version: 66.08
glider: 141
mission: 15
dive: 12
start: 2 20 111 21 56 10
data:
$ID,141
$MISSION,15
$DIVE,12
$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,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,-22025.441
$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,2300
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,29
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,200211,214534,6704.052,-5654.823,8,5.4,27,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.1
$GPS2,200211,215540,6704.031,-5654.698,10,2.2,29,-37.6
$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,294.1,158969,-17.5,-10.000
$D_GRID,539
$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,-146.0,0.0,0.0,0,185,0.00,0.00,-166.65,0.000,2,0.000,0.000,106,2315,3548,0,0,0,0,0,0
$GC,188,-0.62,-146.0,6.0,-11.5,29,208,12.57,2.38,-1.52,0.000,4,0.327,0.090,2657,3704,3629,0,0,0,0,0,0
$GC,312,-0.53,-146.0,38.1,-17.1,50,319,0.15,2.22,0.00,0.000,6,0.214,0.052,2691,2300,3630,0,0,0,0,0,0
$GC,658,-0.50,-146.0,88.4,-14.4,111,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2300,3630,0,0,0,0,0,0
$GC,988,-0.50,-146.0,127.9,-9.6,149,992,0.00,2.33,0.00,0.000,4,0.000,0.078,2691,3702,3629,0,0,0,0,0,0
$GC,1095,-0.53,-146.0,137.4,-8.6,158,1100,0.00,2.20,0.00,0.000,6,0.000,0.052,2691,2293,3628,0,0,0,0,0,0
$GC,1420,-0.53,-146.0,165.3,-8.3,188,1425,0.00,2.30,0.00,0.000,4,0.000,0.076,2691,3709,3628,0,0,0,0,0,0
$GC,1506,-0.58,-146.0,172.6,-8.6,195,1510,0.00,2.20,0.00,0.000,6,0.000,0.051,2691,2301,3628,0,0,0,0,0,0
$GC,1832,-0.60,-146.0,205.6,-10.7,225,1837,0.00,2.28,0.00,0.000,4,0.000,0.074,2691,3708,3628,0,0,0,0,0,0
$GC,1884,-0.65,-146.0,211.5,-11.4,229,1888,0.00,2.20,0.00,0.000,6,0.000,0.049,2691,2295,3628,0,0,0,0,0,0
$GC,2209,-0.67,-146.0,249.0,-11.7,259,2214,0.12,2.30,0.00,0.000,4,0.134,0.073,2650,3714,3629,0,0,0,0,0,0
$GC,2275,-0.62,-146.0,258.4,-14.4,264,2282,0.00,2.20,0.00,0.000,6,0.000,0.049,2651,2300,3629,0,0,0,0,0,0
$GC,2602,-0.55,-146.0,305.0,-13.9,295,2607,0.15,2.28,0.00,0.000,4,0.220,0.073,2686,3704,3630,0,0,0,0,0,0
$GC,2680,-0.59,-146.0,314.1,-10.2,301,2687,0.00,2.17,0.00,0.000,6,0.000,0.047,2687,2294,3630,0,0,0,0,0,0
$GC,3005,-0.62,-146.0,346.1,-9.8,332,3009,0.00,2.25,0.00,0.000,4,0.000,0.071,2686,3704,3631,0,0,0,0,0,0
$GC,3106,-0.66,-146.0,356.0,-9.2,340,3113,0.00,2.17,0.00,0.000,6,0.000,0.047,2686,2294,3631,0,0,0,0,0,0
$GC,3432,-0.68,-146.0,387.5,-9.3,371,3436,0.12,2.28,0.00,0.000,4,0.135,0.071,2645,3707,3633,0,0,0,0,0,0
