version: 66.08
glider: 141
mission: 15
dive: 643
start: 5 17 111 13 29 44
data:
$ID,141
$MISSION,15
$DIVE,643
$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,28
$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
$GPS1,170511,123238,6707.445,-5727.299,0,5118.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.74
$_SM_ANGLEo,4.8
$GPS2,170511,123238,6707.445,-5727.299,0,5118.2,0,-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,289.2,137753,-17.5,-10.000
$D_GRID,771
$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,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.43,0.000,2,0.000,0.000,2891,2284,3083,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.3,-0.0,1,53,0.65,2.70,-15.40,0.000,4,0.119,0.087,2671,3904,3629,0,0,0,0,0,0
$GC,82,-0.62,-146.0,13.5,-11.7,10,89,0.00,2.22,0.00,0.000,6,0.000,0.054,2671,2490,3630,0,0,0,0,0,0
$GC,428,-0.56,-146.0,64.4,-13.4,71,435,0.00,2.30,0.00,0.000,4,0.000,0.066,2671,1077,3630,0,0,0,0,0,0
$GC,567,-0.54,-146.0,83.0,-13.1,95,574,0.00,2.30,0.00,0.000,6,0.000,0.065,2671,2488,3629,0,0,0,0,0,0
$GC,902,-0.50,-146.0,125.6,-12.3,137,907,0.12,2.33,0.00,0.000,4,0.225,0.070,2699,1082,3628,0,0,0,0,0,0
$GC,987,-0.57,-146.0,134.4,-9.8,144,992,0.00,2.33,0.00,0.000,6,0.000,0.067,2699,2499,3628,0,0,0,0,0,0
$GC,1315,-0.63,-146.0,163.0,-8.5,174,1320,0.12,2.33,0.00,0.000,4,0.125,0.069,2656,1077,3626,0,0,0,0,0,0
$GC,1370,-0.63,-146.0,169.4,-11.7,178,1377,0.00,2.33,0.00,0.000,6,0.000,0.067,2656,2493,3625,0,0,0,0,0,0
$GC,1698,-0.60,-146.0,207.4,-12.2,209,1702,0.00,2.28,0.00,0.000,4,0.000,0.069,2656,1084,3625,0,0,0,0,0,0
$GC,1753,-0.60,-146.0,214.4,-11.4,213,1760,0.00,2.30,0.00,0.000,6,0.000,0.066,2656,2490,3625,0,0,0,0,0,0
$GC,2081,-0.57,-146.0,250.5,-11.0,244,2085,0.00,2.33,0.00,0.000,4,0.000,0.068,2656,1081,3625,0,0,0,0,0,0
$GC,2132,-0.57,-146.0,256.4,-10.9,248,2136,0.00,2.30,0.00,0.000,6,0.000,0.065,2656,2489,3625,0,0,0,0,0,0
$GC,2458,-0.55,-146.0,290.7,-10.5,278,2460,0.12,0.00,0.00,0.000,6,0.208,0.000,2685,2489,3625,0,0,0,0,0,0
$GC,2777,-0.60,-146.0,315.2,-7.3,308,2781,0.00,2.30,0.00,0.000,4,0.000,0.067,2685,1083,3626,0,0,0,0,0,0
$GC,2891,-0.68,-146.0,323.7,-7.3,317,2899,0.12,2.30,0.00,0.000,6,0.125,0.062,2643,2499,3626,0,0,0,0,0,0
$GC,3217,-0.63,-146.0,358.3,-11.1,348,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2499,3626,0,0,0,0,0,0
$GC,3538,-0.59,-146.0,395.4,-11.7,378,3543,0.10,2.33,0.00,0.000,4,0.207,0.065,2665,1074,3627,0,0,0,0,0,0
