version: 66.08
glider: 141
mission: 15
dive: 17
start: 2 21 111 12 3 44
data:
$ID,141
$MISSION,15
$DIVE,17
$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,400
$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,-22031.725
$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,2870
$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,2450
$C_ROLL_CLIMB,2225
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,24
$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,25
$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
$GPS1,210211,115707,6707.354,-5707.805,28,1.3,28,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-72.0
$GPS2,210211,120313,6707.390,-5707.794,34,1.6,39,-37.7
$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,291.1,151332,-17.5,-10.000
$D_GRID,599
$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,-146.0,0.0,0.0,0,150,0.00,0.00,-130.82,0.000,2,0.000,0.000,109,2442,3477,0,0,0,0,0,0
$GC,153,-0.62,-146.0,5.5,-10.1,23,179,12.70,2.33,-3.08,0.000,4,0.334,0.083,2658,1043,3629,0,0,0,0,0,0
$GC,186,0.30,-146.0,19.5,-38.2,28,194,1.12,2.30,0.00,0.000,6,0.221,0.065,2958,2454,3630,0,0,0,0,0,0
$GC,532,-0.23,-146.0,42.4,-7.6,89,540,0.50,2.28,0.00,0.000,4,0.153,0.068,2801,1046,3630,0,0,0,0,0,0
$GC,788,-0.63,-146.0,62.9,-8.9,134,795,0.40,2.28,0.00,0.000,6,0.106,0.063,2664,2463,3629,0,0,0,0,0,0
$GC,1130,-0.58,-146.0,108.5,-12.3,189,1134,0.00,2.25,0.00,0.000,4,0.000,0.080,2663,3853,3629,0,0,0,0,0,0
$GC,1286,-0.56,-146.0,126.8,-11.4,203,1290,0.00,2.20,0.00,0.000,6,0.000,0.054,2663,2446,3629,0,0,0,0,0,0
$GC,1611,-0.51,-146.0,165.6,-11.5,233,1613,0.15,0.00,0.00,0.000,6,0.232,0.000,2698,2446,3627,0,0,0,0,0,0
$GC,1930,-0.55,-146.0,192.4,-8.0,263,1935,0.00,2.30,0.00,0.000,4,0.000,0.079,2698,3860,3627,0,0,0,0,0,0
$GC,1964,-0.60,-146.0,195.4,-8.5,265,1970,0.00,2.20,0.00,0.000,6,0.000,0.052,2698,2440,3627,0,0,0,0,0,0
$GC,2289,-0.65,-146.0,223.7,-9.0,296,2291,0.12,0.00,0.00,0.000,6,0.139,0.000,2659,2440,3628,0,0,0,0,0,0
$GC,2607,-0.60,-146.0,262.1,-12.8,326,2612,0.00,2.28,0.00,0.000,4,0.000,0.078,2659,3857,3628,0,0,0,0,0,0
$GC,2653,-0.57,-146.0,267.7,-12.9,330,2657,0.00,2.17,0.00,0.000,6,0.000,0.052,2659,2450,3628,0,0,0,0,0,0
$GC,2985,-0.52,-146.0,308.1,-12.4,361,2987,0.15,0.00,0.00,0.000,6,0.220,0.000,2693,2450,3629,0,0,0,0,0,0
$GC,3302,-0.57,-146.0,335.9,-8.0,391,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2450,3629,0,0,0,0,0,0
$GC,3622,-0.61,-146.0,359.4,-7.2,421,3626,0.00,2.30,0.00,0.000,4,0.000,0.079,2693,3859,3629,0,0,0,0,0,0
$GC,3666,-0.69,-146.0,362.6,-6.8,424,3673,0.15,2.20,0.00,0.000,6,0.122,0.051,2643,2443,3629,0,0,0,0,0,0
$GC,3993,-0.62,-146.0,396.4,-11.0,455,3997,0.00,2.22,0.00,0.000,4,0.000,0.068,2643,1038,3629,0,0,0,0,0,0
$GC,4033,-0.56,-146.0,401.2,-11.6,458,4038,0.17,2.25,0.00,0.000,6,0.227,0.064,2685,2452,3630,0,0,0,0,0,0
$GC,4358,-0.60,-146.0,427.1,-8.0,488,4362,0.00,2.25,0.00,0.000,4,0.000,0.080,2685,3857,3629,0,0,0,0,0,0
