version: 66.08
glider: 141
mission: 15
dive: 57
start: 2 28 111 20 50 16
data:
$ID,141
$MISSION,15
$DIVE,57
$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,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,-22775.168
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.06
$_SM_ANGLEo,-5.4
$GPS2,280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0
$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,230.3,10211,-17.5,-10.000
$D_GRID,543
$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,15,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-7.45,0.000,2,0.000,0.000,2901,2273,3008,0,0,0,0,0,0
$GC,27,-0.62,-146.0,12.4,-0.0,1,52,0.65,2.72,-15.07,0.000,4,0.096,0.086,2667,3890,3630,0,0,0,0,0,0
$GC,64,-0.47,-146.0,16.3,-12.9,7,72,0.17,2.22,0.00,0.000,6,0.232,0.048,2706,2482,3632,0,0,0,0,0,0
$GC,410,-0.37,-146.0,81.4,-19.2,68,417,0.15,2.28,0.00,0.000,4,0.233,0.068,2741,1086,3632,0,0,0,0,0,0
$GC,446,-0.37,-146.0,87.8,-16.4,74,453,0.00,2.28,0.00,0.000,6,0.000,0.060,2741,2494,3631,0,0,0,0,0,0
$GC,778,-0.40,-146.0,121.7,-7.1,113,782,0.00,2.30,0.00,0.000,4,0.000,0.076,2741,3899,3631,0,0,0,0,0,0
$GC,800,-0.45,-146.0,123.4,-7.3,114,807,0.00,2.22,0.00,0.000,6,0.000,0.047,2742,2481,3631,0,0,0,0,0,0
$GC,1126,-0.51,-146.0,149.8,-8.1,145,1130,0.15,2.25,0.00,0.000,4,0.127,0.068,2693,1085,3631,0,0,0,0,0,0
$GC,1166,-0.48,-146.0,154.3,-13.1,148,1170,0.00,2.28,0.00,0.000,6,0.000,0.060,2693,2502,3631,0,0,0,0,0,0
$GC,1491,-0.44,-146.0,196.8,-12.8,178,1495,0.12,2.30,0.00,0.000,4,0.231,0.067,2720,1073,3630,0,0,0,0,0,0
$GC,1535,-0.49,-146.0,201.8,-9.8,181,1541,0.00,2.28,0.00,0.000,6,0.000,0.060,2720,2493,3630,0,0,0,0,0,0
$GC,1861,-0.53,-146.0,233.8,-10.0,212,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2493,3630,0,0,0,0,0,0
$GC,2180,-0.58,-146.0,264.1,-8.6,242,2185,0.15,2.30,0.00,0.000,4,0.122,0.077,2668,3899,3629,0,0,0,0,0,0
$GC,2197,-0.58,-146.0,266.0,-9.5,243,2201,0.00,2.20,0.00,0.000,6,0.000,0.048,2669,2481,3629,0,0,0,0,0,0
$GC,2528,-0.51,-146.0,307.0,-12.3,274,2533,0.12,2.25,0.00,0.000,4,0.223,0.068,2697,1077,3629,0,0,0,0,0,0
$GC,2568,-0.51,-146.0,311.4,-10.4,277,2572,0.00,2.28,0.00,0.000,6,0.000,0.060,2697,2501,3629,0,0,0,0,0,0
$GC,2894,-0.51,-146.0,341.4,-9.0,307,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2502,3629,0,0,0,0,0,0
$GC,3212,-0.51,-146.0,371.7,-9.7,337,3216,0.00,2.28,0.00,0.000,4,0.000,0.065,2697,1073,3629,0,0,0,0,0,0
$GC,3230,-0.51,-146.0,373.6,-10.0,338,3234,0.00,2.25,0.00,0.000,6,0.000,0.060,2697,2492,3629,0,0,0,0,0,0
$GC,3560,-0.51,-146.0,405.4,-9.6,369,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2492,3629,0,0,0,0,0,0
$GC,3881,-0.53,-146.0,433.3,-8.5,399,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2492,3630,0,0,0,0,0,0
$GC,4201,-0.56,-146.0,460.2,-8.5,429,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2492,3630,0,0,0,0,0,0
$GC,4527,-0.59,-146.0,489.9,-9.4,460,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2492,3630,0,0,0,0,0,0
$GC,4847,-0.62,-146.0,516.9,-7.6,490,4851,0.00,2.22,0.00,0.000,4,0.000,0.066,2697,1077,3631,0,0,0,0,0,0
$GC,4865,-0.64,-146.0,518.6,-8.7,491,4869,0.12,2.25,0.00,0.000,6,0.138,0.060,2656,2497,3630,0,0,0,0,0,0
$STATE,5083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5083,begin apogee
$GC,5088,-0.12,0.0,544.1,12.2,511,5218,0.55,0.00,121.75,1.265,6,0.200,0.000,2814,2267,3029,0,0,0,0,0,0
$STATE,5219,end apogee,CONTROL_FINISHED_OK
$STATE,5219,begin climb
$GC,5221,0.62,146.0,547.7,0.0,523,5356,0.80,2.55,123.70,1.216,4,0.142,0.070,3065,875,2433,0,0,0,0,0,0
