version: 66.08
glider: 141
mission: 15
dive: 21
start: 2 22 111 1 53 27
data:
$ID,141
$MISSION,15
$DIVE,21
$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,-22035.494
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,220211,014537,6710.631,-5725.295,39,1.2,39,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-75.0
$GPS2,220211,015256,6710.656,-5725.372,13,1.4,13,-37.9
$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,287.4,141061,-17.5,-10.000
$D_GRID,716
$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,-132.07,0.000,2,0.000,0.000,114,2490,3395,0,0,0,0,0,0
$GC,154,-0.62,-146.0,5.2,-9.4,23,180,12.90,2.35,-5.03,0.000,4,0.337,0.093,2650,3893,3630,0,0,0,0,0,0
$GC,273,-0.52,-146.0,34.4,-16.4,43,280,0.17,2.25,0.00,0.000,6,0.218,0.055,2693,2487,3631,0,0,0,0,0,0
$GC,618,-0.49,-146.0,83.8,-14.0,104,625,0.00,2.30,0.00,0.000,4,0.000,0.072,2693,1072,3631,0,0,0,0,0,0
$GC,721,-0.49,-146.0,98.1,-13.9,122,728,0.00,2.28,0.00,0.000,6,0.000,0.066,2693,2483,3631,0,0,0,0,0,0
$GC,1050,-0.49,-146.0,139.8,-12.2,154,1054,0.00,2.35,0.00,0.000,4,0.000,0.083,2693,3903,3630,0,0,0,0,0,0
$GC,1101,-0.53,-146.0,145.9,-11.6,158,1105,0.00,2.25,0.00,0.000,6,0.000,0.054,2693,2489,3629,0,0,0,0,0,0
$GC,1426,-0.53,-146.0,184.1,-11.7,188,1430,0.00,2.28,0.00,0.000,4,0.000,0.070,2693,1072,3629,0,0,0,0,0,0
$GC,1500,-0.56,-146.0,192.5,-11.1,194,1504,0.00,2.30,0.00,0.000,6,0.000,0.066,2693,2494,3630,0,0,0,0,0,0
$GC,1825,-0.56,-146.0,225.1,-9.4,224,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2494,3630,0,0,0,0,0,0
$GC,2146,-0.56,-146.0,255.5,-9.7,254,2150,0.00,2.30,0.00,0.000,4,0.000,0.083,2693,3899,3630,0,0,0,0,0,0
$GC,2178,-0.59,-146.0,259.1,-10.1,256,2185,0.00,2.20,0.00,0.000,6,0.000,0.053,2693,2486,3630,0,0,0,0,0,0
$GC,2504,-0.61,-146.0,290.0,-9.2,287,2508,0.00,2.22,0.00,0.000,4,0.000,0.069,2693,1075,3630,0,0,0,0,0,0
$GC,2544,-0.64,-146.0,293.9,-9.6,290,2549,0.12,2.28,0.00,0.000,6,0.138,0.065,2652,2492,3630,0,0,0,0,0,0
$GC,2869,-0.55,-146.0,335.9,-13.1,320,2874,0.12,2.30,0.00,0.000,4,0.226,0.082,2679,3903,3631,0,0,0,0,0,0
$GC,2913,-0.55,-146.0,341.2,-11.0,323,2920,0.00,2.25,0.00,0.000,6,0.000,0.053,2679,2483,3631,0,0,0,0,0,0
$GC,3238,-0.55,-146.0,375.1,-10.1,354,3242,0.00,2.20,0.00,0.000,4,0.000,0.069,2679,1083,3631,0,0,0,0,0,0
$GC,3299,-0.55,-146.0,381.6,-10.8,359,3306,0.00,2.28,0.00,0.000,6,0.000,0.065,2679,2487,3631,0,0,0,0,0,0
$GC,3624,-0.55,-146.0,414.0,-10.1,390,3628,0.00,2.30,0.00,0.000,4,0.000,0.082,2679,3900,3631,0,0,0,0,0,0
$GC,3664,-0.57,-146.0,417.9,-10.3,393,3668,0.00,2.20,0.00,0.000,6,0.000,0.053,2679,2478,3631,0,0,0,0,0,0
$GC,3988,-0.57,-146.0,449.8,-10.1,423,3996,0.00,2.20,0.00,0.000,4,0.000,0.068,2679,1086,3632,0,0,0,0,0,0
$GC,4036,-0.57,-146.0,454.7,-10.1,427,4040,0.00,2.25,0.00,0.000,6,0.000,0.066,2679,2492,3632,0,0,0,0,0,0
$GC,4361,-0.57,-146.0,485.7,-9.5,457,4365,0.00,2.28,0.00,0.000,4,0.000,0.082,2679,3903,3632,0,0,0,0,0,0
$GC,4400,-0.57,-146.0,489.7,-10.2,460,4404,0.00,2.20,0.00,0.000,6,0.000,0.054,2679,2481,3632,0,0,0,0,0,0
$GC,4725,-0.57,-146.0,520.4,-9.4,490,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2480,3632,0,0,0,0,0,0
