version: 66.08
glider: 141
mission: 15
dive: 564
start: 5 6 111 23 5 47
data:
$ID,141
$MISSION,15
$DIVE,564
$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,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
$GPS1,060511,202722,6651.620,-6002.332,0,6084.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.69
$_SM_ANGLEo,2.3
$GPS2,060511,202722,6651.620,-6002.332,0,6084.8,0,-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,119.1,141910,-17.5,-10.000
$D_GRID,725
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.80,0.000,2,0.000,0.000,2904,3687,2984,0,0,0,0,0,0
$GC,27,-0.62,-146.0,16.2,-0.0,1,46,0.68,0.40,-12.80,0.000,4,0.113,0.177,2672,3910,3631,0,0,0,0,0,0
$GC,200,-0.54,-146.0,45.2,-17.0,31,206,0.00,2.30,0.00,0.000,6,0.000,0.057,2672,2480,3632,0,0,0,0,0,0
$GC,547,-0.42,-146.0,112.2,-17.4,87,552,0.20,2.30,0.00,0.000,4,0.220,0.073,2720,1079,3632,0,0,0,0,0,0
$GC,570,-0.37,-146.0,115.8,-14.5,88,577,0.00,2.35,0.00,0.000,6,0.000,0.073,2720,2496,3632,0,0,0,0,0,0
$GC,896,-0.40,-146.0,146.7,-9.7,119,899,0.00,2.38,0.00,0.000,4,0.000,0.090,2720,3909,3631,0,0,0,0,0,0
$GC,935,-0.47,-146.0,150.9,-10.5,122,942,0.00,2.30,0.00,0.000,6,0.000,0.059,2720,2481,3631,0,0,0,0,0,0
$GC,1261,-0.53,-146.0,182.5,-8.9,153,1265,0.00,2.28,0.00,0.000,4,0.000,0.074,2720,1077,3631,0,0,0,0,0,0
$GC,1283,-0.58,-146.0,184.8,-10.2,154,1290,0.15,2.33,0.00,0.000,6,0.122,0.074,2669,2491,3630,0,0,0,0,0,0
$GC,1609,-0.52,-146.0,224.3,-12.4,185,1613,0.00,2.38,0.00,0.000,4,0.000,0.090,2668,3902,3629,0,0,0,0,0,0
$GC,1627,-0.45,-146.0,226.6,-13.0,186,1632,0.17,2.28,0.00,0.000,6,0.200,0.060,2711,2480,3629,0,0,0,0,0,0
$GC,1953,-0.51,-146.0,255.8,-7.9,216,1957,0.00,2.28,0.00,0.000,4,0.000,0.073,2711,1073,3630,0,0,0,0,0,0
$GC,1982,-0.57,-146.0,258.1,-8.5,218,1987,0.00,2.35,0.00,0.000,6,0.000,0.073,2711,2490,3630,0,0,0,0,0,0
$GC,2309,-0.64,-146.0,283.2,-8.2,248,2314,0.17,2.40,0.00,0.000,4,0.115,0.089,2651,3909,3630,0,0,0,0,0,0
$GC,2361,-0.59,-146.0,289.4,-13.4,252,2365,0.00,2.30,0.00,0.000,6,0.000,0.060,2651,2484,3629,0,0,0,0,0,0
$GC,2686,-0.51,-146.0,333.3,-13.4,282,2688,0.17,0.00,0.00,0.000,6,0.216,0.000,2693,2485,3629,0,0,0,0,0,0
$GC,3006,-0.54,-146.0,364.7,-9.2,312,3010,0.00,2.28,0.00,0.000,4,0.000,0.072,2693,1074,3629,0,0,0,0,0,0
$GC,3039,-0.58,-146.0,368.1,-9.5,314,3046,0.00,2.35,0.00,0.000,6,0.000,0.071,2693,2494,3629,0,0,0,0,0,0
$GC,3365,-0.61,-146.0,396.4,-8.7,345,3369,0.00,2.38,0.00,0.000,4,0.000,0.087,2693,3899,3630,0,0,0,0,0,0
$GC,3394,-0.66,-146.0,398.9,-9.0,347,3399,0.12,2.28,0.00,0.000,6,0.129,0.057,2651,2482,3630,0,0,0,0,0,0
$GC,3719,-0.59,-146.0,437.0,-11.6,377,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2482,3629,0,0,0,0,0,0
$GC,4038,-0.53,-146.0,474.8,-11.3,407,4040,0.15,0.00,0.00,0.000,6,0.210,0.000,2687,2482,3630,0,0,0,0,0,0
$GC,4356,-0.56,-146.0,502.6,-8.5,437,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2482,3630,0,0,0,0,0,0
$GC,4677,-0.59,-146.0,529.5,-8.6,467,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2483,3631,0,0,0,0,0,0
