version: 66.08
glider: 141
mission: 15
dive: 91
start: 3 6 111 21 40 54
data:
$ID,141
$MISSION,15
$DIVE,91
$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,26
$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
$GPS1,060311,204344,6719.251,-5805.212,0,3112.7,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,9.7
$GPS2,060311,204344,6719.251,-5805.212,0,3112.7,0,-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,156.6,63363,-17.5,-10.000
$D_GRID,953
$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,16,-0.62,-146.0,0.0,0.0,0,150,0.00,0.30,-125.60,0.000,6,0.000,0.166,3095,2498,3626,0,0,0,0,0,0
$GC,152,-0.62,-146.0,4.7,-8.1,23,159,1.33,0.00,0.00,0.000,6,0.146,0.000,2670,2498,3626,0,0,0,0,0,0
$GC,497,-0.52,-146.0,54.5,-15.2,84,504,0.00,2.25,0.00,0.000,4,0.000,0.076,2670,3897,3626,0,0,0,0,0,0
$GC,528,-0.44,-146.0,59.2,-15.9,89,535,0.20,2.20,0.00,0.000,6,0.208,0.046,2719,2482,3626,0,0,0,0,0,0
$GC,874,-0.47,-146.0,97.8,-9.9,150,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2482,3625,0,0,0,0,0,0
$GC,1207,-0.52,-146.0,128.2,-8.4,183,1211,0.00,2.28,0.00,0.000,4,0.000,0.075,2720,3889,3625,0,0,0,0,0,0
$GC,1237,-0.58,-146.0,130.8,-8.3,185,1242,0.12,2.17,0.00,0.000,6,0.131,0.047,2678,2489,3625,0,0,0,0,0,0
$GC,1562,-0.55,-146.0,168.0,-11.1,215,1566,0.00,2.20,0.00,0.000,4,0.000,0.064,2678,1081,3623,0,0,0,0,0,0
$GC,1583,-0.52,-146.0,170.7,-11.6,216,1590,0.00,2.22,0.00,0.000,6,0.000,0.059,2678,2483,3623,0,0,0,0,0,0
$GC,1908,-0.52,-146.0,205.4,-10.5,247,1912,0.00,2.20,0.00,0.000,4,0.000,0.062,2678,1077,3623,0,0,0,0,0,0
$GC,1958,-0.52,-146.0,210.9,-10.2,251,1962,0.00,2.22,0.00,0.000,6,0.000,0.059,2678,2489,3623,0,0,0,0,0,0
$GC,2289,-0.50,-146.0,243.7,-10.0,282,2293,0.00,2.25,0.00,0.000,4,0.000,0.073,2678,3902,3624,0,0,0,0,0,0
$GC,2344,-0.50,-146.0,249.6,-10.4,286,2351,0.00,2.20,0.00,0.000,6,0.000,0.044,2678,2487,3624,0,0,0,0,0,0
$GC,2671,-0.50,-146.0,284.3,-10.8,317,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2487,3625,0,0,0,0,0,0
$GC,2990,-0.50,-146.0,321.9,-12.7,347,2994,0.00,2.17,0.00,0.000,4,0.000,0.061,2678,1080,3625,0,0,0,0,0,0
$GC,2999,-0.50,-146.0,323.4,-12.2,347,3007,0.00,2.25,0.00,0.000,6,0.000,0.057,2678,2493,3625,0,0,0,0,0,0
$GC,3325,-0.50,-146.0,361.1,-10.9,378,3329,0.00,2.25,0.00,0.000,4,0.000,0.074,2678,3904,3626,0,0,0,0,0,0
$GC,3357,-0.50,-146.0,365.1,-11.4,380,3364,0.00,2.20,0.00,0.000,6,0.000,0.044,2678,2490,3625,0,0,0,0,0,0
