version: 66.08
glider: 141
mission: 15
dive: 686
start: 5 25 111 7 9 35
data:
$ID,141
$MISSION,15
$DIVE,686
$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,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
$GPS1,250511,040728,6646.500,-6019.815,0,2121.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.92
$_SM_ANGLEo,-3.4
$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,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2903,855,2975,0,0,0,0,0,0
$GC,27,-0.62,-146.0,15.1,-0.0,1,53,0.65,5.30,-14.10,0.000,4,0.098,0.093,2669,3899,3631,0,0,0,0,0,0
$GC,275,-0.49,-146.0,61.9,-21.9,44,282,0.12,2.30,0.00,0.000,6,0.233,0.067,2694,2488,3632,0,0,0,0,0,0
$GC,615,-0.41,-146.0,119.0,-15.6,94,620,0.12,2.40,0.00,0.000,4,0.227,0.082,2724,1069,3632,0,0,0,0,0,0
$GC,660,-0.46,-146.0,125.0,-10.9,97,667,0.00,2.38,0.00,0.000,6,0.000,0.078,2724,2489,3632,0,0,0,0,0,0
$GC,986,-0.48,-146.0,157.9,-10.1,128,991,0.00,2.42,0.00,0.000,4,0.000,0.095,2724,3907,3631,0,0,0,0,0,0
$GC,1028,-0.56,-146.0,162.1,-9.7,131,1033,0.12,2.33,0.00,0.000,6,0.129,0.067,2682,2483,3631,0,0,0,0,0,0
$GC,1354,-0.49,-146.0,205.0,-14.5,161,1358,0.00,2.33,0.00,0.000,4,0.000,0.081,2682,1079,3630,0,0,0,0,0,0
$GC,1378,-0.42,-146.0,208.6,-14.6,163,1383,0.17,2.40,0.00,0.000,6,0.209,0.079,2722,2496,3631,0,0,0,0,0,0
$GC,1705,-0.47,-146.0,237.6,-6.9,193,1709,0.00,2.42,0.00,0.000,4,0.000,0.096,2722,3905,3629,0,0,0,0,0,0
$GC,1741,-0.56,-146.0,240.2,-7.5,196,1746,0.12,2.35,0.00,0.000,6,0.125,0.067,2681,2482,3629,0,0,0,0,0,0
$GC,2073,-0.52,-146.0,276.9,-11.4,227,2077,0.00,2.35,0.00,0.000,4,0.000,0.081,2681,1077,3629,0,0,0,0,0,0
$GC,2124,-0.52,-146.0,282.9,-11.1,231,2128,0.00,2.40,0.00,0.000,6,0.000,0.080,2681,2495,3630,0,0,0,0,0,0
$GC,2456,-0.47,-146.0,321.7,-11.6,262,2461,0.12,2.45,0.00,0.000,4,0.220,0.095,2709,3910,3630,0,0,0,0,0,0
$GC,2477,-0.47,-146.0,324.5,-11.5,263,2484,0.00,2.35,0.00,0.000,6,0.000,0.074,2709,2482,3629,0,0,0,0,0,0
$GC,2805,-0.52,-146.0,355.2,-9.4,294,2809,0.00,2.35,0.00,0.000,4,0.000,0.080,2709,1076,3629,0,0,0,0,0,0
$GC,2832,-0.57,-146.0,358.0,-9.7,296,2839,0.00,2.40,0.00,0.000,6,0.000,0.078,2709,2493,3630,0,0,0,0,0,0
$GC,3161,-0.62,-146.0,386.5,-8.5,327,3166,0.15,2.45,0.00,0.000,4,0.119,0.093,2656,3900,3630,0,0,0,0,0,0
$GC,3172,-0.65,-146.0,388.0,-9.0,327,3179,0.00,2.33,0.00,0.000,6,0.000,0.064,2656,2489,3629,0,0,0,0,0,0
$GC,3498,-0.57,-146.0,428.9,-12.5,358,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2490,3630,0,0,0,0,0,0
$GC,3819,-0.49,-146.0,470.5,-13.0,388,3826,0.17,0.00,0.00,0.000,6,0.205,0.000,2698,2489,3630,0,0,0,0,0,0
$GC,4147,-0.52,-146.0,500.3,-9.0,419,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2489,3631,0,0,0,0,0,0
$GC,4467,-0.56,-146.0,528.1,-8.6,449,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2489,3631,0,0,0,0,0,0
$STATE,4577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4578,begin apogee
$GC,4585,-0.12,0.0,538.3,9.3,460,4719,0.40,0.00,126.82,1.278,6,0.190,0.000,2813,2254,3029,0,0,0,0,0,0
$STATE,4719,end apogee,CONTROL_FINISHED_OK
$STATE,4719,begin climb
$GC,4723,0.62,146.0,543.8,0.0,472,4869,0.82,2.65,133.25,1.228,4,0.148,0.083,3063,870,2432,0,0,0,0,0,0
$GC,4906,0.60,154.2,535.0,9.6,489,4921,0.00,2.55,8.90,1.014,6,0.000,0.067,3063,2277,2401,0,0,0,0,0,0
$GC,5248,0.57,164.0,501.5,9.5,521,5263,0.00,2.45,9.73,1.039,4,0.000,0.085,3063,3694,2361,0,0,0,0,0,0
$GC,5339,0.49,164.0,491.2,12.2,529,5344,0.20,2.38,0.00,0.000,6,0.187,0.070,3023,2277,2359,0,0,0,0,0,0
$GC,5666,0.59,204.2,464.9,8.1,559,5705,0.00,0.00,36.92,1.167,6,0.000,0.000,3023,2276,2197,0,0,0,0,0,0
