version: 66.08
glider: 141
mission: 15
dive: 94
start: 3 7 111 8 57 21
data:
$ID,141
$MISSION,15
$DIVE,94
$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,400
$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,-24254.104
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,070311,083838,6723.123,-5753.658,38,1.3,38,-38.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-54.0
$GPS2,070311,085650,6722.860,-5753.803,14,1.4,14,-38.3
$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,166.0,60091,-17.5,-10.000
$D_GRID,613
$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,-146.0,0.0,0.0,0,253,0.00,0.00,-229.98,0.000,6,0.000,0.000,117,2473,3625,0,0,0,0,0,0
$GC,255,-0.62,-146.0,2.2,0.5,41,275,11.23,2.28,0.00,0.000,4,0.291,0.060,2658,1080,3627,0,0,0,0,0,0
$GC,293,-0.44,-146.0,3.8,-10.5,47,301,0.22,2.30,0.00,0.000,6,0.243,0.060,2711,2495,3627,0,0,0,0,0,0
$GC,639,-0.41,-146.0,48.2,-12.3,108,645,0.00,2.28,0.00,0.000,4,0.000,0.061,2711,1076,3627,0,0,0,0,0,0
$GC,765,-0.41,-146.0,63.0,-11.6,130,772,0.00,2.25,0.00,0.000,6,0.000,0.058,2712,2490,3627,0,0,0,0,0,0
$GC,1112,-0.41,-146.0,102.9,-11.3,190,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2490,3627,0,0,0,0,0,0
$GC,1432,-0.41,-146.0,137.5,-10.7,220,1437,0.00,2.30,0.00,0.000,4,0.000,0.075,2712,3902,3626,0,0,0,0,0,0
$GC,1444,-0.41,-146.0,138.9,-10.7,221,1448,0.00,2.17,0.00,0.000,6,0.000,0.044,2711,2486,3626,0,0,0,0,0,0
$GC,1770,-0.43,-146.0,172.3,-8.7,251,1774,0.00,2.20,0.00,0.000,4,0.000,0.063,2711,1088,3626,0,0,0,0,0,0
$GC,1805,-0.46,-146.0,175.8,-9.8,254,1809,0.00,2.22,0.00,0.000,6,0.000,0.058,2711,2489,3627,0,0,0,0,0,0
$GC,2136,-0.50,-146.0,206.7,-9.0,285,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2489,3627,0,0,0,0,0,0
$GC,2456,-0.54,-146.0,235.9,-9.8,315,2460,0.00,2.25,0.00,0.000,4,0.000,0.074,2711,3899,3627,0,0,0,0,0,0
$GC,2485,-0.60,-146.0,238.8,-9.8,317,2489,0.12,2.15,0.00,0.000,6,0.129,0.044,2669,2489,3627,0,0,0,0,0,0
$GC,2810,-0.55,-146.0,281.9,-12.8,347,2814,0.00,2.20,0.00,0.000,4,0.000,0.061,2669,1087,3627,0,0,0,0,0,0
$GC,2827,-0.50,-146.0,284.3,-13.2,348,2832,0.12,2.22,0.00,0.000,6,0.226,0.057,2698,2490,3627,0,0,0,0,0,0
$GC,3153,-0.52,-146.0,315.1,-9.3,378,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2490,3627,0,0,0,0,0,0
$GC,3474,-0.55,-146.0,344.4,-9.3,408,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2490,3628,0,0,0,0,0,0
$GC,3801,-0.57,-146.0,374.1,-9.2,439,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2491,3629,0,0,0,0,0,0
$GC,4121,-0.60,-146.0,402.3,-8.5,469,4125,0.00,2.20,0.00,0.000,4,0.000,0.060,2698,1075,3630,0,0,0,0,0,0
