version: 66.08
glider: 141
mission: 15
dive: 676
start: 5 24 111 1 22 6
data:
$ID,141
$MISSION,15
$DIVE,676
$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
$GPS1,240511,002419,6655.861,-6009.000,0,5117.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.47
$_SM_ANGLEo,-3.2
$GPS2,240511,002419,6655.861,-6009.000,0,5117.0,0,-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,247.1,25244,-17.5,-10.000
$D_GRID,680
$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,-5.60,0.000,2,0.000,0.000,2902,2274,2935,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.8,-0.0,1,53,0.65,2.83,-17.75,0.000,4,0.084,0.100,2661,3908,3627,0,0,0,0,0,0
$GC,147,-0.48,-146.0,32.5,-21.0,21,155,0.17,2.33,0.00,0.000,6,0.216,0.065,2702,2491,3630,0,0,0,0,0,0
$GC,495,-0.38,-146.0,95.6,-15.8,82,502,0.12,0.00,0.00,0.000,6,0.233,0.000,2731,2491,3630,0,0,0,0,0,0
$GC,824,-0.38,-146.0,134.6,-10.9,115,828,0.00,2.35,0.00,0.000,4,0.000,0.079,2731,1079,3630,0,0,0,0,0,0
$GC,858,-0.43,-146.0,138.5,-11.3,118,862,0.00,2.38,0.00,0.000,6,0.000,0.077,2731,2487,3629,0,0,0,0,0,0
$GC,1190,-0.47,-146.0,171.1,-9.8,149,1194,0.00,2.42,0.00,0.000,4,0.000,0.093,2731,3907,3629,0,0,0,0,0,0
$GC,1234,-0.56,-146.0,175.4,-9.2,152,1242,0.15,2.33,0.00,0.000,6,0.116,0.065,2681,2480,3628,0,0,0,0,0,0
$GC,1560,-0.48,-146.0,219.2,-13.2,183,1564,0.00,2.35,0.00,0.000,4,0.000,0.080,2681,1072,3628,0,0,0,0,0,0
$GC,1582,-0.41,-146.0,222.6,-14.2,184,1590,0.17,2.42,0.00,0.000,6,0.213,0.080,2722,2497,3628,0,0,0,0,0,0
$GC,1909,-0.46,-146.0,252.0,-8.4,215,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2497,3628,0,0,0,0,0,0
$GC,2231,-0.52,-146.0,278.5,-8.3,245,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2497,3628,0,0,0,0,0,0
$GC,2559,-0.59,-146.0,307.6,-8.7,276,2566,0.15,0.00,0.00,0.000,6,0.121,0.000,2668,2497,3628,0,0,0,0,0,0
$GC,2886,-0.52,-146.0,348.3,-12.3,307,2890,0.00,2.40,0.00,0.000,4,0.000,0.093,2668,3903,3627,0,0,0,0,0,0
$GC,2919,-0.46,-146.0,352.9,-12.3,309,2927,0.17,2.33,0.00,0.000,6,0.197,0.064,2710,2489,3628,0,0,0,0,0,0
$GC,3245,-0.51,-146.0,380.9,-8.6,340,3250,0.00,2.33,0.00,0.000,4,0.000,0.078,2711,1079,3627,0,0,0,0,0,0
$GC,3264,-0.56,-146.0,382.5,-8.3,341,3268,0.00,2.38,0.00,0.000,6,0.000,0.077,2711,2490,3628,0,0,0,0,0,0
$GC,3595,-0.62,-146.0,410.7,-8.5,372,3600,0.15,2.42,0.00,0.000,4,0.116,0.091,2657,3903,3628,0,0,0,0,0,0
$GC,3628,-0.58,-146.0,414.7,-12.3,374,3635,0.00,2.33,0.00,0.000,6,0.000,0.063,2657,2486,3628,0,0,0,0,0,0
$GC,3954,-0.50,-146.0,456.6,-12.9,405,3956,0.17,0.00,0.00,0.000,6,0.206,0.000,2700,2486,3628,0,0,0,0,0,0
$GC,4273,-0.53,-146.0,486.0,-9.0,435,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2486,3628,0,0,0,0,0,0
