version: 66.08
glider: 141
mission: 15
dive: 548
start: 5 4 111 22 30 42
data:
$ID,141
$MISSION,15
$DIVE,548
$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,20
$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
$GPS1,040511,202536,6656.181,-6009.224,0,4101.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.94
$_SM_ANGLEo,-5.6
$GPS2,040511,202536,6656.181,-6009.224,0,4101.0,0,-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,246.1,25682,-17.5,-10.000
$D_GRID,687
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.72,0.000,2,0.000,0.000,2904,861,2898,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.1,-0.0,1,52,0.68,0.38,-20.50,0.000,4,0.105,0.151,2668,1084,3628,0,0,0,0,0,0
$GC,134,-0.52,-146.0,25.3,-17.3,19,141,0.00,2.33,0.00,0.000,6,0.000,0.074,2668,2489,3631,0,0,0,0,0,0
$GC,479,-0.39,-146.0,93.8,-16.0,80,486,0.25,2.38,0.00,0.000,4,0.226,0.083,2732,3908,3630,0,0,0,0,0,0
$GC,534,-0.46,-146.0,99.7,-8.0,89,541,0.00,2.28,0.00,0.000,6,0.000,0.052,2732,2477,3631,0,0,0,0,0,0
$GC,860,-0.52,-146.0,132.6,-10.4,120,862,0.12,0.00,0.00,0.000,6,0.130,0.000,2690,2477,3630,0,0,0,0,0,0
$GC,1180,-0.49,-146.0,171.7,-13.8,150,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2477,3629,0,0,0,0,0,0
$GC,1498,-0.49,-146.0,207.4,-10.6,180,1503,0.00,2.40,0.00,0.000,4,0.000,0.082,2690,3903,3629,0,0,0,0,0,0
$GC,1516,-0.49,-146.0,209.4,-10.6,181,1520,0.00,2.25,0.00,0.000,6,0.000,0.054,2690,2483,3629,0,0,0,0,0,0
$GC,1846,-0.49,-146.0,242.9,-9.6,212,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2483,3629,0,0,0,0,0,0
$GC,2167,-0.49,-146.0,274.2,-10.4,242,2171,0.00,2.30,0.00,0.000,4,0.000,0.071,2689,1072,3628,0,0,0,0,0,0
$GC,2195,-0.49,-146.0,277.5,-10.9,244,2199,0.00,2.35,0.00,0.000,6,0.000,0.069,2690,2497,3628,0,0,0,0,0,0
$GC,2522,-0.49,-146.0,310.4,-10.1,274,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2498,3628,0,0,0,0,0,0
$GC,2841,-0.49,-146.0,340.5,-9.0,304,2845,0.00,2.38,0.00,0.000,4,0.000,0.085,2690,3907,3628,0,0,0,0,0,0
$GC,2882,-0.53,-146.0,344.3,-9.3,307,2886,0.00,2.28,0.00,0.000,6,0.000,0.053,2689,2480,3628,0,0,0,0,0,0
$GC,3208,-0.55,-146.0,372.9,-8.6,337,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2480,3628,0,0,0,0,0,0
$GC,3528,-0.57,-146.0,401.2,-8.9,367,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2480,3628,0,0,0,0,0,0
$GC,3857,-0.60,-146.0,429.7,-8.7,398,3861,0.00,2.28,0.00,0.000,4,0.000,0.068,2689,1073,3628,0,0,0,0,0,0
$GC,3875,-0.62,-146.0,431.4,-8.5,399,3879,0.00,2.33,0.00,0.000,6,0.000,0.066,2689,2494,3629,0,0,0,0,0,0
$GC,4201,-0.66,-146.0,459.7,-8.8,429,4206,0.12,2.38,0.00,0.000,4,0.125,0.083,2644,3906,3629,0,0,0,0,0,0
$GC,4223,-0.64,-146.0,462.4,-10.7,430,4230,0.00,2.25,0.00,0.000,6,0.000,0.053,2643,2490,3628,0,0,0,0,0,0
