version: 66.08
glider: 141
mission: 15
dive: 719
start: 5 31 111 17 53 40
data:
$ID,141
$MISSION,15
$DIVE,719
$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,-51583.66
$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,21
$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
$GPS1,310511,163512,6710.979,-5751.419,0,4131.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.47
$_SM_ANGLEo,-3.5
$GPS2,310511,163512,6710.979,-5751.419,0,4131.5,0,-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,145.5,48123,-17.5,-10.000
$D_GRID,838
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.57,0.000,2,0.000,0.000,2888,2269,1899,0,0,0,0,0,0
$GC,27,-0.62,-146.0,5.5,-0.0,1,102,0.60,0.00,-70.80,0.000,6,0.083,0.000,2664,2269,3627,0,0,0,0,0,0
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$GC,514,-0.48,-146.0,80.0,-11.6,86,521,0.00,2.28,0.00,0.000,6,0.000,0.057,2712,2492,3630,0,0,0,0,0,0
$GC,851,-0.46,-146.0,121.7,-12.5,131,855,0.00,2.33,0.00,0.000,4,0.000,0.076,2712,1081,3628,0,0,0,0,0,0
$GC,933,-0.50,-146.0,130.9,-11.6,138,937,0.00,2.33,0.00,0.000,6,0.000,0.072,2713,2486,3628,0,0,0,0,0,0
$GC,1264,-0.50,-146.0,166.6,-10.6,169,1268,0.00,2.33,0.00,0.000,4,0.000,0.076,2712,1081,3627,0,0,0,0,0,0
$GC,1282,-0.50,-146.0,168.4,-10.3,170,1286,0.00,2.35,0.00,0.000,6,0.000,0.073,2712,2490,3627,0,0,0,0,0,0
$GC,1608,-0.54,-146.0,199.2,-9.3,200,1612,0.00,2.40,0.00,0.000,4,0.000,0.087,2712,3899,3626,0,0,0,0,0,0
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$GC,1971,-0.47,-146.0,243.8,-12.2,232,1976,0.15,2.35,0.00,0.000,6,0.207,0.070,2705,2494,3626,0,0,0,0,0,0
$GC,2297,-0.50,-146.0,273.4,-8.7,262,2301,0.00,2.38,0.00,0.000,4,0.000,0.084,2705,3909,3626,0,0,0,0,0,0
$GC,2320,-0.55,-146.0,275.4,-8.1,263,2327,0.00,2.28,0.00,0.000,6,0.000,0.055,2705,2481,3626,0,0,0,0,0,0
$GC,2646,-0.59,-146.0,303.1,-8.8,294,2650,0.00,2.30,0.00,0.000,4,0.000,0.070,2705,1072,3626,0,0,0,0,0,0
$GC,2679,-0.64,-146.0,306.3,-9.1,296,2686,0.15,2.35,0.00,0.000,6,0.112,0.067,2653,2496,3626,0,0,0,0,0,0
$GC,3005,-0.56,-146.0,345.4,-12.3,327,3009,0.12,2.38,0.00,0.000,4,0.203,0.083,2681,3900,3627,0,0,0,0,0,0
$GC,3045,-0.58,-146.0,349.8,-10.1,330,3053,0.00,2.28,0.00,0.000,6,0.000,0.059,2681,2477,3627,0,0,0,0,0,0
$GC,3370,-0.58,-146.0,381.3,-9.4,361,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2477,3628,0,0,0,0,0,0
$GC,3692,-0.58,-146.0,413.5,-10.6,391,3696,0.00,2.25,0.00,0.000,4,0.000,0.067,2681,1078,3629,0,0,0,0,0,0
