version: 66.08
glider: 141
mission: 15
dive: 68
start: 3 2 111 7 25 13
data:
$ID,141
$MISSION,15
$DIVE,68
$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,-23144.75
$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,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
$GPS1,020311,042744,6653.318,-5956.770,0,6108.0,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.49
$_SM_ANGLEo,-5.7
$GPS2,020311,042744,6653.318,-5956.770,0,6108.0,0,-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,120.5,137493,-17.5,-10.000
$D_GRID,799
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.97,0.000,2,0.000,0.000,2895,2278,3024,0,0,0,0,0,0
$GC,26,-0.62,-146.0,12.6,-0.0,1,51,0.65,2.72,-14.20,0.000,4,0.097,0.087,2664,3886,3631,0,0,0,0,0,0
$GC,121,-0.52,-146.0,28.4,-18.5,17,129,0.12,2.22,0.00,0.000,6,0.233,0.048,2691,2488,3633,0,0,0,0,0,0
$GC,467,-0.41,-146.0,84.8,-16.4,78,474,0.15,2.28,0.00,0.000,4,0.240,0.068,2726,1079,3632,0,0,0,0,0,0
$GC,521,-0.44,-146.0,92.8,-13.6,87,528,0.00,2.28,0.00,0.000,6,0.000,0.061,2726,2485,3631,0,0,0,0,0,0
$GC,855,-0.44,-146.0,131.9,-10.6,123,859,0.00,2.25,0.00,0.000,4,0.000,0.067,2726,1082,3631,0,0,0,0,0,0
$GC,900,-0.49,-146.0,136.5,-9.9,126,907,0.00,2.28,0.00,0.000,6,0.000,0.062,2726,2495,3631,0,0,0,0,0,0
$GC,1226,-0.53,-146.0,171.1,-10.9,157,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2496,3630,0,0,0,0,0,0
$GC,1545,-0.57,-146.0,202.9,-9.5,187,1547,0.15,0.00,0.00,0.000,6,0.128,0.000,2678,2496,3630,0,0,0,0,0,0
$GC,1862,-0.51,-146.0,242.8,-13.0,217,1866,0.00,2.28,0.00,0.000,4,0.000,0.067,2678,1080,3630,0,0,0,0,0,0
$GC,1913,-0.51,-146.0,249.3,-12.6,221,1917,0.00,2.25,0.00,0.000,6,0.000,0.063,2678,2493,3630,0,0,0,0,0,0
$GC,2238,-0.46,-146.0,288.1,-11.8,251,2240,0.15,0.00,0.00,0.000,6,0.223,0.000,2713,2493,3630,0,0,0,0,0,0
$GC,2557,-0.51,-146.0,315.9,-8.6,281,2561,0.00,2.25,0.00,0.000,4,0.000,0.066,2713,1070,3629,0,0,0,0,0,0
$GC,2579,-0.56,-146.0,318.1,-9.1,282,2586,0.00,2.28,0.00,0.000,6,0.000,0.061,2713,2494,3629,0,0,0,0,0,0
$GC,2904,-0.62,-146.0,345.0,-8.1,313,2906,0.15,0.00,0.00,0.000,6,0.124,0.000,2664,2494,3629,0,0,0,0,0,0
$GC,3223,-0.56,-146.0,383.5,-12.4,343,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2495,3629,0,0,0,0,0,0
$GC,3543,-0.50,-146.0,421.2,-11.6,373,3545,0.12,0.00,0.00,0.000,6,0.228,0.000,2692,2494,3629,0,0,0,0,0,0
$GC,3861,-0.50,-146.0,450.6,-9.2,403,3865,0.00,2.22,0.00,0.000,4,0.000,0.064,2692,1078,3629,0,0,0,0,0,0
$GC,3878,-0.50,-146.0,452.4,-9.6,404,3882,0.00,2.25,0.00,0.000,6,0.000,0.061,2692,2501,3630,0,0,0,0,0,0
$GC,4209,-0.50,-146.0,482.4,-9.4,435,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2501,3630,0,0,0,0,0,0
$GC,4528,-0.52,-146.0,511.3,-9.0,465,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2501,3630,0,0,0,0,0,0
$GC,4848,-0.55,-146.0,540.0,-9.0,495,4852,0.00,2.22,0.00,0.000,4,0.000,0.062,2692,1077,3631,0,0,0,0,0,0
$GC,4860,-0.57,-146.0,541.2,-9.1,495,4867,0.00,2.25,0.00,0.000,6,0.000,0.060,2692,2494,3631,0,0,0,0,0,0
$GC,5185,-0.60,-146.0,569.0,-8.5,526,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2494,3631,0,0,0,0,0,0
$GC,5505,-0.63,-146.0,595.0,-7.9,556,5509,0.00,2.25,0.00,0.000,4,0.000,0.076,2692,3901,3631,0,0,0,0,0,0
