version: 66.08
glider: 141
mission: 15
dive: 314
start: 4 8 111 9 48 59
data:
$ID,141
$MISSION,15
$DIVE,314
$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,120
$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,1
$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,-35151.645
$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,24
$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
$GPS1,080411,082328,6654.027,-6014.769,0,4111.0,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,87.24
$_SM_ANGLEo,5.0
$GPS2,080411,082328,6654.027,-6014.769,0,4111.0,0,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,241.4,20308,-17.5,-10.000
$D_GRID,615
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.77,-5.68,0.000,3,0.000,0.086,2896,3182,3636,0,0,0,0,0,0
$GC,27,-0.62,-146.0,88.6,-0.0,1,34,0.70,3.35,0.00,0.000,4,0.135,0.054,2668,1074,3637,0,0,0,0,0,0
$GC,92,-0.54,-146.0,96.6,-14.2,12,99,0.00,2.30,0.00,0.000,6,0.000,0.062,2667,2496,3637,0,0,0,0,0,0
$GC,425,-0.43,-146.0,152.0,-16.0,45,430,0.20,2.28,0.00,0.000,4,0.219,0.061,2716,1074,3637,0,0,0,0,0,0
$GC,469,-0.48,-146.0,157.8,-10.5,48,476,0.00,2.30,0.00,0.000,6,0.000,0.060,2716,2498,3637,0,0,0,0,0,0
$GC,798,-0.51,-146.0,190.4,-10.0,79,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2498,3637,0,0,0,0,0,0
$GC,1125,-0.55,-146.0,222.0,-8.6,110,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2498,3636,0,0,0,0,0,0
$GC,1443,-0.61,-146.0,248.7,-8.3,140,1445,0.15,0.00,0.00,0.000,6,0.121,0.000,2664,2498,3636,0,0,0,0,0,0
$GC,1760,-0.54,-146.0,289.0,-12.7,170,1764,0.00,2.30,0.00,0.000,4,0.000,0.077,2664,3897,3635,0,0,0,0,0,0
$GC,1805,-0.50,-146.0,294.9,-12.6,174,1810,0.15,2.22,0.00,0.000,6,0.210,0.049,2699,2484,3635,0,0,0,0,0,0
$GC,2131,-0.53,-146.0,326.0,-9.4,204,2135,0.00,2.22,0.00,0.000,4,0.000,0.063,2699,1076,3635,0,0,0,0,0,0
$GC,2152,-0.56,-146.0,328.1,-8.8,205,2159,0.00,2.30,0.00,0.000,6,0.000,0.061,2699,2497,3634,0,0,0,0,0,0
$GC,2480,-0.60,-146.0,357.7,-8.9,236,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2497,3635,0,0,0,0,0,0
$GC,2798,-0.65,-146.0,386.2,-8.7,266,2803,0.15,2.33,0.00,0.000,4,0.121,0.076,2648,3904,3635,0,0,0,0,0,0
$GC,2816,-0.65,-146.0,388.0,-9.0,267,2820,0.00,2.22,0.00,0.000,6,0.000,0.047,2648,2484,3635,0,0,0,0,0,0
$GC,3147,-0.56,-146.0,430.3,-12.6,298,3151,0.12,2.25,0.00,0.000,4,0.219,0.061,2676,1084,3635,0,0,0,0,0,0
$GC,3164,-0.49,-146.0,432.3,-11.6,299,3169,0.00,2.28,0.00,0.000,6,0.000,0.061,2676,2488,3635,0,0,0,0,0,0
$GC,3489,-0.49,-146.0,464.0,-9.9,329,3493,0.00,2.33,0.00,0.000,4,0.000,0.077,2676,3906,3635,0,0,0,0,0,0
$GC,3519,-0.49,-146.0,466.8,-9.3,331,3523,0.00,2.22,0.00,0.000,6,0.000,0.047,2676,2487,3634,0,0,0,0,0,0
$GC,3844,-0.49,-146.0,497.7,-9.2,361,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2487,3635,0,0,0,0,0,0
$GC,4164,-0.49,-146.0,527.3,-9.7,391,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2487,3636,0,0,0,0,0,0
