version: 66.08
glider: 141
mission: 15
dive: 685
start: 5 25 111 4 19 57
data:
$ID,141
$MISSION,15
$DIVE,685
$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
$GPS1,250511,040728,6646.500,-6019.815,0,2121.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.07
$_SM_ANGLEo,-5.0
$GPS2,250511,040728,6646.500,-6019.815,0,2121.5,0,-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,116.3,155984,-17.5,-10.000
$D_GRID,538
$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,-6.20,0.000,2,0.000,0.000,2903,3687,2954,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.8,-0.0,1,52,0.70,0.35,-16.88,0.000,4,0.116,0.180,2667,3896,3628,0,0,0,0,0,0
$GC,162,-0.52,-146.0,33.5,-19.2,24,168,0.00,2.30,0.00,0.000,6,0.000,0.064,2667,2480,3630,0,0,0,0,0,0
$GC,506,-0.37,-146.0,105.2,-20.2,83,511,0.25,2.33,0.00,0.000,4,0.218,0.079,2733,1079,3630,0,0,0,0,0,0
$GC,639,-0.43,-146.0,120.7,-9.2,94,643,0.00,2.38,0.00,0.000,6,0.000,0.078,2733,2487,3630,0,0,0,0,0,0
$GC,965,-0.48,-146.0,154.3,-9.7,124,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2487,3629,0,0,0,0,0,0
$GC,1284,-0.54,-146.0,180.5,-8.7,154,1286,0.15,0.00,0.00,0.000,6,0.120,0.000,2681,2487,3628,0,0,0,0,0,0
$GC,1602,-0.48,-146.0,222.4,-12.7,184,1606,0.00,2.45,0.00,0.000,4,0.000,0.095,2681,3906,3628,0,0,0,0,0,0
$GC,1676,-0.48,-146.0,231.8,-12.0,190,1680,0.00,2.35,0.00,0.000,6,0.000,0.066,2681,2479,3628,0,0,0,0,0,0
$GC,2002,-0.43,-146.0,273.9,-12.9,220,2007,0.15,2.35,0.00,0.000,4,0.210,0.082,2716,1078,3628,0,0,0,0,0,0
$GC,2043,-0.50,-146.0,278.4,-10.2,223,2047,0.00,2.40,0.00,0.000,6,0.000,0.080,2716,2491,3628,0,0,0,0,0,0
$GC,2369,-0.55,-146.0,306.7,-8.5,253,2373,0.00,2.45,0.00,0.000,4,0.000,0.095,2716,3908,3627,0,0,0,0,0,0
$GC,2398,-0.62,-146.0,309.2,-8.6,255,2403,0.17,2.33,0.00,0.000,6,0.106,0.067,2656,2485,3628,0,0,0,0,0,0
$GC,2724,-0.52,-146.0,353.3,-14.0,285,2729,0.15,2.38,0.00,0.000,4,0.208,0.080,2691,1077,3628,0,0,0,0,0,0
$GC,2797,-0.56,-146.0,361.6,-10.0,291,2804,0.00,2.40,0.00,0.000,6,0.000,0.078,2691,2496,3628,0,0,0,0,0,0
$GC,3123,-0.56,-146.0,394.1,-9.7,322,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2496,3628,0,0,0,0,0,0
$GC,3444,-0.56,-146.0,424.7,-9.2,352,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2496,3627,0,0,0,0,0,0
$GC,3772,-0.56,-146.0,456.8,-9.8,383,3776,0.00,2.38,0.00,0.000,4,0.000,0.079,2691,1071,3628,0,0,0,0,0,0
$GC,3817,-0.60,-146.0,461.5,-9.8,386,3824,0.00,2.40,0.00,0.000,6,0.000,0.076,2691,2493,3628,0,0,0,0,0,0
$GC,4143,-0.60,-146.0,490.7,-9.2,417,4147,0.00,2.42,0.00,0.000,4,0.000,0.093,2691,3902,3628,0,0,0,0,0,0
$GC,4162,-0.60,-146.0,492.4,-9.3,418,4166,0.00,2.30,0.00,0.000,6,0.000,0.064,2691,2489,3628,0,0,0,0,0,0
$GC,4487,-0.60,-146.0,522.7,-8.8,448,4491,0.00,2.33,0.00,0.000,4,0.000,0.077,2691,1077,3629,0,0,0,0,0,0
$GC,4518,-0.64,-146.0,525.5,-9.4,450,4522,0.00,2.38,0.00,0.000,6,0.000,0.076,2691,2489,3629,0,0,0,0,0,0
$STATE,4650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4650,begin apogee
$GC,4656,-0.12,0.0,538.2,9.6,462,4790,0.43,0.00,126.15,1.277,6,0.190,0.000,2813,2267,3030,0,0,0,0,0,0
$STATE,4791,end apogee,CONTROL_FINISHED_OK
$STATE,4791,begin climb
$GC,4793,0.62,146.0,543.4,0.0,474,4938,0.82,2.70,133.62,1.227,4,0.142,0.084,3065,875,2431,0,0,0,0,0,0
$GC,5001,0.60,149.9,531.0,9.8,492,5011,0.00,2.55,4.20,0.731,6,0.000,0.070,3065,2277,2418,0,0,0,0,0,0
$GC,5337,0.54,149.9,496.1,10.5,524,5342,0.00,2.40,0.00,0.000,4,0.000,0.086,3065,3692,2415,0,0,0,0,0,0
$GC,5428,0.44,149.9,485.3,13.0,531,5435,0.25,2.38,0.00,0.000,6,0.183,0.070,3011,2272,2415,0,0,0,0,0,0
$GC,5755,0.58,216.4,462.4,6.9,562,5822,0.12,2.53,59.90,1.183,4,0.107,0.086,3079,857,2146,0,0,0,0,0,0