$GC,4433,-0.65,-146.0,433.3,-8.5,494,4437,0.00,2.17,0.00,0.000,6,0.000,0.050,2685,2439,3629,0,0,0,0,0,0
$GC,4758,-0.69,-146.0,459.3,-8.0,524,4760,0.12,0.00,0.00,0.000,6,0.138,0.000,2644,2439,3630,0,0,0,0,0,0
$GC,5078,-0.62,-146.0,496.6,-11.9,554,5082,0.00,2.28,0.00,0.000,4,0.000,0.078,2644,3856,3630,0,0,0,0,0,0
$GC,5133,-0.58,-146.0,503.9,-12.1,558,5141,0.15,2.17,0.00,0.000,6,0.210,0.051,2680,2451,3630,0,0,0,0,0,0
$GC,5460,-0.61,-146.0,535.5,-9.7,589,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2451,3631,0,0,0,0,0,0
$GC,5777,-0.63,-146.0,565.9,-9.1,619,5781,0.00,2.28,0.00,0.000,4,0.000,0.080,2679,3859,3631,0,0,0,0,0,0
$GC,5866,-0.68,-146.0,574.0,-8.7,626,5873,0.00,2.20,0.00,0.000,6,0.000,0.052,2680,2443,3630,0,0,0,0,0,0
$STATE,5902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5903,begin apogee
$GC,5908,-0.12,0.0,577.4,9.3,630,6038,0.47,0.00,120.15,1.242,6,0.187,0.000,2823,2219,3030,0,0,0,0,0,0
$STATE,6039,end apogee,CONTROL_FINISHED_OK
$STATE,6039,begin climb
$GC,6041,0.62,146.0,581.1,0.0,642,6174,0.77,2.53,123.10,1.220,4,0.137,0.076,3070,836,2434,0,0,0,0,0,0
$GC,6232,0.51,146.0,565.2,13.6,659,6237,0.12,2.38,0.00,0.000,6,0.193,0.060,3042,2230,2428,0,0,0,0,0,0
$GC,6557,0.46,146.0,527.9,11.4,689,6561,0.00,2.35,0.00,0.000,4,0.000,0.075,3042,3633,2425,0,0,0,0,0,0
$GC,6699,0.37,146.0,508.9,13.4,701,6704,0.22,2.30,0.00,0.000,6,0.190,0.060,2993,2228,2424,0,0,0,0,0,0
$GC,7025,0.44,172.3,479.5,8.8,731,7052,0.00,2.38,21.85,1.114,4,0.000,0.073,2993,3634,2326,0,0,0,0,0,0
$GC,7076,0.48,173.4,474.8,9.9,735,7080,0.00,2.30,0.00,0.000,6,0.000,0.057,3001,2224,2326,0,0,0,0,0,0
$GC,7402,0.53,179.0,443.8,9.7,765,7415,0.12,2.42,6.78,0.933,4,0.109,0.074,3049,3634,2300,0,0,0,0,0,0
$GC,7431,0.48,179.0,440.0,12.4,767,7439,0.12,2.30,0.00,0.000,6,0.202,0.058,3030,2225,2300,0,0,0,0,0,0
$GC,7756,0.48,179.0,402.9,11.3,798,7761,0.00,2.35,0.00,0.000,4,0.000,0.073,3030,3641,2299,0,0,0,0,0,0
$GC,7789,0.45,179.0,398.7,12.3,800,7796,0.00,2.28,0.00,0.000,6,0.000,0.057,3039,2226,2298,0,0,0,0,0,0
$GC,8116,0.43,179.0,360.2,12.0,831,8120,0.00,2.33,0.00,0.000,4,0.000,0.073,3039,3638,2298,0,0,0,0,0,0
$GC,8138,0.39,179.0,357.2,12.1,832,8146,0.15,2.30,0.00,0.000,6,0.177,0.057,2996,2219,2297,0,0,0,0,0,0
$GC,8464,0.48,204.1,326.5,8.8,863,8496,0.00,2.38,22.80,1.069,4,0.000,0.071,2996,3635,2197,0,0,0,0,0,0
$GC,8513,0.57,218.8,321.9,9.3,867,8535,0.15,2.30,14.38,1.025,6,0.107,0.055,3055,2220,2138,0,0,0,0,0,0
$GC,8861,0.57,218.8,280.1,11.9,900,8865,0.00,2.33,0.00,0.000,4,0.000,0.073,3056,3634,2132,0,0,0,0,0,0
$GC,8894,0.52,218.8,275.4,13.8,902,8900,0.00,2.28,0.00,0.000,6,0.000,0.056,3066,2224,2132,0,0,0,0,0,0
$GC,9219,0.50,218.8,234.7,12.7,933,9224,0.12,2.33,0.00,0.000,4,0.179,0.072,3034,3640,2131,0,0,0,0,0,0
$GC,9247,0.50,218.8,231.5,12.2,935,9251,0.00,2.28,0.00,0.000,6,0.000,0.054,3042,2221,2131,0,0,0,0,0,0
$GC,9572,0.51,229.2,198.7,9.5,965,9587,0.00,2.38,9.43,0.881,4,0.000,0.072,3042,3634,2095,0,0,0,0,0,0
