version: 66.08
glider: 141
mission: 15
dive: 10
start: 2 20 111 16 31 57
data:
$ID,141
$MISSION,15
$DIVE,10
$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,31
$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
$GPS1,200211,124800,6707.972,-5654.844,0,2080.0,0,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.48
$_SM_ANGLEo,9.4
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,26,0.00,0.00,-7.97,0.000,2,0.000,0.000,2929,2137,3250,0,0,0,0,0,0
$GC,29,-0.62,-146.0,11.2,-0.0,1,42,0.65,0.00,-8.30,0.000,6,0.145,0.000,2716,2138,3628,0,0,0,0,0,0
$GC,380,-0.67,-146.0,44.2,-9.5,63,386,0.00,1.95,0.00,0.000,4,0.000,0.067,2716,888,3629,0,0,0,0,0,0
$GC,611,-0.74,-146.0,68.6,-11.0,104,618,0.12,2.22,0.00,0.000,6,0.137,0.059,2675,2302,3628,0,0,0,0,0,0
$GC,949,-0.74,-146.0,116.1,-13.5,154,953,0.00,2.25,0.00,0.000,4,0.000,0.075,2675,3715,3627,0,0,0,0,0,0
$GC,1084,-0.76,-146.0,132.7,-12.0,165,1091,0.00,2.20,0.00,0.000,6,0.000,0.050,2674,2295,3627,0,0,0,0,0,0
$GC,1409,-0.76,-146.0,169.8,-10.6,196,1413,0.00,2.28,0.00,0.000,4,0.000,0.073,2674,3719,3626,0,0,0,0,0,0
$GC,1464,-0.79,-146.0,176.1,-10.6,200,1470,0.00,2.20,0.00,0.000,6,0.000,0.049,2675,2294,3626,0,0,0,0,0,0
$GC,1789,-0.79,-146.0,208.8,-10.0,231,1793,0.00,2.28,0.00,0.000,4,0.000,0.073,2674,3704,3625,0,0,0,0,0,0
$GC,1866,-0.82,-146.0,216.8,-10.7,237,1873,0.00,2.17,0.00,0.000,6,0.000,0.048,2674,2293,3625,0,0,0,0,0,0
$GC,2193,-0.82,-146.0,248.5,-9.5,268,2197,0.00,2.25,0.00,0.000,4,0.000,0.072,2674,3705,3625,0,0,0,0,0,0
$GC,2313,-0.85,-146.0,259.7,-9.5,278,2317,0.12,2.15,0.00,0.000,6,0.136,0.047,2633,2299,3625,0,0,0,0,0,0
$GC,2643,-0.77,-146.0,301.9,-12.9,309,2647,0.00,2.25,0.00,0.000,4,0.000,0.071,2633,3714,3626,0,0,0,0,0,0
$GC,2716,-0.71,-146.0,311.3,-12.4,315,2721,0.17,2.17,0.00,0.000,6,0.204,0.047,2677,2295,3626,0,0,0,0,0,0
$GC,3042,-0.74,-146.0,341.7,-9.2,345,3046,0.00,2.25,0.00,0.000,4,0.000,0.070,2676,3712,3626,0,0,0,0,0,0
$GC,3097,-0.78,-146.0,347.2,-9.7,349,3104,0.00,2.17,0.00,0.000,6,0.000,0.046,2677,2293,3627,0,0,0,0,0,0
$GC,3423,-0.82,-146.0,378.7,-9.3,380,3427,0.00,2.25,0.00,0.000,4,0.000,0.070,2677,3712,3627,0,0,0,0,0,0
$GC,3523,-0.86,-146.0,388.4,-9.6,388,3531,0.12,2.17,0.00,0.000,6,0.132,0.046,2637,2293,3627,0,0,0,0,0,0
$GC,3849,-0.78,-146.0,429.0,-12.8,419,3853,0.00,2.25,0.00,0.000,4,0.000,0.071,2636,3710,3627,0,0,0,0,0,0
$GC,3938,-0.74,-146.0,440.3,-12.2,426,3945,0.12,2.17,0.00,0.000,6,0.213,0.047,2665,2294,3627,0,0,0,0,0,0
$STATE,3963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3963,begin apogee
$GC,3969,-0.12,0.0,443.2,11.4,429,4092,0.62,0.00,116.07,1.107,6,0.178,0.000,2858,2144,3029,0,0,0,0,0,0
$STATE,4093,end apogee,CONTROL_FINISHED_OK
$STATE,4093,begin climb
$GC,4095,0.62,146.0,446.4,0.0,440,4220,0.73,0.00,120.35,1.089,6,0.086,0.000,3109,2142,2434,0,0,0,0,0,0
$GC,4537,0.45,146.0,390.1,15.7,482,4542,0.20,2.35,0.00,0.000,4,0.194,0.065,3059,3564,2425,0,0,0,0,0,0
$GC,4620,0.31,146.0,377.9,14.0,489,4628,0.20,2.28,0.00,0.000,6,0.190,0.052,3017,2154,2425,0,0,0,0,0,0
$GC,4945,0.33,158.3,346.6,9.4,520,4961,0.00,2.35,9.98,0.896,4,0.000,0.068,3016,3556,2384,0,0,0,0,0,0
$GC,5024,0.29,158.3,338.3,11.3,527,5028,0.00,2.25,0.00,0.000,6,0.000,0.051,3024,2150,2383,0,0,0,0,0,0
