version: 66.08
glider: 141
mission: 15
dive: 675
start: 5 23 111 21 37 34
data:
$ID,141
$MISSION,15
$DIVE,675
$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,-49740.031
$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,19
$R_STBD_OVSHOOT,18
$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
$GPS1,230511,202716,6657.240,-6006.401,0,7101.9,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.67
$_SM_ANGLEo,-4.6
$GPS2,230511,202716,6657.240,-6006.401,0,7101.9,0,-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,247.9,28404,-17.5,-10.000
$D_GRID,730
$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,-5.90,0.000,2,0.000,0.000,2903,864,2969,0,0,0,0,0,0
$GC,28,-0.62,-146.0,13.6,-0.0,1,47,0.68,0.40,-15.27,0.000,4,0.099,0.151,2665,1091,3628,0,0,0,0,0,0
$GC,179,-0.52,-146.0,40.2,-20.9,27,187,0.12,2.35,0.00,0.000,6,0.233,0.082,2691,2487,3631,0,0,0,0,0,0
$GC,525,-0.41,-146.0,103.7,-17.5,86,530,0.15,2.40,0.00,0.000,4,0.249,0.083,2726,1076,3630,0,0,0,0,0,0
$GC,537,-0.31,-146.0,106.2,-16.9,86,544,0.15,2.40,0.00,0.000,6,0.232,0.079,2761,2499,3630,0,0,0,0,0,0
$GC,865,-0.41,-146.0,136.8,-8.8,117,869,0.00,2.42,0.00,0.000,4,0.000,0.096,2761,3899,3630,0,0,0,0,0,0
$GC,883,-0.52,-146.0,138.4,-8.3,118,888,0.20,2.33,0.00,0.000,6,0.103,0.066,2691,2489,3630,0,0,0,0,0,0
$GC,1210,-0.46,-146.0,182.5,-13.2,148,1214,0.00,2.35,0.00,0.000,4,0.000,0.082,2691,1074,3629,0,0,0,0,0,0
$GC,1264,-0.46,-146.0,190.1,-12.0,152,1272,0.00,2.40,0.00,0.000,6,0.000,0.080,2691,2496,3629,0,0,0,0,0,0
$GC,1591,-0.42,-146.0,231.5,-12.1,183,1592,0.15,0.00,0.00,0.000,6,0.225,0.000,2725,2496,3629,0,0,0,0,0,0
$GC,1910,-0.48,-146.0,259.4,-7.8,213,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2496,3629,0,0,0,0,0,0
$GC,2231,-0.55,-146.0,282.3,-7.3,243,2237,0.12,0.00,0.00,0.000,6,0.132,0.000,2683,2496,3628,0,0,0,0,0,0
$GC,2557,-0.51,-146.0,318.7,-11.1,274,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2497,3628,0,0,0,0,0,0
$GC,2878,-0.48,-146.0,351.7,-10.2,304,2882,0.00,2.42,0.00,0.000,4,0.000,0.094,2682,3910,3628,0,0,0,0,0,0
$GC,2896,-0.45,-146.0,353.7,-9.8,305,2901,0.15,2.35,0.00,0.000,6,0.195,0.065,2717,2482,3628,0,0,0,0,0,0
$GC,3222,-0.51,-146.0,379.0,-7.9,335,3226,0.00,2.33,0.00,0.000,4,0.000,0.080,2717,1077,3628,0,0,0,0,0,0
$GC,3262,-0.60,-146.0,382.3,-8.1,338,3268,0.15,2.38,0.00,0.000,6,0.109,0.077,2664,2496,3628,0,0,0,0,0,0
$GC,3588,-0.53,-146.0,421.2,-12.2,368,3592,0.00,2.40,0.00,0.000,4,0.000,0.093,2663,3899,3628,0,0,0,0,0,0
$GC,3644,-0.51,-146.0,428.1,-11.6,372,3652,0.15,2.30,0.00,0.000,6,0.204,0.063,2698,2491,3628,0,0,0,0,0,0
$GC,3970,-0.54,-146.0,456.9,-9.0,403,3974,0.00,2.33,0.00,0.000,4,0.000,0.077,2698,1078,3629,0,0,0,0,0,0
$GC,4011,-0.59,-146.0,460.7,-9.1,406,4015,0.00,2.38,0.00,0.000,6,0.000,0.076,2698,2498,3629,0,0,0,0,0,0
$GC,4338,-0.62,-146.0,487.9,-8.3,436,4340,0.12,0.00,0.00,0.000,6,0.127,0.000,2655,2498,3629,0,0,0,0,0,0
