version: 66.08
glider: 141
mission: 15
dive: 684
start: 5 25 111 1 35 50
data:
$ID,141
$MISSION,15
$DIVE,684
$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,18
$R_STBD_OVSHOOT,18
$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
$GPS1,250511,001937,6647.322,-6024.583,0,5100.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.79
$_SM_ANGLEo,-4.3
$GPS2,250511,001937,6647.322,-6024.583,0,5100.0,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,117.1,159076,-17.5,-10.000
$D_GRID,537
$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,12,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,-5.60,0.000,2,0.000,0.000,2905,2281,2964,0,0,0,0,0,0
$GC,27,-0.62,-146.0,14.9,-0.0,1,52,0.68,2.85,-14.48,0.000,4,0.093,0.106,2663,3893,3631,0,0,0,0,0,0
$GC,116,-0.54,-146.0,28.9,-18.2,16,123,0.00,2.30,0.00,0.000,6,0.000,0.066,2663,2482,3633,0,0,0,0,0,0
$GC,468,-0.36,-146.0,104.7,-21.9,76,474,0.28,2.45,0.00,0.000,4,0.225,0.090,2735,3898,3632,0,0,0,0,0,0
$GC,627,-0.46,-146.0,122.2,-8.8,89,634,0.00,2.30,0.00,0.000,6,0.000,0.067,2735,2489,3632,0,0,0,0,0,0
$GC,956,-0.52,-146.0,153.1,-9.5,120,960,0.12,2.38,0.00,0.000,4,0.135,0.082,2693,1072,3632,0,0,0,0,0,0
$GC,1041,-0.52,-146.0,163.4,-12.2,127,1045,0.00,2.40,0.00,0.000,6,0.000,0.081,2693,2486,3631,0,0,0,0,0,0
$GC,1367,-0.48,-146.0,205.3,-13.0,157,1371,0.00,2.45,0.00,0.000,4,0.000,0.096,2693,3910,3631,0,0,0,0,0,0
$GC,1407,-0.48,-146.0,210.4,-12.6,160,1411,0.00,2.35,0.00,0.000,6,0.000,0.069,2693,2481,3631,0,0,0,0,0,0
$GC,1733,-0.45,-146.0,249.3,-11.9,190,1738,0.00,2.35,0.00,0.000,4,0.000,0.083,2693,1079,3630,0,0,0,0,0,0
$GC,1750,-0.42,-146.0,251.7,-11.8,191,1757,0.12,2.40,0.00,0.000,6,0.218,0.082,2720,2489,3630,0,0,0,0,0,0
$GC,2079,-0.49,-146.0,280.5,-8.7,222,2083,0.00,2.42,0.00,0.000,4,0.000,0.096,2719,3899,3630,0,0,0,0,0,0
$GC,2108,-0.56,-146.0,283.3,-8.5,224,2113,0.12,2.33,0.00,0.000,6,0.125,0.068,2678,2485,3630,0,0,0,0,0,0
$GC,2435,-0.51,-146.0,321.1,-11.5,254,2439,0.00,2.35,0.00,0.000,4,0.000,0.081,2678,1073,3630,0,0,0,0,0,0
$GC,2474,-0.49,-146.0,326.1,-11.7,257,2481,0.00,2.42,0.00,0.000,6,0.000,0.080,2678,2496,3630,0,0,0,0,0,0
$GC,2801,-0.44,-146.0,362.3,-11.2,288,2803,0.15,0.00,0.00,0.000,6,0.216,0.000,2713,2496,3630,0,0,0,0,0,0
$GC,3120,-0.50,-146.0,388.3,-8.1,318,3124,0.00,2.40,0.00,0.000,4,0.000,0.093,2713,3900,3631,0,0,0,0,0,0
$GC,3165,-0.61,-146.0,392.2,-8.6,321,3173,0.15,2.30,0.00,0.000,6,0.116,0.065,2664,2488,3631,0,0,0,0,0,0
$GC,3491,-0.54,-146.0,431.1,-11.6,352,3495,0.00,2.35,0.00,0.000,4,0.000,0.080,2664,1068,3631,0,0,0,0,0,0
$GC,3569,-0.54,-146.0,440.7,-11.4,358,3576,0.00,2.42,0.00,0.000,6,0.000,0.078,2664,2498,3631,0,0,0,0,0,0
$GC,3896,-0.48,-146.0,479.1,-11.9,389,3901,0.17,2.40,0.00,0.000,4,0.214,0.080,2706,1078,3630,0,0,0,0,0,0
$GC,3931,-0.52,-146.0,483.0,-9.8,391,3938,0.00,2.38,0.00,0.000,6,0.000,0.076,2706,2490,3631,0,0,0,0,0,0
$GC,4259,-0.59,-146.0,509.1,-8.3,422,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2490,3631,0,0,0,0,0,0
$GC,4588,-0.65,-146.0,535.8,-8.7,453,4593,0.15,2.47,0.00,0.000,4,0.116,0.093,2652,3911,3631,0,0,0,0,0,0
$STATE,4596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4596,begin apogee
$GC,4604,-0.12,0.0,537.2,8.9,453,4744,0.60,0.00,127.12,1.274,6,0.197,0.000,2814,2266,3030,0,0,0,0,0,0
$STATE,4744,end apogee,CONTROL_FINISHED_OK
$STATE,4744,begin climb
$GC,4747,0.62,146.0,543.1,0.0,466,4892,0.82,2.70,133.70,1.228,4,0.148,0.084,3063,873,2432,0,0,0,0,0,0
$GC,4950,0.62,150.8,531.8,9.8,484,4963,0.00,2.58,5.05,0.826,6,0.000,0.070,3063,2284,2415,0,0,0,0,0,0
