version: 66.08
glider: 141
mission: 15
dive: 640
start: 5 17 111 1 47 33
data:
$ID,141
$MISSION,15
$DIVE,640
$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,-48632.285
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,170511,003440,6708.869,-5716.553,0,4108.8,0,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,4.4
$GPS2,170511,003440,6708.869,-5716.553,0,4108.8,0,-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,289.2,146045,-17.5,-10.000
$D_GRID,695
$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,-146.0,0.0,0.0,0,152,0.00,0.35,-127.25,0.000,6,0.000,0.176,3151,2491,3627,0,0,0,0,0,0
$GC,155,-0.62,-146.0,4.7,-8.9,23,163,1.80,2.40,0.00,0.000,4,0.214,0.073,2675,1081,3628,0,0,0,0,0,0
$GC,312,-0.62,-146.0,23.2,-12.9,50,319,0.00,2.35,0.00,0.000,6,0.000,0.073,2674,2492,3628,0,0,0,0,0,0
$GC,659,-0.56,-146.0,69.7,-12.3,111,666,0.00,2.40,0.00,0.000,4,0.000,0.088,2674,3904,3626,0,0,0,0,0,0
$GC,718,-0.56,-146.0,77.0,-11.9,121,725,0.00,2.30,0.00,0.000,6,0.000,0.060,2675,2486,3626,0,0,0,0,0,0
$GC,1056,-0.52,-146.0,118.1,-12.0,168,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2486,3625,0,0,0,0,0,0
$GC,1377,-0.49,-146.0,152.5,-9.6,198,1382,0.10,2.35,0.00,0.000,4,0.225,0.076,2698,1080,3623,0,0,0,0,0,0
$GC,1444,-0.56,-146.0,158.4,-7.3,203,1451,0.00,2.35,0.00,0.000,6,0.000,0.073,2698,2488,3623,0,0,0,0,0,0
$GC,1770,-0.61,-146.0,183.6,-7.9,234,1774,0.00,2.40,0.00,0.000,4,0.000,0.088,2698,3905,3622,0,0,0,0,0,0
$GC,1851,-0.69,-146.0,190.0,-8.0,241,1856,0.17,2.28,0.00,0.000,6,0.114,0.058,2640,2484,3621,0,0,0,0,0,0
$GC,2182,-0.61,-146.0,229.4,-12.8,272,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2484,3621,0,0,0,0,0,0
$GC,2502,-0.54,-146.0,270.9,-12.6,302,2509,0.17,0.00,0.00,0.000,6,0.200,0.000,2682,2484,3622,0,0,0,0,0,0
$GC,2829,-0.57,-146.0,301.8,-9.4,333,2833,0.00,2.40,0.00,0.000,4,0.000,0.079,2683,3902,3623,0,0,0,0,0,0
$GC,2862,-0.62,-146.0,305.1,-9.4,335,2869,0.00,2.28,0.00,0.000,6,0.000,0.053,2682,2480,3622,0,0,0,0,0,0
$GC,3188,-0.65,-146.0,334.5,-9.0,366,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2480,3623,0,0,0,0,0,0
$GC,3509,-0.69,-146.0,363.4,-9.4,396,3516,0.12,0.00,0.00,0.000,6,0.132,0.000,2641,2480,3624,0,0,0,0,0,0
$GC,3835,-0.63,-146.0,401.3,-11.5,427,3839,0.00,2.25,0.00,0.000,4,0.000,0.066,2641,1080,3624,0,0,0,0,0,0
$GC,3881,-0.60,-146.0,406.6,-11.6,431,3886,0.12,2.33,0.00,0.000,6,0.209,0.063,2668,2502,3624,0,0,0,0,0,0
