version: 66.08
glider: 141
mission: 15
dive: 693
start: 5 26 111 6 48 38
data:
$ID,141
$MISSION,15
$DIVE,693
$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,-50476.18
$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,20
$R_STBD_OVSHOOT,17
$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
$GPS1,260511,042432,6652.577,-5954.543,0,6109.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.63
$_SM_ANGLEo,-6.2
$GPS2,260511,042432,6652.577,-5954.543,0,6109.8,0,-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,119.4,136087,-17.5,-10.000
$D_GRID,799
$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,-5.78,0.000,2,0.000,0.000,2902,856,2898,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.8,-0.0,1,59,0.65,5.28,-22.42,0.000,4,0.097,0.093,2668,3903,3628,0,0,0,0,0,0
$GC,316,-0.52,-146.0,59.3,-18.4,51,323,0.00,2.33,0.00,0.000,6,0.000,0.065,2668,2487,3630,0,0,0,0,0,0
$GC,655,-0.38,-146.0,124.8,-17.3,99,657,0.28,0.00,0.00,0.000,6,0.216,0.000,2736,2487,3630,0,0,0,0,0,0
$GC,977,-0.43,-146.0,159.1,-9.6,129,981,0.00,2.42,0.00,0.000,4,0.000,0.091,2736,3903,3629,0,0,0,0,0,0
$GC,1000,-0.50,-146.0,161.5,-9.0,130,1007,0.00,2.33,0.00,0.000,6,0.000,0.064,2736,2488,3629,0,0,0,0,0,0
$GC,1326,-0.58,-146.0,190.4,-8.7,161,1331,0.17,2.38,0.00,0.000,4,0.115,0.082,2676,1069,3628,0,0,0,0,0,0
$GC,1356,-0.56,-146.0,193.7,-11.7,163,1360,0.00,2.40,0.00,0.000,6,0.000,0.078,2676,2488,3629,0,0,0,0,0,0
$GC,1683,-0.49,-146.0,238.6,-13.6,193,1688,0.12,2.47,0.00,0.000,4,0.226,0.095,2703,3905,3628,0,0,0,0,0,0
$GC,1725,-0.52,-146.0,243.6,-11.2,196,1729,0.00,2.33,0.00,0.000,6,0.000,0.065,2703,2489,3628,0,0,0,0,0,0
$GC,2051,-0.52,-146.0,275.6,-9.7,226,2055,0.00,2.38,0.00,0.000,4,0.000,0.080,2703,1070,3628,0,0,0,0,0,0
$GC,2080,-0.55,-146.0,278.5,-9.9,228,2086,0.00,2.40,0.00,0.000,6,0.000,0.078,2703,2497,3627,0,0,0,0,0,0
$GC,2406,-0.58,-146.0,309.2,-9.1,259,2410,0.00,2.40,0.00,0.000,4,0.000,0.094,2703,3900,3628,0,0,0,0,0,0
$GC,2440,-0.63,-146.0,312.5,-9.7,261,2447,0.12,2.30,0.00,0.000,6,0.123,0.065,2663,2489,3627,0,0,0,0,0,0
$GC,2766,-0.55,-146.0,352.9,-12.4,292,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2489,3627,0,0,0,0,0,0
$GC,3087,-0.48,-146.0,393.4,-12.8,322,3092,0.17,2.38,0.00,0.000,4,0.213,0.079,2705,1069,3628,0,0,0,0,0,0
$GC,3108,-0.48,-146.0,396.5,-11.6,323,3115,0.00,2.38,0.00,0.000,6,0.000,0.076,2705,2491,3627,0,0,0,0,0,0
$GC,3435,-0.53,-146.0,424.7,-8.8,354,3439,0.00,2.42,0.00,0.000,4,0.000,0.092,2705,3910,3627,0,0,0,0,0,0
