version: 66.08
glider: 141
mission: 15
dive: 545
start: 5 4 111 11 4 37
data:
$ID,141
$MISSION,15
$DIVE,545
$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,-2
$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,-45855.852
$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,22
$R_STBD_OVSHOOT,19
$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
$GPS1,040511,082725,6658.553,-5958.675,0,7129.9,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.68
$_SM_ANGLEo,-1.2
$GPS2,040511,082725,6658.553,-5958.675,0,7129.9,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,254.2,33556,-17.5,-10.000
$D_GRID,834
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.20,0.000,2,0.000,0.000,2903,3696,2929,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.0,-0.0,1,59,0.68,4.38,-18.25,0.000,4,0.111,0.072,2672,1079,3630,0,0,0,0,0,0
$GC,274,-0.54,-146.0,53.4,-16.8,44,281,0.00,2.33,0.00,0.000,6,0.000,0.068,2672,2490,3630,0,0,0,0,0,0
$GC,615,-0.44,-146.0,114.2,-17.1,97,620,0.20,2.38,0.00,0.000,4,0.226,0.083,2719,3908,3631,0,0,0,0,0,0
$GC,736,-0.51,-146.0,128.4,-10.7,107,740,0.00,2.28,0.00,0.000,6,0.000,0.054,2719,2483,3631,0,0,0,0,0,0
$GC,1062,-0.55,-146.0,162.0,-9.4,137,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2483,3630,0,0,0,0,0,0
$GC,1382,-0.61,-146.0,193.3,-9.4,167,1387,0.15,2.40,0.00,0.000,4,0.122,0.082,2667,3905,3629,0,0,0,0,0,0
$GC,1411,-0.61,-146.0,196.8,-11.5,169,1415,0.00,2.25,0.00,0.000,6,0.000,0.054,2668,2485,3629,0,0,0,0,0,0
$GC,1741,-0.54,-146.0,239.8,-13.0,200,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2485,3628,0,0,0,0,0,0
$GC,2062,-0.50,-146.0,278.8,-11.5,230,2069,0.12,0.00,0.00,0.000,6,0.211,0.000,2696,2485,3628,0,0,0,0,0,0
$GC,2389,-0.53,-146.0,308.2,-9.1,261,2393,0.00,2.35,0.00,0.000,4,0.000,0.080,2696,3899,3628,0,0,0,0,0,0
$GC,2412,-0.58,-146.0,310.4,-8.9,262,2418,0.00,2.25,0.00,0.000,6,0.000,0.053,2696,2487,3628,0,0,0,0,0,0
$GC,2738,-0.62,-146.0,340.3,-9.8,293,2742,0.00,2.38,0.00,0.000,4,0.000,0.080,2696,3900,3628,0,0,0,0,0,0
$GC,2771,-0.68,-146.0,343.7,-9.8,295,2778,0.15,2.25,0.00,0.000,6,0.118,0.052,2646,2485,3628,0,0,0,0,0,0
$GC,3097,-0.60,-146.0,386.9,-13.0,326,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2485,3628,0,0,0,0,0,0
$GC,3415,-0.52,-146.0,427.8,-12.5,356,3417,0.17,0.00,0.00,0.000,6,0.202,0.000,2689,2485,3629,0,0,0,0,0,0
$GC,3734,-0.56,-146.0,457.4,-8.8,386,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2485,3629,0,0,0,0,0,0
$GC,4053,-0.59,-146.0,485.7,-9.0,416,4057,0.00,2.38,0.00,0.000,4,0.000,0.080,2689,3899,3629,0,0,0,0,0,0
$GC,4099,-0.66,-146.0,489.8,-8.7,420,4104,0.12,2.25,0.00,0.000,6,0.122,0.051,2647,2481,3629,0,0,0,0,0,0
$GC,4426,-0.59,-146.0,527.5,-11.8,450,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2481,3629,0,0,0,0,0,0
$GC,4744,-0.53,-146.0,564.8,-11.5,480,4748,0.17,2.42,0.00,0.000,4,0.197,0.080,2690,3906,3630,0,0,0,0,0,0
$GC,4761,-0.49,-146.0,566.6,-10.9,481,4766,0.00,2.25,0.00,0.000,6,0.000,0.052,2690,2489,3630,0,0,0,0,0,0
$GC,5089,-0.54,-146.0,592.1,-7.9,511,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2489,3630,0,0,0,0,0,0
$GC,5408,-0.59,-146.0,617.4,-8.0,528,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2489,3630,0,0,0,0,0,0
