version: 66.08
glider: 141
mission: 15
dive: 6
start: 2 20 111 8 39 24
data:
$ID,141
$MISSION,15
$DIVE,6
$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,32
$R_STBD_OVSHOOT,25
$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,14.18
$_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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-7.65,0.000,2,0.000,0.000,2930,3571,3297,0,0,0,0,0,0
$GC,27,-0.62,-146.0,15.7,-0.0,1,41,0.68,4.25,-5.90,0.000,4,0.155,0.057,2716,890,3629,0,0,0,0,0,0
$GC,92,-0.62,-146.0,23.2,-13.5,12,101,0.00,2.25,0.00,0.000,6,0.000,0.057,2716,2313,3629,0,0,0,0,0,0
$GC,439,-0.66,-146.0,57.8,-8.4,73,446,0.00,2.25,0.00,0.000,4,0.000,0.060,2716,893,3629,0,0,0,0,0,0
$GC,648,-0.73,-146.0,77.6,-9.3,110,655,0.12,2.25,0.00,0.000,6,0.136,0.060,2675,2304,3628,0,0,0,0,0,0
$GC,989,-0.73,-146.0,119.6,-11.7,157,993,0.00,2.25,0.00,0.000,4,0.000,0.076,2675,3711,3626,0,0,0,0,0,0
$GC,1167,-0.73,-146.0,139.5,-10.6,172,1174,0.00,2.22,0.00,0.000,6,0.000,0.050,2675,2293,3626,0,0,0,0,0,0
$GC,1492,-0.73,-146.0,175.1,-11.5,203,1496,0.00,2.30,0.00,0.000,4,0.000,0.074,2675,3708,3625,0,0,0,0,0,0
$GC,1592,-0.75,-146.0,186.6,-11.1,211,1599,0.00,2.17,0.00,0.000,6,0.000,0.051,2675,2299,3625,0,0,0,0,0,0
$GC,1918,-0.75,-146.0,224.1,-11.5,242,1922,0.00,2.30,0.00,0.000,4,0.000,0.074,2674,3718,3625,0,0,0,0,0,0
$GC,2075,-0.79,-146.0,241.9,-11.1,255,2082,0.00,2.17,0.00,0.000,6,0.000,0.049,2674,2298,3624,0,0,0,0,0,0
$GC,2400,-0.79,-146.0,276.8,-10.4,286,2404,0.00,2.28,0.00,0.000,4,0.000,0.072,2675,3705,3624,0,0,0,0,0,0
$GC,2455,-0.82,-146.0,282.6,-10.0,290,2462,0.00,2.15,0.00,0.000,6,0.000,0.047,2675,2297,3624,0,0,0,0,0,0
$GC,2780,-0.82,-146.0,312.8,-8.8,321,2784,0.00,2.25,0.00,0.000,4,0.000,0.072,2675,3707,3625,0,0,0,0,0,0
$GC,2836,-0.85,-146.0,318.1,-9.3,325,2843,0.12,2.17,0.00,0.000,6,0.135,0.047,2633,2294,3625,0,0,0,0,0,0
$GC,3161,-0.77,-146.0,358.9,-13.4,356,3165,0.00,2.25,0.00,0.000,4,0.000,0.072,2633,3705,3626,0,0,0,0,0,0
$STATE,3203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3203,begin apogee
$GC,3211,-0.12,0.0,365.1,13.2,359,3330,0.77,0.00,113.85,1.020,6,0.197,0.000,2858,2145,3030,0,0,0,0,0,0
$STATE,3331,end apogee,CONTROL_FINISHED_OK
$STATE,3331,begin climb
$GC,3333,0.62,146.0,369.2,0.0,370,3458,0.73,2.42,116.65,0.975,4,0.085,0.067,3119,741,2435,0,0,0,0,0,0
$GC,3509,0.44,146.0,352.6,15.2,385,3516,0.25,2.35,0.00,0.000,6,0.197,0.058,3054,2155,2430,0,0,0,0,0,0
$GC,3834,0.36,146.0,316.7,10.5,416,3838,0.00,2.33,0.00,0.000,4,0.000,0.071,3054,3571,2428,0,0,0,0,0,0
