version: 66.08
glider: 141
mission: 15
dive: 691
start: 5 25 111 22 48 43
data:
$ID,141
$MISSION,15
$DIVE,691
$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,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
$GPS1,250511,202734,6651.270,-6000.543,0,7106.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.09
$_SM_ANGLEo,-5.0
$GPS2,250511,202734,6651.270,-6000.543,0,7106.7,0,-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,118.7,140731,-17.5,-10.000
$D_GRID,740
$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
$STATE,12,begin dive
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$GC,27,-0.62,-146.0,14.6,-0.0,1,52,0.62,4.40,-14.40,0.000,4,0.101,0.080,2671,1078,3630,0,0,0,0,0,0
$GC,59,-0.62,-146.0,17.9,-10.5,6,66,0.00,2.38,0.00,0.000,6,0.000,0.080,2671,2488,3630,0,0,0,0,0,0
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$GC,474,-0.46,-146.0,98.4,-12.9,78,481,0.00,2.38,0.00,0.000,6,0.000,0.080,2705,2496,3631,0,0,0,0,0,0
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$GC,1859,-0.45,-146.0,261.2,-10.1,206,1866,0.00,2.33,0.00,0.000,6,0.000,0.069,2705,2485,3629,0,0,0,0,0,0
$GC,2185,-0.48,-146.0,291.8,-9.0,237,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2485,3629,0,0,0,0,0,0
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$GC,2857,-0.60,-146.0,352.2,-9.3,299,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2487,3628,0,0,0,0,0,0
$GC,3179,-0.64,-146.0,380.5,-9.0,329,3185,0.15,0.00,0.00,0.000,6,0.121,0.000,2653,2487,3628,0,0,0,0,0,0
$GC,3505,-0.55,-146.0,423.0,-13.2,360,3506,0.12,0.00,0.00,0.000,6,0.207,0.000,2680,2487,3629,0,0,0,0,0,0
$GC,3823,-0.55,-146.0,457.2,-10.7,390,3827,0.00,2.38,0.00,0.000,4,0.000,0.081,2681,1076,3629,0,0,0,0,0,0
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$GC,4220,-0.58,-146.0,498.4,-10.0,426,4227,0.00,2.30,0.00,0.000,6,0.000,0.064,2681,2490,3629,0,0,0,0,0,0
$GC,4546,-0.58,-146.0,529.2,-9.7,457,4550,0.00,2.40,0.00,0.000,4,0.000,0.080,2681,1068,3629,0,0,0,0,0,0
$GC,4564,-0.58,-146.0,531.1,-10.0,458,4568,0.00,2.38,0.00,0.000,6,0.000,0.076,2681,2490,3629,0,0,0,0,0,0
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$GC,4951,-0.62,-146.0,568.9,-9.8,493,4958,0.00,2.33,0.00,0.000,6,0.000,0.065,2681,2488,3629,0,0,0,0,0,0
$GC,5279,-0.62,-146.0,599.4,-9.2,524,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2488,3630,0,0,0,0,0,0
$GC,5593,-0.62,-146.0,629.2,-9.5,535,5597,0.00,2.42,0.00,0.000,4,0.000,0.087,2681,3911,3630,0,0,0,0,0,0
$GC,5648,-0.66,-146.0,634.5,-8.7,536,5655,0.00,2.33,0.00,0.000,6,0.000,0.063,2681,2488,3630,0,0,0,0,0,0
$GC,5962,-0.66,-146.0,662.9,-9.1,547,5967,0.00,2.33,0.00,0.000,4,0.000,0.079,2681,1080,3630,0,0,0,0,0,0
$GC,5992,-0.66,-146.0,665.8,-10.1,548,5996,0.00,2.38,0.00,0.000,6,0.000,0.076,2681,2491,3631,0,0,0,0,0,0
$GC,6328,-0.66,-146.0,696.8,-9.3,559,6332,0.00,2.42,0.00,0.000,4,0.000,0.091,2680,3901,3631,0,0,0,0,0,0
