version: 66.08
glider: 141
mission: 15
dive: 600
start: 5 12 111 9 37 19
data:
$ID,141
$MISSION,15
$DIVE,600
$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,-48067.812
$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,25
$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
$GPS1,120511,082744,6710.043,-5752.490,0,6110.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.87
$_SM_ANGLEo,-1.1
$GPS2,120511,082744,6710.043,-5752.490,0,6110.8,0,-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,143.2,48363,-17.5,-10.000
$D_GRID,843
$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,-5.60,0.000,2,0.000,0.000,2893,3693,3043,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.2,-0.0,1,46,0.65,0.38,-14.50,0.000,4,0.106,0.180,2667,3903,3629,0,0,0,0,0,0
$GC,217,-0.56,-146.0,38.7,-15.9,34,223,0.00,2.22,0.00,0.000,6,0.000,0.050,2667,2484,3631,0,0,0,0,0,0
$GC,562,-0.45,-146.0,96.7,-16.0,95,570,0.20,2.28,0.00,0.000,4,0.210,0.066,2716,1072,3630,0,0,0,0,0,0
$GC,617,-0.49,-146.0,103.7,-9.9,101,624,0.00,2.33,0.00,0.000,6,0.000,0.067,2716,2488,3629,0,0,0,0,0,0
$GC,943,-0.52,-146.0,136.4,-9.7,132,947,0.00,2.35,0.00,0.000,4,0.000,0.084,2716,3899,3628,0,0,0,0,0,0
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$GC,1304,-0.51,-146.0,182.6,-13.0,165,1308,0.00,2.25,0.00,0.000,4,0.000,0.069,2674,1079,3627,0,0,0,0,0,0
$GC,1335,-0.46,-146.0,186.5,-12.6,167,1339,0.15,2.33,0.00,0.000,6,0.212,0.068,2707,2490,3627,0,0,0,0,0,0
$GC,1661,-0.51,-146.0,216.9,-9.1,197,1665,0.00,2.38,0.00,0.000,4,0.000,0.084,2707,3902,3626,0,0,0,0,0,0
$GC,1706,-0.59,-146.0,221.0,-8.5,200,1714,0.12,2.22,0.00,0.000,6,0.125,0.051,2665,2488,3625,0,0,0,0,0,0
$GC,2032,-0.53,-146.0,258.7,-11.4,231,2036,0.00,2.25,0.00,0.000,4,0.000,0.066,2665,1080,3626,0,0,0,0,0,0
$GC,2043,-0.47,-146.0,260.2,-11.2,231,2050,0.17,2.33,0.00,0.000,6,0.212,0.065,2706,2497,3626,0,0,0,0,0,0
$GC,2370,-0.53,-146.0,287.1,-7.8,262,2374,0.00,2.33,0.00,0.000,4,0.000,0.081,2706,3904,3626,0,0,0,0,0,0
$GC,2410,-0.63,-146.0,290.2,-7.4,265,2415,0.15,2.25,0.00,0.000,6,0.112,0.050,2654,2479,3625,0,0,0,0,0,0
$GC,2737,-0.55,-146.0,327.9,-12.2,295,2741,0.12,2.25,0.00,0.000,4,0.204,0.065,2683,1080,3626,0,0,0,0,0,0
$GC,2777,-0.57,-146.0,332.5,-10.2,298,2781,0.00,2.30,0.00,0.000,6,0.000,0.065,2684,2500,3627,0,0,0,0,0,0
$GC,3102,-0.57,-146.0,365.9,-10.5,328,3106,0.00,2.33,0.00,0.000,4,0.000,0.080,2683,3906,3628,0,0,0,0,0,0
$GC,3124,-0.57,-146.0,368.4,-10.5,329,3131,0.00,2.22,0.00,0.000,6,0.000,0.048,2683,2478,3628,0,0,0,0,0,0
$GC,3451,-0.57,-146.0,400.9,-10.0,360,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2478,3628,0,0,0,0,0,0
$GC,3769,-0.57,-146.0,430.9,-9.4,390,3773,0.00,2.38,0.00,0.000,4,0.000,0.076,2683,3910,3629,0,0,0,0,0,0
$GC,3803,-0.60,-146.0,434.2,-9.7,392,3810,0.00,2.22,0.00,0.000,6,0.000,0.050,2683,2488,3629,0,0,0,0,0,0
$GC,4128,-0.60,-146.0,464.7,-9.5,423,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2488,3629,0,0,0,0,0,0
$GC,4450,-0.60,-146.0,495.2,-9.3,453,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2488,3629,0,0,0,0,0,0
$GC,4778,-0.60,-146.0,526.1,-9.3,484,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2488,3630,0,0,0,0,0,0
$GC,5106,-0.60,-146.0,556.3,-9.0,515,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2487,3629,0,0,0,0,0,0
