version: 66.08
glider: 141
mission: 15
dive: 90
start: 3 6 111 17 52 12
data:
$ID,141
$MISSION,15
$DIVE,90
$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,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,-23514.691
$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,25
$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
$GPS1,060311,163928,6718.788,-5808.167,0,4111.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,89.09
$_SM_ANGLEo,4.9
$GPS2,060311,163928,6718.788,-5808.167,0,4111.5,0,-38.2
$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,155.0,64857,-17.5,-10.000
$D_GRID,985
$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,-146.0,0.0,0.0,0,25,0.00,2.62,-4.70,0.000,6,0.000,0.070,2882,2494,3635,0,0,0,0,0,0
$GC,28,-0.62,-146.0,89.3,-0.0,1,35,0.62,2.22,0.00,0.000,4,0.116,0.069,2666,3898,3636,0,0,0,0,0,0
$GC,70,-0.62,-146.0,92.3,-7.4,8,77,0.00,2.17,0.00,0.000,6,0.000,0.047,2666,2476,3637,0,0,0,0,0,0
$GC,405,-0.55,-146.0,135.7,-13.1,45,409,0.00,2.15,0.00,0.000,4,0.000,0.062,2666,1086,3637,0,0,0,0,0,0
$GC,449,-0.52,-146.0,141.4,-11.8,48,456,0.00,2.20,0.00,0.000,6,0.000,0.059,2665,2491,3637,0,0,0,0,0,0
$GC,778,-0.47,-146.0,181.4,-12.4,79,782,0.17,2.28,0.00,0.000,4,0.216,0.076,2709,3900,3636,0,0,0,0,0,0
$GC,798,-0.47,-146.0,184.3,-11.2,80,806,0.00,2.20,0.00,0.000,6,0.000,0.046,2709,2485,3636,0,0,0,0,0,0
$GC,1126,-0.53,-146.0,215.1,-10.1,111,1130,0.00,2.28,0.00,0.000,4,0.000,0.073,2709,3905,3636,0,0,0,0,0,0
$GC,1154,-0.59,-146.0,218.3,-11.0,113,1159,0.12,2.17,0.00,0.000,6,0.129,0.046,2667,2480,3636,0,0,0,0,0,0
$GC,1480,-0.55,-146.0,262.3,-13.4,143,1484,0.00,2.28,0.00,0.000,4,0.000,0.073,2666,3900,3636,0,0,0,0,0,0
$GC,1497,-0.51,-146.0,264.7,-14.0,144,1502,0.12,2.15,0.00,0.000,6,0.208,0.046,2696,2492,3636,0,0,0,0,0,0
$GC,1823,-0.55,-146.0,300.3,-10.4,174,1827,0.00,2.20,0.00,0.000,4,0.000,0.063,2696,1073,3637,0,0,0,0,0,0
$GC,1841,-0.58,-146.0,302.3,-10.6,175,1845,0.00,2.22,0.00,0.000,6,0.000,0.059,2696,2494,3637,0,0,0,0,0,0
$GC,2166,-0.62,-146.0,334.4,-9.7,205,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2494,3637,0,0,0,0,0,0
$GC,2488,-0.66,-146.0,363.6,-8.7,235,2492,0.15,2.28,0.00,0.000,4,0.120,0.077,2645,3905,3637,0,0,0,0,0,0
$GC,2508,-0.66,-146.0,366.2,-10.1,236,2516,0.00,2.20,0.00,0.000,6,0.000,0.047,2646,2498,3637,0,0,0,0,0,0
$GC,2834,-0.59,-146.0,408.4,-13.2,267,2838,0.00,2.25,0.00,0.000,4,0.000,0.073,2645,3900,3636,0,0,0,0,0,0