$GC,3498,-0.62,-146.0,395.7,-12.6,376,3505,0.00,2.15,0.00,0.000,6,0.000,0.047,2645,2298,3633,0,0,0,0,0,0
$GC,3823,-0.53,-146.0,436.4,-12.4,407,3828,0.20,2.25,0.00,0.000,4,0.216,0.072,2695,3701,3634,0,0,0,0,0,0
$GC,3909,-0.59,-146.0,444.2,-8.6,414,3913,0.00,2.15,0.00,0.000,6,0.000,0.048,2695,2291,3634,0,0,0,0,0,0
$GC,4234,-0.64,-146.0,472.4,-8.4,444,4238,0.00,2.28,0.00,0.000,4,0.000,0.073,2695,3712,3634,0,0,0,0,0,0
$GC,4347,-0.70,-146.0,482.2,-8.5,454,4352,0.15,2.17,0.00,0.000,6,0.120,0.049,2644,2301,3634,0,0,0,0,0,0
$STATE,4628,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4628,begin apogee
$GC,4633,-0.12,0.0,517.0,13.1,480,4757,0.60,0.00,118.53,1.173,6,0.198,0.000,2818,2137,3030,0,0,0,0,0,0
$STATE,4758,end apogee,CONTROL_FINISHED_OK
$STATE,4758,begin climb
$GC,4760,0.62,146.0,521.3,0.0,491,4892,0.77,2.40,121.60,1.150,4,0.139,0.070,3065,760,2433,0,0,0,0,0,0
$GC,4961,0.52,146.0,504.1,13.2,509,4965,0.00,2.30,0.00,0.000,6,0.000,0.055,3063,2148,2427,0,0,0,0,0,0
$GC,5286,0.43,146.0,463.6,12.4,539,5291,0.20,2.33,0.00,0.000,4,0.186,0.069,3009,3558,2425,0,0,0,0,0,0
$GC,5453,0.39,146.0,445.1,10.7,553,5460,0.00,2.25,0.00,0.000,6,0.000,0.054,3017,2164,2423,0,0,0,0,0,0
$GC,5779,0.42,164.5,414.7,9.1,584,5801,0.00,2.35,14.80,1.003,4,0.000,0.070,3017,3567,2359,0,0,0,0,0,0
$GC,5852,0.38,164.5,407.0,10.9,590,5859,0.12,2.30,0.00,0.000,6,0.189,0.054,2998,2144,2358,0,0,0,0,0,0
$GC,6177,0.49,215.6,381.2,7.6,621,6232,0.00,2.47,44.25,1.074,4,0.000,0.069,2997,3564,2150,0,0,0,0,0,0
$GC,6327,0.59,242.4,367.8,8.8,634,6357,0.17,2.33,23.83,1.034,6,0.099,0.053,3067,2143,2041,0,0,0,0,0,0
$GC,6674,0.56,242.4,324.5,13.0,667,6678,0.00,2.35,0.00,0.000,4,0.000,0.069,3067,3566,2033,0,0,0,0,0,0
$GC,6697,0.52,242.4,321.2,14.4,669,6702,0.15,2.30,0.00,0.000,6,0.187,0.054,3040,2140,2033,0,0,0,0,0,0
$GC,7022,0.54,242.4,283.8,11.9,699,7026,0.00,2.33,0.00,0.000,4,0.000,0.069,3039,3565,2031,0,0,0,0,0,0
$GC,7112,0.54,242.4,271.9,13.0,707,7116,0.00,2.28,0.00,0.000,6,0.000,0.053,3042,2138,2031,0,0,0,0,0,0
$GC,7437,0.57,242.4,230.9,12.5,737,7441,0.00,2.28,0.00,0.000,4,0.000,0.067,3042,3560,2030,0,0,0,0,0,0
$GC,7502,0.57,242.4,221.8,13.7,742,7509,0.00,2.25,0.00,0.000,6,0.000,0.050,3051,2148,2030,0,0,0,0,0,0
$GC,7829,0.57,242.4,180.9,12.2,773,7833,0.00,2.28,0.00,0.000,4,0.000,0.067,3051,3564,2030,0,0,0,0,0,0
$GC,7849,0.57,242.4,178.0,12.3,774,7857,0.00,2.25,0.00,0.000,6,0.000,0.050,3059,2140,2030,0,0,0,0,0,0
$GC,8175,0.57,242.4,139.4,11.3,805,8179,0.00,2.30,0.00,0.000,4,0.000,0.066,3059,3571,2030,0,0,0,0,0,0
