version: 66.08
glider: 141
mission: 15
dive: 648
start: 5 18 111 10 13 12
data:
$ID,141
$MISSION,15
$DIVE,648
$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,26
$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
$GPS1,180511,083720,6706.770,-5754.188,0,4130.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.96
$_SM_ANGLEo,-1.7
$GPS2,180511,083720,6706.770,-5754.188,0,4130.0,0,-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,286.8,118796,-17.5,-10.000
$D_GRID,806
$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
$GC,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.80,0.000,2,0.000,0.000,2892,3686,3013,0,0,0,0,0,0
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$GC,2113,-0.56,-146.0,272.8,-13.2,236,2120,0.15,2.25,0.00,0.000,6,0.197,0.055,2678,2489,3623,0,0,0,0,0,0
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$GC,3115,-0.56,-146.0,368.5,-8.8,329,3119,0.00,2.33,0.00,0.000,4,0.000,0.081,2678,3900,3625,0,0,0,0,0,0
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$GC,3838,-0.60,-146.0,433.0,-9.0,396,3843,0.00,2.22,0.00,0.000,4,0.000,0.063,2677,1082,3626,0,0,0,0,0,0
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$GC,4578,-0.69,-146.0,500.2,-9.2,464,4584,0.12,0.00,0.00,0.000,6,0.130,0.000,2635,2478,3627,0,0,0,0,0,0
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$GC,5547,-0.60,-146.0,610.3,-10.4,550,5551,0.00,2.40,0.00,0.000,4,0.000,0.078,2663,3906,3627,0,0,0,0,0,0
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$GC,6985,-0.60,-146.0,742.2,-8.9,597,6989,0.00,2.28,0.00,0.000,4,0.000,0.067,2663,1073,3627,0,0,0,0,0,0
$GC,7016,-0.60,-146.0,745.2,-10.2,598,7020,0.00,2.35,0.00,0.000,6,0.000,0.067,2663,2497,3626,0,0,0,0,0,0
$GC,7353,-0.60,-146.0,774.7,-8.7,609,7357,0.00,2.35,0.00,0.000,4,0.000,0.083,2663,3900,3626,0,0,0,0,0,0
$GC,7420,-0.63,-146.0,780.9,-9.0,611,7424,0.00,2.25,0.00,0.000,6,0.000,0.054,2664,2482,3626,0,0,0,0,0,0
$STATE,7717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7717,begin apogee
$GC,7724,-0.12,0.0,807.5,8.9,621,7857,0.52,0.00,128.50,1.440,6,0.184,0.000,2815,2266,3030,0,0,0,0,0,0
$STATE,7858,end apogee,CONTROL_FINISHED_OK
$STATE,7858,begin climb
$GC,7861,0.62,146.0,811.4,0.0,625,8006,0.80,2.62,137.80,1.386,4,0.134,0.074,3062,880,2433,0,0,0,0,0,0
$GC,8069,0.58,146.0,795.7,11.7,632,8073,0.00,2.50,0.00,0.000,6,0.000,0.063,3062,2276,2428,0,0,0,0,0,0
$GC,8402,0.52,146.0,756.9,11.7,643,8406,0.00,2.38,0.00,0.000,4,0.000,0.079,3062,3691,2425,0,0,0,0,0,0
$GC,8474,0.40,146.0,746.7,13.2,645,8479,0.28,2.30,0.00,0.000,6,0.191,0.060,3002,2283,2424,0,0,0,0,0,0
