version: 66.08
glider: 141
mission: 15
dive: 645
start: 5 17 111 21 32 21
data:
$ID,141
$MISSION,15
$DIVE,645
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,170511,203138,6706.962,-5736.926,0,6104.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.10
$_SM_ANGLEo,0.7
$GPS2,170511,203138,6706.962,-5736.926,0,6104.5,0,-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,288.6,130795,-17.5,-10.000
$D_GRID,797
$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,-6.25,0.000,2,0.000,0.000,2891,3683,3089,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.2,-0.0,1,53,0.65,4.25,-14.00,0.000,4,0.118,0.066,2671,1080,3629,0,0,0,0,0,0
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$GC,4175,-0.61,-146.0,474.4,-9.6,437,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2475,3627,0,0,0,0,0,0
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$GC,4851,-0.61,-146.0,537.7,-9.8,500,4855,0.00,2.22,0.00,0.000,6,0.000,0.050,2665,2487,3628,0,0,0,0,0,0
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$GC,5222,-0.61,-146.0,572.2,-9.8,533,5229,0.00,2.33,0.00,0.000,6,0.000,0.064,2665,2495,3628,0,0,0,0,0,0
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$GC,6971,-0.66,-146.0,741.4,-8.9,609,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2489,3627,0,0,0,0,0,0
$GC,7278,-0.66,-146.0,768.2,-8.7,619,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2489,3627,0,0,0,0,0,0
$GC,7584,-0.82,-146.0,788.7,-2.2,629,7588,0.20,2.30,0.00,0.000,4,0.098,0.064,2589,1084,3627,0,0,0,0,0,0
$STATE,7788,end dive,NO_VERTICAL_VELOCITY
$STATE,7788,begin apogee
$GC,7797,-0.12,0.0,789.1,0.0,635,7932,0.73,0.00,128.05,1.421,6,0.135,0.000,2818,2279,3030,0,0,0,0,0,0
$STATE,7933,end apogee,CONTROL_FINISHED_OK
$STATE,7933,begin climb
$GC,7935,0.62,146.0,788.9,0.0,639,8082,0.77,2.75,136.62,1.369,4,0.132,0.073,3059,872,2433,0,0,0,0,0,0
$GC,8150,0.59,183.0,785.2,8.3,646,8191,0.00,2.50,35.83,1.307,6,0.000,0.061,3060,2280,2283,0,0,0,0,0,0
$GC,8507,0.56,183.0,744.0,11.7,658,8511,0.00,2.35,0.00,0.000,4,0.000,0.076,3059,3689,2276,0,0,0,0,0,0
$GC,8571,0.48,183.0,735.4,14.4,660,8576,0.17,2.33,0.00,0.000,6,0.181,0.061,3025,2278,2275,0,0,0,0,0,0
$GC,8907,0.54,203.5,703.6,9.1,671,8932,0.00,2.40,18.42,1.256,4,0.000,0.078,3033,870,2199,0,0,0,0,0,0
$GC,8944,0.61,226.3,700.0,8.9,672,8972,0.00,2.30,22.70,1.266,6,0.000,0.063,3032,2276,2107,0,0,0,0,0,0
$GC,9279,0.65,226.3,666.7,10.2,683,9283,0.12,2.35,0.00,0.000,4,0.106,0.078,3087,3690,2101,0,0,0,0,0,0
$GC,9296,0.65,226.3,664.4,10.7,683,9300,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2276,2101,0,0,0,0,0,0
$GC,9615,0.54,226.3,613.1,16.3,694,9620,0.20,2.33,0.00,0.000,4,0.194,0.075,3054,859,2099,0,0,0,0,0,0
$GC,9659,0.57,226.3,606.9,11.2,695,9664,0.00,2.30,0.00,0.000,6,0.000,0.063,3054,2281,2097,0,0,0,0,0,0
$GC,9988,0.57,226.3,567.2,12.1,722,9992,0.00,2.35,0.00,0.000,4,0.000,0.078,3054,3696,2097,0,0,0,0,0,0
$GC,10010,0.57,226.3,564.0,13.0,723,10017,0.00,2.30,0.00,0.000,6,0.000,0.062,3065,2275,2097,0,0,0,0,0,0
$GC,10336,0.54,226.3,521.9,13.3,754,10340,0.00,2.30,0.00,0.000,4,0.000,0.076,3076,861,2097,0,0,0,0,0,0
$GC,10410,0.54,226.3,512.6,12.3,760,10414,0.12,2.30,0.00,0.000,6,0.180,0.063,3045,2285,2096,0,0,0,0,0,0
$GC,10742,0.57,226.3,476.3,11.0,791,10746,0.00,2.30,0.00,0.000,4,0.000,0.077,3045,3688,2095,0,0,0,0,0,0
$GC,10771,0.57,226.3,472.7,12.4,793,10776,0.00,2.30,0.00,0.000,6,0.000,0.061,3052,2268,2095,0,0,0,0,0,0
$GC,11097,0.57,226.3,433.1,12.2,823,11101,0.00,2.33,0.00,0.000,4,0.000,0.076,3063,857,2095,0,0,0,0,0,0
$GC,11150,0.59,226.3,427.0,12.1,827,11154,0.00,2.33,0.00,0.000,6,0.000,0.063,3063,2285,2094,0,0,0,0,0,0