$GC,3685,-0.50,-146.0,400.8,-11.0,411,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2490,3626,0,0,0,0,0,0
$GC,4002,-0.50,-146.0,435.2,-10.1,441,4006,0.00,2.20,0.00,0.000,4,0.000,0.060,2678,1082,3626,0,0,0,0,0,0
$GC,4035,-0.50,-146.0,439.0,-10.6,443,4042,0.00,2.25,0.00,0.000,6,0.000,0.058,2678,2489,3625,0,0,0,0,0,0
$GC,4360,-0.50,-146.0,473.3,-10.4,474,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2488,3626,0,0,0,0,0,0
$GC,4680,-0.50,-146.0,505.8,-10.2,504,4684,0.00,2.25,0.00,0.000,4,0.000,0.076,2678,3900,3625,0,0,0,0,0,0
$GC,4724,-0.53,-146.0,510.7,-10.5,507,4731,0.00,2.17,0.00,0.000,6,0.000,0.046,2678,2487,3625,0,0,0,0,0,0
$GC,5050,-0.53,-146.0,542.0,-9.1,538,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2487,3625,0,0,0,0,0,0
$GC,5369,-0.53,-146.0,570.1,-9.0,568,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2487,3625,0,0,0,0,0,0
$GC,5687,-0.53,-146.0,596.7,-8.0,598,5691,0.00,2.17,0.00,0.000,4,0.000,0.061,2678,1079,3625,0,0,0,0,0,0
$GC,5698,-0.53,-146.0,597.7,-8.0,598,5705,0.00,2.25,0.00,0.000,6,0.000,0.060,2678,2500,3625,0,0,0,0,0,0
$GC,6012,-0.53,-146.0,623.7,-8.4,611,6016,0.00,2.25,0.00,0.000,4,0.000,0.076,2678,3899,3625,0,0,0,0,0,0
$GC,6047,-0.53,-146.0,626.8,-9.2,612,6051,0.00,2.17,0.00,0.000,6,0.000,0.046,2678,2488,3625,0,0,0,0,0,0
$GC,6382,-0.53,-146.0,657.3,-9.4,623,6386,0.00,2.25,0.00,0.000,4,0.000,0.073,2678,3899,3625,0,0,0,0,0,0
$GC,6398,-0.53,-146.0,659.1,-9.5,623,6402,0.00,2.17,0.00,0.000,6,0.000,0.046,2678,2486,3625,0,0,0,0,0,0
$GC,6716,-0.53,-146.0,688.7,-9.5,634,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2486,3625,0,0,0,0,0,0
$GC,7023,-0.87,-146.0,700.7,0.3,644,7025,0.28,0.00,0.00,0.000,6,0.096,0.000,2578,2483,3625,0,0,0,0,0,0
$STATE,7082,end dive,NO_VERTICAL_VELOCITY
$STATE,7082,begin apogee
$GC,7087,-0.12,0.0,700.6,0.0,646,7214,0.73,0.00,120.90,1.357,6,0.141,0.000,2814,2248,3030,0,0,0,0,0,0
$STATE,7214,end apogee,CONTROL_FINISHED_OK
$STATE,7215,begin climb
$GC,7216,0.62,146.0,700.6,0.0,650,7351,0.77,2.65,125.47,1.315,4,0.139,0.070,3049,3700,2433,0,0,0,0,0,0
$GC,7570,0.50,146.0,675.3,14.1,660,7578,0.12,2.33,0.00,0.000,6,0.191,0.052,3031,2298,2424,0,0,0,0,0,0
$GC,7883,0.45,146.0,641.3,10.8,671,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2298,2422,0,0,0,0,0,0
$GC,8189,0.40,146.0,607.9,11.2,681,8191,0.12,0.00,0.00,0.000,6,0.203,0.000,3000,2298,2422,0,0,0,0,0,0