$GC,8801,0.51,187.2,719.3,8.1,656,8843,0.00,2.40,36.33,1.317,4,0.000,0.077,3009,861,2265,0,0,0,0,0,0
$GC,8855,0.64,232.1,714.5,7.9,657,8906,0.17,2.35,42.92,1.314,6,0.090,0.063,3085,2284,2083,0,0,0,0,0,0
$GC,9231,0.56,232.1,658.7,15.2,670,9236,0.15,2.33,0.00,0.000,4,0.185,0.079,3047,3684,2073,0,0,0,0,0,0
$GC,9275,0.56,232.1,652.3,13.7,671,9279,0.00,2.30,0.00,0.000,6,0.000,0.063,3054,2278,2071,0,0,0,0,0,0
$GC,9600,0.56,232.1,614.7,11.3,682,9604,0.00,2.35,0.00,0.000,4,0.000,0.077,3066,856,2070,0,0,0,0,0,0
$GC,9644,0.59,232.1,609.4,11.8,683,9648,0.00,2.30,0.00,0.000,6,0.000,0.065,3066,2275,2068,0,0,0,0,0,0
$GC,9973,0.56,232.1,569.1,13.4,708,9977,0.00,2.33,0.00,0.000,4,0.000,0.079,3066,3694,2068,0,0,0,0,0,0
$GC,10018,0.53,232.1,562.0,14.3,711,10025,0.15,2.33,0.00,0.000,6,0.184,0.063,3038,2266,2068,0,0,0,0,0,0
$GC,10344,0.57,232.1,527.4,10.5,742,10348,0.00,2.30,0.00,0.000,4,0.000,0.077,3045,866,2067,0,0,0,0,0,0
$GC,10385,0.64,232.1,523.0,10.8,745,10393,0.00,2.30,0.00,0.000,6,0.000,0.065,3045,2275,2066,0,0,0,0,0,0
$GC,10711,0.67,232.1,487.7,10.9,776,10716,0.10,2.35,0.00,0.000,4,0.119,0.079,3092,3697,2065,0,0,0,0,0,0
$GC,10763,0.58,232.1,480.1,15.9,780,10768,0.17,2.30,0.00,0.000,6,0.188,0.062,3058,2266,2066,0,0,0,0,0,0
$GC,11094,0.58,232.1,439.8,11.8,811,11098,0.00,2.33,0.00,0.000,4,0.000,0.076,3067,861,2065,0,0,0,0,0,0
$GC,11146,0.62,232.1,433.7,11.5,815,11150,0.00,2.30,0.00,0.000,6,0.000,0.063,3067,2283,2064,0,0,0,0,0,0
$GC,11478,0.62,232.1,392.7,12.0,846,11482,0.00,2.33,0.00,0.000,4,0.000,0.078,3067,3684,2064,0,0,0,0,0,0
$GC,11533,0.58,232.1,385.1,13.3,850,11540,0.00,2.30,0.00,0.000,6,0.000,0.062,3077,2273,2064,0,0,0,0,0,0
$GC,11860,0.55,232.1,343.9,13.1,881,11865,0.12,2.30,0.00,0.000,4,0.187,0.075,3055,868,2064,0,0,0,0,0,0
$GC,11905,0.61,235.7,338.7,9.8,884,11912,0.00,2.30,0.00,0.000,6,0.000,0.063,3054,2281,2063,0,0,0,0,0,0
$GC,12230,0.61,235.7,303.9,10.9,915,12234,0.00,2.30,0.00,0.000,4,0.000,0.076,3054,3687,2063,0,0,0,0,0,0
$GC,12258,0.61,235.7,300.5,11.4,917,12262,0.00,2.30,0.00,0.000,6,0.000,0.060,3064,2269,2063,0,0,0,0,0,0
$GC,12583,0.61,235.7,261.7,10.8,947,12587,0.00,2.30,0.00,0.000,4,0.000,0.074,3074,865,2063,0,0,0,0,0,0
$GC,12642,0.64,235.7,255.9,11.2,952,12646,0.00,2.28,0.00,0.000,6,0.000,0.062,3074,2277,2063,0,0,0,0,0,0
$GC,12967,0.64,235.7,221.6,10.3,982,12971,0.00,2.33,0.00,0.000,4,0.000,0.076,3074,3696,2063,0,0,0,0,0,0
$GC,13006,0.61,235.7,216.9,12.3,985,13013,0.00,2.30,0.00,0.000,6,0.000,0.059,3084,2273,2063,0,0,0,0,0,0
$GC,13331,0.61,235.7,178.3,11.2,1016,13335,0.00,2.30,0.00,0.000,4,0.000,0.073,3095,860,2063,0,0,0,0,0,0