$GC,11476,0.56,226.3,382.8,13.6,857,11481,0.00,2.30,0.00,0.000,4,0.000,0.076,3063,3684,2094,0,0,0,0,0,0
$GC,11517,0.52,226.3,376.9,14.4,860,11524,0.15,2.28,0.00,0.000,6,0.186,0.060,3035,2276,2094,0,0,0,0,0,0
$GC,11843,0.57,226.3,340.6,11.0,891,11848,0.00,2.30,0.00,0.000,4,0.000,0.074,3042,862,2094,0,0,0,0,0,0
$GC,11895,0.64,226.3,335.0,10.5,895,11900,0.00,2.28,0.00,0.000,6,0.000,0.060,3042,2282,2094,0,0,0,0,0,0
$GC,12222,0.67,226.3,298.2,11.3,925,12227,0.10,2.30,0.00,0.000,4,0.116,0.074,3088,3691,2093,0,0,0,0,0,0
$GC,12240,0.67,226.3,295.7,12.5,926,12244,0.00,2.28,0.00,0.000,6,0.000,0.058,3099,2272,2094,0,0,0,0,0,0
$GC,12572,0.58,226.3,242.5,15.5,957,12576,0.17,2.30,0.00,0.000,4,0.187,0.073,3061,862,2093,0,0,0,0,0,0
$GC,12612,0.61,226.3,237.1,11.3,960,12616,0.00,2.30,0.00,0.000,6,0.000,0.060,3061,2285,2093,0,0,0,0,0,0
$GC,12940,0.61,226.3,199.5,11.7,990,12944,0.00,2.30,0.00,0.000,4,0.000,0.073,3062,3690,2093,0,0,0,0,0,0
$GC,12970,0.61,226.3,195.6,12.8,992,12974,0.00,2.28,0.00,0.000,6,0.000,0.057,3072,2275,2093,0,0,0,0,0,0
$GC,13295,0.62,230.5,159.0,9.8,1022,13300,0.00,2.30,0.00,0.000,4,0.000,0.071,3083,861,2093,0,0,0,0,0,0
$GC,13314,0.63,241.8,157.2,9.5,1023,13338,0.00,2.28,13.02,0.936,6,0.000,0.058,3083,2277,2044,0,0,0,0,0,0
$GC,13655,0.63,241.8,120.3,11.2,1055,13660,0.00,2.28,0.00,0.000,4,0.000,0.072,3082,3683,2044,0,0,0,0,0,0
$GC,13683,0.63,241.8,117.0,12.0,1057,13690,0.00,2.30,0.00,0.000,6,0.000,0.067,3092,2265,2043,0,0,0,0,0,0
$GC,14019,0.63,241.8,79.7,10.0,1104,14026,0.00,2.28,0.00,0.000,4,0.000,0.072,3102,859,2044,0,0,0,0,0,0
$GC,14078,0.63,241.8,73.2,10.8,1114,14085,0.12,2.28,0.00,0.000,6,0.178,0.060,3072,2278,2043,0,0,0,0,0,0
$GC,14427,0.74,272.1,42.5,8.6,1175,14457,0.00,0.00,27.42,0.939,6,0.000,0.000,3072,2278,1920,0,0,0,0,0,0
$FREEZE,8.50,-1.719,-1.818,2,8,0
$GC,14795,0.93,350.6,12.0,6.4,1240,14828,0.25,0.00,30.40,0.885,2,0.079,0.000,3176,2278,1678,0,0,0,0,0,0
$STATE,14829,end climb,FINISH_DEPTH_REACHED
$STATE,14829,begin subsurface finish
$FINISH1,8.5,1.026598,44
$GC,14837,0.05,44.2,8.5,-13.8,1245,14903,1.02,2.40,-54.50,0.000,4,0.187,0.093,2887,3676,2852,0,0,0,0,0,0
$FINISH2,4.6
$STATE,14904,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14904,begin surface
$RAFOS_CLK,782
$RAFOS,6,1305679749,0.833333,0.819167,138,61,56,56,53,52,658,188,214,197,172,142
$RAFOS,5,1305679265,0.700000,0.684722,121,66,64,61,57,56,569,188,153,208,144,226
$RAFOS,4,1305678791,0.566667,0.553056,68,52,51,50,49,48,737,239,1766,152,212,183
$RAFOS,3,1305678303,0.433333,0.417500,63,58,57,56,53,50,218,209,184,196,157,130
$RAFOS,2,1305677831,0.300000,0.286389,77,61,60,58,54,52,934,212,201,155,126,181
$RAFOS,1,1305677369,0.166667,0.158056,65,60,56,51,51,51,214,196,135,123,172,223
$RAFOS,0,1305676862,0.033333,0.017222,70,57,56,55,54,54,204,134,157,143,193,219
$RAFOS_FIX,6707.122070,-5742.911621,180511,000020,4,101,0.29
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,46.45
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.60
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.9,19.3
$24V_AH,21.2,84.924
$10V_AH,9.9,43.972
$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,5.450,138.400,412.475,0.000,0.000,0.000,0.000,0.000,9.000,0.000,0.000,3093.357,8931.312,491.887,2150.673,307.151,0.000,1660.203,0.000,2134.593,2520.000,26.080,0.000
$DEVICE_MAMPS,233.325,92.565,1421.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.494,965.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50050,1256
$CAP_FILE_SIZE,153677,0
$CFSIZE,260165632,211779584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.0
$GPS,180511,003720,6707.122,-5742.912,0,4101.0,0,-37.6