version: 66.08
glider: 141
mission: 15
dive: 50
start: 2 27 111 21 35 32
data:
$ID,141
$MISSION,15
$DIVE,50
$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,-22406.588
$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,23
$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,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
$GPS1,270211,203221,6658.580,-5955.028,0,3112.3,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.28
$_SM_ANGLEo,11.7
$GPS2,270211,203221,6658.580,-5955.028,0,3112.3,0,-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,258.0,35250,-17.5,-10.000
$D_GRID,869
$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
$STATE,13,begin dive
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$GC,2054,-0.53,-146.0,287.3,-12.3,220,2061,0.00,2.25,0.00,0.000,6,0.000,0.060,2673,2497,3629,0,0,0,0,0,0
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$GC,2729,-0.51,-146.0,350.8,-9.2,283,2733,0.00,2.28,0.00,0.000,4,0.000,0.076,2700,3899,3629,0,0,0,0,0,0
$GC,2770,-0.57,-146.0,354.6,-9.0,286,2774,0.00,2.17,0.00,0.000,6,0.000,0.047,2701,2483,3629,0,0,0,0,0,0
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$GC,4131,-0.58,-146.0,495.0,-9.2,411,4135,0.00,2.20,0.00,0.000,4,0.000,0.065,2703,1086,3630,0,0,0,0,0,0
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$GC,6440,-0.58,-146.0,726.2,-8.4,542,6444,0.00,2.22,0.00,0.000,4,0.000,0.064,2688,1082,3631,0,0,0,0,0,0
$GC,6495,-0.63,-146.0,731.2,-8.8,543,6499,0.00,2.22,0.00,0.000,6,0.000,0.061,2688,2499,3632,0,0,0,0,0,0
$GC,6808,-0.66,-146.0,757.1,-8.4,553,6813,0.12,2.25,0.00,0.000,4,0.128,0.077,2646,3899,3631,0,0,0,0,0,0
$GC,6824,-0.66,-146.0,758.8,-8.6,553,6828,0.00,2.20,0.00,0.000,6,0.000,0.047,2645,2460,3631,0,0,0,0,0,0
$GC,7143,-0.74,-146.0,792.1,-8.6,564,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2460,3632,0,0,0,0,0,0
$STATE,7355,end dive,NO_VERTICAL_VELOCITY
$STATE,7355,begin apogee
$GC,7360,-0.12,0.0,792.1,0.0,571,7490,0.50,0.00,123.90,1.421,6,0.129,0.000,2817,2265,3030,0,0,0,0,0,0
$STATE,7490,end apogee,CONTROL_FINISHED_OK
$STATE,7491,begin climb
$GC,7492,0.62,146.0,792.1,0.0,575,7624,0.77,0.00,127.78,1.379,6,0.140,0.000,3052,2265,2434,0,0,0,0,0,0
$GC,7912,0.54,146.0,749.3,12.0,589,7915,0.00,2.42,0.00,0.000,4,0.000,0.070,3052,3685,2425,0,0,0,0,0,0
$GC,7995,0.40,146.0,737.0,14.9,591,8000,0.25,2.33,0.00,0.000,6,0.190,0.054,3000,2287,2424,0,0,0,0,0,0
$GC,8313,0.41,154.9,706.6,9.6,602,8328,0.00,2.45,7.30,1.074,4,0.000,0.072,3009,861,2398,0,0,0,0,0,0
$GC,8362,0.45,158.4,701.7,9.8,603,8372,0.00,2.33,4.88,0.911,6,0.000,0.057,3008,2282,2383,0,0,0,0,0,0
$GC,8680,0.45,158.4,669.8,10.2,613,8684,0.00,2.30,0.00,0.000,4,0.000,0.072,3008,3685,2383,0,0,0,0,0,0
$GC,8768,0.41,158.4,659.2,12.4,615,8772,0.00,2.25,0.00,0.000,6,0.000,0.053,3018,2275,2382,0,0,0,0,0,0
$GC,9087,0.41,158.4,624.5,10.8,626,9091,0.00,2.33,0.00,0.000,4,0.000,0.070,3018,3688,2382,0,0,0,0,0,0
$GC,9120,0.36,158.4,620.5,12.1,627,9125,0.17,2.28,0.00,0.000,6,0.190,0.054,2985,2268,2381,0,0,0,0,0,0
$GC,9443,0.46,188.7,592.7,8.6,643,9473,0.00,0.00,27.80,1.252,6,0.000,0.000,2986,2269,2260,0,0,0,0,0,0
$GC,9791,0.58,224.1,563.2,8.4,676,9831,0.20,0.00,32.42,1.238,6,0.086,0.000,3063,2269,2115,0,0,0,0,0,0
$GC,10149,0.51,224.1,511.3,14.6,710,10154,0.12,2.38,0.00,0.000,4,0.180,0.070,3033,3695,2109,0,0,0,0,0,0
$GC,10197,0.51,224.1,504.2,13.1,714,10205,0.00,2.33,0.00,0.000,6,0.000,0.053,3041,2275,2109,0,0,0,0,0,0
$GC,10525,0.49,224.1,462.2,13.1,745,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2275,2108,0,0,0,0,0,0
