version: 66.08
glider: 141
mission: 15
dive: 13
start: 2 21 111 0 44 3
data:
$ID,141
$MISSION,15
$DIVE,13
$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,-22026.695
$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,26
$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
$GPS1,210211,003827,6704.604,-5655.352,37,3.0,56,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.0
$GPS2,210211,004332,6704.659,-5655.278,13,1.2,13,-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,293.7,158833,-17.5,-10.000
$D_GRID,528
$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,-146.0,0.0,0.0,0,187,0.00,0.00,-168.60,0.000,2,0.000,0.000,109,2304,3559,0,0,0,0,0,0
$GC,189,-0.62,-146.0,6.3,-12.2,29,210,12.48,2.62,-1.33,0.000,4,0.330,0.090,2657,3857,3629,0,0,0,0,0,0
$GC,368,-0.55,-146.0,48.8,-16.4,60,375,0.12,2.25,0.00,0.000,6,0.220,0.054,2684,2445,3630,0,0,0,0,0,0
$GC,713,-0.51,-146.0,99.3,-14.6,121,719,0.00,2.25,0.00,0.000,4,0.000,0.070,2684,1043,3630,0,0,0,0,0,0
$GC,794,-0.51,-146.0,110.7,-14.0,129,798,0.00,2.28,0.00,0.000,6,0.000,0.067,2685,2450,3630,0,0,0,0,0,0
$GC,1120,-0.51,-146.0,154.5,-12.7,159,1124,0.00,2.33,0.00,0.000,4,0.000,0.083,2685,3856,3629,0,0,0,0,0,0
$GC,1163,-0.53,-146.0,160.1,-11.4,162,1170,0.00,2.22,0.00,0.000,6,0.000,0.054,2684,2438,3629,0,0,0,0,0,0
$GC,1488,-0.53,-146.0,195.4,-10.7,193,1492,0.00,2.20,0.00,0.000,4,0.000,0.070,2685,1046,3628,0,0,0,0,0,0
$GC,1544,-0.55,-146.0,201.6,-10.9,197,1551,0.00,2.25,0.00,0.000,6,0.000,0.065,2684,2451,3628,0,0,0,0,0,0
$GC,1869,-0.55,-146.0,236.8,-11.2,228,1873,0.00,2.28,0.00,0.000,4,0.000,0.078,2684,3866,3627,0,0,0,0,0,0
$GC,1935,-0.60,-146.0,244.3,-10.9,233,1942,0.00,2.17,0.00,0.000,6,0.000,0.050,2684,2449,3628,0,0,0,0,0,0
$GC,2260,-0.60,-146.0,277.6,-9.5,264,2264,0.00,2.30,0.00,0.000,4,0.000,0.076,2684,3861,3629,0,0,0,0,0,0
$GC,2335,-0.63,-146.0,284.4,-8.9,270,2339,0.00,2.20,0.00,0.000,6,0.000,0.050,2685,2443,3629,0,0,0,0,0,0
$GC,2660,-0.65,-146.0,312.7,-8.7,300,2664,0.00,2.20,0.00,0.000,4,0.000,0.064,2685,1042,3630,0,0,0,0,0,0
$GC,2718,-0.69,-146.0,317.8,-8.6,305,2723,0.12,2.25,0.00,0.000,6,0.136,0.061,2644,2465,3630,0,0,0,0,0,0
$GC,3043,-0.61,-146.0,357.2,-12.6,335,3048,0.12,2.22,0.00,0.000,4,0.223,0.076,2672,3853,3631,0,0,0,0,0,0
$GC,3100,-0.61,-146.0,363.7,-10.7,340,3103,0.00,2.17,0.00,0.000,6,0.000,0.048,2672,2445,3631,0,0,0,0,0,0
$GC,3431,-0.61,-146.0,399.2,-10.7,371,3435,0.00,2.28,0.00,0.000,4,0.000,0.076,2671,3853,3633,0,0,0,0,0,0
