version: 66.08
glider: 141
mission: 15
dive: 687
start: 5 25 111 9 55 16
data:
$ID,141
$MISSION,15
$DIVE,687
$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
$GPS1,250511,082722,6650.416,-6012.667,0,6107.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.65
$_SM_ANGLEo,-3.4
$GPS2,250511,082722,6650.416,-6012.667,0,6107.5,0,-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,118.6,149626,-17.5,-10.000
$D_GRID,595
$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,-5.95,0.000,2,0.000,0.000,2897,3692,2899,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.1,-0.0,1,59,0.65,0.40,-24.15,0.000,4,0.094,0.182,2665,3910,3628,0,0,0,0,0,0
$GC,269,-0.50,-146.0,52.7,-19.0,43,277,0.15,2.33,0.00,0.000,6,0.226,0.064,2698,2489,3629,0,0,0,0,0,0
$GC,617,-0.43,-146.0,113.9,-14.6,97,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2489,3630,0,0,0,0,0,0
$GC,936,-0.38,-146.0,157.4,-13.8,127,941,0.15,2.38,0.00,0.000,4,0.224,0.080,2734,1068,3629,0,0,0,0,0,0
$GC,948,-0.34,-146.0,159.4,-13.8,127,955,0.00,2.40,0.00,0.000,6,0.000,0.078,2734,2486,3629,0,0,0,0,0,0
$GC,1274,-0.41,-146.0,188.6,-8.3,158,1278,0.00,2.42,0.00,0.000,4,0.000,0.094,2734,3902,3629,0,0,0,0,0,0
$GC,1297,-0.49,-146.0,190.6,-8.6,159,1304,0.00,2.30,0.00,0.000,6,0.000,0.066,2734,2489,3628,0,0,0,0,0,0
$GC,1623,-0.57,-146.0,220.7,-9.8,190,1628,0.17,2.38,0.00,0.000,4,0.119,0.081,2674,1076,3628,0,0,0,0,0,0
$GC,1639,-0.61,-146.0,222.7,-10.7,191,1646,0.00,2.40,0.00,0.000,6,0.000,0.079,2674,2489,3628,0,0,0,0,0,0
$GC,1965,-0.54,-146.0,267.3,-13.2,222,1969,0.00,2.45,0.00,0.000,4,0.000,0.095,2674,3908,3628,0,0,0,0,0,0
$GC,1995,-0.47,-146.0,270.9,-13.1,224,2000,0.15,2.35,0.00,0.000,6,0.206,0.066,2708,2483,3628,0,0,0,0,0,0
$GC,2321,-0.51,-146.0,299.6,-8.4,254,2328,0.00,2.35,0.00,0.000,4,0.000,0.080,2709,1072,3628,0,0,0,0,0,0
$GC,2336,-0.54,-146.0,300.8,-8.3,255,2340,0.00,2.40,0.00,0.000,6,0.000,0.078,2709,2492,3628,0,0,0,0,0,0
$GC,2662,-0.58,-146.0,329.1,-8.9,285,2667,0.00,2.42,0.00,0.000,4,0.000,0.094,2709,3912,3628,0,0,0,0,0,0
$GC,2685,-0.63,-146.0,331.2,-8.4,286,2692,0.15,2.35,0.00,0.000,6,0.119,0.066,2659,2487,3628,0,0,0,0,0,0
$GC,3011,-0.55,-146.0,372.4,-12.7,317,3015,0.00,2.33,0.00,0.000,4,0.000,0.079,2659,1077,3627,0,0,0,0,0,0
$GC,3032,-0.46,-146.0,375.6,-13.7,318,3040,0.20,2.40,0.00,0.000,6,0.209,0.078,2706,2495,3627,0,0,0,0,0,0
