version: 66.08
glider: 141
mission: 15
dive: 601
start: 5 12 111 13 41 40
data:
$ID,141
$MISSION,15
$DIVE,601
$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,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,-48067.812
$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,20
$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
$GPS1,120511,122734,6709.765,-5747.614,0,7111.4,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.22
$_SM_ANGLEo,-2.7
$GPS2,120511,122734,6709.765,-5747.614,0,7111.4,0,-37.6
$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,143.8,44836,-17.5,-10.000
$D_GRID,831
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.28,0.000,2,0.000,0.000,2890,862,3078,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.5,-0.0,1,53,0.62,5.12,-14.25,0.000,4,0.102,0.081,2668,3897,3629,0,0,0,0,0,0
$GC,302,-0.55,-146.0,51.2,-14.9,49,309,0.00,2.25,0.00,0.000,6,0.000,0.053,2668,2486,3629,0,0,0,0,0,0
$GC,651,-0.45,-146.0,109.3,-15.9,106,653,0.17,0.00,0.00,0.000,6,0.210,0.000,2711,2486,3629,0,0,0,0,0,0
$GC,972,-0.45,-146.0,147.1,-10.1,136,976,0.00,2.28,0.00,0.000,4,0.000,0.070,2711,1075,3627,0,0,0,0,0,0
$GC,983,-0.45,-146.0,148.6,-10.2,136,989,0.00,2.33,0.00,0.000,6,0.000,0.068,2711,2494,3628,0,0,0,0,0,0
$GC,1311,-0.48,-146.0,181.5,-10.3,167,1315,0.00,2.35,0.00,0.000,4,0.000,0.086,2711,3900,3626,0,0,0,0,0,0
$GC,1344,-0.54,-146.0,185.2,-10.2,169,1350,0.00,2.25,0.00,0.000,6,0.000,0.052,2711,2488,3626,0,0,0,0,0,0
$GC,1670,-0.59,-146.0,215.5,-8.7,200,1671,0.12,0.00,0.00,0.000,6,0.129,0.000,2668,2488,3625,0,0,0,0,0,0
$GC,1988,-0.54,-146.0,252.5,-11.3,230,1992,0.00,2.25,0.00,0.000,4,0.000,0.067,2668,1083,3624,0,0,0,0,0,0
$GC,2022,-0.51,-146.0,256.5,-11.0,233,2027,0.12,2.30,0.00,0.000,6,0.207,0.067,2696,2492,3624,0,0,0,0,0,0
$GC,2353,-0.54,-146.0,285.5,-8.4,264,2357,0.00,2.35,0.00,0.000,4,0.000,0.082,2696,3909,3624,0,0,0,0,0,0
$GC,2383,-0.59,-146.0,288.1,-8.4,266,2387,0.00,2.22,0.00,0.000,6,0.000,0.049,2696,2483,3624,0,0,0,0,0,0
$GC,2711,-0.63,-146.0,316.1,-8.7,296,2715,0.12,2.25,0.00,0.000,4,0.128,0.064,2654,1079,3625,0,0,0,0,0,0
$GC,2721,-0.63,-146.0,317.4,-8.7,296,2728,0.00,2.30,0.00,0.000,6,0.000,0.064,2654,2491,3625,0,0,0,0,0,0
$GC,3047,-0.56,-146.0,356.9,-11.7,327,3048,0.12,0.00,0.00,0.000,6,0.212,0.000,2682,2491,3626,0,0,0,0,0,0
$GC,3365,-0.56,-146.0,386.9,-8.9,357,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2492,3627,0,0,0,0,0,0
$GC,3686,-0.56,-146.0,416.0,-9.0,387,3690,0.00,2.35,0.00,0.000,4,0.000,0.078,2682,3903,3627,0,0,0,0,0,0
$GC,3709,-0.56,-146.0,418.3,-8.9,389,3713,0.00,2.20,0.00,0.000,6,0.000,0.047,2682,2486,3627,0,0,0,0,0,0
$GC,4035,-0.56,-146.0,447.9,-9.0,419,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2486,3628,0,0,0,0,0,0
$GC,4355,-0.56,-146.0,477.8,-9.6,449,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2487,3629,0,0,0,0,0,0
$GC,4674,-0.56,-146.0,506.8,-8.8,479,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2485,3630,0,0,0,0,0,0
$GC,5001,-0.56,-146.0,535.8,-8.8,510,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2485,3630,0,0,0,0,0,0
$GC,5320,-0.56,-146.0,564.6,-9.2,540,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2485,3630,0,0,0,0,0,0
