version: 66.08
glider: 141
mission: 15
dive: 641
start: 5 17 111 5 44 35
data:
$ID,141
$MISSION,15
$DIVE,641
$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,-3
$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,-49000.867
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,170511,043117,6706.560,-5720.984,0,6104.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-57.1
$GPS2,170511,043117,6706.560,-5720.984,181,99.0,181,-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,290.4,141652,-17.5,-10.000
$D_GRID,764
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,144,0.00,0.00,-125.00,0.000,2,0.000,0.000,113,2497,3384,0,0,0,0,0,0
$GC,149,-0.62,-146.0,5.7,-10.4,22,175,13.48,2.40,-5.15,0.000,4,0.326,0.099,2652,3902,3628,0,0,0,0,0,0
$GC,269,-0.56,-146.0,35.0,-15.1,42,276,0.00,2.30,0.00,0.000,6,0.000,0.060,2652,2487,3631,0,0,0,0,0,0
$GC,615,-0.45,-146.0,88.7,-14.7,103,622,0.22,0.00,0.00,0.000,6,0.207,0.000,2711,2486,3631,0,0,0,0,0,0
$GC,954,-0.50,-146.0,120.1,-8.3,144,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2486,3629,0,0,0,0,0,0
$GC,1275,-0.56,-146.0,147.2,-7.8,174,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2486,3629,0,0,0,0,0,0
$GC,1604,-0.63,-146.0,173.6,-8.2,205,1609,0.15,2.42,0.00,0.000,4,0.129,0.087,2662,3897,3627,0,0,0,0,0,0
$GC,1649,-0.63,-146.0,178.7,-11.7,209,1654,0.00,2.30,0.00,0.000,6,0.000,0.059,2662,2478,3627,0,0,0,0,0,0
$GC,1976,-0.60,-146.0,219.6,-11.9,239,1980,0.00,2.30,0.00,0.000,4,0.000,0.074,2662,1080,3627,0,0,0,0,0,0
$GC,2016,-0.60,-146.0,224.9,-12.0,242,2020,0.00,2.35,0.00,0.000,6,0.000,0.074,2662,2484,3627,0,0,0,0,0,0
$GC,2344,-0.56,-146.0,263.4,-11.4,272,2348,0.00,2.42,0.00,0.000,4,0.000,0.087,2662,3909,3627,0,0,0,0,0,0
$GC,2432,-0.56,-146.0,273.9,-10.8,279,2439,0.00,2.25,0.00,0.000,6,0.000,0.057,2662,2491,3628,0,0,0,0,0,0
$GC,2759,-0.54,-146.0,310.5,-11.2,310,2763,0.00,2.28,0.00,0.000,4,0.000,0.070,2662,1080,3629,0,0,0,0,0,0
$GC,2827,-0.54,-146.0,318.3,-10.8,315,2833,0.00,2.35,0.00,0.000,6,0.000,0.069,2662,2500,3629,0,0,0,0,0,0
$GC,3153,-0.54,-146.0,353.1,-10.4,346,3157,0.00,2.35,0.00,0.000,4,0.000,0.083,2662,3906,3630,0,0,0,0,0,0
$GC,3224,-0.54,-146.0,360.7,-10.2,352,3232,0.00,2.25,0.00,0.000,6,0.000,0.054,2662,2488,3630,0,0,0,0,0,0
$GC,3550,-0.54,-146.0,394.6,-10.1,383,3554,0.00,2.28,0.00,0.000,4,0.000,0.067,2662,1082,3631,0,0,0,0,0,0
$GC,3594,-0.54,-146.0,399.3,-10.2,386,3601,0.00,2.33,0.00,0.000,6,0.000,0.067,2662,2496,3632,0,0,0,0,0,0
$GC,3920,-0.54,-146.0,431.4,-9.4,417,3924,0.00,2.35,0.00,0.000,4,0.000,0.082,2662,3899,3632,0,0,0,0,0,0
$GC,3987,-0.54,-146.0,437.8,-9.1,422,3994,0.00,2.22,0.00,0.000,6,0.000,0.052,2661,2485,3632,0,0,0,0,0,0
$GC,4313,-0.54,-146.0,469.8,-10.8,453,4317,0.00,2.25,0.00,0.000,4,0.000,0.067,2662,1080,3634,0,0,0,0,0,0
$GC,4341,-0.54,-146.0,472.9,-10.8,455,4347,0.00,2.33,0.00,0.000,6,0.000,0.066,2662,2498,3634,0,0,0,0,0,0
$GC,4666,-0.54,-146.0,506.6,-10.6,486,4670,0.00,2.33,0.00,0.000,4,0.000,0.080,2662,3901,3635,0,0,0,0,0,0
