version: 66.08
glider: 141
mission: 15
dive: 662
start: 5 21 111 4 53 37
data:
$ID,141
$MISSION,15
$DIVE,662
$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,-2
$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,-49370.453
$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,21
$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
$GPS1,210511,003342,6708.166,-5855.608,0,5113.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.58
$_SM_ANGLEo,-1.6
$GPS2,210511,003342,6708.166,-5855.608,0,5113.8,0,-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,273.5,79849,-17.5,-10.000
$D_GRID,1286
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.50,0.000,2,0.000,0.000,2897,3686,2957,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.6,-0.0,1,57,0.65,4.43,-18.30,0.000,4,0.103,0.078,2669,1076,3630,0,0,0,0,0,0
$GC,251,-0.53,-146.0,44.8,-15.8,40,258,0.00,2.38,0.00,0.000,6,0.000,0.076,2670,2489,3630,0,0,0,0,0,0
$GC,601,-0.42,-146.0,105.0,-15.0,99,606,0.22,2.45,0.00,0.000,4,0.222,0.090,2724,3909,3630,0,0,0,0,0,0
$GC,631,-0.42,-146.0,109.1,-12.9,101,635,0.00,2.30,0.00,0.000,6,0.000,0.063,2724,2486,3630,0,0,0,0,0,0
$GC,957,-0.46,-146.0,138.3,-8.3,131,961,0.00,2.33,0.00,0.000,4,0.000,0.079,2724,1077,3630,0,0,0,0,0,0
$GC,1026,-0.54,-146.0,144.2,-8.9,137,1031,0.12,2.38,0.00,0.000,6,0.129,0.077,2683,2497,3629,0,0,0,0,0,0
$GC,1352,-0.49,-146.0,184.4,-12.8,167,1356,0.00,2.42,0.00,0.000,4,0.000,0.093,2683,3906,3628,0,0,0,0,0,0
$GC,1407,-0.49,-146.0,191.3,-11.2,171,1414,0.00,2.33,0.00,0.000,6,0.000,0.063,2683,2487,3628,0,0,0,0,0,0
$GC,1733,-0.45,-146.0,229.9,-13.0,202,1738,0.12,2.38,0.00,0.000,4,0.219,0.079,2711,1076,3628,0,0,0,0,0,0
$GC,1808,-0.54,-146.0,237.7,-9.7,208,1812,0.00,2.38,0.00,0.000,6,0.000,0.076,2711,2498,3628,0,0,0,0,0,0
$GC,2134,-0.59,-146.0,266.5,-8.4,238,2139,0.12,2.42,0.00,0.000,4,0.129,0.091,2667,3900,3627,0,0,0,0,0,0
$GC,2156,-0.59,-146.0,268.9,-9.8,239,2163,0.00,2.30,0.00,0.000,6,0.000,0.062,2668,2490,3627,0,0,0,0,0,0
$GC,2483,-0.55,-146.0,306.8,-11.3,270,2487,0.00,2.38,0.00,0.000,4,0.000,0.076,2667,1070,3627,0,0,0,0,0,0
$GC,2538,-0.55,-146.0,313.8,-11.0,274,2545,0.00,2.40,0.00,0.000,6,0.000,0.076,2668,2496,3627,0,0,0,0,0,0
$GC,2864,-0.51,-146.0,349.9,-10.9,305,2870,0.12,2.38,0.00,0.000,4,0.213,0.089,2696,3896,3628,0,0,0,0,0,0
$GC,2893,-0.53,-146.0,352.9,-9.4,307,2900,0.00,2.30,0.00,0.000,6,0.000,0.060,2697,2484,3627,0,0,0,0,0,0
$GC,3219,-0.57,-146.0,379.8,-8.3,338,3223,0.00,2.33,0.00,0.000,4,0.000,0.074,2697,1070,3628,0,0,0,0,0,0