$GC,3702,-0.58,-146.0,415.0,-10.3,391,3709,0.00,2.33,0.00,0.000,6,0.000,0.064,2681,2497,3629,0,0,0,0,0,0
$GC,4031,-0.58,-146.0,447.5,-9.9,422,4035,0.00,2.38,0.00,0.000,4,0.000,0.081,2681,3908,3629,0,0,0,0,0,0
$GC,4041,-0.58,-146.0,449.0,-9.6,422,4048,0.00,2.28,0.00,0.000,6,0.000,0.051,2681,2480,3629,0,0,0,0,0,0
$GC,4367,-0.58,-146.0,481.8,-10.3,453,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2480,3629,0,0,0,0,0,0
$GC,4688,-0.58,-146.0,512.6,-9.3,483,4692,0.00,2.28,0.00,0.000,4,0.000,0.067,2681,1080,3629,0,0,0,0,0,0
$GC,4700,-0.58,-146.0,514.0,-9.3,483,4706,0.00,2.33,0.00,0.000,6,0.000,0.066,2681,2491,3629,0,0,0,0,0,0
$GC,5025,-0.58,-146.0,544.3,-9.0,514,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2491,3629,0,0,0,0,0,0
$GC,5347,-0.58,-146.0,573.5,-9.3,544,5351,0.00,2.40,0.00,0.000,4,0.000,0.083,2681,3910,3630,0,0,0,0,0,0
$GC,5390,-0.61,-146.0,577.6,-9.3,547,5394,0.00,2.25,0.00,0.000,6,0.000,0.053,2681,2488,3629,0,0,0,0,0,0
$GC,5733,-0.61,-146.0,609.3,-9.1,573,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2487,3629,0,0,0,0,0,0
$GC,6040,-0.61,-146.0,637.1,-9.2,583,6044,0.00,2.28,0.00,0.000,4,0.000,0.067,2681,1076,3629,0,0,0,0,0,0
$GC,6056,-0.61,-146.0,638.8,-9.4,583,6060,0.00,2.33,0.00,0.000,6,0.000,0.067,2681,2496,3629,0,0,0,0,0,0
$GC,6369,-0.61,-146.0,667.0,-8.9,593,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2495,3629,0,0,0,0,0,0
$GC,6676,-0.61,-146.0,693.9,-8.7,603,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2496,3629,0,0,0,0,0,0
$GC,6982,-0.61,-146.0,721.2,-8.7,613,6986,0.00,2.35,0.00,0.000,4,0.000,0.083,2681,3898,3629,0,0,0,0,0,0
$GC,7004,-0.61,-146.0,723.4,-9.1,613,7011,0.00,2.25,0.00,0.000,6,0.000,0.053,2681,2478,3629,0,0,0,0,0,0
$GC,7318,-0.88,-146.0,742.6,-1.5,624,7320,0.30,0.00,0.00,0.000,6,0.103,0.000,2579,2479,3629,0,0,0,0,0,0
$STATE,7467,end dive,NO_VERTICAL_VELOCITY
$STATE,7468,begin apogee
$GC,7474,-0.12,0.0,742.7,0.0,629,7610,0.73,0.00,128.57,1.385,6,0.114,0.000,2817,2269,3030,0,0,0,0,0,0
$STATE,7611,end apogee,CONTROL_FINISHED_OK
$STATE,7611,begin climb
$GC,7614,0.62,146.0,742.7,0.0,633,7763,0.77,2.72,137.85,1.331,4,0.119,0.073,3056,3687,2433,0,0,0,0,0,0
$GC,7837,0.51,146.0,725.7,12.7,640,7842,0.15,2.47,0.00,0.000,6,0.176,0.060,3033,2282,2428,0,0,0,0,0,0
$GC,8167,0.53,161.0,694.8,9.3,651,8187,0.00,2.42,13.18,1.183,4,0.000,0.079,3042,869,2373,0,0,0,0,0,0
$GC,8222,0.53,161.0,689.6,10.1,652,8226,0.00,2.33,0.00,0.000,6,0.000,0.063,3042,2278,2372,0,0,0,0,0,0