$GC,3491,-0.63,-146.0,429.6,-8.5,358,3498,0.12,2.35,0.00,0.000,6,0.122,0.063,2664,2480,3627,0,0,0,0,0,0
$GC,3817,-0.57,-146.0,468.9,-12.7,389,3821,0.00,2.30,0.00,0.000,4,0.000,0.076,2663,1077,3628,0,0,0,0,0,0
$GC,3857,-0.55,-146.0,473.9,-12.1,392,3861,0.00,2.38,0.00,0.000,6,0.000,0.075,2663,2499,3628,0,0,0,0,0,0
$GC,4183,-0.50,-146.0,512.7,-11.6,422,4188,0.15,2.42,0.00,0.000,4,0.214,0.090,2699,3907,3628,0,0,0,0,0,0
$GC,4235,-0.58,-146.0,518.0,-9.0,426,4239,0.00,2.33,0.00,0.000,6,0.000,0.062,2699,2487,3628,0,0,0,0,0,0
$GC,4561,-0.63,-146.0,545.5,-8.6,456,4563,0.12,0.00,0.00,0.000,6,0.132,0.000,2656,2487,3628,0,0,0,0,0,0
$GC,4880,-0.56,-146.0,583.3,-12.5,486,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2487,3629,0,0,0,0,0,0
$GC,5212,-0.50,-146.0,622.1,-11.5,506,5214,0.17,0.00,0.00,0.000,6,0.200,0.000,2699,2487,3629,0,0,0,0,0,0
$GC,5517,-0.55,-146.0,647.8,-8.2,516,5522,0.00,2.40,0.00,0.000,4,0.000,0.085,2699,3901,3629,0,0,0,0,0,0
$GC,5541,-0.61,-146.0,649.7,-7.9,516,5549,0.00,2.30,0.00,0.000,6,0.000,0.060,2699,2476,3629,0,0,0,0,0,0
$GC,5855,-0.67,-146.0,674.7,-8.1,527,5856,0.15,0.00,0.00,0.000,6,0.121,0.000,2647,2476,3629,0,0,0,0,0,0
$GC,6162,-0.59,-146.0,710.9,-11.9,537,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2476,3630,0,0,0,0,0,0
$GC,6466,-0.52,-146.0,747.1,-12.0,547,6471,0.17,2.45,0.00,0.000,4,0.209,0.086,2689,3902,3630,0,0,0,0,0,0
$GC,6488,-0.49,-146.0,749.7,-10.4,547,6496,0.00,2.30,0.00,0.000,6,0.000,0.060,2689,2491,3630,0,0,0,0,0,0
$GC,6803,-0.53,-146.0,775.9,-8.4,558,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2490,3630,0,0,0,0,0,0
$STATE,7106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7106,begin apogee
$GC,7113,-0.12,0.0,801.5,8.1,568,7248,0.43,0.00,130.02,1.438,6,0.183,0.000,2814,2267,3029,0,0,0,0,0,0
$STATE,7249,end apogee,CONTROL_FINISHED_OK
$STATE,7249,begin climb
$GC,7252,0.62,146.0,806.2,0.0,572,7401,0.82,2.85,139.75,1.388,4,0.137,0.079,3054,3689,2433,0,0,0,0,0,0
$GC,7592,0.52,146.0,775.5,13.0,582,7600,0.12,2.42,0.00,0.000,6,0.188,0.066,3037,2284,2428,0,0,0,0,0,0
$GC,7906,0.55,164.1,746.1,9.2,593,7930,0.00,2.47,16.58,1.252,4,0.000,0.081,3037,3698,2360,0,0,0,0,0,0
$GC,8059,0.50,164.1,729.6,11.2,597,8064,0.00,2.38,0.00,0.000,6,0.000,0.068,3045,2265,2357,0,0,0,0,0,0
$GC,8374,0.51,169.4,698.7,9.8,607,8384,0.00,2.35,5.62,0.988,4,0.000,0.083,3056,860,2340,0,0,0,0,0,0
$GC,8423,0.51,169.4,693.5,10.0,608,8427,0.00,2.33,0.00,0.000,6,0.000,0.070,3055,2280,2338,0,0,0,0,0,0
