version: 66.08
glider: 141
mission: 15
dive: 64
start: 3 1 111 17 41 8
data:
$ID,141
$MISSION,15
$DIVE,64
$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,-23144.75
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,010311,162707,6652.169,-6007.660,0,7113.7,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-40.3
$GPS2,010311,162707,6652.169,-6007.660,181,99.0,181,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,120.1,145572,-17.5,-10.000
$D_GRID,667
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,178,0.00,0.00,-158.40,0.000,2,0.000,0.000,109,2499,3140,0,0,0,0,0,0
$GC,180,-0.62,-146.0,5.0,-7.1,28,212,12.65,2.28,-11.52,0.000,4,0.337,0.086,2651,3894,3629,0,0,0,0,0,0
$GC,241,-0.39,-146.0,24.2,-25.0,38,249,0.32,2.22,0.00,0.000,6,0.220,0.050,2734,2477,3631,0,0,0,0,0,0
$GC,587,-0.35,-146.0,72.1,-12.8,99,594,0.00,2.20,0.00,0.000,4,0.000,0.063,2734,1083,3631,0,0,0,0,0,0
$GC,707,-0.35,-146.0,86.7,-11.7,120,714,0.00,2.22,0.00,0.000,6,0.000,0.060,2734,2484,3631,0,0,0,0,0,0
$GC,1040,-0.35,-146.0,127.2,-13.3,161,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2484,3631,0,0,0,0,0,0
$GC,1360,-0.39,-146.0,159.8,-11.0,191,1364,0.00,2.30,0.00,0.000,4,0.000,0.077,2734,3906,3630,0,0,0,0,0,0
$GC,1404,-0.47,-146.0,164.8,-10.3,194,1410,0.00,2.22,0.00,0.000,6,0.000,0.048,2734,2486,3630,0,0,0,0,0,0
$GC,1731,-0.52,-146.0,197.1,-9.4,225,1736,0.12,2.22,0.00,0.000,4,0.137,0.067,2693,1086,3630,0,0,0,0,0,0
$GC,1771,-0.49,-146.0,201.6,-10.8,228,1775,0.00,2.28,0.00,0.000,6,0.000,0.063,2693,2498,3630,0,0,0,0,0,0
$GC,2096,-0.45,-146.0,243.6,-12.7,258,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2498,3629,0,0,0,0,0,0
$GC,2416,-0.41,-146.0,278.7,-11.1,288,2421,0.15,2.28,0.00,0.000,4,0.224,0.067,2728,1083,3629,0,0,0,0,0,0
$GC,2431,-0.41,-146.0,280.8,-10.9,289,2439,0.00,2.28,0.00,0.000,6,0.000,0.062,2728,2489,3630,0,0,0,0,0,0
$GC,2757,-0.48,-146.0,308.2,-8.5,320,2762,0.00,2.28,0.00,0.000,4,0.000,0.079,2728,3901,3630,0,0,0,0,0,0
$GC,2787,-0.57,-146.0,310.7,-8.5,322,2792,0.15,2.17,0.00,0.000,6,0.121,0.049,2678,2490,3630,0,0,0,0,0,0
$GC,3112,-0.52,-146.0,351.8,-12.7,352,3116,0.00,2.25,0.00,0.000,4,0.000,0.065,2678,1084,3630,0,0,0,0,0,0
$GC,3175,-0.52,-146.0,359.5,-11.9,357,3179,0.00,2.25,0.00,0.000,6,0.000,0.063,2678,2492,3630,0,0,0,0,0,0
$GC,3500,-0.47,-146.0,397.0,-11.1,387,3502,0.12,0.00,0.00,0.000,6,0.230,0.000,2705,2492,3630,0,0,0,0,0,0
$GC,3821,-0.50,-146.0,425.6,-8.5,417,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2492,3631,0,0,0,0,0,0
$GC,4148,-0.53,-146.0,453.6,-8.2,448,4152,0.00,2.25,0.00,0.000,4,0.000,0.078,2705,3899,3631,0,0,0,0,0,0
$GC,4182,-0.58,-146.0,456.6,-8.8,450,4188,0.00,2.20,0.00,0.000,6,0.000,0.047,2706,2478,3631,0,0,0,0,0,0
$GC,4509,-0.61,-146.0,483.2,-8.2,481,4513,0.12,2.20,0.00,0.000,4,0.131,0.063,2665,1077,3632,0,0,0,0,0,0