$GC,3359,-0.51,-146.0,406.2,-9.4,349,3363,0.00,2.42,0.00,0.000,4,0.000,0.093,2706,3903,3628,0,0,0,0,0,0
$GC,3400,-0.58,-146.0,410.1,-9.8,352,3404,0.00,2.30,0.00,0.000,6,0.000,0.064,2706,2489,3627,0,0,0,0,0,0
$GC,3726,-0.63,-146.0,440.3,-9.5,382,3730,0.15,2.38,0.00,0.000,4,0.121,0.078,2655,1076,3628,0,0,0,0,0,0
$GC,3760,-0.58,-146.0,444.4,-13.3,385,3765,0.00,2.38,0.00,0.000,6,0.000,0.076,2654,2490,3627,0,0,0,0,0,0
$GC,4092,-0.50,-146.0,487.5,-12.6,416,4097,0.17,2.42,0.00,0.000,4,0.206,0.092,2697,3900,3628,0,0,0,0,0,0
$GC,4133,-0.56,-146.0,491.6,-8.6,419,4137,0.00,2.30,0.00,0.000,6,0.000,0.063,2697,2484,3628,0,0,0,0,0,0
$GC,4459,-0.60,-146.0,518.1,-7.9,449,4463,0.00,2.33,0.00,0.000,4,0.000,0.077,2698,1070,3628,0,0,0,0,0,0
$GC,4489,-0.64,-146.0,520.5,-8.5,451,4494,0.12,2.38,0.00,0.000,6,0.128,0.075,2656,2496,3629,0,0,0,0,0,0
$GC,4815,-0.57,-146.0,557.9,-12.5,481,4819,0.00,2.40,0.00,0.000,4,0.000,0.091,2656,3905,3628,0,0,0,0,0,0
$GC,4847,-0.53,-146.0,562.1,-11.8,483,4855,0.12,2.33,0.00,0.000,6,0.197,0.063,2685,2488,3628,0,0,0,0,0,0
$GC,5173,-0.53,-146.0,593.3,-9.6,514,5177,0.00,2.33,0.00,0.000,4,0.000,0.077,2685,1074,3629,0,0,0,0,0,0
$STATE,5192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5192,begin apogee
$GC,5201,-0.12,0.0,595.5,9.4,515,5339,0.45,0.00,127.03,1.307,6,0.187,0.000,2813,2275,3030,0,0,0,0,0,0
$STATE,5339,end apogee,CONTROL_FINISHED_OK
$STATE,5339,begin climb
$GC,5342,0.62,146.0,599.2,0.0,528,5487,0.82,2.75,134.77,1.259,4,0.147,0.080,3062,864,2433,0,0,0,0,0,0
$GC,5527,0.60,156.9,589.0,9.5,544,5545,0.00,2.62,11.45,1.092,6,0.000,0.069,3062,2280,2390,0,0,0,0,0,0
$GC,5864,0.57,156.9,554.2,10.6,576,5868,0.00,2.40,0.00,0.000,4,0.000,0.086,3062,3693,2385,0,0,0,0,0,0
$GC,5904,0.50,156.9,549.5,12.7,579,5909,0.17,2.40,0.00,0.000,6,0.183,0.070,3029,2267,2385,0,0,0,0,0,0
$GC,6230,0.57,195.3,521.9,8.2,609,6274,0.00,2.47,34.45,1.195,4,0.000,0.084,3037,858,2232,0,0,0,0,0,0
$GC,6299,0.66,220.5,515.8,8.8,615,6334,0.12,2.38,24.12,1.164,6,0.111,0.072,3092,2276,2131,0,0,0,0,0,0
$GC,6652,0.61,220.5,469.0,13.7,648,6656,0.00,2.38,0.00,0.000,4,0.000,0.086,3092,3699,2125,0,0,0,0,0,0
$GC,6727,0.51,220.5,457.3,16.5,654,6732,0.28,2.38,0.00,0.000,6,0.195,0.072,3031,2273,2124,0,0,0,0,0,0
$GC,7053,0.59,233.9,425.2,9.4,684,7075,0.00,2.42,12.40,1.082,4,0.000,0.084,3040,864,2075,0,0,0,0,0,0
$GC,7112,0.70,241.9,419.6,9.6,689,7128,0.15,2.33,9.32,1.033,6,0.104,0.071,3106,2278,2043,0,0,0,0,0,0