$GC,8737,0.48,169.4,660.3,10.7,618,8741,0.12,2.38,0.00,0.000,4,0.187,0.084,3025,3693,2339,0,0,0,0,0,0
$GC,8798,0.48,169.4,653.7,10.7,619,8805,0.00,2.35,0.00,0.000,6,0.000,0.068,3032,2268,2338,0,0,0,0,0,0
$GC,9112,0.53,195.2,626.0,8.8,630,9144,0.00,2.40,24.70,1.271,4,0.000,0.084,3042,859,2233,0,0,0,0,0,0
$GC,9190,0.58,195.2,618.8,10.2,632,9195,0.00,2.38,0.00,0.000,6,0.000,0.070,3042,2282,2231,0,0,0,0,0,0
$GC,9510,0.61,202.2,587.8,9.7,650,9523,0.00,2.42,7.50,1.074,4,0.000,0.084,3042,3694,2205,0,0,0,0,0,0
$GC,9562,0.61,202.2,581.8,12.0,654,9569,0.00,2.35,0.00,0.000,6,0.000,0.068,3053,2269,2204,0,0,0,0,0,0
$GC,9888,0.61,202.2,546.9,10.7,685,9892,0.00,2.33,0.00,0.000,4,0.000,0.083,3063,864,2204,0,0,0,0,0,0
$GC,9951,0.61,202.2,540.1,11.3,690,9955,0.00,2.33,0.00,0.000,6,0.000,0.069,3063,2275,2202,0,0,0,0,0,0
$GC,10276,0.61,202.2,504.6,10.8,720,10280,0.00,2.38,0.00,0.000,4,0.000,0.083,3063,3694,2202,0,0,0,0,0,0
$GC,10310,0.56,202.2,500.5,12.5,722,10316,0.00,2.35,0.00,0.000,6,0.000,0.067,3073,2268,2202,0,0,0,0,0,0
$GC,10635,0.53,202.2,461.1,12.1,753,10640,0.15,2.35,0.00,0.000,4,0.187,0.083,3043,866,2202,0,0,0,0,0,0
$GC,10715,0.60,214.2,453.4,9.4,759,10733,0.00,2.33,12.18,1.124,6,0.000,0.070,3043,2282,2156,0,0,0,0,0,0
$GC,11052,0.65,225.2,421.0,9.5,791,11068,0.00,2.35,11.50,1.099,4,0.000,0.083,3043,3692,2111,0,0,0,0,0,0
$GC,11108,0.65,225.2,415.0,11.5,795,11115,0.00,2.33,0.00,0.000,6,0.000,0.067,3053,2270,2110,0,0,0,0,0,0
$GC,11434,0.67,225.2,381.4,10.8,826,11438,0.00,2.33,0.00,0.000,4,0.000,0.083,3062,865,2109,0,0,0,0,0,0
$GC,11497,0.72,225.2,374.6,11.6,831,11502,0.10,2.33,0.00,0.000,6,0.122,0.069,3106,2285,2107,0,0,0,0,0,0
$GC,11823,0.64,225.2,326.7,14.4,861,11828,0.12,2.35,0.00,0.000,4,0.187,0.083,3075,3693,2108,0,0,0,0,0,0
$GC,11880,0.60,225.2,318.9,13.0,865,11887,0.00,2.35,0.00,0.000,6,0.000,0.067,3083,2266,2107,0,0,0,0,0,0
$GC,12206,0.58,225.2,280.9,11.3,896,12211,0.12,2.35,0.00,0.000,4,0.194,0.082,3060,863,2107,0,0,0,0,0,0
$GC,12270,0.65,236.0,274.4,9.5,901,12286,0.00,2.33,11.07,1.024,6,0.000,0.069,3060,2284,2067,0,0,0,0,0,0
$GC,12607,0.69,236.0,239.7,10.1,932,12612,0.00,2.35,0.00,0.000,4,0.000,0.083,3060,3694,2064,0,0,0,0,0,0
$GC,12654,0.69,236.0,234.3,11.9,936,12658,0.00,2.35,0.00,0.000,6,0.000,0.067,3071,2267,2064,0,0,0,0,0,0
$GC,12980,0.73,236.0,200.0,10.5,966,12984,0.00,2.33,0.00,0.000,4,0.000,0.081,3081,864,2064,0,0,0,0,0,0
$GC,13066,0.78,242.0,190.9,9.7,973,13080,0.10,2.33,6.82,0.892,6,0.125,0.069,3124,2283,2043,0,0,0,0,0,0
