version: 66.08
glider: 141
mission: 15
dive: 682
start: 5 24 111 19 57 5
data:
$ID,141
$MISSION,15
$DIVE,682
$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,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
$GPS1,240511,162725,6650.042,-6021.070,0,7112.4,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.20
$_SM_ANGLEo,-4.2
$GPS2,240511,162725,6650.042,-6021.070,0,7112.4,0,-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,235.5,11757,-17.5,-10.000
$D_GRID,552
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.53,0.000,2,0.000,0.000,2902,2277,2914,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.5,-0.0,1,52,0.65,2.10,-19.48,0.000,4,0.086,0.096,2665,1073,3629,0,0,0,0,0,0
$GC,82,-0.47,-146.0,18.2,-18.5,10,90,0.17,2.38,0.00,0.000,6,0.224,0.078,2704,2487,3631,0,0,0,0,0,0
$GC,431,-0.37,-146.0,80.4,-16.9,71,438,0.15,2.38,0.00,0.000,4,0.249,0.082,2740,1080,3631,0,0,0,0,0,0
$GC,492,-0.44,-146.0,88.5,-11.1,81,499,0.00,2.40,0.00,0.000,6,0.000,0.080,2739,2497,3631,0,0,0,0,0,0
$GC,826,-0.47,-146.0,124.9,-10.2,121,830,0.00,2.40,0.00,0.000,4,0.000,0.096,2739,3899,3630,0,0,0,0,0,0
$GC,870,-0.57,-146.0,129.5,-9.8,124,878,0.17,2.33,0.00,0.000,6,0.114,0.067,2681,2489,3630,0,0,0,0,0,0
$GC,1197,-0.49,-146.0,176.2,-13.8,155,1202,0.00,2.33,0.00,0.000,4,0.000,0.083,2681,1077,3629,0,0,0,0,0,0
$GC,1248,-0.46,-146.0,183.1,-12.2,159,1256,0.12,2.40,0.00,0.000,6,0.216,0.080,2707,2491,3630,0,0,0,0,0,0
$GC,1576,-0.46,-146.0,217.2,-10.3,190,1580,0.00,2.42,0.00,0.000,4,0.000,0.096,2708,3905,3629,0,0,0,0,0,0
$GC,1609,-0.50,-146.0,220.9,-9.9,192,1616,0.00,2.35,0.00,0.000,6,0.000,0.068,2708,2485,3628,0,0,0,0,0,0
$GC,1937,-0.53,-146.0,252.9,-10.1,223,1941,0.00,2.35,0.00,0.000,4,0.000,0.083,2708,1080,3629,0,0,0,0,0,0
$GC,1959,-0.55,-146.0,255.5,-9.8,224,1965,0.00,2.40,0.00,0.000,6,0.000,0.080,2708,2494,3628,0,0,0,0,0,0
$GC,2286,-0.58,-146.0,287.5,-9.8,255,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2494,3629,0,0,0,0,0,0
$GC,2603,-0.60,-146.0,319.8,-10.0,285,2608,0.12,2.42,0.00,0.000,4,0.131,0.094,2664,3899,3628,0,0,0,0,0,0
$GC,2633,-0.57,-146.0,323.1,-12.1,287,2639,0.00,2.33,0.00,0.000,6,0.000,0.067,2664,2485,3628,0,0,0,0,0,0
$GC,2965,-0.49,-146.0,367.6,-13.8,318,2967,0.15,0.00,0.00,0.000,6,0.220,0.000,2699,2485,3629,0,0,0,0,0,0
$GC,3284,-0.49,-146.0,400.4,-10.1,348,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2485,3629,0,0,0,0,0,0
$GC,3606,-0.52,-146.0,431.4,-9.4,378,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2485,3629,0,0,0,0,0,0
$GC,3934,-0.55,-146.0,462.2,-9.5,409,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2485,3629,0,0,0,0,0,0
