version: 66.08
glider: 141
mission: 15
dive: 20
start: 2 21 111 21 59 56
data:
$ID,141
$MISSION,15
$DIVE,20
$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,-22034.236
$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,31
$R_STBD_OVSHOOT,20
$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
$GPS1,210211,203928,6710.664,-5729.659,0,4105.8,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,35.60
$_SM_ANGLEo,5.5
$GPS2,210211,203928,6710.664,-5729.659,0,4105.8,0,-37.8
$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,286.9,138133,-17.5,-10.000
$D_GRID,739
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.78,0.000,2,0.000,0.000,2882,3692,3493,0,0,0,0,0,0
$GC,27,-0.62,-146.0,36.5,-0.0,1,41,0.62,4.15,-1.50,0.000,4,0.137,0.062,2673,1082,3632,0,0,0,0,0,0
$GC,98,-0.57,-146.0,43.6,-11.9,13,105,0.00,2.22,0.00,0.000,6,0.000,0.063,2673,2494,3632,0,0,0,0,0,0
$GC,443,-0.50,-146.0,89.2,-13.1,74,450,0.00,2.25,0.00,0.000,4,0.000,0.080,2673,3897,3632,0,0,0,0,0,0
$GC,550,-0.50,-146.0,102.7,-12.7,91,558,0.00,2.22,0.00,0.000,6,0.000,0.053,2673,2489,3632,0,0,0,0,0,0
$GC,878,-0.48,-146.0,144.2,-12.9,122,882,0.12,2.22,0.00,0.000,4,0.230,0.068,2701,1080,3631,0,0,0,0,0,0
$GC,933,-0.55,-146.0,150.8,-10.2,126,940,0.00,2.22,0.00,0.000,6,0.000,0.064,2701,2494,3631,0,0,0,0,0,0
$GC,1260,-0.60,-146.0,183.3,-9.8,157,1264,0.00,2.25,0.00,0.000,4,0.000,0.083,2701,3897,3631,0,0,0,0,0,0
$GC,1315,-0.67,-146.0,188.8,-9.0,161,1323,0.17,2.20,0.00,0.000,6,0.118,0.052,2642,2486,3631,0,0,0,0,0,0
$GC,1640,-0.59,-146.0,232.8,-13.2,192,1642,0.12,0.00,0.00,0.000,6,0.233,0.000,2669,2485,3631,0,0,0,0,0,0
$GC,1960,-0.59,-146.0,266.5,-10.1,222,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2485,3630,0,0,0,0,0,0
$GC,2279,-0.59,-146.0,300.3,-10.7,252,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2486,3631,0,0,0,0,0,0
$GC,2597,-0.59,-146.0,335.9,-11.0,282,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2484,3631,0,0,0,0,0,0
$GC,2916,-0.59,-146.0,372.4,-11.1,312,2920,0.00,2.30,0.00,0.000,4,0.000,0.082,2669,3897,3631,0,0,0,0,0,0
$GC,2972,-0.59,-146.0,379.0,-11.1,317,2976,0.00,2.20,0.00,0.000,6,0.000,0.053,2669,2480,3631,0,0,0,0,0,0
$GC,3297,-0.59,-146.0,413.7,-10.2,347,3301,0.00,2.20,0.00,0.000,4,0.000,0.068,2669,1082,3631,0,0,0,0,0,0
$GC,3323,-0.59,-146.0,416.7,-11.2,349,3330,0.00,2.28,0.00,0.000,6,0.000,0.066,2669,2491,3630,0,0,0,0,0,0
$GC,3650,-0.59,-146.0,448.8,-10.1,380,3654,0.00,2.30,0.00,0.000,4,0.000,0.083,2669,3909,3631,0,0,0,0,0,0
