version: 66.08
glider: 141
mission: 15
dive: 22
start: 2 22 111 5 30 0
data:
$ID,141
$MISSION,15
$DIVE,22
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,220211,044344,6711.218,-5739.934,0,3098.0,0,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,149.75
$_SM_ANGLEo,5.9
$GPS2,220211,044344,6711.218,-5739.934,0,3098.0,0,-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,285.4,131530,-17.5,-10.000
$D_GRID,777
$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,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.38,-3.20,0.000,6,0.000,0.171,2872,2497,3638,0,0,0,0,0,0
$GC,27,-0.62,-146.0,150.5,-0.0,1,35,0.60,2.25,0.00,0.000,4,0.132,0.077,2670,3898,3638,0,0,0,0,0,0
$GC,59,-0.76,-146.0,153.3,-9.0,4,64,0.15,2.17,0.00,0.000,6,0.131,0.050,2621,2475,3639,0,0,0,0,0,0
$GC,384,-0.63,-146.0,205.0,-17.4,34,389,0.15,2.20,0.00,0.000,4,0.244,0.067,2653,1079,3639,0,0,0,0,0,0
$GC,469,-0.60,-146.0,218.0,-14.1,41,473,0.00,2.25,0.00,0.000,6,0.000,0.066,2653,2484,3638,0,0,0,0,0,0
$GC,796,-0.54,-146.0,262.4,-13.1,71,800,0.12,2.33,0.00,0.000,4,0.233,0.081,2683,3905,3639,0,0,0,0,0,0
$GC,817,-0.52,-146.0,265.4,-12.4,72,824,0.00,2.20,0.00,0.000,6,0.000,0.050,2683,2489,3638,0,0,0,0,0,0
$GC,1142,-0.52,-146.0,299.4,-10.2,103,1146,0.00,2.22,0.00,0.000,4,0.000,0.067,2683,1076,3638,0,0,0,0,0,0
$GC,1215,-0.55,-146.0,306.8,-10.1,109,1219,0.00,2.25,0.00,0.000,6,0.000,0.065,2683,2499,3638,0,0,0,0,0,0
$GC,1540,-0.55,-146.0,338.5,-9.7,139,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2499,3638,0,0,0,0,0,0
$GC,1860,-0.57,-146.0,369.9,-10.0,169,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2499,3638,0,0,0,0,0,0
$GC,2178,-0.59,-146.0,401.1,-9.8,199,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2499,3638,0,0,0,0,0,0
$GC,2497,-0.61,-146.0,431.0,-9.1,229,2501,0.00,2.28,0.00,0.000,4,0.000,0.082,2683,3902,3638,0,0,0,0,0,0
$GC,2527,-0.64,-146.0,433.8,-9.3,231,2531,0.00,2.20,0.00,0.000,6,0.000,0.052,2683,2486,3638,0,0,0,0,0,0
$GC,2852,-0.67,-146.0,461.2,-8.4,261,2857,0.10,2.20,0.00,0.000,4,0.155,0.068,2652,1085,3638,0,0,0,0,0,0
$GC,2907,-0.65,-146.0,467.1,-11.0,265,2914,0.00,2.25,0.00,0.000,6,0.000,0.066,2652,2494,3638,0,0,0,0,0,0
$GC,3233,-0.60,-146.0,503.3,-11.3,296,3237,0.00,2.28,0.00,0.000,4,0.000,0.083,2651,3899,3637,0,0,0,0,0,0
$GC,3265,-0.56,-146.0,507.1,-10.7,298,3273,0.12,2.20,0.00,0.000,6,0.216,0.051,2680,2480,3638,0,0,0,0,0,0
$GC,3591,-0.58,-146.0,535.5,-9.1,329,3595,0.00,2.20,0.00,0.000,4,0.000,0.067,2680,1082,3638,0,0,0,0,0,0
$GC,3630,-0.61,-146.0,539.2,-9.4,332,3637,0.00,2.22,0.00,0.000,6,0.000,0.066,2680,2490,3638,0,0,0,0,0,0
$GC,3956,-0.64,-146.0,568.7,-9.0,363,3960,0.00,2.30,0.00,0.000,4,0.000,0.083,2680,3898,3639,0,0,0,0,0,0
$GC,3996,-0.69,-146.0,572.3,-9.5,366,4001,0.12,2.17,0.00,0.000,6,0.133,0.052,2639,2486,3638,0,0,0,0,0,0
$GC,4328,-0.61,-146.0,611.9,-12.0,391,4332,0.00,2.17,0.00,0.000,4,0.000,0.067,2639,1085,3638,0,0,0,0,0,0