$GC,5714,-0.64,-146.0,641.8,-7.9,538,5718,0.00,2.40,0.00,0.000,4,0.000,0.080,2690,3909,3630,0,0,0,0,0,0
$GC,5736,-0.70,-146.0,643.8,-8.1,538,5743,0.15,2.28,0.00,0.000,6,0.112,0.051,2638,2479,3630,0,0,0,0,0,0
$GC,6050,-0.62,-146.0,679.6,-11.7,549,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2479,3630,0,0,0,0,0,0
$GC,6355,-0.55,-146.0,716.1,-12.1,559,6360,0.17,2.45,0.00,0.000,4,0.201,0.078,2681,3909,3630,0,0,0,0,0,0
$GC,6411,-0.63,-146.0,721.5,-8.0,560,6418,0.00,2.28,0.00,0.000,6,0.000,0.052,2681,2484,3630,0,0,0,0,0,0
$GC,6725,-0.67,-146.0,747.8,-8.2,571,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2484,3630,0,0,0,0,0,0
$STATE,6875,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6875,begin apogee
$GC,6881,-0.12,0.0,761.6,9.2,576,7017,0.45,0.00,128.35,1.412,6,0.183,0.000,2813,2265,3030,0,0,0,0,0,0
$STATE,7018,end apogee,CONTROL_FINISHED_OK
$STATE,7018,begin climb
$GC,7020,0.62,146.0,765.5,0.0,580,7167,0.80,2.62,136.05,1.362,4,0.137,0.075,3059,881,2433,0,0,0,0,0,0
$GC,7271,0.58,152.7,746.5,9.7,588,7285,0.00,2.45,6.70,1.028,6,0.000,0.061,3059,2277,2407,0,0,0,0,0,0
$GC,7611,0.51,152.7,711.9,10.4,599,7615,0.00,2.40,0.00,0.000,4,0.000,0.076,3059,3698,2405,0,0,0,0,0,0
$GC,7644,0.42,152.7,707.9,12.0,600,7649,0.25,2.35,0.00,0.000,6,0.190,0.060,3006,2274,2404,0,0,0,0,0,0
$GC,7974,0.51,199.7,680.9,7.8,611,8025,0.00,2.45,43.15,1.304,4,0.000,0.076,3015,863,2214,0,0,0,0,0,0
$GC,8043,0.63,235.9,675.4,8.3,613,8084,0.15,2.38,34.62,1.281,6,0.099,0.060,3080,2282,2068,0,0,0,0,0,0
$GC,8409,0.57,235.9,625.1,14.3,625,8411,0.12,0.00,0.00,0.000,6,0.185,0.000,3050,2283,2059,0,0,0,0,0,0
$GC,8718,0.57,235.9,588.2,11.4,641,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2283,2057,0,0,0,0,0,0
$GC,9039,0.57,235.9,552.8,11.3,671,9043,0.00,2.33,0.00,0.000,4,0.000,0.074,3057,866,2055,0,0,0,0,0,0
$GC,9084,0.62,235.9,547.6,10.9,675,9089,0.00,2.30,0.00,0.000,6,0.000,0.060,3057,2286,2054,0,0,0,0,0,0
$GC,9410,0.62,235.9,508.2,12.6,705,9414,0.00,2.30,0.00,0.000,4,0.000,0.076,3057,3684,2055,0,0,0,0,0,0
$GC,9442,0.62,235.9,503.4,14.1,707,9449,0.00,2.28,0.00,0.000,6,0.000,0.060,3067,2275,2054,0,0,0,0,0,0
$GC,9770,0.59,235.9,459.6,13.7,738,9774,0.00,2.28,0.00,0.000,4,0.000,0.073,3078,864,2054,0,0,0,0,0,0
$GC,9855,0.59,235.9,448.4,13.1,745,9859,0.00,2.28,0.00,0.000,6,0.000,0.060,3078,2283,2052,0,0,0,0,0,0
$GC,10180,0.54,235.9,403.0,14.0,775,10185,0.15,2.33,0.00,0.000,4,0.180,0.075,3038,3694,2053,0,0,0,0,0,0
$GC,10213,0.54,235.9,398.5,12.4,777,10220,0.00,2.30,0.00,0.000,6,0.000,0.058,3045,2266,2052,0,0,0,0,0,0
$GC,10540,0.57,235.9,362.6,11.1,808,10544,0.00,2.28,0.00,0.000,4,0.000,0.073,3055,867,2052,0,0,0,0,0,0
$GC,10608,0.62,235.9,354.8,11.4,813,10615,0.00,2.28,0.00,0.000,6,0.000,0.060,3055,2275,2052,0,0,0,0,0,0
$GC,10933,0.62,235.9,315.6,12.0,844,10937,0.00,2.33,0.00,0.000,4,0.000,0.075,3055,3685,2052,0,0,0,0,0,0
$GC,10973,0.62,235.9,310.6,13.2,847,10977,0.00,2.25,0.00,0.000,6,0.000,0.059,3065,2273,2052,0,0,0,0,0,0
$GC,11298,0.62,235.9,268.9,13.1,877,11302,0.00,2.30,0.00,0.000,4,0.000,0.072,3076,863,2052,0,0,0,0,0,0
$GC,11368,0.65,235.9,260.2,12.8,883,11372,0.00,2.28,0.00,0.000,6,0.000,0.060,3076,2276,2051,0,0,0,0,0,0
