version: 66.08
glider: 141
mission: 15
dive: 607
start: 5 13 111 11 55 49
data:
$ID,141
$MISSION,15
$DIVE,607
$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,400
$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,-48069.07
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,130511,084619,6709.597,-5712.555,9,1.4,14,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.76
$_SM_ANGLEo,-2.5
$GPS2,130511,084619,6709.597,-5712.555,9,1.4,14,-37.8
$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,162.4,21533,-17.5,-10.000
$D_GRID,595
$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,-5.88,0.000,2,0.000,0.000,2883,2282,3074,0,0,0,0,0,0
$GC,27,-0.62,-146.0,7.6,-0.0,1,52,0.60,1.90,-17.02,0.000,4,0.102,0.071,2670,1079,3627,0,0,0,0,0,0
$GC,65,-0.55,-146.0,10.6,-9.4,7,72,0.00,2.25,0.00,0.000,6,0.000,0.061,2670,2491,3629,0,0,0,0,0,0
$GC,410,-0.45,-146.0,59.3,-14.2,68,418,0.17,2.33,0.00,0.000,4,0.217,0.079,2712,3899,3628,0,0,0,0,0,0
$GC,426,-0.37,-146.0,61.5,-14.2,70,434,0.10,2.20,0.00,0.000,6,0.213,0.049,2735,2487,3629,0,0,0,0,0,0
$GC,776,-0.45,-146.0,89.8,-8.4,131,782,0.00,2.25,0.00,0.000,4,0.000,0.066,2736,1082,3627,0,0,0,0,0,0
$GC,807,-0.54,-146.0,92.7,-8.4,136,814,0.15,2.30,0.00,0.000,6,0.114,0.064,2682,2497,3627,0,0,0,0,0,0
$GC,1137,-0.50,-146.0,134.8,-12.8,172,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2497,3626,0,0,0,0,0,0
$GC,1456,-0.48,-146.0,174.7,-11.8,202,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2497,3624,0,0,0,0,0,0
$GC,1774,-0.48,-146.0,210.7,-11.1,232,1778,0.00,2.33,0.00,0.000,4,0.000,0.082,2682,3899,3623,0,0,0,0,0,0
$GC,1792,-0.48,-146.0,212.8,-10.9,233,1796,0.00,2.22,0.00,0.000,6,0.000,0.050,2681,2488,3622,0,0,0,0,0,0
$GC,2119,-0.48,-146.0,246.5,-9.9,263,2123,0.00,2.22,0.00,0.000,4,0.000,0.063,2681,1081,3622,0,0,0,0,0,0
$GC,2147,-0.48,-146.0,249.6,-10.6,265,2151,0.00,2.28,0.00,0.000,6,0.000,0.062,2681,2492,3623,0,0,0,0,0,0
$GC,2478,-0.48,-146.0,281.2,-9.9,296,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2492,3623,0,0,0,0,0,0
$GC,2796,-0.48,-146.0,312.7,-9.4,326,2800,0.00,2.30,0.00,0.000,4,0.000,0.076,2681,3899,3623,0,0,0,0,0,0
$GC,2830,-0.52,-146.0,315.9,-9.5,328,2837,0.00,2.20,0.00,0.000,6,0.000,0.046,2682,2478,3623,0,0,0,0,0,0
$GC,3156,-0.52,-146.0,345.0,-8.7,359,3160,0.00,2.20,0.00,0.000,4,0.000,0.060,2681,1080,3623,0,0,0,0,0,0
$GC,3167,-0.52,-146.0,346.0,-8.7,359,3174,0.00,2.25,0.00,0.000,6,0.000,0.060,2681,2490,3624,0,0,0,0,0,0
$GC,3493,-0.52,-146.0,375.4,-9.4,390,3497,0.00,2.33,0.00,0.000,4,0.000,0.075,2681,3899,3624,0,0,0,0,0,0
$GC,3510,-0.52,-146.0,377.1,-9.7,391,3514,0.00,2.20,0.00,0.000,6,0.000,0.047,2681,2482,3624,0,0,0,0,0,0
$GC,3836,-0.52,-146.0,408.0,-9.4,421,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2482,3625,0,0,0,0,0,0
$GC,4157,-0.55,-146.0,438.5,-9.3,451,4161,0.00,2.22,0.00,0.000,4,0.000,0.059,2681,1078,3626,0,0,0,0,0,0
$GC,4199,-0.59,-146.0,442.5,-9.6,454,4203,0.00,2.25,0.00,0.000,6,0.000,0.058,2681,2492,3626,0,0,0,0,0,0
$GC,4525,-0.61,-146.0,469.3,-7.8,484,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2492,3626,0,0,0,0,0,0
$GC,4845,-0.63,-146.0,494.9,-8.3,514,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2492,3627,0,0,0,0,0,0
$GC,5175,-0.66,-146.0,523.4,-8.4,545,5179,0.00,2.30,0.00,0.000,4,0.000,0.073,2681,3900,3627,0,0,0,0,0,0
$GC,5204,-0.71,-146.0,526.3,-9.3,547,5209,0.15,2.20,0.00,0.000,6,0.111,0.044,2627,2480,3627,0,0,0,0,0,0
$STATE,5395,end dive,NO_VERTICAL_VELOCITY
$STATE,5395,begin apogee
$GC,5404,-0.12,0.0,528.5,0.0,565,5535,0.55,0.00,122.60,1.203,6,0.103,0.000,2816,2249,3030,0,0,0,0,0,0
$STATE,5536,end apogee,CONTROL_FINISHED_OK
$STATE,5536,begin climb
$GC,5539,0.62,146.0,528.6,0.0,577,5680,0.75,2.65,127.28,1.163,4,0.127,0.065,3050,3674,2433,0,0,0,0,0,0
