version: 66.08
glider: 141
mission: 15
dive: 680
start: 5 24 111 14 13 10
data:
$ID,141
$MISSION,15
$DIVE,680
$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,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
$GPS1,240511,122658,6652.214,-6019.516,0,7109.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.99
$_SM_ANGLEo,-6.1
$GPS2,240511,122658,6652.214,-6019.516,0,7109.3,0,-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,234.9,15935,-17.5,-10.000
$D_GRID,576
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.68,0.000,2,0.000,0.000,2903,854,2951,0,0,0,0,0,0
$GC,27,-0.62,-146.0,12.9,-0.0,1,52,0.68,0.38,-16.48,0.000,4,0.111,0.144,2671,1086,3628,0,0,0,0,0,0
$GC,239,-0.53,-146.0,48.3,-19.1,38,246,0.00,2.38,0.00,0.000,6,0.000,0.083,2670,2494,3629,0,0,0,0,0,0
$GC,581,-0.37,-146.0,115.6,-17.6,91,586,0.25,2.42,0.00,0.000,4,0.233,0.093,2735,3899,3629,0,0,0,0,0,0
$GC,592,-0.24,-146.0,118.1,-17.3,91,600,0.17,2.33,0.00,0.000,6,0.211,0.066,2777,2480,3630,0,0,0,0,0,0
$GC,921,-0.40,-146.0,141.4,-6.1,122,927,0.15,0.00,0.00,0.000,6,0.125,0.000,2728,2480,3629,0,0,0,0,0,0
$GC,1247,-0.44,-146.0,172.4,-9.7,153,1251,0.00,2.47,0.00,0.000,4,0.000,0.092,2727,3910,3629,0,0,0,0,0,0
$GC,1265,-0.48,-146.0,174.1,-9.2,154,1269,0.00,2.35,0.00,0.000,6,0.000,0.067,2727,2486,3628,0,0,0,0,0,0
$GC,1591,-0.53,-146.0,204.8,-9.0,184,1596,0.00,2.35,0.00,0.000,4,0.000,0.083,2727,1072,3628,0,0,0,0,0,0
$GC,1614,-0.58,-146.0,207.0,-9.3,185,1621,0.15,2.40,0.00,0.000,6,0.120,0.080,2675,2488,3628,0,0,0,0,0,0
$GC,1940,-0.50,-146.0,248.8,-12.8,216,1944,0.00,2.42,0.00,0.000,4,0.000,0.096,2675,3906,3628,0,0,0,0,0,0
$GC,1969,-0.44,-146.0,252.7,-13.1,218,1974,0.17,2.35,0.00,0.000,6,0.198,0.068,2716,2485,3628,0,0,0,0,0,0
$GC,2296,-0.48,-146.0,281.4,-8.1,248,2300,0.00,2.35,0.00,0.000,4,0.000,0.083,2716,1069,3628,0,0,0,0,0,0
$GC,2329,-0.55,-146.0,284.5,-8.8,250,2336,0.00,2.42,0.00,0.000,6,0.000,0.079,2717,2499,3627,0,0,0,0,0,0
$GC,2655,-0.60,-146.0,311.3,-8.1,281,2660,0.15,2.42,0.00,0.000,4,0.116,0.094,2664,3906,3628,0,0,0,0,0,0
$GC,2685,-0.58,-146.0,314.5,-11.4,283,2689,0.00,2.35,0.00,0.000,6,0.000,0.067,2664,2484,3627,0,0,0,0,0,0
$GC,3010,-0.50,-146.0,355.3,-12.5,313,3015,0.15,2.38,0.00,0.000,4,0.223,0.080,2699,1077,3627,0,0,0,0,0,0
$GC,3032,-0.46,-146.0,358.1,-11.8,314,3039,0.00,2.40,0.00,0.000,6,0.000,0.077,2699,2496,3627,0,0,0,0,0,0
$GC,3358,-0.48,-146.0,388.3,-9.1,345,3362,0.00,2.40,0.00,0.000,4,0.000,0.092,2699,3905,3627,0,0,0,0,0,0
$GC,3375,-0.50,-146.0,390.0,-9.0,346,3382,0.00,2.33,0.00,0.000,6,0.000,0.065,2699,2490,3628,0,0,0,0,0,0
