version: 66.08
glider: 141
mission: 15
dive: 562
start: 5 6 111 16 47 4
data:
$ID,141
$MISSION,15
$DIVE,562
$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,17
$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
$GPS1,060511,161632,6650.382,-6010.151,0,4104.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.54
$_SM_ANGLEo,-2.2
$GPS2,060511,161632,6650.382,-6010.151,0,4104.0,0,-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,118.5,147841,-17.5,-10.000
$D_GRID,616
$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,-6.78,0.000,2,0.000,0.000,2906,3694,2936,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.9,-0.0,1,53,0.68,0.38,-18.90,0.000,4,0.108,0.181,2671,3905,3628,0,0,0,0,0,0
$GC,212,-0.52,-146.0,40.9,-18.4,33,219,0.00,2.30,0.00,0.000,6,0.000,0.057,2671,2479,3632,0,0,0,0,0,0
$GC,561,-0.40,-146.0,107.3,-17.1,91,566,0.22,2.30,0.00,0.000,4,0.227,0.073,2726,1069,3631,0,0,0,0,0,0
$GC,583,-0.34,-146.0,111.0,-15.2,92,590,0.00,2.35,0.00,0.000,6,0.000,0.072,2726,2488,3631,0,0,0,0,0,0
$GC,911,-0.38,-146.0,141.8,-9.5,123,916,0.00,2.38,0.00,0.000,4,0.000,0.089,2726,3904,3630,0,0,0,0,0,0
$GC,964,-0.47,-146.0,146.8,-8.3,127,968,0.00,2.25,0.00,0.000,6,0.000,0.058,2726,2489,3630,0,0,0,0,0,0
$GC,1292,-0.54,-146.0,174.8,-8.1,157,1297,0.12,2.30,0.00,0.000,4,0.132,0.075,2684,1079,3630,0,0,0,0,0,0
$GC,1310,-0.57,-146.0,176.7,-8.6,158,1314,0.00,2.35,0.00,0.000,6,0.000,0.073,2683,2493,3630,0,0,0,0,0,0
$GC,1638,-0.54,-146.0,216.3,-13.0,188,1642,0.00,2.40,0.00,0.000,4,0.000,0.090,2684,3909,3629,0,0,0,0,0,0
$GC,1670,-0.54,-146.0,220.6,-11.6,190,1677,0.00,2.28,0.00,0.000,6,0.000,0.058,2683,2489,3629,0,0,0,0,0,0
$GC,1996,-0.51,-146.0,258.1,-11.6,221,2001,0.00,2.28,0.00,0.000,4,0.000,0.074,2684,1079,3629,0,0,0,0,0,0
$GC,2037,-0.51,-146.0,262.7,-10.7,224,2041,0.00,2.33,0.00,0.000,6,0.000,0.073,2683,2494,3629,0,0,0,0,0,0
$GC,2363,-0.51,-146.0,298.5,-10.7,254,2367,0.00,2.35,0.00,0.000,4,0.000,0.090,2683,3899,3629,0,0,0,0,0,0
$GC,2404,-0.54,-146.0,302.7,-10.1,257,2408,0.00,2.25,0.00,0.000,6,0.000,0.058,2683,2488,3628,0,0,0,0,0,0
$GC,2729,-0.54,-146.0,336.4,-10.8,287,2733,0.00,2.30,0.00,0.000,4,0.000,0.073,2684,1078,3628,0,0,0,0,0,0
$GC,2756,-0.54,-146.0,339.6,-11.5,289,2763,0.00,2.33,0.00,0.000,6,0.000,0.072,2683,2492,3629,0,0,0,0,0,0
$GC,3081,-0.54,-146.0,374.0,-10.2,320,3086,0.00,2.38,0.00,0.000,4,0.000,0.088,2684,3910,3629,0,0,0,0,0,0
$GC,3099,-0.54,-146.0,375.8,-10.2,321,3103,0.00,2.28,0.00,0.000,6,0.000,0.057,2684,2483,3628,0,0,0,0,0,0
$GC,3430,-0.54,-146.0,408.9,-9.8,352,3434,0.00,2.28,0.00,0.000,4,0.000,0.072,2684,1069,3629,0,0,0,0,0,0
$GC,3447,-0.54,-146.0,410.9,-10.3,353,3451,0.00,2.38,0.00,0.000,6,0.000,0.072,2683,2500,3629,0,0,0,0,0,0