$GC,4542,-0.56,-146.0,486.9,-11.1,483,4548,0.00,2.28,0.00,0.000,6,0.000,0.063,2664,2501,3631,0,0,0,0,0,0
$GC,4867,-0.49,-146.0,523.4,-11.8,514,4869,0.15,0.00,0.00,0.000,6,0.228,0.000,2700,2501,3631,0,0,0,0,0,0
$GC,5187,-0.52,-146.0,551.1,-8.4,544,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2501,3632,0,0,0,0,0,0
$GC,5505,-0.55,-146.0,577.9,-8.7,574,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2502,3632,0,0,0,0,0,0
$GC,5842,-0.57,-146.0,606.0,-8.2,602,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2502,3632,0,0,0,0,0,0
$GC,6147,-0.60,-146.0,631.8,-8.6,612,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2502,3633,0,0,0,0,0,0
$GC,6454,-0.64,-146.0,658.6,-9.3,622,6458,0.12,2.25,0.00,0.000,4,0.134,0.077,2658,3899,3633,0,0,0,0,0,0
$GC,6464,-0.67,-146.0,659.5,-8.3,622,6468,0.00,2.15,0.00,0.000,6,0.000,0.046,2658,2484,3633,0,0,0,0,0,0
$STATE,6565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6565,begin apogee
$GC,6571,-0.12,0.0,669.9,10.3,626,6700,0.52,0.00,123.12,1.343,6,0.200,0.000,2810,2259,3030,0,0,0,0,0,0
$STATE,6701,end apogee,CONTROL_FINISHED_OK
$STATE,6701,begin climb
$GC,6703,0.62,146.0,674.0,0.0,630,6833,0.80,0.00,125.82,1.299,6,0.135,0.000,3055,2259,2434,0,0,0,0,0,0
$GC,7128,0.50,146.0,628.3,11.3,644,7132,0.00,2.45,0.00,0.000,4,0.000,0.069,3054,3692,2424,0,0,0,0,0,0
$GC,7211,0.50,146.0,616.2,26178.1,646,7216,0.15,2.33,0.00,0.000,6,0.196,0.054,3030,2288,2424,0,0,0,0,0,0
$GC,7536,0.50,146.0,580.2,26178.1,667,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2288,2423,0,0,0,0,0,0
$GC,7855,0.50,146.0,547.3,26178.1,697,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2288,2422,0,0,0,0,0,0
$GC,8175,0.50,146.0,514.9,26178.1,727,8179,0.00,2.33,0.00,0.000,4,0.000,0.070,3030,3697,2422,0,0,0,0,0,0
$GC,8227,0.50,146.0,508.7,26178.1,731,8231,0.00,2.30,0.00,0.000,6,0.000,0.052,3038,2264,2422,0,0,0,0,0,0
$GC,8552,0.50,146.0,474.9,26178.1,761,8556,0.00,2.25,0.00,0.000,4,0.000,0.068,3048,859,2422,0,0,0,0,0,0
$GC,8595,0.50,146.0,470.3,26178.1,764,8602,0.00,2.28,0.00,0.000,6,0.000,0.057,3049,2277,2421,0,0,0,0,0,0
$GC,8921,0.50,146.0,436.5,26178.1,795,8925,0.00,2.25,0.00,0.000,4,0.000,0.070,3049,3685,2422,0,0,0,0,0,0
$GC,9028,0.50,146.0,423.9,26178.1,804,9033,0.12,2.25,0.00,0.000,6,0.207,0.054,3030,2273,2421,0,0,0,0,0,0
$GC,9353,0.50,146.0,394.3,26178.1,834,9358,0.00,2.22,0.00,0.000,4,0.000,0.069,3038,868,2421,0,0,0,0,0,0
$GC,9381,0.50,146.0,391.7,26178.1,836,9387,0.00,2.25,0.00,0.000,6,0.000,0.057,3038,2277,2421,0,0,0,0,0,0
$GC,9707,0.50,146.0,360.0,26178.1,867,9712,0.00,2.25,0.00,0.000,4,0.000,0.070,3038,3692,2421,0,0,0,0,0,0
$GC,9793,0.50,146.0,349.9,26178.1,874,9797,0.00,2.25,0.00,0.000,6,0.000,0.054,3048,2269,2422,0,0,0,0,0,0
$GC,10118,0.50,146.0,316.3,26178.1,904,10122,0.00,2.28,0.00,0.000,4,0.000,0.067,3049,3695,2422,0,0,0,0,0,0
$GC,10162,0.50,146.0,311.3,26178.1,907,10169,0.12,2.25,0.00,0.000,6,0.207,0.053,3029,2269,2422,0,0,0,0,0,0
