version: 66.08
glider: 141
mission: 15
dive: 649
start: 5 18 111 14 24 4
data:
$ID,141
$MISSION,15
$DIVE,649
$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,19
$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
$GPS1,180511,123117,6706.827,-5755.691,0,6114.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.55
$_SM_ANGLEo,-2.0
$GPS2,180511,123117,6706.827,-5755.691,0,6114.2,0,-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,286.6,117807,-17.5,-10.000
$D_GRID,799
$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,-6.22,0.000,2,0.000,0.000,2890,3692,3055,0,0,0,0,0,0
$GC,28,-0.62,-146.0,12.1,-0.0,1,53,0.65,4.32,-13.95,0.000,4,0.114,0.070,2668,1077,3629,0,0,0,0,0,0
$GC,303,-0.58,-146.0,53.9,-16.5,49,309,0.00,2.35,0.00,0.000,6,0.000,0.071,2668,2495,3629,0,0,0,0,0,0
$GC,651,-0.50,-146.0,109.0,-13.7,105,656,0.12,2.42,0.00,0.000,4,0.220,0.088,2696,3906,3630,0,0,0,0,0,0
$GC,692,-0.54,-146.0,113.6,-10.0,108,696,0.00,2.25,0.00,0.000,6,0.000,0.056,2696,2489,3630,0,0,0,0,0,0
$GC,1018,-0.54,-146.0,148.8,-11.3,138,1022,0.00,2.30,0.00,0.000,4,0.000,0.072,2697,1080,3629,0,0,0,0,0,0
$GC,1114,-0.59,-146.0,159.4,-10.7,146,1118,0.00,2.35,0.00,0.000,6,0.000,0.072,2697,2492,3628,0,0,0,0,0,0
$GC,1441,-0.61,-146.0,192.7,-9.3,176,1445,0.00,2.33,0.00,0.000,4,0.000,0.071,2696,1070,3627,0,0,0,0,0,0
$GC,1486,-0.67,-146.0,197.1,-9.3,179,1493,0.15,2.38,0.00,0.000,6,0.122,0.073,2648,2493,3626,0,0,0,0,0,0
$GC,1811,-0.59,-146.0,240.0,-13.1,210,1815,0.00,2.38,0.00,0.000,4,0.000,0.087,2648,3900,3626,0,0,0,0,0,0
$GC,1886,-0.55,-146.0,250.1,-13.1,216,1891,0.15,2.25,0.00,0.000,6,0.197,0.057,2683,2490,3627,0,0,0,0,0,0
$GC,2214,-0.55,-146.0,283.7,-9.7,246,2218,0.00,2.30,0.00,0.000,4,0.000,0.070,2684,1080,3627,0,0,0,0,0,0
$GC,2258,-0.59,-146.0,288.7,-10.2,249,2265,0.00,2.35,0.00,0.000,6,0.000,0.070,2683,2496,3627,0,0,0,0,0,0
$GC,2584,-0.62,-146.0,320.2,-9.2,280,2589,0.00,2.35,0.00,0.000,4,0.000,0.086,2683,3900,3627,0,0,0,0,0,0
$GC,2652,-0.67,-146.0,326.6,-8.5,285,2659,0.12,2.25,0.00,0.000,6,0.129,0.054,2643,2484,3627,0,0,0,0,0,0
$GC,2978,-0.60,-146.0,365.3,-11.9,316,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2484,3627,0,0,0,0,0,0
$GC,3299,-0.53,-146.0,404.0,-12.0,346,3303,0.17,2.33,0.00,0.000,4,0.198,0.069,2686,1071,3627,0,0,0,0,0,0
$GC,3349,-0.60,-146.0,409.3,-9.0,350,3356,0.00,2.33,0.00,0.000,6,0.000,0.067,2686,2494,3627,0,0,0,0,0,0
$GC,3676,-0.64,-146.0,436.5,-8.3,381,3680,0.00,2.38,0.00,0.000,4,0.000,0.084,2686,3905,3628,0,0,0,0,0,0