$GC,5348,0.29,158.3,304.1,10.5,557,5352,0.00,2.30,0.00,0.000,4,0.000,0.067,3024,3559,2382,0,0,0,0,0,0
$GC,5394,0.23,158.3,298.9,12.4,561,5399,0.17,2.25,0.00,0.000,6,0.190,0.051,2990,2144,2381,0,0,0,0,0,0
$GC,5720,0.32,183.8,270.8,8.8,591,5747,0.00,2.33,22.25,0.970,4,0.000,0.065,2990,3565,2279,0,0,0,0,0,0
$GC,5821,0.36,183.8,260.7,10.0,599,5828,0.00,2.28,0.00,0.000,6,0.000,0.050,2996,2143,2278,0,0,0,0,0,0
$GC,6148,0.44,196.9,229.3,9.4,630,6170,0.15,2.38,12.07,0.897,4,0.104,0.067,3053,3559,2226,0,0,0,0,0,0
$GC,6183,0.39,196.9,224.5,13.8,633,6187,0.00,2.25,0.00,0.000,6,0.000,0.050,3063,2150,2226,0,0,0,0,0,0
$GC,6508,0.33,196.9,174.9,15.3,663,6513,0.15,2.30,0.00,0.000,4,0.187,0.065,3024,3560,2224,0,0,0,0,0,0
$GC,6639,0.33,196.9,157.0,13.5,674,6643,0.00,2.22,0.00,0.000,6,0.000,0.050,3029,2147,2224,0,0,0,0,0,0
$GC,6965,0.37,196.9,118.8,11.8,704,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2146,2223,0,0,0,0,0,0
$GC,7291,0.41,204.3,85.6,9.7,747,7304,0.00,2.35,7.32,0.741,4,0.000,0.065,3029,3571,2196,0,0,0,0,0,0
$GC,7406,0.41,204.3,73.3,10.0,767,7413,0.00,2.22,0.00,0.000,6,0.000,0.048,3036,2147,2196,0,0,0,0,0,0
$GC,7752,0.52,259.9,45.4,7.4,828,7806,0.12,2.40,47.12,0.857,4,0.115,0.064,3084,3565,1969,0,0,0,0,0,0
$GC,7908,0.48,259.9,25.5,14.1,855,7915,0.00,2.28,0.00,0.000,6,0.000,0.050,3095,2144,1965,0,0,0,0,0,0
$FREEZE,8.62,0.287,-1.835,2,8,0
$FREEZE,8.07,0.288,-1.834,2,8,0
$FREEZE,7.32,0.288,-1.834,2,8,0
$FREEZE,6.60,0.289,-1.833,2,8,0
$FREEZE,5.85,0.289,-1.832,2,8,0
$FREEZE,5.12,0.287,-1.832,2,8,0
$FREEZE,4.48,0.291,-1.831,2,8,0
$FREEZE,3.71,0.290,-1.831,2,8,0
$FREEZE,2.91,0.290,-1.830,2,8,0
$STATE,8080,end climb,SURFACE_DEPTH_REACHED
$STATE,8080,begin surface coast
$FREEZE,2.43,0.286,-1.830,2,8,0
$FREEZE,2.01,0.284,-1.830,2,8,0
$FREEZE,1.52,0.283,-1.829,2,8,0
$FREEZE,0.87,0.288,-1.829,2,8,0
$FINISH,0.9,1.026762
$STATE,8103,end surface coast,CONTROL_FINISHED_OK
$STATE,8103,begin surface
$SM_CCo,8120,128.85,0.063,0,0,751,559.04
$SM_GC,1.60,0.00,0.00,128.85,0.000,0.000,0.063,110,2319,751,-8.75,0.54,559.04
$RAFOS_CLK,423
$RAFOS,6,1298220543,16.833334,16.817499,103,64,60,56,55,55,817,205,123,175,216,188
$RAFOS,5,1298220064,16.700001,16.684444,65,62,61,56,55,53,208,154,181,220,653,1558
$RAFOS,4,1298219586,16.566668,16.551666,59,57,51,49,47,46,213,180,202,165,144,133
$RAFOS,3,1298219103,16.433332,16.417500,61,55,54,54,52,49,211,194,130,172,1739,159
$RAFOS_FIX,6707.972168,-5654.844238,200211,121200,2,80,0.15
$IRIDIUM_FIX,6631.12,-5641.49,200211,020209
$TT8_MAMPS,0.026964
$HUMID,44.21
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.6
$24V_AH,23.6,4.669
$10V_AH,10.4,1.839
$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,12.350,76.900,335.175,128.850,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2146.734,4059.813,487.371,1478.701,139.921,0.000,1272.652,0.000,1476.420,1080.000,7.927,0.000
$DEVICE_MAMPS,213.435,81.090,1106.955,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.561,669.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33443,890
$CAP_FILE_SIZE,99657,0
$CFSIZE,260165632,251637760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.6
$GPS,200211,185055,6704.403,-5653.964,40,0.9,40,-37.6