version: 66.08
glider: 141
mission: 15
dive: 556
start: 5 5 111 23 7 5
data:
$ID,141
$MISSION,15
$DIVE,556
$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,-46593.008
$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,25
$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
$GPS1,050511,202432,6647.421,-6025.159,0,5108.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.63
$_SM_ANGLEo,-72.2
$GPS2,050511,202432,6647.421,-6025.159,181,99.0,181,-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,117.2,159452,-17.5,-10.000
$D_GRID,535
$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,-146.0,0.0,0.0,0,132,0.00,0.00,-113.22,0.000,2,0.000,0.000,112,2499,2880,0,0,0,0,0,0
$GC,137,-0.62,-146.0,5.1,-1.8,20,179,13.35,2.35,-21.05,0.000,4,0.327,0.086,2653,1079,3628,0,0,0,0,0,0
$GC,282,-0.49,-146.0,34.3,-20.8,45,289,0.20,2.35,0.00,0.000,6,0.216,0.075,2701,2483,3630,0,0,0,0,0,0
$GC,629,-0.41,-146.0,91.3,-16.2,106,636,0.00,2.42,0.00,0.000,4,0.000,0.090,2702,3908,3629,0,0,0,0,0,0
$GC,755,-0.41,-146.0,107.3,-11.8,123,760,0.00,2.30,0.00,0.000,6,0.000,0.060,2702,2488,3629,0,0,0,0,0,0
$GC,1081,-0.39,-146.0,149.4,-13.0,153,1086,0.12,2.33,0.00,0.000,4,0.226,0.076,2731,1076,3629,0,0,0,0,0,0
$GC,1096,-0.39,-146.0,151.4,-12.0,154,1104,0.00,2.35,0.00,0.000,6,0.000,0.073,2732,2495,3629,0,0,0,0,0,0
$GC,1425,-0.46,-146.0,179.4,-8.3,185,1429,0.00,2.40,0.00,0.000,4,0.000,0.090,2732,3904,3629,0,0,0,0,0,0
$GC,1454,-0.57,-146.0,181.9,-8.3,187,1459,0.15,2.30,0.00,0.000,6,0.115,0.059,2681,2481,3629,0,0,0,0,0,0
$GC,1781,-0.52,-146.0,221.4,-12.7,217,1785,0.00,2.30,0.00,0.000,4,0.000,0.074,2681,1080,3629,0,0,0,0,0,0
$GC,1843,-0.52,-146.0,229.1,-11.3,222,1847,0.00,2.33,0.00,0.000,6,0.000,0.074,2681,2490,3629,0,0,0,0,0,0
$GC,2168,-0.49,-146.0,267.0,-11.6,252,2173,0.00,2.38,0.00,0.000,4,0.000,0.090,2681,3899,3628,0,0,0,0,0,0
$GC,2220,-0.49,-146.0,272.8,-10.6,256,2224,0.00,2.28,0.00,0.000,6,0.000,0.060,2681,2491,3628,0,0,0,0,0,0
$GC,2551,-0.47,-146.0,308.7,-10.9,287,2553,0.12,0.00,0.00,0.000,6,0.213,0.000,2709,2491,3629,0,0,0,0,0,0
$GC,2869,-0.52,-146.0,335.7,-8.1,317,2873,0.00,2.30,0.00,0.000,4,0.000,0.073,2710,1074,3629,0,0,0,0,0,0
$GC,2914,-0.61,-146.0,339.7,-8.4,320,2921,0.12,2.33,0.00,0.000,6,0.128,0.072,2667,2490,3629,0,0,0,0,0,0
$GC,3242,-0.56,-146.0,375.5,-11.1,351,3247,0.00,2.42,0.00,0.000,4,0.000,0.089,2666,3905,3629,0,0,0,0,0,0
$GC,3283,-0.56,-146.0,380.5,-11.6,354,3287,0.00,2.28,0.00,0.000,6,0.000,0.058,2667,2480,3628,0,0,0,0,0,0
$GC,3610,-0.53,-146.0,416.1,-10.8,384,3614,0.00,2.28,0.00,0.000,4,0.000,0.073,2667,1075,3629,0,0,0,0,0,0