$GC,4594,-0.56,-146.0,514.7,-8.8,465,4598,0.00,2.33,0.00,0.000,4,0.000,0.075,2700,1077,3628,0,0,0,0,0,0
$GC,4621,-0.60,-146.0,517.5,-9.3,467,4628,0.00,2.38,0.00,0.000,6,0.000,0.074,2700,2491,3629,0,0,0,0,0,0
$GC,4948,-0.64,-146.0,544.8,-8.1,498,4953,0.12,2.45,0.00,0.000,4,0.124,0.090,2655,3906,3629,0,0,0,0,0,0
$GC,4977,-0.62,-146.0,547.8,-10.4,500,4981,0.00,2.33,0.00,0.000,6,0.000,0.061,2656,2484,3629,0,0,0,0,0,0
$GC,5303,-0.54,-146.0,587.6,-12.6,530,5308,0.12,2.38,0.00,0.000,4,0.207,0.076,2684,1069,3629,0,0,0,0,0,0
$GC,5325,-0.49,-146.0,590.2,-11.0,531,5332,0.00,2.40,0.00,0.000,6,0.000,0.075,2685,2492,3630,0,0,0,0,0,0
$GC,5653,-0.49,-146.0,620.8,-9.3,549,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2493,3629,0,0,0,0,0,0
$STATE,5834,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5834,begin apogee
$GC,5840,-0.12,0.0,638.3,9.5,555,5976,0.45,0.00,127.75,1.333,6,0.187,0.000,2813,2269,3029,0,0,0,0,0,0
$STATE,5977,end apogee,CONTROL_FINISHED_OK
$STATE,5977,begin climb
$GC,5980,0.62,146.0,642.9,0.0,559,6127,0.80,2.75,135.60,1.286,4,0.140,0.081,3059,877,2433,0,0,0,0,0,0
$GC,6178,0.60,151.0,630.9,9.8,565,6189,0.00,2.55,5.72,0.916,6,0.000,0.068,3060,2275,2413,0,0,0,0,0,0
$GC,6496,0.56,151.0,598.7,10.2,575,6501,0.00,2.42,0.00,0.000,4,0.000,0.084,3059,3691,2411,0,0,0,0,0,0
$GC,6566,0.47,151.0,590.6,12.6,581,6571,0.20,2.35,0.00,0.000,6,0.182,0.069,3020,2273,2410,0,0,0,0,0,0
$GC,6893,0.56,193.8,564.6,8.0,611,6938,0.00,2.50,38.67,1.229,4,0.000,0.084,3028,857,2238,0,0,0,0,0,0
$GC,6963,0.67,219.8,558.7,8.8,617,6998,0.15,2.40,25.27,1.194,6,0.100,0.070,3094,2280,2132,0,0,0,0,0,0
$GC,7315,0.60,219.8,510.3,13.8,650,7320,0.15,2.38,0.00,0.000,4,0.182,0.083,3055,3691,2126,0,0,0,0,0,0
$GC,7383,0.60,219.8,501.4,12.8,656,7388,0.00,2.35,0.00,0.000,6,0.000,0.069,3064,2268,2124,0,0,0,0,0,0
$GC,7709,0.60,219.8,465.6,10.7,686,7713,0.00,2.33,0.00,0.000,4,0.000,0.083,3075,864,2124,0,0,0,0,0,0
$GC,7760,0.60,219.8,460.0,11.6,690,7764,0.00,2.35,0.00,0.000,6,0.000,0.070,3074,2283,2122,0,0,0,0,0,0
$GC,8085,0.60,219.8,423.3,11.6,720,8089,0.00,2.35,0.00,0.000,4,0.000,0.083,3074,3689,2122,0,0,0,0,0,0
$GC,8147,0.54,219.8,415.2,13.6,725,8154,0.17,2.35,0.00,0.000,6,0.194,0.069,3040,2267,2122,0,0,0,0,0,0
$GC,8473,0.62,237.1,385.5,9.2,756,8496,0.00,2.35,15.18,1.109,4,0.000,0.084,3047,864,2062,0,0,0,0,0,0
$GC,8522,0.74,269.5,381.1,8.5,760,8560,0.15,2.35,31.35,1.137,6,0.101,0.069,3112,2277,1931,0,0,0,0,0,0
$GC,8886,0.67,269.5,323.6,16.3,794,8891,0.12,2.38,0.00,0.000,4,0.191,0.083,3081,3691,1924,0,0,0,0,0,0
$GC,8960,0.67,269.5,312.5,14.1,800,8964,0.00,2.35,0.00,0.000,6,0.000,0.069,3089,2269,1923,0,0,0,0,0,0
