version: 66.08
glider: 141
mission: 15
dive: 9
start: 2 20 111 14 11 47
data:
$ID,141
$MISSION,15
$DIVE,9
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,200211,124800,6707.972,-5654.844,0,2080.0,0,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.25
$_SM_ANGLEo,10.3
$GPS2,200211,124800,6707.972,-5654.844,0,2080.0,0,-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,291.4,160726,-17.5,-10.000
$D_GRID,443
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.80,0.000,2,0.000,0.000,2926,3560,3257,0,0,0,0,0,0
$GC,26,-0.62,-146.0,15.3,-0.0,1,40,0.62,4.28,-6.70,0.000,4,0.142,0.057,2721,885,3630,0,0,0,0,0,0
$GC,93,-0.67,-146.0,20.7,-8.6,12,100,0.00,2.25,0.00,0.000,6,0.000,0.056,2721,2310,3630,0,0,0,0,0,0
$GC,438,-0.72,-146.0,53.8,-9.8,73,445,0.12,2.28,0.00,0.000,4,0.129,0.061,2678,885,3630,0,0,0,0,0,0
$GC,698,-0.72,-146.0,84.3,-11.6,119,705,0.00,2.25,0.00,0.000,6,0.000,0.059,2678,2305,3629,0,0,0,0,0,0
$GC,1032,-0.72,-146.0,119.9,-10.7,163,1036,0.00,2.22,0.00,0.000,4,0.000,0.075,2678,3707,3628,0,0,0,0,0,0
$GC,1120,-0.75,-146.0,130.3,-11.4,170,1127,0.00,2.17,0.00,0.000,6,0.000,0.049,2679,2298,3627,0,0,0,0,0,0
$GC,1446,-0.75,-146.0,167.6,-11.2,201,1450,0.00,2.28,0.00,0.000,4,0.000,0.074,2678,3718,3626,0,0,0,0,0,0
$GC,1531,-0.78,-146.0,177.3,-11.1,208,1536,0.00,2.17,0.00,0.000,6,0.000,0.047,2678,2294,3626,0,0,0,0,0,0
$GC,1856,-0.78,-146.0,217.8,-12.5,238,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2294,3626,0,0,0,0,0,0
$GC,2176,-0.78,-146.0,253.9,-10.9,268,2180,0.00,2.28,0.00,0.000,4,0.000,0.073,2678,3705,3626,0,0,0,0,0,0
$GC,2342,-0.82,-146.0,272.3,-11.0,282,2349,0.00,2.15,0.00,0.000,6,0.000,0.047,2678,2290,3626,0,0,0,0,0,0
$GC,2668,-0.85,-146.0,306.0,-10.1,313,2673,0.12,2.28,0.00,0.000,4,0.132,0.070,2637,3711,3627,0,0,0,0,0,0
$GC,2780,-0.80,-146.0,320.6,-13.5,322,2787,0.00,2.17,0.00,0.000,6,0.000,0.047,2636,2293,3627,0,0,0,0,0,0
$GC,3105,-0.72,-146.0,362.1,-12.4,353,3110,0.15,2.28,0.00,0.000,4,0.219,0.072,2672,3713,3628,0,0,0,0,0,0
$GC,3162,-0.76,-146.0,368.0,-9.6,357,3169,0.00,2.17,0.00,0.000,6,0.000,0.046,2672,2293,3627,0,0,0,0,0,0
$GC,3487,-0.76,-146.0,396.3,-8.7,388,3491,0.00,2.25,0.00,0.000,4,0.000,0.070,2672,3713,3628,0,0,0,0,0,0
$GC,3611,-0.79,-146.0,406.9,-8.3,398,3618,0.00,2.17,0.00,0.000,6,0.000,0.047,2672,2290,3628,0,0,0,0,0,0
$GC,3936,-0.79,-146.0,434.9,-8.7,429,3940,0.00,2.28,0.00,0.000,4,0.000,0.071,2672,3710,3629,0,0,0,0,0,0
$GC,3999,-0.83,-146.0,440.8,-9.6,434,4003,0.00,2.15,0.00,0.000,6,0.000,0.047,2672,2296,3629,0,0,0,0,0,0
$STATE,4030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4030,begin apogee
$GC,4036,-0.12,0.0,443.7,8.8,437,4159,0.62,0.00,116.07,1.102,6,0.180,0.000,2864,2142,3030,0,0,0,0,0,0
$STATE,4160,end apogee,CONTROL_FINISHED_OK
$STATE,4160,begin climb
$GC,4162,0.62,146.0,447.2,0.0,448,4291,0.70,2.45,119.93,1.086,4,0.087,0.070,3116,760,2433,0,0,0,0,0,0
$GC,4332,0.44,146.0,432.1,16.3,464,4337,0.25,2.35,0.00,0.000,6,0.200,0.057,3054,2158,2429,0,0,0,0,0,0
$GC,4657,0.36,146.0,391.8,12.1,494,4661,0.00,2.30,0.00,0.000,4,0.000,0.070,3054,3561,2425,0,0,0,0,0,0
