version: 66.08
glider: 141
mission: 15
dive: 723
start: 6 1 111 9 21 40
data:
$ID,141
$MISSION,15
$DIVE,723
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,010611,084322,6712.506,-5738.795,0,3127.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.04
$_SM_ANGLEo,-4.3
$GPS2,010611,084322,6712.506,-5738.795,0,3127.7,0,-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,153.2,40687,-17.5,-10.000
$D_GRID,739
$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,-5.75,0.000,2,0.000,0.000,2894,2274,3032,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.4,-0.0,1,53,0.62,2.72,-15.88,0.000,4,0.090,0.086,2666,3899,3628,0,0,0,0,0,0
$GC,89,-0.53,-146.0,16.9,-15.5,11,96,0.00,2.25,0.00,0.000,6,0.000,0.056,2667,2477,3630,0,0,0,0,0,0
$GC,436,-0.38,-146.0,75.5,-16.8,72,443,0.25,2.35,0.00,0.000,4,0.214,0.073,2732,3894,3629,0,0,0,0,0,0
$GC,481,-0.42,-146.0,80.9,-10.4,79,487,0.00,2.22,0.00,0.000,6,0.000,0.048,2732,2482,3629,0,0,0,0,0,0
$GC,825,-0.48,-146.0,114.7,-9.9,127,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2482,3628,0,0,0,0,0,0
$GC,1146,-0.56,-146.0,139.3,-6.8,157,1151,0.15,2.30,0.00,0.000,4,0.113,0.069,2679,1080,3626,0,0,0,0,0,0
$GC,1157,-0.62,-146.0,140.5,-7.0,157,1164,0.00,2.30,0.00,0.000,6,0.000,0.066,2679,2493,3626,0,0,0,0,0,0
$GC,1483,-0.58,-146.0,177.8,-11.5,188,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2493,3624,0,0,0,0,0,0
$GC,1804,-0.54,-146.0,213.7,-11.3,218,1808,0.00,2.33,0.00,0.000,4,0.000,0.079,2679,3902,3624,0,0,0,0,0,0
$GC,1815,-0.50,-146.0,215.6,-11.3,218,1822,0.00,2.22,0.00,0.000,6,0.000,0.047,2679,2486,3624,0,0,0,0,0,0
$GC,2142,-0.46,-146.0,250.6,-10.6,249,2144,0.12,0.00,0.00,0.000,6,0.210,0.000,2708,2486,3624,0,0,0,0,0,0
$GC,2460,-0.50,-146.0,276.0,-8.1,279,2464,0.00,2.35,0.00,0.000,4,0.000,0.073,2708,3905,3624,0,0,0,0,0,0
$GC,2493,-0.57,-146.0,278.9,-7.9,281,2500,0.00,2.25,0.00,0.000,6,0.000,0.054,2708,2482,3624,0,0,0,0,0,0
$GC,2820,-0.62,-146.0,305.8,-8.3,312,2821,0.15,0.00,0.00,0.000,6,0.114,0.000,2655,2482,3625,0,0,0,0,0,0
$GC,3137,-0.53,-146.0,343.9,-11.5,342,3139,0.12,0.00,0.00,0.000,6,0.196,0.000,2685,2482,3625,0,0,0,0,0,0
$GC,3455,-0.53,-146.0,374.4,-9.5,372,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2483,3626,0,0,0,0,0,0
$GC,3776,-0.53,-146.0,403.0,-9.2,402,3781,0.00,2.33,0.00,0.000,4,0.000,0.069,2685,3909,3626,0,0,0,0,0,0
$GC,3806,-0.53,-146.0,406.0,-8.9,404,3810,0.00,2.22,0.00,0.000,6,0.000,0.043,2684,2478,3626,0,0,0,0,0,0
$GC,4132,-0.53,-146.0,435.9,-8.9,434,4136,0.00,2.33,0.00,0.000,4,0.000,0.068,2685,3906,3627,0,0,0,0,0,0
$GC,4172,-0.57,-146.0,439.5,-9.3,437,4177,0.00,2.17,0.00,0.000,6,0.000,0.042,2685,2488,3627,0,0,0,0,0,0
$GC,4498,-0.57,-146.0,467.6,-8.6,467,4502,0.00,2.30,0.00,0.000,4,0.000,0.067,2685,3903,3627,0,0,0,0,0,0
$GC,4516,-0.57,-146.0,469.2,-8.6,468,4520,0.00,2.20,0.00,0.000,6,0.000,0.042,2684,2483,3627,0,0,0,0,0,0
$GC,4847,-0.57,-146.0,497.5,-8.5,499,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2483,3628,0,0,0,0,0,0
