version: 66.08
glider: 141
mission: 15
dive: 560
start: 5 6 111 10 34 37
data:
$ID,141
$MISSION,15
$DIVE,560
$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,19
$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
$GPS1,060511,082725,6650.461,-6016.396,0,7116.1,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.47
$_SM_ANGLEo,-6.0
$GPS2,060511,082725,6650.461,-6016.396,0,7116.1,0,-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,118.8,152273,-17.5,-10.000
$D_GRID,578
$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,-6.45,0.000,2,0.000,0.000,2900,864,2970,0,0,0,0,0,0
$GC,28,-0.62,-146.0,13.2,-0.0,1,53,0.65,5.20,-15.35,0.000,4,0.099,0.090,2668,3897,3629,0,0,0,0,0,0
$GC,309,-0.54,-146.0,62.4,-18.3,50,316,0.00,2.30,0.00,0.000,6,0.000,0.061,2668,2479,3631,0,0,0,0,0,0
$GC,647,-0.42,-146.0,123.6,-16.6,98,652,0.22,2.42,0.00,0.000,4,0.210,0.086,2724,3903,3630,0,0,0,0,0,0
$GC,715,-0.49,-146.0,131.7,-10.4,103,722,0.00,2.30,0.00,0.000,6,0.000,0.060,2724,2481,3630,0,0,0,0,0,0
$GC,1042,-0.54,-146.0,163.8,-9.3,134,1049,0.12,0.00,0.00,0.000,6,0.132,0.000,2681,2480,3630,0,0,0,0,0,0
$GC,1368,-0.50,-146.0,205.4,-12.6,165,1372,0.00,2.28,0.00,0.000,4,0.000,0.077,2681,1081,3630,0,0,0,0,0,0
$GC,1386,-0.44,-146.0,207.7,-13.2,166,1391,0.15,2.35,0.00,0.000,6,0.210,0.076,2715,2487,3629,0,0,0,0,0,0
$GC,1712,-0.50,-146.0,236.8,-8.3,196,1717,0.00,2.40,0.00,0.000,4,0.000,0.091,2715,3900,3628,0,0,0,0,0,0
$GC,1743,-0.57,-146.0,239.3,-8.4,198,1748,0.12,2.30,0.00,0.000,6,0.125,0.060,2673,2481,3628,0,0,0,0,0,0
$GC,2068,-0.53,-146.0,278.0,-12.2,228,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2481,3628,0,0,0,0,0,0
$GC,2389,-0.50,-146.0,318.7,-13.4,258,2394,0.12,2.33,0.00,0.000,4,0.218,0.076,2701,1079,3628,0,0,0,0,0,0
$GC,2406,-0.50,-146.0,321.2,-13.0,259,2411,0.00,2.33,0.00,0.000,6,0.000,0.074,2701,2491,3628,0,0,0,0,0,0
$GC,2738,-0.54,-146.0,355.2,-9.8,290,2742,0.00,2.38,0.00,0.000,4,0.000,0.089,2701,3906,3628,0,0,0,0,0,0
$GC,2767,-0.61,-146.0,358.0,-9.6,292,2771,0.00,2.30,0.00,0.000,6,0.000,0.060,2701,2480,3628,0,0,0,0,0,0
$GC,3093,-0.66,-146.0,387.1,-8.2,322,3098,0.15,2.30,0.00,0.000,4,0.123,0.074,2651,1078,3629,0,0,0,0,0,0
$GC,3116,-0.66,-146.0,389.5,-10.1,324,3120,0.00,2.35,0.00,0.000,6,0.000,0.074,2651,2490,3628,0,0,0,0,0,0
$GC,3441,-0.59,-146.0,430.2,-12.4,354,3446,0.00,2.40,0.00,0.000,4,0.000,0.089,2651,3907,3628,0,0,0,0,0,0
$GC,3482,-0.55,-146.0,435.1,-12.1,357,3487,0.12,2.28,0.00,0.000,6,0.208,0.060,2679,2484,3628,0,0,0,0,0,0
$GC,3808,-0.55,-146.0,466.9,-9.9,387,3812,0.00,2.40,0.00,0.000,4,0.000,0.085,2679,3900,3628,0,0,0,0,0,0
$GC,3847,-0.59,-146.0,470.9,-9.9,390,3854,0.00,2.28,0.00,0.000,6,0.000,0.058,2679,2489,3628,0,0,0,0,0,0
$GC,4173,-0.59,-146.0,500.7,-8.9,421,4177,0.00,2.33,0.00,0.000,4,0.000,0.073,2679,1071,3629,0,0,0,0,0,0
$GC,4191,-0.59,-146.0,502.5,-9.2,422,4196,0.00,2.38,0.00,0.000,6,0.000,0.073,2679,2501,3629,0,0,0,0,0,0
$GC,4517,-0.59,-146.0,531.7,-8.9,452,4521,0.00,2.35,0.00,0.000,4,0.000,0.088,2679,3905,3629,0,0,0,0,0,0