$GC,5046,-0.57,-146.0,550.1,-9.4,520,5050,0.00,2.22,0.00,0.000,4,0.000,0.069,2679,1075,3632,0,0,0,0,0,0
$GC,5104,-0.59,-146.0,556.1,-9.6,525,5108,0.00,2.28,0.00,0.000,6,0.000,0.067,2679,2493,3632,0,0,0,0,0,0
$GC,5429,-0.59,-146.0,585.9,-9.4,555,5433,0.00,2.30,0.00,0.000,4,0.000,0.084,2679,3905,3632,0,0,0,0,0,0
$GC,5469,-0.62,-146.0,589.6,-9.1,558,5473,0.00,2.20,0.00,0.000,6,0.000,0.054,2679,2482,3632,0,0,0,0,0,0
$GC,5796,-0.62,-146.0,619.9,-9.2,575,5800,0.00,2.20,0.00,0.000,4,0.000,0.070,2679,1076,3632,0,0,0,0,0,0
$GC,5840,-0.65,-146.0,624.4,-10.2,576,5844,0.00,2.25,0.00,0.000,6,0.000,0.067,2679,2499,3632,0,0,0,0,0,0
$GC,6170,-0.65,-146.0,655.4,-9.4,587,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2499,3632,0,0,0,0,0,0
$GC,6476,-0.65,-146.0,684.0,-9.3,597,6480,0.00,2.28,0.00,0.000,4,0.000,0.084,2679,3906,3632,0,0,0,0,0,0
$GC,6543,-0.69,-146.0,690.5,-9.5,599,6548,0.12,2.22,0.00,0.000,6,0.133,0.055,2638,2482,3632,0,0,0,0,0,0
$STATE,6634,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6634,begin apogee
$GC,6639,-0.12,0.0,700.9,12.1,602,6769,0.60,0.00,122.97,1.340,6,0.203,0.000,2811,2264,3029,0,0,0,0,0,0
$STATE,6770,end apogee,CONTROL_FINISHED_OK
$STATE,6770,begin climb
$GC,6772,0.62,146.0,705.6,0.0,606,6902,0.80,0.00,126.07,1.308,6,0.138,0.000,3053,2264,2434,0,0,0,0,0,0
$GC,7196,0.51,146.0,660.7,10.9,620,7200,0.00,2.42,0.00,0.000,4,0.000,0.076,3053,3685,2424,0,0,0,0,0,0
$GC,7234,0.40,146.0,655.2,11.3,621,7239,0.25,2.33,0.00,0.000,6,0.189,0.061,3000,2284,2423,0,0,0,0,0,0
$GC,7569,0.40,146.0,623.9,26434.2,632,7573,0.00,2.35,0.00,0.000,4,0.000,0.077,3001,3692,2422,0,0,0,0,0,0
$GC,7584,0.40,146.0,622.2,26434.2,632,7588,0.00,2.33,0.00,0.000,6,0.000,0.057,3008,2264,2422,0,0,0,0,0,0
$GC,7905,0.40,146.0,592.9,26434.2,647,7909,0.00,2.38,0.00,0.000,4,0.000,0.077,3008,3686,2422,0,0,0,0,0,0
$GC,7940,0.40,146.0,589.4,26434.2,650,7944,0.00,2.28,0.00,0.000,6,0.000,0.059,3018,2275,2421,0,0,0,0,0,0
$GC,8270,0.40,146.0,558.5,26434.2,681,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2275,2421,0,0,0,0,0,0
$GC,8592,0.40,146.0,529.9,26434.2,711,8596,0.00,2.35,0.00,0.000,4,0.000,0.077,3018,3695,2421,0,0,0,0,0,0
$GC,8623,0.40,146.0,526.7,26434.2,713,8628,0.12,2.30,0.00,0.000,6,0.197,0.059,2999,2267,2421,0,0,0,0,0,0
$GC,8948,0.40,146.0,500.0,26434.2,743,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2267,2421,0,0,0,0,0,0
$GC,9267,0.40,146.0,474.2,26434.2,773,9271,0.00,2.33,0.00,0.000,4,0.000,0.077,2998,3695,2421,0,0,0,0,0,0
$GC,9288,0.40,146.0,472.2,26434.2,774,9295,0.00,2.28,0.00,0.000,6,0.000,0.057,3006,2264,2421,0,0,0,0,0,0
$GC,9613,0.40,146.0,444.8,26434.2,805,9617,0.00,2.33,0.00,0.000,4,0.000,0.076,3005,3698,2420,0,0,0,0,0,0
$GC,9657,0.40,146.0,440.3,26434.2,808,9664,0.00,2.25,0.00,0.000,6,0.000,0.057,3015,2278,2421,0,0,0,0,0,0
$GC,9984,0.40,146.0,408.8,26434.2,839,9988,0.00,2.28,0.00,0.000,4,0.000,0.076,3016,3687,2421,0,0,0,0,0,0
$GC,10002,0.40,146.0,406.7,26434.2,840,10007,0.12,2.25,0.00,0.000,6,0.194,0.057,2996,2267,2421,0,0,0,0,0,0