$GC,5167,-0.57,-146.0,525.7,-9.2,529,5171,0.00,2.20,0.00,0.000,4,0.000,0.059,2685,1083,3629,0,0,0,0,0,0
$GC,5190,-0.57,-146.0,528.1,-9.3,530,5197,0.00,2.25,0.00,0.000,6,0.000,0.056,2685,2500,3629,0,0,0,0,0,0
$GC,5517,-0.57,-146.0,556.4,-9.0,561,5521,0.00,2.28,0.00,0.000,4,0.000,0.071,2685,3901,3629,0,0,0,0,0,0
$GC,5547,-0.57,-146.0,559.1,-9.4,563,5551,0.00,2.17,0.00,0.000,6,0.000,0.042,2685,2488,3628,0,0,0,0,0,0
$GC,5878,-0.57,-146.0,589.1,-9.1,594,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2489,3629,0,0,0,0,0,0
$GC,6190,-0.57,-146.0,617.3,-8.9,612,6194,0.00,2.22,0.00,0.000,4,0.000,0.059,2685,1083,3630,0,0,0,0,0,0
$GC,6200,-0.57,-146.0,618.5,-9.1,612,6204,0.00,2.25,0.00,0.000,6,0.000,0.057,2685,2495,3629,0,0,0,0,0,0
$GC,6525,-0.57,-146.0,647.4,-9.0,623,6529,0.00,2.30,0.00,0.000,4,0.000,0.073,2685,3903,3629,0,0,0,0,0,0
$GC,6562,-0.59,-146.0,650.7,-9.8,624,6566,0.00,2.17,0.00,0.000,6,0.000,0.044,2685,2492,3629,0,0,0,0,0,0
$STATE,6772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6772,begin apogee
$GC,6779,-0.12,0.0,669.2,8.6,631,6914,0.43,0.00,125.88,1.309,6,0.174,0.000,2811,2262,3030,0,0,0,0,0,0
$STATE,6915,end apogee,CONTROL_FINISHED_OK
$STATE,6915,begin climb
$GC,6917,0.62,146.0,673.7,0.0,635,7057,0.80,2.53,131.35,1.268,4,0.135,0.068,3065,888,2434,0,0,0,0,0,0
$GC,7131,0.57,146.0,658.5,10.7,641,7135,0.00,2.38,0.00,0.000,6,0.000,0.054,3065,2275,2429,0,0,0,0,0,0
$GC,7461,0.51,146.0,623.6,10.7,652,7466,0.12,2.33,0.00,0.000,4,0.179,0.071,3033,3687,2427,0,0,0,0,0,0
$GC,7558,0.47,146.0,613.6,10.5,655,7562,0.00,2.22,0.00,0.000,6,0.000,0.054,3041,2292,2427,0,0,0,0,0,0
$GC,7882,0.50,169.4,584.3,8.9,676,7908,0.00,2.38,20.40,1.180,4,0.000,0.070,3052,868,2339,0,0,0,0,0,0
$GC,7965,0.50,169.4,576.1,10.3,683,7972,0.00,2.28,0.00,0.000,6,0.000,0.055,3052,2282,2337,0,0,0,0,0,0
$GC,8291,0.50,169.4,542.9,10.4,714,8295,0.00,2.28,0.00,0.000,4,0.000,0.071,3052,3685,2335,0,0,0,0,0,0
$GC,8360,0.43,169.4,534.6,12.7,720,8365,0.20,2.25,0.00,0.000,6,0.182,0.055,3011,2276,2335,0,0,0,0,0,0
$GC,8687,0.54,205.6,507.7,8.3,750,8724,0.00,2.33,32.75,1.179,4,0.000,0.070,3017,864,2190,0,0,0,0,0,0
$GC,8785,0.70,243.3,500.2,8.3,758,8830,0.20,2.28,35.33,1.161,6,0.083,0.055,3106,2278,2036,0,0,0,0,0,0
$GC,9148,0.60,243.3,439.8,16.9,792,9153,0.17,2.28,0.00,0.000,4,0.179,0.070,3059,3696,2029,0,0,0,0,0,0
$GC,9211,0.60,243.3,430.6,13.5,797,9215,0.00,2.28,0.00,0.000,6,0.000,0.054,3067,2271,2027,0,0,0,0,0,0
$GC,9541,0.60,243.3,387.6,13.5,828,9545,0.00,2.25,0.00,0.000,4,0.000,0.069,3078,866,2026,0,0,0,0,0,0
$GC,9593,0.60,243.3,380.9,12.6,832,9597,0.00,2.22,0.00,0.000,6,0.000,0.054,3078,2279,2025,0,0,0,0,0,0
$GC,9919,0.57,243.3,335.6,13.9,862,9923,0.12,2.28,0.00,0.000,4,0.175,0.069,3045,3694,2024,0,0,0,0,0,0
$GC,10015,0.60,243.3,323.7,11.6,870,10022,0.00,2.25,0.00,0.000,6,0.000,0.053,3053,2265,2023,0,0,0,0,0,0
$GC,10341,0.62,243.3,287.0,11.4,901,10345,0.00,2.28,0.00,0.000,4,0.000,0.068,3063,865,2024,0,0,0,0,0,0
