version: 66.08
glider: 141
mission: 15
dive: 23
start: 2 22 111 9 3 8
data:
$ID,141
$MISSION,15
$DIVE,23
$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,-22036.75
$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,27
$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
$GPS1,220211,085430,6712.239,-5739.306,39,1.2,44,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.2
$GPS2,220211,090237,6712.173,-5739.286,17,1.2,33,-38.0
$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,284.8,132653,-17.5,-10.000
$D_GRID,761
$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,-146.0,0.0,0.0,0,151,0.00,0.00,-131.68,0.000,2,0.000,0.000,109,2496,3373,0,0,0,0,0,0
$GC,154,-0.62,-146.0,5.2,-9.9,23,180,12.93,2.35,-5.78,0.000,4,0.338,0.091,2652,3899,3630,0,0,0,0,0,0
$GC,384,-0.51,-146.0,54.8,-16.5,63,391,0.17,2.28,0.00,0.000,6,0.219,0.056,2695,2486,3631,0,0,0,0,0,0
$GC,732,-0.47,-146.0,105.8,-12.2,121,737,0.00,2.25,0.00,0.000,4,0.000,0.070,2695,1079,3630,0,0,0,0,0,0
$GC,776,-0.47,-146.0,111.5,-12.4,124,784,0.00,2.33,0.00,0.000,6,0.000,0.066,2695,2492,3630,0,0,0,0,0,0
$GC,1103,-0.47,-146.0,150.5,-12.2,155,1107,0.00,2.30,0.00,0.000,4,0.000,0.082,2695,3901,3630,0,0,0,0,0,0
$GC,1169,-0.47,-146.0,158.8,-11.3,160,1176,0.00,2.28,0.00,0.000,6,0.000,0.054,2695,2480,3629,0,0,0,0,0,0
$GC,1495,-0.47,-146.0,195.0,-11.3,191,1499,0.00,2.25,0.00,0.000,4,0.000,0.070,2695,1076,3629,0,0,0,0,0,0
$GC,1524,-0.47,-146.0,198.5,-12.0,193,1528,0.00,2.28,0.00,0.000,6,0.000,0.066,2695,2493,3629,0,0,0,0,0,0
$GC,1854,-0.47,-146.0,234.1,-10.4,224,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2493,3629,0,0,0,0,0,0
$GC,2174,-0.47,-146.0,269.5,-11.5,254,2178,0.00,2.30,0.00,0.000,4,0.000,0.082,2695,3900,3630,0,0,0,0,0,0
$GC,2217,-0.51,-146.0,274.6,-10.6,257,2224,0.00,2.22,0.00,0.000,6,0.000,0.053,2695,2477,3630,0,0,0,0,0,0
$GC,2542,-0.51,-146.0,308.8,-10.6,288,2546,0.00,2.20,0.00,0.000,4,0.000,0.069,2695,1080,3630,0,0,0,0,0,0
$GC,2594,-0.53,-146.0,314.3,-10.7,292,2598,0.00,2.25,0.00,0.000,6,0.000,0.064,2695,2497,3631,0,0,0,0,0,0
$GC,2919,-0.53,-146.0,346.3,-9.8,322,2923,0.00,2.28,0.00,0.000,4,0.000,0.082,2695,3899,3630,0,0,0,0,0,0
$GC,2942,-0.53,-146.0,348.5,-9.8,324,2946,0.00,2.17,0.00,0.000,6,0.000,0.052,2695,2489,3631,0,0,0,0,0,0
$GC,3267,-0.53,-146.0,379.7,-9.3,354,3271,0.00,2.20,0.00,0.000,4,0.000,0.067,2695,1083,3631,0,0,0,0,0,0
$GC,3297,-0.53,-146.0,382.3,-9.4,356,3301,0.00,2.25,0.00,0.000,6,0.000,0.064,2695,2502,3631,0,0,0,0,0,0
$GC,3622,-0.53,-146.0,412.1,-9.4,386,3626,0.00,2.28,0.00,0.000,4,0.000,0.082,2695,3900,3631,0,0,0,0,0,0
$GC,3652,-0.56,-146.0,414.8,-9.8,388,3656,0.00,2.17,0.00,0.000,6,0.000,0.052,2695,2489,3631,0,0,0,0,0,0
$GC,3977,-0.58,-146.0,446.5,-9.7,418,3981,0.00,2.22,0.00,0.000,4,0.000,0.067,2695,1076,3631,0,0,0,0,0,0
$GC,4046,-0.62,-146.0,453.6,-10.1,424,4050,0.00,2.25,0.00,0.000,6,0.000,0.065,2695,2496,3631,0,0,0,0,0,0
$GC,4372,-0.62,-146.0,484.6,-9.4,454,4376,0.00,2.30,0.00,0.000,4,0.000,0.082,2695,3908,3632,0,0,0,0,0,0
$GC,4393,-0.64,-146.0,486.9,-9.7,455,4401,0.12,2.20,0.00,0.000,6,0.134,0.052,2654,2482,3632,0,0,0,0,0,0
$GC,4719,-0.57,-146.0,525.7,-12.0,486,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2481,3631,0,0,0,0,0,0
