version: 66.08
glider: 141
mission: 15
dive: 551
start: 5 5 111 8 12 0
data:
$ID,141
$MISSION,15
$DIVE,551
$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,-46224.43
$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,40
$R_STBD_OVSHOOT,19
$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
$GPS1,050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.82
$_SM_ANGLEo,-1.6
$GPS2,050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,236.8,23440,-17.5,-10.000
$D_GRID,627
$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,14,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.68,0.000,2,0.000,0.000,2904,3698,2882,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.4,-0.0,1,58,0.70,4.28,-22.60,0.000,4,0.122,0.071,2671,1095,3628,0,0,0,0,0,0
$GC,228,-0.52,-146.0,45.4,-19.4,36,235,0.00,2.30,0.00,0.000,6,0.000,0.070,2671,2489,3630,0,0,0,0,0,0
$GC,576,-0.39,-146.0,111.2,-19.7,93,581,0.25,2.28,0.00,0.000,4,0.231,0.070,2736,1099,3630,0,0,0,0,0,0
$GC,598,-0.34,-146.0,115.6,-17.6,94,605,0.00,2.30,0.00,0.000,6,0.000,0.070,2736,2497,3630,0,0,0,0,0,0
$GC,925,-0.40,-146.0,144.9,-8.8,125,929,0.00,2.38,0.00,0.000,4,0.000,0.085,2735,3907,3629,0,0,0,0,0,0
$GC,958,-0.50,-146.0,148.1,-8.7,127,965,0.12,2.25,0.00,0.000,6,0.129,0.056,2694,2497,3628,0,0,0,0,0,0
$GC,1283,-0.50,-146.0,188.0,-11.6,158,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2497,3628,0,0,0,0,0,0
$GC,1603,-0.50,-146.0,224.0,-10.9,188,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2497,3628,0,0,0,0,0,0
$GC,1920,-0.50,-146.0,260.3,-11.4,218,1924,0.00,2.30,0.00,0.000,4,0.000,0.072,2693,1071,3628,0,0,0,0,0,0
$GC,1983,-0.54,-146.0,267.5,-11.0,223,1987,0.00,2.35,0.00,0.000,6,0.000,0.069,2694,2500,3627,0,0,0,0,0,0
$GC,2308,-0.54,-146.0,301.9,-10.7,253,2312,0.00,2.33,0.00,0.000,4,0.000,0.085,2693,3899,3627,0,0,0,0,0,0
$GC,2328,-0.54,-146.0,304.3,-10.2,254,2336,0.00,2.25,0.00,0.000,6,0.000,0.055,2694,2488,3627,0,0,0,0,0,0
$GC,2655,-0.56,-146.0,334.1,-8.6,285,2659,0.00,2.28,0.00,0.000,4,0.000,0.070,2694,1073,3627,0,0,0,0,0,0
$GC,2684,-0.58,-146.0,336.6,-8.8,287,2688,0.00,2.33,0.00,0.000,6,0.000,0.068,2694,2489,3627,0,0,0,0,0,0
$GC,3010,-0.61,-146.0,363.1,-8.2,317,3014,0.00,2.35,0.00,0.000,4,0.000,0.084,2693,3902,3627,0,0,0,0,0,0
$GC,3043,-0.66,-146.0,366.1,-8.5,319,3051,0.12,2.25,0.00,0.000,6,0.125,0.055,2650,2493,3627,0,0,0,0,0,0
$GC,3369,-0.58,-146.0,406.3,-12.8,350,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2493,3627,0,0,0,0,0,0
$GC,3689,-0.51,-146.0,448.3,-12.6,380,3694,0.17,2.30,0.00,0.000,4,0.203,0.070,2692,1079,3627,0,0,0,0,0,0
