version: 66.08
glider: 141
mission: 15
dive: 689
start: 5 25 111 16 50 47
data:
$ID,141
$MISSION,15
$DIVE,689
$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,19
$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
$GPS1,250511,161937,6648.566,-6009.083,0,5108.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.64
$_SM_ANGLEo,2.0
$GPS2,250511,161937,6648.566,-6009.083,0,5108.0,0,-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,117.2,147651,-17.5,-10.000
$D_GRID,604
$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,-5.65,0.000,2,0.000,0.000,2899,3694,2964,0,0,0,0,0,0
$GC,27,-0.62,-146.0,13.5,-0.0,1,52,0.65,0.38,-16.00,0.000,4,0.095,0.191,2667,3904,3629,0,0,0,0,0,0
$GC,200,-0.53,-146.0,43.5,-19.2,31,207,0.00,2.33,0.00,0.000,6,0.000,0.067,2667,2492,3631,0,0,0,0,0,0
$GC,548,-0.37,-146.0,114.4,-19.1,86,553,0.25,2.38,0.00,0.000,4,0.218,0.080,2733,1073,3631,0,0,0,0,0,0
$GC,594,-0.42,-146.0,121.5,-11.7,89,601,0.00,2.38,0.00,0.000,6,0.000,0.080,2733,2494,3631,0,0,0,0,0,0
$GC,920,-0.46,-146.0,155.9,-10.2,120,925,0.00,2.42,0.00,0.000,4,0.000,0.096,2733,3907,3630,0,0,0,0,0,0
$GC,965,-0.54,-146.0,160.4,-9.4,123,973,0.12,2.35,0.00,0.000,6,0.128,0.068,2692,2483,3630,0,0,0,0,0,0
$GC,1294,-0.49,-146.0,200.9,-13.0,154,1298,0.00,2.35,0.00,0.000,4,0.000,0.084,2691,1070,3630,0,0,0,0,0,0
$GC,1316,-0.44,-146.0,204.5,-13.1,155,1322,0.00,2.42,0.00,0.000,6,0.000,0.081,2691,2495,3630,0,0,0,0,0,0
$GC,1641,-0.41,-146.0,241.0,-11.0,186,1646,0.15,2.45,0.00,0.000,4,0.226,0.097,2726,3905,3629,0,0,0,0,0,0
$GC,1710,-0.51,-146.0,246.8,-7.4,191,1716,0.00,2.35,0.00,0.000,6,0.000,0.069,2726,2487,3628,0,0,0,0,0,0
$GC,2037,-0.59,-146.0,272.3,-7.9,222,2039,0.17,0.00,0.00,0.000,6,0.116,0.000,2665,2486,3629,0,0,0,0,0,0
$GC,2354,-0.52,-146.0,312.8,-13.0,252,2359,0.12,2.38,0.00,0.000,4,0.223,0.082,2693,1071,3628,0,0,0,0,0,0
$GC,2383,-0.52,-146.0,316.3,-11.7,254,2387,0.00,2.42,0.00,0.000,6,0.000,0.080,2693,2500,3628,0,0,0,0,0,0
$GC,2709,-0.52,-146.0,348.7,-9.8,284,2713,0.00,2.40,0.00,0.000,4,0.000,0.095,2693,3902,3628,0,0,0,0,0,0
$GC,2755,-0.55,-146.0,353.0,-9.5,287,2761,0.00,2.33,0.00,0.000,6,0.000,0.067,2693,2482,3628,0,0,0,0,0,0
$GC,3080,-0.55,-146.0,384.6,-10.1,318,3084,0.00,2.45,0.00,0.000,4,0.000,0.091,2693,3906,3629,0,0,0,0,0,0
$GC,3098,-0.55,-146.0,386.3,-9.8,319,3102,0.00,2.33,0.00,0.000,6,0.000,0.067,2693,2488,3629,0,0,0,0,0,0
$GC,3423,-0.55,-146.0,419.2,-10.2,349,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2488,3629,0,0,0,0,0,0