$GC,11694,0.65,235.9,219.6,11.7,913,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2276,2052,0,0,0,0,0,0
$GC,12013,0.65,235.9,184.7,10.3,943,12017,0.00,2.33,0.00,0.000,4,0.000,0.076,3076,3692,2052,0,0,0,0,0,0
$GC,12052,0.65,235.9,180.2,11.1,946,12056,0.00,2.28,0.00,0.000,6,0.000,0.058,3086,2275,2051,0,0,0,0,0,0
$GC,12378,0.67,251.1,148.0,9.3,976,12395,0.00,2.30,11.98,0.978,4,0.000,0.070,3097,861,2007,0,0,0,0,0,0
$GC,12441,0.70,263.6,141.9,9.4,981,12464,0.00,2.28,13.55,0.983,6,0.000,0.060,3097,2280,1955,0,0,0,0,0,0
$GC,12783,0.73,266.1,105.2,9.9,1013,12787,0.00,2.33,0.00,0.000,4,0.000,0.076,3097,3695,1951,0,0,0,0,0,0
$GC,12828,0.73,266.1,100.2,10.9,1017,12832,0.00,2.30,0.00,0.000,6,0.000,0.059,3107,2274,1950,0,0,0,0,0,0
$GC,13174,0.81,314.3,66.0,7.8,1077,13227,0.00,2.42,47.08,0.991,4,0.000,0.073,3111,857,1748,0,0,0,0,0,0
$GC,13265,0.93,339.3,58.4,8.8,1092,13297,0.15,2.35,24.00,0.946,6,0.105,0.060,3168,2281,1645,0,0,0,0,0,0
$FREEZE,8.47,-1.712,-1.766,2,80,2
$FREEZE,7.75,-1.710,-1.765,2,80,2
$FREEZE,6.96,-1.708,-1.765,2,80,2
$FREEZE,6.27,-1.705,-1.764,2,80,2
$GC,13635,0.89,339.3,6.3,13.6,1157,13641,0.00,2.35,0.00,0.000,4,0.000,0.073,3179,866,1636,0,0,0,0,0,0
$FREEZE,4.13,-1.702,-1.762,2,80,2
$FREEZE,3.45,-1.699,-1.762,2,80,2
$FREEZE,2.67,-1.696,-1.761,2,80,2
$STATE,13657,end climb,SURFACE_DEPTH_REACHED
$STATE,13657,begin surface coast
$FREEZE,2.14,-1.694,-1.751,2,80,2
$FREEZE,2.34,-1.690,-1.750,2,80,2
$FREEZE,2.23,-1.681,-1.749,2,80,2
$FREEZE,2.32,-1.696,-1.750,2,80,2
$FINISH,2.3,1.025700
$STATE,13679,end surface coast,CONTROL_FINISHED_OK
$STATE,13679,begin surface
$SM_CCo,13821,98.32,0.073,0,0,750,559.04
$SM_GC,3.18,0.00,0.00,98.32,0.000,0.000,0.073,107,2489,750,-8.62,-0.03,559.04
$RAFOS_CLK,765
$RAFOS,6,1304513368,12.833333,12.824445,136,58,57,57,55,53,612,167,196,124,215,152
$RAFOS,5,1304512879,12.700000,12.688611,122,67,63,62,58,54,841,205,152,222,184,118
$RAFOS,4,1304512389,12.566667,12.552500,81,57,54,52,52,52,681,144,197,170,122,153
$RAFOS,3,1304511906,12.433333,12.418333,91,59,53,53,52,50,827,191,223,172,146,213
$RAFOS,2,1304511425,12.300000,12.284722,75,66,58,55,51,51,722,206,222,162,175,141
$RAFOS,1,1304510946,12.166667,12.151667,179,60,57,56,56,56,596,215,148,171,225,191
$RAFOS,0,1304510468,12.033333,12.018888,88,59,55,55,53,53,661,165,201,187,218,145
$RAFOS_FIX,6657.613770,-6003.198242,040511,121234,7,110,0.26
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,46.45
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.1
$ALTIM_BOTTOM_PING,750.4,23.8
$24V_AH,21.4,72.007
$10V_AH,10.0,37.288
$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,13.075,114.600,445.475,98.325,0.000,0.000,0.000,0.000,3.250,0.000,0.000,2918.487,8322.845,560.893,1956.447,244.941,0.000,1633.416,0.000,1942.112,2520.000,23.015,0.000
$DEVICE_MAMPS,225.675,83.385,1412.190,72.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.553,900.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43355,1165
$CAP_FILE_SIZE,143347,0
$CFSIZE,260165632,218116096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$GPS,040511,122734,6657.614,-6003.198,0,7110.3,0,-37.6