version: 66.08
glider: 141
mission: 15
dive: 11
start: 2 20 111 19 4 56
data:
$ID,141
$MISSION,15
$DIVE,11
$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,-22024.186
$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,30
$R_STBD_OVSHOOT,33
$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,0
$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
$GPS1,200211,185055,6704.403,-5653.964,40,0.9,40,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.5
$GPS2,200211,190425,6704.294,-5654.024,13,1.0,30,-37.6
$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,294.0,159563,-17.5,-10.000
$D_GRID,539
$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,16,-0.62,-146.0,0.0,0.0,0,185,0.00,0.00,-165.65,0.000,2,0.000,0.000,106,2320,3520,0,0,0,0,0,0
$GC,188,-0.62,-146.0,5.4,-9.1,29,209,12.75,2.38,-2.15,0.000,4,0.325,0.090,2698,3704,3628,0,0,0,0,0,0
$GC,344,-0.62,-146.0,37.7,-13.3,56,351,0.00,2.22,0.00,0.000,6,0.000,0.050,2698,2295,3629,0,0,0,0,0,0
$GC,688,-0.62,-146.0,82.8,-13.2,117,695,0.00,2.30,0.00,0.000,4,0.000,0.077,2699,3698,3629,0,0,0,0,0,0
$GC,832,-0.64,-146.0,99.4,-11.1,142,839,0.00,2.22,0.00,0.000,6,0.000,0.052,2699,2290,3629,0,0,0,0,0,0
$GC,1159,-0.66,-146.0,133.7,-10.8,173,1163,0.00,2.30,0.00,0.000,4,0.000,0.076,2699,3700,3627,0,0,0,0,0,0
$GC,1266,-0.71,-146.0,144.4,-10.1,182,1270,0.00,2.17,0.00,0.000,6,0.000,0.051,2699,2301,3627,0,0,0,0,0,0
$GC,1593,-0.74,-146.0,175.2,-8.4,212,1597,0.00,2.28,0.00,0.000,4,0.000,0.075,2699,3704,3627,0,0,0,0,0,0
$GC,1660,-0.79,-146.0,181.4,-8.7,217,1668,0.12,2.17,0.00,0.000,6,0.134,0.049,2656,2296,3627,0,0,0,0,0,0
$GC,1985,-0.73,-146.0,219.6,-12.3,248,1990,0.00,2.28,0.00,0.000,4,0.000,0.073,2656,3700,3628,0,0,0,0,0,0
$GC,2115,-0.71,-146.0,235.1,-11.6,259,2122,0.00,2.17,0.00,0.000,6,0.000,0.049,2655,2301,3628,0,0,0,0,0,0
$GC,2440,-0.65,-146.0,273.6,-11.8,290,2442,0.17,0.00,0.00,0.000,6,0.211,0.000,2698,2301,3629,0,0,0,0,0,0
$GC,2759,-0.70,-146.0,299.5,-7.9,320,2767,0.00,2.28,0.00,0.000,4,0.000,0.073,2699,3707,3629,0,0,0,0,0,0
$GC,2892,-0.76,-146.0,310.5,-8.7,331,2899,0.12,2.15,0.00,0.000,6,0.128,0.048,2657,2298,3630,0,0,0,0,0,0
$GC,3217,-0.72,-146.0,345.9,-10.7,362,3221,0.00,2.25,0.00,0.000,4,0.000,0.071,2657,3700,3631,0,0,0,0,0,0
$GC,3300,-0.72,-146.0,354.5,-10.2,369,3304,0.00,2.15,0.00,0.000,6,0.000,0.047,2657,2296,3631,0,0,0,0,0,0
$GC,3631,-0.67,-146.0,390.7,-11.5,400,3636,0.12,2.28,0.00,0.000,4,0.222,0.072,2686,3700,3632,0,0,0,0,0,0
$GC,3665,-0.67,-146.0,394.2,-9.8,403,3669,0.00,2.15,0.00,0.000,6,0.000,0.047,2686,2298,3632,0,0,0,0,0,0