$GC,3265,-0.64,-146.0,384.0,-8.7,342,3270,0.12,2.35,0.00,0.000,6,0.128,0.073,2657,2491,3628,0,0,0,0,0,0
$GC,3591,-0.58,-146.0,421.5,-11.5,372,3595,0.00,2.40,0.00,0.000,4,0.000,0.088,2656,3901,3628,0,0,0,0,0,0
$GC,3640,-0.58,-146.0,427.4,-11.0,376,3647,0.00,2.33,0.00,0.000,6,0.000,0.069,2656,2482,3628,0,0,0,0,0,0
$GC,3968,-0.52,-146.0,464.8,-12.0,407,3973,0.15,2.35,0.00,0.000,4,0.203,0.073,2692,1069,3629,0,0,0,0,0,0
$GC,3998,-0.52,-146.0,468.3,-11.0,409,4002,0.00,2.35,0.00,0.000,6,0.000,0.071,2692,2492,3629,0,0,0,0,0,0
$GC,4324,-0.56,-146.0,496.8,-8.7,439,4328,0.00,2.38,0.00,0.000,4,0.000,0.086,2692,3902,3629,0,0,0,0,0,0
$GC,4353,-0.61,-146.0,499.5,-9.0,441,4358,0.00,2.30,0.00,0.000,6,0.000,0.059,2692,2484,3629,0,0,0,0,0,0
$GC,4685,-0.66,-146.0,527.8,-8.3,472,4690,0.12,2.35,0.00,0.000,4,0.125,0.073,2648,1068,3629,0,0,0,0,0,0
$GC,4736,-0.62,-146.0,533.5,-11.3,476,4741,0.00,2.38,0.00,0.000,6,0.000,0.073,2648,2492,3630,0,0,0,0,0,0
$GC,5062,-0.55,-146.0,574.1,-12.1,506,5067,0.15,2.40,0.00,0.000,4,0.213,0.086,2683,3899,3630,0,0,0,0,0,0
$GC,5085,-0.52,-146.0,576.8,-11.5,507,5091,0.00,2.30,0.00,0.000,6,0.000,0.058,2684,2483,3630,0,0,0,0,0,0
$GC,5411,-0.55,-146.0,605.7,-8.8,534,5415,0.00,2.33,0.00,0.000,4,0.000,0.073,2683,1073,3630,0,0,0,0,0,0
$GC,5455,-0.60,-146.0,610.2,-9.0,535,5459,0.00,2.35,0.00,0.000,6,0.000,0.072,2684,2491,3630,0,0,0,0,0,0
$GC,5774,-0.63,-146.0,638.0,-8.7,546,5778,0.00,2.40,0.00,0.000,4,0.000,0.086,2683,3899,3630,0,0,0,0,0,0
$GC,5820,-0.69,-146.0,642.1,-8.8,547,5824,0.12,2.28,0.00,0.000,6,0.125,0.058,2642,2486,3630,0,0,0,0,0,0
$GC,6144,-0.61,-146.0,679.7,-11.7,558,6148,0.00,2.30,0.00,0.000,4,0.000,0.073,2642,1079,3630,0,0,0,0,0,0
$GC,6183,-0.55,-146.0,684.6,-11.8,559,6188,0.17,2.35,0.00,0.000,6,0.196,0.073,2684,2491,3630,0,0,0,0,0,0
$GC,6519,-0.59,-146.0,713.4,-8.5,570,6523,0.00,2.40,0.00,0.000,4,0.000,0.087,2684,3903,3630,0,0,0,0,0,0
$GC,6558,-0.64,-146.0,716.9,-8.9,571,6562,0.00,2.30,0.00,0.000,6,0.000,0.059,2684,2481,3630,0,0,0,0,0,0
$GC,6895,-0.68,-146.0,745.0,-8.5,582,6900,0.12,2.33,0.00,0.000,4,0.130,0.074,2642,1073,3631,0,0,0,0,0,0
$GC,6924,-0.65,-146.0,748.3,-11.6,583,6928,0.00,2.38,0.00,0.000,6,0.000,0.073,2641,2488,3631,0,0,0,0,0,0
$GC,7260,-0.58,-146.0,788.1,-11.7,594,7265,0.12,2.42,0.00,0.000,4,0.215,0.087,2670,3904,3630,0,0,0,0,0,0
$GC,7289,-0.58,-146.0,791.2,-10.5,595,7293,0.00,2.28,0.00,0.000,6,0.000,0.060,2670,2490,3630,0,0,0,0,0,0
$GC,7624,-0.58,-146.0,822.5,-9.5,606,7628,0.00,2.33,0.00,0.000,4,0.000,0.074,2670,1070,3631,0,0,0,0,0,0