$GC,4207,-0.60,-146.0,436.3,-8.9,461,4211,0.00,2.33,0.00,0.000,4,0.000,0.079,2667,3900,3625,0,0,0,0,0,0
$GC,4282,-0.63,-146.0,443.0,-9.3,467,4286,0.00,2.22,0.00,0.000,6,0.000,0.049,2668,2485,3625,0,0,0,0,0,0
$GC,4609,-0.63,-146.0,471.1,-8.7,497,4613,0.00,2.25,0.00,0.000,4,0.000,0.065,2668,1079,3626,0,0,0,0,0,0
$GC,4666,-0.66,-146.0,476.2,-8.5,501,4673,0.00,2.33,0.00,0.000,6,0.000,0.073,2668,2492,3626,0,0,0,0,0,0
$GC,4992,-0.66,-146.0,503.6,-8.8,532,4996,0.00,2.33,0.00,0.000,4,0.000,0.079,2668,3899,3626,0,0,0,0,0,0
$GC,5070,-0.70,-146.0,510.8,-8.6,538,5077,0.00,2.25,0.00,0.000,6,0.000,0.051,2668,2485,3626,0,0,0,0,0,0
$GC,5396,-0.70,-146.0,539.6,-8.7,569,5400,0.00,2.28,0.00,0.000,4,0.000,0.066,2668,1070,3627,0,0,0,0,0,0
$GC,5424,-0.70,-146.0,542.3,-9.9,571,5431,0.00,2.33,0.00,0.000,6,0.000,0.064,2668,2492,3627,0,0,0,0,0,0
$GC,5750,-0.70,-146.0,572.5,-9.4,602,5754,0.00,2.35,0.00,0.000,4,0.000,0.080,2668,3899,3627,0,0,0,0,0,0
$GC,5806,-0.73,-146.0,578.0,-9.7,606,5814,0.12,2.22,0.00,0.000,6,0.125,0.052,2627,2488,3627,0,0,0,0,0,0
$GC,6147,-0.65,-146.0,620.8,-12.8,629,6151,0.00,2.25,0.00,0.000,4,0.000,0.067,2625,1082,3627,0,0,0,0,0,0
$GC,6198,-0.60,-146.0,627.5,-13.0,630,6203,0.17,2.33,0.00,0.000,6,0.204,0.066,2667,2497,3628,0,0,0,0,0,0
$GC,6511,-0.60,-146.0,657.2,-9.4,640,6515,0.00,2.33,0.00,0.000,4,0.000,0.082,2667,3900,3627,0,0,0,0,0,0
$GC,6551,-0.65,-146.0,661.2,-9.7,641,6555,0.00,2.25,0.00,0.000,6,0.000,0.054,2668,2491,3627,0,0,0,0,0,0
$STATE,6597,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6597,begin apogee
$GC,6604,-0.12,0.0,665.5,9.1,643,6736,0.50,0.00,125.85,1.324,6,0.184,0.000,2812,2263,3030,0,0,0,0,0,0
$STATE,6737,end apogee,CONTROL_FINISHED_OK
$STATE,6737,begin climb
$GC,6740,0.62,146.0,670.1,0.0,647,6881,0.80,2.58,132.60,1.279,4,0.134,0.073,3064,879,2433,0,0,0,0,0,0
$GC,6917,0.57,146.0,658.4,10.8,652,6922,0.00,2.47,0.00,0.000,6,0.000,0.061,3065,2273,2430,0,0,0,0,0,0
$GC,7253,0.50,146.0,620.4,10.9,663,7258,0.15,2.35,0.00,0.000,4,0.180,0.077,3026,3695,2427,0,0,0,0,0,0
$GC,7292,0.47,146.0,616.1,10.5,664,7296,0.00,2.33,0.00,0.000,6,0.000,0.062,3034,2280,2425,0,0,0,0,0,0
$GC,7614,0.50,167.6,585.9,9.0,684,7635,0.00,0.00,18.90,1.177,6,0.000,0.000,3034,2280,2346,0,0,0,0,0,0
$GC,7951,0.51,174.8,553.6,9.7,716,7964,0.00,2.42,7.68,1.024,4,0.000,0.076,3034,3693,2317,0,0,0,0,0,0
$GC,7992,0.48,174.8,549.2,11.4,719,7999,0.00,2.33,0.00,0.000,6,0.000,0.063,3044,2274,2316,0,0,0,0,0,0