$GC,8537,0.54,170.4,659.3,9.6,662,8552,0.00,2.35,9.82,1.131,4,0.000,0.080,3042,3686,2334,0,0,0,0,0,0
$GC,8620,0.50,170.4,649.9,11.9,664,8624,0.00,2.30,0.00,0.000,6,0.000,0.063,3052,2265,2334,0,0,0,0,0,0
$GC,8933,0.47,170.4,616.6,10.7,674,8935,0.12,0.00,0.00,0.000,6,0.182,0.000,3021,2265,2332,0,0,0,0,0,0
$GC,9244,0.56,211.8,590.3,8.1,690,9288,0.00,2.45,37.85,1.258,4,0.000,0.076,3020,3682,2166,0,0,0,0,0,0
$GC,9312,0.64,231.9,584.4,9.1,696,9341,0.12,2.33,20.10,1.203,6,0.100,0.070,3081,2276,2083,0,0,0,0,0,0
$GC,9660,0.58,231.9,538.1,13.7,729,9665,0.00,2.33,0.00,0.000,4,0.000,0.079,3092,860,2077,0,0,0,0,0,0
$GC,9705,0.55,231.9,531.5,13.5,732,9714,0.17,2.33,0.00,0.000,6,0.180,0.063,3047,2281,2075,0,0,0,0,0,0
$GC,10030,0.55,231.9,494.4,11.5,763,10035,0.00,2.30,0.00,0.000,4,0.000,0.078,3046,3689,2073,0,0,0,0,0,0
$GC,10108,0.55,231.9,484.5,12.6,769,10115,0.00,2.30,0.00,0.000,6,0.000,0.062,3054,2272,2073,0,0,0,0,0,0
$GC,10433,0.55,231.9,445.4,12.0,800,10437,0.00,2.33,0.00,0.000,4,0.000,0.076,3066,855,2072,0,0,0,0,0,0
$GC,10473,0.55,231.9,440.6,11.8,803,10480,0.00,2.33,0.00,0.000,6,0.000,0.062,3066,2285,2071,0,0,0,0,0,0
$GC,10799,0.52,231.9,399.4,12.7,834,10804,0.12,2.30,0.00,0.000,4,0.178,0.075,3033,3691,2071,0,0,0,0,0,0
$GC,10866,0.56,231.9,391.4,11.2,839,10873,0.00,2.28,0.00,0.000,6,0.000,0.059,3041,2268,2071,0,0,0,0,0,0
$GC,11192,0.59,233.3,358.2,9.9,870,11197,0.00,2.28,0.00,0.000,4,0.000,0.073,3051,867,2071,0,0,0,0,0,0
$GC,11245,0.67,241.6,353.0,9.6,874,11258,0.00,2.28,7.60,0.940,6,0.000,0.060,3051,2281,2045,0,0,0,0,0,0
$GC,11575,0.67,241.6,316.6,11.5,905,11579,0.00,2.28,0.00,0.000,4,0.000,0.073,3051,3685,2044,0,0,0,0,0,0
$GC,11642,0.67,241.6,308.5,12.1,910,11649,0.00,2.25,0.00,0.000,6,0.000,0.058,3061,2274,2044,0,0,0,0,0,0
$GC,11967,0.67,241.6,269.6,12.2,941,11972,0.00,2.28,0.00,0.000,4,0.000,0.071,3072,865,2044,0,0,0,0,0,0
$GC,12012,0.70,241.6,264.1,12.1,944,12019,0.00,2.28,0.00,0.000,6,0.000,0.057,3072,2278,2044,0,0,0,0,0,0
$GC,12338,0.70,241.6,223.7,12.2,975,12342,0.00,2.30,0.00,0.000,4,0.000,0.071,3072,3687,2044,0,0,0,0,0,0
$GC,12405,0.67,241.6,214.3,14.1,980,12411,0.00,2.25,0.00,0.000,6,0.000,0.056,3082,2274,2045,0,0,0,0,0,0
$GC,12730,0.64,241.6,171.6,12.9,1011,12735,0.00,2.28,0.00,0.000,4,0.000,0.070,3093,862,2045,0,0,0,0,0,0
$GC,12787,0.64,241.6,164.2,12.8,1015,12794,0.00,2.28,0.00,0.000,6,0.000,0.056,3092,2278,2044,0,0,0,0,0,0
$GC,13113,0.64,241.6,122.4,11.9,1046,13117,0.00,2.28,0.00,0.000,4,0.000,0.070,3092,3688,2044,0,0,0,0,0,0
