version: 66.08
glider: 141
mission: 15
dive: 19
start: 2 21 111 18 45 9
data:
$ID,141
$MISSION,15
$DIVE,19
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,210211,183930,6710.713,-5718.128,35,0.9,40,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-72.4
$GPS2,210211,184438,6710.704,-5718.157,9,1.2,9,-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,288.0,146047,-17.5,-10.000
$D_GRID,657
$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,-146.0,0.0,0.0,0,155,0.00,0.00,-135.55,0.000,2,0.000,0.000,110,2462,3495,0,0,0,0,0,0
$GC,159,-0.62,-146.0,6.1,-12.9,24,184,12.95,2.42,-2.67,0.000,4,0.339,0.092,2650,3889,3629,0,0,0,0,0,0
$GC,203,-0.16,-146.0,24.1,-33.5,31,210,0.57,2.25,0.00,0.000,6,0.211,0.056,2804,2492,3631,0,0,0,0,0,0
$GC,549,-0.38,-146.0,45.3,-4.4,92,556,0.20,2.30,0.00,0.000,4,0.108,0.068,2733,1079,3631,0,0,0,0,0,0
$GC,580,-0.47,-146.0,47.6,-8.4,97,587,0.00,2.30,0.00,0.000,6,0.000,0.067,2733,2485,3631,0,0,0,0,0,0
$GC,925,-0.52,-146.0,78.5,-8.9,158,933,0.12,2.38,0.00,0.000,4,0.131,0.084,2689,3904,3631,0,0,0,0,0,0
$GC,984,-0.52,-146.0,84.9,-11.2,168,992,0.00,2.28,0.00,0.000,6,0.000,0.055,2690,2475,3631,0,0,0,0,0,0
$GC,1319,-0.52,-146.0,121.0,-10.7,211,1323,0.00,2.22,0.00,0.000,4,0.000,0.072,2690,1082,3631,0,0,0,0,0,0
$GC,1362,-0.52,-146.0,126.2,-11.4,214,1369,0.00,2.28,0.00,0.000,6,0.000,0.068,2690,2496,3631,0,0,0,0,0,0
$GC,1689,-0.52,-146.0,161.7,-11.4,245,1693,0.00,2.33,0.00,0.000,4,0.000,0.086,2690,3903,3630,0,0,0,0,0,0
$GC,1785,-0.55,-146.0,172.4,-10.6,253,1789,0.00,2.25,0.00,0.000,6,0.000,0.055,2690,2481,3630,0,0,0,0,0,0
$GC,2110,-0.55,-146.0,206.4,-9.8,283,2114,0.00,2.25,0.00,0.000,4,0.000,0.073,2690,1076,3630,0,0,0,0,0,0
$GC,2167,-0.57,-146.0,212.3,-10.8,288,2171,0.00,2.28,0.00,0.000,6,0.000,0.069,2690,2493,3630,0,0,0,0,0,0
$GC,2492,-0.59,-146.0,244.3,-10.0,318,2496,0.00,2.30,0.00,0.000,4,0.000,0.086,2690,3899,3630,0,0,0,0,0,0
$GC,2531,-0.63,-146.0,248.4,-9.8,321,2538,0.00,2.22,0.00,0.000,6,0.000,0.054,2690,2488,3629,0,0,0,0,0,0
$GC,2856,-0.63,-146.0,281.7,-10.7,352,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2487,3630,0,0,0,0,0,0
$GC,3177,-0.65,-146.0,316.0,-10.9,382,3181,0.12,2.25,0.00,0.000,4,0.139,0.070,2649,1080,3629,0,0,0,0,0,0
$GC,3216,-0.60,-146.0,321.5,-14.4,385,3223,0.00,2.28,0.00,0.000,6,0.000,0.068,2649,2490,3629,0,0,0,0,0,0
$GC,3541,-0.52,-146.0,368.4,-14.4,416,3546,0.17,2.33,0.00,0.000,4,0.233,0.083,2690,3906,3630,0,0,0,0,0,0
$GC,3587,-0.59,-146.0,374.1,-11.7,420,3591,0.00,2.20,0.00,0.000,6,0.000,0.053,2690,2483,3630,0,0,0,0,0,0
$GC,3912,-0.62,-146.0,408.9,-10.7,450,3916,0.00,2.20,0.00,0.000,4,0.000,0.068,2690,1080,3630,0,0,0,0,0,0
$GC,3944,-0.65,-146.0,412.8,-11.0,452,3952,0.12,2.28,0.00,0.000,6,0.137,0.067,2651,2497,3630,0,0,0,0,0,0
$GC,4270,-0.59,-146.0,454.7,-12.6,483,4274,0.00,2.28,0.00,0.000,4,0.000,0.083,2651,3903,3630,0,0,0,0,0,0
$GC,4336,-0.56,-146.0,463.6,-13.4,488,4344,0.12,2.20,0.00,0.000,6,0.224,0.054,2678,2481,3630,0,0,0,0,0,0