$GC,5649,-0.56,-146.0,595.4,-9.2,571,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2485,3631,0,0,0,0,0,0
$GC,5974,-0.56,-146.0,624.6,-8.6,585,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2485,3631,0,0,0,0,0,0
$GC,6281,-0.56,-146.0,650.4,-8.5,595,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2485,3631,0,0,0,0,0,0
$GC,6587,-0.56,-146.0,676.8,-8.7,605,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2485,3630,0,0,0,0,0,0
$GC,6893,-0.58,-146.0,703.4,-8.6,615,6897,0.00,2.38,0.00,0.000,4,0.000,0.075,2682,3910,3629,0,0,0,0,0,0
$GC,6925,-0.62,-146.0,706.0,-8.6,616,6929,0.00,2.25,0.00,0.000,6,0.000,0.047,2682,2484,3630,0,0,0,0,0,0
$GC,7261,-0.64,-146.0,735.0,-8.6,627,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2483,3629,0,0,0,0,0,0
$GC,7567,-0.73,-146.0,761.2,-8.5,637,7572,0.17,2.28,0.00,0.000,4,0.112,0.063,2622,1084,3629,0,0,0,0,0,0
$GC,7578,-0.92,-146.0,761.2,-6.9,637,7582,0.17,2.30,0.00,0.000,6,0.101,0.061,2559,2504,3629,0,0,0,0,0,0
$STATE,7715,end dive,NO_VERTICAL_VELOCITY
$STATE,7715,begin apogee
$GC,7722,-0.12,0.0,761.2,0.0,642,7857,0.80,0.00,127.85,1.402,6,0.138,0.000,2813,2266,3030,0,0,0,0,0,0
$STATE,7858,end apogee,CONTROL_FINISHED_OK
$STATE,7858,begin climb
$GC,7861,0.62,146.0,761.3,0.0,646,8005,0.80,0.00,135.55,1.349,6,0.130,0.000,3054,2266,2435,0,0,0,0,0,0
$GC,8311,0.58,146.0,724.8,10.6,661,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2266,2428,0,0,0,0,0,0
$GC,8617,0.54,146.0,692.8,10.3,671,8621,0.00,2.35,0.00,0.000,4,0.000,0.075,3055,3687,2427,0,0,0,0,0,0
$GC,8684,0.45,146.0,684.7,12.4,673,8689,0.20,2.28,0.00,0.000,6,0.180,0.058,3013,2276,2426,0,0,0,0,0,0
$GC,9016,0.52,181.7,656.8,8.4,684,9052,0.00,2.35,31.27,1.284,4,0.000,0.075,3020,866,2289,0,0,0,0,0,0
$GC,9088,0.61,190.0,650.3,9.6,686,9103,0.12,2.30,8.88,1.118,6,0.109,0.061,3078,2276,2256,0,0,0,0,0,0
$GC,9418,0.54,190.0,607.2,13.4,697,9423,0.15,2.33,0.00,0.000,4,0.180,0.076,3039,3687,2253,0,0,0,0,0,0
$GC,9504,0.51,190.0,596.5,12.2,701,9508,0.00,2.28,0.00,0.000,6,0.000,0.059,3047,2276,2251,0,0,0,0,0,0
$GC,9829,0.51,190.0,561.4,10.7,731,9833,0.00,2.28,0.00,0.000,4,0.000,0.074,3058,869,2251,0,0,0,0,0,0
$GC,9891,0.51,190.0,554.7,10.5,736,9895,0.00,2.28,0.00,0.000,6,0.000,0.062,3059,2284,2250,0,0,0,0,0,0
$GC,10221,0.49,190.0,516.5,11.8,767,10226,0.12,2.30,0.00,0.000,4,0.187,0.076,3026,3686,2250,0,0,0,0,0,0
$GC,10284,0.49,190.0,509.3,10.6,772,10289,0.00,2.25,0.00,0.000,6,0.000,0.059,3033,2279,2249,0,0,0,0,0,0
$GC,10615,0.52,201.2,476.5,9.5,803,10631,0.00,2.30,10.98,1.116,4,0.000,0.073,3044,868,2208,0,0,0,0,0,0
$GC,10684,0.57,209.0,470.0,9.6,808,10702,0.00,2.28,8.38,1.057,6,0.000,0.061,3043,2283,2178,0,0,0,0,0,0
$GC,11020,0.57,209.0,435.1,10.1,840,11024,0.00,2.28,0.00,0.000,4,0.000,0.076,3043,3685,2177,0,0,0,0,0,0
$GC,11094,0.57,209.0,426.4,12.1,846,11098,0.00,2.28,0.00,0.000,6,0.000,0.059,3053,2264,2176,0,0,0,0,0,0
$GC,11424,0.57,209.0,389.2,11.4,877,11428,0.00,2.25,0.00,0.000,4,0.000,0.072,3064,867,2176,0,0,0,0,0,0
$GC,11468,0.57,209.0,384.2,10.9,880,11475,0.00,2.25,0.00,0.000,6,0.000,0.060,3063,2275,2174,0,0,0,0,0,0
