version: 66.08
glider: 141
mission: 15
dive: 553
start: 5 5 111 14 8 56
data:
$ID,141
$MISSION,15
$DIVE,553
$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
$GPS1,050511,122913,6651.420,-6021.636,0,5095.6,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.06
$_SM_ANGLEo,-6.3
$GPS2,050511,122913,6651.420,-6021.636,0,5095.6,0,-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,230.7,14108,-17.5,-10.000
$D_GRID,559
$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,-6.47,0.000,2,0.000,0.000,2899,859,2940,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.8,-0.0,1,52,0.65,0.40,-18.12,0.000,4,0.095,0.148,2666,1095,3629,0,0,0,0,0,0
$GC,206,-0.51,-146.0,40.8,-18.4,32,214,0.12,2.30,0.00,0.000,6,0.236,0.073,2692,2488,3631,0,0,0,0,0,0
$GC,553,-0.44,-146.0,100.0,-15.0,93,558,0.12,2.40,0.00,0.000,4,0.248,0.089,2720,3901,3631,0,0,0,0,0,0
$GC,685,-0.48,-146.0,116.2,-11.0,104,689,0.00,2.25,0.00,0.000,6,0.000,0.057,2720,2487,3631,0,0,0,0,0,0
$GC,1012,-0.51,-146.0,150.9,-10.2,134,1016,0.00,2.30,0.00,0.000,4,0.000,0.074,2720,1081,3630,0,0,0,0,0,0
$GC,1041,-0.56,-146.0,154.0,-10.2,136,1046,0.12,2.35,0.00,0.000,6,0.135,0.072,2679,2498,3630,0,0,0,0,0,0
$GC,1367,-0.51,-146.0,194.5,-12.4,166,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2497,3629,0,0,0,0,0,0
$GC,1687,-0.47,-146.0,234.8,-12.8,196,1692,0.12,2.40,0.00,0.000,4,0.218,0.090,2708,3908,3629,0,0,0,0,0,0
$GC,1739,-0.55,-146.0,240.7,-10.1,200,1743,0.00,2.28,0.00,0.000,6,0.000,0.057,2707,2482,3629,0,0,0,0,0,0
$GC,2071,-0.60,-146.0,273.6,-9.8,231,2073,0.12,0.00,0.00,0.000,6,0.136,0.000,2666,2481,3629,0,0,0,0,0,0
$GC,2389,-0.55,-146.0,312.2,-12.1,261,2393,0.00,2.28,0.00,0.000,4,0.000,0.073,2666,1075,3628,0,0,0,0,0,0
$GC,2411,-0.49,-146.0,315.1,-12.1,262,2418,0.15,2.35,0.00,0.000,6,0.212,0.073,2700,2489,3628,0,0,0,0,0,0
$GC,2736,-0.54,-146.0,342.8,-8.6,293,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2489,3629,0,0,0,0,0,0
$GC,3057,-0.59,-146.0,370.4,-8.6,323,3061,0.00,2.38,0.00,0.000,4,0.000,0.086,2700,3899,3628,0,0,0,0,0,0
$GC,3098,-0.66,-146.0,374.1,-8.3,326,3103,0.15,2.28,0.00,0.000,6,0.120,0.057,2651,2488,3629,0,0,0,0,0,0
$GC,3424,-0.60,-146.0,413.2,-11.8,356,3428,0.00,2.28,0.00,0.000,4,0.000,0.070,2651,1079,3628,0,0,0,0,0,0
$GC,3441,-0.52,-146.0,415.6,-11.8,357,3448,0.17,2.35,0.00,0.000,6,0.210,0.070,2692,2498,3628,0,0,0,0,0,0
$GC,3767,-0.56,-146.0,443.7,-8.4,388,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2498,3629,0,0,0,0,0,0
$GC,4087,-0.60,-146.0,471.7,-9.1,418,4091,0.00,2.38,0.00,0.000,4,0.000,0.086,2692,3905,3629,0,0,0,0,0,0
$GC,4106,-0.64,-146.0,473.5,-9.3,419,4111,0.12,2.28,0.00,0.000,6,0.123,0.055,2651,2479,3629,0,0,0,0,0,0
$GC,4436,-0.59,-146.0,512.8,-11.6,450,4440,0.00,2.25,0.00,0.000,4,0.000,0.070,2651,1081,3629,0,0,0,0,0,0
$GC,4455,-0.52,-146.0,515.0,-12.2,451,4460,0.17,2.35,0.00,0.000,6,0.202,0.070,2692,2500,3630,0,0,0,0,0,0
$GC,4781,-0.57,-146.0,543.2,-8.2,481,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2500,3629,0,0,0,0,0,0
$STATE,4866,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4866,begin apogee
$GC,4873,-0.12,0.0,550.5,8.8,489,5005,0.43,0.00,125.18,1.281,6,0.185,0.000,2815,2268,3030,0,0,0,0,0,0
$STATE,5005,end apogee,CONTROL_FINISHED_OK
$STATE,5006,begin climb
$GC,5008,0.62,146.0,555.0,0.0,501,5152,0.80,2.65,131.90,1.229,4,0.143,0.076,3061,870,2432,0,0,0,0,0,0
$GC,5249,0.58,146.0,537.4,10.7,522,5256,0.00,2.50,0.00,0.000,6,0.000,0.063,3061,2282,2428,0,0,0,0,0,0
$GC,5575,0.53,146.0,502.6,10.5,553,5579,0.00,2.40,0.00,0.000,4,0.000,0.080,3061,3693,2427,0,0,0,0,0,0
$GC,5694,0.42,146.0,487.6,13.0,563,5699,0.25,2.33,0.00,0.000,6,0.187,0.063,3008,2282,2426,0,0,0,0,0,0
$GC,6022,0.54,201.6,462.4,7.4,593,6078,0.00,2.40,48.62,1.176,4,0.000,0.076,3015,868,2207,0,0,0,0,0,0