$GC,4265,-0.58,-146.0,492.2,-8.8,440,4269,0.00,2.33,0.00,0.000,4,0.000,0.077,2699,1071,3629,0,0,0,0,0,0
$GC,4298,-0.63,-146.0,495.8,-9.1,442,4306,0.12,2.40,0.00,0.000,6,0.125,0.075,2659,2497,3629,0,0,0,0,0,0
$GC,4625,-0.58,-146.0,534.1,-11.1,473,4629,0.00,2.42,0.00,0.000,4,0.000,0.091,2658,3906,3629,0,0,0,0,0,0
$GC,4663,-0.54,-146.0,539.1,-12.6,476,4671,0.12,2.33,0.00,0.000,6,0.202,0.063,2686,2488,3630,0,0,0,0,0,0
$STATE,4797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4797,begin apogee
$GC,4804,-0.12,0.0,552.2,9.1,489,4938,0.45,0.00,127.12,1.280,6,0.192,0.000,2814,2265,3029,0,0,0,0,0,0
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4941,0.62,146.0,554.4,0.0,501,5087,0.80,2.83,134.02,1.234,4,0.137,0.080,3052,3684,2433,0,0,0,0,0,0
$GC,5128,0.54,146.0,544.0,11.1,519,5133,0.00,2.58,0.00,0.000,6,0.000,0.068,3063,2283,2431,0,0,0,0,0,0
$GC,5454,0.49,146.0,510.3,10.1,549,5456,0.15,0.00,0.00,0.000,6,0.178,0.000,3025,2283,2427,0,0,0,0,0,0
$GC,5773,0.59,207.0,485.1,7.2,579,5832,0.00,2.47,53.65,1.190,4,0.000,0.082,3024,3695,2185,0,0,0,0,0,0
$GC,5871,0.64,212.0,477.3,9.8,587,5884,0.12,2.40,5.88,0.900,6,0.104,0.069,3082,2270,2165,0,0,0,0,0,0
$GC,6202,0.64,212.0,439.0,11.3,618,6206,0.00,2.38,0.00,0.000,4,0.000,0.084,3093,861,2160,0,0,0,0,0,0
$GC,6236,0.62,212.0,434.9,11.7,621,6240,0.00,2.38,0.00,0.000,6,0.000,0.071,3093,2287,2159,0,0,0,0,0,0
$GC,6568,0.58,212.0,393.1,13.0,652,6573,0.15,2.38,0.00,0.000,4,0.182,0.083,3053,3689,2159,0,0,0,0,0,0
$GC,6635,0.58,212.0,384.8,11.9,657,6642,0.00,2.35,0.00,0.000,6,0.000,0.070,3061,2262,2158,0,0,0,0,0,0
$GC,6961,0.58,213.2,351.4,9.9,688,6966,0.00,2.33,0.00,0.000,4,0.000,0.083,3072,864,2158,0,0,0,0,0,0
$GC,7007,0.58,213.2,346.7,10.4,692,7012,0.00,2.35,0.00,0.000,6,0.000,0.070,3072,2281,2156,0,0,0,0,0,0
$GC,7333,0.58,213.2,313.1,10.2,722,7337,0.00,2.35,0.00,0.000,4,0.000,0.085,3072,3687,2156,0,0,0,0,0,0
$GC,7397,0.53,213.2,305.7,12.7,727,7402,0.17,2.35,0.00,0.000,6,0.181,0.070,3037,2271,2157,0,0,0,0,0,0
$GC,7723,0.65,250.2,278.5,8.3,757,7768,0.10,2.42,34.75,1.095,4,0.121,0.084,3096,871,2008,0,0,0,0,0,0
$GC,7809,0.65,250.2,269.0,12.2,764,7816,0.00,2.38,0.00,0.000,6,0.000,0.070,3096,2284,2005,0,0,0,0,0,0
$GC,8135,0.62,250.2,229.8,11.9,795,8140,0.12,2.38,0.00,0.000,4,0.187,0.084,3065,3697,2002,0,0,0,0,0,0
$GC,8186,0.62,250.2,223.9,11.8,799,8190,0.00,2.35,0.00,0.000,6,0.000,0.070,3073,2275,2002,0,0,0,0,0,0
$GC,8518,0.66,252.3,190.3,9.9,830,8522,0.00,2.38,0.00,0.000,4,0.000,0.083,3083,864,2001,0,0,0,0,0,0
