version: 66.08
glider: 141
mission: 15
dive: 15
start: 2 21 111 6 11 20
data:
$ID,141
$MISSION,15
$DIVE,15
$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,-22029.207
$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,31
$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
$GPS1,210211,060546,6707.264,-5702.817,39,1.1,48,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-74.3
$GPS2,210211,061049,6707.246,-5702.775,12,1.4,17,-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,291.6,154779,-17.5,-10.000
$D_GRID,551
$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,15,-0.62,-146.0,0.0,0.0,0,150,0.00,0.00,-131.93,0.000,2,0.000,0.000,114,2461,3594,0,0,0,0,0,0
$GC,154,-0.62,-146.0,6.5,-15.3,23,174,12.60,2.28,-0.60,0.000,4,0.334,0.083,2658,3853,3628,0,0,0,0,0,0
$GC,303,-0.53,-146.0,44.8,-17.4,49,311,0.15,2.22,0.00,0.000,6,0.213,0.052,2693,2453,3628,0,0,0,0,0,0
$GC,649,-0.53,-146.0,90.6,-12.8,110,655,0.00,2.30,0.00,0.000,4,0.000,0.078,2693,3859,3628,0,0,0,0,0,0
$GC,712,-0.53,-146.0,98.9,-12.7,121,719,0.00,2.20,0.00,0.000,6,0.000,0.051,2692,2446,3628,0,0,0,0,0,0
$GC,1046,-0.53,-146.0,138.9,-11.8,153,1050,0.00,2.22,0.00,0.000,4,0.000,0.067,2693,1037,3627,0,0,0,0,0,0
$GC,1074,-0.53,-146.0,142.3,-12.5,155,1078,0.00,2.25,0.00,0.000,6,0.000,0.063,2693,2449,3627,0,0,0,0,0,0
$GC,1404,-0.55,-146.0,176.0,-9.8,186,1408,0.00,2.28,0.00,0.000,4,0.000,0.080,2693,3856,3627,0,0,0,0,0,0
$GC,1506,-0.59,-146.0,185.4,-8.8,194,1513,0.00,2.17,0.00,0.000,6,0.000,0.051,2693,2449,3626,0,0,0,0,0,0
$GC,1832,-0.62,-146.0,215.3,-9.0,225,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2449,3626,0,0,0,0,0,0
$GC,2152,-0.65,-146.0,242.9,-8.5,255,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2449,3626,0,0,0,0,0,0
$GC,2470,-0.69,-146.0,269.0,-8.6,285,2475,0.15,2.22,0.00,0.000,4,0.125,0.064,2642,1038,3626,0,0,0,0,0,0
$GC,2527,-0.62,-146.0,275.7,-12.6,290,2531,0.00,2.25,0.00,0.000,6,0.000,0.062,2642,2456,3627,0,0,0,0,0,0
$GC,2853,-0.53,-146.0,317.3,-13.1,320,2858,0.20,2.25,0.00,0.000,4,0.222,0.074,2691,3863,3628,0,0,0,0,0,0
$GC,2928,-0.59,-146.0,325.0,-9.0,326,2932,0.00,2.17,0.00,0.000,6,0.000,0.048,2691,2439,3629,0,0,0,0,0,0
$GC,3258,-0.62,-146.0,354.5,-9.0,357,3262,0.00,2.17,0.00,0.000,4,0.000,0.064,2692,1039,3629,0,0,0,0,0,0
$GC,3286,-0.65,-146.0,357.3,-10.1,359,3292,0.00,2.22,0.00,0.000,6,0.000,0.060,2691,2450,3630,0,0,0,0,0,0
$GC,3611,-0.68,-146.0,385.8,-8.5,390,3616,0.12,2.28,0.00,0.000,4,0.128,0.077,2649,3860,3630,0,0,0,0,0,0
$GC,3691,-0.64,-146.0,395.3,-12.6,397,3695,0.00,2.17,0.00,0.000,6,0.000,0.049,2649,2452,3630,0,0,0,0,0,0
