version: 66.08
glider: 141
mission: 15
dive: 688
start: 5 25 111 13 24 53
data:
$ID,141
$MISSION,15
$DIVE,688
$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,-50476.18
$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,17
$R_STBD_OVSHOOT,15
$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
$GPS1,250511,122432,6650.511,-6008.576,0,6095.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.83
$_SM_ANGLEo,-48.2
$GPS2,250511,122432,6650.511,-6008.576,181,99.0,181,-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,118.5,146680,-17.5,-10.000
$D_GRID,629
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.75,0.000,2,0.000,0.000,106,2491,845,0,0,0,0,0,0
$GC,27,-0.62,-146.0,5.1,-0.0,1,196,12.25,2.40,-144.75,0.000,4,0.296,0.097,2656,1063,3629,0,0,0,0,0,0
$GC,260,-0.49,-146.0,21.6,-18.6,41,267,0.17,2.45,0.00,0.000,6,0.226,0.086,2698,2488,3630,0,0,0,0,0,0
$GC,607,-0.40,-146.0,84.9,-17.3,102,614,0.12,0.00,0.00,0.000,6,0.246,0.000,2727,2488,3631,0,0,0,0,0,0
$GC,940,-0.40,-146.0,126.7,-10.6,142,944,0.00,2.45,0.00,0.000,4,0.000,0.099,2727,3903,3630,0,0,0,0,0,0
$GC,980,-0.44,-146.0,130.8,-10.4,145,986,0.00,2.35,0.00,0.000,6,0.000,0.069,2727,2487,3630,0,0,0,0,0,0
$GC,1306,-0.47,-146.0,164.8,-10.1,176,1310,0.00,2.35,0.00,0.000,4,0.000,0.086,2727,1079,3630,0,0,0,0,0,0
$GC,1335,-0.52,-146.0,168.0,-10.6,178,1339,0.00,2.40,0.00,0.000,6,0.000,0.083,2727,2496,3630,0,0,0,0,0,0
$GC,1662,-0.57,-146.0,198.1,-9.3,208,1664,0.15,0.00,0.00,0.000,6,0.119,0.000,2676,2496,3629,0,0,0,0,0,0
$GC,1979,-0.50,-146.0,240.9,-12.8,238,1983,0.00,2.45,0.00,0.000,4,0.000,0.099,2676,3900,3629,0,0,0,0,0,0
$GC,2024,-0.47,-146.0,246.9,-12.4,241,2031,0.12,2.33,0.00,0.000,6,0.208,0.070,2703,2489,3629,0,0,0,0,0,0
$GC,2350,-0.47,-146.0,280.0,-10.1,272,2354,0.00,2.35,0.00,0.000,4,0.000,0.084,2704,1079,3629,0,0,0,0,0,0
$GC,2371,-0.47,-146.0,282.5,-10.3,273,2378,0.00,2.42,0.00,0.000,6,0.000,0.083,2704,2497,3629,0,0,0,0,0,0
$GC,2699,-0.50,-146.0,312.0,-9.1,304,2703,0.00,2.42,0.00,0.000,4,0.000,0.097,2703,3903,3629,0,0,0,0,0,0
$GC,2721,-0.53,-146.0,314.3,-9.1,305,2727,0.00,2.35,0.00,0.000,6,0.000,0.068,2704,2488,3629,0,0,0,0,0,0
$GC,3048,-0.57,-146.0,343.4,-8.8,336,3052,0.00,2.38,0.00,0.000,4,0.000,0.083,2704,1068,3630,0,0,0,0,0,0
$GC,3065,-0.60,-146.0,345.3,-9.1,337,3071,0.00,2.42,0.00,0.000,6,0.000,0.080,2704,2494,3629,0,0,0,0,0,0
$GC,3392,-0.63,-146.0,374.0,-8.7,368,3397,0.15,2.45,0.00,0.000,4,0.117,0.096,2650,3906,3630,0,0,0,0,0,0
$GC,3414,-0.63,-146.0,376.4,-9.9,369,3421,0.00,2.33,0.00,0.000,6,0.000,0.067,2651,2487,3630,0,0,0,0,0,0
$GC,3741,-0.54,-146.0,419.3,-13.5,400,3742,0.15,0.00,0.00,0.000,6,0.220,0.000,2686,2486,3630,0,0,0,0,0,0
$GC,4058,-0.54,-146.0,452.9,-10.3,430,4062,0.00,2.38,0.00,0.000,4,0.000,0.080,2686,1070,3631,0,0,0,0,0,0
$GC,4079,-0.54,-146.0,455.4,-10.7,431,4086,0.00,2.40,0.00,0.000,6,0.000,0.079,2686,2498,3631,0,0,0,0,0,0