$GC,13395,0.61,235.7,171.2,10.5,1021,13400,0.12,2.28,0.00,0.000,6,0.180,0.061,3064,2277,2063,0,0,0,0,0,0
$GC,13721,0.65,235.7,137.9,10.7,1051,13725,0.00,2.30,0.00,0.000,4,0.000,0.076,3065,3684,2063,0,0,0,0,0,0
$GC,13765,0.65,235.7,132.4,12.3,1054,13772,0.00,2.30,0.00,0.000,6,0.000,0.060,3073,2264,2063,0,0,0,0,0,0
$GC,14092,0.73,256.4,98.7,9.0,1086,14117,0.00,2.38,19.98,0.965,4,0.000,0.074,3083,868,1984,0,0,0,0,0,0
$GC,14165,0.83,288.6,92.4,8.5,1098,14202,0.12,2.30,31.08,0.964,6,0.112,0.063,3136,2282,1853,0,0,0,0,0,0
$GC,14541,0.83,288.6,43.5,12.5,1164,14548,0.00,2.35,0.00,0.000,4,0.000,0.077,3137,3698,1847,0,0,0,0,0,0
$GC,14583,0.77,288.6,37.9,13.3,1171,14591,0.12,2.33,0.00,0.000,6,0.205,0.061,3118,2272,1846,0,0,0,0,0,0
$FREEZE,8.94,-1.742,-1.802,2,11,0
$STATE,14856,end climb,FINISH_DEPTH_REACHED
$STATE,14857,begin subsurface finish
$FINISH1,8.9,1.026372,55
$GC,14864,0.07,55.3,8.9,-10.7,1219,14906,0.75,2.40,-34.03,0.000,4,0.164,0.093,2890,3692,2806,0,0,0,0,0,0
$FINISH2,7.4
$STATE,14907,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14907,begin surface
$RAFOS_CLK,791
$RAFOS,6,1305722944,12.833333,12.817778,139,60,55,54,53,52,653,206,216,122,230,172
$RAFOS,5,1305722462,12.700000,12.683888,167,61,58,57,57,53,592,142,201,118,161,225
$RAFOS,4,1305721987,12.566667,12.551945,104,69,60,60,57,55,725,196,222,210,115,187
$RAFOS,3,1305721503,12.433333,12.417500,90,60,54,53,53,52,914,204,161,216,119,187
$RAFOS,2,1305721021,12.300000,12.283611,86,67,56,55,53,53,953,217,192,201,111,137
$RAFOS,1,1305720543,12.166667,12.150833,99,74,61,57,55,55,911,217,170,200,122,148
$RAFOS,0,1305720084,12.033333,12.023334,59,54,53,53,52,52,184,211,196,140,151,129
$RAFOS_FIX,6706.826660,-5755.691406,180511,121217,6,114,0.08
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026964
$HUMID,47.87
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,16.50
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,802.0,38.8
$24V_AH,21.1,85.364
$10V_AH,9.9,44.211
$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,4.975,153.100,396.600,0.000,0.000,0.000,0.000,0.000,8.500,0.000,0.000,3068.782,9020.328,456.704,2152.723,282.422,0.000,1620.694,0.000,2120.956,2520.000,27.754,0.000
$DEVICE_MAMPS,225.675,92.565,1439.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.730,937.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46708,1226
$CAP_FILE_SIZE,157502,0
$CFSIZE,260165632,211537920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.0
$GPS,180511,123117,6706.827,-5755.691,0,6114.2,0,-37.6