version: 66.08
glider: 141
mission: 15
dive: 93
start: 3 7 111 5 24 47
data:
$ID,141
$MISSION,15
$DIVE,93
$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,-24252.846
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,070311,044344,6721.273,-5801.601,0,3137.7,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-23.0
$GPS2,070311,044344,6721.273,-5801.601,181,99.0,181,-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,160.7,63009,-17.5,-10.000
$D_GRID,859
$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,-146.0,0.0,0.0,0,168,0.00,0.00,-148.80,0.000,2,0.000,0.000,107,2505,3066,0,0,0,0,0,0
$GC,171,-0.62,-146.0,5.4,-9.6,26,208,12.32,2.33,-14.93,0.000,4,0.329,0.074,2653,1074,3628,0,0,0,0,0,0
$GC,344,-0.53,-146.0,36.1,-16.5,56,352,0.15,2.25,0.00,0.000,6,0.223,0.058,2690,2492,3629,0,0,0,0,0,0
$GC,690,-0.49,-146.0,86.2,-12.9,117,697,0.00,2.28,0.00,0.000,4,0.000,0.073,2690,3899,3628,0,0,0,0,0,0
$GC,704,-0.45,-146.0,87.9,-12.7,119,711,0.00,2.20,0.00,0.000,6,0.000,0.043,2690,2481,3628,0,0,0,0,0,0
$GC,1036,-0.41,-146.0,129.3,-12.7,158,1040,0.15,2.22,0.00,0.000,4,0.218,0.064,2727,1088,3628,0,0,0,0,0,0
$GC,1092,-0.51,-146.0,135.0,-8.7,162,1099,0.00,2.22,0.00,0.000,6,0.000,0.059,2727,2496,3628,0,0,0,0,0,0
$GC,1418,-0.58,-146.0,162.7,-9.0,193,1420,0.15,0.00,0.00,0.000,6,0.120,0.000,2677,2496,3628,0,0,0,0,0,0
$GC,1736,-0.54,-146.0,202.1,-12.2,223,1740,0.00,2.28,0.00,0.000,4,0.000,0.074,2677,3906,3628,0,0,0,0,0,0
$GC,1771,-0.51,-146.0,206.5,-12.9,226,1775,0.00,2.17,0.00,0.000,6,0.000,0.044,2677,2490,3628,0,0,0,0,0,0
$GC,2101,-0.47,-146.0,247.1,-12.3,257,2103,0.12,0.00,0.00,0.000,6,0.223,0.000,2705,2490,3628,0,0,0,0,0,0
$GC,2420,-0.51,-146.0,279.7,-9.8,287,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2489,3628,0,0,0,0,0,0
$GC,2740,-0.56,-146.0,309.7,-8.5,317,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2489,3629,0,0,0,0,0,0
$GC,3059,-0.62,-146.0,338.1,-8.6,347,3066,0.12,0.00,0.00,0.000,6,0.126,0.000,2663,2489,3630,0,0,0,0,0,0
$GC,3385,-0.57,-146.0,374.8,-11.3,378,3389,0.00,2.25,0.00,0.000,4,0.000,0.068,2663,3908,3630,0,0,0,0,0,0
$GC,3406,-0.52,-146.0,377.4,-11.2,379,3414,0.12,2.15,0.00,0.000,6,0.207,0.039,2692,2483,3631,0,0,0,0,0,0
$GC,3732,-0.54,-146.0,404.7,-7.7,410,3736,0.00,2.28,0.00,0.000,4,0.000,0.067,2692,3906,3632,0,0,0,0,0,0
$GC,3777,-0.60,-146.0,408.3,-7.6,414,3781,0.00,2.12,0.00,0.000,6,0.000,0.039,2692,2489,3632,0,0,0,0,0,0
$GC,4108,-0.63,-146.0,433.5,-7.4,445,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2489,3633,0,0,0,0,0,0