$GC,4087,0.25,146.0,284.1,13.0,438,4092,0.25,2.28,0.00,0.000,6,0.187,0.053,2997,2149,2427,0,0,0,0,0,0
$GC,4413,0.33,182.2,258.1,8.3,468,4447,0.00,2.40,29.33,0.910,4,0.000,0.067,2996,3560,2287,0,0,0,0,0,0
$GC,4528,0.36,182.2,247.0,10.1,478,4532,0.00,2.28,0.00,0.000,6,0.000,0.049,3001,2147,2285,0,0,0,0,0,0
$GC,4855,0.41,182.2,214.6,10.1,508,4860,0.12,2.33,0.00,0.000,4,0.112,0.067,3049,3566,2283,0,0,0,0,0,0
$GC,4898,0.33,182.2,208.2,14.7,511,4906,0.15,2.25,0.00,0.000,6,0.198,0.050,3023,2149,2283,0,0,0,0,0,0
$GC,5224,0.36,183.1,172.0,10.0,542,5228,0.00,2.25,0.00,0.000,4,0.000,0.065,3022,3561,2283,0,0,0,0,0,0
$GC,5290,0.36,183.1,164.8,11.5,547,5297,0.00,2.25,0.00,0.000,6,0.000,0.049,3028,2145,2283,0,0,0,0,0,0
$GC,5616,0.39,183.1,130.6,10.6,578,5620,0.00,2.28,0.00,0.000,4,0.000,0.066,3028,3564,2282,0,0,0,0,0,0
$GC,5706,0.36,183.1,120.1,11.4,586,5710,0.00,2.22,0.00,0.000,6,0.000,0.049,3037,2144,2283,0,0,0,0,0,0
$GC,6038,0.42,210.8,87.6,8.7,627,6068,0.00,0.00,24.08,0.812,6,0.000,0.000,3037,2144,2169,0,0,0,0,0,0
$GC,6407,0.50,240.2,56.6,8.6,692,6439,0.10,2.40,25.02,0.806,4,0.125,0.066,3077,3567,2049,0,0,0,0,0,0
$GC,6469,0.46,240.2,49.6,12.9,702,6476,0.00,2.28,0.00,0.000,6,0.000,0.050,3085,2142,2048,0,0,0,0,0,0
$STATE,6743,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,6744,begin subsurface finish
$FINISH1,16.2,1.026718,38
$GC,6749,0.05,38.3,16.2,-11.4,751,6774,0.50,2.33,-15.90,0.000,4,0.168,0.082,2934,3563,2876,0,0,0,0,0,0
$FINISH2,14.2
$STATE,6775,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6775,begin surface
$RAFOS_CLK,350
$RAFOS,6,1298191743,8.833333,8.817500,69,57,52,52,50,49,210,197,127,219,99,168
$RAFOS,5,1298191261,8.700000,8.683611,65,61,60,57,57,47,205,177,168,223,680,913
$RAFOS,4,1298190783,8.566667,8.550834,64,57,57,57,55,50,224,171,198,129,151,118
$RAFOS_FIX,6709.970215,-5651.877930,200211,040400,2,76,2.25
$IRIDIUM_FIX,6631.12,-5641.49,200211,020209
$TT8_MAMPS,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,8.0
$24V_AH,23.7,4.315
$10V_AH,10.4,1.644
$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,3.800,72.600,308.925,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1808.853,3284.542,337.642,1296.771,103.517,0.000,1027.836,0.000,1288.348,720.000,6.143,0.000
$DEVICE_MAMPS,198.135,81.855,1019.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.410,563.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150776
$DATA_FILE_SIZE,30101,755
$CAP_FILE_SIZE,81740,0
$CFSIZE,260165632,251850752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.7
$GPS,200211,044800,6709.970,-5651.878,0,2075.5,0,-37.4