$GC,3707,-0.46,-146.0,450.6,-12.9,381,3711,0.00,2.33,0.00,0.000,6,0.000,0.068,2692,2493,3628,0,0,0,0,0,0
$GC,4033,-0.51,-146.0,480.2,-8.8,411,4037,0.00,2.38,0.00,0.000,4,0.000,0.084,2692,3906,3627,0,0,0,0,0,0
$GC,4075,-0.58,-146.0,483.7,-8.4,414,4079,0.00,2.25,0.00,0.000,6,0.000,0.054,2692,2482,3628,0,0,0,0,0,0
$GC,4400,-0.62,-146.0,511.2,-8.3,444,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2482,3628,0,0,0,0,0,0
$GC,4721,-0.67,-146.0,538.0,-9.0,474,4728,0.15,0.00,0.00,0.000,6,0.119,0.000,2639,2482,3628,0,0,0,0,0,0
$GC,5048,-0.65,-146.0,579.4,-11.5,505,5052,0.00,2.38,0.00,0.000,4,0.000,0.080,2639,3903,3629,0,0,0,0,0,0
$GC,5070,-0.84,-146.0,579.5,-0.2,506,5077,0.15,2.25,0.00,0.000,6,0.107,0.050,2581,2484,3629,0,0,0,0,0,0
$STATE,5191,end dive,NO_VERTICAL_VELOCITY
$STATE,5191,begin apogee
$GC,5197,-0.12,0.0,579.6,0.0,518,5330,0.75,0.00,125.38,1.296,6,0.152,0.000,2814,2263,3030,0,0,0,0,0,0
$STATE,5331,end apogee,CONTROL_FINISHED_OK
$STATE,5331,begin climb
$GC,5333,0.62,146.0,579.6,0.0,530,5477,0.80,2.72,131.82,1.246,4,0.141,0.073,3050,3693,2433,0,0,0,0,0,0
$GC,5593,0.52,146.0,562.6,12.0,553,5597,0.00,2.45,0.00,0.000,6,0.000,0.059,3060,2290,2428,0,0,0,0,0,0
$GC,5919,0.46,146.7,527.6,10.0,583,5921,0.17,0.00,0.00,0.000,6,0.188,0.000,3016,2290,2426,0,0,0,0,0,0
$GC,6237,0.55,196.5,502.6,7.7,613,6286,0.00,0.00,44.20,1.196,6,0.000,0.000,3016,2290,2228,0,0,0,0,0,0
$GC,6605,0.66,237.2,472.0,8.1,648,6651,0.17,2.40,37.42,1.170,4,0.089,0.074,3086,3697,2061,0,0,0,0,0,0
$GC,6681,0.58,237.2,462.0,15.8,654,6688,0.17,2.38,0.00,0.000,6,0.200,0.062,3055,2276,2060,0,0,0,0,0,0
$GC,7007,0.58,237.2,424.2,10.6,685,7012,0.00,2.33,0.00,0.000,4,0.000,0.077,3064,860,2055,0,0,0,0,0,0
$GC,7052,0.60,237.2,419.1,10.7,688,7059,0.00,2.33,0.00,0.000,6,0.000,0.063,3064,2278,2054,0,0,0,0,0,0
$GC,7377,0.60,237.2,381.9,11.6,719,7382,0.00,2.35,0.00,0.000,4,0.000,0.078,3064,3698,2053,0,0,0,0,0,0
$GC,7428,0.57,237.2,375.1,14.2,723,7435,0.00,2.33,0.00,0.000,6,0.000,0.062,3075,2271,2052,0,0,0,0,0,0
$GC,7754,0.55,237.2,331.1,13.2,754,7758,0.12,2.33,0.00,0.000,4,0.186,0.077,3051,858,2052,0,0,0,0,0,0
$GC,7815,0.61,237.2,324.0,11.1,759,7822,0.00,2.33,0.00,0.000,6,0.000,0.064,3051,2280,2050,0,0,0,0,0,0
$GC,8142,0.65,237.2,288.6,10.5,790,8146,0.00,2.33,0.00,0.000,4,0.000,0.078,3051,3687,2051,0,0,0,0,0,0
$GC,8193,0.65,237.2,282.2,13.1,794,8198,0.00,2.30,0.00,0.000,6,0.000,0.061,3061,2271,2051,0,0,0,0,0,0
$GC,8519,0.69,252.1,248.0,9.3,824,8542,0.00,2.38,12.82,1.021,4,0.000,0.076,3071,867,2001,0,0,0,0,0,0
$GC,8594,0.74,258.3,241.0,9.7,830,8606,0.00,2.30,7.40,0.929,6,0.000,0.063,3071,2276,1976,0,0,0,0,0,0