$GC,5389,0.53,146.0,535.2,12.3,538,5396,0.00,2.42,0.00,0.000,6,0.000,0.054,3065,2279,2429,0,0,0,0,0,0
$GC,5716,0.44,146.0,492.6,12.0,569,5721,0.22,2.38,0.00,0.000,4,0.181,0.069,3007,3698,2424,0,0,0,0,0,0
$GC,5812,0.40,146.0,482.1,11.0,577,5817,0.00,2.33,0.00,0.000,6,0.000,0.052,3015,2284,2424,0,0,0,0,0,0
$GC,6137,0.41,154.9,451.2,9.6,607,6148,0.00,0.00,7.40,0.963,6,0.000,0.000,3015,2284,2397,0,0,0,0,0,0
$GC,6467,0.42,161.3,420.6,9.7,638,6480,0.00,2.40,7.25,0.965,4,0.000,0.067,3015,3694,2372,0,0,0,0,0,0
$GC,6549,0.38,161.3,411.6,11.2,645,6554,0.15,2.30,0.00,0.000,6,0.188,0.050,2989,2269,2370,0,0,0,0,0,0
$GC,6875,0.49,202.8,384.2,8.1,675,6919,0.00,2.40,37.28,1.138,4,0.000,0.064,2989,3695,2203,0,0,0,0,0,0
$GC,6947,0.56,207.4,377.8,9.8,681,6959,0.15,2.35,5.57,0.860,6,0.105,0.050,3043,2267,2184,0,0,0,0,0,0
$GC,7278,0.56,207.4,340.3,11.0,712,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2267,2179,0,0,0,0,0,0
$GC,7599,0.56,207.4,305.3,11.3,742,7604,0.00,2.33,0.00,0.000,4,0.000,0.065,3044,3692,2178,0,0,0,0,0,0
$GC,7632,0.51,207.4,300.7,13.3,744,7639,0.00,2.28,0.00,0.000,6,0.000,0.052,3054,2269,2177,0,0,0,0,0,0
$GC,7958,0.50,209.1,265.2,9.9,775,7962,0.00,2.30,0.00,0.000,4,0.000,0.065,3054,3698,2177,0,0,0,0,0,0
$GC,8043,0.43,209.1,254.9,13.2,782,8048,0.22,2.28,0.00,0.000,6,0.187,0.052,3005,2269,2177,0,0,0,0,0,0
$GC,8369,0.56,246.5,228.4,8.3,812,8409,0.12,0.00,35.10,1.058,6,0.112,0.000,3053,2269,2023,0,0,0,0,0,0
$GC,8727,0.56,246.5,189.9,10.1,846,8731,0.00,2.33,0.00,0.000,4,0.000,0.066,3054,3691,2017,0,0,0,0,0,0
$GC,8760,0.56,246.5,186.1,11.2,849,8764,0.00,2.28,0.00,0.000,6,0.000,0.053,3062,2276,2017,0,0,0,0,0,0
$GC,9091,0.61,271.9,153.3,8.8,880,9124,0.00,2.38,23.00,1.008,4,0.000,0.067,3072,871,1919,0,0,0,0,0,0
$GC,9152,0.70,304.6,148.1,8.5,885,9192,0.00,2.30,30.58,1.000,6,0.000,0.054,3072,2281,1786,0,0,0,0,0,0
$GC,9510,0.79,328.0,117.1,8.9,919,9537,0.15,2.35,21.05,0.972,4,0.099,0.069,3129,3693,1692,0,0,0,0,0,0
$GC,9623,0.72,328.0,99.8,16.6,929,9630,0.17,2.33,0.00,0.000,6,0.202,0.053,3098,2270,1687,0,0,0,0,0,0
$GC,9970,0.78,328.0,60.2,10.8,990,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2270,1685,0,0,0,0,0,0
$GC,10312,0.83,328.0,23.1,10.3,1051,10319,0.10,0.00,0.00,0.000,6,0.122,0.000,3137,2270,1683,0,0,0,0,0,0
$FREEZE,8.85,-1.748,-1.768,3,34,0
$STATE,10427,end climb,FINISH_DEPTH_REACHED
$STATE,10427,begin subsurface finish
$FINISH1,8.8,1.025891,79
$GC,10433,0.10,78.9,8.8,-13.0,1071,10480,0.77,0.00,-40.05,0.000,6,0.173,0.000,2904,2269,2709,0,0,0,0,0,0
$FINISH2,6.6
$STATE,10481,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10481,begin surface
$RAFOS_CLK,582
$RAFOS_FIX,6649.386230,-6023.021973,280211,202028,6,115,0.51
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026964
$HUMID,47.16
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,500.1,59.9
$24V_AH,23.1,11.337
$10V_AH,10.3,5.509
$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,5.075,83.750,412.675,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2530.603,5677.335,462.745,1721.179,144.861,0.000,1388.585,0.000,1709.409,0.000,14.272,0.000
$DEVICE_MAMPS,232.560,85.680,1265.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.935,823.884,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150732
$DATA_FILE_SIZE,40046,1079
$CAP_FILE_SIZE,115433,0
$CFSIZE,260165632,248139776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,280211,202328,6649.386,-6023.022,0,6115.2,0,-38.0