version: 66.08
glider: 141
mission: 15
dive: 678
start: 5 24 111 8 6 17
data:
$ID,141
$MISSION,15
$DIVE,678
$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,-50107.605
$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,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
$GPS1,240511,041528,6654.403,-6018.579,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.79
$_SM_ANGLEo,-68.9
$GPS2,240511,041528,6654.403,-6018.579,181,99.0,181,-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,-146.0,0.0,0.0,0,133,0.00,0.00,-114.03,0.000,2,0.000,0.000,106,2495,2852,0,0,0,0,0,0
$GC,138,-0.62,-146.0,5.1,-0.9,20,183,13.57,2.42,-22.60,0.000,4,0.326,0.104,2655,3902,3628,0,0,0,0,0,0
$GC,275,-0.47,-146.0,32.8,-21.2,43,282,0.20,2.33,0.00,0.000,6,0.215,0.066,2702,2492,3630,0,0,0,0,0,0
$GC,621,-0.37,-146.0,94.7,-16.0,104,629,0.15,2.38,0.00,0.000,4,0.230,0.083,2739,1077,3630,0,0,0,0,0,0
$GC,681,-0.44,-146.0,102.9,-11.5,112,686,0.00,2.40,0.00,0.000,6,0.000,0.080,2739,2488,3630,0,0,0,0,0,0
$GC,1007,-0.48,-146.0,137.5,-10.1,142,1012,0.00,2.45,0.00,0.000,4,0.000,0.096,2739,3905,3629,0,0,0,0,0,0
$GC,1026,-0.52,-146.0,139.1,-9.1,143,1031,0.15,2.33,0.00,0.000,6,0.117,0.066,2688,2483,3629,0,0,0,0,0,0
$GC,1357,-0.45,-146.0,183.5,-13.6,174,1362,0.12,2.40,0.00,0.000,4,0.215,0.083,2716,1073,3629,0,0,0,0,0,0
$GC,1386,-0.45,-146.0,187.1,-12.1,176,1390,0.00,2.42,0.00,0.000,6,0.000,0.080,2716,2498,3629,0,0,0,0,0,0
$GC,1712,-0.47,-146.0,220.0,-9.7,206,1716,0.00,2.45,0.00,0.000,4,0.000,0.096,2716,3907,3629,0,0,0,0,0,0
$GC,1731,-0.49,-146.0,221.9,-9.7,207,1735,0.00,2.35,0.00,0.000,6,0.000,0.067,2716,2486,3629,0,0,0,0,0,0
$GC,2057,-0.52,-146.0,253.5,-9.5,237,2061,0.00,2.35,0.00,0.000,4,0.000,0.082,2716,1070,3629,0,0,0,0,0,0
$GC,2097,-0.58,-146.0,257.7,-10.8,240,2102,0.12,2.42,0.00,0.000,6,0.124,0.080,2673,2497,3629,0,0,0,0,0,0
$GC,2423,-0.51,-146.0,299.7,-12.6,270,2430,0.00,2.42,0.00,0.000,4,0.000,0.096,2674,3919,3628,0,0,0,0,0,0
$GC,2474,-0.51,-146.0,306.2,-11.8,274,2481,0.00,2.38,0.00,0.000,6,0.000,0.066,2673,2479,3628,0,0,0,0,0,0
$GC,2800,-0.45,-146.0,346.7,-12.8,305,2802,0.17,0.00,0.00,0.000,6,0.208,0.000,2716,2479,3628,0,0,0,0,0,0
$GC,3120,-0.50,-146.0,374.6,-8.6,335,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2479,3629,0,0,0,0,0,0
$GC,3441,-0.56,-146.0,401.2,-8.5,365,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2479,3629,0,0,0,0,0,0
$GC,3770,-0.62,-146.0,428.0,-8.4,396,3776,0.15,0.00,0.00,0.000,6,0.124,0.000,2664,2479,3630,0,0,0,0,0,0
$GC,4096,-0.56,-146.0,468.0,-12.2,427,4100,0.00,2.35,0.00,0.000,4,0.000,0.079,2665,1066,3630,0,0,0,0,0,0
