version: 66.08
glider: 141
mission: 15
dive: 724
start: 6 1 111 12 54 21
data:
$ID,141
$MISSION,15
$DIVE,724
$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,29
$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
$GPS1,010611,123928,6711.598,-5729.874,0,2079.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.41
$_SM_ANGLEo,-2.0
$GPS2,010611,123928,6711.598,-5729.874,0,2079.5,0,-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,155.4,34175,-17.5,-10.000
$D_GRID,710
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.80,0.000,2,0.000,0.000,2893,2269,3043,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.4,-0.0,1,52,0.65,2.75,-15.60,0.000,4,0.126,0.087,2664,3896,3628,0,0,0,0,0,0
$GC,190,-0.53,-146.0,34.4,-16.3,29,196,0.00,2.22,0.00,0.000,6,0.000,0.055,2664,2482,3630,0,0,0,0,0,0
$GC,537,-0.39,-146.0,91.8,-15.7,90,544,0.25,2.35,0.00,0.000,4,0.213,0.072,2731,3902,3629,0,0,0,0,0,0
$GC,552,-0.29,-146.0,94.2,-14.6,92,560,0.12,2.20,0.00,0.000,6,0.196,0.044,2762,2488,3629,0,0,0,0,0,0
$GC,891,-0.45,-146.0,114.0,-5.3,130,893,0.15,0.00,0.00,0.000,6,0.112,0.000,2708,2487,3627,0,0,0,0,0,0
$GC,1208,-0.45,-146.0,144.8,-10.0,160,1212,0.00,2.33,0.00,0.000,4,0.000,0.073,2708,3903,3626,0,0,0,0,0,0
$GC,1237,-0.49,-146.0,147.6,-9.5,162,1245,0.00,2.20,0.00,0.000,6,0.000,0.045,2707,2486,3625,0,0,0,0,0,0
$GC,1563,-0.52,-146.0,177.5,-9.1,193,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2486,3624,0,0,0,0,0,0
$GC,1884,-0.55,-146.0,205.2,-8.1,223,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2485,3625,0,0,0,0,0,0
$GC,2214,-0.59,-146.0,232.1,-8.2,254,2218,0.00,2.30,0.00,0.000,4,0.000,0.069,2708,3896,3624,0,0,0,0,0,0
$GC,2233,-0.63,-146.0,233.9,-8.1,255,2238,0.15,2.20,0.00,0.000,6,0.106,0.041,2653,2480,3624,0,0,0,0,0,0
$GC,2559,-0.54,-146.0,274.3,-12.7,285,2561,0.12,0.00,0.00,0.000,6,0.202,0.000,2682,2480,3625,0,0,0,0,0,0
$GC,2877,-0.52,-146.0,306.7,-10.0,315,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2480,3626,0,0,0,0,0,0
$GC,3198,-0.52,-146.0,337.5,-9.9,345,3202,0.00,2.33,0.00,0.000,4,0.000,0.068,2682,3897,3626,0,0,0,0,0,0
$GC,3240,-0.54,-146.0,341.5,-9.2,348,3244,0.00,2.15,0.00,0.000,6,0.000,0.040,2682,2487,3626,0,0,0,0,0,0
$GC,3566,-0.54,-146.0,371.8,-8.9,378,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2487,3626,0,0,0,0,0,0
$GC,3887,-0.54,-146.0,402.0,-9.9,408,3891,0.00,2.28,0.00,0.000,4,0.000,0.066,2682,3896,3627,0,0,0,0,0,0
$GC,3898,-0.54,-146.0,403.3,-9.9,408,3904,0.00,2.17,0.00,0.000,6,0.000,0.038,2682,2483,3627,0,0,0,0,0,0
$GC,4223,-0.54,-146.0,434.3,-9.2,439,4227,0.00,2.30,0.00,0.000,4,0.000,0.067,2682,3900,3627,0,0,0,0,0,0
$GC,4242,-0.54,-146.0,435.9,-9.3,440,4246,0.00,2.17,0.00,0.000,6,0.000,0.039,2682,2488,3627,0,0,0,0,0,0
$GC,4568,-0.54,-146.0,465.6,-9.4,470,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2488,3628,0,0,0,0,0,0
$GC,4890,-0.54,-146.0,495.5,-9.3,500,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2488,3629,0,0,0,0,0,0
