version: 66.08
glider: 141
mission: 15
dive: 720
start: 5 31 111 21 53 12
data:
$ID,141
$MISSION,15
$DIVE,720
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,310511,203355,6710.847,-5745.881,0,5112.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.90
$_SM_ANGLEo,-4.2
$GPS2,310511,203355,6710.847,-5745.881,0,5112.8,0,-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,146.8,44253,-17.5,-10.000
$D_GRID,807
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.47,0.000,2,0.000,0.000,2887,854,3063,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.2,-0.0,1,52,0.62,5.12,-14.00,0.000,4,0.102,0.077,2666,3897,3629,0,0,0,0,0,0
$GC,308,-0.55,-146.0,52.0,-14.6,50,315,0.00,2.22,0.00,0.000,6,0.000,0.052,2666,2480,3630,0,0,0,0,0,0
$GC,657,-0.41,-146.0,109.2,-16.2,107,659,0.22,0.00,0.00,0.000,6,0.214,0.000,2721,2480,3629,0,0,0,0,0,0
$GC,980,-0.44,-146.0,140.8,-9.3,137,984,0.00,2.38,0.00,0.000,4,0.000,0.082,2720,3896,3627,0,0,0,0,0,0
$GC,1012,-0.50,-146.0,143.7,-8.5,139,1016,0.00,2.22,0.00,0.000,6,0.000,0.054,2721,2490,3627,0,0,0,0,0,0
$GC,1338,-0.55,-146.0,171.6,-8.2,169,1343,0.12,2.33,0.00,0.000,4,0.129,0.072,2678,1074,3625,0,0,0,0,0,0
$GC,1350,-0.59,-146.0,172.6,-8.0,169,1357,0.00,2.35,0.00,0.000,6,0.000,0.068,2678,2495,3625,0,0,0,0,0,0
$GC,1676,-0.54,-146.0,210.8,-11.3,200,1680,0.00,2.35,0.00,0.000,4,0.000,0.083,2678,3902,3624,0,0,0,0,0,0
$GC,1711,-0.52,-146.0,214.7,-10.9,202,1717,0.00,2.28,0.00,0.000,6,0.000,0.054,2678,2483,3625,0,0,0,0,0,0
$GC,2038,-0.48,-146.0,252.0,-11.6,233,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2483,3624,0,0,0,0,0,0
$GC,2357,-0.45,-146.0,287.1,-10.7,263,2364,0.15,0.00,0.00,0.000,6,0.205,0.000,2714,2483,3624,0,0,0,0,0,0
$GC,2684,-0.52,-146.0,311.0,-7.2,294,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2483,3625,0,0,0,0,0,0
$GC,3007,-0.60,-146.0,333.9,-7.2,324,3012,0.15,2.28,0.00,0.000,4,0.117,0.064,2663,1070,3625,0,0,0,0,0,0
$GC,3018,-0.65,-146.0,335.3,-7.6,324,3025,0.00,2.33,0.00,0.000,6,0.000,0.063,2663,2494,3625,0,0,0,0,0,0
$GC,3344,-0.60,-146.0,370.5,-11.4,355,3348,0.00,2.33,0.00,0.000,4,0.000,0.077,2663,3900,3626,0,0,0,0,0,0
$GC,3384,-0.57,-146.0,375.1,-11.2,358,3388,0.00,2.22,0.00,0.000,6,0.000,0.048,2663,2475,3626,0,0,0,0,0,0
$GC,3710,-0.52,-146.0,410.2,-10.7,388,3715,0.12,2.40,0.00,0.000,4,0.207,0.074,2692,3909,3627,0,0,0,0,0,0
$GC,3721,-0.47,-146.0,411.5,-10.5,388,3728,0.00,2.22,0.00,0.000,6,0.000,0.046,2692,2489,3627,0,0,0,0,0,0
$GC,4047,-0.50,-146.0,438.9,-8.6,419,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2489,3627,0,0,0,0,0,0
$GC,4368,-0.53,-146.0,466.4,-9.1,449,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2489,3628,0,0,0,0,0,0
$GC,4696,-0.56,-146.0,495.1,-8.3,480,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2489,3629,0,0,0,0,0,0
$GC,5025,-0.60,-146.0,522.4,-8.2,511,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2489,3629,0,0,0,0,0,0
$GC,5353,-0.63,-146.0,549.2,-8.1,542,5357,0.00,2.22,0.00,0.000,4,0.000,0.060,2692,1077,3630,0,0,0,0,0,0
$GC,5367,-0.65,-146.0,550.5,-8.2,542,5375,0.12,2.30,0.00,0.000,6,0.116,0.058,2648,2500,3629,0,0,0,0,0,0
