version: 66.08
glider: 141
mission: 15
dive: 55
start: 2 28 111 14 42 32
data:
$ID,141
$MISSION,15
$DIVE,55
$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,-22775.168
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,280211,122716,6654.422,-6016.263,0,7107.6,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.73
$_SM_ANGLEo,-4.5
$GPS2,280211,122716,6654.422,-6016.263,0,7107.6,0,-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,238.3,20574,-17.5,-10.000
$D_GRID,602
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.05,0.000,2,0.000,0.000,2899,2270,2975,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.8,-0.0,1,52,0.65,2.70,-17.42,0.000,4,0.090,0.085,2664,3902,3627,0,0,0,0,0,0
$GC,104,-0.49,-146.0,21.5,-17.7,14,112,0.15,2.25,0.00,0.000,6,0.233,0.050,2697,2489,3629,0,0,0,0,0,0
$GC,450,-0.39,-146.0,84.7,-15.1,75,457,0.15,2.30,0.00,0.000,4,0.239,0.068,2732,1076,3629,0,0,0,0,0,0
$GC,492,-0.39,-146.0,90.5,-12.4,82,499,0.00,2.30,0.00,0.000,6,0.000,0.060,2732,2500,3628,0,0,0,0,0,0
$GC,829,-0.41,-146.0,126.4,-11.7,121,833,0.00,2.28,0.00,0.000,4,0.000,0.078,2732,3899,3628,0,0,0,0,0,0
$GC,840,-0.44,-146.0,127.8,-11.9,121,847,0.00,2.22,0.00,0.000,6,0.000,0.046,2732,2472,3628,0,0,0,0,0,0
$GC,1165,-0.49,-146.0,163.1,-9.1,152,1169,0.00,2.22,0.00,0.000,4,0.000,0.068,2732,1083,3627,0,0,0,0,0,0
$GC,1217,-0.57,-146.0,167.5,-8.5,156,1222,0.17,2.28,0.00,0.000,6,0.117,0.061,2672,2501,3628,0,0,0,0,0,0
$GC,1548,-0.49,-146.0,210.5,-13.5,187,1550,0.12,0.00,0.00,0.000,6,0.233,0.000,2699,2501,3627,0,0,0,0,0,0
$GC,1866,-0.49,-146.0,246.1,-11.2,217,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2501,3627,0,0,0,0,0,0
$GC,2186,-0.49,-146.0,280.4,-10.1,247,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2501,3627,0,0,0,0,0,0
$GC,2505,-0.49,-146.0,311.8,-9.0,277,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2502,3626,0,0,0,0,0,0
$GC,2824,-0.49,-146.0,341.1,-9.4,307,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2502,3626,0,0,0,0,0,0
$GC,3142,-0.51,-146.0,370.6,-8.9,337,3146,0.00,2.22,0.00,0.000,4,0.000,0.064,2700,1087,3626,0,0,0,0,0,0
$GC,3175,-0.54,-146.0,373.8,-8.9,339,3181,0.00,2.25,0.00,0.000,6,0.000,0.060,2700,2499,3627,0,0,0,0,0,0
$GC,3503,-0.57,-146.0,400.1,-7.8,370,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2499,3627,0,0,0,0,0,0
$GC,3830,-0.60,-146.0,428.1,-9.1,401,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2499,3627,0,0,0,0,0,0
$GC,4148,-0.62,-146.0,458.7,-10.0,431,4150,0.12,0.00,0.00,0.000,6,0.135,0.000,2659,2500,3627,0,0,0,0,0,0
$GC,4466,-0.55,-146.0,498.5,-12.7,461,4470,0.00,2.25,0.00,0.000,4,0.000,0.077,2659,3905,3627,0,0,0,0,0,0
$GC,4488,-0.48,-146.0,501.3,-11.7,462,4495,0.17,2.20,0.00,0.000,6,0.207,0.047,2702,2483,3628,0,0,0,0,0,0
$GC,4813,-0.53,-146.0,529.4,-8.4,493,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2483,3627,0,0,0,0,0,0
$GC,5132,-0.57,-146.0,556.7,-8.5,523,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2483,3628,0,0,0,0,0,0
$STATE,5310,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5310,begin apogee
$GC,5316,-0.12,0.0,571.9,8.9,540,5446,0.38,0.00,121.18,1.286,6,0.184,0.000,2816,2260,3029,0,0,0,0,0,0
$STATE,5447,end apogee,CONTROL_FINISHED_OK
$STATE,5447,begin climb
$GC,5449,0.62,146.0,576.9,0.0,552,5581,0.77,2.45,123.97,1.233,4,0.143,0.071,3060,877,2432,0,0,0,0,0,0
$GC,5628,0.54,146.0,564.2,11.2,568,5632,0.00,2.40,0.00,0.000,6,0.000,0.057,3060,2272,2428,0,0,0,0,0,0
$GC,5959,0.45,146.0,522.6,12.6,599,5963,0.20,2.40,0.00,0.000,4,0.181,0.069,3008,3694,2424,0,0,0,0,0,0
$GC,6055,0.40,146.0,511.9,11.2,607,6059,0.00,2.30,0.00,0.000,6,0.000,0.053,3016,2283,2423,0,0,0,0,0,0
$GC,6385,0.42,164.3,480.5,9.2,638,6405,0.00,0.00,15.35,1.115,6,0.000,0.000,3017,2283,2359,0,0,0,0,0,0