$GC,3773,-0.54,-146.0,441.7,-9.3,383,3777,0.00,2.38,0.00,0.000,4,0.000,0.087,2683,3907,3629,0,0,0,0,0,0
$GC,3802,-0.56,-146.0,444.4,-9.4,385,3806,0.00,2.25,0.00,0.000,6,0.000,0.057,2684,2488,3629,0,0,0,0,0,0
$GC,4127,-0.56,-146.0,474.2,-9.0,415,4131,0.00,2.28,0.00,0.000,4,0.000,0.071,2683,1079,3629,0,0,0,0,0,0
$GC,4141,-0.56,-146.0,475.2,-8.9,416,4145,0.00,2.35,0.00,0.000,6,0.000,0.071,2684,2498,3629,0,0,0,0,0,0
$GC,4467,-0.56,-146.0,504.6,-9.2,446,4471,0.00,2.38,0.00,0.000,4,0.000,0.086,2684,3909,3630,0,0,0,0,0,0
$GC,4500,-0.60,-146.0,507.8,-9.2,448,4507,0.00,2.28,0.00,0.000,6,0.000,0.056,2684,2490,3630,0,0,0,0,0,0
$GC,4826,-0.60,-146.0,536.4,-9.0,479,4830,0.00,2.33,0.00,0.000,4,0.000,0.071,2683,1076,3630,0,0,0,0,0,0
$GC,4843,-0.60,-146.0,538.1,-8.7,480,4847,0.00,2.35,0.00,0.000,6,0.000,0.071,2684,2496,3630,0,0,0,0,0,0
$GC,5168,-0.60,-146.0,567.1,-9.1,510,5173,0.00,2.35,0.00,0.000,4,0.000,0.086,2684,3905,3630,0,0,0,0,0,0
$GC,5198,-0.63,-146.0,569.9,-9.4,512,5202,0.00,2.25,0.00,0.000,6,0.000,0.056,2683,2485,3630,0,0,0,0,0,0
$GC,5524,-0.65,-146.0,598.4,-8.5,542,5528,0.00,2.28,0.00,0.000,4,0.000,0.070,2683,1078,3630,0,0,0,0,0,0
$GC,5540,-0.68,-146.0,600.0,-8.9,543,5551,0.12,2.35,0.00,0.000,6,0.133,0.070,2641,2497,3630,0,0,0,0,0,0
$STATE,5697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5698,begin apogee
$GC,5704,-0.12,0.0,618.1,11.8,549,5838,0.62,0.00,125.93,1.320,6,0.203,0.000,2810,2266,3031,0,0,0,0,0,0
$STATE,5839,end apogee,CONTROL_FINISHED_OK
$STATE,5839,begin climb
$GC,5842,0.62,146.0,622.7,0.0,553,5987,0.82,2.62,132.48,1.275,4,0.145,0.076,3062,877,2433,0,0,0,0,0,0
$GC,6038,0.57,146.0,608.8,11.1,559,6042,0.00,2.50,0.00,0.000,6,0.000,0.065,3062,2277,2431,0,0,0,0,0,0
$GC,6367,0.52,146.0,573.7,10.6,584,6371,0.00,2.40,0.00,0.000,4,0.000,0.080,3062,3699,2428,0,0,0,0,0,0
$GC,6451,0.41,146.0,563.0,12.5,591,6456,0.28,2.35,0.00,0.000,6,0.190,0.064,3002,2282,2427,0,0,0,0,0,0
$GC,6777,0.55,210.2,538.8,7.0,621,6842,0.12,0.00,57.03,1.222,6,0.106,0.000,3059,2282,2171,0,0,0,0,0,0
$GC,7160,0.55,210.2,495.9,11.5,657,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2282,2164,0,0,0,0,0,0
$GC,7481,0.55,210.2,459.2,11.4,687,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2282,2163,0,0,0,0,0,0
$GC,7808,0.55,210.2,424.1,10.5,718,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2282,2162,0,0,0,0,0,0
$GC,8127,0.55,210.2,390.1,10.8,748,8131,0.00,2.33,0.00,0.000,4,0.000,0.077,3059,3694,2162,0,0,0,0,0,0
$GC,8172,0.51,210.2,384.5,13.0,751,8179,0.15,2.33,0.00,0.000,6,0.184,0.063,3032,2264,2161,0,0,0,0,0,0
$GC,8497,0.59,239.5,355.3,8.7,782,8531,0.00,2.33,25.77,1.127,4,0.000,0.079,3040,866,2052,0,0,0,0,0,0
