version: 66.08
glider: 141
mission: 15
dive: 677
start: 5 24 111 4 37 37
data:
$ID,141
$MISSION,15
$DIVE,677
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,240511,041528,6654.403,-6018.579,0,4100.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.36
$_SM_ANGLEo,-5.0
$GPS2,240511,041528,6654.403,-6018.579,0,4100.2,0,-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,233.3,20017,-17.5,-10.000
$D_GRID,586
$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,-5.47,0.000,2,0.000,0.000,2903,2276,2943,0,0,0,0,0,0
$GC,27,-0.62,-146.0,13.2,-0.0,1,51,0.65,2.03,-16.35,0.000,4,0.086,0.091,2664,1078,3628,0,0,0,0,0,0
$GC,59,-0.49,-146.0,17.0,-13.7,6,66,0.15,2.38,0.00,0.000,6,0.239,0.076,2696,2489,3630,0,0,0,0,0,0
$GC,405,-0.37,-146.0,86.8,-17.1,67,412,0.17,2.45,0.00,0.000,4,0.237,0.094,2737,3906,3629,0,0,0,0,0,0
$GC,444,-0.37,-146.0,92.2,-12.4,73,450,0.00,2.30,0.00,0.000,6,0.000,0.064,2738,2490,3630,0,0,0,0,0,0
$GC,780,-0.41,-146.0,130.8,-10.7,110,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2490,3630,0,0,0,0,0,0
$GC,1101,-0.46,-146.0,162.5,-9.5,140,1105,0.00,2.35,0.00,0.000,4,0.000,0.080,2737,1079,3629,0,0,0,0,0,0
$GC,1164,-0.56,-146.0,168.9,-9.4,145,1169,0.17,2.40,0.00,0.000,6,0.109,0.078,2676,2498,3628,0,0,0,0,0,0
$GC,1490,-0.48,-146.0,214.0,-14.2,175,1495,0.12,2.42,0.00,0.000,4,0.220,0.095,2703,3900,3628,0,0,0,0,0,0
$GC,1542,-0.52,-146.0,220.3,-11.2,179,1546,0.00,2.33,0.00,0.000,6,0.000,0.065,2704,2481,3628,0,0,0,0,0,0
$GC,1872,-0.52,-146.0,255.6,-10.5,210,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2481,3628,0,0,0,0,0,0
$GC,2194,-0.52,-146.0,287.6,-10.1,240,2198,0.00,2.33,0.00,0.000,4,0.000,0.078,2704,1069,3628,0,0,0,0,0,0
$GC,2227,-0.55,-146.0,291.3,-10.2,242,2233,0.00,2.40,0.00,0.000,6,0.000,0.077,2704,2489,3627,0,0,0,0,0,0
$GC,2554,-0.57,-146.0,322.5,-9.3,273,2558,0.00,2.45,0.00,0.000,4,0.000,0.093,2704,3909,3628,0,0,0,0,0,0
$GC,2572,-0.60,-146.0,324.3,-9.5,274,2577,0.12,2.33,0.00,0.000,6,0.128,0.063,2663,2484,3627,0,0,0,0,0,0
$GC,2904,-0.52,-146.0,366.7,-12.5,305,2909,0.12,2.38,0.00,0.000,4,0.223,0.077,2691,1070,3628,0,0,0,0,0,0
$GC,2915,-0.44,-146.0,368.5,-12.6,305,2922,0.10,2.40,0.00,0.000,6,0.236,0.076,2714,2493,3627,0,0,0,0,0,0
$GC,3242,-0.50,-146.0,395.7,-8.2,336,3246,0.00,2.42,0.00,0.000,4,0.000,0.092,2714,3900,3627,0,0,0,0,0,0
$GC,3260,-0.56,-146.0,397.2,-7.6,337,3264,0.00,2.33,0.00,0.000,6,0.000,0.062,2714,2478,3627,0,0,0,0,0,0
$GC,3587,-0.62,-146.0,422.9,-8.0,367,3589,0.15,0.00,0.00,0.000,6,0.122,0.000,2662,2478,3628,0,0,0,0,0,0
$GC,3904,-0.55,-146.0,461.2,-12.5,397,3908,0.00,2.33,0.00,0.000,4,0.000,0.076,2663,1074,3628,0,0,0,0,0,0
$GC,3915,-0.48,-146.0,462.9,-12.5,397,3923,0.17,2.40,0.00,0.000,6,0.211,0.075,2704,2496,3628,0,0,0,0,0,0
$GC,4241,-0.52,-146.0,490.8,-8.2,428,4246,0.00,2.40,0.00,0.000,4,0.000,0.091,2703,3905,3628,0,0,0,0,0,0
$GC,4265,-0.57,-146.0,492.8,-8.1,429,4272,0.00,2.33,0.00,0.000,6,0.000,0.062,2704,2486,3629,0,0,0,0,0,0