$GC,6024,0.69,226.4,433.0,9.0,593,6047,0.17,0.00,20.85,1.127,6,0.090,0.000,3098,2276,2107,0,0,0,0,0,0
$GC,6363,0.69,226.4,387.2,10.7,625,6367,0.00,2.35,0.00,0.000,4,0.000,0.085,3109,864,2103,0,0,0,0,0,0
$GC,6431,0.69,226.4,379.7,11.6,630,6438,0.00,2.33,0.00,0.000,6,0.000,0.067,3109,2288,2101,0,0,0,0,0,0
$GC,6756,0.60,226.4,334.8,13.7,661,6761,0.17,2.35,0.00,0.000,4,0.189,0.083,3063,3692,2101,0,0,0,0,0,0
$GC,6834,0.58,226.4,325.4,11.7,667,6841,0.00,2.35,0.00,0.000,6,0.000,0.069,3071,2266,2100,0,0,0,0,0,0
$GC,7160,0.60,248.8,294.8,9.0,698,7187,0.00,2.38,20.90,1.076,4,0.000,0.083,3082,852,2015,0,0,0,0,0,0
$GC,7228,0.65,259.8,288.8,9.5,704,7245,0.00,2.35,11.65,1.012,6,0.000,0.068,3082,2278,1970,0,0,0,0,0,0
$GC,7564,0.65,259.8,254.3,10.9,735,7568,0.00,2.35,0.00,0.000,4,0.000,0.084,3082,3694,1966,0,0,0,0,0,0
$GC,7620,0.63,259.8,247.0,13.8,739,7627,0.00,2.35,0.00,0.000,6,0.000,0.069,3091,2274,1965,0,0,0,0,0,0
$GC,7946,0.63,259.8,208.5,11.8,770,7950,0.00,2.35,0.00,0.000,4,0.000,0.083,3102,856,1965,0,0,0,0,0,0
$GC,7990,0.63,259.8,202.8,12.5,773,7998,0.12,2.33,0.00,0.000,6,0.182,0.070,3072,2277,1964,0,0,0,0,0,0
$GC,8316,0.74,299.2,170.4,8.2,804,8361,0.00,2.40,36.88,1.037,4,0.000,0.085,3072,3686,1809,0,0,0,0,0,0
$GC,8410,0.79,299.2,162.0,10.4,812,8415,0.10,2.35,0.00,0.000,6,0.116,0.069,3122,2273,1806,0,0,0,0,0,0
$GC,8741,0.79,299.2,119.7,11.2,843,8746,0.00,2.35,0.00,0.000,4,0.000,0.084,3131,863,1804,0,0,0,0,0,0
$GC,8805,0.79,299.2,113.0,10.7,848,8809,0.00,2.33,0.00,0.000,6,0.000,0.070,3131,2274,1803,0,0,0,0,0,0
$GC,9143,0.80,307.4,76.8,9.6,897,9156,0.00,2.45,7.90,0.887,4,0.000,0.087,3131,3688,1776,0,0,0,0,0,0
$GC,9226,0.80,307.4,67.8,11.4,911,9233,0.00,2.35,0.00,0.000,6,0.000,0.071,3141,2273,1774,0,0,0,0,0,0
$GC,9573,0.82,324.9,29.1,9.2,972,9592,0.00,2.38,12.55,1.007,4,0.000,0.083,3152,856,1704,0,0,0,0,0,0
$GC,9633,0.82,324.9,22.5,11.1,982,9640,0.00,2.35,0.00,0.000,6,0.000,0.071,3152,2280,1702,0,0,0,0,0,0
$FREEZE,8.70,-1.724,-1.775,2,49,0
$STATE,9740,end climb,FINISH_DEPTH_REACHED
$STATE,9740,begin subsurface finish
$FINISH1,8.7,1.025993,74
$GC,9750,0.09,73.9,8.7,-13.3,1001,9799,0.85,2.47,-42.42,0.000,4,0.165,0.103,2897,3692,2731,0,0,0,0,0,0
$FINISH2,7.0
$STATE,9800,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9800,begin surface
$RAFOS_CLK,545
$RAFOS,6,1306313343,8.833333,8.817500,91,66,62,54,52,50,785,216,177,165,198,118
$RAFOS,5,1306312867,8.700000,8.685278,90,61,59,57,56,55,927,214,150,192,178,225
$RAFOS,4,1306312386,8.566667,8.551666,113,66,61,58,57,53,708,210,155,128,137,113
$RAFOS,3,1306311910,8.433333,8.419444,65,61,54,54,52,51,144,211,177,131,122,157
$RAFOS,2,1306311422,8.300000,8.283889,103,61,55,54,54,52,696,188,162,230,200,147
$RAFOS,1,1306310944,8.166667,8.151111,106,63,58,53,51,51,572,208,198,227,166,187
$RAFOS,0,1306310466,8.033334,8.018333,142,63,60,60,56,56,621,157,217,146,128,171
$RAFOS_FIX,6650.415527,-6012.666504,250511,080822,6,108,0.57
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,48.38
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,15.8
$24V_AH,21.1,91.610
$10V_AH,9.8,47.297
$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,4.625,101.000,426.350,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2420.753,5141.954,474.513,1621.875,219.035,0.000,1363.961,0.000,1615.072,2520.000,11.448,0.000
$DEVICE_MAMPS,233.325,102.510,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.940,771.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40099,1009
$CAP_FILE_SIZE,113441,0
$CFSIZE,260165632,208621568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,250511,082722,6650.416,-6012.667,0,6107.5,0,-37.6