$GC,3996,-0.70,-146.0,424.7,-9.2,434,4000,0.00,2.25,0.00,0.000,4,0.000,0.071,2686,3704,3633,0,0,0,0,0,0
$GC,4058,-0.75,-146.0,430.6,-9.4,439,4064,0.00,2.17,0.00,0.000,6,0.000,0.047,2686,2293,3633,0,0,0,0,0,0
$GC,4383,-0.78,-146.0,460.5,-9.5,470,4387,0.00,2.25,0.00,0.000,4,0.000,0.073,2686,3703,3634,0,0,0,0,0,0
$GC,4515,-0.83,-146.0,473.2,-9.7,481,4520,0.15,2.15,0.00,0.000,6,0.122,0.048,2637,2293,3634,0,0,0,0,0,0
$STATE,4764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4764,begin apogee
$GC,4769,-0.12,0.0,505.2,13.0,504,4893,0.77,0.00,118.10,1.152,6,0.198,0.000,2862,2144,3030,0,0,0,0,0,0
$STATE,4894,end apogee,CONTROL_FINISHED_OK
$STATE,4894,begin climb
$GC,4896,0.62,146.0,509.5,0.0,515,5025,0.70,2.45,120.55,1.120,4,0.093,0.071,3111,757,2433,0,0,0,0,0,0
$GC,5060,0.44,146.0,495.9,15.6,530,5065,0.22,2.35,0.00,0.000,6,0.203,0.060,3058,2151,2428,0,0,0,0,0,0
$GC,5385,0.37,146.0,455.4,12.3,560,5390,0.00,2.33,0.00,0.000,4,0.000,0.074,3057,3566,2424,0,0,0,0,0,0
$GC,5598,0.24,146.0,425.5,14.0,578,5606,0.28,2.28,0.00,0.000,6,0.188,0.057,2993,2158,2423,0,0,0,0,0,0
$GC,5924,0.33,189.7,399.0,8.0,609,5968,0.00,2.40,35.85,1.049,4,0.000,0.071,2993,3568,2256,0,0,0,0,0,0
$GC,6031,0.39,206.9,389.4,9.2,618,6052,0.10,2.33,15.95,1.006,6,0.117,0.054,3038,2149,2186,0,0,0,0,0,0
$GC,6377,0.39,206.9,350.7,11.0,651,6381,0.00,2.35,0.00,0.000,4,0.000,0.070,3037,3571,2180,0,0,0,0,0,0
$GC,6421,0.35,206.9,345.1,12.8,654,6428,0.00,2.30,0.00,0.000,6,0.000,0.054,3047,2137,2180,0,0,0,0,0,0
$GC,6748,0.33,206.9,306.1,12.3,685,6752,0.00,2.30,0.00,0.000,4,0.000,0.070,3047,3560,2179,0,0,0,0,0,0
$GC,6811,0.29,206.9,297.5,13.2,690,6816,0.20,2.25,0.00,0.000,6,0.186,0.054,3004,2148,2178,0,0,0,0,0,0
$GC,7136,0.40,244.6,269.9,8.3,720,7174,0.12,2.35,32.08,0.986,4,0.114,0.068,3051,3564,2031,0,0,0,0,0,0
$GC,7223,0.40,244.6,259.9,13.7,727,7227,0.00,2.30,0.00,0.000,6,0.000,0.053,3059,2144,2028,0,0,0,0,0,0
$GC,7548,0.40,244.6,218.5,12.6,757,7552,0.00,2.30,0.00,0.000,4,0.000,0.068,3059,3566,2025,0,0,0,0,0,0
$GC,7587,0.38,244.6,213.1,14.1,760,7592,0.12,2.25,0.00,0.000,6,0.186,0.051,3038,2155,2025,0,0,0,0,0,0
$GC,7913,0.41,244.6,174.0,12.0,790,7917,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3567,2024,0,0,0,0,0,0
$GC,7947,0.41,244.6,169.5,13.0,793,7951,0.00,2.25,0.00,0.000,6,0.000,0.050,3042,2145,2024,0,0,0,0,0,0
$GC,8277,0.44,244.6,129.3,11.5,824,8281,0.00,2.30,0.00,0.000,4,0.000,0.067,3042,3568,2024,0,0,0,0,0,0
