version: 66.08
glider: 141
mission: 15
dive: 557
start: 5 6 111 1 58 10
data:
$ID,141
$MISSION,15
$DIVE,557
$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,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
$GPS1,060511,002328,6647.743,-6024.468,0,5100.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.74
$_SM_ANGLEo,-6.1
$GPS2,060511,002328,6647.743,-6024.468,0,5100.2,0,-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,117.4,158855,-17.5,-10.000
$D_GRID,537
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.70,0.000,2,0.000,0.000,2902,860,2908,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.7,-0.0,1,58,0.68,5.20,-19.27,0.000,4,0.107,0.087,2667,3899,3630,0,0,0,0,0,0
$GC,245,-0.53,-146.0,47.3,-18.4,39,252,0.00,2.28,0.00,0.000,6,0.000,0.060,2667,2482,3631,0,0,0,0,0,0
$GC,592,-0.41,-146.0,116.1,-17.8,93,597,0.25,2.30,0.00,0.000,4,0.219,0.073,2733,1079,3631,0,0,0,0,0,0
$GC,637,-0.49,-146.0,122.1,-10.7,96,644,0.00,2.35,0.00,0.000,6,0.000,0.072,2732,2496,3630,0,0,0,0,0,0
$GC,964,-0.55,-146.0,153.2,-9.5,127,968,0.15,2.40,0.00,0.000,4,0.119,0.089,2680,3906,3631,0,0,0,0,0,0
$GC,1013,-0.55,-146.0,159.7,-13.4,131,1020,0.00,2.28,0.00,0.000,6,0.000,0.060,2680,2480,3630,0,0,0,0,0,0
$GC,1340,-0.50,-146.0,201.7,-12.4,162,1344,0.00,2.28,0.00,0.000,4,0.000,0.075,2680,1081,3630,0,0,0,0,0,0
$GC,1375,-0.46,-146.0,206.3,-12.6,165,1380,0.12,2.35,0.00,0.000,6,0.215,0.073,2708,2497,3630,0,0,0,0,0,0
$GC,1707,-0.50,-146.0,239.1,-9.5,196,1711,0.00,2.38,0.00,0.000,4,0.000,0.089,2708,3910,3629,0,0,0,0,0,0
$GC,1760,-0.57,-146.0,243.9,-9.0,200,1764,0.00,2.28,0.00,0.000,6,0.000,0.060,2708,2490,3629,0,0,0,0,0,0
$GC,2092,-0.62,-146.0,273.2,-8.9,231,2097,0.15,2.33,0.00,0.000,4,0.125,0.075,2658,1076,3628,0,0,0,0,0,0
$GC,2111,-0.62,-146.0,275.2,-10.0,232,2115,0.00,2.38,0.00,0.000,6,0.000,0.075,2657,2498,3629,0,0,0,0,0,0
$GC,2437,-0.54,-146.0,320.2,-13.4,262,2442,0.12,2.40,0.00,0.000,4,0.222,0.090,2685,3910,3628,0,0,0,0,0,0
$GC,2500,-0.58,-146.0,327.2,-10.3,267,2504,0.00,2.28,0.00,0.000,6,0.000,0.060,2685,2488,3628,0,0,0,0,0,0
$GC,2826,-0.58,-146.0,360.4,-10.1,297,2830,0.00,2.30,0.00,0.000,4,0.000,0.074,2685,1073,3629,0,0,0,0,0,0
$GC,2843,-0.58,-146.0,362.2,-10.2,298,2847,0.00,2.35,0.00,0.000,6,0.000,0.073,2685,2498,3629,0,0,0,0,0,0
$GC,3170,-0.58,-146.0,394.2,-10.0,328,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2498,3628,0,0,0,0,0,0
$GC,3491,-0.58,-146.0,424.9,-9.7,358,3495,0.00,2.35,0.00,0.000,4,0.000,0.088,2685,3901,3629,0,0,0,0,0,0
$GC,3543,-0.64,-146.0,430.0,-9.7,362,3547,0.00,2.28,0.00,0.000,6,0.000,0.058,2685,2489,3629,0,0,0,0,0,0
$GC,3869,-0.66,-146.0,460.2,-9.2,392,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2489,3629,0,0,0,0,0,0
$GC,4190,-0.68,-146.0,489.1,-9.4,422,4196,0.12,0.00,0.00,0.000,6,0.135,0.000,2643,2489,3630,0,0,0,0,0,0
$GC,4515,-0.60,-146.0,530.7,-13.0,453,4520,0.00,2.40,0.00,0.000,4,0.000,0.086,2642,3912,3629,0,0,0,0,0,0
$GC,4538,-0.53,-146.0,533.5,-12.0,454,4545,0.17,2.30,0.00,0.000,6,0.194,0.057,2685,2484,3629,0,0,0,0,0,0
$STATE,4574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4574,begin apogee
$GC,4580,-0.12,0.0,537.6,11.0,458,4713,0.45,0.00,125.15,1.273,6,0.194,0.000,2813,2261,3030,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4716,0.62,146.0,542.8,0.0,470,4861,0.82,2.65,131.55,1.225,4,0.143,0.078,3066,875,2432,0,0,0,0,0,0
$GC,4901,0.57,146.0,532.5,10.6,486,4907,0.00,2.53,0.00,0.000,6,0.000,0.064,3066,2278,2430,0,0,0,0,0,0
$GC,5226,0.50,146.0,498.9,10.4,517,5231,0.15,2.40,0.00,0.000,4,0.184,0.080,3028,3697,2426,0,0,0,0,0,0
$GC,5283,0.48,156.0,493.1,9.5,521,5301,0.00,2.38,9.20,1.024,6,0.000,0.063,3037,2277,2393,0,0,0,0,0,0
