version: 66.08
glider: 141
mission: 15
dive: 679
start: 5 24 111 11 12 27
data:
$ID,141
$MISSION,15
$DIVE,679
$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,-50107.605
$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,18
$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
$GPS1,240511,083117,6655.446,-6016.329,0,6114.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.88
$_SM_ANGLEo,-4.5
$GPS2,240511,083117,6655.446,-6016.329,0,6114.2,0,-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,236.1,22347,-17.5,-10.000
$D_GRID,610
$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,-5.90,0.000,2,0.000,0.000,2901,2276,2954,0,0,0,0,0,0
$GC,28,-0.62,-146.0,12.8,-0.0,1,53,0.65,2.85,-16.17,0.000,4,0.099,0.101,2670,3907,3630,0,0,0,0,0,0
$GC,107,-0.46,-146.0,26.0,-21.4,14,115,0.17,2.33,0.00,0.000,6,0.220,0.065,2709,2491,3632,0,0,0,0,0,0
$GC,455,-0.38,-146.0,85.9,-15.7,75,462,0.10,2.38,0.00,0.000,4,0.246,0.082,2731,1068,3632,0,0,0,0,0,0
$GC,499,-0.38,-146.0,92.2,-13.4,82,506,0.00,2.40,0.00,0.000,6,0.000,0.079,2731,2488,3631,0,0,0,0,0,0
$GC,829,-0.38,-146.0,132.4,-10.9,118,833,0.00,2.38,0.00,0.000,4,0.000,0.082,2731,1069,3631,0,0,0,0,0,0
$GC,848,-0.38,-146.0,134.4,-10.7,119,852,0.00,2.42,0.00,0.000,6,0.000,0.081,2731,2495,3630,0,0,0,0,0,0
$GC,1174,-0.43,-146.0,165.5,-8.7,149,1178,0.00,2.42,0.00,0.000,4,0.000,0.096,2731,3906,3630,0,0,0,0,0,0
$GC,1227,-0.52,-146.0,170.1,-9.1,153,1231,0.12,2.35,0.00,0.000,6,0.128,0.068,2690,2483,3630,0,0,0,0,0,0
$GC,1558,-0.47,-146.0,210.2,-12.4,184,1562,0.00,2.35,0.00,0.000,4,0.000,0.082,2690,1079,3629,0,0,0,0,0,0
$GC,1588,-0.43,-146.0,213.8,-12.2,186,1592,0.12,2.40,0.00,0.000,6,0.214,0.080,2717,2490,3629,0,0,0,0,0,0
$GC,1914,-0.47,-146.0,245.1,-9.8,216,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2490,3629,0,0,0,0,0,0
$GC,2237,-0.51,-146.0,274.1,-9.0,246,2241,0.00,2.47,0.00,0.000,4,0.000,0.096,2716,3905,3629,0,0,0,0,0,0
$GC,2281,-0.60,-146.0,278.5,-8.6,249,2289,0.15,2.35,0.00,0.000,6,0.115,0.067,2666,2485,3629,0,0,0,0,0,0
$GC,2607,-0.53,-146.0,320.1,-12.4,280,2611,0.00,2.33,0.00,0.000,4,0.000,0.080,2666,1079,3629,0,0,0,0,0,0
$GC,2625,-0.45,-146.0,322.4,-12.7,281,2630,0.20,2.38,0.00,0.000,6,0.208,0.079,2714,2490,3629,0,0,0,0,0,0
$GC,2956,-0.50,-146.0,351.5,-8.8,312,2960,0.00,2.45,0.00,0.000,4,0.000,0.094,2714,3906,3629,0,0,0,0,0,0
$GC,2974,-0.56,-146.0,353.2,-8.9,313,2978,0.00,2.33,0.00,0.000,6,0.000,0.066,2714,2484,3629,0,0,0,0,0,0
$GC,3306,-0.62,-146.0,381.8,-8.8,344,3308,0.15,0.00,0.00,0.000,6,0.122,0.000,2664,2484,3629,0,0,0,0,0,0
$GC,3625,-0.55,-146.0,421.5,-12.5,374,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2484,3629,0,0,0,0,0,0
$GC,3944,-0.48,-146.0,461.2,-12.6,404,3949,0.15,2.47,0.00,0.000,4,0.220,0.088,2699,3904,3629,0,0,0,0,0,0