$GC,4430,-0.65,-146.0,459.7,-8.9,475,4436,0.12,0.00,0.00,0.000,6,0.125,0.000,2649,2489,3634,0,0,0,0,0,0
$GC,4756,-0.57,-146.0,500.1,-12.7,506,4758,0.12,0.00,0.00,0.000,6,0.218,0.000,2677,2489,3635,0,0,0,0,0,0
$GC,5073,-0.57,-146.0,532.9,-10.4,536,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2489,3635,0,0,0,0,0,0
$GC,5393,-0.57,-146.0,567.8,-11.4,566,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2487,3635,0,0,0,0,0,0
$GC,5713,-0.82,-146.0,597.8,-0.1,596,5715,0.22,0.00,0.00,0.000,6,0.101,0.000,2596,2486,3636,0,0,0,0,0,0
$STATE,5836,end dive,NO_VERTICAL_VELOCITY
$STATE,5837,begin apogee
$GC,5842,-0.12,0.0,597.8,0.0,608,5974,0.68,0.00,120.93,1.274,6,0.128,0.000,2820,2257,3030,0,0,0,0,0,0
$STATE,5974,end apogee,CONTROL_FINISHED_OK
$STATE,5975,begin climb
$GC,5976,0.62,146.0,597.8,0.0,620,6110,0.75,2.42,123.10,1.235,4,0.135,0.061,3063,879,2432,0,0,0,0,0,0
$GC,6283,0.53,146.0,574.8,11.2,647,6290,0.00,2.30,0.00,0.000,6,0.000,0.050,3064,2276,2425,0,0,0,0,0,0
$GC,6609,0.43,146.0,536.9,11.8,678,6614,0.22,2.35,0.00,0.000,4,0.181,0.065,3002,3696,2422,0,0,0,0,0,0
$GC,6694,0.41,150.8,528.2,9.8,685,6698,0.00,2.25,0.00,0.000,6,0.000,0.048,3010,2284,2423,0,0,0,0,0,0
$GC,7020,0.46,191.5,501.4,8.1,715,7065,0.00,2.35,38.00,1.180,4,0.000,0.063,3019,871,2248,0,0,0,0,0,0
$GC,7106,0.55,224.1,494.1,8.5,722,7146,0.00,2.30,29.55,1.158,6,0.000,0.051,3019,2284,2115,0,0,0,0,0,0
$GC,7464,0.58,228.3,459.8,9.8,756,7468,0.00,2.30,0.00,0.000,4,0.000,0.066,3019,3692,2107,0,0,0,0,0,0
$GC,7558,0.58,228.3,448.9,11.7,764,7565,0.00,2.25,0.00,0.000,6,0.000,0.049,3029,2278,2106,0,0,0,0,0,0
$GC,7883,0.58,228.3,411.8,11.8,795,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2278,2104,0,0,0,0,0,0
$GC,8203,0.58,228.3,373.4,12.4,825,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2278,2103,0,0,0,0,0,0
$GC,8523,0.58,228.3,333.6,12.3,855,8527,0.00,2.25,0.00,0.000,4,0.000,0.061,3029,3686,2102,0,0,0,0,0,0
$GC,8563,0.58,228.3,328.1,13.1,858,8568,0.00,2.20,0.00,0.000,6,0.000,0.047,3039,2272,2102,0,0,0,0,0,0
$GC,8889,0.56,228.3,286.5,12.8,888,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2272,2102,0,0,0,0,0,0
$GC,9208,0.56,228.3,245.7,12.6,918,9212,0.00,2.20,0.00,0.000,4,0.000,0.061,3048,863,2102,0,0,0,0,0,0
$GC,9252,0.59,228.3,239.9,12.1,921,9259,0.00,2.17,0.00,0.000,6,0.000,0.047,3048,2279,2102,0,0,0,0,0,0
$GC,9579,0.59,228.3,200.1,12.0,952,9583,0.00,2.20,0.00,0.000,4,0.000,0.061,3048,3684,2102,0,0,0,0,0,0
$GC,9686,0.56,228.3,185.5,14.0,961,9690,0.00,2.20,0.00,0.000,6,0.000,0.047,3057,2267,2103,0,0,0,0,0,0