$GC,3712,-0.61,-146.0,455.0,-9.8,385,3716,0.00,2.20,0.00,0.000,6,0.000,0.053,2669,2490,3631,0,0,0,0,0,0
$GC,4042,-0.61,-146.0,486.4,-9.5,416,4046,0.00,2.22,0.00,0.000,4,0.000,0.067,2669,1076,3631,0,0,0,0,0,0
$GC,4075,-0.61,-146.0,490.1,-11.2,418,4082,0.00,2.28,0.00,0.000,6,0.000,0.066,2669,2487,3631,0,0,0,0,0,0
$GC,4402,-0.61,-146.0,522.4,-10.1,449,4406,0.00,2.28,0.00,0.000,4,0.000,0.083,2669,3903,3631,0,0,0,0,0,0
$GC,4442,-0.61,-146.0,526.6,-10.5,452,4446,0.00,2.17,0.00,0.000,6,0.000,0.053,2668,2490,3631,0,0,0,0,0,0
$GC,4766,-0.61,-146.0,559.4,-10.3,482,4770,0.00,2.25,0.00,0.000,4,0.000,0.067,2669,1075,3631,0,0,0,0,0,0
$GC,4799,-0.61,-146.0,563.0,-11.0,484,4806,0.00,2.28,0.00,0.000,6,0.000,0.067,2669,2485,3631,0,0,0,0,0,0
$GC,5126,-0.61,-146.0,595.4,-10.3,515,5130,0.00,2.30,0.00,0.000,4,0.000,0.083,2669,3900,3631,0,0,0,0,0,0
$GC,5193,-0.64,-146.0,602.5,-10.7,520,5197,0.00,2.17,0.00,0.000,6,0.000,0.054,2669,2490,3630,0,0,0,0,0,0
$GC,5523,-0.64,-146.0,634.8,-9.9,531,5527,0.00,2.22,0.00,0.000,4,0.000,0.068,2669,1077,3631,0,0,0,0,0,0
$GC,5589,-0.64,-146.0,641.6,-9.8,533,5593,0.00,2.22,0.00,0.000,6,0.000,0.067,2669,2490,3632,0,0,0,0,0,0
$GC,5919,-0.64,-146.0,673.7,-9.8,544,5923,0.00,2.30,0.00,0.000,4,0.000,0.083,2669,3899,3631,0,0,0,0,0,0
$GC,5965,-0.67,-146.0,678.3,-9.5,545,5969,0.00,2.17,0.00,0.000,6,0.000,0.055,2669,2493,3631,0,0,0,0,0,0
$GC,6289,-0.67,-146.0,709.3,-9.4,556,6293,0.00,2.22,0.00,0.000,4,0.000,0.070,2669,1085,3631,0,0,0,0,0,0
$STATE,6454,end dive,NO_VERTICAL_VELOCITY
$STATE,6455,begin apogee
$GC,6461,-0.12,0.0,711.7,0.0,561,6591,0.43,0.00,122.18,1.328,6,0.131,0.000,2815,2287,3030,0,0,0,0,0,0
$STATE,6592,end apogee,CONTROL_FINISHED_OK
$STATE,6592,begin climb
$GC,6594,0.62,146.0,711.6,0.0,565,6729,0.77,2.60,125.68,1.314,4,0.131,0.076,3065,877,2433,0,0,0,0,0,0
$GC,6829,0.52,146.0,690.1,13.2,572,6834,0.08,2.40,0.00,0.000,6,0.177,0.063,3034,2265,2426,0,0,0,0,0,0
$GC,7148,0.47,146.0,655.1,11.0,583,7152,0.00,2.40,0.00,0.000,4,0.000,0.079,3034,3688,2423,0,0,0,0,0,0
$GC,7253,0.37,146.0,641.7,12.8,586,7258,0.20,2.30,0.00,0.000,6,0.190,0.060,2992,2277,2421,0,0,0,0,0,0
$GC,7583,0.43,171.4,612.8,8.8,597,7609,0.00,2.40,21.20,1.180,4,0.000,0.076,2992,3688,2330,0,0,0,0,0,0
$GC,7644,0.43,171.4,607.0,10.2,598,7648,0.00,2.35,0.00,0.000,6,0.000,0.058,2999,2269,2328,0,0,0,0,0,0
$GC,7969,0.48,180.6,575.8,9.6,623,7984,0.00,2.45,9.05,1.069,4,0.000,0.077,2999,3694,2293,0,0,0,0,0,0
$GC,8006,0.48,180.6,571.4,11.6,626,8013,0.00,2.35,0.00,0.000,6,0.000,0.057,3009,2276,2292,0,0,0,0,0,0
