version: 66.08
glider: 141
mission: 15
dive: 558
start: 5 6 111 4 46 50
data:
$ID,141
$MISSION,15
$DIVE,558
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.62
$_SM_ANGLEo,0.2
$GPS2,060511,041736,6648.941,-6023.830,0,4107.8,0,-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,118.1,158020,-17.5,-10.000
$D_GRID,544
$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,-6.15,0.000,2,0.000,0.000,2900,3695,2929,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.8,-0.0,1,53,0.65,0.38,-18.45,0.000,4,0.106,0.186,2672,3904,3628,0,0,0,0,0,0
$GC,264,-0.54,-146.0,49.6,-17.4,42,271,0.00,2.28,0.00,0.000,6,0.000,0.059,2672,2480,3631,0,0,0,0,0,0
$GC,605,-0.41,-146.0,114.3,-16.7,95,607,0.22,0.00,0.00,0.000,6,0.223,0.000,2726,2480,3630,0,0,0,0,0,0
$GC,924,-0.46,-146.0,149.3,-10.2,125,928,0.00,2.30,0.00,0.000,4,0.000,0.076,2726,1079,3629,0,0,0,0,0,0
$GC,936,-0.50,-146.0,150.7,-10.3,125,942,0.00,2.35,0.00,0.000,6,0.000,0.074,2726,2489,3629,0,0,0,0,0,0
$GC,1261,-0.57,-146.0,181.4,-8.9,156,1266,0.15,2.40,0.00,0.000,4,0.121,0.090,2675,3905,3628,0,0,0,0,0,0
$GC,1283,-0.57,-146.0,184.0,-10.2,157,1290,0.00,2.28,0.00,0.000,6,0.000,0.060,2675,2490,3628,0,0,0,0,0,0
$GC,1609,-0.51,-146.0,227.3,-12.9,188,1613,0.00,2.30,0.00,0.000,4,0.000,0.075,2675,1074,3629,0,0,0,0,0,0
$GC,1625,-0.44,-146.0,229.9,-13.6,189,1633,0.17,2.38,0.00,0.000,6,0.214,0.075,2716,2496,3628,0,0,0,0,0,0
$GC,1951,-0.51,-146.0,258.9,-8.9,220,1955,0.00,2.38,0.00,0.000,4,0.000,0.090,2716,3900,3628,0,0,0,0,0,0
$GC,1986,-0.59,-146.0,262.0,-8.7,223,1990,0.15,2.28,0.00,0.000,6,0.118,0.060,2665,2484,3628,0,0,0,0,0,0
$GC,2316,-0.54,-146.0,304.3,-13.4,254,2321,0.00,2.28,0.00,0.000,4,0.000,0.074,2665,1079,3627,0,0,0,0,0,0
$GC,2368,-0.54,-146.0,311.3,-12.5,258,2372,0.00,2.35,0.00,0.000,6,0.000,0.073,2665,2499,3628,0,0,0,0,0,0
$GC,2699,-0.49,-146.0,351.8,-12.3,289,2703,0.15,2.40,0.00,0.000,4,0.216,0.089,2700,3903,3628,0,0,0,0,0,0
$GC,2750,-0.57,-146.0,357.0,-8.7,293,2755,0.00,2.28,0.00,0.000,6,0.000,0.059,2700,2484,3627,0,0,0,0,0,0
$GC,3082,-0.62,-146.0,386.1,-8.9,324,3084,0.12,0.00,0.00,0.000,6,0.135,0.000,2658,2484,3628,0,0,0,0,0,0
$GC,3400,-0.57,-146.0,424.6,-12.8,354,3404,0.00,2.28,0.00,0.000,4,0.000,0.072,2657,1075,3628,0,0,0,0,0,0
$GC,3417,-0.50,-146.0,426.8,-12.4,355,3422,0.17,2.35,0.00,0.000,6,0.211,0.072,2699,2492,3628,0,0,0,0,0,0
$GC,3743,-0.56,-146.0,456.3,-8.3,385,3747,0.00,2.38,0.00,0.000,4,0.000,0.087,2699,3903,3628,0,0,0,0,0,0
$GC,3794,-0.65,-146.0,460.8,-8.6,389,3801,0.15,2.25,0.00,0.000,6,0.119,0.057,2649,2488,3628,0,0,0,0,0,0
$GC,4119,-0.59,-146.0,501.6,-13.1,420,4123,0.00,2.30,0.00,0.000,4,0.000,0.071,2650,1074,3628,0,0,0,0,0,0
$GC,4142,-0.51,-146.0,504.8,-13.2,422,4147,0.17,2.35,0.00,0.000,6,0.207,0.072,2691,2490,3628,0,0,0,0,0,0
$GC,4468,-0.55,-146.0,532.9,-8.4,452,4472,0.00,2.40,0.00,0.000,4,0.000,0.087,2690,3905,3629,0,0,0,0,0,0
$GC,4486,-0.60,-146.0,534.4,-8.5,453,4490,0.00,2.25,0.00,0.000,6,0.000,0.056,2691,2488,3628,0,0,0,0,0,0
$STATE,4612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4612,begin apogee
$GC,4619,-0.12,0.0,544.3,7.6,465,4751,0.43,0.00,124.90,1.279,6,0.192,0.000,2813,2263,3030,0,0,0,0,0,0
$STATE,4752,end apogee,CONTROL_FINISHED_OK
$STATE,4752,begin climb
$GC,4754,0.62,146.0,549.0,0.0,477,4899,0.82,2.62,131.68,1.230,4,0.144,0.077,3065,875,2432,0,0,0,0,0,0
$GC,4968,0.56,146.0,534.3,10.5,496,4973,0.00,2.50,0.00,0.000,6,0.000,0.063,3065,2275,2428,0,0,0,0,0,0
$GC,5294,0.50,146.0,497.9,10.5,526,5298,0.15,2.40,0.00,0.000,4,0.184,0.079,3027,3687,2426,0,0,0,0,0,0
$GC,5339,0.47,146.0,493.2,10.5,530,5344,0.00,2.35,0.00,0.000,6,0.000,0.063,3035,2276,2425,0,0,0,0,0,0