$GC,5003,-0.62,-146.0,557.6,-8.5,498,5007,0.00,2.40,0.00,0.000,4,0.000,0.081,2687,3907,3630,0,0,0,0,0,0
$GC,5033,-0.67,-146.0,560.1,-8.8,500,5038,0.12,2.25,0.00,0.000,6,0.125,0.054,2644,2484,3630,0,0,0,0,0,0
$GC,5359,-0.60,-146.0,597.7,-11.8,530,5363,0.00,2.30,0.00,0.000,4,0.000,0.070,2644,1071,3630,0,0,0,0,0,0
$GC,5377,-0.52,-146.0,599.9,-11.8,531,5382,0.17,2.33,0.00,0.000,6,0.210,0.070,2689,2491,3631,0,0,0,0,0,0
$GC,5696,-0.57,-146.0,627.2,-8.4,542,5700,0.00,2.38,0.00,0.000,4,0.000,0.085,2689,3910,3631,0,0,0,0,0,0
$GC,5721,-0.63,-146.0,629.2,-8.2,542,5725,0.00,2.25,0.00,0.000,6,0.000,0.054,2689,2489,3631,0,0,0,0,0,0
$GC,6035,-0.68,-146.0,653.9,-7.7,552,6037,0.15,0.00,0.00,0.000,6,0.119,0.000,2637,2489,3631,0,0,0,0,0,0
$GC,6341,-0.60,-146.0,689.4,-12.1,562,6346,0.12,2.33,0.00,0.000,4,0.216,0.070,2665,1074,3631,0,0,0,0,0,0
$GC,6357,-0.53,-146.0,691.6,-12.3,562,6361,0.00,2.35,0.00,0.000,6,0.000,0.070,2665,2493,3632,0,0,0,0,0,0
$GC,6670,-0.53,-146.0,723.2,-9.7,572,6674,0.00,2.38,0.00,0.000,4,0.000,0.086,2665,3903,3631,0,0,0,0,0,0
$STATE,6689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6689,begin apogee
$GC,6698,-0.12,0.0,725.4,9.6,572,6833,0.52,0.00,128.15,1.391,6,0.190,0.000,2815,2264,3029,0,0,0,0,0,0
$STATE,6834,end apogee,CONTROL_FINISHED_OK
$STATE,6834,begin climb
$GC,6837,0.62,146.0,730.1,0.0,577,6982,0.80,2.70,135.12,1.345,4,0.138,0.076,3062,867,2433,0,0,0,0,0,0
$GC,7057,0.62,146.0,714.3,25259.5,584,7062,0.00,2.53,0.00,0.000,6,0.000,0.063,3062,2281,2429,0,0,0,0,0,0
$GC,7393,0.62,146.0,677.7,25259.5,595,7397,0.00,2.38,0.00,0.000,4,0.000,0.080,3062,3696,2426,0,0,0,0,0,0
$GC,7482,0.62,146.0,665.8,25259.5,597,7489,0.00,2.35,0.00,0.000,6,0.000,0.063,3072,2275,2426,0,0,0,0,0,0
$GC,7796,0.62,146.0,629.0,25259.5,608,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2275,2425,0,0,0,0,0,0
$GC,8104,0.62,146.0,591.2,25259.5,622,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2275,2425,0,0,0,0,0,0
$GC,8425,0.62,146.0,552.5,25259.5,652,8429,0.00,2.33,0.00,0.000,4,0.000,0.076,3072,3691,2424,0,0,0,0,0,0
$GC,8469,0.62,146.0,546.1,25259.5,655,8476,0.00,2.30,0.00,0.000,6,0.000,0.061,3082,2266,2425,0,0,0,0,0,0
$GC,8794,0.62,146.0,506.2,25259.5,686,8799,0.00,2.38,0.00,0.000,4,0.000,0.076,3082,3698,2424,0,0,0,0,0,0
$GC,8835,0.62,146.0,500.8,25259.5,689,8839,0.00,2.30,0.00,0.000,6,0.000,0.061,3092,2278,2425,0,0,0,0,0,0
$GC,9161,0.62,146.0,460.5,25259.5,719,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2279,2425,0,0,0,0,0,0
$GC,9482,0.62,146.0,422.3,25259.5,749,9486,0.00,2.33,0.00,0.000,4,0.000,0.075,3092,3693,2424,0,0,0,0,0,0
$GC,9527,0.62,146.0,415.8,25259.5,752,9535,0.15,2.30,0.00,0.000,6,0.213,0.060,3068,2271,2425,0,0,0,0,0,0
$GC,9853,0.62,146.0,381.2,25259.5,783,9857,0.00,2.28,0.00,0.000,4,0.000,0.073,3077,863,2425,0,0,0,0,0,0
$GC,9894,0.62,146.0,377.0,25259.5,786,9898,0.00,2.30,0.00,0.000,6,0.000,0.065,3077,2284,2424,0,0,0,0,0,0
$GC,10221,0.62,146.0,338.8,25259.5,816,10225,0.00,2.30,0.00,0.000,4,0.000,0.077,3077,3694,2424,0,0,0,0,0,0