$GC,4661,-0.56,-146.0,497.4,-10.4,519,4665,0.00,2.20,0.00,0.000,4,0.000,0.068,2678,1076,3631,0,0,0,0,0,0
$GC,4700,-0.56,-146.0,501.5,-10.4,522,4704,0.00,2.25,0.00,0.000,6,0.000,0.067,2678,2489,3631,0,0,0,0,0,0
$GC,5030,-0.56,-146.0,534.4,-10.1,553,5035,0.00,2.28,0.00,0.000,4,0.000,0.084,2679,3904,3632,0,0,0,0,0,0
$GC,5102,-0.59,-146.0,541.8,-9.8,559,5109,0.00,2.20,0.00,0.000,6,0.000,0.054,2678,2484,3632,0,0,0,0,0,0
$GC,5427,-0.59,-146.0,573.3,-9.5,590,5431,0.00,2.22,0.00,0.000,4,0.000,0.068,2678,1075,3632,0,0,0,0,0,0
$GC,5468,-0.59,-146.0,577.2,-9.7,593,5472,0.00,2.25,0.00,0.000,6,0.000,0.067,2678,2491,3633,0,0,0,0,0,0
$GC,5799,-0.59,-146.0,609.0,-9.5,618,5804,0.00,2.28,0.00,0.000,4,0.000,0.084,2679,3900,3632,0,0,0,0,0,0
$GC,5855,-0.62,-146.0,614.6,-10.1,619,5862,0.00,2.20,0.00,0.000,6,0.000,0.054,2678,2489,3632,0,0,0,0,0,0
$GC,6168,-0.62,-146.0,644.9,-9.9,630,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2489,3632,0,0,0,0,0,0
$STATE,6319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6319,begin apogee
$GC,6324,-0.12,0.0,659.0,9.1,635,6454,0.45,0.00,122.18,1.313,6,0.190,0.000,2814,2255,3030,0,0,0,0,0,0
$STATE,6455,end apogee,CONTROL_FINISHED_OK
$STATE,6455,begin climb
$GC,6457,0.62,146.0,663.1,0.0,639,6591,0.80,2.45,124.70,1.284,4,0.140,0.077,3066,884,2433,0,0,0,0,0,0
$GC,6619,0.62,146.0,650.2,24002.9,644,6624,0.00,2.42,0.00,0.000,6,0.000,0.062,3066,2277,2429,0,0,0,0,0,0
$GC,6944,0.62,146.0,608.5,24002.9,655,6948,0.00,2.40,0.00,0.000,4,0.000,0.079,3067,3688,2424,0,0,0,0,0,0
$GC,7062,0.62,146.0,591.4,24002.9,662,7067,0.00,2.33,0.00,0.000,6,0.000,0.061,3077,2285,2423,0,0,0,0,0,0
$GC,7387,0.62,146.0,549.1,24002.9,692,7392,0.00,2.35,0.00,0.000,4,0.000,0.077,3077,3698,2423,0,0,0,0,0,0
$GC,7428,0.62,146.0,543.5,24002.9,695,7432,0.00,2.33,0.00,0.000,6,0.000,0.061,3087,2273,2423,0,0,0,0,0,0
$GC,7753,0.62,146.0,499.5,24002.9,725,7757,0.00,2.35,0.00,0.000,4,0.000,0.077,3087,3698,2422,0,0,0,0,0,0
$GC,7782,0.62,146.0,495.4,24002.9,727,7787,0.12,2.33,0.00,0.000,6,0.219,0.061,3069,2267,2422,0,0,0,0,0,0
$GC,8107,0.62,146.0,453.8,24002.9,757,8111,0.00,2.33,0.00,0.000,4,0.000,0.076,3068,3689,2422,0,0,0,0,0,0
$GC,8147,0.62,146.0,448.5,24002.9,760,8151,0.00,2.30,0.00,0.000,6,0.000,0.060,3077,2264,2422,0,0,0,0,0,0
$GC,8473,0.62,146.0,405.7,24002.9,790,8477,0.00,2.33,0.00,0.000,4,0.000,0.076,3076,3691,2421,0,0,0,0,0,0
$GC,8507,0.62,146.0,400.7,24002.9,792,8513,0.00,2.28,0.00,0.000,6,0.000,0.060,3086,2274,2421,0,0,0,0,0,0
$GC,8832,0.62,146.0,355.2,24002.9,823,8836,0.00,2.30,0.00,0.000,4,0.000,0.075,3086,3692,2421,0,0,0,0,0,0
$GC,8849,0.62,146.0,352.8,24002.9,824,8854,0.12,2.25,0.00,0.000,6,0.216,0.058,3069,2270,2421,0,0,0,0,0,0
$GC,9174,0.62,146.0,312.1,24002.9,854,9178,0.00,2.30,0.00,0.000,4,0.000,0.075,3068,3690,2421,0,0,0,0,0,0
$GC,9214,0.62,146.0,306.7,24002.9,857,9218,0.00,2.28,0.00,0.000,6,0.000,0.058,3077,2264,2421,0,0,0,0,0,0