$GC,8339,0.44,244.6,121.3,13.1,829,8343,0.00,2.22,0.00,0.000,6,0.000,0.051,3049,2147,2024,0,0,0,0,0,0
$GC,8672,0.49,247.5,84.5,9.9,872,8678,0.00,2.28,0.00,0.000,4,0.000,0.066,3049,3567,2024,0,0,0,0,0,0
$GC,8714,0.51,247.5,80.1,11.1,879,8721,0.00,2.22,0.00,0.000,6,0.000,0.050,3056,2141,2023,0,0,0,0,0,0
$GC,9059,0.58,254.7,46.4,9.7,940,9072,0.12,0.00,8.75,0.740,6,0.118,0.000,3104,2141,1991,0,0,0,0,0,0
$FREEZE,8.72,0.033,-1.832,3,1,0
$FREEZE,7.91,0.021,-1.831,3,1,0
$FREEZE,7.31,0.034,-1.831,3,1,0
$FREEZE,6.69,0.020,-1.830,3,1,0
$FREEZE,6.10,0.023,-1.830,3,1,0
$FREEZE,5.37,0.028,-1.829,3,1,0
$FREEZE,4.81,0.010,-1.829,3,1,0
$FREEZE,4.24,0.017,-1.829,3,1,0
$FREEZE,3.45,0.011,-1.828,3,1,0
$FREEZE,2.84,0.013,-1.827,3,1,0
$STATE,9391,end climb,SURFACE_DEPTH_REACHED
$STATE,9391,begin surface coast
$FREEZE,1.96,0.029,-1.827,3,1,0
$FREEZE,1.56,0.020,-1.826,3,1,0
$FREEZE,1.01,0.015,-1.826,3,1,0
$FREEZE,0.83,-0.022,-1.827,3,1,0
$FINISH,0.8,1.026761
$STATE,9413,end surface coast,CONTROL_FINISHED_OK
$STATE,9413,begin surface
$SM_CCo,9430,130.68,0.063,0,0,749,559.04
$SM_GC,1.58,0.00,0.00,130.68,0.000,0.000,0.063,109,2315,749,-8.75,0.42,559.04
$RAFOS_CLK,442
$RAFOS,6,1298234944,20.833334,20.817778,98,66,63,57,49,48,809,209,179,224,129,146
$RAFOS,5,1298234469,20.700001,20.685833,59,59,57,56,54,53,179,189,120,198,609,145
$RAFOS,4,1298233984,20.566668,20.551111,65,58,55,54,52,50,205,181,127,149,222,117
$RAFOS,3,1298233507,20.433332,20.418612,61,60,56,54,52,49,205,191,172,214,151,121
$RAFOS,2,1298233023,20.299999,20.284166,68,59,59,56,55,51,181,127,209,112,145,172
$RAFOS,1,1298232541,20.166666,20.150278,62,61,61,58,56,47,199,178,161,214,145,1498
$RAFOS,0,1298232070,20.033333,20.019444,61,57,57,54,54,52,215,187,147,120,230,169
$RAFOS_FIX,6707.972168,-5654.844238,200211,121200,2,80,0.15
$IRIDIUM_FIX,6625.71,-5915.36,200211,181824
$TT8_MAMPS,0.026215
$HUMID,44.21
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.4,69.6
$24V_AH,23.5,4.805
$10V_AH,10.4,1.911
$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,24.650,91.125,331.275,130.675,0.000,56.736,70.226,404.486,1.250,0.000,32.450,2389.928,4866.062,604.176,2241.517,283.051,0.000,1521.960,0.000,1679.018,2520.000,10.906,0.000
$DEVICE_MAMPS,325.125,90.270,1152.090,63.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.457,757.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,40064,1003
$CAP_FILE_SIZE,122561,0
$CFSIZE,260165632,251559936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$GPS,200211,214534,6704.052,-5654.823,8,5.4,27,-37.6