$GC,5665,0.48,154.3,461.6,9.6,560,5675,0.00,0.00,7.55,0.984,6,0.000,0.000,3035,2276,2399,0,0,0,0,0,0
$GC,5995,0.49,165.7,429.5,9.5,591,6013,0.00,0.00,11.70,1.083,6,0.000,0.000,3035,2276,2353,0,0,0,0,0,0
$GC,6334,0.50,174.7,395.9,9.6,623,6345,0.00,0.00,9.48,1.040,6,0.000,0.000,3035,2276,2316,0,0,0,0,0,0
$GC,6661,0.53,191.2,364.3,9.2,654,6684,0.00,2.38,15.95,1.095,4,0.000,0.076,3035,3698,2250,0,0,0,0,0,0
$GC,6719,0.53,191.2,358.4,10.4,659,6723,0.00,2.35,0.00,0.000,6,0.000,0.062,3045,2264,2249,0,0,0,0,0,0
$GC,7045,0.55,213.9,327.2,9.0,689,7071,0.00,2.35,21.52,1.093,4,0.000,0.076,3055,858,2157,0,0,0,0,0,0
$GC,7099,0.59,218.0,322.0,9.8,693,7110,0.00,2.35,5.05,0.813,6,0.000,0.064,3055,2276,2141,0,0,0,0,0,0
$GC,7437,0.62,221.8,288.8,9.8,725,7449,0.00,2.35,4.93,0.802,4,0.000,0.079,3055,3695,2125,0,0,0,0,0,0
$GC,7477,0.62,221.8,284.1,12.4,728,7484,0.00,2.33,0.00,0.000,6,0.000,0.062,3066,2272,2125,0,0,0,0,0,0
$GC,7803,0.62,221.9,250.8,10.0,759,7807,0.00,2.30,0.00,0.000,4,0.000,0.077,3076,864,2124,0,0,0,0,0,0
$GC,7858,0.62,221.9,245.1,10.2,763,7865,0.00,2.33,0.00,0.000,6,0.000,0.064,3076,2286,2123,0,0,0,0,0,0
$GC,8185,0.62,221.9,210.9,10.4,794,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2285,2123,0,0,0,0,0,0
$GC,8503,0.63,226.4,177.7,9.8,824,8515,0.00,2.38,5.32,0.810,4,0.000,0.080,3076,3687,2107,0,0,0,0,0,0
$GC,8545,0.63,226.4,173.0,12.0,828,8549,0.00,2.30,0.00,0.000,6,0.000,0.063,3086,2275,2106,0,0,0,0,0,0
$GC,8872,0.63,226.4,139.6,10.1,858,8876,0.00,2.30,0.00,0.000,4,0.000,0.076,3096,864,2107,0,0,0,0,0,0
$GC,8957,0.63,226.4,131.2,10.0,865,8961,0.00,2.30,0.00,0.000,6,0.000,0.065,3096,2284,2106,0,0,0,0,0,0
$GC,9283,0.67,256.3,100.8,8.6,895,9318,0.00,2.35,28.65,1.017,4,0.000,0.079,3097,3694,1983,0,0,0,0,0,0
$GC,9382,0.67,256.3,90.8,10.9,911,9389,0.00,2.35,0.00,0.000,6,0.000,0.064,3107,2272,1981,0,0,0,0,0,0
$GC,9729,0.74,296.4,60.6,8.1,972,9771,0.00,2.47,37.35,0.990,4,0.000,0.076,3107,3694,1820,0,0,0,0,0,0
$GC,9813,0.77,296.4,52.9,11.1,986,9820,0.00,2.35,0.00,0.000,6,0.000,0.063,3115,2273,1816,0,0,0,0,0,0
$GC,10159,0.82,296.4,20.9,10.3,1047,10165,0.00,2.33,0.00,0.000,4,0.000,0.080,3124,863,1813,0,0,0,0,0,0
$GC,10224,0.89,303.7,14.6,9.7,1058,10232,0.00,2.33,3.05,0.562,6,0.000,0.066,3124,2276,1790,0,0,0,0,0,0
$FREEZE,8.51,-1.722,-1.766,2,93,0
$STATE,10288,end climb,FINISH_DEPTH_REACHED
$STATE,10288,begin subsurface finish
$FINISH1,8.5,1.025860,80
$GC,10295,0.10,80.4,8.5,-9.7,1069,10337,0.73,2.38,-34.65,0.000,4,0.152,0.095,2899,3687,2703,0,0,0,0,0,0
$FINISH2,7.4
$STATE,10338,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10338,begin surface
$RAFOS_CLK,574
$RAFOS,6,1304657341,4.833333,4.816945,125,62,59,58,56,53,817,213,156,180,198,133
$RAFOS,5,1304656866,4.700000,4.685000,92,63,59,56,54,54,958,196,153,115,217,130
$RAFOS_FIX,6650.341797,-6020.839844,060511,040422,6,108,5.78
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.75
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.9
$24V_AH,21.6,73.898
$10V_AH,10.0,38.190
$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,4.250,103.925,407.125,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2580.677,5466.093,460.436,1711.941,195.923,0.000,1388.557,0.000,1697.118,360.000,11.457,0.000
$DEVICE_MAMPS,223.380,185.895,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.134,814.944,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40079,1076
$CAP_FILE_SIZE,119185,0
$CFSIZE,260165632,217264128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.4
$GPS,060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6