$GC,5619,0.51,179.1,462.7,8.9,553,5643,0.00,0.00,21.80,1.141,6,0.000,0.000,3036,2276,2299,0,0,0,0,0,0
$GC,5961,0.51,181.2,429.5,9.9,585,5965,0.00,2.38,0.00,0.000,4,0.000,0.077,3036,3694,2295,0,0,0,0,0,0
$GC,6005,0.49,181.2,424.4,11.5,588,6011,0.00,2.33,0.00,0.000,6,0.000,0.063,3046,2275,2294,0,0,0,0,0,0
$GC,6330,0.49,181.2,391.9,10.3,619,6334,0.00,2.35,0.00,0.000,4,0.000,0.078,3057,865,2294,0,0,0,0,0,0
$GC,6379,0.49,181.2,386.6,10.1,623,6387,0.12,2.30,0.00,0.000,6,0.183,0.065,3027,2286,2294,0,0,0,0,0,0
$GC,6705,0.57,211.0,357.6,8.6,654,6739,0.00,2.42,28.80,1.126,4,0.000,0.080,3026,3695,2168,0,0,0,0,0,0
$GC,6790,0.59,211.0,349.3,11.0,661,6797,0.00,2.35,0.00,0.000,6,0.000,0.063,3034,2270,2167,0,0,0,0,0,0
$GC,7116,0.67,230.5,319.6,9.1,692,7140,0.12,2.40,18.38,1.078,4,0.109,0.077,3102,865,2090,0,0,0,0,0,0
$GC,7180,0.63,230.5,311.4,14.0,697,7188,0.12,2.35,0.00,0.000,6,0.194,0.065,3074,2283,2087,0,0,0,0,0,0
$GC,7505,0.63,230.5,272.4,11.1,728,7509,0.00,2.33,0.00,0.000,4,0.000,0.079,3073,3684,2087,0,0,0,0,0,0
$GC,7540,0.60,230.5,268.1,13.3,731,7545,0.00,2.30,0.00,0.000,6,0.000,0.063,3082,2266,2087,0,0,0,0,0,0
$GC,7871,0.60,230.5,228.3,11.8,762,7875,0.00,2.33,0.00,0.000,4,0.000,0.078,3092,859,2086,0,0,0,0,0,0
$GC,7900,0.60,230.5,224.9,11.5,764,7905,0.12,2.33,0.00,0.000,6,0.190,0.065,3062,2279,2085,0,0,0,0,0,0
$GC,8226,0.65,242.4,193.4,9.4,794,8242,0.00,2.33,11.32,0.981,4,0.000,0.080,3062,3684,2042,0,0,0,0,0,0
$GC,8277,0.65,242.4,188.1,11.3,798,8281,0.00,2.33,0.00,0.000,6,0.000,0.064,3071,2267,2041,0,0,0,0,0,0
$GC,8603,0.72,260.3,157.1,9.2,828,8626,0.00,2.40,17.98,1.010,4,0.000,0.079,3080,861,1967,0,0,0,0,0,0
$GC,8702,0.79,270.0,147.8,9.6,836,8721,0.12,2.33,10.43,0.949,6,0.114,0.065,3131,2274,1928,0,0,0,0,0,0
$GC,9039,0.76,270.0,105.1,12.1,868,9043,0.00,2.35,0.00,0.000,4,0.000,0.081,3131,3683,1925,0,0,0,0,0,0
$GC,9119,0.70,270.0,94.5,14.0,878,9126,0.17,2.33,0.00,0.000,6,0.198,0.067,3098,2270,1924,0,0,0,0,0,0
$GC,9467,0.85,336.7,65.3,6.9,939,9537,0.12,2.40,60.65,0.995,4,0.112,0.080,3157,860,1656,0,0,0,0,0,0
$GC,9623,0.85,336.7,48.9,11.0,966,9630,0.00,2.35,0.00,0.000,6,0.000,0.066,3157,2280,1650,0,0,0,0,0,0
$FREEZE,8.87,-1.718,-1.767,2,92,0
$STATE,9933,end climb,FINISH_DEPTH_REACHED
$STATE,9933,begin subsurface finish
$FINISH1,8.9,1.025872,80
$GC,9941,0.10,79.8,8.9,-13.2,1021,9988,0.88,2.45,-40.70,0.000,4,0.174,0.098,2900,3695,2707,0,0,0,0,0,0
$FINISH2,7.1
$STATE,9989,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9989,begin surface
$RAFOS_CLK,555
$RAFOS,4,1304656384,4.566667,4.551111,89,62,60,58,54,53,743,161,210,185,149,200
$RAFOS,3,1304655903,4.433333,4.417500,62,60,58,55,53,51,194,140,212,153,176,165
$RAFOS,2,1304655424,4.300000,4.284444,64,58,57,56,55,55,689,121,200,139,225,189
$RAFOS,1,1304654948,4.166667,4.152222,146,65,60,57,56,53,567,207,195,149,1586,135
$RAFOS,0,1304654466,4.033333,4.018333,132,64,55,55,53,52,615,194,213,164,115,155
$RAFOS_FIX,6648.940918,-6023.829590,060511,040436,4,108,0.16
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.029211
$HUMID,47.51
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,16.4
$24V_AH,21.7,73.764
$10V_AH,10.0,38.126
$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,5.000,109.125,435.250,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2460.568,5229.293,490.484,1668.255,208.679,0.000,1406.187,0.000,1656.904,2160.000,14.406,0.000
$DEVICE_MAMPS,221.850,97.920,1272.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.837,782.027,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40009,1029
$CAP_FILE_SIZE,117462,0
$CFSIZE,260165632,217333760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6