$GC,10011,0.56,228.3,147.9,11.3,991,10015,0.00,2.17,0.00,0.000,4,0.000,0.061,3067,865,2103,0,0,0,0,0,0
$GC,10054,0.56,228.3,143.0,10.9,994,10061,0.00,2.22,0.00,0.000,6,0.000,0.047,3067,2280,2103,0,0,0,0,0,0
$GC,10380,0.56,228.3,107.8,10.5,1025,10383,0.00,2.17,0.00,0.000,4,0.000,0.062,3066,3682,2103,0,0,0,0,0,0
$GC,10505,0.51,228.3,91.8,13.1,1041,10513,0.17,2.17,0.00,0.000,6,0.175,0.047,3029,2265,2103,0,0,0,0,0,0
$GC,10851,0.65,269.7,58.0,8.1,1102,10899,0.12,2.30,38.28,0.928,4,0.116,0.064,3087,869,1929,0,0,0,0,0,0
$GC,10950,0.67,269.7,47.0,11.4,1119,10957,0.00,2.25,0.00,0.000,6,0.000,0.048,3087,2280,1925,0,0,0,0,0,0
$FREEZE,8.56,-1.199,-1.830,3,70,2
$FREEZE,7.99,-1.201,-1.829,3,70,2
$FREEZE,7.12,-1.205,-1.828,3,70,2
$FREEZE,6.55,-1.207,-1.828,3,70,2
$GC,11295,0.65,269.7,6.5,12.3,1180,11304,0.00,2.22,0.00,0.000,4,0.000,0.065,3087,3684,1921,0,0,0,0,0,0
$FREEZE,4.42,-1.199,-1.826,3,70,2
$FREEZE,3.95,-1.211,-1.826,3,70,2
$FREEZE,3.21,-1.206,-1.825,3,70,2
$FREEZE,2.52,-1.208,-1.825,3,70,2
$STATE,11324,end climb,SURFACE_DEPTH_REACHED
$STATE,11324,begin surface coast
$FREEZE,2.04,-1.242,-1.824,3,70,2
$FREEZE,1.93,-1.219,-1.823,3,70,2
$FREEZE,2.00,-1.234,-1.824,3,70,2
$FREEZE,1.98,-1.257,-1.826,3,70,2
$FINISH,2.0,1.026770
$STATE,11346,end surface coast,CONTROL_FINISHED_OK
$STATE,11348,begin surface
$SM_CCo,11420,126.40,0.067,0,0,750,559.04
$SM_GC,2.11,0.00,0.00,126.40,0.000,0.000,0.067,117,2472,750,-8.59,-0.48,559.04
$RAFOS_CLK,639
$RAFOS,3,1299486306,8.433333,8.418333,59,58,57,55,53,53,189,158,136,200,175,212
$RAFOS,2,1299485822,8.300000,8.283889,65,62,58,57,55,52,187,196,210,126,146,163
$RAFOS,1,1299485348,8.166667,8.152223,63,56,55,53,51,50,195,226,162,204,1727,133
$RAFOS,0,1299484871,8.033334,8.019722,61,58,57,57,55,49,184,162,119,217,199,142
$RAFOS_FIX,6721.272949,-5801.601074,070311,040444,3,138,0.17
$IRIDIUM_FIX,6647.44,-5812.63,050311,151532
$TT8_MAMPS,0.029211
$HUMID,43.77
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.6
$24V_AH,23.1,16.211
$10V_AH,10.3,8.447
$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,24.125,76.275,349.850,126.400,0.000,99.188,17.155,0.000,1.750,0.000,183.291,2801.128,6249.551,635.169,2182.703,391.278,0.000,1641.088,0.000,1866.454,1800.000,13.222,0.000
$DEVICE_MAMPS,328.950,74.205,1274.490,66.555,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.521,910.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150608
$DATA_FILE_SIZE,46672,1189
$CAP_FILE_SIZE,130822,0
$CFSIZE,260165632,245301248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.7
$GPS,070311,083838,6723.123,-5753.658,38,1.3,38,-38.3