$GC,4546,-0.61,-146.0,534.4,-9.9,454,4550,0.00,2.25,0.00,0.000,6,0.000,0.058,2679,2491,3629,0,0,0,0,0,0
$GC,4871,-0.61,-146.0,565.2,-9.2,484,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2490,3629,0,0,0,0,0,0
$STATE,5007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5007,begin apogee
$GC,5013,-0.12,0.0,578.4,9.4,497,5146,0.47,0.00,126.18,1.296,6,0.187,0.000,2815,2264,3030,0,0,0,0,0,0
$STATE,5147,end apogee,CONTROL_FINISHED_OK
$STATE,5147,begin climb
$GC,5149,0.62,146.0,583.5,0.0,509,5291,0.80,2.67,132.20,1.251,4,0.139,0.077,3063,880,2433,0,0,0,0,0,0
$GC,5388,0.57,146.0,567.2,11.2,530,5395,0.00,2.47,0.00,0.000,6,0.000,0.066,3063,2278,2428,0,0,0,0,0,0
$GC,5714,0.51,146.0,530.0,11.7,561,5719,0.12,2.38,0.00,0.000,4,0.187,0.081,3032,3690,2426,0,0,0,0,0,0
$GC,5815,0.47,146.0,518.2,11.5,569,5822,0.00,2.33,0.00,0.000,6,0.000,0.064,3041,2285,2425,0,0,0,0,0,0
$GC,6141,0.47,146.0,483.5,11.1,600,6146,0.00,2.35,0.00,0.000,4,0.000,0.079,3051,860,2425,0,0,0,0,0,0
$GC,6192,0.47,146.0,477.6,11.3,604,6199,0.12,2.33,0.00,0.000,6,0.187,0.067,3021,2284,2424,0,0,0,0,0,0
$GC,6519,0.51,164.3,446.4,9.2,635,6543,0.00,2.35,15.77,1.131,4,0.000,0.080,3022,3695,2360,0,0,0,0,0,0
$GC,6600,0.51,164.3,437.9,10.6,642,6604,0.00,2.33,0.00,0.000,6,0.000,0.063,3029,2276,2359,0,0,0,0,0,0
$GC,6925,0.54,185.1,406.8,9.0,672,6947,0.00,0.00,19.70,1.139,6,0.000,0.000,3029,2276,2274,0,0,0,0,0,0
$GC,7264,0.59,206.3,376.2,9.0,704,7290,0.00,2.40,19.98,1.118,4,0.000,0.077,3039,861,2188,0,0,0,0,0,0
$GC,7321,0.67,231.7,371.2,8.8,709,7355,0.12,2.33,24.83,1.111,6,0.108,0.066,3095,2278,2084,0,0,0,0,0,0
$GC,7674,0.60,231.7,320.4,15.0,742,7679,0.15,2.35,0.00,0.000,4,0.185,0.080,3057,3692,2078,0,0,0,0,0,0
$GC,7736,0.60,231.7,311.9,12.6,747,7740,0.00,2.30,0.00,0.000,6,0.000,0.063,3066,2272,2076,0,0,0,0,0,0
$GC,8061,0.60,231.7,275.7,10.6,777,8066,0.00,2.28,0.00,0.000,4,0.000,0.076,3076,862,2075,0,0,0,0,0,0
$GC,8129,0.60,231.7,268.5,10.7,783,8133,0.00,2.30,0.00,0.000,6,0.000,0.065,3076,2282,2075,0,0,0,0,0,0
$GC,8454,0.60,231.7,232.1,10.9,813,8458,0.00,2.30,0.00,0.000,4,0.000,0.080,3076,3688,2074,0,0,0,0,0,0
$GC,8504,0.56,231.7,225.9,12.0,817,8512,0.15,2.30,0.00,0.000,6,0.194,0.063,3049,2274,2074,0,0,0,0,0,0
$GC,8830,0.65,259.8,196.6,8.7,848,8864,0.00,2.38,25.00,1.043,4,0.000,0.079,3055,869,1969,0,0,0,0,0,0
$GC,8911,0.78,284.2,189.5,8.9,855,8945,0.17,2.33,24.05,1.022,6,0.096,0.066,3126,2281,1870,0,0,0,0,0,0
$GC,9263,0.72,284.2,139.8,13.6,888,9267,0.00,2.33,0.00,0.000,4,0.000,0.080,3126,3687,1864,0,0,0,0,0,0
$GC,9353,0.65,284.2,126.4,15.0,896,9358,0.22,2.33,0.00,0.000,6,0.199,0.064,3079,2267,1862,0,0,0,0,0,0
$GC,9682,0.74,306.9,94.7,9.0,931,9712,0.00,2.38,20.58,0.981,4,0.000,0.080,3084,866,1777,0,0,0,0,0,0
$GC,9771,0.93,355.0,87.5,7.8,946,9825,0.22,2.33,44.42,0.985,6,0.090,0.066,3169,2286,1581,0,0,0,0,0,0
$GC,10164,0.89,355.0,31.5,15.6,1015,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2286,1572,0,0,0,0,0,0
$FREEZE,8.37,-1.704,-1.766,2,95,1
