version: 66.08
glider: 141
mission: 15
dive: 651
start: 5 18 111 22 22 52
data:
$ID,141
$MISSION,15
$DIVE,651
$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,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
$GPS1,180511,203013,6704.469,-5758.843,0,3125.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,117.25
$_SM_ANGLEo,2.8
$GPS2,180511,203013,6704.469,-5758.843,0,3125.0,0,-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,288.2,114134,-17.5,-10.000
$D_GRID,895
$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,-146.0,0.0,0.0,0,25,0.00,0.40,-4.12,0.000,6,0.000,0.151,2885,2497,3635,0,0,0,0,0,0
$GC,28,-0.62,-146.0,118.8,-0.0,1,34,0.68,0.00,0.00,0.000,6,0.137,0.000,2669,2498,3636,0,0,0,0,0,0
$GC,356,-0.55,-146.0,159.2,-13.1,32,360,0.00,2.35,0.00,0.000,4,0.000,0.083,2669,3900,3636,0,0,0,0,0,0
$GC,396,-0.51,-146.0,164.6,-12.1,35,402,0.00,2.28,0.00,0.000,6,0.000,0.054,2669,2476,3636,0,0,0,0,0,0
$GC,722,-0.45,-146.0,207.9,-13.0,66,727,0.17,2.45,0.00,0.000,4,0.210,0.080,2712,3906,3636,0,0,0,0,0,0
$GC,767,-0.55,-146.0,212.7,-9.0,69,774,0.00,2.25,0.00,0.000,6,0.000,0.054,2712,2483,3637,0,0,0,0,0,0
$GC,1096,-0.63,-146.0,239.8,-7.5,100,1102,0.15,0.00,0.00,0.000,6,0.120,0.000,2661,2483,3635,0,0,0,0,0,0
$GC,1421,-0.57,-146.0,277.9,-11.8,131,1425,0.00,2.42,0.00,0.000,4,0.000,0.079,2661,3909,3635,0,0,0,0,0,0
$GC,1460,-0.57,-146.0,282.6,-11.7,134,1467,0.00,2.30,0.00,0.000,6,0.000,0.054,2661,2479,3635,0,0,0,0,0,0
$GC,1786,-0.53,-146.0,319.8,-11.8,165,1791,0.12,2.30,0.00,0.000,4,0.210,0.070,2690,1076,3635,0,0,0,0,0,0
$GC,1815,-0.53,-146.0,323.0,-11.4,167,1819,0.00,2.35,0.00,0.000,6,0.000,0.069,2690,2490,3634,0,0,0,0,0,0
$GC,2141,-0.56,-146.0,353.2,-9.3,197,2145,0.00,2.35,0.00,0.000,4,0.000,0.082,2690,3899,3634,0,0,0,0,0,0
$GC,2196,-0.62,-146.0,358.3,-8.5,201,2203,0.00,2.28,0.00,0.000,6,0.000,0.054,2690,2482,3634,0,0,0,0,0,0
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$GC,2840,-0.59,-146.0,428.5,-12.0,262,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2482,3634,0,0,0,0,0,0
$GC,3160,-0.52,-146.0,466.9,-12.0,292,3165,0.17,2.33,0.00,0.000,4,0.197,0.069,2691,1082,3635,0,0,0,0,0,0
$GC,3219,-0.59,-146.0,472.8,-9.1,297,3223,0.00,2.35,0.00,0.000,6,0.000,0.068,2691,2494,3635,0,0,0,0,0,0
$GC,3546,-0.63,-146.0,499.8,-8.4,327,3551,0.00,2.38,0.00,0.000,4,0.000,0.082,2690,3907,3635,0,0,0,0,0,0
$GC,3606,-0.71,-146.0,504.5,-7.5,332,3610,0.17,2.28,0.00,0.000,6,0.108,0.054,2629,2486,3635,0,0,0,0,0,0