$GC,3620,-0.48,-146.0,417.4,-10.8,384,3628,0.15,2.35,0.00,0.000,6,0.209,0.072,2701,2490,3629,0,0,0,0,0,0
$GC,3946,-0.54,-146.0,443.8,-7.9,415,3950,0.00,2.42,0.00,0.000,4,0.000,0.088,2701,3905,3629,0,0,0,0,0,0
$GC,3987,-0.63,-146.0,447.1,-8.2,418,3992,0.12,2.28,0.00,0.000,6,0.125,0.057,2659,2479,3630,0,0,0,0,0,0
$GC,4312,-0.58,-146.0,483.8,-11.7,448,4316,0.00,2.28,0.00,0.000,4,0.000,0.072,2659,1072,3630,0,0,0,0,0,0
$GC,4331,-0.53,-146.0,485.9,-11.6,449,4336,0.12,2.35,0.00,0.000,6,0.215,0.072,2687,2489,3630,0,0,0,0,0,0
$GC,4657,-0.56,-146.0,515.7,-9.0,479,4661,0.00,2.40,0.00,0.000,4,0.000,0.086,2686,3906,3631,0,0,0,0,0,0
$GC,4732,-0.62,-146.0,522.1,-9.1,485,4736,0.00,2.28,0.00,0.000,6,0.000,0.057,2687,2482,3630,0,0,0,0,0,0
$STATE,4879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4879,begin apogee
$GC,4885,-0.12,0.0,535.2,8.4,499,5018,0.45,0.00,125.38,1.274,6,0.191,0.000,2814,2268,3030,0,0,0,0,0,0
$STATE,5019,end apogee,CONTROL_FINISHED_OK
$STATE,5019,begin climb
$GC,5021,0.62,146.0,539.8,0.0,511,5165,0.82,2.62,131.60,1.224,4,0.146,0.076,3065,881,2432,0,0,0,0,0,0
$GC,5205,0.57,146.0,528.8,10.2,527,5212,0.00,2.53,0.00,0.000,6,0.000,0.064,3065,2282,2429,0,0,0,0,0,0
$GC,5532,0.51,146.0,494.4,10.5,558,5537,0.12,2.38,0.00,0.000,4,0.187,0.079,3035,3687,2425,0,0,0,0,0,0
$GC,5629,0.46,146.0,483.9,10.6,566,5633,0.00,2.33,0.00,0.000,6,0.000,0.063,3043,2280,2424,0,0,0,0,0,0
$GC,5961,0.46,161.1,453.3,9.3,597,5984,0.00,2.42,12.85,1.096,4,0.000,0.078,3054,863,2372,0,0,0,0,0,0
$GC,6018,0.47,165.6,447.7,9.8,602,6031,0.15,2.33,5.72,0.903,6,0.186,0.066,3017,2280,2354,0,0,0,0,0,0
$GC,6349,0.56,209.3,420.6,8.0,633,6394,0.00,2.47,39.67,1.154,4,0.000,0.080,3017,3696,2176,0,0,0,0,0,0
$GC,6453,0.60,209.3,411.4,10.3,642,6457,0.00,2.38,0.00,0.000,6,0.000,0.063,3026,2268,2173,0,0,0,0,0,0
$GC,6779,0.70,233.8,382.9,8.9,672,6807,0.17,2.35,22.62,1.115,4,0.091,0.078,3112,862,2076,0,0,0,0,0,0
$GC,6856,0.64,233.8,372.6,14.9,678,6861,0.17,2.35,0.00,0.000,6,0.207,0.066,3070,2282,2072,0,0,0,0,0,0
$GC,7187,0.64,233.8,329.1,13.1,709,7191,0.00,2.35,0.00,0.000,4,0.000,0.080,3070,3694,2069,0,0,0,0,0,0
$GC,7244,0.59,233.8,321.0,15.0,713,7251,0.00,2.33,0.00,0.000,6,0.000,0.063,3079,2274,2069,0,0,0,0,0,0
$GC,7569,0.59,233.8,278.4,12.3,744,7573,0.00,2.33,0.00,0.000,4,0.000,0.076,3089,863,2069,0,0,0,0,0,0
$GC,7632,0.59,233.8,271.0,11.8,749,7637,0.12,2.30,0.00,0.000,6,0.188,0.064,3059,2284,2067,0,0,0,0,0,0
$GC,7958,0.62,235.2,236.9,9.9,779,7962,0.00,2.30,0.00,0.000,4,0.000,0.080,3058,3687,2067,0,0,0,0,0,0
$GC,8010,0.62,235.2,231.1,11.4,783,8014,0.00,2.30,0.00,0.000,6,0.000,0.064,3067,2274,2067,0,0,0,0,0,0
