version: 66.08
glider: 141
mission: 15
dive: 24
start: 2 22 111 13 9 2
data:
$ID,141
$MISSION,15
$DIVE,24
$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,-22038.008
$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,25
$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
$GPS1,220211,130307,6711.329,-5743.104,36,1.2,36,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-71.9
$GPS2,220211,130831,6711.269,-5743.151,12,1.3,29,-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,285.0,129396,-17.5,-10.000
$D_GRID,800
$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,17,-0.62,-146.0,0.0,0.0,0,149,0.00,0.00,-130.00,0.000,2,0.000,0.000,113,2495,3370,0,0,0,0,0,0
$GC,153,-0.62,-146.0,5.2,-9.5,23,179,12.98,2.35,-5.75,0.000,4,0.340,0.091,2653,3900,3627,0,0,0,0,0,0
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$GC,611,-0.46,-146.0,80.8,-13.0,103,617,0.00,2.22,0.00,0.000,4,0.000,0.070,2689,1084,3629,0,0,0,0,0,0
$GC,652,-0.46,-146.0,86.5,-13.7,110,659,0.00,2.30,0.00,0.000,6,0.000,0.067,2689,2492,3629,0,0,0,0,0,0
$GC,989,-0.42,-146.0,130.1,-12.2,150,994,0.12,2.33,0.00,0.000,4,0.235,0.083,2719,3898,3628,0,0,0,0,0,0
$GC,1124,-0.49,-146.0,142.8,-9.1,161,1131,0.00,2.25,0.00,0.000,6,0.000,0.054,2720,2480,3628,0,0,0,0,0,0
$GC,1451,-0.54,-146.0,171.8,-8.8,192,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2481,3628,0,0,0,0,0,0
$GC,1769,-0.60,-146.0,196.5,-7.5,222,1771,0.15,0.00,0.00,0.000,6,0.119,0.000,2669,2480,3627,0,0,0,0,0,0
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$GC,2452,-0.51,-146.0,265.2,-9.5,285,2456,0.00,2.20,0.00,0.000,4,0.000,0.067,2698,1082,3628,0,0,0,0,0,0
$GC,2518,-0.54,-146.0,272.3,-10.5,290,2525,0.00,2.28,0.00,0.000,6,0.000,0.064,2698,2501,3629,0,0,0,0,0,0
$GC,2844,-0.54,-146.0,304.4,-9.5,321,2848,0.00,2.25,0.00,0.000,4,0.000,0.081,2698,3900,3629,0,0,0,0,0,0
$GC,2895,-0.57,-146.0,309.0,-9.4,325,2899,0.00,2.17,0.00,0.000,6,0.000,0.051,2697,2490,3629,0,0,0,0,0,0
$GC,3220,-0.57,-146.0,338.5,-9.2,355,3224,0.00,2.22,0.00,0.000,4,0.000,0.065,2698,1073,3630,0,0,0,0,0,0
$GC,3277,-0.60,-146.0,344.0,-9.3,360,3281,0.00,2.25,0.00,0.000,6,0.000,0.065,2698,2493,3630,0,0,0,0,0,0
$GC,3603,-0.63,-146.0,373.6,-9.0,390,3607,0.12,2.30,0.00,0.000,4,0.134,0.081,2656,3899,3630,0,0,0,0,0,0
$GC,3629,-0.58,-146.0,376.7,-11.4,392,3636,0.00,2.20,0.00,0.000,6,0.000,0.051,2656,2485,3630,0,0,0,0,0,0
$GC,3955,-0.50,-146.0,415.1,-11.9,423,3960,0.17,2.22,0.00,0.000,4,0.220,0.067,2699,1074,3630,0,0,0,0,0,0
