version: 66.08
glider: 141
mission: 15
dive: 552
start: 5 5 111 11 14 38
data:
$ID,141
$MISSION,15
$DIVE,552
$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,21
$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
$GPS1,050511,082419,6652.897,-6018.105,0,5092.4,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.78
$_SM_ANGLEo,-6.0
$GPS2,050511,082419,6652.897,-6018.105,0,5092.4,0,-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,236.9,17460,-17.5,-10.000
$D_GRID,587
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.32,0.000,2,0.000,0.000,2904,863,2895,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.6,-0.0,1,58,0.68,0.35,-22.02,0.000,4,0.101,0.147,2666,1083,3628,0,0,0,0,0,0
$GC,206,-0.53,-146.0,38.7,-17.3,32,213,0.00,2.33,0.00,0.000,6,0.000,0.074,2666,2488,3629,0,0,0,0,0,0
$GC,557,-0.39,-146.0,106.4,-18.0,91,562,0.25,2.38,0.00,0.000,4,0.237,0.085,2730,3900,3629,0,0,0,0,0,0
$GC,610,-0.49,-146.0,113.4,-9.5,95,614,0.00,2.25,0.00,0.000,6,0.000,0.057,2730,2488,3629,0,0,0,0,0,0
$GC,938,-0.54,-146.0,143.5,-8.9,125,942,0.12,2.35,0.00,0.000,4,0.129,0.075,2687,1070,3628,0,0,0,0,0,0
$GC,989,-0.54,-146.0,149.4,-11.3,129,993,0.00,2.38,0.00,0.000,6,0.000,0.072,2687,2498,3628,0,0,0,0,0,0
$GC,1314,-0.50,-146.0,191.9,-13.2,159,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2498,3628,0,0,0,0,0,0
$GC,1636,-0.48,-146.0,230.7,-12.2,189,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2499,3627,0,0,0,0,0,0
$GC,1963,-0.48,-146.0,268.2,-10.6,220,1968,0.00,2.38,0.00,0.000,4,0.000,0.087,2687,3904,3628,0,0,0,0,0,0
$GC,1981,-0.48,-146.0,270.3,-10.6,221,1985,0.00,2.28,0.00,0.000,6,0.000,0.057,2687,2489,3627,0,0,0,0,0,0
$GC,2307,-0.48,-146.0,303.9,-9.6,251,2311,0.00,2.30,0.00,0.000,4,0.000,0.073,2686,1076,3627,0,0,0,0,0,0
$GC,2342,-0.48,-146.0,307.2,-9.5,254,2346,0.00,2.35,0.00,0.000,6,0.000,0.070,2687,2499,3627,0,0,0,0,0,0
$GC,2673,-0.48,-146.0,338.0,-9.6,285,2677,0.00,2.38,0.00,0.000,4,0.000,0.086,2687,3906,3627,0,0,0,0,0,0
$GC,2695,-0.48,-146.0,340.4,-9.8,286,2702,0.00,2.25,0.00,0.000,6,0.000,0.057,2687,2488,3627,0,0,0,0,0,0
$GC,3020,-0.48,-146.0,372.6,-10.3,317,3024,0.00,2.28,0.00,0.000,4,0.000,0.071,2686,1079,3627,0,0,0,0,0,0
$GC,3042,-0.48,-146.0,375.1,-10.7,318,3049,0.00,2.33,0.00,0.000,6,0.000,0.069,2686,2492,3627,0,0,0,0,0,0
$GC,3367,-0.48,-146.0,408.1,-10.1,349,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2492,3627,0,0,0,0,0,0
$GC,3689,-0.48,-146.0,439.1,-9.8,379,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2492,3627,0,0,0,0,0,0
$GC,4016,-0.51,-146.0,469.5,-9.1,410,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2492,3628,0,0,0,0,0,0
$GC,4333,-0.54,-146.0,498.1,-9.1,440,4338,0.00,2.35,0.00,0.000,4,0.000,0.083,2687,3899,3627,0,0,0,0,0,0
$GC,4364,-0.58,-146.0,500.9,-10.0,442,4368,0.00,2.25,0.00,0.000,6,0.000,0.054,2686,2482,3627,0,0,0,0,0,0
$GC,4695,-0.61,-146.0,530.0,-8.8,473,4699,0.00,2.28,0.00,0.000,4,0.000,0.069,2687,1079,3628,0,0,0,0,0,0
$GC,4725,-0.65,-146.0,532.7,-8.5,475,4729,0.00,2.33,0.00,0.000,6,0.000,0.068,2687,2489,3629,0,0,0,0,0,0
$STATE,4943,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4943,begin apogee
$GC,4949,-0.12,0.0,551.9,8.8,495,5081,0.45,0.00,124.85,1.281,6,0.191,0.000,2813,2269,3029,0,0,0,0,0,0
$STATE,5082,end apogee,CONTROL_FINISHED_OK
$STATE,5082,begin climb
$GC,5085,0.62,146.0,556.5,0.0,507,5226,0.80,2.65,131.38,1.231,4,0.141,0.076,3060,872,2432,0,0,0,0,0,0
$GC,5300,0.60,159.3,542.2,9.4,526,5319,0.00,2.50,13.10,1.091,6,0.000,0.063,3059,2273,2380,0,0,0,0,0,0
$GC,5637,0.55,159.3,505.7,11.2,558,5641,0.00,2.40,0.00,0.000,4,0.000,0.080,3060,3688,2375,0,0,0,0,0,0
$GC,5705,0.45,159.3,497.0,12.9,564,5710,0.22,2.35,0.00,0.000,6,0.184,0.062,3013,2276,2375,0,0,0,0,0,0