$GC,4655,-0.54,-146.0,526.4,-12.5,466,4660,0.12,2.45,0.00,0.000,4,0.205,0.091,2684,3906,3630,0,0,0,0,0,0
$GC,4696,-0.56,-146.0,530.9,-10.0,469,4700,0.00,2.33,0.00,0.000,6,0.000,0.063,2684,2486,3630,0,0,0,0,0,0
$GC,5022,-0.56,-146.0,561.3,-9.2,499,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2486,3629,0,0,0,0,0,0
$GC,5342,-0.56,-146.0,590.7,-9.3,529,5346,0.00,2.33,0.00,0.000,4,0.000,0.077,2684,1074,3630,0,0,0,0,0,0
$GC,5364,-0.56,-146.0,593.0,-9.3,530,5371,0.00,2.40,0.00,0.000,6,0.000,0.075,2684,2497,3630,0,0,0,0,0,0
$GC,5690,-0.56,-146.0,623.2,-9.4,546,5695,0.00,2.42,0.00,0.000,4,0.000,0.090,2684,3906,3630,0,0,0,0,0,0
$GC,5720,-0.59,-146.0,625.8,-9.0,547,5724,0.00,2.33,0.00,0.000,6,0.000,0.062,2684,2487,3630,0,0,0,0,0,0
$GC,6057,-0.59,-146.0,655.9,-9.1,558,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2487,3630,0,0,0,0,0,0
$STATE,6360,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6360,begin apogee
$GC,6366,-0.12,0.0,683.5,9.0,568,6502,0.45,0.00,128.73,1.364,6,0.189,0.000,2813,2267,3029,0,0,0,0,0,0
$STATE,6503,end apogee,CONTROL_FINISHED_OK
$STATE,6503,begin climb
$GC,6506,0.62,146.0,688.2,0.0,572,6652,0.80,2.72,136.77,1.317,4,0.142,0.081,3057,874,2433,0,0,0,0,0,0
$GC,6697,0.63,159.6,676.3,9.4,578,6720,0.00,2.60,14.25,1.175,6,0.000,0.068,3057,2279,2378,0,0,0,0,0,0
$GC,7026,0.60,159.6,642.2,10.4,589,7030,0.00,2.42,0.00,0.000,4,0.000,0.084,3057,3696,2374,0,0,0,0,0,0
$GC,7109,0.52,159.6,631.9,12.1,591,7114,0.12,2.38,0.00,0.000,6,0.192,0.070,3038,2281,2373,0,0,0,0,0,0
$GC,7428,0.54,173.2,602.0,9.4,602,7447,0.00,2.42,12.70,1.161,4,0.000,0.085,3045,866,2323,0,0,0,0,0,0
$GC,7473,0.57,185.0,597.7,9.5,604,7495,0.00,2.35,12.12,1.157,6,0.000,0.070,3045,2278,2274,0,0,0,0,0,0
$GC,7813,0.57,185.0,562.3,10.3,636,7817,0.00,2.38,0.00,0.000,4,0.000,0.085,3045,3687,2272,0,0,0,0,0,0
$GC,7897,0.54,185.0,552.5,11.7,643,7904,0.00,2.35,0.00,0.000,6,0.000,0.070,3055,2268,2271,0,0,0,0,0,0
$GC,8223,0.54,185.0,518.0,10.6,674,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2268,2271,0,0,0,0,0,0
$GC,8544,0.54,185.0,484.8,10.2,704,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2268,2271,0,0,0,0,0,0
$GC,8871,0.54,185.0,451.3,10.1,735,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2268,2271,0,0,0,0,0,0
$GC,9188,0.54,185.0,418.9,10.4,765,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2268,2270,0,0,0,0,0,0
$GC,9509,0.54,190.2,387.7,9.8,795,9517,0.00,0.00,5.57,0.895,6,0.000,0.000,3056,2268,2254,0,0,0,0,0,0
$GC,9835,0.55,197.5,354.8,9.7,826,9846,0.00,0.00,8.43,1.013,6,0.000,0.000,3055,2268,2224,0,0,0,0,0,0
$GC,10164,0.57,215.0,324.1,9.2,857,10184,0.00,0.00,17.42,1.091,6,0.000,0.000,3055,2268,2152,0,0,0,0,0,0
$GC,10503,0.60,218.6,291.9,9.8,889,10513,0.00,0.00,4.53,0.772,6,0.000,0.000,3056,2268,2138,0,0,0,0,0,0