$GC,4482,-0.49,-146.0,557.9,-9.1,421,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2488,3636,0,0,0,0,0,0
$GC,4800,-0.49,-146.0,587.5,-9.4,451,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2488,3636,0,0,0,0,0,0
$GC,5110,-0.64,-146.0,611.5,-3.2,469,5114,0.00,2.33,0.00,0.000,4,0.000,0.073,2676,3903,3636,0,0,0,0,0,0
$STATE,5244,end dive,NO_VERTICAL_VELOCITY
$STATE,5244,begin apogee
$GC,5251,-0.12,0.0,611.4,0.0,473,5381,0.43,0.00,124.30,1.312,6,0.138,0.000,2814,2272,3029,0,0,0,0,0,0
$STATE,5382,end apogee,CONTROL_FINISHED_OK
$STATE,5382,begin climb
$GC,5384,0.62,146.0,611.4,0.0,477,5523,0.77,2.58,128.77,1.259,4,0.137,0.067,3049,3691,2433,0,0,0,0,0,0
$GC,5601,0.50,146.0,595.3,14.2,484,5609,0.12,2.42,0.00,0.000,6,0.194,0.050,3034,2281,2428,0,0,0,0,0,0
$GC,5927,0.47,149.0,563.2,9.9,515,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2281,2424,0,0,0,0,0,0
$GC,6248,0.44,149.0,530.8,10.4,545,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2281,2424,0,0,0,0,0,0
$GC,6575,0.42,149.0,497.1,10.1,576,6580,0.12,2.33,0.00,0.000,4,0.205,0.066,3001,3694,2423,0,0,0,0,0,0
$GC,6614,0.42,149.0,493.0,10.1,579,6618,0.00,2.30,0.00,0.000,6,0.000,0.051,3009,2263,2423,0,0,0,0,0,0
$GC,6942,0.48,180.6,464.8,8.5,609,6973,0.00,0.00,29.62,1.187,6,0.000,0.000,3009,2263,2293,0,0,0,0,0,0
$GC,7289,0.55,196.2,433.0,9.3,642,7312,0.10,2.40,14.77,1.112,4,0.119,0.066,3056,3698,2230,0,0,0,0,0,0
$GC,7348,0.48,196.2,425.6,14.2,647,7353,0.17,2.33,0.00,0.000,6,0.194,0.051,3025,2265,2229,0,0,0,0,0,0
$GC,7673,0.52,204.3,392.0,9.6,677,7686,0.00,2.35,8.20,1.003,4,0.000,0.066,3032,856,2197,0,0,0,0,0,0
$GC,7721,0.57,204.3,387.3,10.2,681,7725,0.00,2.30,0.00,0.000,6,0.000,0.053,3032,2279,2195,0,0,0,0,0,0
$GC,8046,0.60,204.3,354.8,10.0,711,8050,0.00,2.30,0.00,0.000,4,0.000,0.067,3032,3694,2195,0,0,0,0,0,0
$GC,8109,0.60,204.3,347.6,12.0,716,8113,0.00,2.28,0.00,0.000,6,0.000,0.051,3042,2271,2194,0,0,0,0,0,0
$GC,8434,0.61,208.6,314.1,9.8,746,8447,0.00,2.25,5.40,0.861,4,0.000,0.064,3053,865,2178,0,0,0,0,0,0
$GC,8474,0.61,211.7,309.9,9.9,749,8485,0.00,2.28,4.35,0.764,6,0.000,0.053,3052,2287,2166,0,0,0,0,0,0
$GC,8811,0.61,211.7,276.4,10.3,781,8815,0.00,2.25,0.00,0.000,4,0.000,0.067,3053,3688,2166,0,0,0,0,0,0
$GC,8862,0.57,211.7,270.6,13.3,785,8866,0.00,2.25,0.00,0.000,6,0.000,0.051,3063,2276,2166,0,0,0,0,0,0
$GC,9187,0.57,211.7,235.5,10.7,815,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2276,2166,0,0,0,0,0,0
$GC,9507,0.57,211.7,201.2,10.5,845,9511,0.00,2.30,0.00,0.000,4,0.000,0.065,3063,3688,2166,0,0,0,0,0,0
$GC,9546,0.55,211.7,196.5,11.6,848,9551,0.12,2.25,0.00,0.000,6,0.190,0.050,3043,2271,2165,0,0,0,0,0,0
$GC,9872,0.63,243.1,168.1,8.5,878,9908,0.00,2.33,29.80,1.040,4,0.000,0.066,3042,874,2038,0,0,0,0,0,0
$GC,9943,0.80,288.7,162.3,7.9,884,9993,0.22,2.25,42.10,1.022,6,0.091,0.051,3129,2278,1852,0,0,0,0,0,0