$GC,3701,-0.53,-146.0,418.5,-8.2,377,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2490,3628,0,0,0,0,0,0
$GC,4023,-0.55,-146.0,445.0,-8.1,407,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2490,3628,0,0,0,0,0,0
$GC,4350,-0.59,-146.0,472.8,-7.9,438,4355,0.00,2.38,0.00,0.000,4,0.000,0.078,2699,1068,3628,0,0,0,0,0,0
$GC,4370,-0.63,-146.0,474.4,-8.0,439,4375,0.12,2.38,0.00,0.000,6,0.129,0.075,2659,2493,3628,0,0,0,0,0,0
$GC,4701,-0.57,-146.0,510.5,-10.7,470,4705,0.00,2.42,0.00,0.000,4,0.000,0.090,2659,3905,3628,0,0,0,0,0,0
$GC,4723,-0.49,-146.0,513.6,-13.4,471,4731,0.17,2.33,0.00,0.000,6,0.198,0.063,2701,2489,3628,0,0,0,0,0,0
$GC,5051,-0.54,-146.0,542.1,-7.8,502,5055,0.00,2.35,0.00,0.000,4,0.000,0.076,2701,1074,3629,0,0,0,0,0,0
$GC,5070,-0.58,-146.0,543.8,-8.1,503,5074,0.00,2.38,0.00,0.000,6,0.000,0.074,2701,2490,3629,0,0,0,0,0,0
$STATE,5149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5149,begin apogee
$GC,5156,-0.12,0.0,551.3,9.1,510,5289,0.38,0.00,126.40,1.282,6,0.185,0.000,2810,2269,3030,0,0,0,0,0,0
$STATE,5290,end apogee,CONTROL_FINISHED_OK
$STATE,5290,begin climb
$GC,5292,0.62,146.0,555.1,0.0,522,5436,0.85,2.70,133.55,1.230,4,0.151,0.084,3065,870,2433,0,0,0,0,0,0
$GC,5499,0.58,146.0,541.4,10.4,540,5506,0.00,2.58,0.00,0.000,6,0.000,0.070,3065,2274,2430,0,0,0,0,0,0
$GC,5825,0.53,146.0,505.8,10.4,571,5829,0.00,2.42,0.00,0.000,4,0.000,0.086,3065,3692,2427,0,0,0,0,0,0
$GC,5905,0.44,146.0,496.1,12.1,578,5911,0.25,2.38,0.00,0.000,6,0.184,0.070,3011,2272,2426,0,0,0,0,0,0
$GC,6232,0.55,190.0,471.9,8.0,608,6272,0.00,0.00,38.55,1.177,6,0.000,0.000,3011,2272,2255,0,0,0,0,0,0
$GC,6590,0.71,242.7,444.3,7.6,642,6642,0.22,0.00,48.62,1.161,6,0.080,0.000,3104,2272,2040,0,0,0,0,0,0
$GC,6960,0.63,242.7,388.5,15.6,677,6965,0.15,2.40,0.00,0.000,4,0.191,0.083,3066,3691,2031,0,0,0,0,0,0
$GC,7004,0.63,242.7,381.6,14.4,680,7011,0.00,2.35,0.00,0.000,6,0.000,0.070,3076,2270,2031,0,0,0,0,0,0
$GC,7331,0.63,242.7,341.3,11.7,711,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2270,2030,0,0,0,0,0,0
$GC,7649,0.63,242.7,304.3,11.3,741,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2270,2028,0,0,0,0,0,0
$GC,7965,0.63,242.7,270.7,10.2,771,7970,0.00,2.38,0.00,0.000,4,0.000,0.084,3085,857,2028,0,0,0,0,0,0
$GC,7999,0.66,242.7,267.0,10.4,773,8006,0.00,2.38,0.00,0.000,6,0.000,0.070,3085,2284,2026,0,0,0,0,0,0
$GC,8324,0.66,242.7,231.1,11.2,804,8328,0.00,2.33,0.00,0.000,4,0.000,0.083,3085,3689,2026,0,0,0,0,0,0
$GC,8380,0.62,242.7,223.9,13.7,808,8387,0.12,2.35,0.00,0.000,6,0.190,0.070,3065,2270,2027,0,0,0,0,0,0
$GC,8706,0.69,258.4,192.8,9.3,839,8728,0.00,2.42,13.30,1.011,4,0.000,0.084,3072,861,1975,0,0,0,0,0,0