$GC,5857,0.58,216.4,451.7,12.0,571,5861,0.00,2.40,0.00,0.000,6,0.000,0.071,3079,2280,2142,0,0,0,0,0,0
$GC,6183,0.53,216.4,409.2,12.6,601,6188,0.15,2.35,0.00,0.000,4,0.181,0.085,3040,3692,2138,0,0,0,0,0,0
$GC,6252,0.55,216.4,401.3,11.3,606,6259,0.00,2.35,0.00,0.000,6,0.000,0.070,3048,2273,2137,0,0,0,0,0,0
$GC,6578,0.60,228.0,369.5,9.5,637,6593,0.00,2.40,10.00,1.025,4,0.000,0.084,3057,857,2100,0,0,0,0,0,0
$GC,6640,0.66,228.0,363.4,10.2,642,6646,0.00,2.35,0.00,0.000,6,0.000,0.071,3057,2282,2098,0,0,0,0,0,0
$GC,6965,0.66,228.0,329.2,10.2,673,6969,0.00,2.35,0.00,0.000,4,0.000,0.085,3057,3690,2097,0,0,0,0,0,0
$GC,7027,0.66,228.0,321.9,12.1,678,7031,0.00,2.35,0.00,0.000,6,0.000,0.069,3068,2266,2097,0,0,0,0,0,0
$GC,7353,0.66,228.0,286.1,10.6,708,7357,0.00,2.33,0.00,0.000,4,0.000,0.083,3078,864,2096,0,0,0,0,0,0
$GC,7397,0.68,228.0,281.3,10.6,711,7404,0.00,2.35,0.00,0.000,6,0.000,0.069,3079,2285,2095,0,0,0,0,0,0
$GC,7722,0.68,228.0,246.6,10.7,742,7727,0.00,2.35,0.00,0.000,4,0.000,0.084,3078,3698,2096,0,0,0,0,0,0
$GC,7774,0.64,228.0,240.7,11.2,746,7779,0.00,2.35,0.00,0.000,6,0.000,0.069,3088,2264,2096,0,0,0,0,0,0
$GC,8106,0.62,228.0,205.2,11.3,777,8110,0.00,2.35,0.00,0.000,4,0.000,0.083,3098,862,2096,0,0,0,0,0,0
$GC,8146,0.62,228.0,200.8,11.3,780,8151,0.15,2.35,0.00,0.000,6,0.179,0.070,3061,2278,2095,0,0,0,0,0,0
$GC,8472,0.71,260.4,172.4,8.5,810,8509,0.00,2.45,30.23,1.050,4,0.000,0.086,3061,3687,1968,0,0,0,0,0,0
$GC,8556,0.77,260.4,164.3,10.8,817,8564,0.12,2.38,0.00,0.000,6,0.106,0.079,3120,2274,1965,0,0,0,0,0,0
$GC,8882,0.73,260.4,122.3,11.1,848,8886,0.00,2.35,0.00,0.000,4,0.000,0.086,3129,866,1963,0,0,0,0,0,0
$GC,8948,0.76,279.7,115.4,9.1,853,8977,0.00,2.38,19.00,0.999,6,0.000,0.080,3130,2283,1888,0,0,0,0,0,0
$GC,9308,0.76,279.7,72.8,12.0,905,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2283,1884,0,0,0,0,0,0
$GC,9653,0.76,279.7,35.5,10.4,966,9659,0.00,2.38,0.00,0.000,4,0.000,0.086,3130,3687,1883,0,0,0,0,0,0
$GC,9723,0.73,279.7,28.5,10.2,978,9731,0.15,2.35,0.00,0.000,6,0.197,0.072,3103,2277,1882,0,0,0,0,0,0
$FREEZE,8.89,-1.689,-1.773,2,48,0
$STATE,9991,end climb,FINISH_DEPTH_REACHED
$STATE,9991,begin subsurface finish
$FINISH1,8.9,1.025960,75
$GC,9999,0.09,75.5,8.9,-7.1,1025,10041,0.65,2.47,-31.15,0.000,4,0.160,0.096,2903,855,2726,0,0,0,0,0,0
$FINISH2,8.0
$STATE,10042,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10042,begin surface
$RAFOS_CLK,559
$RAFOS,6,1306298941,4.833333,4.816945,64,56,56,54,54,53,813,224,119,151,208,136
$RAFOS,5,1306298467,4.700000,4.685278,63,60,57,53,49,49,160,193,212,179,117,144
$RAFOS,4,1306297989,4.566667,4.552500,89,66,64,61,55,51,702,213,199,185,156,130
$RAFOS,3,1306297504,4.433333,4.417778,66,63,61,57,56,54,822,146,211,228,199,177
$RAFOS,2,1306297024,4.300000,4.284444,97,59,54,53,52,51,674,208,196,117,160,149
$RAFOS_FIX,6649.457031,-6017.288086,250511,040432,6,93,5.64
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026964
$HUMID,48.85
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,15.8
$24V_AH,21.2,91.467
$10V_AH,9.8,47.235
$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,4.425,100.950,383.100,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2498.663,5259.783,433.521,1706.896,217.740,0.000,1352.982,0.000,1692.963,1440.000,13.955,0.000
$DEVICE_MAMPS,218.025,179.775,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.740,785.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40010,1032
$CAP_FILE_SIZE,115923,0
$CFSIZE,260165632,208683008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,250511,040728,6646.500,-6019.815,0,2121.5,0,-37.6