$GC,3629,-0.63,-146.0,405.5,-10.5,386,3633,0.00,2.30,0.00,0.000,6,0.000,0.061,2665,2494,3627,0,0,0,0,0,0
$GC,3955,-0.63,-146.0,438.1,-9.9,416,3959,0.00,2.28,0.00,0.000,4,0.000,0.064,2665,1079,3627,0,0,0,0,0,0
$GC,3995,-0.66,-146.0,442.4,-10.2,419,3999,0.00,2.30,0.00,0.000,6,0.000,0.061,2665,2496,3628,0,0,0,0,0,0
$GC,4321,-0.66,-146.0,475.0,-9.9,449,4325,0.00,2.28,0.00,0.000,4,0.000,0.064,2664,1083,3628,0,0,0,0,0,0
$GC,4376,-0.70,-146.0,481.0,-10.2,453,4383,0.00,2.28,0.00,0.000,6,0.000,0.060,2664,2488,3628,0,0,0,0,0,0
$GC,4702,-0.70,-146.0,513.7,-10.0,484,4706,0.00,2.28,0.00,0.000,4,0.000,0.064,2665,1074,3629,0,0,0,0,0,0
$GC,4753,-0.74,-146.0,519.0,-10.1,488,4758,0.12,2.30,0.00,0.000,6,0.122,0.061,2622,2492,3629,0,0,0,0,0,0
$GC,5079,-0.65,-146.0,560.8,-12.9,518,5081,0.12,0.00,0.00,0.000,6,0.212,0.000,2650,2492,3629,0,0,0,0,0,0
$GC,5397,-0.65,-146.0,596.1,-10.8,548,5401,0.00,2.30,0.00,0.000,4,0.000,0.066,2650,1082,3629,0,0,0,0,0,0
$GC,5496,-0.65,-146.0,607.5,-10.9,553,5501,0.00,2.30,0.00,0.000,6,0.000,0.063,2650,2493,3629,0,0,0,0,0,0
$GC,5827,-0.65,-146.0,642.4,-10.5,564,5831,0.00,2.28,0.00,0.000,4,0.000,0.067,2650,1084,3629,0,0,0,0,0,0
$GC,5891,-0.65,-146.0,649.2,-10.7,566,5896,0.00,2.30,0.00,0.000,6,0.000,0.063,2650,2492,3629,0,0,0,0,0,0
$GC,6231,-0.65,-146.0,685.1,-10.7,577,6235,0.00,2.33,0.00,0.000,4,0.000,0.067,2650,1074,3629,0,0,0,0,0,0
$GC,6287,-0.65,-146.0,691.3,-10.6,578,6294,0.00,2.33,0.00,0.000,6,0.000,0.064,2650,2494,3628,0,0,0,0,0,0
$GC,6600,-0.65,-146.0,722.7,-10.1,589,6604,0.00,2.30,0.00,0.000,4,0.000,0.067,2650,1077,3628,0,0,0,0,0,0
$GC,6663,-0.65,-146.0,729.4,-10.5,591,6667,0.00,2.33,0.00,0.000,6,0.000,0.066,2650,2496,3628,0,0,0,0,0,0
$GC,7000,-0.79,-146.0,756.4,-3.9,602,7005,0.12,2.35,0.00,0.000,4,0.121,0.082,2604,3900,3628,0,0,0,0,0,0
$STATE,7134,end dive,NO_VERTICAL_VELOCITY
$STATE,7134,begin apogee
$GC,7143,-0.12,0.0,756.3,0.0,606,7278,0.68,0.00,127.80,1.393,6,0.131,0.000,2820,2276,3029,0,0,0,0,0,0
$STATE,7279,end apogee,CONTROL_FINISHED_OK
$STATE,7279,begin climb
$GC,7282,0.62,146.0,756.4,0.0,610,7424,0.77,2.72,134.80,1.346,4,0.129,0.070,3055,3690,2434,0,0,0,0,0,0
$GC,7464,0.49,146.0,747.5,12.4,616,7469,0.17,2.55,0.00,0.000,6,0.189,0.062,3028,2273,2430,0,0,0,0,0,0
$GC,7795,0.49,165.7,717.4,9.1,627,7819,0.00,2.42,17.75,1.230,4,0.000,0.079,3037,866,2354,0,0,0,0,0,0
$GC,7917,0.49,168.5,705.7,9.9,630,7921,0.00,2.30,0.00,0.000,6,0.000,0.061,3036,2280,2351,0,0,0,0,0,0