$GC,3936,-0.62,-146.0,547.2,-13.2,363,3941,0.12,2.30,0.00,0.000,4,0.214,0.070,2659,1082,3635,0,0,0,0,0,0
$GC,4022,-0.62,-146.0,556.9,-10.6,370,4026,0.00,2.33,0.00,0.000,6,0.000,0.068,2658,2497,3635,0,0,0,0,0,0
$GC,4354,-0.59,-146.0,592.8,-11.2,401,4358,0.00,2.35,0.00,0.000,4,0.000,0.083,2658,3900,3634,0,0,0,0,0,0
$GC,4393,-0.59,-146.0,597.4,-10.5,404,4398,0.00,2.25,0.00,0.000,6,0.000,0.056,2658,2495,3635,0,0,0,0,0,0
$GC,4728,-0.56,-146.0,635.4,-11.5,416,4732,0.00,2.33,0.00,0.000,4,0.000,0.072,2658,1079,3634,0,0,0,0,0,0
$GC,4794,-0.56,-146.0,642.8,-11.1,418,4798,0.00,2.35,0.00,0.000,6,0.000,0.070,2658,2494,3635,0,0,0,0,0,0
$GC,5129,-0.54,-146.0,681.2,-11.3,429,5134,0.12,2.42,0.00,0.000,4,0.207,0.084,2689,3909,3635,0,0,0,0,0,0
$GC,5181,-0.63,-146.0,686.1,-8.8,430,5185,0.00,2.28,0.00,0.000,6,0.000,0.057,2689,2488,3634,0,0,0,0,0,0
$GC,5494,-0.68,-146.0,712.9,-8.4,440,5499,0.15,2.35,0.00,0.000,4,0.116,0.071,2637,1069,3635,0,0,0,0,0,0
$GC,5525,-0.65,-146.0,716.0,-11.4,441,5529,0.00,2.38,0.00,0.000,6,0.000,0.070,2637,2492,3634,0,0,0,0,0,0
$GC,5861,-0.59,-146.0,755.7,-11.6,452,5863,0.15,0.00,0.00,0.000,6,0.212,0.000,2672,2492,3634,0,0,0,0,0,0
$GC,6166,-0.59,-146.0,784.8,-9.8,462,6171,0.00,2.38,0.00,0.000,4,0.000,0.085,2672,3900,3635,0,0,0,0,0,0
$GC,6205,-0.63,-146.0,788.9,-10.1,463,6209,0.00,2.30,0.00,0.000,6,0.000,0.057,2673,2484,3635,0,0,0,0,0,0
$GC,6533,-0.84,-146.0,810.9,-3.0,474,6537,0.22,2.35,0.00,0.000,4,0.112,0.073,2598,1076,3635,0,0,0,0,0,0
$STATE,6666,end dive,NO_VERTICAL_VELOCITY
$STATE,6666,begin apogee
$GC,6675,-0.12,0.0,810.9,0.0,478,6813,0.70,0.00,131.15,1.449,6,0.132,0.000,2819,2277,3030,0,0,0,0,0,0
$STATE,6813,end apogee,CONTROL_FINISHED_OK
$STATE,6814,begin climb
$GC,6816,0.62,146.0,810.8,0.0,482,6968,0.77,2.80,139.43,1.392,4,0.131,0.076,3059,864,2433,0,0,0,0,0,0
$GC,7199,0.57,146.0,778.0,10.6,494,7203,0.00,2.42,0.00,0.000,6,0.000,0.067,3059,2273,2426,0,0,0,0,0,0
$GC,7523,0.51,146.0,743.9,10.6,505,7527,0.00,2.38,0.00,0.000,4,0.000,0.079,3069,858,2425,0,0,0,0,0,0
$GC,7601,0.45,146.0,735.3,11.3,507,7606,0.22,2.38,0.00,0.000,6,0.187,0.068,3012,2287,2424,0,0,0,0,0,0
$GC,7920,0.55,197.6,710.8,7.6,518,7972,0.00,2.40,46.12,1.336,4,0.000,0.082,3011,3687,2224,0,0,0,0,0,0
$GC,8016,0.59,208.1,703.5,9.5,521,8032,0.10,2.35,11.10,1.196,6,0.117,0.065,3060,2273,2181,0,0,0,0,0,0
$GC,8353,0.55,208.1,663.3,12.3,532,8357,0.00,2.35,0.00,0.000,4,0.000,0.080,3071,864,2175,0,0,0,0,0,0