$GC,8319,0.49,183.4,517.5,9.6,750,8334,0.00,2.38,9.12,1.067,4,0.000,0.077,3056,866,2281,0,0,0,0,0,0
$GC,8345,0.51,202.2,514.6,9.1,752,8374,0.00,2.30,18.50,1.159,6,0.000,0.063,3055,2286,2204,0,0,0,0,0,0
$GC,8693,0.49,202.2,474.1,12.3,785,8697,0.12,2.33,0.00,0.000,4,0.184,0.079,3024,3684,2201,0,0,0,0,0,0
$GC,8739,0.51,202.2,468.6,11.6,789,8743,0.00,2.30,0.00,0.000,6,0.000,0.063,3031,2276,2200,0,0,0,0,0,0
$GC,9065,0.54,204.6,435.0,9.9,819,9069,0.00,2.33,0.00,0.000,4,0.000,0.076,3042,864,2199,0,0,0,0,0,0
$GC,9094,0.57,204.6,432.0,10.5,821,9098,0.00,2.30,0.00,0.000,6,0.000,0.064,3042,2275,2198,0,0,0,0,0,0
$GC,9420,0.57,204.6,395.6,11.3,851,9424,0.00,2.33,0.00,0.000,4,0.000,0.078,3042,3684,2198,0,0,0,0,0,0
$GC,9471,0.54,204.6,389.0,13.1,855,9475,0.00,2.30,0.00,0.000,6,0.000,0.063,3052,2272,2198,0,0,0,0,0,0
$GC,9797,0.54,204.6,349.5,12.1,885,9801,0.00,2.30,0.00,0.000,4,0.000,0.076,3063,862,2198,0,0,0,0,0,0
$GC,9832,0.54,204.6,345.2,11.8,888,9836,0.00,2.30,0.00,0.000,6,0.000,0.063,3063,2278,2197,0,0,0,0,0,0
$GC,10164,0.51,204.6,303.2,12.5,919,10169,0.12,2.35,0.00,0.000,4,0.181,0.077,3031,3692,2197,0,0,0,0,0,0
$GC,10231,0.51,204.6,295.0,11.7,924,10237,0.00,2.30,0.00,0.000,6,0.000,0.062,3039,2274,2197,0,0,0,0,0,0
$GC,10557,0.53,204.6,262.0,10.1,955,10562,0.00,2.30,0.00,0.000,4,0.000,0.074,3048,859,2197,0,0,0,0,0,0
$GC,10587,0.58,204.6,258.8,10.3,957,10591,0.00,2.28,0.00,0.000,6,0.000,0.061,3048,2276,2197,0,0,0,0,0,0
$GC,10913,0.58,204.6,221.0,11.7,987,10917,0.00,2.33,0.00,0.000,4,0.000,0.076,3048,3698,2197,0,0,0,0,0,0
$GC,10963,0.55,204.6,214.2,13.0,991,10969,0.00,2.30,0.00,0.000,6,0.000,0.060,3058,2275,2197,0,0,0,0,0,0
$GC,11289,0.55,204.6,173.4,12.1,1022,11290,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2275,2197,0,0,0,0,0,0
$GC,11610,0.55,204.6,135.2,11.5,1052,11614,0.00,2.33,0.00,0.000,4,0.000,0.072,3068,857,2197,0,0,0,0,0,0
$GC,11632,0.58,204.6,132.2,10.7,1053,11639,0.00,2.28,0.00,0.000,6,0.000,0.060,3068,2277,2197,0,0,0,0,0,0
$GC,11959,0.58,210.4,95.8,9.7,1087,11973,0.00,2.40,7.65,0.809,4,0.000,0.074,3067,3696,2172,0,0,0,0,0,0
$GC,12038,0.56,210.4,87.1,11.6,1100,12045,0.12,2.30,0.00,0.000,6,0.184,0.060,3047,2274,2172,0,0,0,0,0,0
$GC,12385,0.71,272.1,60.1,7.2,1161,12451,0.12,2.40,55.80,0.926,4,0.106,0.073,3112,872,1918,0,0,0,0,0,0
$GC,12466,0.71,272.1,52.0,10.8,1174,12472,0.00,2.33,0.00,0.000,6,0.000,0.061,3112,2275,1916,0,0,0,0,0,0