$GC,2863,-0.51,-146.0,412.2,-13.4,269,2868,0.20,2.20,0.00,0.000,6,0.202,0.048,2696,2482,3636,0,0,0,0,0,0
$GC,3189,-0.56,-146.0,441.6,-9.1,299,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2482,3637,0,0,0,0,0,0
$GC,3509,-0.60,-146.0,470.0,-8.9,329,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2482,3636,0,0,0,0,0,0
$GC,3827,-0.65,-146.0,497.5,-8.2,359,3829,0.12,0.00,0.00,0.000,6,0.138,0.000,2655,2482,3636,0,0,0,0,0,0
$GC,4144,-0.60,-146.0,534.5,-11.9,389,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2482,3636,0,0,0,0,0,0
$GC,4464,-0.55,-146.0,571.0,-11.7,419,4466,0.12,0.00,0.00,0.000,6,0.207,0.000,2684,2482,3637,0,0,0,0,0,0
$GC,4783,-0.57,-146.0,600.2,-9.2,449,4788,0.00,2.28,0.00,0.000,4,0.000,0.077,2684,3896,3636,0,0,0,0,0,0
$GC,4800,-0.60,-146.0,602.1,-9.2,449,4804,0.00,2.17,0.00,0.000,6,0.000,0.048,2684,2489,3636,0,0,0,0,0,0
$GC,5113,-0.62,-146.0,630.5,-9.0,459,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2489,3636,0,0,0,0,0,0
$GC,5420,-0.65,-146.0,659.9,-9.7,469,5424,0.00,2.28,0.00,0.000,4,0.000,0.076,2684,3902,3636,0,0,0,0,0,0
$GC,5430,-0.67,-146.0,661.0,-9.7,469,5434,0.12,2.17,0.00,0.000,6,0.129,0.047,2642,2489,3636,0,0,0,0,0,0
$GC,5749,-0.60,-146.0,701.3,-12.7,480,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2489,3636,0,0,0,0,0,0
$GC,6054,-0.53,-146.0,739.7,-12.6,490,6059,0.17,2.30,0.00,0.000,4,0.207,0.077,2686,3904,3635,0,0,0,0,0,0
$GC,6082,-0.53,-146.0,742.8,-10.1,491,6086,0.00,2.20,0.00,0.000,6,0.000,0.048,2686,2483,3636,0,0,0,0,0,0
$GC,6419,-0.57,-146.0,773.5,-9.4,502,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2483,3636,0,0,0,0,0,0
$STATE,6630,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6630,begin apogee
$GC,6635,-0.12,0.0,793.9,9.6,509,6765,0.43,0.00,123.97,1.416,6,0.181,0.000,2815,2259,3030,0,0,0,0,0,0
$STATE,6766,end apogee,CONTROL_FINISHED_OK
$STATE,6766,begin climb
$GC,6768,0.62,146.0,798.1,0.0,513,6903,0.77,2.40,127.72,1.374,4,0.130,0.070,3065,884,2433,0,0,0,0,0,0
$GC,7010,0.52,146.0,777.6,11.7,520,7018,0.12,2.40,0.00,0.000,6,0.191,0.057,3039,2275,2426,0,0,0,0,0,0
$GC,7323,0.46,146.0,743.1,11.0,531,7327,0.00,2.35,0.00,0.000,4,0.000,0.071,3038,3685,2423,0,0,0,0,0,0
$GC,7411,0.35,146.0,731.8,13.5,533,7419,0.25,2.28,0.00,0.000,6,0.187,0.055,2984,2288,2422,0,0,0,0,0,0
$GC,7725,0.46,202.2,707.8,7.4,544,7776,0.00,0.00,48.88,1.323,6,0.000,0.000,2983,2288,2205,0,0,0,0,0,0