$GC,6108,0.70,243.2,455.4,8.1,600,6158,0.20,2.38,39.12,1.154,6,0.090,0.071,3098,2277,2037,0,0,0,0,0,0
$GC,6477,0.62,243.2,400.0,15.3,635,6482,0.12,2.35,0.00,0.000,4,0.197,0.077,3064,3694,2028,0,0,0,0,0,0
$GC,6550,0.59,243.2,389.3,14.0,641,6554,0.00,2.33,0.00,0.000,6,0.000,0.063,3072,2269,2026,0,0,0,0,0,0
$GC,6882,0.57,243.2,346.1,13.3,672,6886,0.00,2.30,0.00,0.000,4,0.000,0.076,3082,860,2025,0,0,0,0,0,0
$GC,6925,0.57,243.2,339.9,13.2,675,6934,0.12,2.30,0.00,0.000,6,0.185,0.063,3052,2276,2023,0,0,0,0,0,0
$GC,7251,0.60,243.2,303.0,10.6,706,7255,0.00,2.33,0.00,0.000,4,0.000,0.078,3051,3697,2024,0,0,0,0,0,0
$GC,7303,0.60,243.2,296.9,12.1,710,7307,0.00,2.30,0.00,0.000,6,0.000,0.063,3060,2269,2023,0,0,0,0,0,0
$GC,7634,0.65,254.8,263.3,9.5,741,7649,0.00,2.35,9.18,0.975,4,0.000,0.077,3071,868,1991,0,0,0,0,0,0
$GC,7712,0.69,254.8,255.3,10.5,748,7717,0.00,2.30,0.00,0.000,6,0.000,0.063,3071,2277,1990,0,0,0,0,0,0
$GC,8038,0.71,254.8,219.8,11.1,778,8042,0.00,2.33,0.00,0.000,4,0.000,0.079,3071,3694,1989,0,0,0,0,0,0
$GC,8105,0.71,254.8,211.4,12.9,784,8109,0.00,2.30,0.00,0.000,6,0.000,0.063,3081,2275,1989,0,0,0,0,0,0
$GC,8431,0.71,254.8,175.3,11.2,814,8436,0.00,2.33,0.00,0.000,4,0.000,0.076,3090,860,1988,0,0,0,0,0,0
$GC,8494,0.71,254.8,168.2,11.3,819,8498,0.00,2.30,0.00,0.000,6,0.000,0.064,3091,2282,1987,0,0,0,0,0,0
$GC,8819,0.72,257.1,132.7,9.9,849,8823,0.00,2.33,0.00,0.000,4,0.000,0.079,3090,3687,1987,0,0,0,0,0,0
$GC,8915,0.72,257.1,121.6,11.7,857,8919,0.00,2.30,0.00,0.000,6,0.000,0.064,3101,2264,1987,0,0,0,0,0,0
$GC,9247,0.75,282.2,90.2,8.8,897,9282,0.00,2.38,26.75,1.003,4,0.000,0.078,3111,867,1878,0,0,0,0,0,0
$GC,9324,0.84,319.6,83.9,8.3,910,9365,0.00,2.33,35.03,0.985,6,0.000,0.064,3111,2277,1727,0,0,0,0,0,0
$GC,9704,0.91,319.6,51.7,10.5,977,9711,0.12,2.38,0.00,0.000,4,0.109,0.082,3161,3693,1719,0,0,0,0,0,0
$GC,9763,0.85,319.6,43.8,13.1,987,9771,0.12,2.33,0.00,0.000,6,0.219,0.065,3144,2276,1717,0,0,0,0,0,0
$FREEZE,8.90,-1.681,-1.767,2,88,0
$STATE,10061,end climb,FINISH_DEPTH_REACHED
$STATE,10061,begin subsurface finish
$FINISH1,8.9,1.025867,80
$GC,10069,0.10,80.1,8.9,-10.5,1040,10117,0.80,2.38,-36.75,0.000,4,0.171,0.089,2907,868,2706,0,0,0,0,0,0
$FINISH2,7.7
$STATE,10118,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10118,begin surface
$RAFOS_CLK,557
$RAFOS,6,1304614142,16.833334,16.817223,101,66,63,59,53,53,835,213,200,189,114,153
$RAFOS,5,1304613662,16.700001,16.683889,63,58,56,56,56,55,196,216,118,207,185,145
$RAFOS,4,1304613182,16.566668,16.550556,87,62,62,62,61,56,752,201,225,192,216,169
$RAFOS,3,1304612709,16.433332,16.419167,65,57,55,55,54,51,212,175,193,159,146,123
$RAFOS,2,1304612224,16.299999,16.284445,72,66,62,57,55,53,689,190,121,206,133,157
$RAFOS,1,1304611742,16.166666,16.150555,83,65,64,60,60,55,603,198,174,139,188,120
$RAFOS,0,1304611265,16.033333,16.018055,133,61,58,57,55,49,597,189,135,206,223,122
$RAFOS_FIX,6649.843750,-6022.996582,050511,161653,5,95,0.22
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.025466
$HUMID,48.11
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,550.5,10.0
$24V_AH,21.6,73.169
$10V_AH,10.0,37.855
$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,5.025,99.050,415.775,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2510.536,5303.976,449.852,1727.644,198.360,0.000,1384.866,0.000,1710.260,2520.000,15.902,0.000
$DEVICE_MAMPS,247.860,147.645,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.585,795.189,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40066,1048
$CAP_FILE_SIZE,119423,0
$CFSIZE,260165632,217595904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,050511,162353,6649.844,-6022.997,0,5095.2,0,-37.6