$GC,12812,0.71,272.1,13.0,11.6,1235,12819,0.00,2.33,0.00,0.000,4,0.000,0.077,3112,3683,1912,0,0,0,0,0,0
$FREEZE,8.88,-1.698,-1.832,2,3,0
$GC,12844,0.68,272.1,8.9,13.6,1240,12852,0.15,2.30,0.00,0.000,6,0.186,0.063,3085,2274,1912,0,0,0,0,0,0
$FREEZE,6.77,-1.702,-1.831,2,3,0
$FREEZE,6.33,-1.702,-1.830,2,3,0
$FREEZE,5.77,-1.702,-1.830,2,3,0
$FREEZE,5.22,-1.704,-1.829,2,3,0
$FREEZE,4.72,-1.706,-1.829,2,3,0
$FREEZE,4.31,-1.705,-1.829,2,3,0
$FREEZE,3.79,-1.706,-1.828,2,3,0
$FREEZE,3.30,-1.706,-1.828,2,3,0
$FREEZE,2.80,-1.707,-1.828,2,3,0
$STATE,12898,end climb,SURFACE_DEPTH_REACHED
$STATE,12901,begin surface coast
$FREEZE,2.09,-1.707,-1.827,2,3,0
$FREEZE,1.90,-1.713,-1.827,2,3,0
$FREEZE,1.84,-1.712,-1.826,2,3,0
$FREEZE,1.79,-1.712,-1.826,2,3,0
$FREEZE,1.76,-1.711,-1.826,2,3,0
$FREEZE,1.74,-1.712,-1.826,2,3,0
$FINISH,1.7,1.026795
$STATE,12933,end surface coast,CONTROL_FINISHED_OK
$STATE,12934,begin surface
$SM_CCo,12957,57.53,0.067,0,0,1399,400.08
$SM_GC,2.86,0.00,0.00,57.53,0.000,0.000,0.067,113,2496,1399,-8.60,0.17,400.08
$RAFOS_CLK,680
$RAFOS,6,1305607742,4.833333,4.817222,109,66,64,62,58,58,766,161,147,204,217,187
$RAFOS,5,1305607269,4.700000,4.685833,154,68,59,57,57,55,578,196,214,166,205,225
$RAFOS,4,1305606791,4.566667,4.553056,120,61,57,56,56,55,788,222,204,188,146,156
$RAFOS,3,1305606304,4.433333,4.417778,104,55,54,54,53,53,956,158,219,178,114,134
$RAFOS,2,1305605830,4.300000,4.286111,64,63,62,61,56,56,980,192,227,208,115,171
$RAFOS,1,1305605351,4.166667,4.153056,76,64,60,56,56,54,955,215,164,144,186,175
$RAFOS,0,1305604870,4.033333,4.019444,65,60,56,54,49,49,157,125,215,201,144,187
$RAFOS_FIX,6706.560059,-5720.984375,170511,040417,6,104,0.38
$IRIDIUM_FIX,6636.54,-5635.43,160511,171717
$TT8_MAMPS,0.026215
$HUMID,45.66
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.80
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,651.4,26.3
$24V_AH,21.5,84.204
$10V_AH,9.9,43.559
$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,13.350,131.300,376.100,57.525,0.000,0.000,0.000,0.000,10.250,0.000,0.000,3075.893,7095.227,577.702,2073.295,278.921,0.000,1697.608,0.000,2050.302,2520.000,22.593,0.000
$DEVICE_MAMPS,224.910,175.950,1324.215,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.719,948.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,50009,1256
$CAP_FILE_SIZE,148101,0
$CFSIZE,260165632,212164608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.7
$GPS,170511,043117,6706.560,-5720.984,0,6104.5,0,-37.6