version: 66.08
glider: 141
mission: 15
dive: 555
start: 5 5 111 19 52 51
data:
$ID,141
$MISSION,15
$DIVE,555
$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,22
$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
$GPS1,050511,162353,6649.844,-6022.997,0,5095.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.07
$_SM_ANGLEo,-5.3
$GPS2,050511,162353,6649.844,-6022.997,0,5095.2,0,-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,229.1,11044,-17.5,-10.000
$D_GRID,545
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.82,0.000,2,0.000,0.000,2903,862,2924,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.5,-0.0,1,57,0.68,5.20,-17.70,0.000,4,0.103,0.086,2665,3896,3629,0,0,0,0,0,0
$GC,194,-0.53,-146.0,40.2,-17.3,30,201,0.00,2.28,0.00,0.000,6,0.000,0.060,2665,2491,3631,0,0,0,0,0,0
$GC,536,-0.39,-146.0,109.9,-18.4,86,541,0.25,2.30,0.00,0.000,4,0.223,0.073,2731,1081,3630,0,0,0,0,0,0
$GC,588,-0.44,-146.0,117.3,-11.5,90,592,0.00,2.33,0.00,0.000,6,0.000,0.071,2730,2493,3631,0,0,0,0,0,0
$GC,920,-0.50,-146.0,151.3,-9.6,121,925,0.00,2.38,0.00,0.000,4,0.000,0.088,2731,3899,3630,0,0,0,0,0,0
$GC,943,-0.57,-146.0,153.7,-9.7,122,950,0.15,2.28,0.00,0.000,6,0.118,0.057,2680,2486,3630,0,0,0,0,0,0
$GC,1269,-0.52,-146.0,199.4,-13.4,153,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2486,3630,0,0,0,0,0,0
$GC,1588,-0.48,-146.0,237.3,-11.1,183,1592,0.00,2.30,0.00,0.000,4,0.000,0.075,2680,1070,3629,0,0,0,0,0,0
$GC,1663,-0.48,-146.0,245.7,-11.0,189,1667,0.00,2.35,0.00,0.000,6,0.000,0.072,2679,2489,3629,0,0,0,0,0,0
$GC,1994,-0.45,-146.0,282.2,-10.9,220,1999,0.15,2.40,0.00,0.000,4,0.215,0.087,2715,3907,3629,0,0,0,0,0,0
$GC,2035,-0.55,-146.0,285.9,-7.5,223,2039,0.00,2.30,0.00,0.000,6,0.000,0.057,2715,2479,3628,0,0,0,0,0,0
$GC,2361,-0.62,-146.0,309.4,-7.2,253,2363,0.15,0.00,0.00,0.000,6,0.124,0.000,2663,2479,3629,0,0,0,0,0,0
$GC,2679,-0.57,-146.0,347.1,-12.4,283,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2479,3629,0,0,0,0,0,0
$GC,2998,-0.53,-146.0,385.4,-11.2,313,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2479,3629,0,0,0,0,0,0
$GC,3316,-0.49,-146.0,420.4,-10.7,343,3318,0.15,0.00,0.00,0.000,6,0.216,0.000,2699,2479,3628,0,0,0,0,0,0
$GC,3637,-0.54,-146.0,445.7,-7.7,373,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2478,3630,0,0,0,0,0,0
$GC,3953,-0.59,-146.0,471.0,-8.0,403,3957,0.00,2.28,0.00,0.000,4,0.000,0.072,2699,1072,3629,0,0,0,0,0,0
$GC,3965,-0.65,-146.0,472.0,-7.7,403,3972,0.15,2.35,0.00,0.000,6,0.122,0.070,2649,2496,3629,0,0,0,0,0,0
$GC,4290,-0.59,-146.0,509.6,-11.5,434,4294,0.00,2.38,0.00,0.000,4,0.000,0.086,2649,3908,3629,0,0,0,0,0,0
$GC,4330,-0.55,-146.0,514.6,-12.5,437,4337,0.15,2.28,0.00,0.000,6,0.197,0.056,2684,2489,3629,0,0,0,0,0,0
$GC,4656,-0.59,-146.0,544.2,-8.7,468,4660,0.00,2.28,0.00,0.000,4,0.000,0.070,2685,1077,3629,0,0,0,0,0,0
