version: 66.08
glider: 141
mission: 15
dive: 547
start: 5 4 111 19 6 13
data:
$ID,141
$MISSION,15
$DIVE,547
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,040511,162707,6657.657,-6007.251,0,7110.4,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.88
$_SM_ANGLEo,-3.0
$GPS2,040511,162707,6657.657,-6007.251,0,7110.4,0,-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,246.1,28773,-17.5,-10.000
$D_GRID,722
$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,-6.35,0.000,2,0.000,0.000,2901,3684,2941,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.5,-0.0,1,53,0.68,4.30,-17.33,0.000,4,0.109,0.072,2668,1078,3627,0,0,0,0,0,0
$GC,167,-0.54,-146.0,35.6,-17.3,25,174,0.00,2.33,0.00,0.000,6,0.000,0.069,2668,2488,3629,0,0,0,0,0,0
$GC,518,-0.40,-146.0,102.6,-19.9,86,523,0.22,2.40,0.00,0.000,4,0.219,0.085,2724,3900,3629,0,0,0,0,0,0
$GC,563,-0.45,-146.0,109.6,-12.3,89,570,0.00,2.28,0.00,0.000,6,0.000,0.056,2724,2484,3629,0,0,0,0,0,0
$GC,892,-0.48,-146.0,143.3,-10.7,120,896,0.00,2.30,0.00,0.000,4,0.000,0.071,2723,1072,3628,0,0,0,0,0,0
$GC,944,-0.55,-146.0,149.0,-9.7,124,949,0.12,2.33,0.00,0.000,6,0.129,0.070,2681,2494,3628,0,0,0,0,0,0
$GC,1271,-0.51,-146.0,188.1,-12.8,154,1275,0.00,2.38,0.00,0.000,4,0.000,0.087,2681,3906,3627,0,0,0,0,0,0
$GC,1328,-0.51,-146.0,195.4,-11.7,159,1332,0.00,2.28,0.00,0.000,6,0.000,0.057,2681,2489,3627,0,0,0,0,0,0
$GC,1653,-0.48,-146.0,236.4,-12.5,189,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2488,3627,0,0,0,0,0,0
$GC,1975,-0.48,-146.0,273.7,-11.0,219,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2489,3627,0,0,0,0,0,0
$GC,2302,-0.48,-146.0,308.5,-10.2,250,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2489,3627,0,0,0,0,0,0
$GC,2621,-0.48,-146.0,340.8,-10.0,280,2625,0.00,2.38,0.00,0.000,4,0.000,0.082,2681,3903,3626,0,0,0,0,0,0
$GC,2644,-0.48,-146.0,343.4,-10.5,282,2648,0.00,2.28,0.00,0.000,6,0.000,0.054,2681,2477,3626,0,0,0,0,0,0
$GC,2969,-0.48,-146.0,375.2,-9.5,312,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2477,3627,0,0,0,0,0,0
$GC,3290,-0.48,-146.0,406.9,-9.9,342,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2477,3627,0,0,0,0,0,0
$GC,3618,-0.48,-146.0,439.4,-9.7,373,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2477,3627,0,0,0,0,0,0
$GC,3944,-0.48,-146.0,470.3,-9.0,404,3948,0.00,2.40,0.00,0.000,4,0.000,0.080,2681,3900,3627,0,0,0,0,0,0
$GC,3973,-0.48,-146.0,472.9,-9.1,406,3977,0.00,2.25,0.00,0.000,6,0.000,0.053,2680,2490,3627,0,0,0,0,0,0
$GC,4298,-0.48,-146.0,501.5,-8.9,436,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2490,3628,0,0,0,0,0,0
$GC,4618,-0.50,-146.0,531.1,-9.3,466,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2490,3628,0,0,0,0,0,0
$GC,4935,-0.53,-146.0,560.2,-9.0,496,4939,0.00,2.35,0.00,0.000,4,0.000,0.079,2681,3899,3628,0,0,0,0,0,0
