version: 66.08
glider: 141
mission: 15
dive: 16
start: 2 21 111 9 1 38
data:
$ID,141
$MISSION,15
$DIVE,16
$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,-22030.465
$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,30
$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,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
$GPS1,210211,085552,6707.372,-5705.987,9,99.0,28,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.4
$GPS2,210211,090107,6707.317,-5706.003,30,0.9,30,-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,291.3,152549,-17.5,-10.000
$D_GRID,578
$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,17,-0.62,-146.0,0.0,0.0,0,152,0.00,0.00,-130.60,0.000,2,0.000,0.000,109,2458,3513,0,0,0,0,0,0
$GC,154,-0.62,-146.0,5.9,-11.0,23,174,12.73,2.35,-2.22,0.000,4,0.334,0.087,2658,3855,3629,0,0,0,0,0,0
$GC,283,-0.55,-146.0,37.6,-15.4,45,291,0.12,2.25,0.00,0.000,6,0.217,0.052,2686,2442,3631,0,0,0,0,0,0
$GC,629,-0.51,-146.0,80.7,-12.2,106,636,0.00,2.35,0.00,0.000,4,0.000,0.078,2686,3858,3630,0,0,0,0,0,0
$GC,654,-0.48,-146.0,83.8,-11.9,110,661,0.00,2.22,0.00,0.000,6,0.000,0.051,2686,2450,3630,0,0,0,0,0,0
$GC,988,-0.48,-146.0,123.8,-12.6,153,992,0.00,2.33,0.00,0.000,4,0.000,0.079,2686,3857,3630,0,0,0,0,0,0
$GC,1066,-0.50,-146.0,134.3,-12.9,159,1072,0.00,2.20,0.00,0.000,6,0.000,0.052,2686,2444,3630,0,0,0,0,0,0
$GC,1392,-0.50,-146.0,175.7,-12.2,190,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2444,3629,0,0,0,0,0,0
$GC,1711,-0.50,-146.0,214.7,-11.8,220,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2444,3628,0,0,0,0,0,0
$GC,2029,-0.50,-146.0,250.0,-10.8,250,2033,0.00,2.28,0.00,0.000,4,0.000,0.076,2687,3850,3628,0,0,0,0,0,0
$GC,2069,-0.55,-146.0,254.4,-10.6,253,2073,0.00,2.17,0.00,0.000,6,0.000,0.050,2686,2439,3627,0,0,0,0,0,0
$GC,2394,-0.57,-146.0,285.9,-9.1,283,2398,0.00,2.17,0.00,0.000,4,0.000,0.064,2686,1043,3628,0,0,0,0,0,0
$GC,2467,-0.60,-146.0,293.2,-10.0,289,2474,0.00,2.22,0.00,0.000,6,0.000,0.061,2687,2450,3628,0,0,0,0,0,0
$GC,2792,-0.62,-146.0,323.6,-9.5,320,2796,0.00,2.30,0.00,0.000,4,0.000,0.076,2687,3860,3630,0,0,0,0,0,0
$GC,2855,-0.67,-146.0,329.7,-9.2,325,2860,0.00,2.17,0.00,0.000,6,0.000,0.048,2686,2443,3630,0,0,0,0,0,0
$GC,3187,-0.69,-146.0,360.9,-9.3,356,3191,0.12,2.20,0.00,0.000,4,0.135,0.064,2647,1039,3632,0,0,0,0,0,0
$GC,3230,-0.63,-146.0,366.3,-12.3,359,3237,0.00,2.22,0.00,0.000,6,0.000,0.061,2646,2450,3632,0,0,0,0,0,0
$GC,3556,-0.55,-146.0,408.6,-13.2,390,3561,0.17,2.28,0.00,0.000,4,0.223,0.077,2689,3863,3632,0,0,0,0,0,0
$GC,3607,-0.62,-146.0,414.0,-9.6,394,3611,0.00,2.17,0.00,0.000,6,0.000,0.049,2689,2440,3632,0,0,0,0,0,0
$GC,3935,-0.65,-146.0,443.9,-8.8,424,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2440,3632,0,0,0,0,0,0
$GC,4252,-0.69,-146.0,472.8,-9.4,454,4254,0.12,0.00,0.00,0.000,6,0.128,0.000,2648,2440,3632,0,0,0,0,0,0
$GC,4569,-0.62,-146.0,512.1,-12.4,484,4573,0.00,2.30,0.00,0.000,4,0.000,0.076,2647,3860,3633,0,0,0,0,0,0
$GC,4638,-0.57,-146.0,520.9,-13.0,490,4643,0.12,2.17,0.00,0.000,6,0.213,0.050,2677,2452,3632,0,0,0,0,0,0
$GC,4963,-0.57,-146.0,553.2,-9.8,520,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2452,3632,0,0,0,0,0,0
$STATE,4993,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4993,begin apogee
$GC,4998,-0.12,0.0,556.3,10.0,523,5123,0.47,0.00,119.70,1.223,6,0.184,0.000,2821,2212,3030,0,0,0,0,0,0
$STATE,5124,end apogee,CONTROL_FINISHED_OK
$STATE,5124,begin climb
$GC,5126,0.62,146.0,560.2,0.0,534,5259,0.77,2.45,122.62,1.196,4,0.133,0.074,3070,834,2433,0,0,0,0,0,0
$GC,5316,0.52,146.0,543.8,12.9,551,5321,0.12,2.35,0.00,0.000,6,0.191,0.058,3042,2222,2427,0,0,0,0,0,0
$GC,5642,0.47,146.0,506.7,11.2,581,5646,0.00,2.35,0.00,0.000,4,0.000,0.073,3041,3633,2424,0,0,0,0,0,0