$GC,5525,-0.66,-146.0,596.6,-7.7,557,5530,0.12,2.20,0.00,0.000,6,0.127,0.047,2651,2477,3631,0,0,0,0,0,0
$GC,5839,-0.58,-146.0,632.3,-11.6,569,5843,0.00,2.17,0.00,0.000,4,0.000,0.063,2650,1085,3631,0,0,0,0,0,0
$GC,5866,-0.50,-146.0,635.8,-13.1,569,5873,0.20,2.25,0.00,0.000,6,0.217,0.062,2700,2497,3631,0,0,0,0,0,0
$GC,6179,-0.55,-146.0,659.5,-7.3,580,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2497,3632,0,0,0,0,0,0
$GC,6486,-0.61,-146.0,682.6,-7.8,590,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2497,3632,0,0,0,0,0,0
$GC,6792,-0.66,-146.0,706.3,-7.7,600,6794,0.15,0.00,0.00,0.000,6,0.125,0.000,2651,2497,3632,0,0,0,0,0,0
$GC,7098,-0.59,-146.0,740.0,-11.2,610,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2497,3632,0,0,0,0,0,0
$GC,7404,-0.52,-146.0,774.3,-11.2,620,7406,0.15,0.00,0.00,0.000,6,0.219,0.000,2687,2497,3632,0,0,0,0,0,0
$STATE,7709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7709,begin apogee
$GC,7714,-0.12,0.0,800.5,8.3,630,7845,0.43,0.00,124.78,1.417,6,0.183,0.000,2816,2268,3030,0,0,0,0,0,0
$STATE,7845,end apogee,CONTROL_FINISHED_OK
$STATE,7845,begin climb
$GC,7847,0.62,146.0,804.6,0.0,634,7985,0.77,2.40,127.88,1.381,4,0.132,0.070,3065,883,2432,0,0,0,0,0,0
$GC,8063,0.53,146.0,784.9,13.5,641,8068,0.12,2.42,0.00,0.000,6,0.190,0.057,3038,2277,2426,0,0,0,0,0,0
$GC,8398,0.47,146.0,745.8,11.5,652,8403,0.00,2.38,0.00,0.000,4,0.000,0.072,3038,3698,2423,0,0,0,0,0,0
$GC,8504,0.37,146.0,731.4,13.3,655,8509,0.22,2.33,0.00,0.000,6,0.194,0.054,2990,2284,2423,0,0,0,0,0,0
$GC,8834,0.44,181.0,703.1,8.4,666,8866,0.00,0.00,30.20,1.295,6,0.000,0.000,2990,2284,2292,0,0,0,0,0,0
$GC,9170,0.55,214.8,674.7,8.4,677,9204,0.15,0.00,31.27,1.284,6,0.096,0.000,3048,2284,2154,0,0,0,0,0,0
$GC,9506,0.51,214.8,631.4,12.9,688,9510,0.00,2.33,0.00,0.000,4,0.000,0.068,3049,3691,2147,0,0,0,0,0,0
$GC,9562,0.44,214.8,623.1,15.1,689,9567,0.20,2.30,0.00,0.000,6,0.187,0.054,3008,2264,2146,0,0,0,0,0,0
$GC,9877,0.48,216.5,591.7,9.9,703,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2265,2145,0,0,0,0,0,0
$GC,10197,0.52,216.5,560.4,10.2,733,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2265,2144,0,0,0,0,0,0
$GC,10515,0.57,216.5,527.6,10.1,763,10517,0.12,0.00,0.00,0.000,6,0.107,0.000,3060,2265,2144,0,0,0,0,0,0
$GC,10832,0.51,216.5,483.3,13.9,793,10837,0.12,2.33,0.00,0.000,4,0.187,0.068,3029,3697,2144,0,0,0,0,0,0
$GC,10876,0.51,216.5,477.3,12.5,796,10883,0.00,2.28,0.00,0.000,6,0.000,0.052,3037,2278,2143,0,0,0,0,0,0
$GC,11203,0.51,216.5,439.3,11.7,827,11207,0.00,2.28,0.00,0.000,4,0.000,0.069,3046,864,2143,0,0,0,0,0,0
$GC,11235,0.51,216.5,435.2,10.9,829,11243,0.00,2.28,0.00,0.000,6,0.000,0.054,3046,2293,2142,0,0,0,0,0,0
$GC,11561,0.51,216.5,397.2,11.8,860,11565,0.00,2.20,0.00,0.000,4,0.000,0.069,3046,3685,2142,0,0,0,0,0,0
$GC,11623,0.45,216.5,389.0,13.7,865,11628,0.17,2.25,0.00,0.000,6,0.193,0.054,3011,2265,2142,0,0,0,0,0,0
$GC,11949,0.54,240.3,358.2,8.9,895,11976,0.00,2.28,22.12,1.107,4,0.000,0.068,3015,867,2050,0,0,0,0,0,0
$GC,12011,0.68,271.0,352.5,8.6,900,12046,0.20,2.28,29.15,1.109,6,0.095,0.055,3091,2279,1925,0,0,0,0,0,0
$GC,12363,0.60,271.0,296.1,15.5,933,12368,0.12,2.30,0.00,0.000,4,0.184,0.068,3061,3688,1918,0,0,0,0,0,0