$STATE,4664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4664,begin apogee
$GC,4672,-0.12,0.0,545.3,8.5,468,4803,0.40,0.00,125.40,1.275,6,0.141,0.000,2814,2277,3030,0,0,0,0,0,0
$STATE,4804,end apogee,CONTROL_FINISHED_OK
$STATE,4804,begin climb
$GC,4807,0.62,146.0,545.6,0.0,480,4950,0.80,2.65,131.73,1.225,4,0.135,0.076,3053,3680,2432,0,0,0,0,0,0
$GC,5055,0.53,146.0,526.6,12.4,502,5059,0.00,2.47,0.00,0.000,6,0.000,0.061,3064,2278,2428,0,0,0,0,0,0
$GC,5380,0.46,146.0,491.6,10.6,532,5382,0.17,0.00,0.00,0.000,6,0.184,0.000,3019,2278,2426,0,0,0,0,0,0
$GC,5699,0.55,194.7,465.5,7.8,562,5749,0.00,0.00,42.45,1.174,6,0.000,0.000,3019,2278,2235,0,0,0,0,0,0
$GC,6070,0.64,221.7,434.5,8.8,597,6104,0.15,2.42,24.83,1.134,4,0.097,0.076,3082,3681,2126,0,0,0,0,0,0
$GC,6140,0.55,221.7,425.1,15.3,603,6145,0.20,2.35,0.00,0.000,6,0.198,0.062,3043,2265,2123,0,0,0,0,0,0
$GC,6465,0.58,221.7,390.1,10.3,633,6469,0.00,2.30,0.00,0.000,4,0.000,0.077,3051,861,2121,0,0,0,0,0,0
$GC,6516,0.62,221.7,384.8,10.7,637,6521,0.00,2.33,0.00,0.000,6,0.000,0.064,3051,2277,2119,0,0,0,0,0,0
$GC,6842,0.65,221.7,350.7,10.2,667,6846,0.00,2.33,0.00,0.000,4,0.000,0.078,3051,3686,2119,0,0,0,0,0,0
$GC,6887,0.65,221.7,345.6,12.0,671,6891,0.00,2.30,0.00,0.000,6,0.000,0.062,3061,2272,2119,0,0,0,0,0,0
$GC,7213,0.65,221.7,311.2,10.5,701,7217,0.00,2.30,0.00,0.000,4,0.000,0.076,3072,861,2118,0,0,0,0,0,0
$GC,7252,0.65,221.7,307.0,10.6,704,7256,0.00,2.30,0.00,0.000,6,0.000,0.063,3072,2276,2118,0,0,0,0,0,0
$GC,7579,0.65,221.7,269.4,12.3,734,7583,0.00,2.35,0.00,0.000,4,0.000,0.079,3071,3686,2117,0,0,0,0,0,0
$GC,7623,0.59,221.7,263.3,13.9,737,7630,0.00,2.30,0.00,0.000,6,0.000,0.062,3082,2269,2117,0,0,0,0,0,0
$GC,7949,0.57,221.7,225.0,10.9,768,7953,0.12,2.28,0.00,0.000,4,0.185,0.075,3058,866,2117,0,0,0,0,0,0
$GC,7999,0.66,251.2,220.3,8.6,772,8031,0.00,2.30,26.80,1.054,6,0.000,0.063,3057,2280,2005,0,0,0,0,0,0
$GC,8353,0.73,258.5,186.3,9.7,805,8366,0.12,2.40,7.25,0.900,4,0.104,0.080,3113,3692,1976,0,0,0,0,0,0
$GC,8417,0.63,258.5,176.9,16.1,810,8424,0.20,2.33,0.00,0.000,6,0.205,0.063,3075,2269,1975,0,0,0,0,0,0
$GC,8743,0.72,288.5,143.2,8.6,841,8777,0.00,2.40,29.33,1.024,4,0.000,0.077,3083,866,1853,0,0,0,0,0,0
$GC,8825,0.81,297.3,136.0,9.6,848,8840,0.12,2.33,9.38,0.913,6,0.113,0.063,3135,2277,1817,0,0,0,0,0,0
$GC,9164,0.78,297.3,92.4,11.9,885,9171,0.00,2.35,0.00,0.000,4,0.000,0.080,3135,3688,1812,0,0,0,0,0,0
$GC,9271,0.72,297.3,77.9,16.0,903,9278,0.17,2.33,0.00,0.000,6,0.200,0.064,3102,2269,1810,0,0,0,0,0,0
$GC,9620,0.86,354.3,45.7,7.4,964,9679,0.12,2.38,50.92,0.981,4,0.110,0.076,3164,866,1583,0,0,0,0,0,0
$GC,9764,0.86,354.3,28.6,12.7,989,9771,0.00,2.35,0.00,0.000,6,0.000,0.065,3164,2278,1579,0,0,0,0,0,0
$FREEZE,8.39,-1.692,-1.767,2,90,2
$FREEZE,7.70,-1.692,-1.766,2,90,2
$FREEZE,6.96,-1.692,-1.766,2,90,2
$FREEZE,6.30,-1.690,-1.765,2,90,2