$GC,10487,0.50,146.0,283.7,26178.1,938,10491,0.00,2.22,0.00,0.000,4,0.000,0.067,3037,864,2421,0,0,0,0,0,0
$GC,10528,0.50,146.0,280.5,26178.1,941,10532,0.00,2.22,0.00,0.000,6,0.000,0.054,3037,2278,2421,0,0,0,0,0,0
$GC,10853,0.50,146.0,255.2,26178.1,971,10857,0.00,2.22,0.00,0.000,4,0.000,0.069,3037,3682,2421,0,0,0,0,0,0
$GC,10949,0.50,146.0,245.7,26178.1,979,10953,0.00,2.20,0.00,0.000,6,0.000,0.052,3047,2276,2421,0,0,0,0,0,0
$GC,11281,0.50,146.0,213.7,26178.1,1010,11285,0.00,2.22,0.00,0.000,4,0.000,0.066,3057,864,2422,0,0,0,0,0,0
$GC,11324,0.50,146.0,209.2,26178.1,1013,11332,0.08,2.22,0.00,0.000,6,0.171,0.054,3033,2268,2422,0,0,0,0,0,0
$GC,11651,0.50,146.0,184.4,26178.1,1044,11655,0.00,2.22,0.00,0.000,4,0.000,0.070,3033,3682,2422,0,0,0,0,0,0
$GC,11752,0.50,146.0,176.4,26178.1,1052,11759,0.00,2.20,0.00,0.000,6,0.000,0.052,3041,2273,2421,0,0,0,0,0,0
$GC,12079,0.50,146.0,151.8,26178.1,1083,12083,0.00,2.22,0.00,0.000,4,0.000,0.067,3049,869,2422,0,0,0,0,0,0
$GC,12112,0.50,146.0,149.5,26178.1,1085,12119,0.00,2.20,0.00,0.000,6,0.000,0.054,3048,2283,2422,0,0,0,0,0,0
$STATE,12159,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12159,begin subsurface finish
$FINISH1,146.1,1.026877,31
$GC,12164,0.04,30.5,146.1,-26178.1,1090,12177,0.52,2.28,-2.65,0.000,4,0.162,0.083,2884,3690,2922,0,0,0,0,0,0
$FINISH2,145.1
$STATE,12178,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12178,begin surface
$RAFOS_CLK,706
$RAFOS,6,1299012545,20.833334,20.818056,110,59,55,55,54,50,752,196,224,174,206,116
$RAFOS,5,1299012065,20.700001,20.684723,136,68,59,58,54,53,907,191,158,211,140,92
$RAFOS,4,1299011583,20.566668,20.550833,98,64,58,57,55,50,696,181,220,122,147,198
$RAFOS,3,1299011108,20.433332,20.418888,114,60,57,57,53,52,780,201,232,118,165,149
$RAFOS,2,1299010625,20.299999,20.284721,124,59,57,54,52,50,673,210,168,135,146,120
$RAFOS,1,1299010144,20.166666,20.151112,152,67,62,59,56,52,565,150,211,186,168,228
$RAFOS,0,1299009669,20.033333,20.019167,141,61,59,58,57,51,629,210,154,176,119,199
$RAFOS_FIX,6651.504395,-6003.656738,010311,202034,7,125,0.22
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.96
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.4,18.1
$ALTIM_BOTTOM_PING,147.6,19.0
$24V_AH,22.8,12.223
$10V_AH,10.3,5.975
$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,16.250,101.475,248.950,0.000,0.000,98.437,17.332,0.000,2.250,0.000,183.294,2666.210,7315.503,435.771,2099.278,377.053,0.000,1402.347,0.000,1782.079,2520.000,17.872,0.000
$DEVICE_MAMPS,337.365,86.445,1343.340,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.251,844.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150676
$DATA_FILE_SIZE,40074,1091
$CAP_FILE_SIZE,134727,0
$CFSIZE,260165632,247668736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.7
$GPS,010311,202734,6651.504,-6003.657,0,7125.0,0,-38.0