$GC,8237,0.47,172.8,674.5,9.8,641,8251,0.00,2.45,7.47,1.067,4,0.000,0.079,3046,856,2325,0,0,0,0,0,0
$GC,8273,0.47,172.8,670.5,10.2,642,8277,0.00,2.30,0.00,0.000,6,0.000,0.062,3046,2280,2323,0,0,0,0,0,0
$GC,8609,0.44,172.8,635.6,10.5,653,8614,0.15,2.38,0.00,0.000,4,0.184,0.078,3016,860,2322,0,0,0,0,0,0
$GC,8665,0.52,204.0,630.5,8.6,654,8704,0.00,2.30,28.90,1.262,6,0.000,0.063,3016,2277,2199,0,0,0,0,0,0
$GC,9011,0.60,229.2,599.8,8.8,666,9046,0.12,2.42,24.40,1.231,4,0.101,0.078,3085,871,2094,0,0,0,0,0,0
$GC,9087,0.56,229.2,590.3,13.8,672,9094,0.15,2.30,0.00,0.000,6,0.185,0.061,3049,2275,2091,0,0,0,0,0,0
$GC,9412,0.56,229.2,553.5,11.0,703,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2275,2089,0,0,0,0,0,0
$GC,9731,0.56,229.2,518.4,11.4,733,9735,0.00,2.35,0.00,0.000,4,0.000,0.079,3056,864,2087,0,0,0,0,0,0
$GC,9774,0.56,229.2,513.2,11.5,736,9781,0.00,2.28,0.00,0.000,6,0.000,0.061,3056,2273,2086,0,0,0,0,0,0
$GC,10100,0.54,229.2,473.7,12.4,767,10104,0.00,2.33,0.00,0.000,4,0.000,0.076,3067,861,2086,0,0,0,0,0,0
$GC,10143,0.54,229.2,468.2,11.6,770,10150,0.00,2.30,0.00,0.000,6,0.000,0.071,3067,2278,2085,0,0,0,0,0,0
$GC,10469,0.50,229.2,426.8,12.9,801,10471,0.15,0.00,0.00,0.000,6,0.177,0.000,3027,2278,2084,0,0,0,0,0,0
$GC,10788,0.57,243.2,396.7,9.4,831,10807,0.00,0.00,12.30,1.076,6,0.000,0.000,3026,2278,2038,0,0,0,0,0,0
$GC,11126,0.63,243.2,362.6,10.5,863,11128,0.12,0.00,0.00,0.000,6,0.103,0.000,3082,2278,2036,0,0,0,0,0,0
$GC,11445,0.58,243.2,314.2,15.4,893,11447,0.12,0.00,0.00,0.000,6,0.182,0.000,3050,2278,2036,0,0,0,0,0,0
$GC,11763,0.58,243.2,276.8,11.2,923,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2277,2035,0,0,0,0,0,0
$GC,12082,0.58,243.2,240.0,11.8,953,12086,0.00,2.30,0.00,0.000,4,0.000,0.073,3050,3694,2035,0,0,0,0,0,0
$GC,12109,0.58,243.2,236.5,12.4,955,12116,0.00,2.30,0.00,0.000,6,0.000,0.060,3057,2272,2035,0,0,0,0,0,0
$GC,12434,0.58,243.2,199.4,11.3,986,12438,0.00,2.30,0.00,0.000,4,0.000,0.072,3068,857,2035,0,0,0,0,0,0
$GC,12481,0.62,243.2,194.2,10.7,990,12485,0.00,2.28,0.00,0.000,6,0.000,0.058,3068,2282,2034,0,0,0,0,0,0
$GC,12806,0.62,243.2,154.0,11.7,1020,12810,0.00,2.33,0.00,0.000,4,0.000,0.071,3068,3695,2034,0,0,0,0,0,0
$GC,12835,0.62,243.2,150.1,13.3,1022,12839,0.00,2.30,0.00,0.000,6,0.000,0.057,3078,2270,2034,0,0,0,0,0,0
$GC,13160,0.62,243.2,108.5,11.7,1052,13164,0.00,2.30,0.00,0.000,4,0.000,0.070,3088,860,2034,0,0,0,0,0,0
$GC,13239,0.65,243.2,100.0,10.0,1059,13246,0.00,2.28,0.00,0.000,6,0.000,0.057,3088,2278,2034,0,0,0,0,0,0