$GC,4118,-0.49,-146.0,470.7,-12.0,428,4125,0.15,2.42,0.00,0.000,6,0.210,0.078,2699,2497,3630,0,0,0,0,0,0
$GC,4445,-0.52,-146.0,500.9,-9.2,459,4449,0.00,2.42,0.00,0.000,4,0.000,0.093,2699,3904,3631,0,0,0,0,0,0
$GC,4458,-0.55,-146.0,502.2,-9.2,459,4465,0.00,2.33,0.00,0.000,6,0.000,0.063,2699,2489,3631,0,0,0,0,0,0
$GC,4784,-0.59,-146.0,531.0,-8.5,490,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2489,3631,0,0,0,0,0,0
$GC,5102,-0.63,-146.0,558.4,-8.7,520,5107,0.12,2.47,0.00,0.000,4,0.134,0.087,2656,3910,3631,0,0,0,0,0,0
$GC,5132,-0.60,-146.0,561.5,-11.2,522,5136,0.00,2.35,0.00,0.000,6,0.000,0.063,2656,2481,3631,0,0,0,0,0,0
$STATE,5338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5338,begin apogee
$GC,5345,-0.12,0.0,587.1,12.5,541,5480,0.57,0.00,127.50,1.308,6,0.201,0.000,2813,2263,3031,0,0,0,0,0,0
$STATE,5481,end apogee,CONTROL_FINISHED_OK
$STATE,5481,begin climb
$GC,5484,0.62,146.0,592.6,0.0,553,5626,0.82,0.00,135.27,1.261,6,0.151,0.000,3050,2263,2433,0,0,0,0,0,0
$GC,5952,0.64,161.8,557.2,9.3,597,5975,0.00,2.53,14.05,1.132,4,0.000,0.083,3049,3682,2370,0,0,0,0,0,0
$GC,6034,0.58,161.8,548.8,10.8,604,6038,0.00,2.38,0.00,0.000,6,0.000,0.070,3060,2280,2367,0,0,0,0,0,0
$GC,6360,0.55,164.8,517.0,9.9,634,6369,0.00,0.00,4.05,0.741,6,0.000,0.000,3060,2280,2357,0,0,0,0,0,0
$GC,6690,0.52,165.1,484.7,10.0,665,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2280,2357,0,0,0,0,0,0
$GC,7018,0.50,165.1,452.1,10.1,696,7023,0.12,2.40,0.00,0.000,4,0.187,0.086,3037,856,2357,0,0,0,0,0,0
$GC,7075,0.60,208.8,446.9,8.0,700,7125,0.00,2.38,40.38,1.186,6,0.000,0.072,3037,2282,2177,0,0,0,0,0,0
$GC,7444,0.69,239.2,415.8,8.6,735,7479,0.15,2.45,28.15,1.144,4,0.097,0.084,3101,3687,2054,0,0,0,0,0,0
$GC,7521,0.60,239.2,405.3,16.0,741,7528,0.20,2.38,0.00,0.000,6,0.200,0.070,3062,2273,2052,0,0,0,0,0,0
$GC,7847,0.63,239.2,367.8,11.5,772,7851,0.00,2.35,0.00,0.000,4,0.000,0.085,3072,862,2048,0,0,0,0,0,0
$GC,7899,0.66,239.2,361.8,11.9,776,7903,0.00,2.35,0.00,0.000,6,0.000,0.070,3072,2284,2046,0,0,0,0,0,0
$GC,8229,0.66,239.2,322.6,11.7,807,8234,0.00,2.35,0.00,0.000,4,0.000,0.083,3072,3688,2046,0,0,0,0,0,0
$GC,8275,0.64,239.2,316.7,13.8,810,8282,0.00,2.35,0.00,0.000,6,0.000,0.070,3081,2268,2046,0,0,0,0,0,0
$GC,8600,0.64,239.2,278.6,11.2,841,8604,0.00,2.35,0.00,0.000,4,0.000,0.084,3092,866,2046,0,0,0,0,0,0
$GC,8653,0.64,239.2,272.6,11.6,845,8657,0.00,2.33,0.00,0.000,6,0.000,0.070,3092,2275,2044,0,0,0,0,0,0
$GC,8983,0.64,239.2,235.1,11.0,876,8988,0.00,2.35,0.00,0.000,4,0.000,0.085,3092,3688,2044,0,0,0,0,0,0
$GC,9036,0.58,239.2,228.7,12.7,880,9040,0.17,2.33,0.00,0.000,6,0.190,0.070,3059,2275,2045,0,0,0,0,0,0