$GC,8780,0.78,265.1,185.8,9.7,845,8798,0.12,2.35,7.70,0.925,6,0.109,0.069,3125,2276,1948,0,0,0,0,0,0
$GC,9116,0.74,265.1,144.0,12.6,877,9120,0.00,2.35,0.00,0.000,4,0.000,0.084,3125,3688,1946,0,0,0,0,0,0
$GC,9173,0.67,265.1,135.9,14.9,881,9181,0.20,2.35,0.00,0.000,6,0.197,0.071,3085,2275,1946,0,0,0,0,0,0
$GC,9499,0.80,314.4,106.6,7.7,912,9550,0.10,0.00,46.55,1.009,6,0.124,0.000,3131,2275,1748,0,0,0,0,0,0
$GC,9888,0.80,314.4,62.1,11.5,975,9895,0.00,2.40,0.00,0.000,4,0.000,0.083,3131,3687,1740,0,0,0,0,0,0
$GC,9949,0.80,314.4,54.5,12.0,985,9956,0.00,2.35,0.00,0.000,6,0.000,0.071,3141,2275,1738,0,0,0,0,0,0
$GC,10295,0.80,314.4,16.0,11.6,1046,10301,0.00,2.35,0.00,0.000,4,0.000,0.086,3152,864,1737,0,0,0,0,0,0
$GC,10354,0.85,314.4,9.7,10.4,1056,10361,0.00,2.38,0.00,0.000,6,0.000,0.074,3152,2281,1736,0,0,0,0,0,0
$FREEZE,8.23,-1.713,-1.771,2,43,0
$STATE,10366,end climb,FINISH_DEPTH_REACHED
$STATE,10367,begin subsurface finish
$FINISH1,8.2,1.025944,76
$GC,10374,0.09,76.3,8.2,-10.9,1058,10421,0.85,2.40,-39.62,0.000,4,0.174,0.101,2902,3690,2719,0,0,0,0,0,0
$FINISH2,7.2
$STATE,10422,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10422,begin surface
$RAFOS_CLK,574
$RAFOS,6,1306255748,16.833334,16.818890,104,59,54,52,49,49,793,178,163,202,131,141
$RAFOS,5,1306255270,16.700001,16.686111,69,61,56,55,53,50,941,171,208,180,149,130
$RAFOS,4,1306254784,16.566668,16.551111,140,72,64,61,60,57,744,198,164,211,181,222
$RAFOS,3,1306254311,16.433332,16.419722,97,60,58,57,57,55,782,188,202,177,153,131
$RAFOS,2,1306253823,16.299999,16.284166,111,63,58,55,55,50,693,191,208,217,173,227
$RAFOS,1,1306253346,16.166666,16.151667,102,61,56,56,53,52,575,191,209,150,236,166
$RAFOS,0,1306252871,16.033333,16.019722,164,65,62,58,58,54,570,192,215,166,202,1446
$RAFOS_FIX,6650.042480,-6021.070312,240511,161625,7,112,0.29
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,48.26
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.6,18.8
$ALTIM_BOTTOM_PING,550.2,15.6
$24V_AH,21.1,90.767
$10V_AH,9.8,46.923
$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,5.425,101.100,414.675,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,2545.839,5550.654,494.115,1684.259,227.051,0.000,1404.632,0.000,1670.479,2520.000,15.918,0.000
$DEVICE_MAMPS,232.560,143.820,1282.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.541,810.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40007,1066
$CAP_FILE_SIZE,120798,0
$CFSIZE,260165632,208998400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.2
$GPS,240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6