version: 66.08
glider: 141
mission: 15
dive: 642
start: 5 17 111 9 25 11
data:
$ID,141
$MISSION,15
$DIVE,642
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,170511,083117,6706.690,-5723.678,0,6092.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.24
$_SM_ANGLEo,-2.7
$GPS2,170511,083117,6706.690,-5723.678,0,6092.3,0,-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,290.1,139843,-17.5,-10.000
$D_GRID,769
$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,-5.88,0.000,2,0.000,0.000,2887,2278,3099,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.1,-0.0,1,46,0.60,0.00,-13.68,0.000,6,0.096,0.000,2669,2278,3628,0,0,0,0,0,0
$GC,385,-0.55,-146.0,59.9,-14.2,64,391,0.00,2.70,0.00,0.000,4,0.000,0.084,2669,3898,3630,0,0,0,0,0,0
$GC,528,-0.53,-146.0,79.9,-13.1,89,535,0.00,2.25,0.00,0.000,6,0.000,0.056,2669,2480,3630,0,0,0,0,0,0
$GC,869,-0.47,-146.0,124.4,-12.5,133,871,0.15,0.00,0.00,0.000,6,0.213,0.000,2704,2480,3628,0,0,0,0,0,0
$GC,1188,-0.53,-146.0,157.5,-10.2,163,1192,0.00,2.38,0.00,0.000,4,0.000,0.083,2704,3898,3626,0,0,0,0,0,0
$GC,1232,-0.62,-146.0,162.0,-8.9,166,1240,0.12,2.25,0.00,0.000,6,0.125,0.055,2663,2491,3626,0,0,0,0,0,0
$GC,1558,-0.59,-146.0,203.6,-12.4,197,1562,0.00,2.38,0.00,0.000,4,0.000,0.080,2663,3899,3625,0,0,0,0,0,0
$GC,1597,-0.59,-146.0,208.5,-11.6,200,1604,0.00,2.28,0.00,0.000,6,0.000,0.054,2663,2483,3625,0,0,0,0,0,0
$GC,1923,-0.56,-146.0,246.7,-11.0,231,1927,0.00,2.28,0.00,0.000,4,0.000,0.069,2663,1081,3625,0,0,0,0,0,0
$GC,1963,-0.56,-146.0,251.0,-11.1,234,1967,0.00,2.33,0.00,0.000,6,0.000,0.067,2663,2492,3625,0,0,0,0,0,0
$GC,2289,-0.54,-146.0,285.4,-10.7,264,2293,0.00,2.35,0.00,0.000,4,0.000,0.081,2663,3909,3625,0,0,0,0,0,0
$GC,2367,-0.54,-146.0,293.7,-10.4,270,2374,0.00,2.28,0.00,0.000,6,0.000,0.051,2663,2479,3625,0,0,0,0,0,0
$GC,2693,-0.54,-146.0,323.9,-9.1,301,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2479,3626,0,0,0,0,0,0
$GC,3016,-0.54,-146.0,352.2,-8.8,331,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2479,3626,0,0,0,0,0,0
$GC,3344,-0.54,-146.0,382.5,-9.6,362,3348,0.00,2.38,0.00,0.000,4,0.000,0.076,2663,3904,3627,0,0,0,0,0,0
$GC,3377,-0.54,-146.0,386.1,-10.0,364,3383,0.00,2.22,0.00,0.000,6,0.000,0.049,2663,2483,3627,0,0,0,0,0,0
$GC,3702,-0.54,-146.0,415.6,-9.3,395,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2483,3628,0,0,0,0,0,0
$GC,4023,-0.54,-146.0,446.1,-9.6,425,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2484,3629,0,0,0,0,0,0
$GC,4342,-0.54,-146.0,476.3,-8.9,455,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2483,3629,0,0,0,0,0,0
$GC,4669,-0.54,-146.0,508.1,-10.0,486,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2483,3630,0,0,0,0,0,0
$GC,4988,-0.54,-146.0,541.0,-10.4,516,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2484,3630,0,0,0,0,0,0
$GC,5318,-0.54,-146.0,575.1,-10.2,547,5322,0.00,2.22,0.00,0.000,4,0.000,0.064,2663,1083,3630,0,0,0,0,0,0
$GC,5351,-0.54,-146.0,579.1,-10.3,549,5358,0.00,2.33,0.00,0.000,6,0.000,0.067,2663,2496,3630,0,0,0,0,0,0
$GC,5696,-0.54,-146.0,612.4,-9.6,574,5701,0.00,2.33,0.00,0.000,4,0.000,0.080,2663,3903,3630,0,0,0,0,0,0