$GC,9367,0.67,258.6,198.0,9.1,911,9391,0.00,2.45,17.62,1.028,4,0.000,0.084,3067,857,1975,0,0,0,0,0,0
$GC,9454,0.80,287.6,190.0,8.7,918,9488,0.15,2.38,28.38,1.037,6,0.101,0.072,3128,2278,1857,0,0,0,0,0,0
$GC,9807,0.78,287.6,143.1,12.6,951,9811,0.00,2.35,0.00,0.000,4,0.000,0.085,3128,3688,1851,0,0,0,0,0,0
$GC,9893,0.73,287.6,131.2,15.3,958,9898,0.15,2.35,0.00,0.000,6,0.203,0.071,3104,2276,1849,0,0,0,0,0,0
$GC,10221,0.79,302.4,98.8,9.3,989,10240,0.00,2.45,13.65,0.963,4,0.000,0.086,3111,857,1797,0,0,0,0,0,0
$GC,10299,0.91,323.6,91.7,9.0,1002,10330,0.12,2.38,21.17,0.978,6,0.113,0.073,3162,2274,1709,0,0,0,0,0,0
$GC,10669,0.91,323.6,44.6,12.5,1067,10676,0.00,2.40,0.00,0.000,4,0.000,0.088,3162,3693,1704,0,0,0,0,0,0
$GC,10707,0.86,323.6,39.6,15.1,1073,10715,0.12,2.35,0.00,0.000,6,0.211,0.073,3145,2277,1702,0,0,0,0,0,0
$FREEZE,8.91,-1.706,-1.772,2,41,0
$STATE,10973,end climb,FINISH_DEPTH_REACHED
$STATE,10974,begin subsurface finish
$FINISH1,8.9,1.025949,76
$GC,10982,0.09,76.0,8.9,-12.2,1120,11029,0.82,0.00,-39.80,0.000,6,0.176,0.000,2901,2276,2721,0,0,0,0,0,0
$FINISH2,7.4
$STATE,11029,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11030,begin surface
$RAFOS_CLK,648
$RAFOS,6,1306226941,8.833333,8.816944,110,79,66,63,57,56,805,204,214,156,227,187
$RAFOS,5,1306226465,8.700000,8.684722,138,64,60,59,52,51,956,196,185,219,130,145
$RAFOS,4,1306225990,8.566667,8.552778,85,63,56,53,49,48,707,221,121,190,203,98
$RAFOS,3,1306225508,8.433333,8.418889,115,70,67,55,55,53,818,219,197,157,146,128
$RAFOS,2,1306225022,8.300000,8.283889,134,63,57,57,56,54,723,145,214,157,178,197
$RAFOS,1,1306224544,8.166667,8.151111,103,53,52,51,50,50,601,149,196,1418,220,165
$RAFOS_FIX,6655.445801,-6016.328613,240511,080817,6,114,0.16
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,48.74
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.30
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,16.5
$ALTIM_BOTTOM_PING,550.3,51.2
$24V_AH,21.0,90.477
$10V_AH,9.8,46.791
$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,18.350,100.550,430.225,0.000,0.000,98.358,19.436,0.000,3.250,0.000,182.287,2660.290,5953.746,578.656,2106.208,642.510,0.000,1579.192,0.000,1791.455,2160.000,16.009,0.000
$DEVICE_MAMPS,325.890,104.040,1308.150,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,803.732,863.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,43348,1128
$CAP_FILE_SIZE,133531,0
$CFSIZE,260165632,209117184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.6
$GPS,240511,083117,6655.446,-6016.329,0,6114.2,0,-37.6