$GC,8061,0.58,230.5,679.3,8.7,555,8094,0.20,2.40,25.85,1.268,4,0.082,0.069,3071,871,2089,0,0,0,0,0,0
$GC,8135,0.55,230.5,669.0,15.3,557,8139,0.00,2.35,0.00,0.000,6,0.000,0.057,3071,2276,2085,0,0,0,0,0,0
$GC,8464,0.47,230.5,615.5,15.8,568,8469,0.20,2.33,0.00,0.000,4,0.175,0.070,3018,3689,2081,0,0,0,0,0,0
$GC,8541,0.47,230.5,604.2,13.5,570,8545,0.00,2.28,0.00,0.000,6,0.000,0.054,3026,2276,2081,0,0,0,0,0,0
$GC,8866,0.47,230.5,565.1,11.6,598,8870,0.00,2.28,0.00,0.000,4,0.000,0.067,3035,862,2079,0,0,0,0,0,0
$GC,8909,0.51,230.5,560.0,11.3,601,8916,0.00,2.28,0.00,0.000,6,0.000,0.055,3035,2279,2078,0,0,0,0,0,0
$GC,9234,0.51,230.5,519.7,13.3,632,9238,0.00,2.28,0.00,0.000,4,0.000,0.070,3035,3695,2078,0,0,0,0,0,0
$GC,9335,0.51,230.5,505.7,14.6,640,9342,0.00,2.28,0.00,0.000,6,0.000,0.056,3044,2264,2078,0,0,0,0,0,0
$GC,9663,0.51,230.5,465.0,12.6,671,9667,0.00,2.22,0.00,0.000,4,0.000,0.068,3054,865,2078,0,0,0,0,0,0
$GC,9707,0.51,230.5,458.9,12.7,674,9714,0.00,2.25,0.00,0.000,6,0.000,0.057,3054,2276,2077,0,0,0,0,0,0
$GC,10034,0.48,230.5,416.8,13.1,705,10039,0.12,2.28,0.00,0.000,4,0.181,0.071,3023,3692,2077,0,0,0,0,0,0
$GC,10105,0.48,230.5,407.7,11.9,711,10113,0.00,2.25,0.00,0.000,6,0.000,0.054,3029,2267,2077,0,0,0,0,0,0
$GC,10431,0.51,230.5,373.1,11.1,742,10435,0.00,2.25,0.00,0.000,4,0.000,0.068,3041,865,2076,0,0,0,0,0,0
$GC,10487,0.55,230.5,367.0,10.6,746,10494,0.00,2.22,0.00,0.000,6,0.000,0.056,3040,2280,2076,0,0,0,0,0,0
$GC,10812,0.55,230.5,330.7,11.3,777,10816,0.00,2.25,0.00,0.000,4,0.000,0.070,3041,3685,2076,0,0,0,0,0,0
$GC,10891,0.55,230.5,320.8,13.5,784,10895,0.00,2.22,0.00,0.000,6,0.000,0.055,3050,2271,2076,0,0,0,0,0,0
$GC,11221,0.55,230.5,283.3,11.0,815,11225,0.00,2.25,0.00,0.000,4,0.000,0.068,3060,863,2075,0,0,0,0,0,0
$GC,11283,0.55,230.5,276.6,11.0,820,11287,0.00,2.22,0.00,0.000,6,0.000,0.055,3059,2276,2075,0,0,0,0,0,0
$GC,11613,0.52,230.5,237.4,12.9,851,11617,0.00,2.25,0.00,0.000,4,0.000,0.070,3059,3694,2075,0,0,0,0,0,0
$GC,11745,0.46,230.5,218.5,14.2,862,11750,0.20,2.22,0.00,0.000,6,0.177,0.054,3015,2269,2075,0,0,0,0,0,0
$GC,12071,0.54,257.5,188.8,8.8,892,12098,0.00,2.28,22.48,1.011,4,0.000,0.068,3016,860,1979,0,0,0,0,0,0
$GC,12146,0.71,298.7,182.6,8.1,898,12191,0.22,2.25,37.80,1.018,6,0.093,0.054,3102,2281,1812,0,0,0,0,0,0
$GC,12508,0.64,298.7,122.9,15.7,932,12513,0.12,2.30,0.00,0.000,4,0.187,0.067,3071,3693,1803,0,0,0,0,0,0
$GC,12579,0.64,298.7,112.2,15.0,938,12587,0.00,2.30,0.00,0.000,6,0.000,0.052,3079,2278,1802,0,0,0,0,0,0
