version: 66.08
glider: 141
mission: 15
dive: 674
start: 5 23 111 17 51 27
data:
$ID,141
$MISSION,15
$DIVE,674
$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,-49740.031
$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,20
$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
$GPS1,230511,162649,6657.853,-6001.996,0,7119.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.88
$_SM_ANGLEo,-3.0
$GPS2,230511,162649,6657.853,-6001.996,0,7119.3,0,-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,252.0,31091,-17.5,-10.000
$D_GRID,798
$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,-6.12,0.000,2,0.000,0.000,2903,3692,2972,0,0,0,0,0,0
$GC,28,-0.62,-146.0,13.9,-0.0,1,53,0.68,4.38,-15.27,0.000,4,0.102,0.077,2667,1077,3630,0,0,0,0,0,0
$GC,275,-0.49,-146.0,60.7,-20.6,44,282,0.15,2.38,0.00,0.000,6,0.230,0.079,2699,2486,3631,0,0,0,0,0,0
$GC,621,-0.41,-146.0,118.1,-14.9,95,626,0.12,2.47,0.00,0.000,4,0.244,0.094,2728,3907,3631,0,0,0,0,0,0
$GC,689,-0.47,-146.0,126.5,-10.9,100,695,0.00,2.35,0.00,0.000,6,0.000,0.073,2728,2486,3631,0,0,0,0,0,0
$GC,1018,-0.50,-146.0,160.5,-10.3,131,1023,0.00,2.35,0.00,0.000,4,0.000,0.083,2728,1081,3630,0,0,0,0,0,0
$GC,1082,-0.58,-146.0,167.5,-9.9,136,1087,0.15,2.40,0.00,0.000,6,0.119,0.080,2677,2496,3629,0,0,0,0,0,0
$GC,1409,-0.50,-146.0,213.2,-14.3,166,1413,0.00,2.40,0.00,0.000,4,0.000,0.095,2677,3900,3629,0,0,0,0,0,0
$GC,1464,-0.50,-146.0,221.3,-13.0,170,1471,0.00,2.33,0.00,0.000,6,0.000,0.066,2677,2486,3629,0,0,0,0,0,0
$GC,1790,-0.43,-146.0,264.6,-13.1,201,1792,0.17,0.00,0.00,0.000,6,0.216,0.000,2719,2486,3629,0,0,0,0,0,0
$GC,2108,-0.49,-146.0,294.5,-8.9,231,2112,0.00,2.35,0.00,0.000,4,0.000,0.081,2719,1081,3629,0,0,0,0,0,0
$GC,2131,-0.55,-146.0,296.6,-8.9,232,2138,0.00,2.38,0.00,0.000,6,0.000,0.079,2719,2489,3629,0,0,0,0,0,0
$GC,2459,-0.61,-146.0,323.5,-8.3,263,2465,0.15,0.00,0.00,0.000,6,0.115,0.000,2666,2489,3628,0,0,0,0,0,0
$GC,2785,-0.54,-146.0,365.7,-12.9,294,2789,0.00,2.42,0.00,0.000,4,0.000,0.093,2665,3908,3628,0,0,0,0,0,0
$GC,2829,-0.51,-146.0,371.4,-12.2,297,2836,0.12,2.33,0.00,0.000,6,0.210,0.063,2692,2483,3628,0,0,0,0,0,0
$GC,3154,-0.51,-146.0,404.0,-10.2,328,3158,0.00,2.35,0.00,0.000,4,0.000,0.078,2693,1069,3629,0,0,0,0,0,0
$GC,3182,-0.51,-146.0,407.0,-10.9,330,3187,0.00,2.40,0.00,0.000,6,0.000,0.075,2693,2493,3629,0,0,0,0,0,0
$GC,3508,-0.51,-146.0,440.3,-10.2,360,3512,0.00,2.40,0.00,0.000,4,0.000,0.092,2693,3901,3629,0,0,0,0,0,0
$GC,3525,-0.51,-146.0,442.2,-10.3,361,3530,0.00,2.33,0.00,0.000,6,0.000,0.062,2692,2483,3629,0,0,0,0,0,0
$GC,3851,-0.51,-146.0,474.1,-9.8,391,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2483,3629,0,0,0,0,0,0
$GC,4171,-0.51,-146.0,505.2,-10.1,421,4175,0.00,2.30,0.00,0.000,4,0.000,0.076,2693,1080,3630,0,0,0,0,0,0
$GC,4205,-0.53,-146.0,508.8,-9.8,423,4212,0.00,2.38,0.00,0.000,6,0.000,0.074,2693,2491,3630,0,0,0,0,0,0
$GC,4533,-0.56,-146.0,539.5,-9.7,454,4537,0.00,2.40,0.00,0.000,4,0.000,0.091,2693,3901,3629,0,0,0,0,0,0
$GC,4565,-0.59,-146.0,542.5,-9.8,456,4569,0.00,2.30,0.00,0.000,6,0.000,0.061,2693,2491,3629,0,0,0,0,0,0