$FREEZE,5.56,-1.691,-1.765,2,90,2
$FREEZE,4.78,-1.691,-1.764,2,90,2
$FREEZE,4.03,-1.692,-1.763,2,90,2
$FREEZE,3.85,-1.692,-1.763,2,90,2
$FREEZE,3.57,-1.693,-1.763,2,90,2
$FREEZE,3.33,-1.693,-1.763,2,90,2
$FREEZE,3.27,-1.674,-1.762,2,90,2
$FREEZE,3.23,-1.676,-1.762,2,90,2
$FREEZE,3.21,-1.686,-1.762,2,90,2
$FREEZE,3.26,-1.689,-1.763,2,90,2
$FREEZE,3.31,-1.690,-1.763,2,90,2
$FREEZE,3.20,-1.691,-1.763,2,90,2
$FREEZE,3.23,-1.692,-1.763,2,90,2
$FREEZE,3.19,-1.692,-1.763,2,90,2
$FREEZE,3.18,-1.692,-1.763,2,90,2
$FREEZE,3.23,-1.692,-1.763,2,90,2
$FREEZE,3.19,-1.692,-1.763,2,90,2
$FREEZE,3.25,-1.693,-1.763,2,90,2
$FREEZE,3.21,-1.692,-1.763,2,90,2
$FREEZE,3.27,-1.693,-1.763,2,90,2
$FREEZE,3.25,-1.693,-1.763,2,90,2
$FREEZE,3.23,-1.696,-1.763,2,90,2
$FREEZE,3.29,-1.698,-1.763,2,90,2
$FREEZE,3.20,-1.693,-1.763,2,90,2
$FREEZE,3.25,-1.692,-1.763,2,90,2
$FREEZE,3.33,-1.693,-1.763,2,90,2
$FREEZE,3.18,-1.693,-1.763,2,90,2
$FREEZE,3.28,-1.693,-1.763,2,90,2
$FREEZE,3.23,-1.693,-1.763,2,90,2
$FREEZE,3.20,-1.692,-1.763,2,90,2
$FREEZE,3.24,-1.693,-1.763,2,90,2
$FREEZE,3.24,-1.693,-1.763,2,90,2
$FREEZE,3.28,-1.693,-1.763,2,90,2
$GC,10096,0.93,568.1,3.2,0.1,1050,10105,0.00,0.00,7.22,0.825,2,0.000,0.000,3163,2278,1519,0,0,0,0,0,0
$FREEZE,3.28,-1.693,-1.763,2,90,2
$STATE,10107,end climb,NO_VERTICAL_VELOCITY
$STATE,10107,begin surface
$SM_CCo,10110,91.82,0.876,0,0,750,559.04
$SM_GC,4.67,10.95,0.00,0.00,0.191,0.000,0.000,112,2497,733,-8.58,0.20,563.45
$RAFOS_CLK,589
$RAFOS,6,1304628548,20.833334,20.818890,118,60,59,59,57,53,815,197,216,167,143,177
$RAFOS,5,1304628070,20.700001,20.686111,65,59,53,52,51,50,214,190,162,178,203,136
$RAFOS,4,1304627592,20.566668,20.553333,126,63,63,56,55,52,715,218,199,119,151,176
$RAFOS,3,1304627111,20.433332,20.419722,67,61,55,52,49,49,213,173,159,191,134,237
$RAFOS,2,1304626628,20.299999,20.285555,67,64,62,57,56,56,648,228,211,184,114,138
$RAFOS,1,1304626150,20.166666,20.152779,107,63,60,57,57,57,560,198,167,178,156,208
$RAFOS,0,1304625661,20.033333,20.016945,122,61,58,55,52,52,598,201,176,225,133,213
$RAFOS_FIX,6647.421387,-6025.159180,050511,202032,5,108,0.33
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,48.14
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.0
$24V_AH,21.6,73.480
$10V_AH,10.0,37.983
$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,15.375,91.825,455.300,91.825,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2551.928,5638.868,558.878,1679.151,205.958,0.000,1477.312,0.000,1668.536,2520.000,15.714,0.000
$DEVICE_MAMPS,223.380,87.975,1275.255,875.925,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.244,801.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40075,1051
$CAP_FILE_SIZE,120262,0
$CFSIZE,260165632,217464832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,050511,202432,6647.421,-6025.159,0,5108.0,0,-37.6