$GC,4733,-0.54,-146.0,514.0,-11.0,491,4739,0.00,2.25,0.00,0.000,6,0.000,0.051,2662,2488,3634,0,0,0,0,0,0
$GC,5058,-0.54,-146.0,548.7,-10.7,522,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2487,3635,0,0,0,0,0,0
$GC,5379,-0.54,-146.0,583.1,-10.9,552,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2486,3636,0,0,0,0,0,0
$GC,5698,-0.54,-146.0,617.8,-10.9,573,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2486,3636,0,0,0,0,0,0
$GC,6006,-0.54,-146.0,649.8,-10.3,583,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2486,3636,0,0,0,0,0,0
$GC,6312,-0.54,-146.0,680.2,-10.0,593,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2485,3636,0,0,0,0,0,0
$GC,6617,-0.54,-146.0,709.7,-9.8,603,6622,0.00,2.40,0.00,0.000,4,0.000,0.080,2661,3908,3636,0,0,0,0,0,0
$STATE,6782,end dive,NO_VERTICAL_VELOCITY
$STATE,6782,begin apogee
$GC,6791,-0.12,0.0,711.2,0.0,608,6926,0.47,0.00,128.57,1.359,6,0.127,0.000,2815,2275,3031,0,0,0,0,0,0
$STATE,6927,end apogee,CONTROL_FINISHED_OK
$STATE,6927,begin climb
$GC,6930,0.62,146.0,711.3,0.0,612,7077,0.80,2.67,134.23,1.310,4,0.134,0.072,3056,3684,2433,0,0,0,0,0,0
$GC,7281,0.52,146.0,678.0,13.8,623,7286,0.12,2.38,0.00,0.000,6,0.186,0.060,3037,2270,2427,0,0,0,0,0,0
$GC,7622,0.53,147.2,643.6,9.9,634,7626,0.00,2.30,0.00,0.000,4,0.000,0.076,3045,866,2425,0,0,0,0,0,0
$GC,7655,0.53,149.5,640.2,9.9,635,7659,0.00,2.33,0.00,0.000,6,0.000,0.063,3045,2282,2425,0,0,0,0,0,0
$GC,7985,0.50,149.5,606.3,10.5,646,7989,0.00,2.33,0.00,0.000,4,0.000,0.078,3045,3688,2424,0,0,0,0,0,0
$GC,8062,0.41,149.5,597.0,12.1,649,8070,0.22,2.33,0.00,0.000,6,0.184,0.063,2997,2267,2424,0,0,0,0,0,0
$GC,8388,0.55,209.9,572.5,7.2,680,8454,0.12,2.42,56.03,1.252,4,0.107,0.077,3065,872,2173,0,0,0,0,0,0
$GC,8463,0.52,209.9,564.8,11.0,686,8470,0.12,2.33,0.00,0.000,6,0.176,0.063,3035,2277,2171,0,0,0,0,0,0
$GC,8789,0.55,209.9,530.8,10.3,717,8793,0.00,2.35,0.00,0.000,4,0.000,0.078,3035,3690,2166,0,0,0,0,0,0
$GC,8822,0.55,209.9,527.0,11.3,719,8828,0.00,2.33,0.00,0.000,6,0.000,0.062,3043,2269,2165,0,0,0,0,0,0
$GC,9149,0.55,209.9,492.2,10.8,750,9154,0.00,2.30,0.00,0.000,4,0.000,0.075,3053,864,2164,0,0,0,0,0,0
$GC,9174,0.57,209.9,489.4,10.6,752,9178,0.00,2.28,0.00,0.000,6,0.000,0.063,3053,2275,2163,0,0,0,0,0,0
$GC,9500,0.55,209.9,449.1,12.5,782,9503,0.00,2.33,0.00,0.000,4,0.000,0.078,3053,3683,2163,0,0,0,0,0,0
$GC,9557,0.51,209.9,441.2,15.5,787,9562,0.12,2.30,0.00,0.000,6,0.187,0.063,3033,2269,2163,0,0,0,0,0,0
$GC,9883,0.51,209.9,403.6,11.7,817,9887,0.00,2.30,0.00,0.000,4,0.000,0.076,3041,859,2162,0,0,0,0,0,0
$GC,9940,0.57,212.8,397.6,9.9,821,9946,0.00,2.30,0.00,0.000,6,0.000,0.063,3042,2275,2161,0,0,0,0,0,0
$GC,10265,0.57,212.8,359.8,11.4,852,10269,0.00,2.35,0.00,0.000,4,0.000,0.076,3042,3690,2160,0,0,0,0,0,0
$GC,10321,0.57,212.8,352.5,13.3,856,10327,0.00,2.30,0.00,0.000,6,0.000,0.060,3051,2268,2161,0,0,0,0,0,0
$GC,10646,0.57,212.8,311.5,12.5,887,10650,0.00,2.28,0.00,0.000,4,0.000,0.073,3062,864,2161,0,0,0,0,0,0