$GC,13588,0.69,253.9,64.0,9.5,1120,13607,0.00,2.33,11.15,0.862,4,0.000,0.072,3087,3685,1994,0,0,0,0,0,0
$GC,13676,0.69,253.9,54.0,11.8,1135,13683,0.00,2.28,0.00,0.000,6,0.000,0.057,3098,2270,1993,0,0,0,0,0,0
$GC,14027,0.74,269.7,19.6,9.3,1196,14040,0.00,2.38,8.77,0.861,4,0.000,0.073,3109,860,1929,0,0,0,0,0,0
$GC,14093,0.78,271.4,12.5,9.9,1207,14100,0.00,2.28,0.00,0.000,6,0.000,0.059,3109,2284,1926,0,0,0,0,0,0
$FREEZE,8.45,-1.718,-1.823,2,6,0
$FREEZE,7.93,-1.718,-1.823,2,6,0
$FREEZE,7.35,-1.717,-1.822,2,6,0
$FREEZE,6.83,-1.717,-1.822,2,6,0
$FREEZE,6.35,-1.716,-1.821,2,6,0
$FREEZE,5.80,-1.715,-1.821,2,6,0
$FREEZE,5.24,-1.715,-1.820,2,6,0
$FREEZE,4.71,-1.715,-1.820,2,6,0
$FREEZE,4.17,-1.716,-1.820,2,6,0
$FREEZE,3.57,-1.716,-1.819,2,6,0
$FREEZE,2.97,-1.714,-1.819,2,6,0
$STATE,14182,end climb,SURFACE_DEPTH_REACHED
$STATE,14182,begin surface coast
$FREEZE,2.28,-1.720,-1.818,2,6,0
$FINISH,2.3,1.026674
$STATE,14188,end surface coast,FINISH_DEPTH_REACHED
$STATE,14189,begin surface
$RAFOS_CLK,751
$RAFOS,6,1305650946,16.833334,16.818333,118,55,52,51,51,49,703,222,183,126,204,146
$RAFOS,5,1305650468,16.700001,16.685556,131,63,59,57,52,50,559,210,190,145,201,220
$RAFOS,4,1305649991,16.566668,16.553055,83,71,58,55,55,52,759,201,220,180,138,161
$RAFOS,3,1305649503,16.433332,16.417500,56,56,56,54,53,52,120,187,224,941,204,154
$RAFOS,2,1305649030,16.299999,16.286112,140,71,64,59,54,53,953,210,157,195,178,147
$RAFOS,1,1305648543,16.166666,16.150833,72,61,60,60,54,53,973,191,140,173,215,149
$RAFOS,0,1305648062,16.033333,16.017221,60,60,56,56,51,50,195,229,204,151,181,213
$RAFOS_FIX,6707.798828,-5732.791016,170511,161600,5,109,0.28
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,46.92
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,16.80
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.6,17.6
$24V_AH,21.4,84.631
$10V_AH,9.9,43.811
$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,4.075,135.425,373.350,0.000,0.000,0.000,0.000,0.000,9.250,0.000,0.000,3081.080,8448.407,427.145,2160.323,269.338,0.000,1578.687,0.000,2128.967,2520.000,22.818,0.000
$DEVICE_MAMPS,224.910,87.210,1393.065,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.484,926.504,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46754,1224
$CAP_FILE_SIZE,151050,0
$CFSIZE,260165632,211943424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.5
$GPS,170511,163200,6707.799,-5732.791,0,5108.8,0,-37.6