version: 66.08
glider: 141
mission: 15
dive: 18
start: 2 21 111 15 21 39
data:
$ID,141
$MISSION,15
$DIVE,18
$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,-22032.982
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,210211,151536,6709.099,-5711.875,33,1.4,33,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-73.7
$GPS2,210211,152108,6709.157,-5711.877,13,1.4,13,-37.8
$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,289.6,149460,-17.5,-10.000
$D_GRID,632
$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,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,150,0.00,0.00,-130.35,0.000,2,0.000,0.000,116,2453,3418,0,0,0,0,0,0
$GC,153,-0.62,-146.0,5.6,-9.7,23,179,12.88,2.35,-4.38,0.000,4,0.339,0.093,2657,3859,3630,0,0,0,0,0,0
$GC,249,-0.55,-146.0,31.1,-16.7,39,256,0.12,2.28,0.00,0.000,6,0.227,0.054,2684,2441,3631,0,0,0,0,0,0
$GC,594,-0.50,-146.0,79.4,-14.2,100,601,0.00,2.38,0.00,0.000,4,0.000,0.081,2684,3860,3630,0,0,0,0,0,0
$GC,613,-0.45,-146.0,82.1,-13.7,103,621,0.15,2.25,0.00,0.000,6,0.208,0.054,2722,2449,3631,0,0,0,0,0,0
$GC,950,-0.51,-146.0,114.1,-8.2,149,954,0.00,2.25,0.00,0.000,4,0.000,0.070,2722,1042,3630,0,0,0,0,0,0
$GC,1007,-0.59,-146.0,119.1,-8.5,154,1012,0.12,2.28,0.00,0.000,6,0.132,0.066,2681,2449,3630,0,0,0,0,0,0
$GC,1332,-0.56,-146.0,152.9,-9.4,184,1337,0.00,2.33,0.00,0.000,4,0.000,0.082,2681,3860,3629,0,0,0,0,0,0
$GC,1362,-0.54,-146.0,155.6,-9.6,186,1366,0.00,2.25,0.00,0.000,6,0.000,0.054,2681,2436,3629,0,0,0,0,0,0
$GC,1687,-0.52,-146.0,191.4,-11.7,216,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2436,3630,0,0,0,0,0,0
$GC,2008,-0.52,-146.0,228.9,-11.5,246,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2436,3630,0,0,0,0,0,0
$GC,2325,-0.52,-146.0,262.9,-10.1,276,2329,0.00,2.33,0.00,0.000,4,0.000,0.081,2681,3859,3629,0,0,0,0,0,0
$GC,2370,-0.55,-146.0,267.7,-10.5,279,2376,0.00,2.22,0.00,0.000,6,0.000,0.054,2681,2445,3630,0,0,0,0,0,0
$GC,2695,-0.55,-146.0,299.1,-9.7,310,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2445,3630,0,0,0,0,0,0
$GC,3013,-0.55,-146.0,329.7,-10.0,340,3017,0.00,2.30,0.00,0.000,4,0.000,0.080,2681,3858,3630,0,0,0,0,0,0
$GC,3053,-0.55,-146.0,333.5,-9.6,343,3057,0.00,2.20,0.00,0.000,6,0.000,0.053,2681,2449,3629,0,0,0,0,0,0
$GC,3378,-0.55,-146.0,365.8,-9.9,373,3382,0.00,2.20,0.00,0.000,4,0.000,0.068,2681,1044,3630,0,0,0,0,0,0
$GC,3406,-0.55,-146.0,368.7,-10.2,375,3410,0.00,2.25,0.00,0.000,6,0.000,0.065,2681,2452,3630,0,0,0,0,0,0
$GC,3731,-0.55,-146.0,399.6,-9.0,405,3736,0.00,2.28,0.00,0.000,4,0.000,0.082,2681,3854,3630,0,0,0,0,0,0
$GC,3792,-0.57,-146.0,405.6,-9.7,410,3799,0.00,2.17,0.00,0.000,6,0.000,0.053,2681,2448,3631,0,0,0,0,0,0
$GC,4117,-0.57,-146.0,435.4,-9.1,441,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2448,3630,0,0,0,0,0,0
$GC,4436,-0.57,-146.0,464.9,-9.5,471,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2448,3632,0,0,0,0,0,0