$GC,12920,0.67,298.7,68.1,12.2,990,12926,0.00,2.28,0.00,0.000,4,0.000,0.066,3085,860,1801,0,0,0,0,0,0
$GC,12985,0.73,298.7,59.9,12.5,1001,12992,0.00,2.22,0.00,0.000,6,0.000,0.052,3085,2277,1800,0,0,0,0,0,0
$GC,13333,0.76,298.7,17.3,10.6,1062,13339,0.00,2.25,0.00,0.000,4,0.000,0.067,3085,3684,1800,0,0,0,0,0,0
$FREEZE,8.73,-1.153,-1.831,3,67,0
$FREEZE,8.03,-1.156,-1.829,3,67,0
$FREEZE,7.42,-1.137,-1.829,3,67,0
$FREEZE,6.82,-1.179,-1.829,3,67,0
$FREEZE,6.19,-1.190,-1.828,3,67,0
$FREEZE,5.47,-1.204,-1.828,3,67,0
$FREEZE,4.69,-1.199,-1.827,3,67,0
$FREEZE,4.05,-1.211,-1.826,3,67,0
$GC,13435,0.76,298.7,4.0,12.9,1080,13442,0.00,2.25,0.00,0.000,6,0.000,0.053,3094,2267,1800,0,0,0,0,0,0
$FREEZE,2.17,-1.219,-1.824,3,67,0
$STATE,13448,end climb,SURFACE_DEPTH_REACHED
$STATE,13448,begin surface coast
$FREEZE,2.27,-1.235,-1.825,3,67,0
$FREEZE,2.17,-1.239,-1.825,3,67,0
$FREEZE,2.17,-1.123,-1.819,3,67,0
$FREEZE,2.04,-1.216,-1.825,3,67,0
$FINISH,2.0,1.026755
$STATE,13469,end surface coast,CONTROL_FINISHED_OK
$STATE,13469,begin surface
$RAFOS_CLK,738
$RAFOS,6,1299444551,20.833334,20.819723,130,61,60,57,56,55,602,193,159,209,178,226
$RAFOS,5,1299444063,20.700001,20.684166,118,62,59,58,56,56,678,196,210,151,220,184
$RAFOS,4,1299443591,20.566668,20.553055,90,60,58,56,56,54,758,228,209,194,161,184
$RAFOS,3,1299443112,20.433332,20.420000,75,55,55,52,51,51,201,161,1897,145,238,213
$RAFOS,2,1299442626,20.299999,20.285000,62,57,55,54,49,47,210,179,149,130,233,158
$RAFOS,1,1299442148,20.166666,20.152222,58,57,57,55,55,54,913,200,183,209,125,165
$RAFOS,0,1299441685,20.033333,20.023611,62,58,54,52,51,50,143,214,171,199,190,119
$RAFOS_FIX,6719.251465,-5805.211914,060311,202044,3,113,0.16
$IRIDIUM_FIX,6641.98,-5820.28,050311,151513
$TT8_MAMPS,0.026215
$HUMID,46.45
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,751.0,55.6
$24V_AH,22.7,15.825
$10V_AH,10.3,8.195
$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,4.600,124.700,386.700,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2760.654,8413.097,418.459,1888.348,179.854,0.000,1441.953,0.000,1864.415,2520.000,23.098,0.000
$DEVICE_MAMPS,216.495,77.265,1416.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.355,838.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,43333,1086
$CAP_FILE_SIZE,141345,0
$CFSIZE,260165632,245510144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.9
$GPS,060311,204344,6719.251,-5805.212,0,3112.7,0,-38.2