$GC,3746,-0.55,-146.0,448.9,-8.9,379,3750,0.00,2.42,0.00,0.000,4,0.000,0.090,2693,3900,3629,0,0,0,0,0,0
$GC,3769,-0.58,-146.0,451.4,-9.6,380,3776,0.00,2.35,0.00,0.000,6,0.000,0.070,2693,2489,3629,0,0,0,0,0,0
$GC,4095,-0.60,-146.0,478.4,-8.2,411,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2489,3630,0,0,0,0,0,0
$GC,4418,-0.62,-146.0,505.8,-8.6,441,4422,0.00,2.45,0.00,0.000,4,0.000,0.090,2693,3906,3630,0,0,0,0,0,0
$GC,4448,-0.66,-146.0,508.8,-9.4,443,4453,0.12,2.33,0.00,0.000,6,0.125,0.065,2652,2481,3630,0,0,0,0,0,0
$GC,4774,-0.60,-146.0,547.4,-12.0,473,4778,0.00,2.45,0.00,0.000,4,0.000,0.090,2651,3910,3629,0,0,0,0,0,0
$GC,4803,-0.54,-146.0,550.8,-12.6,475,4808,0.15,2.35,0.00,0.000,6,0.198,0.065,2686,2485,3630,0,0,0,0,0,0
$GC,5128,-0.54,-146.0,581.9,-8.9,505,5132,0.00,2.33,0.00,0.000,4,0.000,0.080,2686,1077,3630,0,0,0,0,0,0
$GC,5147,-0.54,-146.0,583.7,-9.3,506,5151,0.00,2.40,0.00,0.000,6,0.000,0.078,2686,2500,3630,0,0,0,0,0,0
$STATE,5398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5398,begin apogee
$GC,5406,-0.12,0.0,605.5,8.5,526,5541,0.45,0.00,127.55,1.311,6,0.189,0.000,2814,2263,3029,0,0,0,0,0,0
$STATE,5542,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5545,0.62,146.0,610.0,0.0,530,5692,0.80,2.75,134.65,1.264,4,0.142,0.085,3059,877,2433,0,0,0,0,0,0
$GC,5811,0.59,148.8,590.9,9.9,543,5818,0.00,2.53,0.00,0.000,6,0.000,0.071,3059,2280,2428,0,0,0,0,0,0
$GC,6138,0.53,148.8,556.8,10.4,574,6142,0.00,2.38,0.00,0.000,4,0.000,0.087,3059,3692,2426,0,0,0,0,0,0
$GC,6247,0.44,148.8,544.3,11.8,583,6252,0.22,2.35,0.00,0.000,6,0.187,0.071,3013,2280,2426,0,0,0,0,0,0
$GC,6574,0.56,206.4,520.3,7.3,613,6632,0.00,2.47,52.83,1.213,4,0.000,0.088,3020,859,2188,0,0,0,0,0,0
$GC,6677,0.73,251.6,512.9,7.9,622,6726,0.22,2.42,42.33,1.187,6,0.084,0.073,3112,2286,2004,0,0,0,0,0,0
$GC,7046,0.63,251.6,453.2,17.0,656,7051,0.17,2.35,0.00,0.000,4,0.190,0.086,3065,3687,1994,0,0,0,0,0,0
$GC,7107,0.63,251.6,443.9,13.8,661,7113,0.00,2.35,0.00,0.000,6,0.000,0.071,3074,2275,1992,0,0,0,0,0,0
$GC,7432,0.63,251.6,401.5,13.1,692,7436,0.00,2.35,0.00,0.000,4,0.000,0.085,3084,860,1991,0,0,0,0,0,0
$GC,7487,0.63,251.6,394.3,12.2,696,7494,0.00,2.38,0.00,0.000,6,0.000,0.080,3084,2283,1989,0,0,0,0,0,0
$GC,7813,0.59,251.6,350.2,13.8,727,7817,0.00,2.35,0.00,0.000,4,0.000,0.085,3084,3697,1989,0,0,0,0,0,0