$GC,4405,-0.54,-146.0,488.0,-9.9,462,4409,0.00,2.42,0.00,0.000,4,0.000,0.094,2686,3912,3632,0,0,0,0,0,0
$GC,4426,-0.54,-146.0,490.6,-10.6,463,4433,0.00,2.35,0.00,0.000,6,0.000,0.065,2686,2489,3632,0,0,0,0,0,0
$GC,4752,-0.54,-146.0,523.1,-10.0,494,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2489,3632,0,0,0,0,0,0
$GC,5072,-0.54,-146.0,554.0,-9.4,524,5076,0.00,2.33,0.00,0.000,4,0.000,0.078,2686,1077,3632,0,0,0,0,0,0
$GC,5118,-0.58,-146.0,558.8,-10.1,527,5125,0.00,2.40,0.00,0.000,6,0.000,0.077,2686,2494,3632,0,0,0,0,0,0
$GC,5444,-0.58,-146.0,589.5,-9.5,558,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2493,3633,0,0,0,0,0,0
$GC,5776,-0.60,-146.0,620.7,-9.7,576,5780,0.00,2.42,0.00,0.000,4,0.000,0.093,2686,3912,3632,0,0,0,0,0,0
$GC,5809,-0.65,-146.0,623.8,-8.7,577,5813,0.00,2.33,0.00,0.000,6,0.000,0.065,2686,2487,3632,0,0,0,0,0,0
$STATE,5892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5892,begin apogee
$GC,5899,-0.12,0.0,631.6,9.4,580,6034,0.45,0.00,128.73,1.328,6,0.188,0.000,2814,2266,3030,0,0,0,0,0,0
$STATE,6035,end apogee,CONTROL_FINISHED_OK
$STATE,6035,begin climb
$GC,6037,0.62,146.0,636.8,0.0,584,6186,0.80,0.00,136.25,1.285,6,0.139,0.000,3049,2266,2433,0,0,0,0,0,0
$GC,6490,0.60,160.0,604.2,9.4,599,6504,0.00,0.00,12.98,1.138,6,0.000,0.000,3050,2265,2377,0,0,0,0,0,0
$GC,6808,0.63,182.7,575.1,8.9,625,6834,0.00,2.47,21.08,1.192,4,0.000,0.085,3050,3698,2285,0,0,0,0,0,0
$GC,6870,0.59,182.7,568.8,11.2,630,6874,0.00,2.38,0.00,0.000,6,0.000,0.070,3060,2280,2284,0,0,0,0,0,0
$GC,7196,0.57,188.6,536.1,9.7,660,7209,0.00,2.45,6.62,0.984,4,0.000,0.086,3071,863,2260,0,0,0,0,0,0
$GC,7278,0.57,188.6,527.7,11.0,667,7282,0.00,2.35,0.00,0.000,6,0.000,0.073,3071,2280,2258,0,0,0,0,0,0
$GC,7604,0.55,188.6,492.9,10.6,697,7608,0.00,2.35,0.00,0.000,4,0.000,0.086,3071,3687,2258,0,0,0,0,0,0
$GC,7670,0.46,188.6,484.1,13.7,702,7678,0.25,2.35,0.00,0.000,6,0.190,0.071,3016,2264,2258,0,0,0,0,0,0
$GC,7996,0.59,231.0,457.6,8.0,733,8042,0.12,2.47,39.45,1.190,4,0.108,0.087,3085,862,2088,0,0,0,0,0,0
$GC,8070,0.59,231.0,449.2,12.8,739,8077,0.12,2.40,0.00,0.000,6,0.184,0.073,3056,2284,2083,0,0,0,0,0,0
$GC,8396,0.59,231.0,415.2,10.5,770,8400,0.00,2.35,0.00,0.000,4,0.000,0.086,3055,3693,2080,0,0,0,0,0,0
$GC,8429,0.59,231.0,411.0,12.3,772,8435,0.00,2.35,0.00,0.000,6,0.000,0.070,3064,2268,2080,0,0,0,0,0,0
$GC,8754,0.59,231.0,374.1,11.5,803,8758,0.00,2.35,0.00,0.000,4,0.000,0.086,3075,861,2079,0,0,0,0,0,0
$GC,8811,0.59,231.0,367.8,10.6,808,8815,0.00,2.35,0.00,0.000,6,0.000,0.071,3075,2277,2078,0,0,0,0,0,0
$GC,9136,0.59,231.0,330.4,11.2,838,9140,0.00,2.38,0.00,0.000,4,0.000,0.086,3075,3698,2077,0,0,0,0,0,0
$GC,9181,0.55,231.0,324.9,13.7,842,9186,0.17,2.35,0.00,0.000,6,0.191,0.070,3041,2277,2077,0,0,0,0,0,0
$GC,9508,0.66,271.5,296.2,8.1,872,9553,0.12,2.42,36.53,1.106,4,0.108,0.085,3110,861,1923,0,0,0,0,0,0
$GC,9615,0.64,271.5,283.0,12.9,881,9622,0.15,2.38,0.00,0.000,6,0.190,0.070,3074,2279,1918,0,0,0,0,0,0