$GC,8341,0.66,242.0,197.2,9.7,814,8354,0.00,2.40,7.45,0.914,4,0.000,0.077,3078,856,2042,0,0,0,0,0,0
$GC,8412,0.69,242.0,190.1,10.3,820,8417,0.00,2.33,0.00,0.000,6,0.000,0.066,3078,2276,2041,0,0,0,0,0,0
$GC,8738,0.70,250.4,157.4,9.6,850,8753,0.00,2.40,9.23,0.942,4,0.000,0.081,3078,3693,2009,0,0,0,0,0,0
$GC,8795,0.70,250.4,151.4,11.3,855,8799,0.00,2.33,0.00,0.000,6,0.000,0.064,3087,2268,2008,0,0,0,0,0,0
$GC,9126,0.74,263.6,117.1,9.4,886,9149,0.00,2.38,13.50,0.974,4,0.000,0.079,3098,865,1954,0,0,0,0,0,0
$GC,9197,0.84,304.7,110.9,8.1,892,9242,0.10,2.33,38.97,1.004,6,0.127,0.067,3140,2276,1788,0,0,0,0,0,0
$GC,9575,0.84,304.7,67.4,10.8,951,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2276,1780,0,0,0,0,0,0
$GC,9919,0.84,304.7,28.9,11.7,1012,9926,0.00,2.35,0.00,0.000,4,0.000,0.082,3140,3687,1778,0,0,0,0,0,0
$GC,9950,0.84,304.7,25.0,13.0,1017,9957,0.00,2.33,0.00,0.000,6,0.000,0.066,3150,2269,1777,0,0,0,0,0,0
$FREEZE,8.88,-1.715,-1.767,2,91,0
$STATE,10082,end climb,FINISH_DEPTH_REACHED
$STATE,10083,begin subsurface finish
$FINISH1,8.9,1.025868,80
$GC,10090,0.10,80.0,8.9,-12.5,1040,10133,0.85,2.40,-35.97,0.000,4,0.174,0.089,2902,860,2706,0,0,0,0,0,0
$FINISH2,7.0
$STATE,10134,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10134,begin surface
$RAFOS_CLK,603
$RAFOS,6,1304642948,0.833333,0.818889,89,59,57,55,55,50,797,185,209,222,152,95
$RAFOS,5,1304642463,0.700000,0.684167,61,61,58,54,50,49,220,982,201,144,177,134
$RAFOS,4,1304641981,0.566667,0.550278,106,65,64,57,56,54,766,199,176,122,188,221
$RAFOS,3,1304641502,0.433333,0.417222,56,53,52,52,51,51,161,121,130,213,188,141
$RAFOS,2,1304641028,0.300000,0.285556,76,63,62,56,54,52,665,158,217,181,194,140
$RAFOS,1,1304640545,0.166667,0.151389,137,72,58,56,54,53,578,215,170,147,227,203
$RAFOS,0,1304640062,0.033333,0.017222,93,64,58,58,56,52,613,175,222,157,1404,135
$RAFOS_FIX,6647.742676,-6024.467773,060511,000028,5,100,0.05
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.79
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.5
$24V_AH,21.6,73.621
$10V_AH,10.0,38.063
$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,17.450,115.625,407.000,0.000,0.000,98.636,17.372,0.000,1.750,0.000,183.291,2504.886,5341.125,546.632,2042.430,537.172,0.000,1516.616,0.000,1722.184,2520.000,14.335,0.000
$DEVICE_MAMPS,326.655,90.270,1274.490,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.343,796.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150516
$DATA_FILE_SIZE,40038,1047
$CAP_FILE_SIZE,129395,0
$CFSIZE,260165632,217391104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.5
$GPS,060511,002328,6647.743,-6024.468,0,5100.2,0,-37.6