$GC,8237,0.55,242.4,131.7,13.2,810,8241,0.00,2.22,0.00,0.000,6,0.000,0.049,3068,2149,2030,0,0,0,0,0,0
$GC,8565,0.55,242.4,95.5,10.1,844,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2148,2030,0,0,0,0,0,0
$GC,8908,0.58,242.4,61.6,10.2,905,8915,0.00,2.25,0.00,0.000,4,0.000,0.067,3069,3570,2029,0,0,0,0,0,0
$GC,8943,0.58,242.4,57.6,11.7,911,8950,0.00,2.22,0.00,0.000,6,0.000,0.050,3077,2146,2030,0,0,0,0,0,0
$GC,9289,0.58,242.4,21.1,11.3,972,9296,0.00,2.22,0.00,0.000,4,0.000,0.069,3086,745,2030,0,0,0,0,0,0
$GC,9319,0.58,242.4,17.9,10.7,977,9326,0.00,2.22,0.00,0.000,6,0.000,0.059,3086,2153,2029,0,0,0,0,0,0
$FREEZE,8.46,-0.322,-1.829,3,1,0
$FREEZE,7.91,-0.326,-1.829,3,1,0
$FREEZE,7.41,-0.326,-1.829,3,1,0
$FREEZE,6.87,-0.324,-1.828,3,1,0
$FREEZE,6.46,-0.321,-1.828,3,1,0
$FREEZE,5.97,-0.323,-1.827,3,1,0
$FREEZE,5.02,-0.317,-1.827,3,1,0
$FREEZE,4.24,-0.315,-1.826,3,1,0
$FREEZE,3.54,-0.305,-1.826,3,1,0
$FREEZE,2.89,-0.312,-1.825,3,1,0
$STATE,9459,end climb,SURFACE_DEPTH_REACHED
$STATE,9459,begin surface coast
$FREEZE,2.21,-0.312,-1.825,3,1,0
$FREEZE,1.71,-0.314,-1.824,3,1,0
$FREEZE,1.21,-0.327,-1.824,3,1,0
$FREEZE,0.83,-0.326,-1.820,3,1,0
$FINISH,0.8,1.026663
$STATE,9481,end surface coast,CONTROL_FINISHED_OK
$STATE,9481,begin surface
$SM_CCo,9497,135.18,0.064,0,0,750,559.04
$SM_GC,1.57,0.00,0.00,135.18,0.000,0.000,0.064,111,2303,750,-8.62,0.08,559.04
$RAFOS_CLK,449
$RAFOS,3,1298247901,0.433333,0.416944,60,59,57,55,54,49,209,181,163,140,191,112
$RAFOS,2,1298247424,0.300000,0.284444,70,55,55,55,49,48,218,140,182,125,168,227
$RAFOS,1,1298246941,0.166667,0.150278,56,53,52,52,50,48,205,162,127,224,699,115
$RAFOS,0,1298246467,0.033333,0.018611,61,56,53,52,51,50,152,211,235,194,119,221
$RAFOS_FIX,6707.972168,-5654.844238,200211,121200,2,80,0.15
$IRIDIUM_FIX,6620.33,-6217.79,200211,181817
$TT8_MAMPS,0.029211
$HUMID,44.64
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.3,131.7
$24V_AH,23.6,4.935
$10V_AH,10.4,1.981
$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,24.025,95.675,323.000,135.175,0.000,25.529,47.134,327.377,1.000,0.000,32.945,2381.843,4852.352,624.034,2125.928,262.420,0.000,1547.357,0.000,1690.973,1800.000,9.313,0.000
$DEVICE_MAMPS,326.655,90.270,1172.745,64.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.267,759.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150680
$DATA_FILE_SIZE,40059,1006
$CAP_FILE_SIZE,122615,0
$CFSIZE,260165632,251494400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$GPS,210211,003827,6704.604,-5655.352,37,3.0,56,-37.6