$GC,4891,-0.61,-146.0,573.4,-9.1,486,4895,0.00,2.38,0.00,0.000,4,0.000,0.076,2693,1076,3630,0,0,0,0,0,0
$GC,4932,-0.65,-146.0,577.4,-9.6,489,4937,0.12,2.40,0.00,0.000,6,0.129,0.075,2652,2498,3630,0,0,0,0,0,0
$GC,5274,-0.57,-146.0,619.3,-12.5,511,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2498,3630,0,0,0,0,0,0
$GC,5580,-0.50,-146.0,658.4,-13.2,521,5582,0.17,0.00,0.00,0.000,6,0.207,0.000,2694,2498,3630,0,0,0,0,0,0
$GC,5886,-0.54,-146.0,686.4,-9.1,531,5890,0.00,2.40,0.00,0.000,4,0.000,0.090,2694,3908,3631,0,0,0,0,0,0
$GC,5915,-0.59,-146.0,689.0,-9.5,532,5919,0.00,2.33,0.00,0.000,6,0.000,0.060,2694,2482,3630,0,0,0,0,0,0
$GC,6253,-0.64,-146.0,717.7,-8.7,543,6255,0.12,0.00,0.00,0.000,6,0.130,0.000,2651,2482,3631,0,0,0,0,0,0
$STATE,6370,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6370,begin apogee
$GC,6377,-0.12,0.0,731.9,11.8,547,6513,0.60,0.00,129.48,1.396,6,0.197,0.000,2814,2262,3030,0,0,0,0,0,0
$STATE,6514,end apogee,CONTROL_FINISHED_OK
$STATE,6514,begin climb
$GC,6516,0.62,146.0,736.8,0.0,551,6663,0.82,2.78,138.18,1.343,4,0.141,0.081,3065,871,2434,0,0,0,0,0,0
$GC,6692,0.58,146.0,726.2,10.5,556,6699,0.00,2.62,0.00,0.000,6,0.000,0.067,3065,2275,2430,0,0,0,0,0,0
$GC,7006,0.52,146.0,693.3,10.6,567,7011,0.12,2.45,0.00,0.000,4,0.186,0.085,3035,3696,2427,0,0,0,0,0,0
$GC,7096,0.49,154.9,684.0,9.6,569,7111,0.00,2.38,8.15,1.089,6,0.000,0.070,3043,2280,2398,0,0,0,0,0,0
$GC,7442,0.49,154.9,648.9,10.9,581,7446,0.00,2.35,0.00,0.000,4,0.000,0.083,3054,863,2396,0,0,0,0,0,0
$GC,7474,0.49,154.9,645.3,11.0,582,7479,0.12,2.35,0.00,0.000,6,0.184,0.070,3024,2279,2396,0,0,0,0,0,0
$GC,7807,0.55,187.1,617.2,8.5,593,7842,0.00,2.45,29.75,1.271,4,0.000,0.086,3024,3693,2267,0,0,0,0,0,0
$GC,7917,0.55,187.1,606.0,10.9,596,7921,0.00,2.38,0.00,0.000,6,0.000,0.068,3032,2265,2264,0,0,0,0,0,0
$GC,8240,0.64,231.3,577.5,8.0,622,8288,0.12,2.45,41.10,1.253,4,0.106,0.083,3102,864,2087,0,0,0,0,0,0
$GC,8334,0.60,231.3,565.9,13.2,630,8341,0.17,2.38,0.00,0.000,6,0.188,0.070,3059,2276,2082,0,0,0,0,0,0
$GC,8659,0.60,231.3,530.6,11.3,661,8663,0.00,2.35,0.00,0.000,4,0.000,0.084,3059,3691,2079,0,0,0,0,0,0
$GC,8716,0.60,231.3,523.8,12.4,665,8723,0.00,2.35,0.00,0.000,6,0.000,0.069,3067,2268,2078,0,0,0,0,0,0
$GC,9041,0.60,231.3,486.3,11.4,696,9045,0.00,2.33,0.00,0.000,4,0.000,0.082,3078,861,2077,0,0,0,0,0,0
$GC,9093,0.60,231.3,480.4,11.5,700,9097,0.00,2.35,0.00,0.000,6,0.000,0.070,3078,2280,2077,0,0,0,0,0,0
$GC,9424,0.57,231.3,440.6,12.2,731,9429,0.12,2.35,0.00,0.000,4,0.182,0.083,3045,3687,2076,0,0,0,0,0,0
$GC,9476,0.59,231.3,434.6,11.1,735,9480,0.00,2.33,0.00,0.000,6,0.000,0.068,3054,2263,2076,0,0,0,0,0,0
$GC,9802,0.62,231.3,399.8,10.9,765,9806,0.00,2.33,0.00,0.000,4,0.000,0.083,3064,859,2076,0,0,0,0,0,0
$GC,9854,0.66,231.3,394.3,10.7,769,9858,0.00,2.35,0.00,0.000,6,0.000,0.071,3064,2275,2074,0,0,0,0,0,0
$GC,10183,0.66,231.3,357.7,10.9,799,10187,0.00,2.38,0.00,0.000,4,0.000,0.084,3063,3691,2075,0,0,0,0,0,0
$GC,10239,0.66,231.3,350.4,13.0,803,10245,0.00,2.35,0.00,0.000,6,0.000,0.069,3074,2268,2074,0,0,0,0,0,0
$GC,10564,0.66,231.3,314.6,10.5,834,10568,0.00,2.35,0.00,0.000,4,0.000,0.082,3084,857,2074,0,0,0,0,0,0