$GC,4021,-0.58,-146.0,436.7,-12.5,428,4023,0.12,0.00,0.00,0.000,6,0.227,0.000,2677,2451,3630,0,0,0,0,0,0
$GC,4341,-0.58,-146.0,470.2,-10.5,458,4345,0.00,2.25,0.00,0.000,4,0.000,0.077,2677,3854,3630,0,0,0,0,0,0
$GC,4385,-0.61,-146.0,475.2,-10.4,461,4392,0.00,2.17,0.00,0.000,6,0.000,0.050,2677,2438,3630,0,0,0,0,0,0
$GC,4710,-0.61,-146.0,507.6,-9.8,492,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2438,3631,0,0,0,0,0,0
$STATE,4825,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4825,begin apogee
$GC,4831,-0.12,0.0,519.1,9.9,503,4955,0.47,0.00,118.40,1.192,6,0.184,0.000,2821,2212,3030,0,0,0,0,0,0
$STATE,4955,end apogee,CONTROL_FINISHED_OK
$STATE,4955,begin climb
$GC,4957,0.62,146.0,523.4,0.0,514,5088,0.77,2.42,121.57,1.166,4,0.135,0.070,3069,837,2433,0,0,0,0,0,0
$GC,5140,0.52,146.0,509.0,12.6,531,5144,0.00,2.35,0.00,0.000,6,0.000,0.061,3069,2232,2428,0,0,0,0,0,0
$GC,5465,0.42,146.0,469.1,12.2,561,5470,0.22,2.35,0.00,0.000,4,0.186,0.072,3010,3641,2425,0,0,0,0,0,0
$GC,5589,0.37,146.0,455.5,10.6,571,5596,0.00,2.28,0.00,0.000,6,0.000,0.055,3018,2238,2424,0,0,0,0,0,0
$GC,5915,0.39,160.0,425.5,9.4,602,5932,0.00,2.33,11.60,0.980,4,0.000,0.071,3018,3639,2376,0,0,0,0,0,0
$GC,5956,0.36,160.0,421.3,10.8,605,5960,0.15,2.30,0.00,0.000,6,0.190,0.055,2993,2221,2376,0,0,0,0,0,0
$GC,6281,0.45,192.5,394.1,8.5,635,6315,0.00,2.45,28.48,1.079,4,0.000,0.070,2992,3637,2244,0,0,0,0,0,0
$GC,6328,0.55,228.3,390.3,8.4,639,6366,0.15,2.33,32.40,1.082,6,0.102,0.053,3053,2218,2099,0,0,0,0,0,0
$GC,6686,0.55,228.3,345.3,12.7,672,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2218,2090,0,0,0,0,0,0
$GC,7006,0.55,228.3,304.5,13.2,702,7010,0.00,2.33,0.00,0.000,4,0.000,0.071,3053,3644,2089,0,0,0,0,0,0
$GC,7034,0.52,228.3,300.6,13.8,704,7038,0.00,2.28,0.00,0.000,6,0.000,0.054,3063,2226,2088,0,0,0,0,0,0
$GC,7359,0.49,228.3,257.3,13.2,734,7364,0.12,2.25,0.00,0.000,4,0.192,0.070,3041,817,2087,0,0,0,0,0,0
$GC,7388,0.49,228.3,253.8,11.8,736,7392,0.00,2.25,0.00,0.000,6,0.000,0.058,3042,2236,2086,0,0,0,0,0,0
$GC,7712,0.49,228.3,217.4,11.2,766,7716,0.00,2.25,0.00,0.000,4,0.000,0.070,3041,3632,2085,0,0,0,0,0,0
$GC,7778,0.49,228.3,209.3,12.8,771,7785,0.00,2.25,0.00,0.000,6,0.000,0.053,3050,2225,2085,0,0,0,0,0,0
$GC,8103,0.49,228.3,171.6,11.8,802,8107,0.00,2.25,0.00,0.000,4,0.000,0.068,3049,3633,2085,0,0,0,0,0,0
$GC,8135,0.49,228.3,167.4,12.8,804,8142,0.00,2.22,0.00,0.000,6,0.000,0.052,3058,2214,2085,0,0,0,0,0,0
$GC,8460,0.49,228.3,130.0,11.0,835,8465,0.12,2.28,0.00,0.000,4,0.188,0.067,3026,3635,2085,0,0,0,0,0,0
$GC,8478,0.49,228.3,128.1,10.4,836,8482,0.00,2.20,0.00,0.000,6,0.000,0.050,3028,2226,2085,0,0,0,0,0,0