$GC,3737,-0.71,-146.0,441.7,-7.6,386,3744,0.15,2.28,0.00,0.000,6,0.117,0.053,2637,2484,3628,0,0,0,0,0,0
$GC,4063,-0.63,-146.0,480.8,-12.6,417,4067,0.00,2.25,0.00,0.000,4,0.000,0.067,2636,1081,3628,0,0,0,0,0,0
$GC,4093,-0.55,-146.0,484.9,-13.4,419,4098,0.17,2.30,0.00,0.000,6,0.203,0.068,2678,2492,3628,0,0,0,0,0,0
$GC,4420,-0.57,-146.0,514.4,-8.8,449,4424,0.00,2.35,0.00,0.000,4,0.000,0.083,2678,3898,3628,0,0,0,0,0,0
$GC,4478,-0.63,-146.0,519.8,-8.8,454,4482,0.00,2.22,0.00,0.000,6,0.000,0.053,2678,2490,3629,0,0,0,0,0,0
$GC,4804,-0.66,-146.0,548.3,-8.7,484,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2490,3629,0,0,0,0,0,0
$GC,5124,-0.69,-146.0,576.0,-8.8,514,5131,0.12,0.00,0.00,0.000,6,0.132,0.000,2635,2489,3629,0,0,0,0,0,0
$GC,5458,-0.61,-146.0,615.6,-12.4,538,5460,0.12,0.00,0.00,0.000,6,0.210,0.000,2663,2489,3629,0,0,0,0,0,0
$GC,5762,-0.61,-146.0,646.7,-9.8,548,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2489,3630,0,0,0,0,0,0
$GC,6069,-0.61,-146.0,675.2,-9.2,558,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2489,3630,0,0,0,0,0,0
$GC,6375,-0.61,-146.0,702.6,-8.9,568,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2489,3630,0,0,0,0,0,0
$GC,6682,-0.61,-146.0,730.5,-9.0,578,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2489,3629,0,0,0,0,0,0
$GC,6987,-0.61,-146.0,759.2,-9.6,588,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2489,3629,0,0,0,0,0,0
$GC,7293,-0.61,-146.0,787.5,-9.1,598,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2489,3630,0,0,0,0,0,0
$STATE,7446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7446,begin apogee
$GC,7452,-0.12,0.0,801.5,9.1,603,7588,0.52,0.00,129.95,1.434,6,0.184,0.000,2814,2260,3029,0,0,0,0,0,0
$STATE,7589,end apogee,CONTROL_FINISHED_OK
$STATE,7589,begin climb
$GC,7591,0.62,146.0,806.4,0.0,607,7738,0.80,2.70,137.95,1.384,4,0.134,0.075,3063,880,2433,0,0,0,0,0,0
$GC,7794,0.58,146.0,792.9,10.8,613,7799,0.00,2.53,0.00,0.000,6,0.000,0.061,3062,2280,2429,0,0,0,0,0,0
$GC,8109,0.52,146.0,759.1,10.9,623,8114,0.12,2.38,0.00,0.000,4,0.186,0.078,3031,3689,2426,0,0,0,0,0,0
$GC,8217,0.46,146.0,747.3,11.0,626,8222,0.00,2.30,0.00,0.000,6,0.000,0.061,3040,2278,2425,0,0,0,0,0,0
$GC,8553,0.46,167.7,716.3,9.0,637,8578,0.00,2.42,19.15,1.281,4,0.000,0.077,3040,3696,2346,0,0,0,0,0,0
$GC,8601,0.42,167.7,711.4,10.6,638,8606,0.20,2.35,0.00,0.000,6,0.190,0.061,3000,2266,2345,0,0,0,0,0,0