$GC,4363,-0.54,-146.0,616.3,-12.8,392,4368,0.20,2.22,0.00,0.000,6,0.221,0.067,2688,2489,3639,0,0,0,0,0,0
$GC,4698,-0.58,-146.0,643.9,-7.9,403,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2489,3638,0,0,0,0,0,0
$GC,5004,-0.63,-146.0,668.3,-8.0,413,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2488,3638,0,0,0,0,0,0
$GC,5310,-0.68,-146.0,693.3,-8.1,423,5312,0.12,0.00,0.00,0.000,6,0.132,0.000,2646,2489,3638,0,0,0,0,0,0
$GC,5616,-0.68,-146.0,725.1,-10.5,433,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2489,3638,0,0,0,0,0,0
$STATE,5828,end dive,NO_VERTICAL_VELOCITY
$STATE,5829,begin apogee
$GC,5834,-0.12,0.0,725.2,0.0,440,5969,0.50,0.00,129.12,1.305,6,0.133,0.000,2817,2267,3030,0,0,0,0,0,0
$STATE,5970,end apogee,CONTROL_FINISHED_OK
$STATE,5970,begin climb
$GC,5972,0.62,146.0,725.2,0.0,444,6107,0.75,2.60,125.78,1.318,4,0.126,0.076,3051,3678,2433,0,0,0,0,0,0
$GC,6359,0.50,146.0,681.9,13.0,456,6364,0.12,2.35,0.00,0.000,6,0.193,0.060,3033,2274,2425,0,0,0,0,0,0
$GC,6694,0.50,146.0,647.8,10.0,467,6698,0.00,2.38,0.00,0.000,4,0.000,0.075,3033,3685,2422,0,0,0,0,0,0
$GC,6761,0.43,146.0,640.1,12.1,469,6766,0.08,2.33,0.00,0.000,6,0.173,0.060,3010,2282,2422,0,0,0,0,0,0
$GC,7096,0.50,178.2,611.5,8.5,480,7126,0.00,0.00,27.42,1.211,6,0.000,0.000,3010,2282,2303,0,0,0,0,0,0
$GC,7441,0.57,206.3,581.2,8.7,503,7473,0.12,2.47,25.67,1.210,4,0.113,0.074,3067,863,2187,0,0,0,0,0,0
$GC,7478,0.52,206.3,576.8,11.3,506,7486,0.12,2.38,0.00,0.000,6,0.181,0.061,3038,2276,2186,0,0,0,0,0,0
$GC,7803,0.52,206.3,542.2,10.5,537,7807,0.00,2.35,0.00,0.000,4,0.000,0.076,3038,3691,2181,0,0,0,0,0,0
$GC,7866,0.48,206.3,534.8,12.1,542,7870,0.00,2.33,0.00,0.000,6,0.000,0.058,3046,2266,2181,0,0,0,0,0,0
$GC,8191,0.48,206.3,498.3,10.6,572,8195,0.00,2.35,0.00,0.000,4,0.000,0.075,3046,3697,2179,0,0,0,0,0,0
$GC,8230,0.44,206.3,493.5,12.8,575,8235,0.17,2.30,0.00,0.000,6,0.190,0.058,3012,2273,2179,0,0,0,0,0,0
$GC,8556,0.56,254.0,466.2,7.8,605,8605,0.00,0.00,42.45,1.177,6,0.000,0.000,3012,2273,1993,0,0,0,0,0,0
$GC,8924,0.71,298.2,436.8,8.0,640,8970,0.22,2.47,39.85,1.154,4,0.090,0.073,3105,865,1813,0,0,0,0,0,0
$GC,8998,0.67,298.2,426.3,15.2,646,9005,0.00,2.38,0.00,0.000,6,0.000,0.060,3105,2276,1810,0,0,0,0,0,0
$GC,9325,0.59,298.2,371.2,17.8,677,9330,0.17,2.35,0.00,0.000,4,0.189,0.074,3061,3691,1805,0,0,0,0,0,0
$GC,9387,0.59,298.2,361.5,13.9,682,9391,0.00,2.33,0.00,0.000,6,0.000,0.057,3069,2267,1804,0,0,0,0,0,0
$GC,9712,0.59,298.2,318.0,13.2,712,9716,0.00,2.28,0.00,0.000,4,0.000,0.073,3079,864,1802,0,0,0,0,0,0
$GC,9755,0.62,298.2,312.1,12.9,715,9763,0.00,2.28,0.00,0.000,6,0.000,0.059,3079,2284,1801,0,0,0,0,0,0
$GC,10082,0.60,298.2,264.0,15.2,746,10086,0.00,2.28,0.00,0.000,4,0.000,0.074,3078,3685,1801,0,0,0,0,0,0
$GC,10122,0.58,298.2,257.6,17.0,749,10127,0.15,2.28,0.00,0.000,6,0.197,0.058,3050,2267,1801,0,0,0,0,0,0
$GC,10447,0.62,298.2,216.2,12.5,779,10451,0.00,2.25,0.00,0.000,4,0.000,0.072,3055,865,1799,0,0,0,0,0,0