$GC,8803,0.60,267.6,100.5,8.2,866,8845,0.10,2.33,32.47,0.887,4,0.136,0.066,3068,3633,1937,0,0,0,0,0,0
$GC,8895,0.60,267.6,90.0,12.5,881,8902,0.00,2.25,0.00,0.000,6,0.000,0.050,3076,2227,1935,0,0,0,0,0,0
$GC,9239,0.63,267.6,52.9,11.1,942,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2227,1933,0,0,0,0,0,0
$GC,9582,0.66,267.6,15.7,11.3,1003,9588,0.00,2.28,0.00,0.000,4,0.000,0.069,3076,3632,1932,0,0,0,0,0,0
$GC,9629,0.66,267.6,10.1,12.1,1011,9635,0.00,2.22,0.00,0.000,6,0.000,0.052,3083,2222,1932,0,0,0,0,0,0
$FREEZE,8.36,-0.612,-1.828,2,1,0
$FREEZE,7.59,-0.629,-1.828,2,1,0
$FREEZE,6.86,-0.628,-1.827,2,1,0
$FREEZE,6.39,-0.623,-1.827,2,1,0
$FREEZE,5.69,-0.617,-1.826,2,1,0
$FREEZE,5.06,-0.617,-1.826,2,1,0
$FREEZE,4.33,-0.623,-1.825,2,1,0
$FREEZE,3.65,-0.635,-1.825,2,1,0
$FREEZE,3.10,-0.636,-1.825,2,1,0
$FREEZE,2.50,-0.631,-1.824,2,1,0
$STATE,9687,end climb,SURFACE_DEPTH_REACHED
$STATE,9687,begin surface coast
$FREEZE,1.84,-0.630,-1.823,2,1,0
$FREEZE,1.10,-0.625,-1.823,2,1,0
$FREEZE,1.00,-0.616,-0.793,2,1,0
$FREEZE,1.05,-0.615,-1.823,2,1,0
$FINISH,1.0,1.026715
$STATE,9711,end surface coast,CONTROL_FINISHED_OK
$STATE,9711,begin surface
$SM_CCo,9727,58.20,0.066,0,0,1398,400.08
$SM_GC,1.93,0.00,0.00,58.20,0.000,0.000,0.066,111,2456,1398,-8.62,0.17,400.08
$RAFOS_CLK,463
$RAFOS,5,1298277665,8.700000,8.684722,75,63,55,52,52,52,616,212,151,190,128,117
$RAFOS,4,1298277183,8.566667,8.550834,109,61,59,55,53,52,853,193,166,215,227,151
$RAFOS,3,1298276707,8.433333,8.418612,57,55,54,54,53,53,211,178,138,154,223,964
$RAFOS,2,1298276231,8.300000,8.286389,60,58,55,52,52,44,186,217,147,130,171,87
$RAFOS,1,1298275750,8.166667,8.152778,68,63,62,55,52,50,187,173,208,141,220,199
$RAFOS,0,1298275268,8.033334,8.018888,75,62,58,57,56,53,182,117,207,225,166,151
$RAFOS_FIX,6704.791016,-5708.443359,210211,080824,2,92,0.69
$IRIDIUM_FIX,6636.54,-5704.59,210211,030345
$TT8_MAMPS,0.029211
$HUMID,45.15
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.8
$ALTIM_BOTTOM_PING,500.1,32.9
$24V_AH,23.5,5.276
$10V_AH,10.4,2.176
$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,23.850,91.225,344.925,58.200,0.000,29.945,17.235,125.473,1.750,0.000,19.964,2464.981,5079.239,526.727,1841.850,193.886,0.000,1426.362,0.000,1640.660,2520.000,14.202,0.000
$DEVICE_MAMPS,333.540,83.385,1191.870,65.790,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.646,779.022,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,39981,1026
$CAP_FILE_SIZE,118773,0
$CFSIZE,260165632,251301888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.1
$GPS,210211,085552,6707.372,-5705.987,9,99.0,28,-37.7