version: 66.08
glider: 141
mission: 15
dive: 8
start: 2 20 111 12 21 28
data:
$ID,141
$MISSION,15
$DIVE,8
$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,27
$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,14.51
$_SM_ANGLEo,10.5
$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,15,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-7.40,0.000,2,0.000,0.000,2930,3569,3287,0,0,0,0,0,0
$GC,27,-0.62,-146.0,15.6,-0.0,1,41,0.65,4.22,-6.00,0.000,4,0.160,0.057,2723,884,3630,0,0,0,0,0,0
$GC,82,-0.73,-146.0,21.2,-10.3,10,89,0.15,2.22,0.00,0.000,6,0.125,0.055,2671,2305,3629,0,0,0,0,0,0
$GC,428,-0.68,-146.0,70.3,-14.9,71,435,0.00,2.25,0.00,0.000,4,0.000,0.061,2671,879,3629,0,0,0,0,0,0
$GC,637,-0.66,-146.0,100.3,-14.0,108,644,0.00,2.25,0.00,0.000,6,0.000,0.060,2670,2301,3628,0,0,0,0,0,0
$GC,962,-0.64,-146.0,144.6,-12.5,139,967,0.12,2.28,0.00,0.000,4,0.233,0.075,2699,3709,3627,0,0,0,0,0,0
$GC,1025,-0.70,-146.0,151.3,-9.3,144,1029,0.00,2.20,0.00,0.000,6,0.000,0.050,2699,2281,3627,0,0,0,0,0,0
$GC,1356,-0.76,-146.0,181.8,-9.4,175,1360,0.00,2.30,0.00,0.000,4,0.000,0.074,2699,3718,3626,0,0,0,0,0,0
$GC,1498,-0.84,-146.0,194.5,-8.7,187,1503,0.17,2.17,0.00,0.000,6,0.122,0.050,2641,2302,3626,0,0,0,0,0,0
$GC,1829,-0.76,-146.0,237.3,-12.5,218,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2302,3626,0,0,0,0,0,0
$GC,2149,-0.69,-146.0,276.9,-12.2,248,2154,0.17,2.30,0.00,0.000,4,0.213,0.074,2684,3718,3626,0,0,0,0,0,0
$GC,2275,-0.74,-146.0,288.8,-8.5,259,2279,0.00,2.17,0.00,0.000,6,0.000,0.047,2684,2287,3626,0,0,0,0,0,0
$GC,2605,-0.78,-146.0,319.8,-9.1,290,2609,0.00,2.25,0.00,0.000,4,0.000,0.070,2684,3705,3626,0,0,0,0,0,0
$GC,2726,-0.84,-146.0,330.6,-9.2,300,2731,0.15,2.12,0.00,0.000,6,0.125,0.047,2635,2301,3626,0,0,0,0,0,0
$STATE,3017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3017,begin apogee
$GC,3022,-0.12,0.0,366.3,11.9,327,3143,0.77,0.00,114.10,1.030,6,0.198,0.000,2860,2140,3030,0,0,0,0,0,0
$STATE,3144,end apogee,CONTROL_FINISHED_OK
$STATE,3144,begin climb
$GC,3146,0.62,146.0,369.4,0.0,338,3278,0.70,2.42,118.30,1.028,4,0.090,0.064,3111,764,2432,0,0,0,0,0,0
$GC,3313,0.44,146.0,353.2,16.4,353,3318,0.20,2.33,0.00,0.000,6,0.203,0.054,3058,2153,2429,0,0,0,0,0,0
$GC,3638,0.35,146.0,308.2,12.8,383,3643,0.12,2.30,0.00,0.000,4,0.203,0.069,3026,3558,2427,0,0,0,0,0,0
$GC,3763,0.28,146.0,292.4,12.0,394,3768,0.12,2.22,0.00,0.000,6,0.197,0.051,3005,2167,2426,0,0,0,0,0,0
$GC,4094,0.35,177.8,262.5,8.5,425,4128,0.00,2.30,25.80,0.915,4,0.000,0.066,3005,3559,2305,0,0,0,0,0,0
$GC,4189,0.35,177.8,253.2,10.3,433,4196,0.00,2.28,0.00,0.000,6,0.000,0.048,3011,2150,2304,0,0,0,0,0,0
$GC,4515,0.38,177.8,220.6,11.0,464,4519,0.00,2.30,0.00,0.000,4,0.000,0.065,3011,3561,2301,0,0,0,0,0,0
$GC,4620,0.38,177.8,207.0,12.8,473,4627,0.00,2.28,0.00,0.000,6,0.000,0.050,3018,2144,2301,0,0,0,0,0,0
$GC,4947,0.41,177.8,170.5,10.8,504,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2144,2301,0,0,0,0,0,0
$GC,5266,0.45,184.2,137.8,9.7,534,5279,0.10,2.30,6.30,0.717,4,0.127,0.063,3057,3567,2279,0,0,0,0,0,0
$GC,5404,0.38,184.2,119.4,13.6,546,5409,0.12,2.25,0.00,0.000,6,0.190,0.050,3037,2139,2279,0,0,0,0,0,0
$GC,5737,0.42,193.7,87.1,9.6,588,5755,0.00,2.33,9.48,0.771,4,0.000,0.065,3036,3559,2239,0,0,0,0,0,0
$GC,5835,0.42,193.7,77.1,10.2,605,5842,0.00,2.22,0.00,0.000,6,0.000,0.048,3042,2139,2239,0,0,0,0,0,0
$GC,6179,0.43,204.5,46.1,9.5,666,6198,0.00,2.35,10.30,0.776,4,0.000,0.065,3042,3567,2196,0,0,0,0,0,0
$GC,6217,0.43,207.6,42.5,9.9,672,6230,0.00,2.22,4.62,0.602,6,0.000,0.050,3043,2148,2182,0,0,0,0,0,0
$STATE,6481,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,6481,begin subsurface finish
$FINISH1,16.6,1.026776,35
$GC,6487,0.04,35.5,16.6,-9.0,719,6507,0.38,2.33,-13.15,0.000,4,0.162,0.079,2926,3560,2889,0,0,0,0,0,0
$FINISH2,14.9
$STATE,6508,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6508,begin surface
$RAFOS_CLK,336
$RAFOS,6,1298206145,12.833333,12.818055,65,63,58,58,52,51,825,205,154,167,187,220
$RAFOS,5,1298205671,12.700000,12.686389,95,70,66,56,55,54,628,150,213,131,187,163
$RAFOS,4,1298205182,12.566667,12.550555,64,60,57,55,55,52,204,216,153,126,174,185
$RAFOS,3,1298204705,12.433333,12.418056,64,59,57,56,55,54,218,193,176,140,204,122
$RAFOS,2,1298204224,12.300000,12.284445,56,55,54,54,54,48,122,169,148,204,222,187
$RAFOS_FIX,6707.972168,-5654.844238,200211,121200,2,80,0.15
$IRIDIUM_FIX,6631.12,-5641.49,200211,020209
$TT8_MAMPS,0.026215
$HUMID,45.58
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,8.0
$24V_AH,23.7,4.478
$10V_AH,10.5,1.730
$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,3.950,63.375,288.900,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1740.847,3213.807,309.167,1205.317,102.371,0.000,958.555,0.000,1203.752,1440.000,6.145,0.000
$DEVICE_MAMPS,232.560,78.795,1030.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.390,540.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26733,722
$CAP_FILE_SIZE,78202,0
$CFSIZE,260165632,251764736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.3
$GPS,200211,124800,6707.972,-5654.844,0,2080.0,0,-37.4