3004,3554,2311,0,0,0,0,0,0
$GC,4473,0.35,180.9,258.4,9.8,476,4486,0.00,2.28,5.57,0.683,6,0.000,0.049,3012,2144,2291,0,0,0,0,0,0
$GC,4804,0.42,220.4,230.1,8.2,507,4848,0.10,2.45,33.53,0.874,4,0.120,0.067,3052,3570,2131,0,0,0,0,0,0
$GC,4927,0.39,220.4,214.8,13.6,518,4932,0.00,2.30,0.00,0.000,6,0.000,0.051,3061,2149,2128,0,0,0,0,0,0
$GC,5253,0.36,220.4,174.5,11.9,548,5257,0.12,2.33,0.00,0.000,4,0.190,0.067,3031,3561,2125,0,0,0,0,0,0
$GC,5318,0.36,220.4,166.6,11.5,553,5325,0.00,2.28,0.00,0.000,6,0.000,0.050,3037,2146,2125,0,0,0,0,0,0
$GC,5644,0.45,265.1,138.0,7.9,584,5689,0.00,2.38,36.97,0.847,4,0.000,0.065,3037,3570,1948,0,0,0,0,0,0
$GC,5736,0.53,282.8,130.2,9.2,592,5760,0.10,2.28,16.10,0.811,6,0.125,0.050,3080,2148,1877,0,0,0,0,0,0
$GC,6080,0.53,282.8,91.1,11.9,630,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2148,1870,0,0,0,0,0,0
$GC,6424,0.55,282.8,51.4,11.2,691,6431,0.00,2.30,0.00,0.000,4,0.000,0.066,3080,3570,1869,0,0,0,0,0,0
$GC,6482,0.55,282.8,44.4,12.4,701,6488,0.00,2.25,0.00,0.000,6,0.000,0.050,3086,2142,1869,0,0,0,0,0,0
$STATE,6706,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,6706,begin subsurface finish
$FINISH1,16.0,1.026715,38
$GC,6712,0.05,38.5,16.0,-12.6,741,6738,0.50,2.38,-19.67,0.000,4,0.159,0.082,2930,3571,2876,0,0,0,0,0,0
$FINISH2,13.9
$STATE,6739,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6739,begin surface
$RAFOS_CLK,349
$RAFOS,3,1298190310,8.433333,8.419444,62,59,52,52,52,49,192,220,167,126,146,232
$RAFOS,2,1298189824,8.300000,8.284445,66,62,59,58,55,53,174,209,183,192,222,156
$RAFOS,1,1298189347,8.166667,8.151944,65,65,59,53,52,49,197,208,220,81,139,150
$RAFOS,0,1298188866,8.033334,8.018333,62,56,56,53,51,50,206,187,113,148,157,130
$RAFOS_FIX,6709.970215,-5651.877930,200211,040400,2,76,2.25
$IRIDIUM_FIX,6631.12,-5641.49,200211,020209
$TT8_MAMPS,0.029211
$HUMID,44.01
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,8.0
$24V_AH,23.8,4.232
$10V_AH,10.4,1.598
$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,3.425,72.750,347.400,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1784.080,3272.570,377.119,1255.558,104.818,0.000,1063.416,0.000,1249.842,1800.000,6.144,0.000
$DEVICE_MAMPS,201.960,81.855,1009.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.565,556.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150820
$DATA_FILE_SIZE,30099,745
$CAP_FILE_SIZE,81145,0
$CFSIZE,260165632,251895808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.1
$GPS,200211,044800,6709.970,-5651.878,0,2075.5,0,-37.4