$GC,5038,-0.49,-146.0,565.4,-12.7,516,5040,0.17,0.00,0.00,0.000,6,0.216,0.000,2696,2481,3632,0,0,0,0,0,0
$GC,5357,-0.52,-146.0,595.3,-9.1,546,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2481,3632,0,0,0,0,0,0
$GC,5684,-0.55,-146.0,625.3,-9.2,560,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2481,3632,0,0,0,0,0,0
$GC,5990,-0.58,-146.0,654.8,-9.9,570,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2481,3632,0,0,0,0,0,0
$GC,6296,-0.61,-146.0,685.0,-9.7,580,6300,0.00,2.20,0.00,0.000,4,0.000,0.070,2697,1075,3632,0,0,0,0,0,0
$GC,6335,-0.66,-146.0,689.0,-10.0,581,6339,0.15,2.28,0.00,0.000,6,0.125,0.067,2647,2500,3632,0,0,0,0,0,0
$GC,6664,-0.58,-146.0,729.5,-12.4,592,6668,0.00,2.25,0.00,0.000,4,0.000,0.084,2646,3899,3632,0,0,0,0,0,0
$GC,6708,-0.52,-146.0,735.1,-12.1,593,6713,0.17,2.20,0.00,0.000,6,0.212,0.055,2689,2492,3632,0,0,0,0,0,0
$STATE,6999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6999,begin apogee
$GC,7005,-0.12,0.0,762.8,9.5,603,7139,0.43,0.00,126.88,1.349,6,0.186,0.000,2818,2258,3030,0,0,0,0,0,0
$STATE,7140,end apogee,CONTROL_FINISHED_OK
$STATE,7140,begin climb
$GC,7142,0.62,146.0,767.2,0.0,607,7273,0.77,0.00,127.05,1.349,6,0.138,0.000,3053,2258,2434,0,0,0,0,0,0
$GC,7562,0.55,146.0,723.6,11.9,621,7566,0.00,2.45,0.00,0.000,4,0.000,0.076,3053,3682,2424,0,0,0,0,0,0
$GC,7668,0.42,146.0,708.8,14.9,624,7673,0.22,2.33,0.00,0.000,6,0.190,0.061,3007,2286,2422,0,0,0,0,0,0
$GC,7997,0.43,153.2,676.5,9.7,635,8004,0.00,0.00,5.43,0.923,6,0.000,0.000,3008,2286,2405,0,0,0,0,0,0
$GC,8303,0.45,172.6,648.1,9.1,645,8324,0.00,0.00,18.88,1.219,6,0.000,0.000,3007,2286,2325,0,0,0,0,0,0
$GC,8610,0.50,191.5,620.2,9.1,655,8629,0.00,0.00,17.58,1.200,6,0.000,0.000,3008,2286,2249,0,0,0,0,0,0
$GC,8948,0.55,207.3,589.0,9.3,672,8972,0.10,2.40,14.85,1.171,4,0.125,0.078,3044,3686,2185,0,0,0,0,0,0
$GC,8984,0.51,207.3,584.7,11.8,675,8988,0.00,2.33,0.00,0.000,6,0.000,0.060,3054,2271,2184,0,0,0,0,0,0
$GC,9310,0.47,207.3,544.5,12.3,705,9315,0.15,2.38,0.00,0.000,4,0.185,0.076,3017,3692,2182,0,0,0,0,0,0
$GC,9338,0.47,207.3,541.1,11.1,707,9342,0.00,2.33,0.00,0.000,6,0.000,0.058,3025,2264,2182,0,0,0,0,0,0
$GC,9663,0.47,207.3,506.2,10.8,737,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2264,2181,0,0,0,0,0,0
$GC,9984,0.47,207.3,471.5,11.4,767,9988,0.00,2.33,0.00,0.000,4,0.000,0.076,3025,3688,2180,0,0,0,0,0,0
$GC,10002,0.47,207.3,469.1,11.4,768,10006,0.00,2.28,0.00,0.000,6,0.000,0.057,3035,2267,2180,0,0,0,0,0,0
$GC,10328,0.47,207.3,431.8,11.6,798,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2268,2180,0,0,0,0,0,0
$GC,10646,0.47,207.3,395.2,11.3,828,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2268,2180,0,0,0,0,0,0
$GC,10965,0.47,207.3,357.8,12.1,858,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2267,2180,0,0,0,0,0,0
$GC,11283,0.47,207.3,321.8,10.9,888,11287,0.00,2.33,0.00,0.000,4,0.000,0.075,3034,3697,2180,0,0,0,0,0,0
$GC,11309,0.47,207.3,318.5,12.0,890,11317,0.00,2.28,0.00,0.000,6,0.000,0.057,3045,2280,2180,0,0,0,0,0,0
$GC,11638,0.47,207.3,284.0,10.6,921,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2279,2180,0,0,0,0,0,0
$GC,11964,0.47,207.3,246.5,11.5,952,11968,0.00,2.28,0.00,0.000,4,0.000,0.073,3054,861,2179,0,0,0,0,0,0