$GC,6030,0.53,186.5,467.5,8.7,594,6060,0.00,0.00,24.42,1.156,6,0.000,0.000,3013,2276,2268,0,0,0,0,0,0
$GC,6379,0.64,225.4,437.5,8.2,627,6424,0.17,2.40,36.05,1.155,4,0.089,0.077,3097,865,2108,0,0,0,0,0,0
$GC,6454,0.58,225.4,427.8,14.3,633,6462,0.17,2.35,0.00,0.000,6,0.191,0.063,3055,2278,2106,0,0,0,0,0,0
$GC,6779,0.58,225.4,391.9,10.8,664,6783,0.00,2.35,0.00,0.000,4,0.000,0.079,3055,3696,2103,0,0,0,0,0,0
$GC,6837,0.56,225.4,385.0,12.7,669,6841,0.00,2.33,0.00,0.000,6,0.000,0.063,3063,2274,2102,0,0,0,0,0,0
$GC,7162,0.56,225.4,349.0,11.2,699,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2274,2101,0,0,0,0,0,0
$GC,7483,0.56,225.4,313.2,11.9,729,7487,0.00,2.30,0.00,0.000,4,0.000,0.076,3074,859,2101,0,0,0,0,0,0
$GC,7524,0.56,225.4,308.1,12.1,732,7528,0.00,2.30,0.00,0.000,6,0.000,0.063,3074,2276,2100,0,0,0,0,0,0
$GC,7849,0.56,225.4,270.8,11.0,762,7853,0.00,2.33,0.00,0.000,4,0.000,0.078,3075,3698,2099,0,0,0,0,0,0
$GC,7915,0.51,225.4,262.1,13.0,767,7923,0.20,2.33,0.00,0.000,6,0.190,0.062,3033,2265,2100,0,0,0,0,0,0
$GC,8241,0.62,261.1,234.5,8.4,798,8275,0.00,0.00,31.90,1.069,6,0.000,0.000,3033,2264,1965,0,0,0,0,0,0
$GC,8594,0.78,297.2,203.6,8.3,831,8638,0.22,2.42,33.90,1.040,4,0.080,0.076,3138,858,1817,0,0,0,0,0,0
$GC,8664,0.72,297.2,193.6,16.6,837,8669,0.15,2.38,0.00,0.000,6,0.203,0.064,3103,2283,1815,0,0,0,0,0,0
$GC,8990,0.74,297.2,149.2,11.2,867,8994,0.00,2.33,0.00,0.000,4,0.000,0.079,3103,3692,1811,0,0,0,0,0,0
$GC,9040,0.72,297.2,142.7,13.5,871,9046,0.00,2.33,0.00,0.000,6,0.000,0.063,3111,2273,1809,0,0,0,0,0,0
$GC,9365,0.72,297.2,103.8,10.2,902,9369,0.00,2.30,0.00,0.000,4,0.000,0.078,3120,865,1809,0,0,0,0,0,0
$GC,9433,0.75,297.2,96.5,11.2,910,9440,0.00,2.33,0.00,0.000,6,0.000,0.065,3120,2283,1808,0,0,0,0,0,0
$GC,9779,0.80,316.9,60.0,9.1,971,9804,0.00,2.33,17.67,0.966,4,0.000,0.080,3120,3687,1736,0,0,0,0,0,0
$GC,9880,0.80,316.9,49.7,11.6,988,9887,0.00,2.33,0.00,0.000,6,0.000,0.064,3130,2271,1734,0,0,0,0,0,0
$GC,10227,0.83,316.9,12.6,11.0,1049,10234,0.00,2.30,0.00,0.000,4,0.000,0.077,3140,864,1732,0,0,0,0,0,0
$FREEZE,8.54,-1.714,-1.767,2,87,0
$STATE,10262,end climb,FINISH_DEPTH_REACHED
$STATE,10262,begin subsurface finish
$FINISH1,8.5,1.025872,80
$GC,10271,0.10,79.8,8.5,-10.3,1055,10320,0.80,2.42,-38.08,0.000,4,0.167,0.089,2900,858,2707,0,0,0,0,0,0
$FINISH2,7.1
$STATE,10320,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10320,begin surface
$RAFOS_CLK,566
$RAFOS,6,1304599747,12.833333,12.818611,105,62,58,56,54,52,796,192,204,177,118,215
$RAFOS,5,1304599263,12.700000,12.684167,66,64,58,56,55,54,977,192,213,201,170,154
$RAFOS,4,1304598781,12.566667,12.550278,109,61,59,53,53,53,763,196,210,153,227,114
$RAFOS,3,1304598302,12.433333,12.417222,62,59,58,55,55,52,173,140,226,185,152,120
$RAFOS,2,1304597824,12.300000,12.284445,67,60,59,56,54,53,211,177,145,188,691,154
$RAFOS,1,1304597348,12.166667,12.152223,113,60,59,59,57,54,569,204,218,191,121,163
$RAFOS,0,1304596862,12.033333,12.017222,85,63,59,58,56,54,623,206,131,188,155,216
$RAFOS_FIX,6651.419922,-6021.635742,050511,121213,5,96,0.26
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.83
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.5
$ALTIM_BOTTOM_PING,550.9,15.7
$24V_AH,21.5,73.029
$10V_AH,10.0,37.791
$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,4.250,94.475,413.275,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2532.277,5496.572,463.407,1704.364,198.468,0.000,1386.142,0.000,1686.817,2520.000,18.827,0.000
$DEVICE_MAMPS,237.150,146.880,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.054,807.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150588
$DATA_FILE_SIZE,40070,1063
$CAP_FILE_SIZE,115760,0
$CFSIZE,260165632,217665536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.5
$GPS,050511,122913,6651.420,-6021.636,0,5095.6,0,-37.6