$GC,10327,0.40,146.0,377.3,26434.2,870,10331,0.00,2.30,0.00,0.000,4,0.000,0.075,2996,3694,2421,0,0,0,0,0,0
$GC,10358,0.40,146.0,374.6,26434.2,872,10362,0.00,2.25,0.00,0.000,6,0.000,0.055,3002,2270,2421,0,0,0,0,0,0
$GC,10683,0.40,146.0,345.6,26434.2,902,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2270,2421,0,0,0,0,0,0
$GC,11003,0.40,146.0,320.4,26434.2,932,11007,0.00,2.30,0.00,0.000,4,0.000,0.075,3002,3696,2420,0,0,0,0,0,0
$GC,11036,0.40,146.0,317.3,26434.2,934,11043,0.00,2.25,0.00,0.000,6,0.000,0.056,3013,2269,2421,0,0,0,0,0,0
$GC,11362,0.40,146.0,291.3,26434.2,965,11366,0.00,2.28,0.00,0.000,4,0.000,0.075,3012,3688,2421,0,0,0,0,0,0
$GC,11383,0.40,146.0,289.3,26434.2,966,11390,0.00,2.22,0.00,0.000,6,0.000,0.056,3022,2271,2421,0,0,0,0,0,0
$GC,11708,0.40,146.0,259.9,26434.2,997,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2271,2420,0,0,0,0,0,0
$GC,12028,0.40,146.0,230.0,26434.2,1027,12029,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2271,2420,0,0,0,0,0,0
$GC,12348,0.40,146.0,196.9,26434.2,1057,12352,0.00,2.30,0.00,0.000,4,0.000,0.074,3022,3695,2420,0,0,0,0,0,0
$GC,12381,0.40,146.0,192.4,26434.2,1059,12389,0.15,2.25,0.00,0.000,6,0.196,0.055,2994,2264,2420,0,0,0,0,0,0
$GC,12707,0.40,146.0,163.2,26434.2,1090,12708,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2264,2420,0,0,0,0,0,0
$STATE,12853,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12853,begin subsurface finish
$FINISH1,151.2,1.027371,6
$GC,12859,0.01,6.3,151.2,-26434.2,1104,12867,0.38,0.00,-3.10,0.000,6,0.161,0.000,2873,2264,3018,0,0,0,0,0,0
$FINISH2,150.5
$STATE,12867,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12868,begin surface
$RAFOS_CLK,649
$RAFOS,6,1298350150,4.833333,4.819445,139,58,57,55,52,47,660,168,214,188,223,135
$RAFOS,5,1298349666,4.700000,4.685000,87,62,61,59,55,51,597,182,216,157,200,147
$RAFOS,4,1298349186,4.566667,4.551667,68,60,57,55,55,54,784,204,215,174,139,118
$RAFOS,3,1298348702,4.433333,4.417222,57,54,52,50,50,49,199,214,170,145,190,135
$RAFOS,2,1298348225,4.300000,4.284722,64,62,51,50,49,49,194,209,164,127,183,348
$RAFOS,1,1298347747,4.166667,4.151945,68,65,60,59,57,55,216,187,198,166,134,118
$RAFOS,0,1298347263,4.033333,4.017500,64,59,58,56,50,48,178,204,114,214,134,144
$RAFOS_FIX,6711.218262,-5739.934082,220211,040444,3,98,1.03
$IRIDIUM_FIX,6641.98,-5703.22,210211,181821
$TT8_MAMPS,0.026215
$HUMID,47.95
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.4,14.7
$ALTIM_BOTTOM_PING,152.9,14.8
$24V_AH,23.1,5.984
$10V_AH,10.4,2.620
$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,15.875,118.650,249.050,0.000,0.000,29.524,20.737,229.203,2.500,0.000,15.929,2769.227,7768.626,420.067,2106.660,252.393,0.000,1401.465,0.000,1810.651,2520.000,20.633,0.000
$DEVICE_MAMPS,336.600,93.330,1339.515,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.453,861.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150676
$DATA_FILE_SIZE,43364,1105
$CAP_FILE_SIZE,138685,0
$CFSIZE,260165632,250859520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.1
$GPS,220211,044344,6711.218,-5739.934,0,3098.0,0,-37.9