$FREEZE,7.57,-1.705,-1.765,2,95,1
$FREEZE,6.74,-1.704,-1.765,2,95,1
$FREEZE,6.16,-1.705,-1.764,2,95,1
$FREEZE,5.50,-1.708,-1.764,2,95,1
$FREEZE,5.33,-1.686,-1.762,2,95,1
$FREEZE,5.15,-1.698,-1.763,2,95,1
$FREEZE,4.96,-1.709,-1.764,2,95,1
$FREEZE,4.66,-1.711,-1.763,2,95,1
$FREEZE,4.72,-1.713,-1.764,2,95,1
$FREEZE,4.52,-1.714,-1.764,2,95,1
$FREEZE,4.43,-1.712,-1.764,2,95,1
$FREEZE,4.52,-1.716,-1.764,2,95,1
$FREEZE,4.46,-1.716,-1.764,2,95,1
$FREEZE,4.60,-1.713,-1.764,2,95,1
$FREEZE,4.48,-1.706,-1.763,2,95,1
$FREEZE,4.50,-1.710,-1.763,2,95,1
$FREEZE,4.56,-1.711,-1.764,2,95,1
$FREEZE,4.57,-1.711,-1.763,2,95,1
$FREEZE,4.60,-1.714,-1.764,2,95,1
$FREEZE,4.52,-1.679,-1.762,2,95,1
$FREEZE,4.52,-1.674,-1.761,2,95,1
$FREEZE,4.54,-1.698,-1.763,2,95,1
$FREEZE,4.46,-1.711,-1.763,2,95,1
$FREEZE,4.58,-1.714,-1.764,2,95,1
$FREEZE,4.52,-1.714,-1.764,2,95,1
$FREEZE,4.55,-1.716,-1.764,2,95,1
$FREEZE,4.58,-1.715,-1.764,2,95,1
$FREEZE,4.54,-1.714,-1.764,2,95,1
$FREEZE,4.56,-1.714,-1.764,2,95,1
$FREEZE,4.57,-1.712,-1.764,2,95,1
$FREEZE,4.57,-1.710,-1.763,2,95,1
$FREEZE,4.51,-1.710,-1.763,2,95,1
$FREEZE,4.61,-1.712,-1.764,2,95,1
$FREEZE,4.62,-1.713,-1.764,2,95,1
$FREEZE,4.52,-1.715,-1.764,2,95,1
$FREEZE,4.48,-1.711,-1.763,2,95,1
$GC,10494,1.38,571.9,4.5,-0.0,1076,10504,0.35,0.00,6.93,0.808,2,0.087,0.000,3308,2286,1514,0,0,0,0,0,0
$STATE,10505,end climb,NO_VERTICAL_VELOCITY
$STATE,10505,begin subsurface finish
$FINISH1,4.5,1.025868,80
$GC,10512,0.10,80.0,4.5,-0.2,1077,10520,1.23,0.00,-4.40,0.000,2,0.120,0.000,2902,2286,1604,0,0,0,0,0,0
$FINISH2,4.6
$STATE,10521,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,10521,begin surface
$RAFOS_CLK,580
$RAFOS,6,1304686142,12.833333,12.817223,124,62,62,58,53,52,785,217,205,158,142,187
$RAFOS,5,1304685662,12.700000,12.683888,120,67,65,58,56,51,942,210,192,235,179,150
$RAFOS,4,1304685190,12.566667,12.552778,148,64,61,61,61,59,679,210,147,220,193,184
$RAFOS,3,1304684702,12.433333,12.417222,69,53,51,51,51,51,814,121,191,206,220,159
$RAFOS,2,1304684222,12.300000,12.283889,96,63,56,55,51,51,688,194,211,126,226,174
$RAFOS,1,1304683747,12.166667,12.151944,76,66,60,60,56,53,548,209,164,179,140,196
$RAFOS,0,1304683262,12.033333,12.017222,68,63,61,60,58,56,215,641,174,187,225,165
$RAFOS_FIX,6651.353027,-6009.124512,060511,121256,6,106,0.38
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.95
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,21.1
$24V_AH,21.4,74.188
$10V_AH,10.0,38.320
$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,5.825,106.325,459.625,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2620.526,5543.194,471.693,1763.270,199.850,0.000,1430.442,0.000,1744.876,2520.000,16.100,0.000
$DEVICE_MAMPS,218.025,91.035,1295.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.778,823.870,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40079,1078
$CAP_FILE_SIZE,123496,0
$CFSIZE,260165632,217124864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$GPS,060511,123056,6651.353,-6009.125,0,6105.5,0,-37.6