$GC,8920,0.57,237.1,689.2,6.8,649,8987,0.15,0.00,64.80,1.324,6,0.097,0.000,3067,2266,2063,0,0,0,0,0,0
$GC,9288,0.54,237.1,642.6,13.3,661,9292,0.00,2.40,0.00,0.000,4,0.000,0.076,3066,3696,2054,0,0,0,0,0,0
$GC,9310,0.49,237.1,638.9,14.4,661,9317,0.20,2.33,0.00,0.000,6,0.184,0.063,3025,2275,2053,0,0,0,0,0,0
$GC,9624,0.54,237.1,606.8,10.0,672,9629,0.00,2.33,0.00,0.000,4,0.000,0.077,3033,858,2051,0,0,0,0,0,0
$GC,9658,0.64,253.3,603.3,9.3,673,9678,0.12,2.33,13.88,1.198,6,0.111,0.064,3088,2278,1998,0,0,0,0,0,0
$GC,10003,0.58,253.3,552.6,14.9,702,10007,0.15,2.35,0.00,0.000,4,0.183,0.078,3049,3691,1995,0,0,0,0,0,0
$GC,10060,0.58,253.3,544.8,13.1,707,10064,0.00,2.30,0.00,0.000,6,0.000,0.062,3056,2277,1994,0,0,0,0,0,0
$GC,10385,0.58,253.3,503.8,13.1,737,10389,0.00,2.33,0.00,0.000,4,0.000,0.076,3068,856,1993,0,0,0,0,0,0
$GC,10428,0.61,253.3,498.2,13.2,740,10435,0.00,2.30,0.00,0.000,6,0.000,0.065,3068,2273,1992,0,0,0,0,0,0
$GC,10754,0.58,253.3,452.1,14.5,771,10758,0.00,2.33,0.00,0.000,4,0.000,0.079,3068,3693,1991,0,0,0,0,0,0
$GC,10805,0.55,253.3,443.9,17.1,775,10810,0.12,2.30,0.00,0.000,6,0.193,0.062,3048,2264,1991,0,0,0,0,0,0
$GC,11136,0.57,253.3,400.1,12.4,806,11140,0.00,2.30,0.00,0.000,4,0.000,0.076,3056,859,1991,0,0,0,0,0,0
$GC,11165,0.62,253.3,396.7,11.7,808,11169,0.00,2.30,0.00,0.000,6,0.000,0.063,3055,2279,1991,0,0,0,0,0,0
$GC,11490,0.62,253.3,356.2,12.3,838,11494,0.00,2.33,0.00,0.000,4,0.000,0.077,3056,3688,1991,0,0,0,0,0,0
$GC,11557,0.62,253.3,347.0,13.8,843,11564,0.00,2.30,0.00,0.000,6,0.000,0.061,3066,2269,1991,0,0,0,0,0,0
$GC,11882,0.62,253.3,306.0,12.9,874,11886,0.00,2.30,0.00,0.000,4,0.000,0.075,3077,861,1990,0,0,0,0,0,0
$GC,11910,0.62,253.3,302.4,12.3,876,11916,0.00,2.28,0.00,0.000,6,0.000,0.063,3078,2278,1990,0,0,0,0,0,0
$GC,12238,0.60,253.3,261.3,12.7,907,12242,0.00,2.35,0.00,0.000,4,0.000,0.076,3077,3695,1990,0,0,0,0,0,0
$GC,12278,0.57,253.3,255.5,14.9,910,12283,0.15,2.30,0.00,0.000,6,0.195,0.060,3050,2276,1990,0,0,0,0,0,0
$GC,12605,0.65,269.6,223.7,9.2,940,12628,0.00,2.35,15.62,1.019,4,0.000,0.076,3055,864,1930,0,0,0,0,0,0
$GC,12664,0.76,286.0,218.2,9.2,945,12688,0.15,2.30,16.83,1.014,6,0.103,0.062,3119,2276,1864,0,0,0,0,0,0
$GC,13006,0.69,286.0,162.3,16.5,977,13010,0.12,2.35,0.00,0.000,4,0.186,0.076,3088,3686,1860,0,0,0,0,0,0
$GC,13073,0.69,286.0,152.3,13.3,982,13080,0.00,2.30,0.00,0.000,6,0.000,0.060,3096,2269,1859,0,0,0,0,0,0
$GC,13399,0.69,286.0,110.5,12.2,1013,13403,0.00,2.33,0.00,0.000,4,0.000,0.075,3106,857,1859,0,0,0,0,0,0