$GC,5435,-0.60,-146.0,585.0,-8.7,546,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2487,3629,0,0,0,0,0,0
$GC,5766,-0.60,-146.0,613.2,-8.6,568,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2487,3629,0,0,0,0,0,0
$GC,6071,-0.60,-146.0,639.9,-8.7,578,6075,0.00,2.35,0.00,0.000,4,0.000,0.076,2683,3902,3629,0,0,0,0,0,0
$GC,6088,-0.62,-146.0,641.5,-8.6,578,6092,0.00,2.22,0.00,0.000,6,0.000,0.049,2683,2485,3629,0,0,0,0,0,0
$GC,6403,-0.64,-146.0,668.7,-8.9,588,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2485,3629,0,0,0,0,0,0
$GC,6708,-0.67,-146.0,696.6,-9.3,598,6713,0.10,2.40,0.00,0.000,4,0.144,0.077,2648,3903,3629,0,0,0,0,0,0
$GC,6718,-0.67,-146.0,697.9,-9.5,598,6722,0.00,2.25,0.00,0.000,6,0.000,0.049,2648,2481,3628,0,0,0,0,0,0
$GC,7043,-0.60,-146.0,737.9,-12.9,609,7047,0.00,2.38,0.00,0.000,4,0.000,0.078,2647,3907,3628,0,0,0,0,0,0
$GC,7053,-0.54,-146.0,739.4,-12.7,609,7058,0.15,2.25,0.00,0.000,6,0.194,0.050,2682,2482,3628,0,0,0,0,0,0
$STATE,7252,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7252,begin apogee
$GC,7259,-0.12,0.0,757.3,8.4,616,7394,0.45,0.00,128.45,1.400,6,0.183,0.000,2814,2264,3029,0,0,0,0,0,0
$STATE,7395,end apogee,CONTROL_FINISHED_OK
$STATE,7395,begin climb
$GC,7398,0.62,146.0,761.5,0.0,620,7545,0.80,2.62,135.77,1.349,4,0.133,0.073,3064,882,2432,0,0,0,0,0,0
$GC,7655,0.58,146.0,740.9,12.0,628,7659,0.00,2.42,0.00,0.000,6,0.000,0.061,3063,2280,2427,0,0,0,0,0,0
$GC,7985,0.52,146.0,705.6,10.5,639,7990,0.12,2.38,0.00,0.000,4,0.184,0.077,3032,3697,2425,0,0,0,0,0,0
$GC,8058,0.47,146.0,697.4,11.1,641,8062,0.00,2.30,0.00,0.000,6,0.000,0.059,3041,2285,2425,0,0,0,0,0,0
$GC,8383,0.49,156.4,666.3,9.5,652,8395,0.00,0.00,9.02,1.123,6,0.000,0.000,3041,2285,2392,0,0,0,0,0,0
$GC,8722,0.50,167.9,633.8,9.5,663,8736,0.00,0.00,11.98,1.183,6,0.000,0.000,3041,2285,2345,0,0,0,0,0,0
$GC,9062,0.50,167.9,599.9,10.2,674,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2285,2342,0,0,0,0,0,0
$GC,9382,0.50,167.9,566.9,10.3,704,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2285,2342,0,0,0,0,0,0
$GC,9708,0.50,170.8,533.7,9.9,735,9712,0.00,2.33,0.00,0.000,4,0.000,0.075,3051,870,2341,0,0,0,0,0,0
$GC,9747,0.50,170.8,529.9,10.3,738,9754,0.00,2.30,0.00,0.000,6,0.000,0.063,3051,2283,2341,0,0,0,0,0,0
$GC,10075,0.51,173.7,497.7,9.9,769,10088,0.00,2.30,6.15,0.968,4,0.000,0.076,3051,3686,2322,0,0,0,0,0,0
$GC,10135,0.45,173.7,490.7,11.8,774,10140,0.20,2.28,0.00,0.000,6,0.180,0.059,3009,2271,2322,0,0,0,0,0,0
$GC,10461,0.57,215.1,464.8,8.1,804,10506,0.12,2.40,38.53,1.203,4,0.106,0.073,3078,869,2152,0,0,0,0,0,0
$GC,10550,0.57,215.1,455.0,12.8,811,10557,0.00,2.33,0.00,0.000,6,0.000,0.062,3078,2281,2148,0,0,0,0,0,0
$GC,10875,0.52,215.1,411.7,13.0,842,10880,0.17,2.33,0.00,0.000,4,0.176,0.076,3031,3693,2145,0,0,0,0,0,0
$GC,10950,0.55,215.1,403.2,11.0,848,10954,0.00,2.28,0.00,0.000,6,0.000,0.057,3039,2266,2145,0,0,0,0,0,0
$GC,11275,0.58,215.1,369.8,10.1,878,11279,0.00,2.28,0.00,0.000,4,0.000,0.073,3048,860,2145,0,0,0,0,0,0
$GC,11339,0.64,215.1,363.5,10.3,883,11343,0.00,2.30,0.00,0.000,6,0.000,0.062,3048,2277,2143,0,0,0,0,0,0
$GC,11665,0.66,215.1,328.9,10.5,913,11669,0.00,2.30,0.00,0.000,4,0.000,0.076,3048,3691,2144,0,0,0,0,0,0