$GC,8332,0.50,180.6,537.4,10.3,657,8336,0.00,2.38,0.00,0.000,4,0.000,0.076,3009,3697,2291,0,0,0,0,0,0
$GC,8352,0.50,180.6,534.9,10.9,658,8360,0.00,2.33,0.00,0.000,6,0.000,0.057,3019,2275,2290,0,0,0,0,0,0
$GC,8678,0.50,180.6,500.1,10.5,689,8682,0.00,2.35,0.00,0.000,4,0.000,0.076,3019,3690,2290,0,0,0,0,0,0
$GC,8711,0.48,180.6,496.1,12.3,691,8718,0.00,2.30,0.00,0.000,6,0.000,0.058,3029,2264,2289,0,0,0,0,0,0
$GC,9035,0.48,180.6,460.8,10.9,722,9040,0.00,2.35,0.00,0.000,4,0.000,0.076,3029,3699,2290,0,0,0,0,0,0
$GC,9053,0.46,180.6,458.7,11.5,723,9058,0.00,2.30,0.00,0.000,6,0.000,0.057,3040,2263,2290,0,0,0,0,0,0
$GC,9378,0.43,180.6,420.2,11.7,753,9383,0.15,2.35,0.00,0.000,4,0.190,0.076,3002,3691,2289,0,0,0,0,0,0
$GC,9424,0.43,180.6,414.9,11.5,757,9428,0.00,2.25,0.00,0.000,6,0.000,0.057,3008,2267,2289,0,0,0,0,0,0
$GC,9749,0.47,180.6,381.0,10.4,787,9753,0.00,2.33,0.00,0.000,4,0.000,0.076,3008,3700,2289,0,0,0,0,0,0
$GC,9769,0.47,180.6,378.5,11.4,788,9777,0.00,2.30,0.00,0.000,6,0.000,0.056,3017,2270,2289,0,0,0,0,0,0
$GC,10095,0.47,180.6,343.0,10.4,819,10099,0.00,2.33,0.00,0.000,4,0.000,0.074,3017,3698,2288,0,0,0,0,0,0
$GC,10127,0.47,180.6,339.2,11.7,821,10134,0.00,2.28,0.00,0.000,6,0.000,0.056,3027,2279,2289,0,0,0,0,0,0
$GC,10452,0.47,180.6,304.1,10.5,852,10456,0.00,2.28,0.00,0.000,4,0.000,0.075,3027,3691,2288,0,0,0,0,0,0
$GC,10480,0.44,180.6,300.9,11.9,854,10485,0.00,2.25,0.00,0.000,6,0.000,0.056,3037,2269,2289,0,0,0,0,0,0
$GC,10805,0.42,180.6,266.4,10.5,884,10810,0.15,2.33,0.00,0.000,4,0.191,0.073,2999,3692,2289,0,0,0,0,0,0
$GC,10838,0.45,180.6,263.0,10.2,886,10845,0.00,2.25,0.00,0.000,6,0.000,0.055,3002,2264,2289,0,0,0,0,0,0
$GC,11165,0.53,212.6,236.2,8.5,917,11200,0.10,2.42,28.25,0.991,4,0.135,0.074,3040,3691,2162,0,0,0,0,0,0
$GC,11228,0.49,212.6,228.7,13.5,922,11235,0.00,2.28,0.00,0.000,6,0.000,0.054,3050,2276,2161,0,0,0,0,0,0
$GC,11555,0.49,212.6,190.0,11.6,953,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2276,2158,0,0,0,0,0,0
$GC,11873,0.49,212.6,153.6,11.4,983,11877,0.00,2.33,0.00,0.000,4,0.000,0.073,3050,3699,2157,0,0,0,0,0,0
$GC,11906,0.45,212.6,149.5,12.7,985,11914,0.17,2.28,0.00,0.000,6,0.193,0.055,3014,2268,2158,0,0,0,0,0,0
$GC,12232,0.53,226.3,120.8,9.4,1016,12254,0.00,2.40,12.32,0.884,4,0.000,0.071,3014,3694,2107,0,0,0,0,0,0
$GC,12270,0.58,226.3,117.0,10.3,1019,12278,0.10,2.28,0.00,0.000,6,0.134,0.052,3051,2267,2107,0,0,0,0,0,0
$GC,12605,0.59,231.1,80.3,9.8,1066,12618,0.00,2.28,5.65,0.745,4,0.000,0.069,3058,867,2086,0,0,0,0,0,0