$GC,9285,0.67,269.5,270.0,12.2,830,9289,0.00,2.33,0.00,0.000,4,0.000,0.081,3099,861,1923,0,0,0,0,0,0
$GC,9337,0.67,269.5,263.9,11.4,834,9341,0.00,2.35,0.00,0.000,6,0.000,0.069,3099,2286,1922,0,0,0,0,0,0
$GC,9668,0.67,269.5,221.6,12.2,865,9672,0.00,2.33,0.00,0.000,4,0.000,0.083,3100,3693,1921,0,0,0,0,0,0
$GC,9723,0.64,269.5,213.7,14.3,869,9731,0.15,2.35,0.00,0.000,6,0.190,0.068,3073,2269,1921,0,0,0,0,0,0
$GC,10049,0.71,279.1,182.4,9.6,900,10064,0.00,2.40,8.60,0.936,4,0.000,0.083,3082,864,1892,0,0,0,0,0,0
$GC,10106,0.80,290.9,177.0,9.5,905,10130,0.12,2.33,13.12,0.992,6,0.113,0.068,3133,2273,1843,0,0,0,0,0,0
$GC,10448,0.77,290.9,132.0,12.6,937,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2274,1839,0,0,0,0,0,0
$GC,10769,0.77,290.9,94.5,10.7,971,10776,0.00,2.38,0.00,0.000,4,0.000,0.085,3133,3687,1838,0,0,0,0,0,0
$GC,10874,0.77,290.9,81.8,12.2,989,10881,0.12,2.35,0.00,0.000,6,0.195,0.070,3114,2268,1837,0,0,0,0,0,0
$GC,11223,0.84,301.1,50.5,9.5,1050,11241,0.00,2.40,10.12,0.924,4,0.000,0.084,3122,864,1802,0,0,0,0,0,0
$GC,11267,0.92,305.7,46.3,9.8,1057,11280,0.10,2.35,6.10,0.822,6,0.127,0.072,3162,2275,1783,0,0,0,0,0,0
$STATE,11550,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11550,begin subsurface finish
$FINISH1,11.0,1.025954,76
$GC,11557,0.09,75.8,11.0,-12.6,1107,11593,0.88,0.00,-30.83,0.000,6,0.169,0.000,2903,2276,2722,0,0,0,0,0,0
$FINISH2,9.5
$STATE,11593,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11594,begin surface
$RAFOS_CLK,639
$RAFOS,3,1306211102,4.433333,4.417222,70,64,60,55,53,50,856,183,208,153,125,227
$RAFOS,2,1306210624,4.300000,4.284444,92,61,59,56,55,53,716,208,190,159,199,147
$RAFOS,1,1306210151,4.166667,4.153056,84,62,61,59,56,54,562,192,175,161,134,229
$RAFOS,0,1306209663,4.033333,4.017500,155,68,58,57,55,52,657,205,119,151,218,190
$RAFOS_FIX,6654.402832,-6018.578613,240511,040428,4,100,0.54
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.029211
$HUMID,48.54
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,13.1
$ALTIM_BOTTOM_PING,600.9,49.5
$24V_AH,21.0,90.147
$10V_AH,9.9,46.638
$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,5.750,110.250,417.500,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2733.229,6385.956,469.288,1836.289,238.312,0.000,1469.552,0.000,1815.157,1800.000,20.219,0.000
$DEVICE_MAMPS,232.560,100.215,1333.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.560,848.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,43360,1113
$CAP_FILE_SIZE,128971,0
$CFSIZE,260165632,209260544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$GPS,240511,041528,6654.403,-6018.579,0,4100.2,0,-37.6