$GC,10311,0.77,288.7,110.7,13.8,919,10315,0.00,2.28,0.00,0.000,4,0.000,0.067,3128,3680,1843,0,0,0,0,0,0
$GC,10407,0.70,288.7,95.9,14.9,929,10415,0.17,2.28,0.00,0.000,6,0.203,0.052,3096,2270,1840,0,0,0,0,0,0
$GC,10754,0.75,292.0,60.2,9.8,990,10761,0.00,2.28,0.00,0.000,4,0.000,0.065,3103,861,1839,0,0,0,0,0,0
$GC,10796,0.81,292.0,56.0,10.2,997,10803,0.00,2.25,0.00,0.000,6,0.000,0.053,3103,2271,1838,0,0,0,0,0,0
$GC,11142,0.84,292.0,21.2,10.6,1058,11148,0.00,2.28,0.00,0.000,4,0.000,0.068,3103,3692,1837,0,0,0,0,0,0
$GC,11195,0.84,292.0,15.4,11.2,1067,11201,0.00,2.28,0.00,0.000,6,0.000,0.053,3112,2269,1836,0,0,0,0,0,0
$FREEZE,8.60,-1.750,-1.783,3,40,2
$FREEZE,8.04,-1.750,-1.782,3,40,2
$FREEZE,7.53,-1.750,-1.782,3,40,2
$FREEZE,6.95,-1.749,-1.782,3,40,2
$FREEZE,6.39,-1.749,-1.781,3,40,2
$FREEZE,5.98,-1.749,-1.781,3,40,2
$FREEZE,5.41,-1.749,-1.781,3,40,2
$FREEZE,4.95,-1.750,-1.780,3,40,2
$FREEZE,4.37,-1.750,-1.780,3,40,2
$FREEZE,3.70,-1.749,-1.779,3,40,2
$FREEZE,3.16,-1.749,-1.779,3,40,2
$FREEZE,2.59,-1.749,-1.778,3,40,2
$STATE,11315,end climb,SURFACE_DEPTH_REACHED
$STATE,11315,begin surface coast
$FREEZE,2.27,-1.750,-1.778,3,40,2
$FREEZE,2.26,-1.752,-1.771,3,40,2
$FREEZE,2.28,-1.751,-1.771,3,40,2
$FREEZE,2.24,-1.749,-1.771,3,40,2
$FINISH,2.2,1.026001
$STATE,11336,end surface coast,CONTROL_FINISHED_OK
$STATE,11337,begin surface
$SM_CCo,11474,119.82,0.075,0,0,750,559.04
$SM_GC,3.47,0.00,0.00,119.82,0.000,0.000,0.075,113,2503,750,-8.60,0.37,559.04
$RAFOS_CLK,638
$RAFOS,6,1302266947,12.833333,12.818611,75,69,58,58,57,55,210,222,186,200,772,140
$RAFOS,5,1302266464,12.700000,12.684444,109,57,52,51,50,49,949,196,120,210,177,138
$RAFOS,4,1302265987,12.566667,12.551945,67,59,59,55,52,51,209,160,119,184,142,221
$RAFOS,3,1302265504,12.433333,12.417778,68,60,60,57,51,50,202,174,212,223,127,151
$RAFOS,2,1302265026,12.300000,12.285000,57,56,55,55,51,48,202,228,137,153,170,186
$RAFOS,1,1302264550,12.166667,12.152778,92,65,57,53,51,51,544,206,196,165,153,142
$RAFOS,0,1302264066,12.033333,12.018333,166,67,66,62,55,52,619,170,213,199,114,181
$RAFOS_FIX,6654.027344,-6014.769043,080411,080828,4,111,0.39
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,46.53
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,22.2,43.437
$10V_AH,10.2,24.038
$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,12.200,94.325,387.325,119.825,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2801.461,6452.740,519.311,1794.543,171.714,0.000,1484.590,0.000,1782.190,2520.000,17.551,0.000
$DEVICE_MAMPS,218.790,86.445,1311.975,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,783.223,842.692,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,40006,1093
$CAP_FILE_SIZE,127118,0
$CFSIZE,260165632,230912000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.9
$GPS,080411,082328,6654.027,-6014.769,181,99.0,181,-37.5