$GC,8926,0.78,262.3,208.4,9.8,861,8939,0.12,2.33,5.10,0.796,4,0.106,0.076,3125,3687,1960,0,0,0,0,0,0
$GC,9009,0.68,262.3,196.1,16.4,868,9014,0.20,2.33,0.00,0.000,6,0.206,0.064,3086,2265,1959,0,0,0,0,0,0
$GC,9335,0.70,262.3,159.0,10.6,898,9339,0.00,2.30,0.00,0.000,4,0.000,0.077,3095,866,1959,0,0,0,0,0,0
$GC,9381,0.73,262.3,154.0,10.9,902,9385,0.00,2.30,0.00,0.000,6,0.000,0.063,3095,2277,1957,0,0,0,0,0,0
$GC,9707,0.75,262.3,117.5,11.1,932,9711,0.00,2.35,0.00,0.000,4,0.000,0.079,3095,3697,1957,0,0,0,0,0,0
$GC,9746,0.75,262.3,112.6,12.7,935,9750,0.00,2.33,0.00,0.000,6,0.000,0.062,3106,2266,1957,0,0,0,0,0,0
$GC,10085,0.81,287.3,77.8,8.8,985,10115,0.00,0.00,24.85,0.992,6,0.000,0.000,3106,2266,1857,0,0,0,0,0,0
$GC,10455,0.90,323.5,46.2,8.3,1050,10497,0.15,2.42,33.38,0.976,4,0.100,0.077,3165,3688,1710,0,0,0,0,0,0
$GC,10516,0.84,323.5,39.0,13.8,1060,10524,0.15,2.35,0.00,0.000,6,0.210,0.063,3141,2269,1708,0,0,0,0,0,0
$STATE,10770,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10770,begin subsurface finish
$FINISH1,9.1,1.025854,81
$GC,10776,0.10,80.7,9.1,-15.4,1105,10824,0.82,2.35,-38.33,0.000,4,0.190,0.087,2904,863,2703,0,0,0,0,0,0
$FINISH2,6.4
$STATE,10825,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10825,begin surface
$RAFOS_CLK,595
$RAFOS,6,1304585351,8.833333,8.819722,88,63,62,60,59,48,765,139,121,210,198,157
$RAFOS,5,1304584867,8.700000,8.685278,63,61,57,56,55,51,201,192,137,210,220,146
$RAFOS,4,1304584390,8.566667,8.552778,99,63,61,60,56,52,709,179,200,210,145,124
$RAFOS,3,1304583903,8.433333,8.417500,68,59,58,57,54,50,216,203,169,183,152,225
$RAFOS,2,1304583422,8.300000,8.283889,107,58,56,56,52,48,709,201,213,120,147,225
$RAFOS,1,1304582946,8.166667,8.151667,84,65,59,57,55,52,578,206,153,182,227,170
$RAFOS_FIX,6652.896973,-6018.104980,050511,080819,5,92,0.42
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.67
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,14.7
$24V_AH,21.6,72.890
$10V_AH,10.0,37.727
$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,5.325,102.675,422.375,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2649.661,5760.684,485.745,1781.037,218.884,0.000,1447.278,0.000,1771.388,1800.000,18.980,0.000
$DEVICE_MAMPS,231.030,87.210,1295.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.334,854.482,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,43383,1113
$CAP_FILE_SIZE,124114,0
$CFSIZE,260165632,217718784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$GPS,050511,082419,6652.897,-6018.105,0,5092.4,0,-37.6