$GC,10496,0.69,298.2,210.1,11.9,783,10504,0.00,2.25,0.00,0.000,6,0.000,0.058,3055,2277,1799,0,0,0,0,0,0
$GC,10823,0.73,298.2,170.6,12.5,814,10827,0.12,2.28,0.00,0.000,4,0.114,0.073,3105,3682,1799,0,0,0,0,0,0
$GC,10885,0.70,298.2,160.0,17.5,819,10889,0.00,2.25,0.00,0.000,6,0.000,0.058,3112,2273,1799,0,0,0,0,0,0
$GC,11210,0.65,298.2,106.6,15.7,849,11215,0.15,2.28,0.00,0.000,4,0.206,0.070,3084,857,1799,0,0,0,0,0,0
$GC,11227,0.62,298.2,104.0,15.5,850,11231,0.00,2.22,0.00,0.000,6,0.000,0.058,3084,2276,1799,0,0,0,0,0,0
$GC,11570,0.64,298.2,62.4,11.7,907,11576,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2276,1798,0,0,0,0,0,0
$GC,11914,0.67,298.2,23.9,11.3,968,11920,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2276,1798,0,0,0,0,0,0
$FREEZE,8.95,-1.508,-1.828,3,2,0
$FREEZE,8.14,-1.508,-1.828,3,2,0
$FREEZE,7.80,-1.509,-1.827,3,2,0
$FREEZE,7.21,-1.509,-1.827,3,2,0
$FREEZE,6.77,-1.509,-1.827,3,2,0
$FREEZE,6.19,-1.509,-1.826,3,2,0
$FREEZE,5.74,-1.511,-1.826,3,2,0
$FREEZE,5.10,-1.515,-1.825,3,2,0
$FREEZE,4.41,-1.513,-1.825,3,2,0
$FREEZE,3.89,-1.515,-1.824,3,2,0
$FREEZE,3.22,-1.517,-1.824,3,2,0
$FREEZE,2.97,-1.523,-1.824,3,2,0
$STATE,12099,end climb,SURFACE_DEPTH_REACHED
$STATE,12099,begin surface coast
$FREEZE,2.45,-1.524,-1.823,3,2,0
$FREEZE,1.76,-1.514,-1.823,3,2,0
$FREEZE,1.28,-1.530,-1.056,3,2,0
$FINISH,1.3,1.015578
$STATE,12117,end surface coast,FINISH_DEPTH_REACHED
$STATE,12117,begin surface
$SM_CCo,12134,44.25,0.070,0,0,1399,400.08
$SM_GC,2.15,0.00,0.00,44.25,0.000,0.000,0.070,112,2494,1399,-8.60,0.11,400.08
$RAFOS_CLK,658
$RAFOS,5,1298364065,8.700000,8.684722,105,65,63,54,53,52,596,205,182,157,169,122
$RAFOS,4,1298363584,8.566667,8.551111,65,63,62,60,52,52,202,215,174,776,116,154
$RAFOS,3,1298363101,8.433333,8.416945,73,65,54,52,51,51,205,955,153,136,183,195
$RAFOS,2,1298362627,8.300000,8.285277,62,61,61,60,58,51,126,181,196,172,216,145
$RAFOS,1,1298362150,8.166667,8.152778,63,56,55,55,51,51,206,908,218,156,188,231
$RAFOS,0,1298361666,8.033334,8.018333,66,60,59,57,54,52,202,145,156,166,179,193
$RAFOS_FIX,6711.218262,-5739.934082,220211,040444,3,98,1.03
$IRIDIUM_FIX,6641.98,-5703.22,210211,181821
$TT8_MAMPS,0.029211
$HUMID,46.10
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.1
$24V_AH,23.2,6.125
$10V_AH,10.4,2.685
$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,12.850,101.625,390.300,44.250,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2553.181,7325.496,454.681,1743.761,162.021,0.000,1390.942,0.000,1732.521,2520.000,21.361,0.000
$DEVICE_MAMPS,244.035,170.595,1318.095,70.380,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.664,784.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150740
$DATA_FILE_SIZE,40044,1005
$CAP_FILE_SIZE,128891,0
$CFSIZE,260165632,250806272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.7
$GPS,220211,085430,6712.239,-5739.306,39,1.2,44,-38.0