$GC,9940,0.67,271.5,249.7,10.2,912,9945,0.00,2.35,0.00,0.000,4,0.000,0.085,3073,3693,1917,0,0,0,0,0,0
$GC,9973,0.67,271.5,245.7,11.7,914,9980,0.00,2.35,0.00,0.000,6,0.000,0.070,3081,2269,1915,0,0,0,0,0,0
$GC,10299,0.70,271.5,209.6,11.2,945,10303,0.00,2.35,0.00,0.000,4,0.000,0.085,3091,861,1916,0,0,0,0,0,0
$GC,10357,0.74,271.5,203.3,10.7,950,10361,0.00,2.33,0.00,0.000,6,0.000,0.070,3091,2277,1914,0,0,0,0,0,0
$GC,10684,0.78,277.6,168.5,9.7,980,10697,0.00,2.38,5.82,0.839,4,0.000,0.084,3091,3696,1897,0,0,0,0,0,0
$GC,10722,0.80,277.6,164.6,10.1,983,10726,0.00,2.35,0.00,0.000,6,0.000,0.071,3101,2267,1897,0,0,0,0,0,0
$GC,11047,0.80,277.6,132.7,10.2,1013,11052,0.00,2.35,0.00,0.000,4,0.000,0.086,3111,861,1897,0,0,0,0,0,0
$GC,11100,0.83,277.6,126.9,12.0,1017,11104,0.00,2.35,0.00,0.000,6,0.000,0.072,3111,2277,1896,0,0,0,0,0,0
$GC,11433,0.87,294.2,92.8,9.2,1055,11458,0.10,2.38,17.40,0.988,4,0.121,0.086,3153,3687,1828,0,0,0,0,0,0
$GC,11494,0.79,294.2,85.1,14.5,1065,11502,0.17,2.38,0.00,0.000,6,0.200,0.073,3121,2266,1827,0,0,0,0,0,0
$GC,11840,0.82,294.2,46.1,11.7,1126,11846,0.00,2.35,0.00,0.000,4,0.000,0.088,3125,864,1825,0,0,0,0,0,0
$GC,11950,0.95,336.2,36.2,8.1,1145,11986,0.12,2.35,28.38,1.040,6,0.117,0.076,3174,2275,1658,0,0,0,0,0,0
$STATE,12159,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12159,begin subsurface finish
$FINISH1,9.4,1.026007,73
$GC,12166,0.09,73.2,9.4,-6.2,1182,12214,0.93,2.47,-37.35,0.000,4,0.167,0.103,2899,3693,2733,0,0,0,0,0,0
$FINISH2,8.5
$STATE,12215,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12215,begin surface
$RAFOS_CLK,714
$RAFOS,5,1306341662,16.700001,16.683889,63,59,58,58,51,50,212,195,181,222,137,161
$RAFOS,4,1306341184,16.566668,16.551111,102,66,58,52,51,51,695,193,160,169,136,218
$RAFOS,3,1306340704,16.433332,16.417778,78,63,62,59,58,56,787,217,170,152,189,204
$RAFOS,2,1306340225,16.299999,16.284721,119,58,58,53,52,50,668,198,127,213,170,183
$RAFOS,1,1306339748,16.166666,16.152222,164,62,60,59,53,53,530,135,212,146,175,188
$RAFOS,0,1306339270,16.033333,16.019444,77,61,56,54,52,52,608,190,162,113,224,209
$RAFOS_FIX,6648.566406,-6009.082520,250511,161637,5,108,0.26
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,48.14
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,15.2
$24V_AH,20.9,91.938
$10V_AH,9.8,47.457
$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,16.650,126.550,433.225,0.000,0.000,101.489,17.373,0.000,3.500,0.000,183.284,2834.695,6760.590,616.222,2244.681,682.017,0.000,1688.920,0.000,1922.310,2160.000,17.846,0.000
$DEVICE_MAMPS,296.055,103.275,1328.040,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.962,907.811,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46601,1190
$CAP_FILE_SIZE,145064,0
$CFSIZE,260165632,208445440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.8
$GPS,250511,161937,6648.566,-6009.083,0,5108.0,0,-37.6