$GC,5693,-0.58,-146.0,587.3,-11.7,573,5698,0.12,2.35,0.00,0.000,4,0.213,0.074,2676,3904,3630,0,0,0,0,0,0
$GC,5727,-0.58,-146.0,591.0,-9.7,575,5733,0.00,2.22,0.00,0.000,6,0.000,0.045,2676,2482,3630,0,0,0,0,0,0
$GC,6044,-0.58,-146.0,620.3,-9.1,592,6048,0.00,2.20,0.00,0.000,4,0.000,0.060,2676,1084,3630,0,0,0,0,0,0
$GC,6060,-0.58,-146.0,622.0,-9.2,592,6064,0.00,2.25,0.00,0.000,6,0.000,0.059,2676,2488,3630,0,0,0,0,0,0
$GC,6374,-0.58,-146.0,649.9,-9.0,602,6379,0.00,2.33,0.00,0.000,4,0.000,0.076,2676,3906,3631,0,0,0,0,0,0
$GC,6385,-0.58,-146.0,651.1,-8.9,602,6389,0.00,2.22,0.00,0.000,6,0.000,0.045,2676,2485,3630,0,0,0,0,0,0
$GC,6710,-0.58,-146.0,680.2,-8.9,613,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2485,3631,0,0,0,0,0,0
$STATE,6956,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6956,begin apogee
$GC,6962,-0.12,0.0,701.9,9.0,621,7097,0.47,0.00,127.47,1.333,6,0.179,0.000,2814,2263,3029,0,0,0,0,0,0
$STATE,7098,end apogee,CONTROL_FINISHED_OK
$STATE,7098,begin climb
$GC,7102,0.62,146.0,705.2,0.0,625,7248,0.77,2.62,133.65,1.292,4,0.129,0.070,3062,883,2433,0,0,0,0,0,0
$GC,7364,0.57,146.0,685.6,11.7,633,7368,0.00,2.35,0.00,0.000,6,0.000,0.057,3062,2276,2429,0,0,0,0,0,0
$GC,7691,0.51,146.0,650.7,10.5,644,7696,0.12,2.33,0.00,0.000,4,0.182,0.073,3030,3694,2426,0,0,0,0,0,0
$GC,7770,0.47,146.0,642.0,10.2,646,7774,0.00,2.25,0.00,0.000,6,0.000,0.057,3039,2287,2426,0,0,0,0,0,0
$GC,8094,0.50,168.4,612.7,9.0,657,8119,0.00,2.35,19.60,1.205,4,0.000,0.074,3049,861,2343,0,0,0,0,0,0
$GC,8169,0.50,168.4,605.3,10.2,658,8174,0.00,2.28,0.00,0.000,6,0.000,0.059,3049,2278,2340,0,0,0,0,0,0
$GC,8498,0.50,168.4,571.1,10.1,685,8502,0.00,2.30,0.00,0.000,4,0.000,0.074,3050,3683,2339,0,0,0,0,0,0
$GC,8554,0.44,168.4,564.4,12.9,689,8561,0.20,2.28,0.00,0.000,6,0.188,0.060,3009,2274,2338,0,0,0,0,0,0
$GC,8880,0.53,193.9,537.5,8.8,720,8913,0.00,2.40,23.08,1.194,4,0.000,0.075,3017,866,2238,0,0,0,0,0,0
$GC,8968,0.67,232.6,530.0,8.2,727,9011,0.17,2.30,36.70,1.201,6,0.089,0.059,3094,2282,2080,0,0,0,0,0,0
$GC,9338,0.58,232.6,471.3,16.0,762,9343,0.15,2.28,0.00,0.000,4,0.181,0.073,3054,3686,2073,0,0,0,0,0,0
$GC,9415,0.58,232.6,459.7,13.4,768,9422,0.00,2.28,0.00,0.000,6,0.000,0.058,3062,2273,2072,0,0,0,0,0,0
$GC,9741,0.56,232.6,416.4,13.7,799,9745,0.00,2.28,0.00,0.000,4,0.000,0.072,3074,866,2071,0,0,0,0,0,0
$GC,9804,0.56,232.6,408.0,13.7,804,9809,0.12,2.28,0.00,0.000,6,0.174,0.057,3042,2281,2069,0,0,0,0,0,0
$GC,10130,0.59,232.6,371.9,10.8,834,10134,0.00,2.30,0.00,0.000,4,0.000,0.071,3042,3694,2069,0,0,0,0,0,0
$GC,10185,0.59,232.6,365.2,11.9,838,10192,0.00,2.28,0.00,0.000,6,0.000,0.055,3049,2274,2069,0,0,0,0,0,0
$GC,10511,0.59,232.6,328.1,11.5,869,10515,0.00,2.28,0.00,0.000,4,0.000,0.069,3061,857,2069,0,0,0,0,0,0
$GC,10573,0.63,232.6,320.9,10.9,874,10578,0.00,2.25,0.00,0.000,6,0.000,0.055,3061,2279,2068,0,0,0,0,0,0
$GC,10899,0.63,232.6,280.4,12.6,904,10903,0.00,2.25,0.00,0.000,4,0.000,0.069,3061,3683,2068,0,0,0,0,0,0
$GC,10983,0.63,232.6,269.0,13.9,911,10987,0.00,2.25,0.00,0.000,6,0.000,0.055,3071,2259,2068,0,0,0,0,0,0