$GC,10841,0.47,224.1,421.3,12.7,775,10845,0.00,2.30,0.00,0.000,4,0.000,0.068,3041,3688,2106,0,0,0,0,0,0
$GC,10874,0.43,224.1,416.5,13.9,777,10882,0.17,2.25,0.00,0.000,6,0.187,0.051,3005,2271,2106,0,0,0,0,0,0
$GC,11200,0.54,261.1,386.7,8.3,808,11238,0.00,2.33,32.65,1.147,4,0.000,0.066,3014,862,1964,0,0,0,0,0,0
$GC,11255,0.67,289.5,382.0,8.7,812,11288,0.20,2.33,27.40,1.120,6,0.096,0.054,3089,2283,1849,0,0,0,0,0,0
$GC,11607,0.61,289.5,325.0,17.3,845,11612,0.00,2.30,0.00,0.000,4,0.000,0.068,3089,3692,1840,0,0,0,0,0,0
$GC,11691,0.54,289.5,309.5,17.5,852,11698,0.22,2.30,0.00,0.000,6,0.184,0.052,3041,2269,1838,0,0,0,0,0,0
$GC,12016,0.58,289.5,269.0,12.4,883,12020,0.00,2.28,0.00,0.000,4,0.000,0.068,3042,865,1837,0,0,0,0,0,0
$GC,12055,0.68,289.5,264.6,10.6,886,12063,0.12,2.25,0.00,0.000,6,0.119,0.053,3090,2285,1836,0,0,0,0,0,0
$GC,12381,0.62,289.5,214.7,14.4,917,12385,0.00,2.25,0.00,0.000,4,0.000,0.067,3090,3685,1836,0,0,0,0,0,0
$GC,12455,0.57,289.5,203.5,14.2,923,12460,0.17,2.25,0.00,0.000,6,0.189,0.052,3055,2269,1836,0,0,0,0,0,0
$GC,12780,0.62,289.5,166.3,11.1,953,12784,0.00,2.25,0.00,0.000,4,0.000,0.068,3055,868,1836,0,0,0,0,0,0
$GC,12824,0.72,289.5,161.8,10.0,956,12831,0.12,2.22,0.00,0.000,6,0.119,0.052,3103,2278,1835,0,0,0,0,0,0
$GC,13149,0.68,289.5,119.1,13.4,987,13153,0.00,2.22,0.00,0.000,4,0.000,0.066,3103,3687,1835,0,0,0,0,0,0
$GC,13262,0.62,289.5,101.8,15.6,997,13267,0.17,2.22,0.00,0.000,6,0.200,0.052,3068,2276,1835,0,0,0,0,0,0
$GC,13606,0.69,289.5,65.3,11.4,1056,13613,0.00,2.22,0.00,0.000,4,0.000,0.070,3070,868,1835,0,0,0,0,0,0
$GC,13653,0.81,289.5,59.1,12.2,1064,13661,0.15,2.22,0.00,0.000,6,0.109,0.052,3127,2283,1833,0,0,0,0,0,0
$GC,13999,0.75,289.5,16.7,12.2,1125,14006,0.00,2.20,0.00,0.000,4,0.000,0.066,3127,3691,1833,0,0,0,0,0,0
$STATE,14090,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14090,begin subsurface finish
$FINISH1,9.4,1.026342,57
$GC,14098,0.07,56.8,9.4,-8.1,1141,14141,0.75,2.25,-33.72,0.000,4,0.145,0.075,2893,3691,2801,0,0,0,0,0,0
$FINISH2,8.1
$STATE,14142,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14142,begin surface
$RAFOS_CLK,776
$RAFOS,6,1298854143,0.833333,0.817500,121,60,57,56,54,53,753,207,178,145,189,126
$RAFOS,5,1298853666,0.700000,0.685000,61,60,59,57,57,56,202,192,114,138,170,212
$RAFOS,4,1298853191,0.566667,0.553056,64,61,60,57,55,54,155,668,222,197,209,128
$RAFOS,3,1298852702,0.433333,0.417222,67,63,54,53,52,52,187,211,176,120,197,225
$RAFOS,2,1298852226,0.300000,0.285000,66,58,57,55,50,48,209,172,200,131,145,218
$RAFOS,1,1298851764,0.166667,0.156667,131,59,55,55,52,50,490,219,131,179,159,201
$RAFOS,0,1298851265,0.033333,0.018056,61,56,56,54,53,53,193,162,138,209,180,968
$RAFOS_FIX,6654.027832,-5949.923828,280211,000056,2,126,0.64
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.77
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,14.7
$24V_AH,22.8,10.386
$10V_AH,10.3,5.034
$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,6.200,140.250,384.125,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2887.777,8712.187,498.735,1946.657,180.600,0.000,1541.571,0.000,1930.252,2520.000,20.291,0.000
$DEVICE_MAMPS,234.090,77.265,1421.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,819.744,888.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43405,1148
$CAP_FILE_SIZE,150726,0
$CFSIZE,260165632,248561664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.6
$GPS,280211,003056,6654.028,-5949.924,0,2126.0,0,-38.0