version: 66.08
glider: 141
mission: 15
dive: 63
start: 3 1 111 14 17 35
data:
$ID,141
$MISSION,15
$DIVE,63
$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,-2
$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,559.0387
$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,-22775.168
$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,27
$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
$GPS1,010311,122328,6650.733,-6014.829,0,6103.0,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.34
$_SM_ANGLEo,-4.3
$GPS2,010311,122328,6650.733,-6014.829,0,6103.0,0,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,119.4,151078,-17.5,-10.000
$D_GRID,587
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.38,0.000,2,0.000,0.000,2901,2275,2993,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.4,-0.0,1,52,0.65,2.62,-16.30,0.000,4,0.093,0.085,2664,3896,3630,0,0,0,0,0,0
$GC,122,-0.50,-146.0,26.8,-20.3,17,130,0.15,2.22,0.00,0.000,6,0.233,0.050,2698,2487,3631,0,0,0,0,0,0
$GC,468,-0.39,-146.0,82.5,-14.3,78,475,0.15,2.25,0.00,0.000,4,0.239,0.065,2733,1072,3632,0,0,0,0,0,0
$GC,572,-0.43,-146.0,95.1,-11.1,96,579,0.00,2.25,0.00,0.000,6,0.000,0.061,2734,2486,3631,0,0,0,0,0,0
$GC,907,-0.43,-146.0,134.8,-9.9,131,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2486,3630,0,0,0,0,0,0
$GC,1227,-0.46,-146.0,166.8,-9.3,161,1231,0.00,2.30,0.00,0.000,4,0.000,0.079,2734,3907,3630,0,0,0,0,0,0
$GC,1271,-0.55,-146.0,170.9,-8.8,164,1279,0.15,2.22,0.00,0.000,6,0.125,0.048,2683,2475,3630,0,0,0,0,0,0
$GC,1596,-0.47,-146.0,211.2,-12.8,195,1600,0.00,2.20,0.00,0.000,4,0.000,0.067,2683,1077,3630,0,0,0,0,0,0
$GC,1681,-0.44,-146.0,222.1,-12.1,202,1689,0.15,2.25,0.00,0.000,6,0.227,0.063,2716,2492,3630,0,0,0,0,0,0
$GC,2007,-0.47,-146.0,254.1,-9.6,233,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2492,3630,0,0,0,0,0,0
$GC,2327,-0.52,-146.0,282.1,-8.8,263,2331,0.00,2.28,0.00,0.000,4,0.000,0.078,2717,3899,3629,0,0,0,0,0,0
$GC,2350,-0.57,-146.0,284.3,-8.9,265,2355,0.12,2.20,0.00,0.000,6,0.127,0.048,2675,2487,3629,0,0,0,0,0,0
$GC,2675,-0.51,-146.0,324.3,-12.3,295,2679,0.00,2.20,0.00,0.000,4,0.000,0.065,2675,1082,3629,0,0,0,0,0,0
$GC,2709,-0.47,-146.0,328.7,-13.1,297,2716,0.15,2.25,0.00,0.000,6,0.223,0.061,2710,2494,3628,0,0,0,0,0,0
$GC,3034,-0.51,-146.0,358.0,-8.3,328,3038,0.00,2.25,0.00,0.000,4,0.000,0.077,2710,3899,3629,0,0,0,0,0,0
$GC,3055,-0.56,-146.0,359.9,-8.1,329,3063,0.00,2.20,0.00,0.000,6,0.000,0.047,2710,2477,3629,0,0,0,0,0,0
$GC,3381,-0.61,-146.0,387.3,-8.5,360,3386,0.12,2.20,0.00,0.000,4,0.136,0.064,2669,1086,3628,0,0,0,0,0,0
$GC,3403,-0.61,-146.0,389.8,-11.2,362,3407,0.00,2.25,0.00,0.000,6,0.000,0.062,2669,2497,3629,0,0,0,0,0,0
$GC,3729,-0.55,-146.0,428.6,-11.6,392,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2497,3629,0,0,0,0,0,0