$GC,8568,0.71,262.7,349.3,8.9,788,8596,0.15,2.35,22.45,1.101,6,0.103,0.065,3105,2289,1959,0,0,0,0,0,0
$GC,8915,0.64,262.7,297.6,15.3,820,8920,0.12,2.33,0.00,0.000,4,0.186,0.078,3075,3691,1953,0,0,0,0,0,0
$GC,8964,0.64,262.7,290.0,13.8,824,8972,0.00,2.30,0.00,0.000,6,0.000,0.063,3083,2276,1951,0,0,0,0,0,0
$GC,9290,0.64,262.7,249.4,12.3,855,9294,0.00,2.33,0.00,0.000,4,0.000,0.076,3093,860,1951,0,0,0,0,0,0
$GC,9347,0.64,262.7,242.4,12.6,860,9351,0.00,2.30,0.00,0.000,6,0.000,0.063,3093,2285,1949,0,0,0,0,0,0
$GC,9672,0.64,262.7,200.7,12.5,890,9676,0.00,2.30,0.00,0.000,4,0.000,0.078,3093,3690,1949,0,0,0,0,0,0
$GC,9741,0.59,262.7,190.9,15.3,896,9746,0.17,2.30,0.00,0.000,6,0.197,0.063,3060,2273,1949,0,0,0,0,0,0
$GC,10067,0.68,282.8,158.6,9.1,926,10090,0.00,2.40,18.42,1.016,4,0.000,0.077,3068,858,1877,0,0,0,0,0,0
$GC,10142,0.82,307.2,151.7,8.9,932,10172,0.17,2.30,23.90,1.013,6,0.097,0.064,3138,2273,1777,0,0,0,0,0,0
$GC,10489,0.82,307.2,103.2,13.0,965,10493,0.00,2.35,0.00,0.000,4,0.000,0.080,3138,3694,1770,0,0,0,0,0,0
$GC,10547,0.77,307.2,95.1,14.0,973,10554,0.15,2.33,0.00,0.000,6,0.203,0.064,3113,2275,1768,0,0,0,0,0,0
$GC,10895,0.88,341.9,61.2,8.4,1034,10931,0.10,0.00,31.10,0.987,6,0.124,0.000,3154,2275,1636,0,0,0,0,0,0
$GC,11270,0.86,341.9,15.5,14.0,1100,11277,0.00,2.35,0.00,0.000,4,0.000,0.078,3166,854,1630,0,0,0,0,0,0
$GC,11296,0.84,341.9,12.4,12.4,1104,11304,0.12,2.30,0.00,0.000,6,0.203,0.063,3137,2278,1630,0,0,0,0,0,0
$FREEZE,8.40,-1.696,-1.766,2,97,0
$STATE,11326,end climb,FINISH_DEPTH_REACHED
$STATE,11326,begin subsurface finish
$FINISH1,8.4,1.025865,80
$GC,11333,0.10,80.2,8.4,-12.2,1109,11381,0.80,2.42,-41.58,0.000,4,0.174,0.096,2901,3686,2705,0,0,0,0,0,0
$FINISH2,7.2
$STATE,11382,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11382,begin surface
$RAFOS_CLK,635
$RAFOS,6,1304700544,16.833334,16.817778,78,65,57,56,53,50,765,218,204,149,166,119
$RAFOS,5,1304700064,16.700001,16.684444,74,66,54,51,50,48,927,204,182,125,157,226
$RAFOS_FIX,6651.371582,-6006.728516,060511,161640,6,95,5.09
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.91
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.1
$24V_AH,21.4,74.490
$10V_AH,10.0,38.458
$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,4.950,122.075,437.075,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2705.303,6191.244,487.784,1846.382,228.432,0.000,1506.788,0.000,1830.696,360.000,14.980,0.000
$DEVICE_MAMPS,227.205,181.305,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.265,855.974,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43349,1117
$CAP_FILE_SIZE,131364,0
$CFSIZE,260165632,216981504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.5
$GPS,060511,161632,6650.382,-6010.151,0,4104.0,0,-37.6