$GC,4591,-0.62,-146.0,519.7,-8.4,460,4596,0.12,2.35,0.00,0.000,4,0.129,0.076,2661,1070,3629,0,0,0,0,0,0
$GC,4607,-0.62,-146.0,521.3,-8.9,461,4614,0.00,2.40,0.00,0.000,6,0.000,0.075,2661,2493,3628,0,0,0,0,0,0
$GC,4933,-0.56,-146.0,559.9,-11.6,492,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2493,3628,0,0,0,0,0,0
$STATE,5143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5143,begin apogee
$GC,5150,-0.12,0.0,586.0,12.2,512,5283,0.57,0.00,126.90,1.304,6,0.198,0.000,2815,2269,3030,0,0,0,0,0,0
$STATE,5284,end apogee,CONTROL_FINISHED_OK
$STATE,5284,begin climb
$GC,5286,0.62,146.0,591.7,0.0,524,5431,0.80,2.70,134.35,1.258,4,0.144,0.081,3059,873,2433,0,0,0,0,0,0
$GC,5483,0.61,157.3,582.3,9.5,541,5501,0.00,2.58,11.75,1.096,6,0.000,0.067,3059,2275,2388,0,0,0,0,0,0
$GC,5820,0.57,161.0,549.3,9.8,573,5832,0.00,2.42,4.20,0.754,4,0.000,0.085,3058,3696,2373,0,0,0,0,0,0
$GC,5930,0.50,161.0,537.1,11.3,582,5938,0.15,2.38,0.00,0.000,6,0.187,0.070,3032,2277,2372,0,0,0,0,0,0
$GC,6256,0.56,207.5,510.7,7.9,613,6304,0.00,2.42,42.45,1.204,4,0.000,0.084,3041,864,2184,0,0,0,0,0,0
$GC,6358,0.67,238.5,502.4,8.6,621,6398,0.10,2.38,29.98,1.174,6,0.124,0.070,3085,2278,2055,0,0,0,0,0,0
$GC,6717,0.62,238.5,455.1,14.0,655,6721,0.00,2.38,0.00,0.000,4,0.000,0.084,3085,3697,2047,0,0,0,0,0,0
$GC,6778,0.56,238.5,445.5,15.0,660,6785,0.17,2.38,0.00,0.000,6,0.194,0.070,3052,2267,2046,0,0,0,0,0,0
$GC,7106,0.60,238.5,410.5,10.4,691,7110,0.00,2.35,0.00,0.000,4,0.000,0.083,3061,864,2046,0,0,0,0,0,0
$GC,7161,0.66,239.4,404.5,10.0,695,7168,0.00,2.35,0.00,0.000,6,0.000,0.070,3060,2278,2044,0,0,0,0,0,0
$GC,7489,0.68,239.4,370.3,10.8,726,7493,0.00,2.38,0.00,0.000,4,0.000,0.084,3060,3694,2044,0,0,0,0,0,0
$GC,7533,0.68,239.4,364.5,12.2,729,7540,0.00,2.35,0.00,0.000,6,0.000,0.078,3071,2274,2044,0,0,0,0,0,0
$GC,7859,0.68,239.4,329.2,10.5,760,7863,0.00,2.35,0.00,0.000,4,0.000,0.082,3082,859,2043,0,0,0,0,0,0
$GC,7915,0.68,239.4,323.0,11.1,764,7921,0.00,2.35,0.00,0.000,6,0.000,0.070,3082,2278,2042,0,0,0,0,0,0
$GC,8242,0.68,239.4,285.8,11.1,795,8246,0.00,2.38,0.00,0.000,4,0.000,0.083,3082,3694,2042,0,0,0,0,0,0
$GC,8309,0.65,239.4,276.9,14.1,800,8316,0.00,2.35,0.00,0.000,6,0.000,0.069,3091,2275,2042,0,0,0,0,0,0
$GC,8634,0.65,239.4,239.8,10.8,831,8639,0.00,2.35,0.00,0.000,4,0.000,0.082,3102,859,2042,0,0,0,0,0,0
$GC,8687,0.65,239.4,234.2,10.9,835,8691,0.00,2.35,0.00,0.000,6,0.000,0.070,3102,2285,2041,0,0,0,0,0,0
$GC,9018,0.61,239.4,195.8,11.6,866,9023,0.15,2.35,0.00,0.000,4,0.182,0.083,3063,3686,2041,0,0,0,0,0,0
$GC,9063,0.63,239.4,190.7,11.7,869,9070,0.00,2.35,0.00,0.000,6,0.000,0.069,3071,2265,2041,0,0,0,0,0,0
$GC,9389,0.72,269.6,160.6,8.6,900,9423,0.00,2.38,27.40,1.032,4,0.000,0.083,3081,858,1929,0,0,0,0,0,0
$GC,9496,0.84,293.4,151.6,8.9,909,9530,0.15,2.38,23.35,1.011,6,0.100,0.071,3141,2277,1833,0,0,0,0,0,0
$GC,9849,0.82,293.4,105.7,12.9,942,9853,0.00,2.38,0.00,0.000,4,0.000,0.086,3141,3690,1827,0,0,0,0,0,0