$GC,5788,0.37,146.0,488.0,12.5,593,5796,0.22,2.28,0.00,0.000,6,0.187,0.059,2992,2238,2423,0,0,0,0,0,0
$GC,6114,0.46,187.4,461.0,8.1,624,6158,0.00,2.45,34.30,1.121,4,0.000,0.073,2992,3637,2265,0,0,0,0,0,0
$GC,6171,0.54,210.2,456.1,8.9,629,6198,0.12,2.35,21.55,1.097,6,0.108,0.055,3043,2218,2172,0,0,0,0,0,0
$GC,6517,0.54,210.2,416.6,11.5,661,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2218,2164,0,0,0,0,0,0
$GC,6838,0.54,210.2,380.4,12.2,691,6843,0.00,2.35,0.00,0.000,4,0.000,0.073,3044,3638,2163,0,0,0,0,0,0
$GC,6856,0.54,210.2,377.8,12.6,692,6860,0.00,2.28,0.00,0.000,6,0.000,0.056,3054,2226,2163,0,0,0,0,0,0
$GC,7182,0.54,210.2,336.8,12.2,722,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2226,2162,0,0,0,0,0,0
$GC,7501,0.54,210.2,296.8,12.3,752,7505,0.00,2.30,0.00,0.000,4,0.000,0.072,3054,3634,2162,0,0,0,0,0,0
$GC,7533,0.49,210.2,292.1,13.9,754,7541,0.12,2.25,0.00,0.000,6,0.195,0.054,3034,2216,2161,0,0,0,0,0,0
$GC,7858,0.49,210.2,257.8,10.8,785,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2216,2161,0,0,0,0,0,0
$GC,8179,0.49,210.2,224.6,10.6,815,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2215,2160,0,0,0,0,0,0
$GC,8497,0.51,210.2,191.6,10.3,845,8501,0.00,2.28,0.00,0.000,4,0.000,0.070,3033,3637,2160,0,0,0,0,0,0
$GC,8536,0.51,210.2,186.8,11.7,848,8540,0.00,2.22,0.00,0.000,6,0.000,0.054,3041,2224,2160,0,0,0,0,0,0
$GC,8861,0.53,228.3,154.5,9.2,878,8882,0.00,0.00,14.27,0.884,6,0.000,0.000,3042,2224,2099,0,0,0,0,0,0
$GC,9202,0.58,228.3,121.1,10.4,910,9206,0.00,2.28,0.00,0.000,4,0.000,0.070,3041,3643,2097,0,0,0,0,0,0
$GC,9241,0.58,228.3,116.5,12.2,913,9246,0.00,2.25,0.00,0.000,6,0.000,0.052,3050,2216,2096,0,0,0,0,0,0
$GC,9578,0.61,228.3,80.5,10.6,959,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2215,2097,0,0,0,0,0,0
$GC,9921,0.66,228.3,43.9,10.1,1020,9927,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2215,2097,0,0,0,0,0,0
$GC,10264,0.69,228.3,11.4,12.1,1081,10272,0.12,2.28,0.00,0.000,4,0.112,0.070,3101,3635,2097,0,0,0,0,0,0
$FREEZE,8.95,-0.405,-1.830,3,1,0
$FREEZE,8.29,-0.421,-1.829,3,1,0
$FREEZE,7.72,-0.427,-1.829,3,1,0
$FREEZE,6.89,-0.426,-1.828,3,1,0
$FREEZE,6.22,-0.425,-1.828,3,1,0
$FREEZE,5.53,-0.420,-1.827,3,1,0
$FREEZE,4.72,-0.423,-1.826,3,1,0
$FREEZE,3.86,-0.426,-1.826,3,1,0
$FREEZE,3.07,-0.426,-1.825,3,1,0
$FREEZE,2.37,-0.426,-1.825,3,1,0
$STATE,10331,end climb,SURFACE_DEPTH_REACHED
$STATE,10331,begin surface coast
$FREEZE,0.99,-0.420,-1.823,3,1,0
$FREEZE,0.98,-0.474,-1.825,3,1,0
$FREEZE,0.92,-0.551,-1.092,3,1,0
$FINISH,0.9,1.016141
$STATE,10347,end surface coast,CONTROL_FINISHED_OK
$STATE,10348,begin surface
$SM_CCo,10366,75.62,0.067,0,0,1398,400.08
$SM_GC,1.85,0.00,0.00,75.62,0.000,0.000,0.067,111,2444,1398,-8.62,-0.17,400.08
$RAFOS_CLK,501
$RAFOS,6,1298278142,8.833333,8.817223,81,59,59,55,54,54,775,197,119,185,210,128
$RAFOS_FIX,6710.052734,-5716.303711,210211,080840,3,88,0.00
$IRIDIUM_FIX,6636.54,-5704.59,210211,060635
$TT8_MAMPS,0.026215
$HUMID,46.10
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,550.1,20.9
$24V_AH,23.5,5.392
$10V_AH,10.4,2.244
$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,24.000,77.300,312.450,75.625,0.000,25.267,18.831,125.868,2.250,0.000,32.975,2625.884,5489.384,516.636,1947.232,198.694,0.000,1441.938,0.000,1732.010,0.000,18.844,0.000
$DEVICE_MAMPS,334.305,87.210,1223.235,66.555,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.042,834.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150724
$DATA_FILE_SIZE,43372,1096
$CAP_FILE_SIZE,119047,0
$CFSIZE,260165632,251228160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.6
$GPS,210211,115707,6707.354,-5707.805,28,1.3,28,-37.7