$GC,8505,0.43,167.7,578.3,9.0,705,8528,0.00,2.35,17.85,1.196,4,0.000,0.067,3000,3695,2346,0,0,0,0,0,0
$GC,8561,0.43,167.7,572.3,11.2,710,8568,0.00,2.30,0.00,0.000,6,0.000,0.052,3007,2268,2344,0,0,0,0,0,0
$GC,8888,0.43,172.2,539.8,9.8,741,8898,0.00,0.00,4.97,0.890,6,0.000,0.000,3007,2268,2328,0,0,0,0,0,0
$GC,9217,0.44,178.1,508.8,9.7,772,9226,0.00,0.00,6.55,0.996,6,0.000,0.000,3007,2268,2304,0,0,0,0,0,0
$GC,9544,0.48,190.8,477.3,9.4,803,9567,0.00,2.40,12.73,1.130,4,0.000,0.067,3007,3688,2252,0,0,0,0,0,0
$GC,9594,0.48,190.8,471.9,11.8,807,9601,0.00,2.30,0.00,0.000,6,0.000,0.053,3017,2278,2252,0,0,0,0,0,0
$GC,9920,0.49,200.5,439.8,9.6,838,9935,0.00,2.30,10.12,1.076,4,0.000,0.067,3027,861,2212,0,0,0,0,0,0
$GC,9988,0.52,200.5,432.9,11.1,844,9992,0.00,2.28,0.00,0.000,6,0.000,0.053,3028,2286,2210,0,0,0,0,0,0
$GC,10312,0.52,200.5,398.7,10.5,874,10316,0.00,2.25,0.00,0.000,4,0.000,0.068,3028,3694,2209,0,0,0,0,0,0
$GC,10401,0.49,200.5,387.9,12.2,881,10408,0.00,2.28,0.00,0.000,6,0.000,0.054,3038,2269,2209,0,0,0,0,0,0
$GC,10726,0.49,203.5,354.4,9.9,912,10739,0.00,2.30,3.72,0.684,4,0.000,0.067,3047,864,2200,0,0,0,0,0,0
$GC,10789,0.49,203.9,347.6,10.0,917,10796,0.00,2.22,0.00,0.000,6,0.000,0.054,3046,2278,2199,0,0,0,0,0,0
$GC,11114,0.46,203.9,310.1,12.5,948,11119,0.12,2.28,0.00,0.000,4,0.186,0.068,3015,3685,2199,0,0,0,0,0,0
$GC,11235,0.46,203.9,295.2,11.8,958,11242,0.00,2.25,0.00,0.000,6,0.000,0.053,3023,2267,2199,0,0,0,0,0,0
$GC,11560,0.46,203.9,260.1,10.4,989,11565,0.00,2.22,0.00,0.000,4,0.000,0.067,3030,860,2199,0,0,0,0,0,0
$GC,11616,0.48,203.9,254.0,10.5,993,11623,0.00,2.22,0.00,0.000,6,0.000,0.054,3031,2284,2198,0,0,0,0,0,0
$GC,11941,0.48,203.9,218.1,11.5,1024,11945,0.00,2.22,0.00,0.000,4,0.000,0.067,3031,3698,2198,0,0,0,0,0,0
$GC,12035,0.46,203.9,205.8,13.4,1032,12042,0.00,2.22,0.00,0.000,6,0.000,0.051,3041,2269,2198,0,0,0,0,0,0
$GC,12360,0.46,203.9,167.1,11.9,1063,12364,0.00,2.20,0.00,0.000,4,0.000,0.065,3049,866,2198,0,0,0,0,0,0
$GC,12417,0.46,203.9,160.6,11.3,1068,12422,0.15,2.20,0.00,0.000,6,0.179,0.051,3011,2284,2198,0,0,0,0,0,0
$GC,12742,0.58,251.0,132.4,7.8,1098,12791,0.12,2.28,42.10,0.970,4,0.106,0.064,3061,3681,2006,0,0,0,0,0,0
$GC,12868,0.55,251.0,117.1,13.0,1109,12876,0.00,2.25,0.00,0.000,6,0.000,0.049,3072,2272,2003,0,0,0,0,0,0
$GC,13203,0.55,251.0,77.3,11.8,1157,13210,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2272,2000,0,0,0,0,0,0