$GC,3475,-0.61,-146.0,404.4,-10.7,374,3482,0.00,2.15,0.00,0.000,6,0.000,0.048,2672,2440,3633,0,0,0,0,0,0
$GC,3802,-0.61,-146.0,438.9,-9.9,405,3806,0.00,2.30,0.00,0.000,4,0.000,0.076,2671,3858,3633,0,0,0,0,0,0
$GC,3835,-0.61,-146.0,442.7,-10.1,407,3843,0.00,2.17,0.00,0.000,6,0.000,0.049,2671,2450,3633,0,0,0,0,0,0
$GC,4161,-0.61,-146.0,473.7,-9.5,438,4165,0.00,2.28,0.00,0.000,4,0.000,0.076,2671,3854,3634,0,0,0,0,0,0
$GC,4201,-0.61,-146.0,477.8,-9.9,441,4204,0.00,2.15,0.00,0.000,6,0.000,0.049,2671,2446,3634,0,0,0,0,0,0
$STATE,4439,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4439,begin apogee
$GC,4444,-0.12,0.0,500.5,9.8,463,4569,0.50,0.00,118.43,1.167,6,0.186,0.000,2822,2215,3030,0,0,0,0,0,0
$STATE,4570,end apogee,CONTROL_FINISHED_OK
$STATE,4570,begin climb
$GC,4572,0.62,146.0,504.4,0.0,474,4702,0.77,2.47,122.10,1.148,4,0.135,0.070,3070,836,2433,0,0,0,0,0,0
$GC,4719,0.52,146.0,492.5,12.7,488,4727,0.12,2.38,0.00,0.000,6,0.190,0.060,3043,2221,2430,0,0,0,0,0,0
$GC,5044,0.45,146.0,454.8,11.6,519,5048,0.00,2.35,0.00,0.000,4,0.000,0.073,3043,3633,2425,0,0,0,0,0,0
$GC,5133,0.35,146.0,443.0,13.1,526,5141,0.25,2.28,0.00,0.000,6,0.184,0.056,2986,2236,2424,0,0,0,0,0,0
$GC,5459,0.46,194.5,417.1,7.8,557,5505,0.00,2.45,40.17,1.073,4,0.000,0.071,2986,3632,2237,0,0,0,0,0,0
$GC,5552,0.52,196.0,409.3,9.9,565,5557,0.15,2.33,0.00,0.000,6,0.103,0.054,3043,2220,2234,0,0,0,0,0,0
$GC,5883,0.52,196.0,369.1,12.8,596,5887,0.00,2.35,0.00,0.000,4,0.000,0.070,3043,3638,2230,0,0,0,0,0,0
$GC,5926,0.46,196.0,362.6,15.0,599,5934,0.12,2.28,0.00,0.000,6,0.193,0.054,3025,2220,2230,0,0,0,0,0,0
$GC,6252,0.48,196.0,323.3,12.2,630,6256,0.00,2.33,0.00,0.000,4,0.000,0.071,3024,3641,2229,0,0,0,0,0,0
$GC,6308,0.48,196.0,315.8,14.3,635,6312,0.00,2.28,0.00,0.000,6,0.000,0.054,3029,2214,2229,0,0,0,0,0,0
$GC,6633,0.48,196.0,276.8,11.9,665,6637,0.00,2.30,0.00,0.000,4,0.000,0.071,3029,3638,2228,0,0,0,0,0,0
$GC,6665,0.48,196.0,272.5,13.3,667,6672,0.00,2.25,0.00,0.000,6,0.000,0.053,3039,2219,2227,0,0,0,0,0,0
$GC,6992,0.48,196.0,233.7,12.0,698,6996,0.00,2.28,0.00,0.000,4,0.000,0.070,3039,3637,2227,0,0,0,0,0,0
$GC,7036,0.45,196.0,227.5,13.9,701,7043,0.12,2.22,0.00,0.000,6,0.201,0.052,3020,2227,2227,0,0,0,0,0,0
$GC,7361,0.50,203.0,194.9,9.7,732,7372,0.00,0.00,6.85,0.793,6,0.000,0.000,3019,2226,2202,0,0,0,0,0,0
$GC,7692,0.58,233.6,165.1,8.6,763,7725,0.12,0.00,26.95,0.926,6,0.113,0.000,3068,2226,2078,0,0,0,0,0,0
$GC,8043,0.58,233.6,123.2,11.8,796,8047,0.00,2.30,0.00,0.000,4,0.000,0.068,3068,3642,2073,0,0,0,0,0,0