$GC,10430,0.67,243.3,276.6,11.5,908,10437,0.00,2.25,0.00,0.000,6,0.000,0.054,3063,2281,2022,0,0,0,0,0,0
$GC,10756,0.67,243.3,236.2,13.1,939,10760,0.00,2.28,0.00,0.000,4,0.000,0.068,3063,3683,2022,0,0,0,0,0,0
$GC,10811,0.67,243.3,228.5,14.1,943,10818,0.00,2.25,0.00,0.000,6,0.000,0.052,3074,2270,2022,0,0,0,0,0,0
$GC,11136,0.67,243.3,184.3,13.3,974,11140,0.00,2.25,0.00,0.000,4,0.000,0.067,3084,864,2022,0,0,0,0,0,0
$GC,11209,0.67,243.3,174.7,12.8,980,11215,0.00,2.25,0.00,0.000,6,0.000,0.053,3084,2281,2022,0,0,0,0,0,0
$GC,11535,0.64,243.3,130.1,13.3,1011,11539,0.00,2.25,0.00,0.000,4,0.000,0.067,3084,3691,2022,0,0,0,0,0,0
$GC,11598,0.60,243.3,120.7,15.0,1016,11603,0.12,2.22,0.00,0.000,6,0.187,0.052,3064,2266,2023,0,0,0,0,0,0
$GC,11933,0.66,256.4,84.7,9.4,1059,11952,0.00,2.30,10.50,0.844,4,0.000,0.067,3072,879,1983,0,0,0,0,0,0
$GC,12029,0.77,279.8,75.8,8.9,1075,12060,0.12,2.22,22.70,0.897,6,0.103,0.052,3127,2282,1888,0,0,0,0,0,0
$GC,12400,0.74,279.8,26.6,12.4,1140,12407,0.00,2.25,0.00,0.000,4,0.000,0.067,3127,3693,1886,0,0,0,0,0,0
$GC,12477,0.70,279.8,16.5,12.7,1153,12484,0.17,2.25,0.00,0.000,6,0.180,0.051,3092,2269,1885,0,0,0,0,0,0
$FREEZE,8.85,-1.141,-1.812,2,86,0
$FREEZE,8.30,-1.143,-1.812,2,86,0
$FREEZE,7.86,-1.143,-1.811,2,86,0
$FREEZE,7.21,-1.146,-1.811,2,86,0
$STATE,12575,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12575,begin subsurface finish
$FINISH1,7.2,1.026499,49
$GC,12582,0.06,49.1,7.2,-9.3,1170,12623,0.62,0.00,-35.20,0.000,6,0.145,0.000,2893,2269,2831,0,0,0,0,0,0
$FINISH2,5.8
$STATE,12624,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12624,begin surface
$RAFOS_CLK,644
$RAFOS,5,1306932062,12.700000,12.683888,80,68,66,56,55,50,638,206,186,159,220,131
$RAFOS,4,1306931581,12.566667,12.550278,79,62,58,57,53,53,831,200,167,211,180,111
$RAFOS,3,1306931106,12.433333,12.418333,67,67,64,62,57,50,169,200,187,221,211,147
$RAFOS,2,1306930630,12.300000,12.286111,58,55,55,54,52,51,202,160,215,181,193,121
$RAFOS,1,1306930151,12.166667,12.153055,68,64,56,55,54,52,215,191,181,148,114,131
$RAFOS,0,1306929661,12.033333,12.016945,59,57,56,54,54,52,198,171,208,122,220,184
$RAFOS_FIX,6711.598145,-5729.873535,010611,121228,2,80,0.47
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.029211
$HUMID,45.35
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.40
$XPDR_PINGS,47
$ALTIM_TOP_PING,19.2,16.9
$ALTIM_BOTTOM_PING,650.1,33.4
$24V_AH,21.6,97.701
$10V_AH,9.9,50.503
$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,4.525,118.850,378.900,0.000,0.000,0.000,0.000,0.000,14.250,0.000,0.000,2890.281,7109.592,438.315,1976.784,275.545,0.000,1503.086,0.000,1960.797,2520.000,19.519,0.000
$DEVICE_MAMPS,214.200,85.680,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,831.555,890.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46628,1177
$CAP_FILE_SIZE,138054,0
$CFSIZE,260165632,205574144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.9
$GPS,010611,123928,6711.598,-5729.874,0,2079.5,0,-37.6