$GC,7454,0.64,241.9,369.4,13.7,721,7459,0.12,2.38,0.00,0.000,4,0.184,0.086,3075,3688,2039,0,0,0,0,0,0
$GC,7529,0.61,241.9,359.2,13.5,727,7533,0.00,2.33,0.00,0.000,6,0.000,0.071,3083,2273,2038,0,0,0,0,0,0
$GC,7856,0.58,241.9,320.6,12.3,757,7861,0.12,2.40,0.00,0.000,4,0.190,0.084,3060,857,2038,0,0,0,0,0,0
$GC,7908,0.68,265.1,315.4,8.9,761,7935,0.00,2.35,21.77,1.086,6,0.000,0.072,3060,2282,1949,0,0,0,0,0,0
$GC,8256,0.76,281.4,281.4,9.2,793,8280,0.12,2.38,16.73,1.052,4,0.104,0.084,3116,3694,1881,0,0,0,0,0,0
$GC,8331,0.68,281.4,270.1,16.1,799,8338,0.17,2.38,0.00,0.000,6,0.202,0.072,3085,2271,1879,0,0,0,0,0,0
$GC,8657,0.71,281.4,232.1,10.3,830,8661,0.00,2.35,0.00,0.000,4,0.000,0.084,3094,858,1877,0,0,0,0,0,0
$GC,8709,0.74,281.4,226.7,10.6,834,8713,0.00,2.35,0.00,0.000,6,0.000,0.071,3093,2284,1875,0,0,0,0,0,0
$GC,9035,0.77,281.4,189.7,11.4,864,9039,0.00,2.35,0.00,0.000,4,0.000,0.085,3093,3696,1876,0,0,0,0,0,0
$GC,9097,0.77,281.4,181.7,13.1,869,9101,0.00,2.38,0.00,0.000,6,0.000,0.071,3104,2265,1874,0,0,0,0,0,0
$GC,9423,0.77,281.4,144.1,11.7,899,9427,0.00,2.35,0.00,0.000,4,0.000,0.086,3111,857,1874,0,0,0,0,0,0
$GC,9467,0.81,281.4,138.6,11.6,902,9475,0.00,2.35,0.00,0.000,6,0.000,0.073,3112,2274,1873,0,0,0,0,0,0
$GC,9792,0.81,281.4,104.0,11.1,933,9796,0.00,2.38,0.00,0.000,4,0.000,0.087,3112,3693,1873,0,0,0,0,0,0
$GC,9872,0.81,281.4,93.8,12.9,943,9879,0.00,2.38,0.00,0.000,6,0.000,0.073,3121,2273,1873,0,0,0,0,0,0
$GC,10217,0.81,281.4,58.3,11.0,1004,10224,0.00,2.38,0.00,0.000,4,0.000,0.086,3132,859,1873,0,0,0,0,0,0
$GC,10255,0.86,281.4,53.8,12.2,1010,10262,0.00,2.35,0.00,0.000,6,0.000,0.073,3131,2283,1872,0,0,0,0,0,0
$GC,10602,0.92,331.6,21.2,7.7,1071,10638,0.00,2.45,26.95,0.986,4,0.000,0.089,3131,3692,1677,0,0,0,0,0,0
$GC,10674,0.92,331.6,13.1,12.4,1083,10682,0.00,2.40,0.00,0.000,6,0.000,0.074,3141,2267,1673,0,0,0,0,0,0
$FREEZE,8.60,-1.723,-1.776,2,50,2
$FREEZE,8.10,-1.722,-1.776,2,50,2
$FREEZE,7.33,-1.723,-1.775,2,50,2
$FREEZE,6.67,-1.723,-1.775,2,50,2
$FREEZE,5.93,-1.724,-1.774,2,50,2
$FREEZE,5.41,-1.726,-1.774,2,50,2
$FREEZE,4.79,-1.725,-1.773,2,50,2
$FREEZE,3.98,-1.724,-1.773,2,50,2
$FREEZE,3.76,-1.722,-1.772,2,50,2
$FREEZE,3.73,-1.722,-1.772,2,50,2
$FREEZE,3.75,-1.720,-1.772,2,50,2
$FREEZE,3.75,-1.722,-1.773,2,50,2
$FREEZE,3.76,-1.723,-1.773,2,50,2
$FREEZE,3.79,-1.723,-1.773,2,50,2
$FREEZE,3.71,-1.723,-1.773,2,50,2