$GC,9540,0.62,146.0,264.0,24002.9,887,9544,0.00,2.30,0.00,0.000,4,0.000,0.076,3077,3690,2421,0,0,0,0,0,0
$GC,9574,0.62,146.0,258.9,24002.9,889,9580,0.00,2.25,0.00,0.000,6,0.000,0.057,3086,2276,2421,0,0,0,0,0,0
$GC,9899,0.62,146.0,216.6,24002.9,920,9903,0.00,2.28,0.00,0.000,4,0.000,0.073,3086,3692,2420,0,0,0,0,0,0
$GC,9965,0.62,146.0,207.4,24002.9,925,9972,0.12,2.25,0.00,0.000,6,0.219,0.057,3069,2268,2421,0,0,0,0,0,0
$GC,10290,0.62,146.0,170.9,24002.9,956,10294,0.00,2.28,0.00,0.000,4,0.000,0.073,3068,3691,2421,0,0,0,0,0,0
$GC,10353,0.62,146.0,163.7,24002.9,961,10357,0.00,2.25,0.00,0.000,6,0.000,0.056,3077,2263,2422,0,0,0,0,0,0
$GC,10678,0.62,146.0,128.6,24002.9,991,10682,0.00,2.30,0.00,0.000,4,0.000,0.073,3077,3692,2422,0,0,0,0,0,0
$GC,10745,0.62,146.0,120.2,24002.9,996,10752,0.00,2.25,0.00,0.000,6,0.000,0.057,3087,2267,2421,0,0,0,0,0,0
$GC,11078,0.62,146.0,80.6,24002.9,1041,11085,0.00,2.30,0.00,0.000,4,0.000,0.073,3087,3691,2422,0,0,0,0,0,0
$GC,11111,0.62,146.0,77.1,24002.9,1046,11118,0.12,2.22,0.00,0.000,6,0.218,0.054,3069,2270,2422,0,0,0,0,0,0
$GC,11458,0.62,146.0,44.7,24002.9,1107,11464,0.00,2.30,0.00,0.000,4,0.000,0.074,3069,3692,2422,0,0,0,0,0,0
$STATE,11531,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11531,begin subsurface finish
$FINISH1,36.8,1.026869,31
$GC,11540,0.04,30.9,36.8,-24002.9,1120,11553,0.65,2.28,-5.70,0.000,4,0.185,0.083,2882,3692,2908,0,0,0,0,0,0
$FINISH2,35.2
$STATE,11554,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11554,begin surface
$RAFOS_CLK,576
$RAFOS,6,1298321352,20.833334,20.820000,131,58,58,56,55,55,685,216,137,182,170,116
$RAFOS,5,1298320867,20.700001,20.685278,134,64,55,53,51,51,595,206,125,146,164,187
$RAFOS,4,1298320384,20.566668,20.551111,93,61,57,55,51,48,817,209,153,134,222,234
$RAFOS,3,1298319921,20.433332,20.422501,65,63,63,59,56,56,873,207,164,225,188,115
$RAFOS,2,1298319423,20.299999,20.284166,62,62,60,56,55,51,134,219,168,189,200,150
$RAFOS,1,1298318943,20.166666,20.150833,62,60,60,59,55,49,213,199,178,125,151,232
$RAFOS,0,1298318462,20.033333,20.017221,64,62,55,55,54,51,196,205,128,163,80,152
$RAFOS_FIX,6710.663574,-5729.658691,210211,202028,4,106,1.20
$IRIDIUM_FIX,6641.98,-5716.88,210211,151527
$TT8_MAMPS,0.026215
$HUMID,46.41
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.5,20.4
$ALTIM_BOTTOM_PING,38.1,21.0
$24V_AH,23.2,5.753
$10V_AH,10.4,2.470
$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,16.800,135.100,246.875,0.000,0.000,25.765,22.545,136.021,2.000,0.000,11.911,2745.755,6404.920,430.387,2081.437,216.652,0.000,1453.918,0.000,1868.057,2520.000,15.132,0.000
$DEVICE_MAMPS,338.895,91.800,1312.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.546,859.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150652
$DATA_FILE_SIZE,43327,1122
$CAP_FILE_SIZE,137962,0
$CFSIZE,260165632,251002880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$GPS,210211,203928,6710.664,-5729.659,0,4105.8,0,-37.8