version: 66.08
glider: 141
mission: 15
dive: 546
start: 5 4 111 15 15 6
data:
$ID,141
$MISSION,15
$DIVE,546
$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,-46224.43
$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,23
$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
$GPS1,040511,122734,6657.614,-6003.198,0,7110.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-27.1
$GPS2,040511,122734,6657.614,-6003.198,181,99.0,181,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,251.1,30232,-17.5,-10.000
$D_GRID,771
$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,-146.0,0.0,0.0,0,180,0.00,0.00,-158.68,0.000,2,0.000,0.000,108,2489,3183,0,0,0,0,0,0
$GC,182,-0.62,-146.0,6.0,-20.1,28,214,13.82,2.35,-9.20,0.000,4,0.336,0.085,2655,1074,3630,0,0,0,0,0,0
$GC,233,-0.24,-146.0,25.7,-31.8,36,240,0.50,2.35,0.00,0.000,6,0.223,0.072,2780,2488,3632,0,0,0,0,0,0
$GC,579,-0.35,-146.0,61.3,-8.8,97,586,0.00,2.38,0.00,0.000,4,0.000,0.087,2780,3903,3633,0,0,0,0,0,0
$GC,611,-0.48,-146.0,64.1,-8.0,102,619,0.22,2.28,0.00,0.000,6,0.103,0.056,2702,2485,3632,0,0,0,0,0,0
$GC,953,-0.44,-146.0,113.3,-14.1,155,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2485,3633,0,0,0,0,0,0
$GC,1272,-0.44,-146.0,153.7,-12.8,185,1276,0.00,2.38,0.00,0.000,4,0.000,0.083,2701,3903,3632,0,0,0,0,0,0
$GC,1305,-0.44,-146.0,158.1,-12.4,187,1312,0.00,2.28,0.00,0.000,6,0.000,0.056,2702,2485,3632,0,0,0,0,0,0
$GC,1632,-0.44,-146.0,195.5,-10.6,218,1636,0.00,2.28,0.00,0.000,4,0.000,0.073,2702,1081,3632,0,0,0,0,0,0
$GC,1660,-0.44,-146.0,198.6,-10.2,220,1664,0.00,2.33,0.00,0.000,6,0.000,0.070,2702,2496,3632,0,0,0,0,0,0
$GC,1991,-0.46,-146.0,231.9,-10.0,251,1995,0.00,2.38,0.00,0.000,4,0.000,0.087,2702,3899,3631,0,0,0,0,0,0
$GC,2065,-0.52,-146.0,239.2,-9.5,257,2069,0.00,2.28,0.00,0.000,6,0.000,0.056,2702,2483,3631,0,0,0,0,0,0
$GC,2390,-0.56,-146.0,271.0,-9.3,287,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2483,3631,0,0,0,0,0,0
$GC,2713,-0.60,-146.0,299.4,-8.6,317,2718,0.00,2.40,0.00,0.000,4,0.000,0.082,2702,3902,3631,0,0,0,0,0,0
$GC,2770,-0.68,-146.0,304.5,-8.6,322,2775,0.17,2.28,0.00,0.000,6,0.115,0.055,2641,2483,3631,0,0,0,0,0,0
$GC,3096,-0.57,-146.0,347.4,-13.1,352,3100,0.15,2.40,0.00,0.000,4,0.207,0.081,2676,3900,3631,0,0,0,0,0,0
$GC,3125,-0.54,-146.0,350.8,-11.5,354,3129,0.00,2.25,0.00,0.000,6,0.000,0.054,2677,2489,3631,0,0,0,0,0,0
$GC,3455,-0.54,-146.0,383.0,-10.4,385,3459,0.00,2.40,0.00,0.000,4,0.000,0.080,2677,3909,3631,0,0,0,0,0,0
$GC,3476,-0.54,-146.0,385.4,-10.6,386,3483,0.00,2.28,0.00,0.000,6,0.000,0.054,2677,2486,3631,0,0,0,0,0,0
$GC,3801,-0.54,-146.0,419.0,-10.1,417,3805,0.00,2.40,0.00,0.000,4,0.000,0.080,2676,3907,3632,0,0,0,0,0,0
$GC,3822,-0.54,-146.0,421.4,-10.5,418,3829,0.00,2.28,0.00,0.000,6,0.000,0.053,2677,2482,3632,0,0,0,0,0,0
$GC,4147,-0.54,-146.0,455.0,-10.3,449,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2482,3632,0,0,0,0,0,0
$GC,4468,-0.54,-146.0,486.9,-9.7,479,4472,0.00,2.38,0.00,0.000,4,0.000,0.080,2676,3900,3633,0,0,0,0,0,0
$GC,4497,-0.54,-146.0,490.0,-9.9,481,4501,0.00,2.25,0.00,0.000,6,0.000,0.053,2676,2490,3633,0,0,0,0,0,0