$GC,9911,0.74,293.4,97.7,12.5,949,9919,0.17,2.35,0.00,0.000,6,0.195,0.070,3108,2273,1825,0,0,0,0,0,0
$GC,10260,0.87,345.7,69.6,7.6,1010,10314,0.12,2.47,47.50,0.991,4,0.109,0.086,3169,864,1620,0,0,0,0,0,0
$GC,10384,0.87,345.7,54.6,13.2,1031,10391,0.00,2.38,0.00,0.000,6,0.000,0.073,3169,2273,1615,0,0,0,0,0,0
$FREEZE,8.86,-1.716,-1.773,2,40,2
$FREEZE,8.05,-1.716,-1.772,2,40,2
$FREEZE,7.28,-1.719,-1.772,2,40,2
$FREEZE,6.43,-1.719,-1.771,2,40,2
$GC,10735,0.83,345.7,6.4,13.5,1092,10742,0.15,2.40,0.00,0.000,4,0.200,0.087,3131,3693,1610,0,0,0,0,0,0
$FREEZE,3.83,-1.719,-1.769,2,40,2
$FREEZE,3.99,-1.722,-1.769,2,40,2
$FREEZE,3.93,-1.723,-1.769,2,40,2
$FREEZE,3.75,-1.721,-1.769,2,40,2
$FREEZE,3.81,-1.721,-1.769,2,40,2
$GC,10762,1.07,369.8,3.9,8.9,1096,10785,0.22,2.35,11.25,0.871,6,0.138,0.065,3197,2262,1520,0,0,0,0,0,0
$FREEZE,3.64,-1.715,-1.769,2,40,2
$FREEZE,3.63,-1.667,-1.766,2,40,2
$FREEZE,3.61,-1.705,-1.768,2,40,2
$FREEZE,3.54,-1.713,-1.768,2,40,2
$FREEZE,3.49,-1.701,-1.768,2,40,2
$FREEZE,3.53,-1.714,-1.768,2,40,2
$FREEZE,3.53,-1.714,-1.768,2,40,2
$FREEZE,3.36,-1.710,-1.768,2,40,2
$FREEZE,3.49,-1.712,-1.768,2,40,2
$FREEZE,3.36,-1.718,-1.769,2,40,2
$FREEZE,3.46,-1.719,-1.769,2,40,2
$FREEZE,3.48,-1.719,-1.769,2,40,2
$FREEZE,3.49,-1.720,-1.769,2,40,2
$FREEZE,3.47,-1.719,-1.769,2,40,2
$FREEZE,3.49,-1.719,-1.769,2,40,2
$FREEZE,3.42,-1.719,-1.769,2,40,2
$FREEZE,3.48,-1.719,-1.769,2,40,2
$FREEZE,3.48,-1.719,-1.769,2,40,2
$FREEZE,3.40,-1.722,-1.769,2,40,2
$FREEZE,3.35,-1.718,-1.769,2,40,2
$FREEZE,3.43,-1.716,-1.769,2,40,2
$FREEZE,3.43,-1.716,-1.769,2,40,2
$STATE,10896,end climb,NO_VERTICAL_VELOCITY
$STATE,10896,begin surface
$SM_CCo,10900,92.70,0.884,0,0,750,559.04
$SM_GC,4.85,9.00,0.00,0.00,0.093,0.000,0.000,106,2493,732,-8.57,0.08,563.45
$RAFOS_CLK,626
$RAFOS,6,1306212550,4.833333,4.819445,172,61,57,56,54,53,747,212,146,164,179,197
$RAFOS,5,1306212063,4.700000,4.684166,67,60,57,56,55,51,188,216,141,961,161,202
$RAFOS,4,1306211585,4.566667,4.551389,92,64,62,62,59,58,729,211,163,184,196,132
$RAFOS_FIX,6655.442383,-6013.549805,240511,040453,6,111,7.30
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,49.09
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,16.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.7,15.8
$24V_AH,21.1,90.325
$10V_AH,9.8,46.707
$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,13.850,119.600,459.125,92.700,0.000,0.000,0.000,0.000,4.000,0.000,0.000,2751.880,6003.441,599.503,1819.183,255.627,0.000,1602.236,0.000,1804.289,720.000,13.215,0.000
$DEVICE_MAMPS,239.445,94.860,1303.560,883.575,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.908,849.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43382,1120
$CAP_FILE_SIZE,133261,0
$CFSIZE,260165632,209182720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.6
$GPS,240511,041528,6654.403,-6018.579,181,99.0,181,-37.6