$GC,11721,0.66,215.1,322.1,11.2,917,11727,0.00,2.28,0.00,0.000,6,0.000,0.058,3057,2277,2143,0,0,0,0,0,0
$GC,12046,0.66,215.1,285.0,11.2,948,12050,0.00,2.30,0.00,0.000,4,0.000,0.072,3069,860,2143,0,0,0,0,0,0
$GC,12104,0.68,215.1,278.3,11.2,953,12108,0.00,2.30,0.00,0.000,6,0.000,0.060,3068,2285,2142,0,0,0,0,0,0
$GC,12430,0.65,215.1,236.6,12.8,983,12434,0.00,2.30,0.00,0.000,4,0.000,0.076,3069,3693,2142,0,0,0,0,0,0
$GC,12522,0.60,215.1,224.2,13.2,991,12526,0.00,2.28,0.00,0.000,6,0.000,0.057,3078,2275,2142,0,0,0,0,0,0
$GC,12847,0.55,215.1,182.3,12.9,1021,12852,0.12,2.30,0.00,0.000,4,0.193,0.070,3055,858,2142,0,0,0,0,0,0
$GC,12904,0.61,215.1,176.2,10.0,1025,12911,0.00,2.28,0.00,0.000,6,0.000,0.058,3055,2287,2142,0,0,0,0,0,0
$GC,13230,0.68,242.9,145.4,8.7,1056,13263,0.00,2.33,24.38,0.977,4,0.000,0.073,3055,3678,2038,0,0,0,0,0,0
$GC,13316,0.70,242.9,136.9,11.4,1063,13323,0.00,2.28,0.00,0.000,6,0.000,0.054,3066,2263,2037,0,0,0,0,0,0
$GC,13643,0.77,254.1,104.2,9.5,1094,13659,0.12,2.28,11.12,0.897,4,0.106,0.070,3132,860,1993,0,0,0,0,0,0
$GC,13743,0.74,254.1,91.9,12.9,1107,13750,0.00,2.30,0.00,0.000,6,0.000,0.059,3132,2281,1991,0,0,0,0,0,0
$GC,14092,0.70,254.1,47.4,12.4,1168,14100,0.15,2.33,0.00,0.000,4,0.190,0.075,3093,3698,1990,0,0,0,0,0,0
$GC,14188,0.70,254.1,36.1,11.0,1184,14194,0.00,2.28,0.00,0.000,6,0.000,0.057,3101,2276,1990,0,0,0,0,0,0
$FREEZE,8.61,-1.743,-1.815,3,135,1
$FREEZE,8.17,-1.744,-1.814,3,135,1
$STATE,14469,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14469,begin subsurface finish
$FINISH1,8.2,1.026557,46
$GC,14476,0.06,46.2,8.2,-9.2,1234,14514,0.70,2.38,-30.30,0.000,4,0.163,0.083,2890,861,2844,0,0,0,0,0,0
$FINISH2,6.9
$STATE,14514,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14515,begin surface
$RAFOS_CLK,772
$RAFOS,6,1305204542,12.833333,12.817223,133,65,56,54,52,48,695,205,164,175,229,139
$RAFOS,5,1305204067,12.700000,12.685278,140,59,56,53,51,51,575,207,185,171,141,158
$RAFOS,4,1305203583,12.566667,12.550834,154,70,58,55,51,49,787,206,225,186,215,174
$RAFOS,3,1305203109,12.433333,12.419167,74,63,61,58,57,54,911,156,208,138,185,168
$RAFOS,2,1305202628,12.300000,12.285556,77,61,60,58,52,52,956,217,177,189,123,135
$RAFOS,1,1305202151,12.166667,12.153055,124,56,54,54,53,51,904,214,134,196,114,172
$RAFOS,0,1305201666,12.033333,12.018333,78,65,62,59,57,53,1055,208,217,199,148,233
$RAFOS_FIX,6709.765137,-5747.613770,120511,121234,7,111,0.25
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,46.81
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.60
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,16.4
$ALTIM_BOTTOM_PING,752.2,19.6
$24V_AH,21.4,79.370
$10V_AH,9.9,40.971
$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,4.925,125.300,365.400,0.000,0.000,0.000,0.000,0.000,4.500,0.000,0.000,3079.623,8711.280,448.122,2084.613,271.212,0.000,1565.068,0.000,2062.995,2520.000,25.904,0.000
$DEVICE_MAMPS,211.905,179.775,1399.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.264,947.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150588
$DATA_FILE_SIZE,49996,1240
$CAP_FILE_SIZE,150284,0
$CFSIZE,260165632,214532096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.6
$GPS,120511,122734,6709.765,-5747.614,0,7111.4,0,-37.6