$GC,4048,-0.49,-146.0,465.6,-11.5,422,4050,0.12,0.00,0.00,0.000,6,0.233,0.000,2698,2497,3629,0,0,0,0,0,0
$GC,4366,-0.52,-146.0,494.8,-9.2,452,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2498,3630,0,0,0,0,0,0
$GC,4687,-0.55,-146.0,522.9,-8.7,482,4691,0.00,2.25,0.00,0.000,4,0.000,0.078,2698,3901,3630,0,0,0,0,0,0
$GC,4716,-0.58,-146.0,525.7,-8.5,484,4720,0.00,2.17,0.00,0.000,6,0.000,0.047,2698,2486,3630,0,0,0,0,0,0
$GC,5047,-0.63,-146.0,555.7,-8.9,515,5051,0.12,2.20,0.00,0.000,4,0.139,0.063,2657,1077,3630,0,0,0,0,0,0
$GC,5086,-0.58,-146.0,560.0,-11.8,518,5090,0.00,2.25,0.00,0.000,6,0.000,0.062,2657,2493,3630,0,0,0,0,0,0
$STATE,5313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5314,begin apogee
$GC,5319,-0.12,0.0,587.1,12.2,539,5450,0.55,0.00,122.53,1.292,6,0.204,0.000,2814,2266,3029,0,0,0,0,0,0
$STATE,5451,end apogee,CONTROL_FINISHED_OK
$STATE,5451,begin climb
$GC,5453,0.62,146.0,591.9,0.0,551,5582,0.80,0.00,124.88,1.245,6,0.142,0.000,3055,2265,2434,0,0,0,0,0,0
$GC,5900,0.54,146.0,547.4,11.6,594,5904,0.00,2.42,0.00,0.000,4,0.000,0.067,3055,3697,2425,0,0,0,0,0,0
$GC,5991,0.40,146.0,534.8,14.4,602,5996,0.28,2.33,0.00,0.000,6,0.194,0.052,2997,2283,2424,0,0,0,0,0,0
$GC,6316,0.48,183.6,507.3,8.3,632,6353,0.00,2.40,32.08,1.180,4,0.000,0.068,2997,3686,2281,0,0,0,0,0,0
$GC,6399,0.48,183.6,499.9,10.0,639,6404,0.00,2.33,0.00,0.000,6,0.000,0.051,3002,2278,2278,0,0,0,0,0,0
$GC,6731,0.55,200.8,470.0,9.2,670,6752,0.10,0.00,15.98,1.114,6,0.125,0.000,3043,2279,2211,0,0,0,0,0,0
$GC,7070,0.55,200.8,429.6,12.2,702,7074,0.00,2.33,0.00,0.000,4,0.000,0.067,3042,3693,2207,0,0,0,0,0,0
$GC,7119,0.48,200.8,422.7,14.0,706,7127,0.12,2.30,0.00,0.000,6,0.198,0.051,3024,2266,2206,0,0,0,0,0,0
$GC,7445,0.51,207.0,388.7,9.7,737,7455,0.00,0.00,6.18,0.911,6,0.000,0.000,3024,2266,2185,0,0,0,0,0,0
$GC,7773,0.53,207.0,355.6,10.4,768,7777,0.00,2.30,0.00,0.000,4,0.000,0.067,3024,3688,2185,0,0,0,0,0,0
$GC,7817,0.53,207.0,350.4,12.3,771,7824,0.00,2.28,0.00,0.000,6,0.000,0.051,3030,2278,2185,0,0,0,0,0,0
$GC,8142,0.53,207.0,316.3,10.2,802,8146,0.00,2.30,0.00,0.000,4,0.000,0.067,3030,3692,2185,0,0,0,0,0,0
$GC,8182,0.53,207.0,311.8,11.7,805,8186,0.00,2.28,0.00,0.000,6,0.000,0.052,3041,2260,2185,0,0,0,0,0,0
$GC,8508,0.53,207.0,276.4,10.6,835,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2260,2184,0,0,0,0,0,0
$GC,8827,0.53,207.0,243.1,10.4,865,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2260,2184,0,0,0,0,0,0
$GC,9144,0.56,229.5,211.0,9.0,895,9171,0.00,2.35,21.50,1.034,4,0.000,0.065,3041,3698,2093,0,0,0,0,0,0
$GC,9198,0.56,229.5,205.5,11.0,899,9205,0.00,2.30,0.00,0.000,6,0.000,0.051,3049,2276,2092,0,0,0,0,0,0
$GC,9526,0.62,264.4,176.5,8.4,930,9564,0.00,0.00,31.98,1.027,6,0.000,0.000,3049,2276,1951,0,0,0,0,0,0