$GC,11795,0.54,209.0,346.2,11.8,911,11799,0.00,2.33,0.00,0.000,4,0.000,0.075,3064,3695,2174,0,0,0,0,0,0
$GC,11892,0.48,209.0,333.3,13.7,919,11897,0.20,2.25,0.00,0.000,6,0.190,0.057,3022,2276,2174,0,0,0,0,0,0
$GC,12218,0.55,219.1,302.8,9.5,949,12233,0.00,2.30,10.35,0.988,4,0.000,0.070,3029,860,2136,0,0,0,0,0,0
$GC,12276,0.68,246.8,297.4,8.7,954,12310,0.15,2.28,26.40,1.073,6,0.099,0.058,3095,2277,2023,0,0,0,0,0,0
$GC,12630,0.61,246.8,242.0,15.3,987,12635,0.12,2.30,0.00,0.000,4,0.185,0.073,3064,3684,2018,0,0,0,0,0,0
$GC,12707,0.61,246.8,230.7,13.8,993,12714,0.00,2.28,0.00,0.000,6,0.000,0.056,3073,2267,2017,0,0,0,0,0,0
$GC,13033,0.61,246.8,189.5,11.8,1024,13037,0.00,2.25,0.00,0.000,4,0.000,0.070,3083,863,2017,0,0,0,0,0,0
$GC,13077,0.63,246.8,183.8,12.5,1027,13084,0.00,2.28,0.00,0.000,6,0.000,0.057,3083,2282,2015,0,0,0,0,0,0
$GC,13404,0.63,246.8,142.3,12.2,1058,13408,0.00,2.25,0.00,0.000,4,0.000,0.072,3083,3684,2015,0,0,0,0,0,0
$GC,13467,0.60,246.8,133.8,13.2,1063,13472,0.12,2.25,0.00,0.000,6,0.196,0.055,3063,2266,2015,0,0,0,0,0,0
$GC,13799,0.69,274.4,102.8,8.7,1094,13833,0.00,2.33,24.92,0.953,4,0.000,0.070,3071,868,1911,0,0,0,0,0,0
$GC,13881,0.83,305.0,95.8,8.6,1105,13918,0.17,2.28,28.80,0.942,6,0.089,0.056,3142,2278,1786,0,0,0,0,0,0
$GC,14256,0.79,305.0,41.2,14.8,1171,14263,0.00,2.28,0.00,0.000,4,0.000,0.072,3142,3687,1779,0,0,0,0,0,0
$GC,14333,0.73,305.0,29.3,15.5,1184,14340,0.20,2.28,0.00,0.000,6,0.195,0.057,3101,2280,1777,0,0,0,0,0,0
$FREEZE,8.81,-1.732,-1.821,3,136,0
$STATE,14509,end climb,FINISH_DEPTH_REACHED
$STATE,14509,begin subsurface finish
$FINISH1,8.8,1.026650,42
$GC,14516,0.05,41.6,8.8,-12.1,1215,14564,0.70,2.30,-38.22,0.000,4,0.161,0.080,2886,859,2864,0,0,0,0,0,0
$FINISH2,6.9
$STATE,14565,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14565,begin surface
$RAFOS_CLK,768
$RAFOS,6,1305218941,16.833334,16.816944,107,60,55,54,54,53,718,176,144,215,166,198
$RAFOS,5,1305218463,16.700001,16.684166,167,62,60,60,58,56,608,184,201,115,217,159
$RAFOS,4,1305217988,16.566668,16.552221,94,81,58,54,53,52,771,208,190,174,221,152
$RAFOS,3,1305217505,16.433332,16.418056,136,64,61,52,48,47,945,209,196,174,126,223
$RAFOS,2,1305217021,16.299999,16.283611,87,66,60,56,52,52,1005,209,174,151,220,134
$RAFOS,1,1305216557,16.166666,16.154722,147,70,56,55,54,53,883,177,166,219,193,202
$RAFOS,0,1305216069,16.033333,16.019167,76,61,59,59,54,54,1060,185,198,155,213,176
$RAFOS_FIX,6710.048828,-5741.642090,120511,161644,7,116,0.30
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.80
$XPDR_PINGS,9
$ALTIM_TOP_PING,20.0,17.8
$24V_AH,21.3,79.518
$10V_AH,9.9,41.048
$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,5.525,115.175,413.375,0.000,0.000,0.000,0.000,0.000,5.250,0.000,0.000,3006.688,8867.297,484.494,2028.149,257.888,0.000,1566.636,0.000,2002.449,2520.000,22.839,0.000
$DEVICE_MAMPS,211.905,85.680,1402.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,868.840,929.478,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,46709,1223
$CAP_FILE_SIZE,145973,0
$CFSIZE,260165632,214466560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.0
$GPS,120511,162744,6710.049,-5741.642,0,7116.3,0,-37.6