$GC,5282,0.57,150.8,497.5,10.5,515,5286,0.00,2.40,0.00,0.000,4,0.000,0.087,3063,3694,2412,0,0,0,0,0,0
$GC,5384,0.47,150.8,485.4,11.7,524,5389,0.20,2.38,0.00,0.000,6,0.182,0.070,3023,2274,2411,0,0,0,0,0,0
$GC,5710,0.56,192.9,459.1,8.1,554,5755,0.00,2.42,38.30,1.173,4,0.000,0.085,3030,859,2241,0,0,0,0,0,0
$GC,5796,0.68,221.5,452.0,8.7,561,5829,0.15,2.40,26.75,1.140,6,0.101,0.079,3096,2288,2127,0,0,0,0,0,0
$GC,6156,0.59,221.5,401.7,14.6,595,6160,0.15,2.38,0.00,0.000,4,0.184,0.085,3058,3699,2121,0,0,0,0,0,0
$GC,6211,0.59,221.5,394.1,12.0,599,6218,0.00,2.38,0.00,0.000,6,0.000,0.070,3066,2265,2119,0,0,0,0,0,0
$GC,6536,0.59,221.5,356.6,11.1,630,6540,0.00,2.33,0.00,0.000,4,0.000,0.084,3077,864,2119,0,0,0,0,0,0
$GC,6577,0.59,221.5,352.1,11.0,633,6581,0.00,2.33,0.00,0.000,6,0.000,0.072,3077,2277,2117,0,0,0,0,0,0
$GC,6902,0.57,221.5,314.1,11.4,663,6906,0.00,2.35,0.00,0.000,4,0.000,0.086,3077,3687,2117,0,0,0,0,0,0
$GC,6975,0.52,221.5,304.6,12.8,669,6982,0.20,2.33,0.00,0.000,6,0.182,0.071,3035,2274,2117,0,0,0,0,0,0
$GC,7301,0.64,261.0,277.1,8.2,700,7346,0.10,2.45,35.50,1.087,4,0.123,0.085,3094,860,1966,0,0,0,0,0,0
$GC,7388,0.64,261.0,266.9,12.5,707,7394,0.00,2.38,0.00,0.000,6,0.000,0.070,3095,2275,1962,0,0,0,0,0,0
$GC,7713,0.61,261.0,222.6,13.1,738,7718,0.12,2.38,0.00,0.000,4,0.184,0.085,3063,3686,1960,0,0,0,0,0,0
$GC,7781,0.63,261.0,214.3,11.4,743,7788,0.00,2.35,0.00,0.000,6,0.000,0.070,3072,2272,1958,0,0,0,0,0,0
$GC,8107,0.68,268.7,180.2,9.6,774,8120,0.00,2.42,7.68,0.920,4,0.000,0.084,3082,862,1933,0,0,0,0,0,0
$GC,8146,0.75,279.7,176.6,9.5,777,8168,0.00,2.35,12.27,0.988,6,0.000,0.070,3082,2277,1888,0,0,0,0,0,0
$GC,8487,0.83,296.0,143.7,9.3,809,8511,0.15,2.38,16.25,0.993,4,0.098,0.085,3143,3690,1821,0,0,0,0,0,0
$GC,8576,0.75,296.0,131.0,15.8,816,8583,0.17,2.38,0.00,0.000,6,0.208,0.071,3111,2269,1819,0,0,0,0,0,0
$GC,8905,0.77,296.0,95.1,10.4,851,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2268,1818,0,0,0,0,0,0
$GC,9251,0.85,309.5,61.8,9.4,912,9270,0.00,2.38,13.00,0.949,4,0.000,0.087,3114,859,1767,0,0,0,0,0,0
$GC,9359,1.00,358.9,53.5,7.7,930,9412,0.20,2.38,46.25,0.978,6,0.096,0.073,3190,2280,1566,0,0,0,0,0,0
$FREEZE,8.70,-1.704,-1.772,2,47,0
$STATE,9650,end climb,FINISH_DEPTH_REACHED
$STATE,9650,begin subsurface finish
$FINISH1,8.7,1.025953,76
$GC,9657,0.09,75.9,8.7,-17.1,981,9718,1.02,2.47,-52.83,0.000,4,0.190,0.103,2903,3687,2722,0,0,0,0,0,0
$FINISH2,5.9
$STATE,9718,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9718,begin surface
$RAFOS_CLK,542
$RAFOS,1,1306296542,4.166667,4.150556,129,68,65,58,56,54,575,148,204,218,228,125
$RAFOS,0,1306296068,4.033333,4.018889,114,77,59,49,47,47,599,214,172,132,144,118
$RAFOS_FIX,6646.500488,-6019.815430,250511,040428,2,122,0.28
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.029211
$HUMID,48.11
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.6,19.4
$24V_AH,21.2,91.337
$10V_AH,9.8,47.172
$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,5.850,108.475,461.875,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,2371.017,5012.087,526.099,1653.130,222.290,0.000,1441.000,0.000,1640.145,1080.000,11.454,0.000
$DEVICE_MAMPS,224.910,106.335,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.598,751.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36738,991
$CAP_FILE_SIZE,115372,0
$CFSIZE,260165632,208752640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,250511,040728,6646.500,-6019.815,0,2121.5,0,-37.6