$GC,6344,-0.66,-146.0,698.5,-9.0,559,6348,0.00,2.30,0.00,0.000,6,0.000,0.063,2681,2486,3630,0,0,0,0,0,0
$GC,6659,-0.66,-146.0,726.4,-8.9,569,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2486,3631,0,0,0,0,0,0
$STATE,6838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6838,begin apogee
$GC,6846,-0.12,0.0,742.4,8.6,575,6980,0.47,0.00,130.20,1.400,6,0.189,0.000,2815,2266,3029,0,0,0,0,0,0
$STATE,6981,end apogee,CONTROL_FINISHED_OK
$STATE,6981,begin climb
$GC,6984,0.62,146.0,746.8,0.0,579,7133,0.82,2.83,138.75,1.352,4,0.143,0.080,3053,3689,2433,0,0,0,0,0,0
$GC,7140,0.35,164.2,738.2,9.2,584,7168,0.38,2.65,19.30,1.236,6,0.194,0.066,2982,2281,2360,0,0,0,0,0,0
$GC,7476,0.56,234.8,715.1,6.7,595,7548,0.17,2.58,65.10,1.306,4,0.084,0.086,3066,862,2071,0,0,0,0,0,0
$GC,7641,0.56,234.8,695.9,12.7,600,7645,0.00,2.42,0.00,0.000,6,0.000,0.070,3066,2277,2065,0,0,0,0,0,0
$GC,7977,0.54,234.8,651.2,13.4,611,7981,0.00,2.38,0.00,0.000,4,0.000,0.085,3066,3697,2061,0,0,0,0,0,0
$GC,8022,0.50,234.8,644.4,15.2,612,8027,0.17,2.38,0.00,0.000,6,0.183,0.071,3032,2269,2061,0,0,0,0,0,0
$GC,8342,0.56,234.8,612.0,10.2,623,8346,0.00,2.35,0.00,0.000,4,0.000,0.087,3040,862,2060,0,0,0,0,0,0
$GC,8392,0.63,234.8,606.7,10.5,624,8396,0.00,2.33,0.00,0.000,6,0.000,0.071,3040,2275,2058,0,0,0,0,0,0
$GC,8718,0.68,234.8,573.7,10.1,650,8723,0.12,2.38,0.00,0.000,4,0.103,0.085,3098,3694,2058,0,0,0,0,0,0
$GC,8770,0.58,234.8,565.6,17.2,654,8774,0.20,2.35,0.00,0.000,6,0.201,0.070,3058,2265,2058,0,0,0,0,0,0
$GC,9100,0.58,234.8,524.5,12.1,685,9104,0.00,2.35,0.00,0.000,4,0.000,0.086,3068,864,2057,0,0,0,0,0,0
$GC,9144,0.62,234.8,519.2,11.7,688,9152,0.00,2.33,0.00,0.000,6,0.000,0.070,3068,2277,2056,0,0,0,0,0,0
$GC,9470,0.62,234.8,476.6,13.0,719,9474,0.00,2.35,0.00,0.000,4,0.000,0.085,3068,3687,2056,0,0,0,0,0,0
$GC,9525,0.58,234.8,468.5,14.9,723,9532,0.00,2.33,0.00,0.000,6,0.000,0.070,3078,2274,2056,0,0,0,0,0,0
$GC,9852,0.54,234.8,423.4,13.6,754,9857,0.12,2.35,0.00,0.000,4,0.190,0.084,3054,864,2056,0,0,0,0,0,0
$GC,9929,0.60,234.8,414.4,10.1,760,9936,0.00,2.35,0.00,0.000,6,0.000,0.070,3054,2279,2055,0,0,0,0,0,0
$GC,10255,0.63,234.8,379.9,10.1,791,10259,0.00,2.38,0.00,0.000,4,0.000,0.085,3054,3694,2055,0,0,0,0,0,0
$GC,10299,0.63,234.8,374.5,12.4,794,10306,0.00,2.35,0.00,0.000,6,0.000,0.070,3065,2274,2056,0,0,0,0,0,0
$GC,10627,0.63,234.8,338.3,11.1,825,10631,0.00,2.35,0.00,0.000,4,0.000,0.083,3075,864,2056,0,0,0,0,0,0
$GC,10689,0.63,234.8,331.0,11.2,830,10693,0.00,2.33,0.00,0.000,6,0.000,0.070,3075,2278,2054,0,0,0,0,0,0
$GC,11019,0.63,234.8,293.0,11.4,861,11024,0.00,2.38,0.00,0.000,4,0.000,0.085,3075,3687,2055,0,0,0,0,0,0
$GC,11073,0.60,234.8,286.4,13.6,865,11077,0.00,2.35,0.00,0.000,6,0.000,0.070,3085,2268,2055,0,0,0,0,0,0
$GC,11403,0.60,234.8,248.8,10.9,896,11407,0.00,2.35,0.00,0.000,4,0.000,0.084,3096,858,2055,0,0,0,0,0,0