$GC,11982,0.47,207.3,244.5,11.9,953,11987,0.12,2.25,0.00,0.000,6,0.190,0.062,3023,2285,2178,0,0,0,0,0,0
$GC,12307,0.50,207.3,211.2,10.2,983,12311,0.00,2.25,0.00,0.000,4,0.000,0.075,3023,3692,2178,0,0,0,0,0,0
$GC,12386,0.50,207.3,202.3,11.3,990,12390,0.00,2.25,0.00,0.000,6,0.000,0.057,3028,2259,2178,0,0,0,0,0,0
$GC,12716,0.53,207.3,166.0,10.8,1021,12720,0.00,2.33,0.00,0.000,4,0.000,0.073,3029,3697,2178,0,0,0,0,0,0
$GC,12737,0.55,207.3,163.3,11.2,1022,12744,0.00,2.25,0.00,0.000,6,0.000,0.054,3039,2267,2178,0,0,0,0,0,0
$GC,13062,0.58,207.3,126.8,10.8,1053,13066,0.00,2.28,0.00,0.000,4,0.000,0.072,3038,3694,2178,0,0,0,0,0,0
$GC,13102,0.58,207.3,121.9,13.2,1056,13106,0.00,2.22,0.00,0.000,6,0.000,0.054,3046,2278,2178,0,0,0,0,0,0
$GC,13433,0.61,230.1,87.6,8.9,1097,13464,0.00,2.30,23.62,0.840,4,0.000,0.070,3046,3690,2092,0,0,0,0,0,0
$GC,13493,0.61,230.1,81.6,11.0,1107,13500,0.00,2.28,0.00,0.000,6,0.000,0.053,3055,2263,2091,0,0,0,0,0,0
$GC,13838,0.65,231.4,46.5,9.9,1168,13845,0.00,2.22,0.00,0.000,4,0.000,0.069,3059,864,2088,0,0,0,0,0,0
$GC,13897,0.75,254.9,41.0,8.9,1178,13929,0.12,2.22,23.10,0.887,6,0.119,0.057,3106,2279,1990,0,0,0,0,0,0
$FREEZE,8.27,-1.435,-1.834,3,1,0
$FREEZE,7.54,-1.436,-1.833,3,1,0
$FREEZE,6.79,-1.434,-1.833,3,1,0
$FREEZE,5.90,-1.435,-1.832,3,1,0
$FREEZE,5.11,-1.434,-1.831,3,1,0
$FREEZE,4.41,-1.431,-1.831,3,1,0
$FREEZE,3.51,-1.431,-1.830,3,1,0
$FREEZE,2.71,-1.435,-1.830,3,1,0
$STATE,14194,end climb,SURFACE_DEPTH_REACHED
$STATE,14194,begin surface coast
$FREEZE,1.97,-1.434,-1.829,3,1,0
$FREEZE,1.34,-1.437,-1.828,3,1,0
$FREEZE,1.23,-1.571,-1.808,3,1,0
$FINISH,1.2,1.026541
$STATE,14211,end surface coast,CONTROL_FINISHED_OK
$STATE,14212,begin surface
$SM_CCo,14229,65.32,0.071,0,0,1398,400.33
$SM_GC,2.11,0.00,0.00,65.32,0.000,0.000,0.071,114,2494,1398,-8.60,0.11,400.33
$RAFOS_CLK,719
$RAFOS,6,1298378943,12.833333,12.817500,87,56,54,54,49,48,672,191,219,202,139,151
$RAFOS,5,1298378466,12.700000,12.685000,129,60,56,52,52,52,589,220,202,146,161,189
$RAFOS,4,1298377985,12.566667,12.551389,76,61,58,57,54,52,765,216,156,132,170,182
$RAFOS,3,1298377502,12.433333,12.417222,56,55,52,52,51,49,220,144,172,153,118,206
$RAFOS,2,1298377021,12.300000,12.283611,56,56,56,55,51,50,145,195,214,161,128,173
$RAFOS,1,1298376552,12.166667,12.153334,78,59,57,55,54,49,207,188,132,221,174,149
$RAFOS,0,1298376063,12.033333,12.017500,64,63,56,56,53,53,215,113,206,155,165,194
$RAFOS,6,1298364541,8.833333,8.816944,132,63,53,52,52,52,689,213,191,118,140,166
$RAFOS_FIX,6710.254395,-5750.917480,220211,121201,3,97,0.69
$IRIDIUM_FIX,6641.98,-5726.21,220211,010159
$TT8_MAMPS,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,23.1,6.273
$10V_AH,10.3,2.768
$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,24.350,109.750,357.375,65.325,0.000,30.585,45.765,233.542,3.000,0.000,35.619,3038.934,8589.779,569.520,2344.580,269.895,0.000,1643.785,0.000,1985.282,2520.000,22.852,0.000
$DEVICE_MAMPS,338.130,91.035,1349.460,71.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,875.699,954.141,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150672
$DATA_FILE_SIZE,46738,1234
$CAP_FILE_SIZE,149072,0
$CFSIZE,260165632,250707968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.9
$GPS,220211,130307,6711.329,-5743.104,36,1.2,36,-38.0