$GC,4957,-0.56,-146.0,562.3,-9.0,497,4964,0.00,2.25,0.00,0.000,6,0.000,0.051,2681,2485,3628,0,0,0,0,0,0
$GC,5284,-0.58,-146.0,591.2,-8.6,528,5288,0.00,2.38,0.00,0.000,4,0.000,0.079,2681,3907,3628,0,0,0,0,0,0
$GC,5325,-0.63,-146.0,594.8,-8.6,531,5329,0.00,2.25,0.00,0.000,6,0.000,0.052,2680,2489,3628,0,0,0,0,0,0
$GC,5643,-0.66,-146.0,621.7,-8.7,545,5647,0.00,2.35,0.00,0.000,4,0.000,0.079,2681,3899,3628,0,0,0,0,0,0
$GC,5665,-0.69,-146.0,624.0,-8.6,545,5673,0.12,2.25,0.00,0.000,6,0.122,0.051,2635,2482,3628,0,0,0,0,0,0
$STATE,5946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5946,begin apogee
$GC,5952,-0.12,0.0,658.7,12.8,555,6085,0.65,0.00,126.38,1.345,6,0.204,0.000,2812,2268,3031,0,0,0,0,0,0
$STATE,6086,end apogee,CONTROL_FINISHED_OK
$STATE,6086,begin climb
$GC,6089,0.62,146.0,663.6,0.0,559,6236,0.82,2.62,134.00,1.297,4,0.139,0.073,3066,879,2432,0,0,0,0,0,0
$GC,6287,0.56,146.0,649.9,11.2,565,6291,0.00,2.50,0.00,0.000,6,0.000,0.060,3067,2275,2428,0,0,0,0,0,0
$GC,6605,0.49,146.0,614.9,10.9,576,6610,0.15,2.38,0.00,0.000,4,0.180,0.076,3028,3688,2426,0,0,0,0,0,0
$GC,6660,0.45,146.0,609.1,10.2,577,6667,0.00,2.33,0.00,0.000,6,0.000,0.060,3036,2281,2425,0,0,0,0,0,0
$GC,6983,0.46,153.9,579.5,9.6,600,6992,0.00,0.00,6.90,1.009,6,0.000,0.000,3036,2281,2402,0,0,0,0,0,0
$GC,7311,0.48,165.1,547.8,9.5,631,7328,0.00,2.33,11.90,1.139,4,0.000,0.074,3046,867,2355,0,0,0,0,0,0
$GC,7367,0.48,165.1,541.9,10.2,635,7374,0.00,2.33,0.00,0.000,6,0.000,0.062,3046,2289,2354,0,0,0,0,0,0
$GC,7692,0.48,165.1,508.8,10.5,666,7696,0.00,2.30,0.00,0.000,4,0.000,0.076,3046,3697,2353,0,0,0,0,0,0
$GC,7737,0.41,165.1,503.5,12.0,669,7745,0.20,2.30,0.00,0.000,6,0.184,0.058,3003,2273,2353,0,0,0,0,0,0
$GC,8064,0.54,216.3,477.8,7.6,700,8120,0.10,2.35,46.47,1.203,4,0.123,0.073,3060,869,2147,0,0,0,0,0,0
$GC,8159,0.54,216.3,467.4,11.5,708,8166,0.00,2.35,0.00,0.000,6,0.000,0.060,3060,2285,2143,0,0,0,0,0,0
$GC,8485,0.54,216.3,427.8,12.4,739,8489,0.00,2.30,0.00,0.000,4,0.000,0.076,3061,3691,2140,0,0,0,0,0,0
$GC,8548,0.49,216.3,419.2,14.8,744,8552,0.17,2.28,0.00,0.000,6,0.179,0.058,3025,2269,2139,0,0,0,0,0,0
$GC,8874,0.58,229.8,388.1,9.4,774,8891,0.00,2.30,11.70,1.070,4,0.000,0.072,3032,860,2094,0,0,0,0,0,0
$GC,8938,0.68,229.8,381.9,10.2,779,8943,0.15,2.30,0.00,0.000,6,0.103,0.060,3097,2277,2093,0,0,0,0,0,0
$GC,9268,0.60,229.8,332.6,14.9,810,9273,0.15,2.33,0.00,0.000,4,0.186,0.075,3058,3692,2093,0,0,0,0,0,0
$GC,9320,0.60,229.8,325.4,13.8,814,9324,0.00,2.28,0.00,0.000,6,0.000,0.058,3067,2276,2091,0,0,0,0,0,0
$GC,9650,0.60,229.8,285.3,12.0,845,9654,0.00,2.33,0.00,0.000,4,0.000,0.071,3078,861,2091,0,0,0,0,0,0
$GC,9712,0.60,229.8,278.2,12.0,850,9716,0.00,2.28,0.00,0.000,6,0.000,0.060,3078,2275,2090,0,0,0,0,0,0