$GC,4756,-0.57,-146.0,495.2,-9.6,501,4760,0.00,2.30,0.00,0.000,4,0.000,0.080,2680,3854,3632,0,0,0,0,0,0
$GC,4809,-0.61,-146.0,500.5,-10.0,505,4813,0.00,2.17,0.00,0.000,6,0.000,0.054,2681,2447,3632,0,0,0,0,0,0
$GC,5135,-0.61,-146.0,532.1,-9.8,535,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2448,3632,0,0,0,0,0,0
$GC,5453,-0.61,-146.0,562.9,-9.7,565,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2447,3632,0,0,0,0,0,0
$GC,5772,-0.61,-146.0,593.9,-9.8,595,5776,0.00,2.30,0.00,0.000,4,0.000,0.081,2681,3853,3632,0,0,0,0,0,0
$GC,5824,-0.65,-146.0,599.1,-10.1,599,5828,0.00,2.20,0.00,0.000,6,0.000,0.054,2681,2442,3632,0,0,0,0,0,0
$STATE,6017,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6017,begin apogee
$GC,6023,-0.12,0.0,618.3,9.8,606,6150,0.47,0.00,121.60,1.291,6,0.184,0.000,2823,2208,3030,0,0,0,0,0,0
$STATE,6151,end apogee,CONTROL_FINISHED_OK
$STATE,6151,begin climb
$GC,6153,0.62,146.0,622.6,0.0,610,6288,0.77,2.53,124.18,1.257,4,0.136,0.077,3069,831,2432,0,0,0,0,0,0
$GC,6312,0.52,146.0,610.6,12.3,615,6317,0.12,2.42,0.00,0.000,6,0.190,0.061,3042,2231,2429,0,0,0,0,0,0
$GC,6634,0.47,146.0,575.6,10.8,638,6638,0.00,2.38,0.00,0.000,4,0.000,0.076,3041,3639,2424,0,0,0,0,0,0
$GC,6720,0.36,146.0,564.7,12.9,645,6725,0.22,2.33,0.00,0.000,6,0.189,0.060,2993,2233,2423,0,0,0,0,0,0
$GC,7045,0.45,180.6,536.7,8.4,675,7080,0.00,2.45,29.38,1.161,4,0.000,0.074,2993,3632,2292,0,0,0,0,0,0
$GC,7099,0.50,194.9,532.0,9.3,680,7122,0.00,2.35,13.70,1.106,6,0.000,0.057,3000,2224,2236,0,0,0,0,0,0
$GC,7440,0.60,227.3,501.6,8.5,712,7473,0.17,0.00,29.52,1.160,6,0.096,0.000,3066,2224,2103,0,0,0,0,0,0
$GC,7789,0.57,227.3,455.9,13.2,745,7793,0.00,2.35,0.00,0.000,4,0.000,0.074,3066,3634,2096,0,0,0,0,0,0
$GC,7845,0.50,227.3,447.6,14.9,750,7850,0.15,2.33,0.00,0.000,6,0.194,0.060,3040,2223,2094,0,0,0,0,0,0
$GC,8170,0.50,227.3,408.9,12.0,780,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2223,2093,0,0,0,0,0,0
$GC,8491,0.50,227.3,371.4,11.7,810,8496,0.00,2.35,0.00,0.000,4,0.000,0.075,3039,3645,2093,0,0,0,0,0,0
$GC,8512,0.50,227.3,368.3,12.3,811,8520,0.00,2.33,0.00,0.000,6,0.000,0.057,3046,2220,2092,0,0,0,0,0,0
$GC,8838,0.50,227.3,330.2,11.8,842,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2220,2092,0,0,0,0,0,0
$GC,9158,0.50,227.3,292.1,11.9,872,9162,0.00,2.30,0.00,0.000,4,0.000,0.075,3046,3635,2092,0,0,0,0,0,0
$GC,9197,0.50,227.3,286.8,13.4,875,9201,0.00,2.28,0.00,0.000,6,0.000,0.059,3055,2218,2092,0,0,0,0,0,0
$GC,9523,0.50,227.3,245.7,12.8,905,9527,0.00,2.30,0.00,0.000,4,0.000,0.073,3055,3637,2092,0,0,0,0,0,0
$GC,9545,0.48,227.3,242.3,14.5,906,9553,0.15,2.25,0.00,0.000,6,0.188,0.057,3027,2221,2091,0,0,0,0,0,0
$GC,9870,0.53,227.3,206.7,10.6,937,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2221,2091,0,0,0,0,0,0
$GC,10192,0.60,227.3,174.0,10.5,967,10197,0.10,2.25,0.00,0.000,4,0.130,0.073,3073,810,2092,0,0,0,0,0,0