$GC,3966,-0.48,-146.0,464.1,-11.2,405,3973,0.00,2.33,0.00,0.000,6,0.000,0.064,2699,2489,3629,0,0,0,0,0,0
$GC,4293,-0.52,-146.0,493.1,-8.6,436,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2489,3630,0,0,0,0,0,0
$GC,4611,-0.55,-146.0,520.5,-8.3,466,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2489,3630,0,0,0,0,0,0
$GC,4930,-0.60,-146.0,547.0,-8.0,496,4934,0.00,2.33,0.00,0.000,4,0.000,0.077,2699,1076,3630,0,0,0,0,0,0
$GC,4952,-0.64,-146.0,548.9,-7.8,497,4960,0.12,2.38,0.00,0.000,6,0.126,0.074,2660,2491,3630,0,0,0,0,0,0
$STATE,5106,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5108,begin apogee
$GC,5114,-0.12,0.0,565.6,10.0,512,5247,0.55,0.00,127.07,1.290,6,0.194,0.000,2810,2269,3030,0,0,0,0,0,0
$STATE,5248,end apogee,CONTROL_FINISHED_OK
$STATE,5248,begin climb
$GC,5251,0.62,146.0,569.5,0.0,524,5395,0.82,2.75,134.15,1.242,4,0.148,0.085,3060,867,2433,0,0,0,0,0,0
$GC,5412,0.63,181.5,560.0,8.4,538,5454,0.00,2.65,34.92,1.184,6,0.000,0.068,3060,2280,2290,0,0,0,0,0,0
$GC,5781,0.63,181.5,523.2,10.0,573,5785,0.00,2.42,0.00,0.000,4,0.000,0.084,3060,3692,2282,0,0,0,0,0,0
$GC,5825,0.57,181.5,517.9,12.6,576,5831,0.00,2.40,0.00,0.000,6,0.000,0.070,3071,2270,2282,0,0,0,0,0,0
$GC,6151,0.54,181.5,480.4,11.7,607,6155,0.12,2.35,0.00,0.000,4,0.188,0.084,3048,861,2281,0,0,0,0,0,0
$GC,6191,0.58,188.7,476.5,9.7,610,6204,0.00,2.35,6.55,0.945,6,0.000,0.071,3048,2285,2260,0,0,0,0,0,0
$GC,6521,0.60,202.4,445.6,9.4,641,6544,0.00,2.42,13.65,1.107,4,0.000,0.086,3048,3693,2204,0,0,0,0,0,0
$GC,6591,0.60,202.4,438.1,11.7,647,6595,0.00,2.35,0.00,0.000,6,0.000,0.070,3057,2273,2203,0,0,0,0,0,0
$GC,6922,0.60,207.1,404.5,9.8,678,6935,0.00,2.38,5.85,0.906,4,0.000,0.081,3069,857,2184,0,0,0,0,0,0
$GC,6970,0.63,207.1,399.8,10.1,682,6974,0.00,2.38,0.00,0.000,6,0.000,0.071,3069,2283,2183,0,0,0,0,0,0
$GC,7296,0.63,207.1,366.4,10.1,712,7300,0.00,2.35,0.00,0.000,4,0.000,0.084,3068,3696,2183,0,0,0,0,0,0
$GC,7351,0.58,207.1,359.8,12.2,716,7358,0.00,2.38,0.00,0.000,6,0.000,0.076,3078,2269,2183,0,0,0,0,0,0
$GC,7677,0.55,207.1,324.3,11.0,747,7682,0.12,2.35,0.00,0.000,4,0.191,0.083,3055,865,2183,0,0,0,0,0,0
$GC,7722,0.61,214.5,319.8,9.7,750,7740,0.00,2.35,8.18,0.979,6,0.000,0.070,3055,2282,2154,0,0,0,0,0,0
$GC,8059,0.67,232.5,288.4,9.2,782,8082,0.00,2.42,17.83,1.070,4,0.000,0.085,3055,3686,2081,0,0,0,0,0,0
$GC,8133,0.67,232.5,280.6,11.3,788,8140,0.00,2.35,0.00,0.000,6,0.000,0.070,3066,2269,2080,0,0,0,0,0,0
$GC,8459,0.71,242.1,250.0,9.6,819,8475,0.00,2.40,9.90,0.991,4,0.000,0.084,3076,864,2043,0,0,0,0,0,0
$GC,8532,0.75,242.1,242.4,10.5,825,8539,0.00,2.35,0.00,0.000,6,0.000,0.070,3075,2281,2041,0,0,0,0,0,0
$GC,8858,0.79,247.4,209.8,9.8,856,8871,0.12,2.42,6.40,0.877,4,0.109,0.085,3129,3689,2020,0,0,0,0,0,0