$FREEZE,3.70,-1.722,-1.772,2,50,2
$FREEZE,3.74,-1.724,-1.772,2,50,2
$FREEZE,3.69,-1.724,-1.772,2,50,2
$FREEZE,3.67,-1.724,-1.772,2,50,2
$FREEZE,3.77,-1.723,-1.772,2,50,2
$FREEZE,3.71,-1.723,-1.772,2,50,2
$FREEZE,3.71,-1.723,-1.772,2,50,2
$FREEZE,3.73,-1.723,-1.772,2,50,2
$FREEZE,3.71,-1.723,-1.772,2,50,2
$FREEZE,3.73,-1.723,-1.772,2,50,2
$FREEZE,3.80,-1.722,-1.772,2,50,2
$FREEZE,3.81,-1.723,-1.772,2,50,2
$FREEZE,3.81,-1.722,-1.772,2,50,2
$FREEZE,3.87,-1.723,-1.772,2,50,2
$FREEZE,3.82,-1.719,-1.772,2,50,2
$FREEZE,3.81,-1.722,-1.772,2,50,2
$FREEZE,3.75,-1.722,-1.772,2,50,2
$FREEZE,3.79,-1.723,-1.772,2,50,2
$FREEZE,3.80,-1.722,-1.772,2,50,2
$FREEZE,3.77,-1.723,-1.772,2,50,2
$FREEZE,3.77,-1.723,-1.772,2,50,2
$STATE,10883,end climb,NO_VERTICAL_VELOCITY
$STATE,10883,begin surface
$SM_CCo,10886,111.38,0.891,0,0,750,559.04
$SM_GC,4.66,8.73,0.00,0.00,0.086,0.000,0.000,107,2491,733,-8.58,0.03,563.45
$RAFOS_CLK,623
$RAFOS,6,1306327744,12.833333,12.817778,86,67,63,56,53,53,770,169,198,214,122,145
$RAFOS,5,1306327261,12.700000,12.683611,62,59,58,58,55,54,202,151,176,220,133,944
$RAFOS,4,1306326788,12.566667,12.552222,102,65,64,62,54,52,683,155,196,186,219,209
$RAFOS,3,1306326306,12.433333,12.418333,65,56,54,53,52,50,788,196,118,167,150,185
$RAFOS,2,1306325821,12.300000,12.283611,84,64,59,57,57,56,681,211,202,175,160,233
$RAFOS,1,1306325345,12.166667,12.151389,109,55,54,53,52,51,554,122,160,196,185,214
$RAFOS,0,1306324871,12.033333,12.019722,128,68,57,54,54,53,599,210,187,223,140,112
$RAFOS_FIX,6650.510742,-6008.575684,250511,121232,6,96,0.21
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,49.13
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,16.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,14.5
$ALTIM_BOTTOM_PING,550.0,63.7
$24V_AH,21.0,91.782
$10V_AH,9.8,47.367
$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,13.475,131.625,419.000,111.375,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2775.268,6009.441,590.114,1831.738,259.378,0.000,1605.040,0.000,1812.724,2520.000,16.032,0.000
$DEVICE_MAMPS,225.675,182.070,1306.620,891.225,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.559,852.705,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43343,1122
$CAP_FILE_SIZE,138194,0
$CFSIZE,260165632,208523264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.2
$GPS,250511,122432,6650.511,-6008.576,0,6095.7,0,-37.6