$GC,6724,0.45,185.5,449.4,9.0,670,6749,0.00,2.42,19.45,1.127,4,0.000,0.067,3016,3694,2273,0,0,0,0,0,0
$GC,6806,0.42,185.5,440.7,11.5,677,6813,0.00,2.33,0.00,0.000,6,0.000,0.050,3027,2270,2271,0,0,0,0,0,0
$GC,7131,0.42,186.8,408.1,9.9,708,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2270,2269,0,0,0,0,0,0
$GC,7452,0.44,202.1,377.7,9.3,738,7475,0.00,2.38,15.25,1.086,4,0.000,0.066,3027,3692,2206,0,0,0,0,0,0
$GC,7532,0.41,202.1,368.9,11.7,745,7537,0.15,2.30,0.00,0.000,6,0.189,0.052,3001,2271,2204,0,0,0,0,0,0
$GC,7858,0.50,220.5,340.0,9.2,775,7881,0.00,2.38,17.40,1.082,4,0.000,0.068,3001,870,2131,0,0,0,0,0,0
$GC,7920,0.65,238.7,334.0,9.2,780,7949,0.20,2.30,17.92,1.073,6,0.096,0.052,3077,2284,2056,0,0,0,0,0,0
$GC,8266,0.58,238.7,281.4,14.7,813,8270,0.00,2.30,0.00,0.000,4,0.000,0.068,3077,3693,2051,0,0,0,0,0,0
$GC,8334,0.50,238.7,270.9,16.5,819,8339,0.22,2.30,0.00,0.000,6,0.184,0.054,3029,2269,2050,0,0,0,0,0,0
$GC,8659,0.55,238.7,239.0,10.4,849,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2269,2050,0,0,0,0,0,0
$GC,8981,0.63,256.4,207.0,9.2,879,9005,0.12,2.33,16.02,1.004,4,0.115,0.065,3079,3691,1983,0,0,0,0,0,0
$GC,9033,0.57,256.4,200.1,14.1,883,9040,0.15,2.28,0.00,0.000,6,0.190,0.051,3051,2275,1982,0,0,0,0,0,0
$GC,9359,0.61,256.4,164.7,11.1,914,9364,0.00,2.28,0.00,0.000,4,0.000,0.067,3055,868,1980,0,0,0,0,0,0
$GC,9388,0.69,256.4,161.6,10.9,916,9392,0.00,2.25,0.00,0.000,6,0.000,0.051,3055,2288,1979,0,0,0,0,0,0
$GC,9718,0.75,266.0,128.4,9.6,947,9734,0.15,2.30,9.60,0.913,4,0.103,0.069,3114,3685,1944,0,0,0,0,0,0
$GC,9767,0.65,266.0,121.7,15.3,951,9775,0.20,2.28,0.00,0.000,6,0.201,0.052,3073,2264,1944,0,0,0,0,0,0
$GC,10099,0.77,322.1,91.6,7.4,991,10157,0.12,0.00,51.60,0.999,6,0.114,0.000,3123,2265,1715,0,0,0,0,0,0
$GC,10494,0.77,322.1,45.7,12.8,1061,10500,0.00,2.35,0.00,0.000,4,0.000,0.066,3123,3688,1706,0,0,0,0,0,0
$GC,10552,0.73,322.1,37.5,14.3,1071,10560,0.12,2.30,0.00,0.000,6,0.207,0.054,3103,2266,1705,0,0,0,0,0,0
$FREEZE,8.62,-1.738,-1.770,3,32,0
$STATE,10835,end climb,FINISH_DEPTH_REACHED
$STATE,10835,begin subsurface finish
$FINISH1,8.6,1.025913,78
$GC,10841,0.10,77.8,8.6,-11.0,1121,10889,0.65,2.30,-38.33,0.000,4,0.162,0.081,2903,856,2715,0,0,0,0,0,0
$FINISH2,6.9
$STATE,10890,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10890,begin surface
$RAFOS_CLK,601
$RAFOS,6,1298911741,16.833334,16.816944,117,63,60,58,55,52,820,144,216,178,202,118
$RAFOS,5,1298911271,16.700001,16.686388,77,73,60,59,54,52,189,928,144,209,170,110
$RAFOS,4,1298910789,16.566668,16.552500,60,60,59,59,55,54,129,162,205,711,215,183
$RAFOS,3,1298910301,16.433332,16.416945,59,58,53,52,50,48,190,211,223,116,157,133
$RAFOS,2,1298909821,16.299999,16.283611,67,65,61,57,57,56,192,217,175,202,151,138
$RAFOS,1,1298909345,16.166666,16.151388,107,59,58,57,55,55,580,188,213,158,201,171
$RAFOS,0,1298908867,16.033333,16.018612,144,66,65,59,57,54,605,200,177,222,164,116
$RAFOS_FIX,6652.792969,-6017.644531,280211,161602,3,123,0.23
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.57
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,550.3,36.0
$24V_AH,23.1,11.064
$10V_AH,10.3,5.380
$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,5.000,76.700,407.750,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2658.881,5923.187,455.539,1757.324,160.794,0.000,1394.593,0.000,1754.377,2520.000,16.172,0.000
$DEVICE_MAMPS,239.445,84.915,1285.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.283,871.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150732
$DATA_FILE_SIZE,43404,1129
$CAP_FILE_SIZE,118926,0
$CFSIZE,260165632,248262656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.6
$GPS,280211,162202,6652.793,-6017.645,0,3122.7,0,-38.0