$GC,4823,-0.54,-146.0,521.8,-9.5,511,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2490,3633,0,0,0,0,0,0
$GC,5141,-0.54,-146.0,552.4,-9.4,541,5146,0.00,2.40,0.00,0.000,4,0.000,0.079,2677,3900,3634,0,0,0,0,0,0
$GC,5176,-0.57,-146.0,555.7,-9.8,543,5183,0.00,2.25,0.00,0.000,6,0.000,0.051,2677,2487,3634,0,0,0,0,0,0
$GC,5501,-0.57,-146.0,586.0,-9.4,574,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2488,3634,0,0,0,0,0,0
$GC,5814,-0.57,-146.0,615.2,-9.5,594,5818,0.00,2.38,0.00,0.000,4,0.000,0.077,2676,3908,3634,0,0,0,0,0,0
$GC,5847,-0.60,-146.0,618.4,-9.6,595,5851,0.00,2.28,0.00,0.000,6,0.000,0.052,2676,2480,3634,0,0,0,0,0,0
$GC,6177,-0.60,-146.0,647.9,-9.0,606,6181,0.00,2.40,0.00,0.000,4,0.000,0.078,2676,3903,3634,0,0,0,0,0,0
$GC,6200,-0.62,-146.0,649.9,-8.9,606,6208,0.00,2.25,0.00,0.000,6,0.000,0.051,2676,2489,3634,0,0,0,0,0,0
$GC,6514,-0.64,-146.0,677.7,-8.8,617,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2490,3635,0,0,0,0,0,0
$STATE,6817,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6817,begin apogee
$GC,6823,-0.12,0.0,704.4,8.4,627,6958,0.47,0.00,129.25,1.378,6,0.185,0.000,2813,2259,3029,0,0,0,0,0,0
$STATE,6959,end apogee,CONTROL_FINISHED_OK
$STATE,6959,begin climb
$GC,6962,0.62,146.0,708.8,0.0,631,7108,0.80,2.65,135.10,1.330,4,0.137,0.075,3060,881,2433,0,0,0,0,0,0
$GC,7199,0.57,146.0,690.1,11.3,638,7204,0.00,2.47,0.00,0.000,6,0.000,0.060,3060,2282,2428,0,0,0,0,0,0
$GC,7512,0.52,146.0,656.1,10.6,648,7516,0.00,2.38,0.00,0.000,4,0.000,0.076,3060,3698,2426,0,0,0,0,0,0
$GC,7582,0.41,146.0,647.7,13.0,650,7587,0.28,2.33,0.00,0.000,6,0.188,0.059,3000,2285,2425,0,0,0,0,0,0
$GC,7918,0.55,211.6,622.9,7.0,661,7982,0.12,2.50,57.75,1.277,4,0.107,0.076,3067,864,2166,0,0,0,0,0,0
$GC,8004,0.55,211.6,613.7,11.2,663,8008,0.00,2.38,0.00,0.000,6,0.000,0.060,3067,2277,2163,0,0,0,0,0,0
$GC,8332,0.51,211.6,574.0,12.5,686,8337,0.15,2.35,0.00,0.000,4,0.177,0.076,3027,3699,2159,0,0,0,0,0,0
$GC,8371,0.54,211.6,569.4,11.1,689,8378,0.00,2.33,0.00,0.000,6,0.000,0.060,3035,2274,2158,0,0,0,0,0,0
$GC,8697,0.58,211.6,536.2,10.5,720,8701,0.00,2.30,0.00,0.000,4,0.000,0.074,3044,859,2157,0,0,0,0,0,0
$GC,8760,0.63,211.6,529.8,10.5,725,8764,0.00,2.33,0.00,0.000,6,0.000,0.061,3044,2286,2156,0,0,0,0,0,0
$GC,9085,0.65,211.6,495.3,10.5,755,9089,0.00,2.33,0.00,0.000,4,0.000,0.076,3044,3698,2156,0,0,0,0,0,0
$GC,9141,0.65,211.6,488.5,12.7,759,9148,0.00,2.30,0.00,0.000,6,0.000,0.059,3054,2274,2156,0,0,0,0,0,0
$GC,9466,0.65,211.6,454.6,10.1,790,9471,0.00,2.28,0.00,0.000,4,0.000,0.073,3065,864,2155,0,0,0,0,0,0
$GC,9518,0.65,211.6,449.3,10.8,794,9523,0.00,2.28,0.00,0.000,6,0.000,0.060,3065,2278,2154,0,0,0,0,0,0
$GC,9849,0.65,211.6,414.4,10.7,825,9853,0.00,2.30,0.00,0.000,4,0.000,0.076,3065,3687,2154,0,0,0,0,0,0
$GC,9894,0.61,211.6,409.0,12.5,828,9901,0.00,2.28,0.00,0.000,6,0.000,0.059,3075,2276,2154,0,0,0,0,0,0
$GC,10221,0.59,211.6,370.6,11.8,859,10225,0.00,2.30,0.00,0.000,4,0.000,0.073,3085,859,2155,0,0,0,0,0,0
$GC,10278,0.56,211.6,363.9,12.3,863,10285,0.15,2.30,0.00,0.000,6,0.184,0.060,3048,2278,2154,0,0,0,0,0,0
$GC,10603,0.59,211.6,331.9,10.1,894,10607,0.00,2.33,0.00,0.000,4,0.000,0.076,3048,3691,2154,0,0,0,0,0,0