$GC,5765,0.53,146.0,509.4,13.1,597,5772,0.00,2.35,0.00,0.000,6,0.000,0.054,3060,2294,2429,0,0,0,0,0,0
$GC,6090,0.46,146.0,470.7,12.1,628,6092,0.17,0.00,0.00,0.000,6,0.183,0.000,3015,2294,2428,0,0,0,0,0,0
$GC,6409,0.50,165.3,441.1,9.1,658,6433,0.00,2.38,17.10,1.051,4,0.000,0.066,3015,3696,2354,0,0,0,0,0,0
$GC,6472,0.50,165.3,434.4,11.2,663,6479,0.00,2.28,0.00,0.000,6,0.000,0.050,3022,2271,2353,0,0,0,0,0,0
$GC,6798,0.53,168.2,402.3,9.9,694,6810,0.00,2.30,3.72,0.626,4,0.000,0.065,3032,872,2343,0,0,0,0,0,0
$GC,6850,0.56,168.2,396.8,10.9,698,6857,0.00,2.22,0.00,0.000,6,0.000,0.060,3032,2279,2343,0,0,0,0,0,0
$GC,7175,0.56,168.2,363.0,10.4,729,7179,0.00,2.25,0.00,0.000,4,0.000,0.067,3032,3693,2343,0,0,0,0,0,0
$GC,7275,0.52,168.2,350.7,13.0,737,7282,0.00,2.22,0.00,0.000,6,0.000,0.050,3043,2266,2342,0,0,0,0,0,0
$GC,7601,0.52,168.2,313.8,11.5,768,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2266,2342,0,0,0,0,0,0
$GC,7921,0.52,168.2,277.8,11.1,798,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2265,2342,0,0,0,0,0,0
$GC,8240,0.52,168.2,241.1,11.2,828,8244,0.00,2.28,0.00,0.000,4,0.000,0.064,3043,3690,2342,0,0,0,0,0,0
$GC,8291,0.47,168.2,234.6,12.8,832,8296,0.12,2.20,0.00,0.000,6,0.187,0.048,3022,2272,2342,0,0,0,0,0,0
$GC,8617,0.59,218.6,207.9,7.7,862,8672,0.00,2.35,44.10,0.995,4,0.000,0.063,3028,864,2136,0,0,0,0,0,0
$GC,8723,0.73,258.6,200.1,8.2,871,8768,0.20,2.28,35.75,0.963,6,0.084,0.051,3115,2286,1974,0,0,0,0,0,0
$GC,9086,0.65,258.6,138.5,17.8,905,9090,0.15,2.25,0.00,0.000,4,0.181,0.064,3076,3692,1967,0,0,0,0,0,0
$GC,9199,0.65,258.6,121.4,14.0,915,9204,0.00,2.20,0.00,0.000,6,0.000,0.047,3084,2280,1965,0,0,0,0,0,0
$GC,9534,0.65,258.6,82.6,10.3,959,9541,0.00,2.22,0.00,0.000,4,0.000,0.062,3095,864,1964,0,0,0,0,0,0
$GC,9655,0.69,267.6,69.8,9.6,980,9669,0.00,2.22,7.45,0.778,6,0.000,0.051,3095,2288,1939,0,0,0,0,0,0
$GC,10010,0.71,283.4,31.1,9.3,1042,10028,0.00,2.25,11.73,0.914,4,0.000,0.066,3095,3692,1874,0,0,0,0,0,0
$GC,10087,0.71,283.4,21.8,13.5,1055,10094,0.00,2.22,0.00,0.000,6,0.000,0.051,3105,2278,1872,0,0,0,0,0,0
$FREEZE,8.66,-1.751,-1.831,2,2,0
$STATE,10191,end climb,FINISH_DEPTH_REACHED
$STATE,10191,begin subsurface finish
$FINISH1,8.7,1.026797,34
$GC,10198,0.04,34.5,8.7,-12.5,1073,10240,0.70,2.28,-33.65,0.000,4,0.154,0.073,2888,852,2890,0,0,0,0,0,0
$FINISH2,7.1
$STATE,10241,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10241,begin surface
$RAFOS_CLK,531
$RAFOS,6,1305290942,12.833333,12.817223,142,62,61,56,53,53,784,195,213,172,126,160
$RAFOS,5,1305290468,12.700000,12.685555,119,69,58,58,58,57,607,221,200,141,180,125
$RAFOS,4,1305289990,12.566667,12.552778,131,61,58,54,53,52,819,219,197,162,145,235
$RAFOS,3,1305289510,12.433333,12.419444,63,60,53,52,50,50,163,192,126,148,206,219
$RAFOS,2,1305289022,12.300000,12.283889,66,56,56,56,55,53,215,204,125,1057,159,185
$RAFOS,1,1305288547,12.166667,12.151944,63,57,57,56,53,52,201,169,1001,211,179,115
$RAFOS,0,1305288062,12.033333,12.017222,64,60,57,57,55,51,222,196,210,171,119,155
$RAFOS_FIX,6710.773926,-5718.803223,130511,121201,3,131,0.35
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,16.90
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.8,17.8
$24V_AH,22.1,80.335
$10V_AH,10.0,41.489
$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,3.825,88.450,369.725,0.000,0.000,0.000,0.000,0.000,10.500,0.000,0.000,2556.270,5396.577,437.119,1703.886,217.585,0.000,1346.559,0.000,1694.120,2520.000,14.448,0.000
$DEVICE_MAMPS,217.260,81.855,1202.580,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.804,816.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150596
$DATA_FILE_SIZE,40062,1080
$CAP_FILE_SIZE,115613,0
$CFSIZE,260165632,214081536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$GPS,130511,124301,6710.774,-5718.803,0,3130.7,0,-37.8