$GC,9883,0.72,292.1,143.9,8.7,964,9918,0.15,2.38,25.67,0.995,4,0.106,0.067,3107,3693,1838,0,0,0,0,0,0
$GC,9945,0.67,292.1,135.8,15.1,969,9953,0.15,2.33,0.00,0.000,6,0.207,0.052,3081,2277,1836,0,0,0,0,0,0
$GC,10271,0.70,292.1,99.8,11.0,1000,10278,0.00,2.30,0.00,0.000,4,0.000,0.066,3081,3689,1833,0,0,0,0,0,0
$GC,10323,0.70,292.1,93.6,12.4,1009,10330,0.00,2.28,0.00,0.000,6,0.000,0.052,3086,2277,1832,0,0,0,0,0,0
$GC,10669,0.77,306.7,60.8,9.3,1070,10688,0.00,2.38,13.55,0.932,4,0.000,0.067,3090,861,1779,0,0,0,0,0,0
$GC,10746,0.88,328.7,53.9,9.0,1083,10777,0.17,2.28,21.10,0.955,6,0.105,0.053,3153,2287,1689,0,0,0,0,0,0
$FREEZE,8.77,-1.756,-1.777,3,40,2
$FREEZE,7.95,-1.756,-1.776,3,40,2
$FREEZE,7.16,-1.758,-1.776,3,40,2
$FREEZE,6.52,-1.755,-1.775,3,40,2
$FREEZE,5.71,-1.754,-1.774,3,40,2
$FREEZE,4.81,-1.750,-1.774,3,40,2
$FREEZE,4.14,-1.753,-1.773,3,40,2
$FREEZE,3.35,-1.755,-1.773,3,40,2
$FREEZE,2.61,-1.749,-1.772,3,40,2
$STATE,11104,end climb,SURFACE_DEPTH_REACHED
$STATE,11104,begin surface coast
$FREEZE,1.90,-1.742,-1.772,3,40,2
$FREEZE,1.63,-1.740,-1.651,3,40,2
$FREEZE,1.69,-1.729,-1.650,3,40,2
$FINISH,1.7,1.024279
$STATE,11121,end surface coast,CONTROL_FINISHED_OK
$STATE,11121,begin surface
$SM_CCo,11139,103.65,0.075,0,0,750,559.04
$SM_GC,2.66,0.00,0.00,103.65,0.000,0.000,0.075,109,2498,750,-8.61,0.23,559.04
$RAFOS_CLK,626
$RAFOS,6,1298998144,16.833334,16.817778,116,65,61,55,53,50,764,190,209,128,170,228
$RAFOS,5,1298997666,16.700001,16.684999,122,64,59,56,51,51,913,205,222,182,713,162
$RAFOS,4,1298997185,16.566668,16.551390,119,64,60,55,55,53,695,158,140,217,186,176
$RAFOS,3,1298996709,16.433332,16.419167,88,64,63,56,54,53,779,197,215,179,141,124
$RAFOS,2,1298996221,16.299999,16.283611,126,63,61,60,54,53,696,198,180,216,145,227
$RAFOS,1,1298995751,16.166666,16.153055,107,60,60,59,58,54,530,215,204,138,187,151
$RAFOS,0,1298995262,16.033333,16.017221,118,60,58,58,57,56,659,154,221,194,178,140
$RAFOS_FIX,6652.168945,-6007.660156,010311,161607,7,114,0.40
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,45.55
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.6
$24V_AH,23.0,12.125
$10V_AH,10.3,5.894
$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,13.000,87.525,415.425,103.650,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2761.825,6061.673,564.859,1786.968,153.230,0.000,1506.310,0.000,1776.719,2520.000,14.227,0.000
$DEVICE_MAMPS,239.445,84.915,1292.085,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.534,879.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150732
$DATA_FILE_SIZE,43427,1150
$CAP_FILE_SIZE,123459,0
$CFSIZE,260165632,247738368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$GPS,010311,162707,6652.169,-6007.660,0,7113.7,0,-38.0