$GC,4549,-0.56,-146.0,503.7,-12.6,461,4550,0.15,0.00,0.00,0.000,6,0.210,0.000,2679,2490,3629,0,0,0,0,0,0
$GC,4867,-0.56,-146.0,534.7,-9.6,491,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2490,3629,0,0,0,0,0,0
$GC,5188,-0.56,-146.0,565.4,-9.7,521,5192,0.00,2.38,0.00,0.000,4,0.000,0.079,2679,3905,3629,0,0,0,0,0,0
$GC,5216,-0.58,-146.0,568.5,-9.9,523,5222,0.00,2.25,0.00,0.000,6,0.000,0.050,2679,2485,3629,0,0,0,0,0,0
$GC,5541,-0.61,-146.0,598.1,-9.3,554,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2485,3629,0,0,0,0,0,0
$STATE,5866,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5866,begin apogee
$GC,5872,-0.12,0.0,627.9,9.2,566,6005,0.47,0.00,126.03,1.330,6,0.184,0.000,2816,2268,3030,0,0,0,0,0,0
$STATE,6006,end apogee,CONTROL_FINISHED_OK
$STATE,6006,begin climb
$GC,6008,0.62,146.0,633.0,0.0,570,6150,0.80,0.00,134.20,1.281,6,0.135,0.000,3055,2268,2433,0,0,0,0,0,0
$GC,6458,0.58,149.2,594.4,9.8,587,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2268,2426,0,0,0,0,0,0
$GC,6777,0.54,149.2,563.4,10.2,617,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2268,2426,0,0,0,0,0,0
$GC,7096,0.50,154.6,531.8,9.8,647,7106,0.00,0.00,7.53,1.025,6,0.000,0.000,3055,2268,2399,0,0,0,0,0,0
$GC,7423,0.46,154.6,498.1,10.7,678,7428,0.15,2.35,0.00,0.000,4,0.194,0.073,3017,3687,2398,0,0,0,0,0,0
$GC,7467,0.46,154.6,493.3,10.4,681,7474,0.00,2.28,0.00,0.000,6,0.000,0.057,3025,2272,2398,0,0,0,0,0,0
$GC,7795,0.50,167.9,462.7,9.4,712,7818,0.00,2.38,13.27,1.126,4,0.000,0.075,3035,866,2344,0,0,0,0,0,0
$GC,7854,0.54,170.1,456.9,9.9,717,7858,0.00,2.30,0.00,0.000,6,0.000,0.061,3036,2277,2343,0,0,0,0,0,0
$GC,8179,0.56,183.2,425.5,9.4,747,8202,0.00,2.38,14.68,1.126,4,0.000,0.076,3036,3686,2282,0,0,0,0,0,0
$GC,8265,0.53,183.2,416.4,11.2,754,8272,0.00,2.30,0.00,0.000,6,0.000,0.057,3045,2268,2282,0,0,0,0,0,0
$GC,8591,0.54,194.5,384.2,9.5,785,8607,0.00,2.30,11.43,1.072,4,0.000,0.073,3055,863,2238,0,0,0,0,0,0
$GC,8646,0.56,205.2,378.8,9.5,789,8664,0.00,2.30,11.35,1.064,6,0.000,0.060,3055,2278,2193,0,0,0,0,0,0
$GC,8982,0.56,205.2,345.0,10.3,821,8986,0.00,2.33,0.00,0.000,4,0.000,0.075,3055,3692,2190,0,0,0,0,0,0
$GC,9033,0.52,205.2,339.1,12.1,825,9038,0.12,2.30,0.00,0.000,6,0.187,0.057,3036,2267,2190,0,0,0,0,0,0
$GC,9360,0.61,241.1,310.3,8.3,855,9399,0.00,2.33,33.55,1.105,4,0.000,0.073,3042,864,2045,0,0,0,0,0,0
$GC,9440,0.75,275.2,303.7,8.4,861,9481,0.17,2.33,32.65,1.083,6,0.093,0.059,3114,2281,1906,0,0,0,0,0,0
$GC,9798,0.68,275.2,248.2,16.0,895,9803,0.12,2.33,0.00,0.000,4,0.199,0.074,3085,3698,1898,0,0,0,0,0,0
$GC,9854,0.68,275.2,239.3,15.1,899,9861,0.00,2.33,0.00,0.000,6,0.000,0.058,3092,2268,1896,0,0,0,0,0,0