$GC,5218,-0.54,-146.0,525.3,-9.0,531,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2488,3629,0,0,0,0,0,0
$GC,5547,-0.54,-146.0,556.5,-10.0,562,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2487,3629,0,0,0,0,0,0
$GC,5876,-0.54,-146.0,587.6,-8.8,593,5880,0.00,2.20,0.00,0.000,4,0.000,0.057,2682,1088,3629,0,0,0,0,0,0
$GC,5887,-0.54,-146.0,588.9,-8.5,593,5894,0.00,2.22,0.00,0.000,6,0.000,0.054,2682,2496,3629,0,0,0,0,0,0
$GC,6208,-0.54,-146.0,616.2,-8.0,612,6212,0.00,2.30,0.00,0.000,4,0.000,0.071,2682,3906,3629,0,0,0,0,0,0
$GC,6238,-0.57,-146.0,619.1,-9.3,613,6242,0.00,2.17,0.00,0.000,6,0.000,0.041,2682,2488,3629,0,0,0,0,0,0
$STATE,6479,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6479,begin apogee
$GC,6487,-0.12,0.0,639.6,8.4,621,6618,0.45,0.00,125.22,1.282,6,0.173,0.000,2815,2254,3030,0,0,0,0,0,0
$STATE,6619,end apogee,CONTROL_FINISHED_OK
$STATE,6619,begin climb
$GC,6621,0.62,146.0,643.6,0.0,625,6760,0.77,2.42,130.48,1.242,4,0.131,0.066,3064,897,2433,0,0,0,0,0,0
$GC,6806,0.59,146.0,629.9,11.6,631,6810,0.00,2.35,0.00,0.000,6,0.000,0.050,3064,2276,2429,0,0,0,0,0,0
$GC,7125,0.54,146.0,593.5,11.7,644,7129,0.00,2.28,0.00,0.000,4,0.000,0.067,3064,3683,2427,0,0,0,0,0,0
$GC,7203,0.43,146.0,583.4,12.3,650,7211,0.25,2.17,0.00,0.000,6,0.176,0.050,3007,2292,2426,0,0,0,0,0,0
$GC,7529,0.58,216.5,560.9,6.7,681,7599,0.12,2.40,61.53,1.202,4,0.102,0.068,3078,878,2146,0,0,0,0,0,0
$GC,7652,0.58,216.5,546.6,13.5,692,7656,0.00,2.25,0.00,0.000,6,0.000,0.053,3078,2276,2142,0,0,0,0,0,0
$GC,7977,0.52,216.5,499.4,14.3,722,7982,0.17,2.25,0.00,0.000,4,0.172,0.067,3031,3690,2138,0,0,0,0,0,0
$GC,8041,0.55,216.5,491.3,12.2,727,8045,0.00,2.22,0.00,0.000,6,0.000,0.051,3039,2266,2137,0,0,0,0,0,0
$GC,8367,0.58,216.5,454.8,11.0,757,8371,0.00,2.22,0.00,0.000,4,0.000,0.067,3049,869,2136,0,0,0,0,0,0
$GC,8419,0.63,216.5,449.2,10.7,761,8424,0.00,2.22,0.00,0.000,6,0.000,0.053,3049,2279,2135,0,0,0,0,0,0
$GC,8750,0.63,216.5,411.8,11.0,792,8754,0.00,2.25,0.00,0.000,4,0.000,0.067,3049,3693,2134,0,0,0,0,0,0
$GC,8825,0.63,216.5,402.5,13.1,798,8830,0.00,2.22,0.00,0.000,6,0.000,0.050,3059,2273,2134,0,0,0,0,0,0
$GC,9151,0.63,216.5,362.8,12.6,828,9155,0.00,2.25,0.00,0.000,4,0.000,0.067,3070,860,2134,0,0,0,0,0,0
$GC,9217,0.63,216.5,354.6,11.9,833,9224,0.00,2.22,0.00,0.000,6,0.000,0.051,3070,2279,2133,0,0,0,0,0,0
$GC,9543,0.60,216.5,313.4,12.5,864,9547,0.00,2.28,0.00,0.000,4,0.000,0.067,3070,3694,2133,0,0,0,0,0,0
$GC,9624,0.55,216.5,302.1,14.7,871,9629,0.15,2.22,0.00,0.000,6,0.186,0.050,3042,2274,2133,0,0,0,0,0,0
$GC,9955,0.59,216.5,267.7,10.2,902,9959,0.00,2.25,0.00,0.000,4,0.000,0.066,3051,862,2133,0,0,0,0,0,0
$GC,10000,0.67,234.5,263.1,9.2,905,10021,0.00,2.25,15.05,0.981,6,0.000,0.051,3050,2286,2073,0,0,0,0,0,0
$GC,10348,0.71,234.5,225.8,10.3,938,10353,0.12,2.25,0.00,0.000,4,0.099,0.066,3109,3690,2071,0,0,0,0,0,0
$GC,10417,0.60,234.5,214.8,17.7,943,10425,0.22,2.22,0.00,0.000,6,0.190,0.050,3060,2269,2070,0,0,0,0,0,0
$GC,10743,0.60,234.5,177.3,11.6,974,10747,0.00,2.22,0.00,0.000,4,0.000,0.065,3070,867,2070,0,0,0,0,0,0