$GC,7865,0.55,251.6,342.7,14.9,731,7870,0.20,2.35,0.00,0.000,6,0.184,0.070,3043,2275,1988,0,0,0,0,0,0
$GC,8191,0.64,273.6,311.0,9.0,761,8217,0.00,2.45,18.98,1.082,4,0.000,0.085,3050,861,1913,0,0,0,0,0,0
$GC,8295,0.79,304.3,302.1,8.6,770,8333,0.20,2.35,29.83,1.084,6,0.090,0.070,3129,2284,1788,0,0,0,0,0,0
$GC,8659,0.72,304.3,242.6,15.8,804,8664,0.12,2.35,0.00,0.000,4,0.196,0.083,3098,3687,1781,0,0,0,0,0,0
$GC,8700,0.72,304.3,236.6,14.2,807,8704,0.00,2.35,0.00,0.000,6,0.000,0.070,3106,2270,1779,0,0,0,0,0,0
$GC,9025,0.72,304.3,193.1,13.7,837,9030,0.00,2.35,0.00,0.000,4,0.000,0.085,3116,864,1779,0,0,0,0,0,0
$GC,9107,0.74,304.3,182.6,12.6,844,9111,0.00,2.33,0.00,0.000,6,0.000,0.070,3116,2281,1778,0,0,0,0,0,0
$GC,9437,0.74,304.3,138.8,13.6,875,9442,0.00,2.35,0.00,0.000,4,0.000,0.085,3117,3692,1778,0,0,0,0,0,0
$GC,9467,0.74,304.3,134.8,14.4,877,9472,0.00,2.35,0.00,0.000,6,0.000,0.070,3126,2275,1777,0,0,0,0,0,0
$GC,9795,0.74,304.3,94.5,12.5,911,9802,0.00,2.35,0.00,0.000,4,0.000,0.085,3137,864,1777,0,0,0,0,0,0
$GC,9871,0.74,304.3,85.6,12.1,924,9878,0.12,2.35,0.00,0.000,6,0.191,0.072,3108,2278,1776,0,0,0,0,0,0
$GC,10221,0.87,345.4,54.9,8.1,985,10269,0.10,2.47,36.95,0.989,4,0.119,0.087,3147,3689,1619,0,0,0,0,0,0
$GC,10368,0.84,345.4,36.5,13.3,1010,10374,0.00,2.38,0.00,0.000,6,0.000,0.074,3156,2278,1615,0,0,0,0,0,0
$FREEZE,8.61,-1.741,-1.774,2,52,0
$STATE,10586,end climb,FINISH_DEPTH_REACHED
$STATE,10586,begin subsurface finish
$FINISH1,8.6,1.025972,75
$GC,10593,0.09,74.9,8.6,-16.3,1048,10646,0.88,2.40,-44.25,0.000,4,0.174,0.099,2900,863,2726,0,0,0,0,0,0
$FINISH2,7.5
$STATE,10647,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10647,begin surface
$RAFOS_CLK,589
$RAFOS_FIX,6648.566406,-6009.082520,250511,161637,5,108,0.26
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026964
$HUMID,48.93
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,17.2
$24V_AH,21.0,92.092
$10V_AH,9.8,47.522
$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,5.250,115.425,443.100,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2534.561,5660.400,487.174,1774.119,249.121,0.000,1463.240,0.000,1762.611,0.000,17.647,0.000
$DEVICE_MAMPS,225.675,191.250,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,758.156,809.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40032,1057
$CAP_FILE_SIZE,123339,0
$CFSIZE,260165632,208400384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.1
$GPS,250511,161937,6648.566,-6009.083,0,5108.0,0,-37.6