$GC,13547,0.55,251.0,41.9,10.0,1218,13554,0.00,2.28,0.00,0.000,4,0.000,0.062,3072,3687,2000,0,0,0,0,0,0
$GC,13583,0.55,251.0,37.8,11.7,1224,13591,0.15,2.25,0.00,0.000,6,0.176,0.049,3042,2260,2000,0,0,0,0,0,0
$FREEZE,8.76,-1.024,-1.829,3,68,0
$FREEZE,8.29,-1.029,-1.829,3,68,0
$FREEZE,7.54,-1.028,-1.828,3,68,0
$GC,13930,0.68,284.2,8.8,8.5,1285,13953,0.12,2.22,16.08,0.878,4,0.112,0.063,3100,867,1869,0,0,0,0,0,0
$FREEZE,5.68,-1.064,-1.826,3,68,0
$FREEZE,5.17,-1.152,-1.827,3,68,0
$FREEZE,4.50,-1.153,-1.826,3,68,0
$FREEZE,3.96,-1.182,-1.825,3,68,0
$FREEZE,3.34,-1.195,-1.825,3,68,0
$FREEZE,2.66,-1.217,-1.824,3,68,0
$STATE,13987,end climb,SURFACE_DEPTH_REACHED
$STATE,13987,begin surface coast
$FREEZE,1.80,-1.239,-1.823,3,68,0
$FREEZE,1.74,-1.254,-1.823,3,68,0
$FREEZE,1.71,-1.262,-1.825,3,68,0
$FREEZE,1.68,-1.272,-1.826,3,68,0
$FINISH,1.7,1.026776
$STATE,14009,end surface coast,CONTROL_FINISHED_OK
$STATE,14010,begin surface
$SM_CCo,14028,120.43,0.069,0,0,750,559.04
$SM_GC,2.80,0.00,0.00,120.43,0.000,0.000,0.069,111,2503,750,-8.60,0.37,559.04
$RAFOS_CLK,758
$RAFOS,6,1299458947,0.833333,0.818611,122,63,58,54,54,51,628,210,184,143,195,221
$RAFOS,5,1299458469,0.700000,0.685833,126,66,62,53,52,51,659,202,140,232,217,166
$RAFOS,4,1299457982,0.566667,0.550556,117,59,58,56,55,53,807,209,171,194,183,115
$RAFOS,3,1299457508,0.433333,0.418889,59,57,56,54,53,52,175,157,184,119,197,206
$RAFOS,2,1299457026,0.300000,0.285000,66,60,58,52,52,52,207,194,182,157,121,216
$RAFOS,1,1299456549,0.166667,0.152500,72,59,57,55,52,52,220,191,147,137,122,165
$RAFOS,0,1299456071,0.033333,0.019722,66,58,56,55,54,53,205,135,147,177,158,231
$RAFOS_FIX,6720.211426,-5803.544922,070311,000040,3,122,0.15
$IRIDIUM_FIX,6641.98,-5820.28,050311,151513
$TT8_MAMPS,0.026215
$HUMID,43.69
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.6
$24V_AH,23.0,15.953
$10V_AH,10.2,8.276
$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,12.825,113.525,360.500,120.425,0.000,0.000,0.000,0.000,2.750,0.000,0.000,3133.762,8098.134,641.342,2156.658,190.184,0.000,1787.104,0.000,2135.767,2520.000,21.401,0.000
$DEVICE_MAMPS,208.080,166.005,1357.110,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,917.738,1000.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150728
$DATA_FILE_SIZE,49971,1298
$CAP_FILE_SIZE,146939,0
$CFSIZE,260165632,245428224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.1
$GPS,070311,004240,6720.211,-5803.545,0,3121.7,0,-38.2