$GC,10811,0.64,234.5,169.9,11.0,979,10817,0.00,2.25,0.00,0.000,6,0.000,0.056,3069,2282,2069,0,0,0,0,0,0
$GC,11136,0.64,234.5,132.5,11.2,1010,11140,0.00,2.22,0.00,0.000,4,0.000,0.065,3070,3680,2069,0,0,0,0,0,0
$GC,11208,0.64,234.5,124.0,12.8,1016,11212,0.00,2.22,0.00,0.000,6,0.000,0.048,3079,2265,2070,0,0,0,0,0,0
$GC,11542,0.64,234.5,83.1,11.5,1058,11548,0.00,2.22,0.00,0.000,4,0.000,0.063,3090,866,2070,0,0,0,0,0,0
$GC,11595,0.66,234.5,76.9,11.9,1067,11602,0.00,2.22,0.00,0.000,6,0.000,0.049,3090,2279,2070,0,0,0,0,0,0
$GC,11944,0.72,258.3,40.0,8.9,1128,11969,0.00,2.30,16.42,0.953,4,0.000,0.066,3090,3683,1976,0,0,0,0,0,0
$GC,12021,0.72,258.3,32.1,10.8,1141,12028,0.00,2.20,0.00,0.000,6,0.000,0.049,3099,2280,1975,0,0,0,0,0,0
$FREEZE,8.88,-1.072,-1.810,2,87,0
$FREEZE,8.50,-1.077,-1.809,2,87,0
$FREEZE,7.93,-1.066,-1.808,2,87,0
$FREEZE,7.55,-1.075,-1.808,2,87,0
$FREEZE,7.15,-1.064,-1.807,2,87,0
$FREEZE,6.84,-1.050,-1.807,2,87,0
$FREEZE,6.43,-1.052,-1.806,2,87,0
$FREEZE,5.86,-1.054,-1.806,2,87,0
$FREEZE,5.46,-1.061,-1.806,2,87,0
$FREEZE,5.02,-1.070,-1.805,2,87,0
$FREEZE,4.54,-1.082,-1.804,2,87,0
$FREEZE,4.09,-1.083,-1.804,2,87,0
$FREEZE,3.62,-1.082,-1.803,2,87,0
$FREEZE,3.24,-1.078,-1.803,2,87,0
$FREEZE,2.77,-1.071,-1.803,2,87,0
$STATE,12362,end climb,SURFACE_DEPTH_REACHED
$STATE,12362,begin surface coast
$FREEZE,2.17,-1.071,-1.802,2,87,0
$FREEZE,1.74,-1.064,-1.802,2,87,0
$FREEZE,1.80,-1.046,-1.799,2,87,0
$FREEZE,1.82,-1.065,-1.802,2,87,0
$FREEZE,1.68,-1.004,-1.798,2,87,0
$FREEZE,1.85,-0.995,-1.787,2,87,0
$FREEZE,1.91,-1.047,-1.765,2,87,0
$FINISH,1.9,1.025900
$STATE,12403,end surface coast,CONTROL_FINISHED_OK
$STATE,12403,begin surface
$SM_CCo,12512,131.82,0.063,0,0,750,559.04
$SM_GC,2.73,0.00,0.00,131.82,0.000,0.000,0.063,108,2501,750,-8.61,0.31,559.04
$RAFOS_CLK,644
$RAFOS,1,1306944545,16.166666,16.151388,58,58,57,54,52,52,148,190,225,123,202,163
$RAFOS,0,1306944062,16.033333,16.017221,62,62,61,60,53,52,160,216,204,187,109,141
$RAFOS,6,1306932545,12.833333,12.818055,120,62,58,58,56,55,718,206,158,188,145,223
$RAFOS_FIX,6712.733887,-5734.659180,010611,121244,3,93,15.73
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.027713
$HUMID,45.23
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.20
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.8,21.4
$ALTIM_BOTTOM_PING,601.0,52.5
$24V_AH,21.8,97.826
$10V_AH,9.9,50.578
$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,12.150,104.625,348.700,131.825,0.000,0.000,0.000,0.000,15.250,0.000,0.000,2978.527,6954.524,523.899,1967.854,294.614,0.000,1579.537,0.000,1959.189,1080.000,17.810,0.000
$DEVICE_MAMPS,212.670,87.210,1282.140,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.111,919.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46691,1209
$CAP_FILE_SIZE,136326,0
$CFSIZE,260165632,205504512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.5
$GPS,010611,123928,6711.598,-5729.874,181,99.0,181,-37.6