$GC,12442,0.58,271.0,284.6,14.4,940,12446,0.00,2.28,0.00,0.000,6,0.000,0.052,3070,2266,1916,0,0,0,0,0,0
$GC,12773,0.58,271.0,240.6,13.9,971,12777,0.00,2.25,0.00,0.000,4,0.000,0.068,3080,861,1915,0,0,0,0,0,0
$GC,12835,0.58,271.0,232.1,12.9,976,12839,0.00,2.25,0.00,0.000,6,0.000,0.056,3080,2274,1914,0,0,0,0,0,0
$GC,13166,0.58,271.0,186.7,13.2,1007,13170,0.00,2.25,0.00,0.000,4,0.000,0.069,3080,3684,1914,0,0,0,0,0,0
$GC,13251,0.53,271.0,173.6,16.0,1014,13256,0.20,2.25,0.00,0.000,6,0.183,0.054,3036,2268,1913,0,0,0,0,0,0
$GC,13577,0.67,316.6,143.1,7.9,1044,13625,0.12,2.40,40.17,1.008,4,0.114,0.069,3094,861,1738,0,0,0,0,0,0
$GC,13692,0.70,316.6,130.2,10.6,1054,13699,0.00,2.30,0.00,0.000,6,0.000,0.056,3094,2274,1735,0,0,0,0,0,0
$GC,14020,0.73,316.6,90.9,12.2,1091,14028,0.00,2.28,0.00,0.000,4,0.000,0.068,3094,3687,1730,0,0,0,0,0,0
$GC,14074,0.73,316.6,83.6,14.1,1100,14081,0.00,2.28,0.00,0.000,6,0.000,0.054,3103,2271,1730,0,0,0,0,0,0
$GC,14418,0.73,316.6,42.5,10.3,1161,14424,0.00,2.25,0.00,0.000,4,0.000,0.069,3111,865,1728,0,0,0,0,0,0
$GC,14471,0.78,316.6,36.6,10.8,1170,14478,0.00,2.22,0.00,0.000,6,0.000,0.054,3111,2276,1728,0,0,0,0,0,0
$FREEZE,8.56,-1.743,-1.779,3,45,1
$FREEZE,7.91,-1.744,-1.779,3,45,1
$FREEZE,7.32,-1.746,-1.778,3,45,1
$FREEZE,6.91,-1.746,-1.778,3,45,1
$FREEZE,6.40,-1.746,-1.778,3,45,1
$FREEZE,5.75,-1.746,-1.777,3,45,1
$FREEZE,5.21,-1.746,-1.777,3,45,1
$FREEZE,4.72,-1.748,-1.776,3,45,1
$FREEZE,4.07,-1.747,-1.776,3,45,1
$FREEZE,3.62,-1.747,-1.776,3,45,1
$FREEZE,3.01,-1.747,-1.775,3,45,1
$FREEZE,2.37,-1.748,-1.775,3,45,1
$STATE,14788,end climb,SURFACE_DEPTH_REACHED
$STATE,14788,begin surface coast
$FREEZE,1.93,-1.697,-1.649,3,45,1
$FREEZE,1.90,-1.726,-1.652,3,45,1
$FREEZE,1.98,-1.727,-1.652,3,45,1
$FREEZE,2.00,-1.745,-1.653,3,45,1
$FREEZE,1.87,-1.746,-1.653,3,45,1
$FINISH,1.9,1.024320
$STATE,14815,end surface coast,CONTROL_FINISHED_OK
$STATE,14815,begin surface
$RAFOS_CLK,819
$RAFOS,6,1299055747,8.833333,8.818611,155,65,62,58,58,56,709,151,216,120,203,188
$RAFOS,5,1299055270,8.700000,8.686111,115,72,58,57,55,53,853,174,162,192,211,145
$RAFOS,4,1299054782,8.566667,8.550555,146,63,62,55,55,53,679,183,217,139,205,192
$RAFOS,3,1299054305,8.433333,8.418056,74,61,58,54,54,53,796,184,160,200,137,170
$RAFOS,2,1299053828,8.300000,8.285556,104,65,63,61,56,54,670,222,165,200,190,137
$RAFOS,1,1299053349,8.166667,8.152500,95,63,60,57,53,50,555,201,147,173,130,210
$RAFOS,0,1299052863,8.033334,8.017500,104,70,62,60,57,54,695,212,203,161,122,176
$RAFOS_FIX,6653.668945,-5954.005371,020311,080849,7,113,0.15
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,47.51
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,22.7,12.764
$10V_AH,10.3,6.260
$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,5.100,100.850,405.575,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,3099.323,9283.705,433.565,2023.714,177.211,0.000,1513.203,0.000,2007.710,2520.000,23.422,0.000
$DEVICE_MAMPS,240.210,87.210,1416.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.863,951.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,46598,1232
$CAP_FILE_SIZE,145503,0
$CFSIZE,260165632,247373824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$GPS,020311,082649,6653.669,-5954.005,0,7113.3,0,-38.0