$GC,3987,-0.50,-146.0,418.7,-9.7,425,3995,0.00,2.28,0.00,0.000,6,0.000,0.065,2698,2499,3630,0,0,0,0,0,0
$GC,4314,-0.53,-146.0,447.8,-9.5,456,4318,0.00,2.25,0.00,0.000,4,0.000,0.082,2699,3899,3630,0,0,0,0,0,0
$GC,4363,-0.59,-146.0,452.8,-9.7,460,4370,0.00,2.20,0.00,0.000,6,0.000,0.052,2699,2487,3630,0,0,0,0,0,0
$GC,4691,-0.62,-146.0,483.3,-9.4,491,4695,0.12,2.22,0.00,0.000,4,0.136,0.067,2658,1083,3631,0,0,0,0,0,0
$GC,4753,-0.58,-146.0,490.9,-11.8,496,4757,0.00,2.25,0.00,0.000,6,0.000,0.066,2658,2490,3631,0,0,0,0,0,0
$GC,5078,-0.51,-146.0,530.7,-11.8,526,5083,0.15,2.33,0.00,0.000,4,0.234,0.082,2692,3907,3630,0,0,0,0,0,0
$GC,5122,-0.56,-146.0,535.4,-10.0,529,5129,0.00,2.22,0.00,0.000,6,0.000,0.052,2692,2482,3630,0,0,0,0,0,0
$GC,5448,-0.58,-146.0,564.5,-8.9,560,5452,0.00,2.17,0.00,0.000,4,0.000,0.068,2692,1085,3630,0,0,0,0,0,0
$GC,5492,-0.62,-146.0,568.6,-9.1,563,5499,0.00,2.22,0.00,0.000,6,0.000,0.066,2692,2491,3631,0,0,0,0,0,0
$GC,5818,-0.65,-146.0,597.7,-9.1,594,5822,0.12,2.30,0.00,0.000,4,0.128,0.083,2650,3901,3631,0,0,0,0,0,0
$GC,5861,-0.59,-146.0,602.8,-12.5,597,5865,0.00,2.20,0.00,0.000,6,0.000,0.054,2650,2489,3630,0,0,0,0,0,0
$GC,6191,-0.49,-146.0,643.6,-12.9,608,6196,0.20,2.22,0.00,0.000,4,0.223,0.067,2700,1076,3630,0,0,0,0,0,0
$GC,6235,-0.54,-146.0,648.6,-9.9,609,6239,0.00,2.25,0.00,0.000,6,0.000,0.067,2699,2497,3631,0,0,0,0,0,0
$GC,6560,-0.58,-146.0,676.3,-8.3,620,6564,0.00,2.28,0.00,0.000,4,0.000,0.084,2699,3905,3630,0,0,0,0,0,0
$GC,6587,-0.63,-146.0,678.8,-8.8,620,6594,0.12,2.20,0.00,0.000,6,0.129,0.054,2656,2483,3630,0,0,0,0,0,0
$GC,6900,-0.56,-146.0,713.1,-11.0,631,6904,0.00,2.20,0.00,0.000,4,0.000,0.069,2656,1076,3630,0,0,0,0,0,0
$GC,6949,-0.52,-146.0,719.0,-11.1,632,6953,0.15,2.28,0.00,0.000,6,0.225,0.068,2691,2493,3630,0,0,0,0,0,0
$GC,7268,-0.55,-146.0,746.3,-8.5,643,7272,0.00,2.30,0.00,0.000,4,0.000,0.084,2691,3906,3630,0,0,0,0,0,0
$GC,7338,-0.60,-146.0,752.3,-8.5,645,7342,0.00,2.20,0.00,0.000,6,0.000,0.054,2691,2484,3630,0,0,0,0,0,0
$STATE,7610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7610,begin apogee
$GC,7615,-0.12,0.0,775.1,8.3,654,7744,0.40,0.00,123.62,1.380,6,0.189,0.000,2813,2267,3030,0,0,0,0,0,0
$STATE,7745,end apogee,CONTROL_FINISHED_OK
$STATE,7745,begin climb
$GC,7748,0.62,146.0,778.3,0.0,658,7883,0.80,2.62,127.22,1.356,4,0.141,0.076,3053,3682,2433,0,0,0,0,0,0
$GC,7911,0.54,172.4,763.9,8.8,663,7942,0.00,2.42,24.30,1.258,6,0.000,0.059,3064,2282,2326,0,0,0,0,0,0