$GC,4792,0.24,146.0,372.3,14.6,505,4800,0.28,2.25,0.00,0.000,6,0.187,0.054,2990,2164,2424,0,0,0,0,0,0
$GC,5118,0.30,164.6,341.9,9.1,536,5141,0.00,2.30,15.00,0.942,4,0.000,0.070,2989,3559,2358,0,0,0,0,0,0
$GC,5245,0.32,164.6,328.4,11.2,547,5249,0.00,2.28,0.00,0.000,6,0.000,0.051,2996,2139,2356,0,0,0,0,0,0
$GC,5570,0.37,164.6,293.7,10.2,577,5574,0.00,2.30,0.00,0.000,4,0.000,0.068,2996,3569,2355,0,0,0,0,0,0
$GC,5602,0.37,164.6,289.9,11.4,579,5609,0.00,2.28,0.00,0.000,6,0.000,0.050,3002,2129,2355,0,0,0,0,0,0
$GC,5929,0.42,178.4,257.5,9.4,610,5952,0.12,2.40,12.57,0.907,4,0.115,0.067,3051,3564,2301,0,0,0,0,0,0
$GC,6065,0.34,178.4,238.4,14.7,622,6070,0.15,2.25,0.00,0.000,6,0.197,0.051,3024,2152,2301,0,0,0,0,0,0
$GC,6390,0.35,186.7,205.2,9.6,652,6403,0.00,2.35,7.88,0.813,4,0.000,0.067,3025,3564,2269,0,0,0,0,0,0
$GC,6464,0.35,186.7,197.1,11.3,658,6472,0.00,2.28,0.00,0.000,6,0.000,0.050,3029,2139,2269,0,0,0,0,0,0
$GC,6790,0.37,204.1,165.7,9.2,689,6813,0.00,2.33,15.93,0.875,4,0.000,0.064,3029,3561,2197,0,0,0,0,0,0
$GC,6881,0.37,204.1,156.2,11.3,697,6885,0.00,2.25,0.00,0.000,6,0.000,0.050,3039,2147,2198,0,0,0,0,0,0
$GC,7206,0.39,222.9,125.2,9.1,727,7230,0.00,2.30,17.02,0.858,4,0.000,0.063,3038,3567,2120,0,0,0,0,0,0
$GC,7276,0.39,222.9,118.0,11.3,733,7280,0.00,2.25,0.00,0.000,6,0.000,0.049,3046,2146,2120,0,0,0,0,0,0
$GC,7608,0.43,223.1,85.4,10.0,776,7615,0.00,2.28,0.00,0.000,4,0.000,0.064,3046,3573,2117,0,0,0,0,0,0
$GC,7706,0.43,223.1,75.2,11.0,793,7712,0.00,2.25,0.00,0.000,6,0.000,0.047,3054,2141,2116,0,0,0,0,0,0
$GC,8049,0.45,223.1,42.2,10.6,854,8056,0.00,2.28,0.00,0.000,4,0.000,0.063,3054,3566,2116,0,0,0,0,0,0
$GC,8137,0.45,223.1,33.1,10.7,869,8143,0.00,2.22,0.00,0.000,6,0.000,0.047,3062,2137,2117,0,0,0,0,0,0
$STATE,8278,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8278,begin subsurface finish
$FINISH1,16.1,1.026785,35
$GC,8284,0.04,35.0,16.1,-11.8,894,8303,0.43,0.00,-14.95,0.000,6,0.158,0.000,2929,2137,2891,0,0,0,0,0,0
$FINISH2,14.0
$STATE,8304,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8304,begin surface
$RAFOS_CLK,426
$RAFOS,2,1298218623,16.299999,16.284166,66,58,58,55,55,54,144,157,221,193,110,127
$RAFOS,1,1298218141,16.166666,16.150278,63,63,63,59,56,55,197,220,233,144,179,208
$RAFOS,0,1298217661,16.033333,16.016945,60,59,56,54,48,47,197,166,146,188,208,118
$RAFOS_FIX,6707.972168,-5654.844238,200211,121200,2,80,0.15
$IRIDIUM_FIX,6631.12,-5641.49,200211,020209
$TT8_MAMPS,0.029211
$HUMID,44.88
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,8.0
$ALTIM_BOTTOM_PING,400.2,102.9
$24V_AH,23.6,4.569
$10V_AH,10.4,1.784
$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,3.575,88.200,304.400,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2162.006,4189.701,353.763,1527.349,127.256,0.000,1162.150,0.000,1516.656,1440.000,10.850,0.000
$DEVICE_MAMPS,218.790,80.325,1101.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.124,673.316,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150844
$DATA_FILE_SIZE,36653,897
$CAP_FILE_SIZE,98550,0
$CFSIZE,260165632,251691008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.9
$GPS,200211,124800,6707.972,-5654.844,0,2080.0,0,-37.4