$GC,10832,0.64,229.1,260.6,9.5,920,10844,0.00,0.00,10.77,1.008,6,0.000,0.000,3056,2268,2096,0,0,0,0,0,0
$GC,11160,0.70,239.0,229.6,9.5,951,11177,0.10,2.38,11.10,0.991,4,0.119,0.083,3112,859,2054,0,0,0,0,0,0
$GC,11205,0.66,239.0,224.2,12.1,954,11213,0.12,2.35,0.00,0.000,6,0.197,0.070,3082,2276,2052,0,0,0,0,0,0
$GC,11531,0.68,239.0,190.2,10.2,985,11535,0.00,2.38,0.00,0.000,4,0.000,0.085,3082,3687,2052,0,0,0,0,0,0
$GC,11593,0.68,239.0,182.6,12.2,990,11597,0.00,2.35,0.00,0.000,6,0.000,0.069,3090,2263,2051,0,0,0,0,0,0
$GC,11919,0.69,250.6,149.3,9.5,1020,11932,0.00,0.00,11.75,0.975,6,0.000,0.000,3090,2263,2008,0,0,0,0,0,0
$GC,12249,0.75,271.7,117.6,9.0,1051,12275,0.00,2.38,21.08,1.003,4,0.000,0.084,3099,862,1922,0,0,0,0,0,0
$GC,12328,0.85,295.2,110.5,8.9,1058,12362,0.12,2.38,23.27,0.985,6,0.110,0.071,3150,2283,1825,0,0,0,0,0,0
$GC,12695,0.86,297.9,66.3,9.9,1115,12702,0.00,2.38,0.00,0.000,4,0.000,0.086,3151,3690,1819,0,0,0,0,0,0
$GC,12767,0.79,297.9,57.6,12.8,1127,12774,0.15,2.35,0.00,0.000,6,0.198,0.070,3125,2274,1818,0,0,0,0,0,0
$GC,13115,0.86,321.8,24.7,8.9,1188,13134,0.00,0.00,15.95,0.961,6,0.000,0.000,3125,2274,1717,0,0,0,0,0,0
$FREEZE,8.70,-1.719,-1.774,2,38,0
$STATE,13280,end climb,FINISH_DEPTH_REACHED
$STATE,13280,begin subsurface finish
$FINISH1,8.7,1.025970,75
$GC,13288,0.09,75.0,8.7,-9.3,1217,13330,0.73,0.00,-38.78,0.000,6,0.160,0.000,2902,2274,2726,0,0,0,0,0,0
$FINISH2,7.6
$STATE,13331,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13331,begin surface
$RAFOS_CLK,734
$RAFOS,6,1306198150,0.833333,0.819444,102,64,64,56,56,56,732,167,147,201,228,184
$RAFOS,5,1306197662,0.700000,0.683889,67,57,52,52,50,50,189,166,142,230,157,200
$RAFOS,4,1306197185,0.566667,0.551389,97,65,63,58,55,54,714,203,215,194,155,125
$RAFOS,3,1306196709,0.433333,0.419167,61,61,53,52,50,49,214,810,125,158,112,237
$RAFOS,2,1306196221,0.300000,0.283611,104,69,63,61,56,54,727,217,152,178,189,133
$RAFOS,1,1306195744,0.166667,0.151111,155,66,59,58,56,55,595,215,198,224,162,188
$RAFOS,0,1306195266,0.033333,0.018333,127,64,57,55,53,49,648,204,146,164,217,127
$RAFOS_FIX,6655.861328,-6009.000488,240511,000019,5,117,0.22
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,49.01
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.9,17.7
$ALTIM_BOTTOM_PING,650.5,46.9
$24V_AH,21.0,90.001
$10V_AH,9.8,46.569
$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,4.875,89.075,434.450,0.000,0.000,0.000,0.000,0.000,4.750,0.000,0.000,2965.487,7722.058,470.280,1986.691,256.724,0.000,1525.903,0.000,1965.153,2520.000,21.994,0.000
$DEVICE_MAMPS,248.625,151.470,1363.995,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.896,937.157,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46631,1224
$CAP_FILE_SIZE,135511,0
$CFSIZE,260165632,209317888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$GPS,240511,002419,6655.861,-6009.000,0,5117.0,0,-37.6