$GC,8558,0.71,252.3,185.9,10.6,833,8562,0.00,2.33,0.00,0.000,6,0.000,0.070,3083,2284,2000,0,0,0,0,0,0
$GC,8887,0.75,263.5,153.0,9.5,863,8903,0.00,2.35,11.93,0.983,4,0.000,0.084,3084,3687,1956,0,0,0,0,0,0
$GC,8965,0.75,263.5,144.8,10.3,869,8972,0.00,2.35,0.00,0.000,6,0.000,0.079,3093,2275,1955,0,0,0,0,0,0
$GC,9291,0.80,274.3,114.6,9.5,900,9308,0.00,2.35,11.98,0.965,4,0.000,0.083,3101,865,1910,0,0,0,0,0,0
$GC,9370,0.88,289.8,107.0,9.3,906,9392,0.12,2.33,16.12,0.981,6,0.114,0.070,3151,2278,1848,0,0,0,0,0,0
$GC,9732,0.88,289.8,63.8,10.7,965,9739,0.00,2.35,0.00,0.000,4,0.000,0.086,3151,3687,1843,0,0,0,0,0,0
$GC,9763,0.84,289.8,60.1,11.3,970,9770,0.00,2.35,0.00,0.000,6,0.000,0.072,3162,2274,1842,0,0,0,0,0,0
$GC,10112,0.81,289.8,19.4,11.3,1031,10119,0.15,2.40,0.00,0.000,4,0.200,0.087,3132,864,1842,0,0,0,0,0,0
$GC,10156,0.87,289.8,15.0,10.2,1038,10162,0.00,2.35,0.00,0.000,6,0.000,0.074,3132,2275,1841,0,0,0,0,0,0
$STATE,10195,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10195,begin subsurface finish
$FINISH1,10.7,1.025896,79
$GC,10202,0.10,78.6,10.7,-10.9,1045,10239,0.77,2.40,-28.38,0.000,4,0.158,0.101,2896,3684,2711,0,0,0,0,0,0
$FINISH2,9.1
$STATE,10240,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10240,begin surface
$RAFOS_CLK,573
$RAFOS,6,1306270146,20.833334,20.818333,110,63,61,56,55,53,808,194,176,122,208,225
$RAFOS,5,1306269662,20.700001,20.683889,65,55,54,54,52,51,206,157,171,115,228,126
$RAFOS,4,1306269190,20.566668,20.552778,120,63,61,58,54,53,718,219,118,191,152,141
$RAFOS,3,1306268702,20.433332,20.417223,98,61,57,56,54,50,834,228,205,218,195,177
$RAFOS,2,1306268226,20.299999,20.285000,169,61,54,53,52,51,674,202,214,159,139,182
$RAFOS,1,1306267741,20.166666,20.150278,115,62,58,52,51,51,607,166,210,175,225,153
$RAFOS,0,1306267263,20.033333,20.017500,127,74,57,57,55,54,602,191,209,119,179,157
$RAFOS_FIX,6649.157715,-6023.013184,240511,202053,6,123,0.15
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026964
$HUMID,48.66
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.4,13.2
$24V_AH,21.1,91.047
$10V_AH,9.8,47.048
$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,4.925,107.375,395.450,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,2511.271,5419.485,464.278,1693.868,228.078,0.000,1377.381,0.000,1674.721,2520.000,18.632,0.000
$DEVICE_MAMPS,249.390,100.980,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.251,797.752,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40009,1051
$CAP_FILE_SIZE,119875,0
$CFSIZE,260165632,208875520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,240511,202453,6649.158,-6023.013,0,6123.2,0,-37.6