$GC,10640,0.66,231.3,306.5,10.6,840,10644,0.00,2.35,0.00,0.000,6,0.000,0.070,3084,2275,2074,0,0,0,0,0,0
$GC,10965,0.66,231.3,268.8,11.5,870,10970,0.00,2.38,0.00,0.000,4,0.000,0.084,3084,3694,2074,0,0,0,0,0,0
$GC,11031,0.62,231.3,260.4,14.1,875,11036,0.12,2.33,0.00,0.000,6,0.197,0.069,3065,2275,2074,0,0,0,0,0,0
$GC,11357,0.66,235.5,227.2,9.8,905,11361,0.00,2.40,0.00,0.000,4,0.000,0.083,3074,857,2074,0,0,0,0,0,0
$GC,11387,0.72,246.5,224.4,9.5,907,11410,0.00,2.35,13.15,1.020,6,0.000,0.069,3074,2278,2024,0,0,0,0,0,0
$GC,11729,0.78,260.2,191.3,9.4,939,11746,0.12,0.00,14.23,1.011,6,0.106,0.000,3128,2278,1969,0,0,0,0,0,0
$GC,12066,0.75,260.2,148.3,12.6,970,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2278,1965,0,0,0,0,0,0
$GC,12389,0.71,260.2,109.1,11.8,1000,12394,0.15,2.38,0.00,0.000,4,0.181,0.086,3089,3687,1965,0,0,0,0,0,0
$GC,12463,0.76,272.3,101.2,9.4,1006,12481,0.00,2.33,12.50,0.962,6,0.000,0.070,3097,2272,1919,0,0,0,0,0,0
$GC,12823,0.87,304.5,71.1,8.5,1068,12860,0.12,2.45,31.12,0.991,4,0.109,0.085,3160,866,1787,0,0,0,0,0,0
$GC,12915,0.87,304.5,61.0,11.8,1083,12922,0.00,2.38,0.00,0.000,6,0.000,0.071,3160,2285,1784,0,0,0,0,0,0
$GC,13261,0.83,304.5,21.4,11.3,1144,13268,0.00,2.38,0.00,0.000,4,0.000,0.086,3160,3694,1781,0,0,0,0,0,0
$GC,13332,0.78,304.5,12.2,12.3,1156,13339,0.20,2.38,0.00,0.000,6,0.194,0.071,3119,2264,1779,0,0,0,0,0,0
$FREEZE,8.59,-1.735,-1.772,2,37,0
$STATE,13362,end climb,FINISH_DEPTH_REACHED
$STATE,13362,begin subsurface finish
$FINISH1,8.6,1.025952,76
$GC,13370,0.09,75.9,8.6,-10.9,1161,13417,0.70,2.42,-36.33,0.000,4,0.158,0.095,2904,864,2724,0,0,0,0,0,0
$FINISH2,7.8
$STATE,13418,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13418,begin surface
$RAFOS_CLK,742
$RAFOS,6,1306183742,20.833334,20.817223,73,63,60,57,53,50,765,156,216,139,198,170
$RAFOS,5,1306183264,20.700001,20.684444,98,61,61,53,52,52,932,217,201,157,130,145
$RAFOS,4,1306182791,20.566668,20.553055,114,62,57,56,52,51,679,216,167,114,90,177
$RAFOS,3,1306182306,20.433332,20.418333,137,55,53,52,50,49,825,175,146,207,163,223
$RAFOS,2,1306181828,20.299999,20.285555,103,64,59,58,55,52,700,204,221,148,139,166
$RAFOS,1,1306181342,20.166666,20.150555,102,61,59,57,56,52,614,228,215,146,189,175
$RAFOS,0,1306180888,20.033333,20.024445,86,59,56,55,52,52,543,146,186,215,126,137
$RAFOS_FIX,6657.239746,-6006.401367,230511,202016,7,102,0.23
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026964
$HUMID,48.07
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,16.9
$ALTIM_BOTTOM_PING,701.6,44.3
$24V_AH,20.9,89.851
$10V_AH,9.8,46.494
$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,5.500,138.100,417.650,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,2890.543,7845.625,476.951,2006.062,279.278,0.000,1567.782,0.000,1983.826,2520.000,21.295,0.000
$DEVICE_MAMPS,244.035,94.860,1396.125,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.687,898.421,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43367,1169
$CAP_FILE_SIZE,146938,0
$CFSIZE,260165632,209383424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.9
$GPS,230511,202716,6657.240,-6006.401,0,7101.9,0,-37.6