$GC,8911,0.67,247.4,202.1,16.2,860,8919,0.22,2.35,0.00,0.000,6,0.204,0.071,3083,2277,2019,0,0,0,0,0,0
$GC,9237,0.70,247.4,168.7,10.1,891,9241,0.00,2.35,0.00,0.000,4,0.000,0.085,3091,863,2019,0,0,0,0,0,0
$GC,9283,0.76,265.3,164.5,9.2,894,9306,0.00,2.35,17.77,1.015,6,0.000,0.071,3091,2277,1948,0,0,0,0,0,0
$GC,9626,0.85,295.5,132.3,8.6,926,9660,0.12,2.47,29.27,1.012,4,0.108,0.086,3144,3696,1824,0,0,0,0,0,0
$GC,9714,0.77,295.5,121.0,14.5,933,9722,0.17,2.40,0.00,0.000,6,0.208,0.073,3112,2269,1821,0,0,0,0,0,0
$GC,10049,0.83,314.1,87.5,9.1,976,10073,0.00,2.38,17.52,0.971,4,0.000,0.086,3118,862,1748,0,0,0,0,0,0
$GC,10161,0.94,337.3,77.2,8.9,995,10192,0.15,2.38,22.60,0.968,6,0.108,0.073,3176,2283,1654,0,0,0,0,0,0
$GC,10531,0.89,337.3,25.3,14.7,1060,10538,0.00,2.35,0.00,0.000,4,0.000,0.086,3176,3688,1646,0,0,0,0,0,0
$GC,10602,0.82,337.3,14.0,16.8,1072,10610,0.22,2.38,0.00,0.000,6,0.208,0.074,3131,2267,1644,0,0,0,0,0,0
$FREEZE,8.75,-1.710,-1.772,2,42,0
$STATE,10638,end climb,FINISH_DEPTH_REACHED
$STATE,10638,begin subsurface finish
$FINISH1,8.7,1.025950,76
$GC,10645,0.09,76.0,8.7,-12.7,1078,10694,0.75,2.45,-41.30,0.000,4,0.168,0.096,2903,854,2722,0,0,0,0,0,0
$FINISH2,7.0
$STATE,10695,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10695,begin surface
$RAFOS_CLK,588
$RAFOS,6,1306241343,12.833333,12.817500,127,60,60,54,54,52,810,171,131,191,153,213
$RAFOS,5,1306240861,12.700000,12.683611,63,61,60,54,53,53,984,193,181,163,203,139
$RAFOS,4,1306240388,12.566667,12.552222,93,81,58,57,56,54,715,208,118,185,151,217
$RAFOS,3,1306239910,12.433333,12.419444,137,62,60,58,52,52,789,197,210,160,172,227
$RAFOS,2,1306239423,12.300000,12.284166,135,60,58,54,53,50,697,214,195,139,130,116
$RAFOS,1,1306238945,12.166667,12.151389,109,60,60,56,54,54,579,215,163,173,116,184
$RAFOS,0,1306238468,12.033333,12.018888,101,67,57,54,52,49,599,199,164,216,155,123
$RAFOS_FIX,6652.213867,-6019.515625,240511,121258,7,109,0.45
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,48.11
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.6,15.8
$ALTIM_BOTTOM_PING,550.6,29.3
$24V_AH,21.2,90.626
$10V_AH,9.8,46.858
$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,5.350,118.125,451.675,0.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000,2604.295,5663.117,514.483,1741.127,251.273,0.000,1473.317,0.000,1732.259,2520.000,15.954,0.000
$DEVICE_MAMPS,246.330,100.980,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.808,831.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40027,1086
$CAP_FILE_SIZE,128251,0
$CFSIZE,260165632,209055744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.5
$GPS,240511,122658,6652.214,-6019.516,0,7109.3,0,-37.6