$GC,10288,0.62,146.0,329.1,25259.5,821,10295,0.00,2.30,0.00,0.000,6,0.000,0.060,3086,2269,2424,0,0,0,0,0,0
$GC,10613,0.62,146.0,287.3,25259.5,852,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2269,2424,0,0,0,0,0,0
$GC,10934,0.62,146.0,249.9,25259.5,882,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2269,2424,0,0,0,0,0,0
$GC,11263,0.62,146.0,214.1,25259.5,913,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2269,2424,0,0,0,0,0,0
$GC,11591,0.62,146.0,184.4,25259.5,944,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2269,2424,0,0,0,0,0,0
$GC,11920,0.62,146.0,154.9,25259.5,975,11925,0.00,2.35,0.00,0.000,4,0.000,0.075,3086,3694,2424,0,0,0,0,0,0
$GC,11951,0.62,146.0,151.6,25259.5,977,11956,0.12,2.30,0.00,0.000,6,0.205,0.060,3068,2268,2425,0,0,0,0,0,0
$GC,12277,0.62,146.0,125.7,25259.5,1007,12281,0.00,2.35,0.00,0.000,4,0.000,0.075,3068,3695,2425,0,0,0,0,0,0
$GC,12343,0.62,146.0,119.8,25259.5,1012,12350,0.00,2.30,0.00,0.000,6,0.000,0.060,3077,2273,2425,0,0,0,0,0,0
$GC,12670,0.62,146.0,99.6,25259.5,1043,12677,0.00,2.30,0.00,0.000,4,0.000,0.073,3086,858,2425,0,0,0,0,0,0
$GC,12846,0.62,146.0,87.3,25259.5,1074,12853,0.00,2.33,0.00,0.000,6,0.000,0.067,3087,2275,2424,0,0,0,0,0,0
$STATE,12880,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12880,begin subsurface finish
$FINISH1,84.9,1.026274,60
$GC,12887,0.07,60.1,84.9,-25259.5,1080,12896,0.65,2.42,-2.62,0.000,4,0.172,0.092,2895,3685,2797,0,0,0,0,0,0
$FINISH2,84.2
$STATE,12897,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12897,begin surface
$RAFOS_CLK,713
$RAFOS,6,1304729362,0.833333,0.822778,125,71,57,57,52,52,632,210,146,193,230,169
$RAFOS,5,1304728863,0.700000,0.684167,65,60,54,52,48,48,199,219,146,174,940,973
$RAFOS,4,1304728386,0.566667,0.551667,121,62,55,51,51,50,668,195,164,207,174,143
$RAFOS,3,1304727903,0.433333,0.417500,69,55,53,52,51,50,809,183,199,211,134,112
$RAFOS,2,1304727426,0.300000,0.285000,73,71,57,56,55,54,682,198,139,210,130,172
$RAFOS,1,1304726949,0.166667,0.152500,120,61,59,57,56,55,551,200,125,211,172,234
$RAFOS,0,1304726466,0.033333,0.018333,80,66,58,57,53,52,665,184,215,165,193,139
$RAFOS_FIX,6652.972656,-5958.646484,070511,000053,6,98,0.26
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,48.74
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.8,17.3
$ALTIM_BOTTOM_PING,85.7,17.5
$24V_AH,21.3,74.730
$10V_AH,9.9,38.593
$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,4.650,112.900,263.275,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2733.085,7897.485,327.903,1789.766,221.905,0.000,1282.728,0.000,1775.533,2520.000,16.889,0.000
$DEVICE_MAMPS,219.555,177.480,1390.770,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.397,835.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,39954,1081
$CAP_FILE_SIZE,131357,0
$CFSIZE,260165632,216846336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.5
$GPS,070511,002453,6652.973,-5958.646,0,6098.0,0,-37.6