$GC,8268,0.54,172.4,716.2,29676.7,675,8272,0.00,2.40,0.00,0.000,4,0.000,0.076,3064,3685,2317,0,0,0,0,0,0
$GC,8334,0.54,172.4,705.9,29676.7,677,8339,0.12,2.35,0.00,0.000,6,0.197,0.060,3046,2266,2316,0,0,0,0,0,0
$GC,8669,0.54,172.4,664.8,29676.7,688,8673,0.00,2.40,0.00,0.000,4,0.000,0.076,3045,3687,2315,0,0,0,0,0,0
$GC,8691,0.54,172.4,661.7,29676.7,688,8698,0.00,2.33,0.00,0.000,6,0.000,0.059,3053,2264,2315,0,0,0,0,0,0
$GC,9004,0.54,172.4,621.7,29676.7,699,9008,0.00,2.35,0.00,0.000,4,0.000,0.076,3053,3687,2314,0,0,0,0,0,0
$GC,9042,0.54,172.4,616.1,29676.7,700,9046,0.00,2.30,0.00,0.000,6,0.000,0.059,3064,2273,2314,0,0,0,0,0,0
$GC,9364,0.54,172.4,574.3,29676.7,722,9368,0.00,2.33,0.00,0.000,4,0.000,0.077,3064,3689,2314,0,0,0,0,0,0
$GC,9415,0.54,172.4,567.1,29676.7,726,9420,0.12,2.28,0.00,0.000,6,0.201,0.059,3045,2273,2313,0,0,0,0,0,0
$GC,9746,0.54,172.4,527.8,29676.7,757,9750,0.00,2.33,0.00,0.000,4,0.000,0.075,3045,3687,2313,0,0,0,0,0,0
$GC,9767,0.54,172.4,524.8,29676.7,758,9774,0.00,2.28,0.00,0.000,6,0.000,0.057,3053,2267,2313,0,0,0,0,0,0
$GC,10093,0.54,172.4,482.6,29676.7,789,10097,0.00,2.30,0.00,0.000,4,0.000,0.074,3053,3687,2313,0,0,0,0,0,0
$GC,10110,0.54,172.4,480.3,29676.7,790,10114,0.00,2.25,0.00,0.000,6,0.000,0.057,3064,2264,2313,0,0,0,0,0,0
$GC,10435,0.54,172.4,435.1,29676.7,820,10439,0.00,2.33,0.00,0.000,4,0.000,0.074,3064,3687,2313,0,0,0,0,0,0
$GC,10478,0.54,172.4,428.2,29676.7,823,10486,0.12,2.25,0.00,0.000,6,0.199,0.057,3044,2270,2313,0,0,0,0,0,0
$GC,10807,0.54,172.4,386.5,29676.7,854,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2270,2313,0,0,0,0,0,0
$GC,11134,0.54,172.4,346.5,29676.7,885,11138,0.00,2.33,0.00,0.000,4,0.000,0.074,3043,3691,2313,0,0,0,0,0,0
$GC,11175,0.54,172.4,341.0,29676.7,888,11179,0.00,2.25,0.00,0.000,6,0.000,0.057,3052,2273,2312,0,0,0,0,0,0
$GC,11500,0.54,172.4,301.4,29676.7,918,11504,0.00,2.30,0.00,0.000,4,0.000,0.074,3052,3688,2312,0,0,0,0,0,0
$GC,11540,0.54,172.4,296.3,29676.7,921,11544,0.00,2.25,0.00,0.000,6,0.000,0.057,3063,2265,2312,0,0,0,0,0,0
$GC,11865,0.54,172.4,257.7,29676.7,951,11869,0.00,2.30,0.00,0.000,4,0.000,0.073,3062,3688,2312,0,0,0,0,0,0
$GC,11908,0.54,172.4,252.0,29676.7,954,11916,0.12,2.22,0.00,0.000,6,0.200,0.056,3042,2277,2312,0,0,0,0,0,0
$GC,12234,0.54,172.4,219.2,29676.7,985,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2277,2312,0,0,0,0,0,0
$GC,12553,0.54,172.4,188.1,29676.7,1015,12558,0.00,2.28,0.00,0.000,4,0.000,0.073,3042,3699,2312,0,0,0,0,0,0