$GC,9594,0.51,229.2,196.3,10.5,967,9598,0.00,2.28,0.00,0.000,6,0.000,0.053,3051,2210,2095,0,0,0,0,0,0
$GC,9919,0.53,229.2,162.4,10.2,997,9923,0.00,2.33,0.00,0.000,4,0.000,0.071,3051,3645,2093,0,0,0,0,0,0
$GC,9971,0.51,229.2,156.0,13.2,1001,9975,0.00,2.28,0.00,0.000,6,0.000,0.056,3059,2216,2093,0,0,0,0,0,0
$GC,10301,0.51,229.2,117.8,11.6,1032,10305,0.00,2.25,0.00,0.000,4,0.000,0.070,3070,816,2093,0,0,0,0,0,0
$GC,10318,0.51,229.2,115.9,11.8,1033,10323,0.12,2.25,0.00,0.000,6,0.182,0.060,3039,2231,2091,0,0,0,0,0,0
$GC,10652,0.59,240.6,83.3,9.5,1079,10671,0.00,2.30,10.90,0.864,4,0.000,0.074,3038,3635,2049,0,0,0,0,0,0
$GC,10684,0.65,241.8,80.2,9.9,1084,10691,0.12,2.25,0.00,0.000,6,0.121,0.055,3088,2223,2048,0,0,0,0,0,0
$GC,11029,0.65,241.8,38.1,11.4,1145,11036,0.00,2.28,0.00,0.000,4,0.000,0.071,3088,3634,2047,0,0,0,0,0,0
$GC,11043,0.65,241.8,36.5,11.6,1147,11050,0.00,2.22,0.00,0.000,6,0.000,0.054,3099,2225,2047,0,0,0,0,0,0
$FREEZE,8.41,-0.885,-1.827,3,1,0
$FREEZE,7.82,-0.880,-1.826,3,1,0
$FREEZE,7.18,-0.882,-1.826,3,1,0
$FREEZE,6.46,-0.891,-1.825,3,1,0
$FREEZE,5.74,-0.884,-1.825,3,1,0
$FREEZE,5.14,-0.880,-1.824,3,1,0
$FREEZE,4.49,-0.880,-1.824,3,1,0
$FREEZE,4.03,-0.883,-1.823,3,1,0
$FREEZE,3.43,-0.884,-1.823,3,1,0
$FREEZE,2.71,-0.886,-1.822,3,1,0
$STATE,11310,end climb,SURFACE_DEPTH_REACHED
$STATE,11310,begin surface coast
$FREEZE,1.88,-0.888,-1.822,3,1,0
$FREEZE,1.10,-0.889,-1.821,3,1,0
$FREEZE,1.04,-1.117,-1.746,3,1,0
$FREEZE,1.08,-1.024,-1.829,3,1,0
$FINISH,1.1,1.026817
$STATE,11333,end surface coast,CONTROL_FINISHED_OK
$STATE,11333,begin surface
$SM_CCo,11350,71.25,0.070,0,0,1398,400.08
$SM_GC,1.95,0.00,0.00,71.25,0.000,0.000,0.070,116,2451,1398,-8.61,0.03,400.08
$RAFOS_CLK,556
$RAFOS,6,1298292550,12.833333,12.819445,138,62,60,54,51,50,730,189,212,119,1136,199
$RAFOS,5,1298292068,12.700000,12.685555,67,66,65,57,56,53,607,212,160,221,201,140
$RAFOS,4,1298291582,12.566667,12.550555,59,58,57,57,56,54,135,163,214,232,189,178
$RAFOS,3,1298291103,12.433333,12.417500,59,56,56,51,50,49,193,173,216,139,121,227
$RAFOS,2,1298290624,12.300000,12.284445,69,64,57,57,56,52,220,118,205,165,193,177
$RAFOS,1,1298290146,12.166667,12.151667,60,59,59,57,53,51,185,194,203,215,162,134
$RAFOS_FIX,6710.382324,-5720.347656,210211,121200,2,102,3.94
$IRIDIUM_FIX,6636.54,-5709.24,210211,080836
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,550.1,41.8
$24V_AH,23.3,5.517
$10V_AH,10.4,2.321
$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,26.800,110.475,329.375,71.250,0.000,23.542,39.105,151.824,2.000,0.000,41.525,2884.399,5964.177,554.872,2192.288,210.060,0.000,1590.241,0.000,1917.631,2160.000,17.341,0.000
$DEVICE_MAMPS,334.305,82.620,1241.595,69.615,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.512,913.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,46669,1199
$CAP_FILE_SIZE,141124,0
$CFSIZE,260165632,251138048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,210211,151536,6709.099,-5711.875,33,1.4,33,-37.8