$GC,13443,0.74,286.0,105.1,11.9,1016,13450,0.00,2.30,0.00,0.000,6,0.000,0.072,3106,2274,1857,0,0,0,0,0,0
$GC,13785,0.79,286.0,65.6,11.0,1073,13792,0.00,2.35,0.00,0.000,4,0.000,0.077,3106,3696,1857,0,0,0,0,0,0
$GC,13838,0.79,286.0,59.2,12.7,1082,13845,0.00,2.30,0.00,0.000,6,0.000,0.060,3115,2273,1857,0,0,0,0,0,0
$GC,14186,0.79,286.8,19.8,10.0,1143,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2273,1857,0,0,0,0,0,0
$FREEZE,8.55,-1.694,-1.798,2,12,0
$FREEZE,7.93,-1.695,-1.798,2,12,0
$FREEZE,7.38,-1.692,-1.797,2,12,0
$FREEZE,6.67,-1.690,-1.797,2,12,0
$FREEZE,6.14,-1.690,-1.796,2,12,0
$FREEZE,5.67,-1.688,-1.796,2,12,0
$FREEZE,5.13,-1.690,-1.795,2,12,0
$FREEZE,4.47,-1.687,-1.795,2,12,0
$FREEZE,3.82,-1.686,-1.794,2,12,0
$FREEZE,3.25,-1.687,-1.794,2,12,0
$FREEZE,2.67,-1.684,-1.793,2,12,0
$STATE,14335,end climb,SURFACE_DEPTH_REACHED
$STATE,14335,begin surface coast
$FREEZE,2.10,-1.682,-1.793,2,12,0
$FREEZE,2.01,-1.776,-1.799,2,12,0
$FINISH,2.0,1.026400
$STATE,14346,end surface coast,FINISH_DEPTH_REACHED
$STATE,14346,begin surface
$RAFOS_CLK,782
$RAFOS,6,1305737346,16.833334,16.818333,151,66,56,55,52,51,624,208,142,157,184,233
$RAFOS,5,1305736864,16.700001,16.684444,125,61,60,54,54,52,588,196,184,211,144,226
$RAFOS,4,1305736387,16.566668,16.551945,89,65,62,61,58,56,714,194,165,219,129,141
$RAFOS,3,1305735903,16.433332,16.417500,83,61,61,61,57,56,904,152,204,116,186,128
$RAFOS,2,1305735444,16.299999,16.290001,63,54,52,51,49,49,198,120,232,179,216,162
$RAFOS,1,1305734954,16.166666,16.153889,72,65,62,59,57,57,836,208,189,121,170,198
$RAFOS,0,1305734465,16.033333,16.018055,60,58,52,52,50,49,196,170,148,214,232,80
$RAFOS_FIX,6706.950195,-5800.421875,180511,161642,5,104,0.23
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,48.50
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,16.40
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,801.5,38.5
$24V_AH,21.1,85.517
$10V_AH,9.9,44.287
$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,4.775,128.325,398.175,0.000,0.000,0.000,0.000,0.000,7.750,0.000,0.000,2962.978,8872.162,442.626,2003.019,265.685,0.000,1525.223,0.000,1976.183,2520.000,24.821,0.000
$DEVICE_MAMPS,220.320,87.975,1433.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.436,897.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46653,1172
$CAP_FILE_SIZE,148193,0
$CFSIZE,260165632,211472384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.7
$GPS,180511,163342,6706.950,-5800.422,0,5104.0,0,-37.6