$GC,12625,0.60,244.0,78.3,9.4,1069,12644,0.00,2.28,12.85,0.891,6,0.000,0.057,3058,2289,2035,0,0,0,0,0,0
$GC,12982,0.64,244.0,40.8,12.0,1132,12989,0.00,2.28,0.00,0.000,4,0.000,0.073,3058,3689,2031,0,0,0,0,0,0
$GC,13025,0.67,244.0,35.6,12.8,1139,13031,0.00,2.25,0.00,0.000,6,0.000,0.054,3066,2276,2031,0,0,0,0,0,0
$FREEZE,8.43,-1.211,-1.827,2,2,0
$FREEZE,8.01,-1.217,-1.826,2,2,0
$FREEZE,7.45,-1.217,-1.826,2,2,0
$FREEZE,6.96,-1.219,-1.826,2,2,0
$FREEZE,6.35,-1.217,-1.825,2,2,0
$FREEZE,5.94,-1.215,-1.825,2,2,0
$FREEZE,5.48,-1.219,-1.824,2,2,0
$FREEZE,4.92,-1.218,-1.824,2,2,0
$FREEZE,4.35,-1.223,-1.824,2,2,0
$FREEZE,4.00,-1.225,-1.823,2,2,0
$FREEZE,3.51,-1.226,-1.823,2,2,0
$FREEZE,2.84,-1.222,-1.822,2,2,0
$STATE,13326,end climb,SURFACE_DEPTH_REACHED
$STATE,13326,begin surface coast
$FREEZE,2.24,-1.223,-1.822,2,2,0
$FREEZE,1.80,-1.227,-1.822,2,2,0
$FREEZE,1.34,-1.219,-1.821,2,2,0
$FREEZE,1.16,-1.296,-1.799,2,2,0
$FREEZE,1.14,-1.333,-1.180,2,2,0
$FINISH,1.1,1.017418
$STATE,13352,end surface coast,FINISH_DEPTH_REACHED
$STATE,13353,begin surface
$SM_CCo,13370,69.72,0.070,0,0,1399,400.08
$SM_GC,1.91,0.00,0.00,69.72,0.000,0.000,0.070,114,2490,1399,-8.60,0.03,400.08
$RAFOS_CLK,721
$RAFOS,6,1298335749,0.833333,0.819167,146,66,60,60,59,54,691,208,152,191,217,175
$RAFOS,5,1298335268,0.700000,0.685556,91,66,64,63,57,55,586,198,173,216,143,162
$RAFOS,4,1298334781,0.566667,0.550278,81,65,56,54,51,48,825,208,135,175,145,223
$RAFOS,3,1298334301,0.433333,0.416944,75,68,57,56,56,52,980,201,213,190,169,134
$RAFOS,2,1298333830,0.300000,0.286111,58,57,55,54,53,52,208,130,223,145,1100,973
$RAFOS,1,1298333348,0.166667,0.152222,71,65,57,53,53,47,206,216,185,172,160,123
$RAFOS,0,1298332863,0.033333,0.017500,68,55,54,54,53,52,217,188,199,138,151,179
$RAFOS_FIX,6710.877930,-5733.788086,220211,000056,4,98,0.21
$IRIDIUM_FIX,6641.98,-5716.88,210211,151527
$TT8_MAMPS,0.026964
$HUMID,45.03
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$24V_AH,23.2,5.873
$10V_AH,10.4,2.546
$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,11.800,143.850,337.175,69.725,0.000,0.000,0.000,0.000,2.750,0.000,0.000,3015.774,7753.307,485.973,2066.493,193.740,0.000,1587.792,0.000,2051.675,2520.000,23.385,0.000
$DEVICE_MAMPS,232.560,83.385,1328.040,70.380,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.132,928.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150688
$DATA_FILE_SIZE,46736,1198
$CAP_FILE_SIZE,147731,0
$CFSIZE,260165632,250916864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.6
$GPS,220211,014537,6710.631,-5725.295,39,1.2,39,-37.9