$GC,11309,0.63,232.6,226.5,12.7,941,11313,0.00,2.25,0.00,0.000,4,0.000,0.068,3082,867,2068,0,0,0,0,0,0
$GC,11364,0.63,232.6,219.2,12.5,945,11371,0.00,2.25,0.00,0.000,6,0.000,0.054,3081,2276,2067,0,0,0,0,0,0
$GC,11690,0.60,232.6,177.1,12.9,976,11694,0.00,2.28,0.00,0.000,4,0.000,0.069,3082,3696,2067,0,0,0,0,0,0
$GC,11779,0.55,232.6,164.5,13.5,983,11787,0.17,2.28,0.00,0.000,6,0.182,0.053,3046,2269,2069,0,0,0,0,0,0
$GC,12105,0.65,261.3,133.8,8.7,1014,12139,0.00,2.35,24.52,0.939,4,0.000,0.069,3053,865,1963,0,0,0,0,0,0
$GC,12200,0.79,280.0,125.7,9.1,1022,12224,0.17,2.25,18.45,0.916,6,0.089,0.053,3127,2277,1888,0,0,0,0,0,0
$GC,12549,0.74,280.0,74.9,13.7,1069,12556,0.00,2.28,0.00,0.000,4,0.000,0.068,3127,3686,1883,0,0,0,0,0,0
$GC,12615,0.67,280.0,65.6,13.6,1080,12623,0.20,2.25,0.00,0.000,6,0.187,0.054,3086,2275,1882,0,0,0,0,0,0
$GC,12965,0.78,312.7,32.5,8.5,1141,12996,0.00,2.38,20.70,0.947,4,0.000,0.071,3094,862,1754,0,0,0,0,0,0
$GC,13052,0.92,334.7,24.8,9.0,1155,13071,0.17,2.28,11.98,0.874,6,0.093,0.054,3166,2284,1665,0,0,0,0,0,0
$FREEZE,8.44,-1.534,-1.814,2,83,0
$FREEZE,7.54,-1.533,-1.812,2,83,0
$FREEZE,6.70,-1.535,-1.811,2,83,0
$FREEZE,5.98,-1.543,-1.810,2,83,0
$FREEZE,5.18,-1.552,-1.809,2,83,0
$FREEZE,4.29,-1.554,-1.808,2,83,0
$FREEZE,3.58,-1.570,-1.807,2,83,0
$FREEZE,2.77,-1.593,-1.806,2,83,0
$STATE,13191,end climb,SURFACE_DEPTH_REACHED
$STATE,13192,begin surface coast
$FREEZE,2.26,-1.595,-1.805,2,83,0
$FREEZE,2.16,-1.603,-1.806,2,83,0
$FREEZE,2.24,-1.600,-1.806,2,83,0
$FINISH,2.2,1.026501
$STATE,13209,end surface coast,CONTROL_FINISHED_OK
$STATE,13209,begin surface
$RAFOS_CLK,689
$RAFOS,6,1306889345,0.833333,0.818056,127,62,58,56,55,53,685,200,149,175,186,230
$RAFOS,5,1306888866,0.700000,0.685000,97,65,58,58,54,51,610,209,154,187,223,127
$RAFOS,4,1306888382,0.566667,0.550556,117,66,65,62,59,58,807,165,196,209,140,220
$RAFOS,3,1306887903,0.433333,0.417500,61,57,54,54,51,51,191,215,145,178,201,162
$RAFOS,2,1306887424,0.300000,0.284444,67,62,55,53,53,51,215,174,162,189,119,233
$RAFOS,1,1306886944,0.166667,0.151111,62,62,60,58,57,55,145,198,218,233,124,167
$RAFOS,0,1306886477,0.033333,0.021389,60,53,52,51,48,45,151,175,200,217,121,163
$RAFOS_FIX,6712.174316,-5743.983398,010611,000040,3,114,0.19
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,46.45
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,17.00
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,701.9,14.9
$24V_AH,21.4,97.303
$10V_AH,9.9,50.273
$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,4.400,122.425,416.150,0.000,0.000,0.000,0.000,0.000,11.000,0.000,0.000,2922.367,7732.864,460.073,1999.012,288.544,0.000,1548.677,0.000,1980.043,2520.000,21.409,0.000
$DEVICE_MAMPS,214.200,83.385,1333.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.441,898.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,46737,1183
$CAP_FILE_SIZE,144181,0
$CFSIZE,260165632,205787136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.6
$GPS,010611,004240,6712.174,-5743.983,0,3113.7,0,-37.6