$GC,4138,-0.63,-146.0,404.1,-8.8,470,4143,0.12,2.20,0.00,0.000,6,0.132,0.054,2656,2492,3630,0,0,0,0,0,0
$GC,4464,-0.57,-146.0,442.3,-12.0,500,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2492,3630,0,0,0,0,0,0
$GC,4784,-0.50,-146.0,481.7,-12.4,530,4788,0.17,2.28,0.00,0.000,4,0.211,0.072,2699,3903,3630,0,0,0,0,0,0
$GC,4824,-0.56,-146.0,485.9,-9.6,533,4828,0.00,2.15,0.00,0.000,6,0.000,0.041,2699,2479,3630,0,0,0,0,0,0
$GC,5150,-0.60,-146.0,514.3,-8.7,563,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2478,3631,0,0,0,0,0,0
$GC,5471,-0.64,-146.0,542.5,-8.6,593,5478,0.12,0.00,0.00,0.000,6,0.132,0.000,2657,2478,3631,0,0,0,0,0,0
$GC,5797,-0.58,-146.0,581.6,-11.9,624,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2478,3631,0,0,0,0,0,0
$GC,6110,-0.83,-146.0,600.9,-0.0,644,6114,0.17,2.28,0.00,0.000,4,0.109,0.070,2592,3898,3631,0,0,0,0,0,0
$STATE,6196,end dive,NO_VERTICAL_VELOCITY
$STATE,6196,begin apogee
$GC,6204,-0.12,0.0,600.9,0.0,646,6335,0.70,0.00,120.85,1.284,6,0.142,0.000,2818,2274,3030,0,0,0,0,0,0
$STATE,6336,end apogee,CONTROL_FINISHED_OK
$STATE,6336,begin climb
$GC,6338,0.62,146.0,600.8,0.0,651,6472,0.77,2.50,123.78,1.240,4,0.132,0.062,3054,3681,2433,0,0,0,0,0,0
$GC,6647,0.49,146.0,570.1,14.2,675,6655,0.15,2.30,0.00,0.000,6,0.193,0.047,3030,2282,2425,0,0,0,0,0,0
$GC,6973,0.46,146.0,536.1,10.6,706,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2282,2423,0,0,0,0,0,0
$GC,7293,0.43,146.0,503.0,10.2,736,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2282,2422,0,0,0,0,0,0
$GC,7610,0.39,146.0,470.3,10.3,766,7615,0.15,2.30,0.00,0.000,4,0.205,0.064,2992,3691,2422,0,0,0,0,0,0
$GC,7654,0.41,159.6,465.7,9.4,769,7673,0.00,2.22,10.57,1.060,6,0.000,0.047,2999,2269,2379,0,0,0,0,0,0
$GC,7991,0.48,189.6,436.5,8.6,801,8021,0.00,0.00,27.48,1.154,6,0.000,0.000,2999,2269,2256,0,0,0,0,0,0
$GC,8341,0.56,211.1,404.9,9.0,834,8363,0.12,0.00,19.42,1.109,6,0.109,0.000,3055,2269,2169,0,0,0,0,0,0
$GC,8678,0.52,211.1,360.5,12.3,866,8682,0.00,2.30,0.00,0.000,4,0.000,0.062,3055,3688,2164,0,0,0,0,0,0
$GC,8723,0.46,211.1,354.2,14.9,870,8728,0.20,2.22,0.00,0.000,6,0.176,0.048,3013,2277,2163,0,0,0,0,0,0
$GC,9049,0.52,229.6,322.9,9.1,900,9072,0.00,2.30,16.52,1.059,4,0.000,0.063,3015,860,2093,0,0,0,0,0,0
$GC,9165,0.62,244.4,312.6,9.3,910,9189,0.15,2.28,14.43,1.034,6,0.105,0.049,3077,2283,2032,0,0,0,0,0,0
$GC,9506,0.55,244.4,262.2,15.5,942,9511,0.12,2.28,0.00,0.000,4,0.174,0.063,3045,3684,2028,0,0,0,0,0,0
$GC,9636,0.55,244.4,243.4,14.6,953,9643,0.00,2.22,0.00,0.000,6,0.000,0.047,3053,2268,2027,0,0,0,0,0,0
$GC,9961,0.55,244.4,200.1,12.9,984,9965,0.00,2.22,0.00,0.000,4,0.000,0.063,3063,859,2026,0,0,0,0,0,0