$GC,7664,-0.60,-146.0,826.5,-9.8,607,7668,0.00,2.38,0.00,0.000,6,0.000,0.073,2670,2497,3631,0,0,0,0,0,0
$GC,7988,-0.60,-146.0,856.4,-9.3,618,7992,0.00,2.38,0.00,0.000,4,0.000,0.087,2670,3900,3630,0,0,0,0,0,0
$GC,8027,-0.64,-146.0,860.2,-9.4,619,8032,0.00,2.30,0.00,0.000,6,0.000,0.059,2670,2489,3630,0,0,0,0,0,0
$GC,8352,-0.64,-146.0,889.1,-8.7,630,8356,0.00,2.33,0.00,0.000,4,0.000,0.074,2670,1069,3630,0,0,0,0,0,0
$GC,8386,-0.66,-146.0,892.1,-9.7,631,8390,0.00,2.38,0.00,0.000,6,0.000,0.073,2670,2497,3630,0,0,0,0,0,0
$GC,8716,-0.66,-146.0,919.5,-8.4,642,8720,0.00,2.40,0.00,0.000,4,0.000,0.088,2671,3899,3630,0,0,0,0,0,0
$GC,8745,-0.68,-146.0,922.0,-9.3,643,8750,0.00,2.28,0.00,0.000,6,0.000,0.060,2670,2491,3630,0,0,0,0,0,0
$GC,9085,-0.68,-146.0,950.3,-8.3,654,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2490,3630,0,0,0,0,0,0
$GC,9387,-0.68,-146.0,975.6,-8.2,664,9391,0.00,2.35,0.00,0.000,4,0.000,0.075,2670,1074,3630,0,0,0,0,0,0
$GC,9427,-0.72,-146.0,979.3,-9.4,665,9432,0.12,2.35,0.00,0.000,6,0.125,0.073,2629,2488,3630,0,0,0,0,0,0
$STATE,9534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9534,begin apogee
$GC,9541,-0.12,0.0,991.0,11.1,669,9681,0.68,0.00,133.88,1.564,6,0.203,0.000,2811,2264,3030,0,0,0,0,0,0
$STATE,9682,end apogee,CONTROL_FINISHED_OK
$STATE,9682,begin climb
$GC,9684,0.62,146.0,995.3,0.0,673,9837,0.82,2.72,144.60,1.505,4,0.133,0.080,3063,875,2433,0,0,0,0,0,0
$GC,9912,0.57,146.0,977.6,11.5,680,9916,0.00,2.53,0.00,0.000,6,0.000,0.066,3062,2277,2428,0,0,0,0,0,0
$GC,10226,0.50,146.0,942.1,11.4,690,10231,0.12,2.40,0.00,0.000,4,0.185,0.083,3031,3696,2426,0,0,0,0,0,0
$GC,10304,0.43,146.0,932.8,12.2,692,10309,0.15,2.35,0.00,0.000,6,0.195,0.067,3005,2280,2426,0,0,0,0,0,0
$GC,10629,0.53,190.2,906.4,8.0,703,10676,0.00,2.47,40.15,1.442,4,0.000,0.083,3013,865,2254,0,0,0,0,0,0
$GC,10690,0.65,240.8,901.4,7.7,705,10746,0.17,2.40,49.40,1.425,6,0.089,0.067,3088,2285,2048,0,0,0,0,0,0
$GC,11060,0.56,240.8,845.3,15.7,717,11065,0.15,2.38,0.00,0.000,4,0.184,0.082,3049,3694,2038,0,0,0,0,0,0
$GC,11138,0.54,240.8,833.9,13.9,719,11142,0.00,2.35,0.00,0.000,6,0.000,0.068,3057,2275,2036,0,0,0,0,0,0
$GC,11457,0.51,240.8,792.4,13.1,730,11461,0.00,2.35,0.00,0.000,4,0.000,0.080,3069,862,2035,0,0,0,0,0,0
$GC,11486,0.51,240.8,788.5,12.5,731,11491,0.15,2.35,0.00,0.000,6,0.178,0.068,3031,2286,2033,0,0,0,0,0,0
$GC,11824,0.55,240.8,753.6,10.2,742,11828,0.00,2.35,0.00,0.000,4,0.000,0.082,3030,3690,2032,0,0,0,0,0,0
$GC,11862,0.58,240.8,748.8,11.4,743,11866,0.00,2.33,0.00,0.000,6,0.000,0.067,3038,2275,2032,0,0,0,0,0,0