$GC,12575,0.54,172.4,185.7,29676.7,1016,12582,0.00,2.25,0.00,0.000,6,0.000,0.054,3050,2266,2312,0,0,0,0,0,0
$GC,12900,0.54,172.4,153.9,29676.7,1047,12905,0.00,2.22,0.00,0.000,4,0.000,0.070,3060,866,2312,0,0,0,0,0,0
$GC,12941,0.54,172.4,150.3,29676.7,1050,12945,0.00,2.25,0.00,0.000,6,0.000,0.059,3060,2286,2311,0,0,0,0,0,0
$GC,13266,0.54,172.4,116.1,29676.7,1080,13270,0.00,2.25,0.00,0.000,4,0.000,0.073,3059,3694,2312,0,0,0,0,0,0
$GC,13306,0.54,172.4,111.3,29676.7,1083,13313,0.00,2.22,0.00,0.000,6,0.000,0.055,3070,2277,2313,0,0,0,0,0,0
$GC,13644,0.54,172.4,72.5,29676.7,1135,13651,0.00,2.25,0.00,0.000,4,0.000,0.070,3080,857,2313,0,0,0,0,0,0
$GC,13697,0.54,172.4,66.6,29676.7,1144,13704,0.15,2.25,0.00,0.000,6,0.190,0.060,3043,2281,2313,0,0,0,0,0,0
$STATE,13709,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13709,begin subsurface finish
$FINISH1,65.1,1.027088,20
$GC,13715,0.02,20.2,65.1,-29676.7,1146,13728,0.52,0.00,-5.18,0.000,6,0.162,0.000,2875,2280,2955,0,0,0,0,0,0
$FINISH2,63.7
$STATE,13729,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13729,begin surface
$RAFOS_CLK,691
$RAFOS,6,1298393342,16.833334,16.817223,96,55,54,52,50,48,656,210,189,180,162,222
$RAFOS,5,1298392870,16.700001,16.686111,81,69,60,58,53,52,584,220,203,122,180,111
$RAFOS,4,1298392384,16.566668,16.551111,128,62,58,57,57,53,757,208,194,161,147,170
$RAFOS,3,1298391909,16.433332,16.419167,64,55,55,51,50,47,166,186,198,140,131,235
$RAFOS,2,1298391427,16.299999,16.285278,70,61,59,52,49,47,208,128,169,230,149,189
$RAFOS,1,1298390944,16.166666,16.151112,64,64,59,58,56,55,189,215,201,770,141,159
$RAFOS,0,1298390469,16.033333,16.019167,60,59,57,53,52,52,145,212,199,158,187,117
$RAFOS_FIX,6710.645508,-5756.703613,220211,161622,3,102,0.76
$IRIDIUM_FIX,6641.98,-5735.56,220211,080846
$TT8_MAMPS,0.026964
$HUMID,46.49
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.3,20.8
$ALTIM_BOTTOM_PING,67.3,19.9
$24V_AH,23.1,6.391
$10V_AH,10.4,2.846
$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,17.075,150.425,275.150,0.000,0.000,29.285,16.580,133.636,2.750,0.000,31.608,2880.438,8283.341,483.535,2174.031,243.241,0.000,1553.845,0.000,1954.150,2520.000,22.591,0.000
$DEVICE_MAMPS,339.660,91.035,1380.060,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.456,895.786,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150692
$DATA_FILE_SIZE,43328,1148
$CAP_FILE_SIZE,155785,0
$CFSIZE,260165632,250630144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.5
$GPS,220211,164322,6710.646,-5756.704,0,3101.7,0,-38.0