$GC,10005,0.57,244.4,194.6,12.4,987,10012,0.00,2.22,0.00,0.000,6,0.000,0.049,3063,2285,2025,0,0,0,0,0,0
$GC,10331,0.57,244.4,151.2,12.4,1018,10335,0.00,2.20,0.00,0.000,4,0.000,0.062,3064,3687,2025,0,0,0,0,0,0
$GC,10421,0.54,244.4,139.2,13.5,1025,10428,0.12,2.20,0.00,0.000,6,0.182,0.047,3041,2265,2026,0,0,0,0,0,0
$GC,10746,0.58,244.4,107.1,10.9,1056,10750,0.00,2.20,0.00,0.000,4,0.000,0.063,3042,861,2025,0,0,0,0,0,0
$GC,10801,0.66,244.4,101.4,10.1,1060,10809,0.10,2.20,0.00,0.000,6,0.132,0.047,3083,2278,2024,0,0,0,0,0,0
$GC,11144,0.66,244.4,58.1,12.2,1120,11151,0.00,2.20,0.00,0.000,4,0.000,0.062,3083,3686,2024,0,0,0,0,0,0
$GC,11265,0.61,244.4,42.0,13.6,1141,11272,0.12,2.20,0.00,0.000,6,0.190,0.046,3063,2267,2025,0,0,0,0,0,0
$FREEZE,8.81,-1.125,-1.828,2,1,0
$FREEZE,8.29,-1.120,-1.827,2,1,0
$FREEZE,7.69,-1.125,-1.827,2,1,0
$FREEZE,6.97,-1.121,-1.827,2,1,0
$GC,11610,0.63,256.0,7.7,9.5,1202,11624,0.00,2.28,4.70,0.665,4,0.000,0.062,3071,864,1984,0,0,0,0,0,0
$FREEZE,5.35,-1.128,-1.825,2,1,0
$FREEZE,4.79,-1.125,-1.825,2,1,0
$FREEZE,4.36,-1.124,-1.824,2,1,0
$FREEZE,4.02,-1.142,-1.824,2,1,0
$FREEZE,3.50,-1.136,-1.824,2,1,0
$FREEZE,2.98,-1.124,-1.823,2,1,0
$STATE,11655,end climb,SURFACE_DEPTH_REACHED
$STATE,11656,begin surface coast
$FREEZE,2.40,-1.136,-1.823,2,1,0
$FREEZE,1.87,-1.148,-1.823,2,1,0
$FREEZE,1.55,-1.168,-1.822,2,1,0
$FREEZE,1.55,-1.744,-1.810,2,1,0
$FINISH,1.5,1.026560
$STATE,11679,end surface coast,FINISH_DEPTH_REACHED
$STATE,11679,begin surface
$SM_CCo,11698,64.00,0.065,0,0,1398,400.08
$SM_GC,2.67,0.00,0.00,64.00,0.000,0.000,0.065,115,2494,1398,-8.59,0.08,400.08
$RAFOS_CLK,575
$RAFOS,0,1299499265,12.033333,12.018056,62,60,57,49,48,46,204,181,152,220,237,1285
$RAFOS,4,1299486788,8.566667,8.552222,63,61,57,56,55,49,178,216,138,199,161,117
$RAFOS_FIX,6721.272949,-5801.601074,070311,040444,3,138,0.17
$IRIDIUM_FIX,6652.93,-5753.16,070311,080846
$TT8_MAMPS,0.029211
$HUMID,44.68
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.6
$24V_AH,23.2,16.373
$10V_AH,10.3,8.531
$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,23.425,85.875,337.750,64.000,0.000,58.562,37.798,653.860,2.000,0.000,16.465,2878.630,6283.315,621.821,2682.902,394.502,0.000,1659.990,0.000,1930.113,720.000,14.995,0.000
$DEVICE_MAMPS,290.700,74.970,1283.670,65.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,854.721,930.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150596
$DATA_FILE_SIZE,46617,1214
$CAP_FILE_SIZE,143924,0
$CFSIZE,260165632,245219328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.8
$GPS,070311,085650,6722.860,-5753.803,181,99.0,181,-38.3