$GC,8065,0.58,233.6,120.3,13.1,798,8070,0.00,2.25,0.00,0.000,6,0.000,0.050,3078,2220,2073,0,0,0,0,0,0
$GC,8398,0.58,233.6,80.0,11.8,843,8405,0.00,2.25,0.00,0.000,4,0.000,0.066,3086,809,2073,0,0,0,0,0,0
$GC,8423,0.58,233.6,76.8,12.6,847,8430,0.00,2.28,0.00,0.000,6,0.000,0.057,3086,2243,2072,0,0,0,0,0,0
$GC,8768,0.55,233.6,35.4,10.7,908,8776,0.12,2.25,0.00,0.000,4,0.185,0.070,3054,3632,2072,0,0,0,0,0,0
$GC,8889,0.55,233.6,23.0,10.0,929,8896,0.00,2.22,0.00,0.000,6,0.000,0.052,3059,2224,2072,0,0,0,0,0,0
$FREEZE,8.86,-0.231,-1.831,3,1,0
$FREEZE,8.24,-0.229,-1.831,3,1,0
$FREEZE,7.47,-0.211,-1.830,3,1,0
$FREEZE,6.78,-0.218,-1.830,3,1,0
$FREEZE,6.22,-0.228,-1.829,3,1,0
$FREEZE,5.76,-0.231,-1.829,3,1,0
$FREEZE,5.18,-0.234,-1.828,3,1,0
$FREEZE,4.76,-0.233,-1.828,3,1,0
$FREEZE,4.33,-0.233,-1.828,3,1,0
$FREEZE,3.87,-0.236,-1.827,3,1,0
$FREEZE,3.47,-0.239,-1.827,3,1,0
$FREEZE,2.99,-0.235,-1.827,3,1,0
$STATE,9078,end climb,SURFACE_DEPTH_REACHED
$STATE,9078,begin surface coast
$FREEZE,2.28,-0.233,-1.826,3,1,0
$FREEZE,1.73,-0.245,-1.826,3,1,0
$FREEZE,1.35,-0.245,-1.825,3,1,0
$FREEZE,0.87,-0.250,-1.826,3,1,0
$FREEZE,0.80,-0.678,-1.647,3,1,0
$FREEZE,0.84,-0.625,-1.013,3,1,0
$FREEZE,0.89,-0.225,-1.821,3,1,0
$FINISH,0.9,1.026675
$STATE,9117,end surface coast,CONTROL_FINISHED_OK
$STATE,9117,begin surface
$SM_CCo,9134,140.30,0.064,0,0,749,559.04
$SM_GC,1.79,0.00,0.00,140.30,0.000,0.000,0.064,112,2452,749,-8.62,0.06,559.04
$RAFOS_CLK,433
$RAFOS,6,1298249342,0.833333,0.817222,77,59,55,54,52,51,814,193,117,207,178,137
$RAFOS,4,1298248384,0.566667,0.551111,68,68,59,53,53,53,170,204,192,159,220,233
$RAFOS_FIX,6707.972168,-5654.844238,200211,121200,2,80,0.15
$IRIDIUM_FIX,6636.54,-5658.34,200211,212121
$TT8_MAMPS,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,500.5,14.3
$24V_AH,23.6,5.049
$10V_AH,10.4,2.045
$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,23.475,96.300,314.500,140.300,0.000,30.967,20.632,127.221,2.000,0.000,16.017,2326.963,4675.870,637.473,1761.828,187.472,0.000,1492.734,0.000,1557.951,360.000,14.153,0.000
$DEVICE_MAMPS,329.715,89.505,1166.625,64.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,679.816,737.906,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150624
$DATA_FILE_SIZE,40060,970
$CAP_FILE_SIZE,113013,0
$CFSIZE,260165632,251437056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.3
$GPS,210211,031958,6706.104,-5658.469,12,99.0,31,-37.6