$GC,10667,0.57,212.8,308.7,12.6,888,10674,0.00,2.28,0.00,0.000,6,0.000,0.060,3062,2285,2161,0,0,0,0,0,0
$GC,10993,0.53,212.8,267.8,12.1,919,10997,0.00,2.28,0.00,0.000,4,0.000,0.073,3063,3687,2160,0,0,0,0,0,0
$GC,11039,0.49,212.8,261.8,13.0,923,11044,0.17,2.28,0.00,0.000,6,0.187,0.059,3028,2275,2161,0,0,0,0,0,0
$GC,11365,0.60,257.4,233.8,7.9,953,11412,0.00,2.38,40.90,1.024,4,0.000,0.073,3029,873,1979,0,0,0,0,0,0
$GC,11445,0.78,305.8,227.8,7.8,960,11500,0.20,2.25,44.33,1.001,6,0.064,0.058,3119,2276,1782,0,0,0,0,0,0
$GC,11819,0.71,305.8,165.9,17.3,995,11823,0.00,2.28,0.00,0.000,4,0.000,0.071,3119,3685,1773,0,0,0,0,0,0
$GC,11865,0.65,305.8,157.7,17.4,999,11870,0.20,2.28,0.00,0.000,6,0.188,0.058,3078,2276,1772,0,0,0,0,0,0
$GC,12191,0.70,305.8,119.5,10.3,1029,12195,0.00,2.28,0.00,0.000,4,0.000,0.071,3084,866,1772,0,0,0,0,0,0
$GC,12247,0.79,317.2,113.9,9.5,1033,12266,0.10,2.28,9.77,0.847,6,0.122,0.057,3128,2284,1735,0,0,0,0,0,0
$GC,12599,0.77,317.2,62.7,14.9,1087,12606,0.00,2.28,0.00,0.000,4,0.000,0.072,3128,3682,1734,0,0,0,0,0,0
$GC,12643,0.74,317.2,55.7,15.9,1094,12650,0.12,2.28,0.00,0.000,6,0.197,0.060,3108,2276,1733,0,0,0,0,0,0
$GC,12991,0.77,317.2,14.1,11.5,1155,12997,0.00,2.33,0.00,0.000,4,0.000,0.075,3111,860,1733,0,0,0,0,0,0
$FREEZE,8.89,-1.746,-1.827,2,4,0
$STATE,13037,end climb,FINISH_DEPTH_REACHED
$STATE,13037,begin subsurface finish
$FINISH1,8.9,1.026737,37
$GC,13047,0.05,37.4,8.9,-10.0,1163,13089,0.73,0.00,-36.35,0.000,6,0.148,0.000,2887,2278,2880,0,0,0,0,0,0
$FINISH2,7.9
$STATE,13089,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13090,begin surface
$RAFOS_CLK,725
$RAFOS,6,1305622150,8.833333,8.819445,102,67,67,57,53,53,720,207,195,158,175,137
$RAFOS,5,1305621667,8.700000,8.685278,104,64,56,55,53,52,579,217,118,235,179,127
$RAFOS,4,1305621189,8.566667,8.552500,91,60,59,57,56,52,793,202,130,213,159,184
$RAFOS,3,1305620711,8.433333,8.419723,98,60,56,54,53,53,913,227,184,163,193,209
$RAFOS,2,1305620227,8.300000,8.285277,88,59,56,52,51,50,985,209,159,218,132,170
$RAFOS,1,1305619744,8.166667,8.151111,71,58,51,50,49,49,988,201,122,213,148,87
$RAFOS,0,1305619269,8.033334,8.019167,62,61,60,58,57,54,163,200,211,131,188,233
$RAFOS_FIX,6706.690430,-5723.677734,170511,080817,6,92,0.14
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.80
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,21.5,84.355
$10V_AH,9.9,43.651
$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,17.375,125.625,413.825,0.000,0.000,98.859,17.307,0.000,6.750,0.000,183.293,2854.085,7563.120,578.021,2346.197,687.739,0.000,1699.402,0.000,2014.931,2520.000,21.265,0.000
$DEVICE_MAMPS,325.890,99.450,1359.405,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,828.048,886.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150464
$DATA_FILE_SIZE,46657,1170
$CAP_FILE_SIZE,145863,0
$CFSIZE,260165632,212094976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,170511,083117,6706.690,-5723.678,0,6092.3,0,-37.6