$GC,13220,0.61,241.6,109.0,12.4,1055,13225,0.15,2.28,0.00,0.000,6,0.186,0.055,3065,2265,2046,0,0,0,0,0,0
$GC,13560,0.73,282.6,78.7,8.1,1106,13608,0.10,2.35,38.85,0.929,4,0.118,0.072,3122,859,1877,0,0,0,0,0,0
$GC,13661,0.73,282.6,67.7,11.7,1123,13668,0.00,2.28,0.00,0.000,6,0.000,0.059,3122,2276,1874,0,0,0,0,0,0
$GC,14007,0.73,282.6,26.1,11.9,1184,14013,0.00,2.30,0.00,0.000,4,0.000,0.073,3122,3683,1872,0,0,0,0,0,0
$GC,14089,0.71,282.6,15.5,12.9,1198,14096,0.15,2.28,0.00,0.000,6,0.191,0.058,3095,2277,1870,0,0,0,0,0,0
$FREEZE,8.75,-1.599,-1.820,2,82,0
$FREEZE,8.37,-1.591,-1.818,2,82,0
$FREEZE,7.90,-1.583,-1.817,2,82,0
$FREEZE,7.49,-1.578,-1.816,2,82,0
$STATE,14167,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14167,begin subsurface finish
$FINISH1,7.5,1.026579,45
$GC,14178,0.06,45.1,7.5,-8.8,1212,14226,0.68,2.40,-37.65,0.000,4,0.158,0.083,2887,854,2849,0,0,0,0,0,0
$FINISH2,6.4
$STATE,14227,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14227,begin surface
$RAFOS_CLK,754
$RAFOS,6,1306874951,20.833334,20.819723,150,63,59,58,57,54,652,176,217,165,111,152
$RAFOS,5,1306874466,20.700001,20.684999,111,59,58,57,50,49,593,208,171,218,185,152
$RAFOS,4,1306873992,20.566668,20.553333,123,60,54,54,53,50,751,151,185,168,227,208
$RAFOS,3,1306873503,20.433332,20.417500,63,62,61,53,51,51,953,173,198,207,95,225
$RAFOS,2,1306873026,20.299999,20.285000,54,49,48,48,46,46,205,132,158,1558,109,976
$RAFOS,1,1306872554,20.166666,20.153889,117,66,60,52,52,52,898,220,187,175,141,1041
$RAFOS,0,1306872084,20.033333,20.023333,60,57,57,53,49,48,213,185,175,161,112,134
$RAFOS_FIX,6710.846680,-5745.881348,310511,202055,5,113,0.28
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,46.45
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.80
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.1,16.6
$24V_AH,21.0,97.158
$10V_AH,9.9,50.198
$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,4.925,142.425,393.825,0.000,0.000,0.000,0.000,0.000,4.750,0.000,0.000,2966.652,8456.098,529.210,2045.072,305.428,0.000,1649.053,0.000,2024.882,2520.000,21.386,0.000
$DEVICE_MAMPS,224.145,87.210,1385.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,864.603,928.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,50028,1220
$CAP_FILE_SIZE,150961,0
$CFSIZE,260165632,205852672
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.1
$GPS,310511,203355,6710.847,-5745.881,0,5112.8,0,-37.6