$GC,13398,0.73,242.0,151.3,10.9,1004,13402,0.00,2.35,0.00,0.000,4,0.000,0.083,3124,3696,2042,0,0,0,0,0,0
$GC,13455,0.63,242.0,144.1,12.5,1009,13460,0.25,2.35,0.00,0.000,6,0.190,0.068,3070,2269,2042,0,0,0,0,0,0
$GC,13781,0.76,288.1,117.0,7.9,1039,13836,0.12,2.47,43.95,1.023,4,0.105,0.084,3138,859,1853,0,0,0,0,0,0
$GC,13875,0.76,288.1,106.5,11.0,1047,13882,0.00,2.35,0.00,0.000,6,0.000,0.070,3137,2277,1850,0,0,0,0,0,0
$GC,14217,0.76,288.1,66.3,10.9,1103,14224,0.00,2.35,0.00,0.000,4,0.000,0.086,3138,3687,1847,0,0,0,0,0,0
$GC,14294,0.71,288.1,57.4,11.6,1116,14301,0.20,2.35,0.00,0.000,6,0.182,0.070,3096,2270,1845,0,0,0,0,0,0
$GC,14643,0.88,363.4,32.2,6.5,1177,14697,0.15,2.40,45.17,1.034,4,0.096,0.086,3168,867,1547,0,0,0,0,0,0
$GC,14760,0.88,363.4,17.7,13.4,1197,14767,0.00,2.38,0.00,0.000,6,0.000,0.072,3168,2279,1542,0,0,0,0,0,0
$FREEZE,8.67,-1.724,-1.774,2,56,0
$STATE,14823,end climb,FINISH_DEPTH_REACHED
$STATE,14823,begin subsurface finish
$FINISH1,8.7,1.025977,75
$GC,14831,0.09,74.7,8.7,-13.9,1208,14890,0.90,2.45,-48.30,0.000,4,0.170,0.101,2902,3692,2728,0,0,0,0,0,0
$FINISH2,7.1
$STATE,14891,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14891,begin surface
$RAFOS_CLK,809
$RAFOS,6,1306399743,8.833333,8.817500,58,57,55,55,55,50,191,164,117,140,211,174
$RAFOS,5,1306399286,8.700000,8.690556,122,63,57,53,49,48,751,193,210,174,116,132
$RAFOS,4,1306398798,8.566667,8.555000,62,61,58,56,56,55,576,176,222,165,144,119
$RAFOS,3,1306398308,8.433333,8.418889,103,64,52,52,51,49,776,210,223,185,125,900
$RAFOS,2,1306397848,8.300000,8.291111,117,65,60,57,56,54,564,216,204,169,181,157
$RAFOS,1,1306397352,8.166667,8.153334,115,68,51,50,49,49,546,216,165,151,178,128
$RAFOS,0,1306396864,8.033334,8.017777,135,62,58,55,53,53,702,215,188,174,115,138
$RAFOS_FIX,6652.713867,-5951.023438,260511,080828,6,109,0.18
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,47.67
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,17.7
$24V_AH,20.7,92.730
$10V_AH,9.8,47.823
$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,6.150,152.775,454.875,0.000,0.000,0.000,0.000,0.000,4.500,0.000,0.000,3040.105,8955.956,541.609,2132.051,296.713,0.000,1710.544,0.000,2108.555,2520.000,22.039,0.000
$DEVICE_MAMPS,225.675,100.980,1438.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.962,936.149,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46634,1218
$CAP_FILE_SIZE,159351,0
$CFSIZE,260165632,208076800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.1
$GPS,260511,082328,6652.714,-5951.023,0,6109.0,0,-37.6