$GC,5765,-0.56,-146.0,619.4,-9.8,576,5769,0.00,2.22,0.00,0.000,6,0.000,0.050,2663,2484,3629,0,0,0,0,0,0
$GC,6098,-0.56,-146.0,650.3,-9.4,587,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2484,3629,0,0,0,0,0,0
$GC,6402,-0.56,-146.0,678.3,-9.1,597,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2484,3630,0,0,0,0,0,0
$GC,6707,-0.56,-146.0,706.5,-9.3,607,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2484,3629,0,0,0,0,0,0
$GC,7014,-0.56,-146.0,735.5,-9.3,617,7018,0.00,2.38,0.00,0.000,4,0.000,0.077,2663,3899,3628,0,0,0,0,0,0
$GC,7044,-0.56,-146.0,738.4,-10.3,618,7048,0.00,2.28,0.00,0.000,6,0.000,0.056,2663,2488,3628,0,0,0,0,0,0
$STATE,7192,end dive,NO_VERTICAL_VELOCITY
$STATE,7192,begin apogee
$GC,7199,-0.12,0.0,739.1,0.0,623,7335,0.47,0.00,127.97,1.382,6,0.135,0.000,2814,2266,3029,0,0,0,0,0,0
$STATE,7335,end apogee,CONTROL_FINISHED_OK
$STATE,7336,begin climb
$GC,7338,0.62,146.0,739.0,0.0,627,7485,0.77,2.70,134.95,1.335,4,0.121,0.081,3065,874,2432,0,0,0,0,0,0
$GC,7737,0.48,146.0,728.0,11.2,639,7742,0.15,2.33,0.00,0.000,6,0.203,0.059,3027,2282,2426,0,0,0,0,0,0
$GC,8057,0.46,171.2,698.9,8.8,650,8089,0.00,2.47,22.05,1.257,4,0.000,0.079,3035,864,2331,0,0,0,0,0,0
$GC,8218,0.42,171.2,682.5,10.6,654,8226,0.12,2.33,0.00,0.000,6,0.187,0.060,3006,2286,2328,0,0,0,0,0,0
$GC,8535,0.46,200.5,655.4,8.6,665,8568,0.00,2.47,27.17,1.265,4,0.000,0.079,3014,867,2212,0,0,0,0,0,0
$GC,8676,0.49,209.0,642.1,9.6,669,8691,0.00,2.28,8.88,1.121,6,0.000,0.060,3014,2275,2177,0,0,0,0,0,0
$GC,9012,0.53,216.6,610.2,9.6,680,9026,0.00,2.40,8.43,1.099,4,0.000,0.080,3023,874,2146,0,0,0,0,0,0
$GC,9149,0.55,217.8,596.9,9.9,684,9153,0.00,2.25,0.00,0.000,6,0.000,0.060,3023,2281,2143,0,0,0,0,0,0
$GC,9474,0.56,225.6,564.9,9.6,714,9489,0.00,2.40,9.48,1.114,4,0.000,0.078,3033,866,2110,0,0,0,0,0,0
$GC,9613,0.56,225.6,550.6,10.5,726,9620,0.00,2.30,0.00,0.000,6,0.000,0.060,3033,2293,2107,0,0,0,0,0,0
$GC,9938,0.56,225.6,516.3,10.6,757,9943,0.00,2.38,0.00,0.000,4,0.000,0.078,3043,869,2107,0,0,0,0,0,0
$GC,10035,0.56,225.6,505.5,11.8,765,10039,0.00,2.28,0.00,0.000,6,0.000,0.060,3044,2280,2105,0,0,0,0,0,0
$GC,10366,0.54,225.6,468.1,11.9,796,10370,0.00,2.33,0.00,0.000,4,0.000,0.076,3053,869,2105,0,0,0,0,0,0
$GC,10452,0.52,225.6,457.6,13.0,803,10456,0.00,2.28,0.00,0.000,6,0.000,0.059,3053,2281,2104,0,0,0,0,0,0
$GC,10778,0.48,225.6,414.4,13.4,833,10783,0.12,2.35,0.00,0.000,4,0.190,0.075,3030,864,2104,0,0,0,0,0,0
$GC,10870,0.51,225.6,404.6,10.2,841,10874,0.00,2.28,0.00,0.000,6,0.000,0.059,3030,2282,2103,0,0,0,0,0,0
$GC,11196,0.51,225.6,368.6,11.4,871,11201,0.00,2.33,0.00,0.000,4,0.000,0.074,3040,863,2103,0,0,0,0,0,0
$GC,11272,0.53,225.6,359.8,12.0,877,11277,0.00,2.25,0.00,0.000,6,0.000,0.058,3040,2275,2103,0,0,0,0,0,0
$GC,11604,0.53,225.6,320.0,11.5,908,11608,0.00,2.33,0.00,0.000,4,0.000,0.073,3050,864,2103,0,0,0,0,0,0
$GC,11650,0.53,225.6,314.3,12.1,911,11657,0.00,2.28,0.00,0.000,6,0.000,0.057,3050,2283,2102,0,0,0,0,0,0
$GC,11976,0.51,225.6,275.4,11.6,942,11980,0.00,2.33,0.00,0.000,4,0.000,0.071,3060,862,2102,0,0,0,0,0,0