$GC,10213,0.62,227.3,171.1,11.8,968,10220,0.00,2.28,0.00,0.000,6,0.000,0.062,3073,2223,2091,0,0,0,0,0,0
$GC,10539,0.60,227.3,128.6,13.0,999,10543,0.00,2.30,0.00,0.000,4,0.000,0.076,3073,3644,2091,0,0,0,0,0,0
$GC,10646,0.55,227.3,112.9,15.5,1008,10650,0.12,2.25,0.00,0.000,6,0.196,0.057,3052,2223,2091,0,0,0,0,0,0
$GC,10983,0.59,227.3,74.7,11.4,1058,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2222,2091,0,0,0,0,0,0
$GC,11327,0.66,249.6,42.2,9.0,1119,11357,0.00,2.35,22.75,0.834,4,0.000,0.073,3052,3644,2012,0,0,0,0,0,0
$GC,11387,0.71,254.1,36.7,9.8,1129,11401,0.12,2.28,5.43,0.727,6,0.118,0.056,3103,2226,1993,0,0,0,0,0,0
$FREEZE,8.51,-0.665,-1.829,3,1,0
$FREEZE,7.85,-0.666,-1.829,3,1,0
$FREEZE,7.15,-0.664,-1.828,3,1,0
$FREEZE,6.50,-0.663,-1.828,3,1,0
$FREEZE,5.93,-0.664,-1.827,3,1,0
$FREEZE,5.26,-0.664,-1.827,3,1,0
$FREEZE,4.66,-0.676,-1.826,3,1,0
$FREEZE,4.13,-0.673,-1.826,3,1,0
$FREEZE,3.19,-0.670,-1.825,3,1,0
$FREEZE,2.49,-0.673,-1.825,3,1,0
$STATE,11665,end climb,SURFACE_DEPTH_REACHED
$STATE,11666,begin surface coast
$FREEZE,1.90,-0.684,-1.824,3,1,0
$FREEZE,1.24,-0.732,-1.827,3,1,0
$FREEZE,1.18,-0.906,-1.836,3,1,0
$FREEZE,1.20,-1.088,-1.686,3,1,0
$FINISH,1.2,1.024782
$STATE,11688,end surface coast,CONTROL_FINISHED_OK
$STATE,11688,begin surface
$SM_CCo,11705,65.82,0.071,0,0,1399,400.08
$SM_GC,1.88,0.00,0.00,65.82,0.000,0.000,0.071,111,2461,1399,-8.62,0.31,400.08
$RAFOS_CLK,585
$RAFOS,6,1298306948,16.833334,16.818890,74,63,57,57,56,54,720,193,217,203,116,163
$RAFOS,5,1298306464,16.700001,16.684444,119,66,59,58,57,52,618,177,222,165,156,131
$RAFOS,4,1298305985,16.566668,16.551390,89,68,58,56,56,53,826,206,139,149,170,215
$RAFOS,3,1298305506,16.433332,16.418333,57,56,52,50,49,48,212,118,166,188,147,127
$RAFOS,2,1298305021,16.299999,16.283611,64,59,58,54,53,49,210,188,174,134,152,235
$RAFOS,1,1298304551,16.166666,16.153055,61,60,56,53,50,49,213,202,180,226,137,115
$RAFOS,0,1298304061,16.033333,16.016945,67,59,56,52,52,52,189,152,206,131,176,215
$RAFOS_FIX,6711.228516,-5723.782715,210211,161622,3,94,1.90
$IRIDIUM_FIX,6636.54,-5712.23,210211,111150
$TT8_MAMPS,0.026215
$HUMID,46.53
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,600.3,32.6
$24V_AH,23.3,5.649
$10V_AH,10.4,2.397
$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,24.175,92.625,346.550,65.825,0.000,27.558,38.390,135.163,2.250,0.000,15.835,2859.081,6394.850,539.635,2114.007,211.811,0.000,1551.756,0.000,1883.180,2520.000,17.727,0.000
$DEVICE_MAMPS,338.895,92.565,1290.555,71.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.342,909.980,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150692
$DATA_FILE_SIZE,46769,1183
$CAP_FILE_SIZE,134031,0
$CFSIZE,260165632,251076608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.6
$GPS,210211,183930,6710.713,-5718.128,35,0.9,40,-37.8