$GC,11478,0.60,234.8,240.4,11.9,902,11482,0.15,2.33,0.00,0.000,6,0.177,0.070,3058,2275,2054,0,0,0,0,0,0
$GC,11804,0.67,247.8,209.6,9.4,932,11820,0.00,2.40,10.15,0.977,4,0.000,0.086,3058,3695,2019,0,0,0,0,0,0
$GC,11854,0.70,247.8,203.9,11.5,936,11861,0.00,2.38,0.00,0.000,6,0.000,0.068,3067,2263,2018,0,0,0,0,0,0
$GC,12183,0.79,276.6,173.2,8.7,967,12218,0.15,2.45,28.15,1.038,4,0.099,0.085,3144,858,1901,0,0,0,0,0,0
$GC,12259,0.74,276.6,163.5,14.2,973,12267,0.17,2.38,0.00,0.000,6,0.197,0.080,3101,2282,1899,0,0,0,0,0,0
$GC,12585,0.78,286.2,128.9,9.6,1004,12597,0.00,0.00,9.68,0.936,6,0.000,0.000,3101,2282,1863,0,0,0,0,0,0
$GC,12916,0.84,308.1,97.0,9.0,1037,12947,0.10,2.42,21.75,0.988,4,0.117,0.088,3142,3683,1772,0,0,0,0,0,0
$GC,12966,0.79,308.1,91.1,12.2,1045,12973,0.12,2.35,0.00,0.000,6,0.213,0.072,3126,2276,1769,0,0,0,0,0,0
$GC,13314,0.84,316.7,56.6,9.6,1106,13328,0.00,2.45,8.60,0.895,4,0.000,0.087,3133,860,1737,0,0,0,0,0,0
$GC,13393,0.93,341.5,49.4,8.9,1119,13424,0.00,2.35,24.45,0.966,6,0.000,0.073,3133,2282,1636,0,0,0,0,0,0
$GC,13764,0.98,341.5,10.7,10.9,1184,13771,0.12,2.38,0.00,0.000,4,0.106,0.087,3188,3686,1629,0,0,0,0,0,0
$FREEZE,8.24,-1.740,-1.774,2,54,0
$STATE,13783,end climb,FINISH_DEPTH_REACHED
$STATE,13783,begin subsurface finish
$FINISH1,8.2,1.025979,75
$GC,13793,0.09,74.5,8.2,-11.5,1187,13853,1.05,2.45,-49.72,0.000,4,0.189,0.102,2902,3688,2729,0,0,0,0,0,0
$FINISH2,6.3
$STATE,13853,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13854,begin surface
$RAFOS_CLK,762
$RAFOS,6,1306370948,0.833333,0.818889,180,68,67,59,55,51,720,193,213,180,148,114
$RAFOS,5,1306370469,0.700000,0.685833,57,56,56,54,54,49,157,173,210,141,1321,115
$RAFOS,4,1306369986,0.566667,0.551667,120,60,59,58,56,53,664,119,215,204,161,181
$RAFOS,3,1306369529,0.433333,0.424722,115,63,60,57,51,51,665,210,154,168,112,131
$RAFOS,2,1306369037,0.300000,0.288056,131,60,58,58,55,52,611,208,146,193,175,164
$RAFOS,1,1306368542,0.166667,0.150556,99,64,59,58,55,53,575,175,146,199,121,228
$RAFOS,0,1306368064,0.033333,0.017778,134,65,53,52,51,50,676,146,214,126,190,170
$RAFOS_FIX,6652.187988,-5958.187012,260511,000053,6,130,0.17
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026964
$HUMID,48.30
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.10
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.5,16.5
$24V_AH,20.8,92.410
$10V_AH,9.8,47.665
$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,5.400,148.025,456.125,0.000,0.000,0.000,0.000,0.000,5.250,0.000,0.000,2947.814,8123.913,547.634,2014.747,295.581,0.000,1657.456,0.000,2000.971,2520.000,18.517,0.000
$DEVICE_MAMPS,240.210,101.745,1399.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.480,919.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46663,1197
$CAP_FILE_SIZE,148345,0
$CFSIZE,260165632,208232448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$GPS,260511,002453,6652.188,-5958.187,0,6129.8,0,-37.6