$GC,10649,0.59,211.6,326.8,11.9,898,10653,0.00,2.28,0.00,0.000,6,0.000,0.058,3055,2276,2154,0,0,0,0,0,0
$GC,10974,0.59,211.6,293.1,10.2,928,10978,0.00,2.28,0.00,0.000,4,0.000,0.073,3066,866,2154,0,0,0,0,0,0
$GC,11025,0.61,211.6,287.6,10.6,932,11029,0.00,2.30,0.00,0.000,6,0.000,0.061,3066,2285,2153,0,0,0,0,0,0
$GC,11356,0.63,228.2,254.4,9.2,963,11379,0.00,2.35,13.95,1.038,4,0.000,0.076,3067,3680,2099,0,0,0,0,0,0
$GC,11431,0.60,228.2,246.2,12.0,969,11438,0.00,2.28,0.00,0.000,6,0.000,0.059,3077,2276,2099,0,0,0,0,0,0
$GC,11756,0.60,228.2,212.1,10.6,1000,11760,0.00,2.30,0.00,0.000,4,0.000,0.072,3086,869,2098,0,0,0,0,0,0
$GC,11822,0.60,228.2,204.5,11.4,1005,11829,0.00,2.28,0.00,0.000,6,0.000,0.059,3086,2278,2096,0,0,0,0,0,0
$GC,12147,0.60,228.2,167.4,11.1,1036,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2278,2096,0,0,0,0,0,0
$GC,12470,0.60,228.2,132.9,10.2,1066,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2278,2096,0,0,0,0,0,0
$GC,12797,0.64,266.9,103.9,8.2,1097,12836,0.00,0.00,36.12,1.016,6,0.000,0.000,3086,2278,1941,0,0,0,0,0,0
$GC,13174,0.75,306.5,69.3,8.2,1160,13216,0.00,2.45,36.35,0.984,4,0.000,0.075,3095,863,1780,0,0,0,0,0,0
$GC,13241,0.91,341.0,63.7,8.4,1171,13283,0.17,2.33,32.50,0.950,6,0.101,0.061,3162,2273,1638,0,0,0,0,0,0
$GC,13621,0.89,341.0,13.8,13.1,1238,13628,0.00,2.35,0.00,0.000,4,0.000,0.076,3162,3689,1628,0,0,0,0,0,0
$FREEZE,8.32,-1.688,-1.765,2,81,0
$STATE,13656,end climb,FINISH_DEPTH_REACHED
$STATE,13656,begin subsurface finish
$FINISH1,8.3,1.025851,81
$GC,13667,0.10,80.8,8.3,-14.0,1244,13720,0.93,2.45,-46.42,0.000,4,0.174,0.091,2901,3684,2702,0,0,0,0,0,0
$FINISH2,6.1
$STATE,13721,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13721,begin surface
$RAFOS_CLK,788
$RAFOS,6,1304527743,16.833334,16.817499,118,62,62,56,54,53,760,206,193,131,175,122
$RAFOS,5,1304527263,16.700001,16.684166,127,61,57,57,56,51,939,160,215,187,132,171
$RAFOS,4,1304526788,16.566668,16.552221,167,63,59,58,57,57,694,196,167,139,219,209
$RAFOS,3,1304526304,16.433332,16.417778,76,64,62,61,55,53,844,214,134,198,182,161
$RAFOS,2,1304525833,16.299999,16.286945,103,58,57,57,56,53,678,150,194,169,206,215
$RAFOS,1,1304525346,16.166666,16.151667,99,71,66,64,58,58,598,160,195,117,142,213
$RAFOS,0,1304524862,16.033333,16.017221,83,57,56,56,53,50,689,163,221,205,121,175
$RAFOS_FIX,6657.657227,-6007.251465,040511,161607,7,110,0.20
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.12
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,701.8,17.4
$24V_AH,21.4,72.167
$10V_AH,10.0,37.382
$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,17.950,133.525,441.025,0.000,0.000,98.354,18.842,0.000,2.750,0.000,182.291,3005.594,7953.036,631.172,2396.653,583.190,0.000,1790.012,0.000,2073.415,2520.000,25.598,0.000
$DEVICE_MAMPS,335.835,91.035,1377.765,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.891,958.715,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150516
$DATA_FILE_SIZE,46639,1253
$CAP_FILE_SIZE,154120,0
$CFSIZE,260165632,218030080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.2
$GPS,040511,162707,6657.657,-6007.251,0,7110.4,0,-37.6