$GC,10042,0.60,229.8,239.9,11.3,881,10046,0.00,2.33,0.00,0.000,4,0.000,0.075,3078,3693,2090,0,0,0,0,0,0
$GC,10086,0.55,229.8,234.0,13.8,884,10093,0.17,2.28,0.00,0.000,6,0.196,0.057,3044,2276,2090,0,0,0,0,0,0
$GC,10412,0.63,246.4,203.2,9.2,915,10435,0.00,2.30,16.35,1.021,4,0.000,0.072,3047,866,2025,0,0,0,0,0,0
$GC,10493,0.77,265.3,195.8,9.1,922,10519,0.17,2.30,18.80,1.021,6,0.097,0.059,3117,2282,1948,0,0,0,0,0,0
$GC,10845,0.74,265.3,147.7,12.4,955,10849,0.00,2.33,0.00,0.000,4,0.000,0.073,3117,3697,1943,0,0,0,0,0,0
$GC,10890,0.66,265.3,141.4,14.0,958,10897,0.17,2.28,0.00,0.000,6,0.195,0.057,3083,2273,1943,0,0,0,0,0,0
$GC,11215,0.71,266.2,107.2,10.0,989,11219,0.00,2.30,0.00,0.000,4,0.000,0.073,3091,859,1942,0,0,0,0,0,0
$GC,11265,0.78,266.2,101.8,10.7,993,11272,0.00,2.30,0.00,0.000,6,0.000,0.060,3091,2278,1940,0,0,0,0,0,0
$GC,11610,0.92,318.7,71.7,7.6,1052,11669,0.20,2.40,48.60,0.995,4,0.090,0.076,3171,3678,1728,0,0,0,0,0,0
$GC,11767,0.83,318.7,50.6,16.5,1079,11775,0.17,2.30,0.00,0.000,6,0.207,0.059,3137,2276,1723,0,0,0,0,0,0
$FREEZE,8.96,-1.703,-1.765,2,82,0
$STATE,12080,end climb,FINISH_DEPTH_REACHED
$STATE,12080,begin subsurface finish
$FINISH1,9.0,1.025847,81
$GC,12086,0.10,81.0,9.0,-12.7,1134,12134,0.77,2.35,-38.38,0.000,4,0.171,0.086,2905,860,2703,0,0,0,0,0,0
$FINISH2,6.8
$STATE,12134,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12134,begin surface
$RAFOS_CLK,666
$RAFOS,6,1304542144,20.833334,20.817778,76,67,62,56,55,53,767,217,201,173,156,131
$RAFOS,5,1304541673,20.700001,20.686945,57,54,53,51,50,47,145,192,216,166,119,235
$RAFOS,4,1304541189,20.566668,20.552500,77,62,57,57,56,55,693,217,131,190,118,147
$RAFOS,3,1304540703,20.433332,20.417500,73,57,57,55,54,52,208,193,174,139,162,225
$RAFOS,2,1304540226,20.299999,20.285000,65,62,60,55,52,51,200,699,147,130,214,168
$RAFOS,1,1304539744,20.166666,20.151112,148,65,62,60,55,55,592,215,165,198,183,122
$RAFOS,0,1304539268,20.033333,20.018888,103,57,53,52,50,50,637,147,124,187,197,170
$RAFOS_FIX,6656.180664,-6009.224121,040511,202036,4,101,0.22
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.95
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,650.8,21.4
$24V_AH,21.5,72.313
$10V_AH,10.0,37.453
$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,5.225,111.625,421.100,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2749.140,6859.379,475.952,1899.673,218.715,0.000,1502.302,0.000,1873.970,2520.000,19.475,0.000
$DEVICE_MAMPS,218.790,87.210,1344.870,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,816.591,871.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,43372,1142
$CAP_FILE_SIZE,132432,0
$CFSIZE,260165632,217985024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.1
$GPS,040511,202536,6656.181,-6009.224,0,4101.0,0,-37.6