$GC,8398,0.55,208.1,657.3,12.2,533,8403,0.12,2.30,0.00,0.000,6,0.184,0.066,3041,2277,2173,0,0,0,0,0,0
$GC,8718,0.55,208.1,620.6,11.7,544,8722,0.00,2.35,0.00,0.000,4,0.000,0.082,3041,3685,2172,0,0,0,0,0,0
$GC,8751,0.55,208.1,616.2,13.1,545,8756,0.00,2.33,0.00,0.000,6,0.000,0.065,3049,2268,2172,0,0,0,0,0,0
$GC,9080,0.55,208.1,576.6,12.6,567,9084,0.00,2.30,0.00,0.000,4,0.000,0.079,3060,866,2172,0,0,0,0,0,0
$GC,9109,0.55,208.1,572.7,12.5,569,9114,0.00,2.33,0.00,0.000,6,0.000,0.067,3060,2284,2170,0,0,0,0,0,0
$GC,9435,0.51,208.1,530.1,13.0,599,9440,0.12,2.33,0.00,0.000,4,0.187,0.081,3028,3696,2170,0,0,0,0,0,0
$GC,9468,0.51,208.1,525.7,12.0,601,9475,0.00,2.33,0.00,0.000,6,0.000,0.064,3035,2275,2170,0,0,0,0,0,0
$GC,9794,0.53,208.1,490.3,10.9,632,9798,0.00,2.35,0.00,0.000,4,0.000,0.078,3046,857,2171,0,0,0,0,0,0
$GC,9825,0.57,208.1,487.1,11.6,634,9829,0.00,2.33,0.00,0.000,6,0.000,0.067,3046,2283,2170,0,0,0,0,0,0
$GC,10151,0.57,208.1,451.1,10.6,664,10155,0.00,2.35,0.00,0.000,4,0.000,0.080,3046,3696,2171,0,0,0,0,0,0
$GC,10202,0.57,208.1,444.9,12.0,668,10206,0.00,2.33,0.00,0.000,6,0.000,0.064,3055,2274,2170,0,0,0,0,0,0
$GC,10533,0.57,208.1,405.5,11.5,699,10537,0.00,2.33,0.00,0.000,4,0.000,0.078,3067,865,2170,0,0,0,0,0,0
$GC,10562,0.57,208.1,401.9,11.8,701,10566,0.00,2.30,0.00,0.000,6,0.000,0.066,3066,2280,2169,0,0,0,0,0,0
$GC,10888,0.54,208.1,361.7,12.5,731,10892,0.00,2.35,0.00,0.000,4,0.000,0.080,3067,3686,2170,0,0,0,0,0,0
$GC,10924,0.50,208.1,357.1,13.5,734,10928,0.17,2.30,0.00,0.000,6,0.181,0.064,3031,2276,2169,0,0,0,0,0,0
$GC,11254,0.55,208.1,322.6,10.3,765,11259,0.00,2.33,0.00,0.000,4,0.000,0.078,3040,862,2169,0,0,0,0,0,0
$GC,11296,0.63,208.1,318.4,10.0,768,11300,0.00,2.30,0.00,0.000,6,0.000,0.065,3040,2278,2169,0,0,0,0,0,0
$GC,11624,0.68,219.6,286.5,9.5,798,11639,0.12,2.35,10.02,1.015,4,0.105,0.081,3098,3687,2134,0,0,0,0,0,0
$GC,11663,0.58,219.6,281.2,14.1,801,11670,0.22,2.33,0.00,0.000,6,0.194,0.064,3051,2268,2133,0,0,0,0,0,0
$GC,11990,0.61,221.2,246.7,9.9,832,11991,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2268,2132,0,0,0,0,0,0
$GC,12310,0.62,224.7,216.3,9.8,862,12323,0.00,2.33,6.10,0.871,4,0.000,0.078,3059,862,2113,0,0,0,0,0,0
$GC,12348,0.68,244.1,212.6,9.1,865,12374,0.00,2.33,19.67,1.039,6,0.000,0.066,3058,2280,2034,0,0,0,0,0,0
$GC,12701,0.74,255.0,179.5,9.5,898,12717,0.12,2.35,10.90,0.967,4,0.105,0.080,3114,3696,1989,0,0,0,0,0,0
$GC,12735,0.67,255.0,175.2,13.1,900,12743,0.17,2.35,0.00,0.000,6,0.200,0.065,3082,2273,1988,0,0,0,0,0,0