$GC,12186,0.58,240.8,713.7,10.7,754,12191,0.00,2.35,0.00,0.000,4,0.000,0.080,3048,864,2032,0,0,0,0,0,0
$GC,12221,0.62,240.8,710.1,10.6,755,12225,0.00,2.33,0.00,0.000,6,0.000,0.067,3049,2273,2030,0,0,0,0,0,0
$GC,12556,0.62,240.8,671.2,11.6,766,12560,0.00,2.38,0.00,0.000,4,0.000,0.083,3049,3694,2030,0,0,0,0,0,0
$GC,12611,0.62,240.8,663.8,13.8,767,12618,0.00,2.33,0.00,0.000,6,0.000,0.067,3059,2275,2030,0,0,0,0,0,0
$GC,12925,0.62,240.8,624.3,12.5,778,12929,0.00,2.35,0.00,0.000,4,0.000,0.080,3070,865,2030,0,0,0,0,0,0
$GC,12957,0.62,240.8,619.8,12.8,779,12961,0.00,2.35,0.00,0.000,6,0.000,0.069,3070,2284,2029,0,0,0,0,0,0
$GC,13286,0.59,240.8,577.1,13.0,799,13290,0.00,2.33,0.00,0.000,4,0.000,0.083,3070,3690,2029,0,0,0,0,0,0
$GC,13352,0.54,240.8,566.7,14.4,804,13360,0.15,2.33,0.00,0.000,6,0.196,0.067,3043,2266,2029,0,0,0,0,0,0
$GC,13678,0.56,240.8,529.5,11.3,835,13682,0.00,2.35,0.00,0.000,4,0.000,0.081,3051,863,2029,0,0,0,0,0,0
$GC,13729,0.62,240.8,523.7,10.2,839,13734,0.00,2.35,0.00,0.000,6,0.000,0.068,3051,2286,2028,0,0,0,0,0,0
$GC,14055,0.62,240.8,486.3,11.5,869,14059,0.00,2.33,0.00,0.000,4,0.000,0.082,3051,3690,2028,0,0,0,0,0,0
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$STATE,18332,end climb,NO_VERTICAL_VELOCITY
$STATE,18332,begin subsurface finish
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$FINISH2,4.8
$STATE,18349,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,18349,begin surface
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$RAFOS,5,1305967271,8.700000,8.686389,136,58,57,52,52,52,730,220,201,162,172,187
$RAFOS,4,1305966791,8.566667,8.553056,152,63,62,57,56,54,590,215,194,227,206,153
$RAFOS,3,1305966324,8.433333,8.423333,79,72,58,56,53,53,744,210,197,185,131,175
$RAFOS,2,1305965824,8.300000,8.284445,103,63,59,58,54,54,803,224,149,200,191,129
$RAFOS,1,1305965344,8.166667,8.151111,80,62,59,58,51,48,722,145,208,199,168,124
$RAFOS,0,1305964887,8.033334,8.024167,76,60,58,56,56,56,721,191,159,171,147,135
$RAFOS,6,1305953342,4.833333,4.817222,99,68,57,56,53,53,561,203,130,148,215,180
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$TT8_MAMPS,0.026964
$HUMID,47.28
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.30
$XPDR_PINGS,14
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$24V_AH,20.6,87.730
$10V_AH,9.9,45.425
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,150616
$DATA_FILE_SIZE,53356,1341
$CAP_FILE_SIZE,195466,0
$CFSIZE,260165632,210350080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$GPS,210511,082725,6706.968,-5906.202,0,7113.7,0,-37.6