$GC,10181,0.68,275.2,195.1,12.7,930,10185,0.00,2.30,0.00,0.000,4,0.000,0.073,3103,857,1896,0,0,0,0,0,0
$GC,10233,0.68,275.2,188.3,13.0,934,10237,0.00,2.30,0.00,0.000,6,0.000,0.060,3103,2277,1895,0,0,0,0,0,0
$GC,10558,0.68,275.2,149.6,11.2,964,10562,0.00,2.30,0.00,0.000,4,0.000,0.075,3103,3686,1894,0,0,0,0,0,0
$GC,10608,0.64,275.2,143.2,13.4,968,10615,0.17,2.30,0.00,0.000,6,0.197,0.059,3070,2265,1894,0,0,0,0,0,0
$GC,10934,0.77,315.3,116.2,8.2,999,10979,0.12,2.38,34.97,1.014,4,0.109,0.074,3134,865,1743,0,0,0,0,0,0
$GC,11020,0.79,315.3,106.4,12.2,1006,11027,0.00,2.33,0.00,0.000,6,0.000,0.061,3134,2277,1740,0,0,0,0,0,0
$GC,11363,0.81,325.9,70.3,9.5,1062,11381,0.00,2.38,10.07,0.920,4,0.000,0.077,3134,3687,1700,0,0,0,0,0,0
$GC,11445,0.81,325.9,59.2,14.4,1076,11452,0.00,2.30,0.00,0.000,6,0.000,0.060,3144,2273,1699,0,0,0,0,0,0
$GC,11792,0.81,325.9,13.5,15.0,1137,11799,0.00,2.30,0.00,0.000,4,0.000,0.073,3154,856,1696,0,0,0,0,0,0
$FREEZE,8.52,-1.716,-1.765,2,83,0
$STATE,11833,end climb,FINISH_DEPTH_REACHED
$STATE,11833,begin subsurface finish
$FINISH1,8.5,1.025853,81
$GC,11843,0.10,80.8,8.5,-11.2,1144,11892,0.82,2.40,-38.10,0.000,4,0.157,0.089,2901,869,2703,0,0,0,0,0,0
$FINISH2,8.0
$STATE,11892,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11893,begin surface
$RAFOS_CLK,651
$RAFOS,6,1304556543,0.833333,0.817500,158,62,60,58,56,56,779,204,219,184,153,166
$RAFOS,5,1304556065,0.700000,0.684722,73,62,57,51,51,50,948,212,188,224,149,97
$RAFOS,4,1304555588,0.566667,0.552222,65,63,61,58,55,54,716,182,197,140,215,167
$RAFOS,3,1304555110,0.433333,0.419444,67,61,53,53,52,51,215,192,137,175,203,119
$RAFOS,2,1304554634,0.300000,0.287222,67,66,56,54,54,54,184,214,158,117,167,666
$RAFOS,1,1304554145,0.166667,0.151389,58,58,57,56,55,52,136,205,173,187,115,223
$RAFOS,0,1304553663,0.033333,0.017500,63,58,58,56,55,48,203,170,216,189,228,160
$RAFOS_FIX,6702.338379,-6014.291992,050511,000022,3,99,0.77
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.40
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.7
$ALTIM_BOTTOM_PING,600.0,42.4
$24V_AH,21.5,72.460
$10V_AH,10.0,37.522
$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,4.300,93.600,429.725,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2770.036,6644.224,510.664,1820.856,214.126,0.000,1475.432,0.000,1806.352,2520.000,17.762,0.000
$DEVICE_MAMPS,226.440,150.705,1330.335,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.056,884.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43399,1152
$CAP_FILE_SIZE,125752,0
$CFSIZE,260165632,217923584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.8
$GPS,050511,004322,6702.338,-6014.292,0,3098.7,0,-37.6