$GC,13061,0.70,257.3,138.2,9.9,931,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2272,1987,0,0,0,0,0,0
$GC,13384,0.73,257.3,106.2,11.0,961,13388,0.00,2.33,0.00,0.000,4,0.000,0.079,3090,859,1987,0,0,0,0,0,0
$GC,13492,0.78,257.3,94.5,10.0,974,13499,0.00,2.33,0.00,0.000,6,0.000,0.068,3090,2282,1984,0,0,0,0,0,0
$GC,13841,0.83,274.7,61.0,9.2,1035,13867,0.12,2.42,19.17,0.967,4,0.107,0.083,3143,3691,1909,0,0,0,0,0,0
$GC,13914,0.73,274.7,51.2,13.6,1047,13921,0.20,2.35,0.00,0.000,6,0.202,0.065,3104,2264,1908,0,0,0,0,0,0
$GC,14263,0.77,274.7,16.8,10.3,1108,14270,0.00,2.33,0.00,0.000,4,0.000,0.080,3111,858,1905,0,0,0,0,0,0
$GC,14317,0.83,278.5,11.4,9.8,1117,14325,0.00,2.35,1.45,0.127,6,0.000,0.072,3111,2280,1894,0,0,0,0,0,0
$STATE,14341,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14341,begin subsurface finish
$FINISH1,9.5,1.026312,58
$GC,14349,0.07,58.2,9.5,-7.5,1121,14391,0.73,2.40,-33.62,0.000,4,0.169,0.093,2897,3694,2794,0,0,0,0,0,0
$FINISH2,7.0
$STATE,14392,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14392,begin surface
$RAFOS_CLK,782
$RAFOS,6,1305766144,0.833333,0.817778,148,66,61,60,59,53,615,209,140,179,218,162
$RAFOS,5,1305765690,0.700000,0.691667,115,59,58,57,57,56,461,188,119,139,175,205
$RAFOS,4,1305765197,0.566667,0.554722,64,63,57,55,54,52,210,192,640,180,320,131
$RAFOS,3,1305764709,0.433333,0.419167,69,59,56,56,53,52,867,227,145,203,181,215
$RAFOS,2,1305764228,0.300000,0.285556,66,64,62,57,54,49,887,168,204,215,187,133
$RAFOS,1,1305763746,0.166667,0.151667,64,63,57,57,56,52,178,205,190,220,147,1063
$RAFOS,0,1305763291,0.033333,0.025278,76,56,55,55,54,54,859,140,231,192,175,209
$RAFOS_FIX,6704.469238,-5758.842773,180511,202013,3,125,0.33
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026964
$HUMID,48.22
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,16.30
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.5,14.7
$24V_AH,21.0,85.776
$10V_AH,9.9,44.433
$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,6.300,152.525,395.125,0.000,0.000,0.000,0.000,0.000,7.250,0.000,0.000,2962.888,8807.082,452.367,2034.241,287.777,0.000,1561.737,0.000,2013.219,2520.000,24.588,0.000
$DEVICE_MAMPS,214.200,151.470,1448.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.500,876.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43399,1128
$CAP_FILE_SIZE,155253,0
$CFSIZE,260165632,211329024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$GPS,180511,203013,6704.469,-5758.843,0,3125.0,0,-37.6