$GC,12039,0.51,225.6,267.8,11.4,947,12044,0.12,2.25,0.00,0.000,6,0.181,0.057,3030,2281,2103,0,0,0,0,0,0
$GC,12366,0.53,225.6,234.2,10.3,977,12370,0.00,2.33,0.00,0.000,4,0.000,0.070,3038,861,2103,0,0,0,0,0,0
$GC,12438,0.57,225.6,226.7,10.3,983,12444,0.00,2.28,0.00,0.000,6,0.000,0.056,3038,2282,2103,0,0,0,0,0,0
$GC,12764,0.57,225.6,191.9,10.6,1014,12768,0.00,2.33,0.00,0.000,4,0.000,0.070,3046,863,2103,0,0,0,0,0,0
$GC,12825,0.60,225.6,185.0,10.7,1019,12832,0.00,2.25,0.00,0.000,6,0.000,0.065,3046,2276,2103,0,0,0,0,0,0
$GC,13153,0.60,225.6,150.2,10.9,1050,13157,0.00,2.28,0.00,0.000,4,0.000,0.069,3055,869,2103,0,0,0,0,0,0
$GC,13216,0.63,225.6,142.9,11.0,1055,13220,0.00,2.22,0.00,0.000,6,0.000,0.055,3055,2278,2103,0,0,0,0,0,0
$GC,13544,0.65,228.6,107.5,9.9,1085,13548,0.00,2.30,0.00,0.000,4,0.000,0.069,3065,859,2103,0,0,0,0,0,0
$GC,13600,0.66,234.6,101.3,9.7,1089,13618,0.00,2.28,8.68,0.845,6,0.000,0.055,3065,2285,2073,0,0,0,0,0,0
$GC,13959,0.72,257.5,66.4,8.9,1151,13989,0.00,2.35,22.17,0.914,4,0.000,0.070,3074,860,1979,0,0,0,0,0,0
$GC,14093,0.77,264.7,53.7,9.7,1174,14107,0.12,2.28,7.75,0.800,6,0.108,0.056,3127,2274,1950,0,0,0,0,0,0
$GC,14447,0.73,264.7,9.7,11.9,1236,14454,0.00,2.35,0.00,0.000,4,0.000,0.072,3137,864,1948,0,0,0,0,0,0
$FREEZE,8.11,-1.715,-1.823,2,5,0
$FREEZE,7.46,-1.713,-1.822,2,5,0
$FREEZE,6.79,-1.712,-1.822,2,5,0
$STATE,14470,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14470,begin subsurface finish
$FINISH1,6.8,1.026676,40
$GC,14480,0.05,40.4,6.8,-11.7,1240,14528,0.85,0.00,-40.58,0.000,6,0.181,0.000,2891,2284,2867,0,0,0,0,0,0
$FINISH2,4.3
$STATE,14528,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14528,begin surface
$RAFOS_CLK,752
$RAFOS,6,1305636545,12.833333,12.818055,126,59,58,57,55,54,728,187,149,176,112,199
$RAFOS,5,1305636061,12.700000,12.683611,168,72,68,60,59,57,609,194,170,159,221,146
$RAFOS,4,1305635587,12.566667,12.551945,152,66,62,58,56,53,794,215,201,158,121,140
$RAFOS,3,1305635103,12.433333,12.417500,62,61,60,55,55,51,214,953,197,185,174,146
$RAFOS,2,1305634631,12.300000,12.286389,71,67,59,58,56,47,961,198,121,152,163,216
$RAFOS,1,1305634151,12.166667,12.153055,74,60,59,58,54,52,943,145,162,204,171,223
$RAFOS,0,1305633666,12.033333,12.018333,59,57,56,49,49,48,197,173,206,183,219,228
$RAFOS_FIX,6707.445312,-5727.298828,170511,121238,5,118,0.20
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,45.62
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.90
$XPDR_PINGS,29
$ALTIM_TOP_PING,20.0,17.6
$24V_AH,21.4,84.492
$10V_AH,9.9,43.732
$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,3.625,121.250,377.525,0.000,0.000,0.000,0.000,0.000,10.250,0.000,0.000,3104.656,8530.136,455.472,2224.443,291.688,0.000,1630.901,0.000,2199.679,2520.000,24.312,0.000
$DEVICE_MAMPS,213.435,84.150,1382.355,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,885.159,953.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,49985,1248
$CAP_FILE_SIZE,148836,0
$CFSIZE,260165632,212013056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.9
$GPS,170511,123238,6707.445,-5727.299,0,5118.2,0,-37.6