version: 66.08
glider: 141
mission: 15
dive: 549
start: 5 5 111 1 51 5
data:
$ID,141
$MISSION,15
$DIVE,549
$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,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
$GPS1,050511,004322,6702.338,-6014.292,0,3098.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.25
$_SM_ANGLEo,-3.5
$GPS2,050511,004322,6702.338,-6014.292,0,3098.7,0,-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,231.8,35026,-17.5,-10.000
$D_GRID,717
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,26,0.00,0.00,-6.62,0.000,2,0.000,0.000,2901,869,2974,0,0,0,0,0,0
$GC,29,-0.62,-146.0,13.1,-0.0,1,54,0.68,5.12,-15.40,0.000,4,0.107,0.083,2666,3899,3629,0,0,0,0,0,0
$GC,131,-0.53,-146.0,29.5,-19.1,18,138,0.00,2.25,0.00,0.000,6,0.000,0.054,2666,2489,3631,0,0,0,0,0,0
$GC,476,-0.39,-146.0,98.9,-16.8,79,483,0.25,2.38,0.00,0.000,4,0.222,0.080,2731,3906,3630,0,0,0,0,0,0
$GC,549,-0.45,-146.0,107.0,-8.9,86,553,0.00,2.28,0.00,0.000,6,0.000,0.054,2731,2476,3631,0,0,0,0,0,0
$GC,874,-0.51,-146.0,142.1,-10.8,116,878,0.00,2.28,0.00,0.000,4,0.000,0.072,2731,1074,3630,0,0,0,0,0,0
$GC,899,-0.57,-146.0,144.8,-11.5,118,904,0.17,2.33,0.00,0.000,6,0.112,0.069,2669,2490,3630,0,0,0,0,0,0
$GC,1224,-0.50,-146.0,189.7,-13.3,148,1229,0.12,2.38,0.00,0.000,4,0.227,0.086,2697,3898,3629,0,0,0,0,0,0
$GC,1241,-0.44,-146.0,192.0,-13.7,149,1248,0.00,2.25,0.00,0.000,6,0.000,0.054,2697,2490,3629,0,0,0,0,0,0
$GC,1568,-0.44,-146.0,227.2,-9.7,180,1572,0.00,2.30,0.00,0.000,4,0.000,0.071,2697,1077,3629,0,0,0,0,0,0
$GC,1602,-0.47,-146.0,230.8,-10.1,182,1609,0.00,2.33,0.00,0.000,6,0.000,0.069,2697,2488,3628,0,0,0,0,0,0
$GC,1927,-0.49,-146.0,263.4,-10.5,213,1931,0.00,2.35,0.00,0.000,4,0.000,0.086,2697,3899,3628,0,0,0,0,0,0
$GC,1972,-0.54,-146.0,268.2,-10.4,216,1978,0.00,2.25,0.00,0.000,6,0.000,0.054,2697,2490,3628,0,0,0,0,0,0
$GC,2297,-0.58,-146.0,301.9,-10.2,247,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2489,3628,0,0,0,0,0,0
$GC,2618,-0.62,-146.0,334.3,-9.7,277,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2489,3629,0,0,0,0,0,0
$GC,2946,-0.66,-146.0,365.1,-8.9,308,2951,0.15,2.30,0.00,0.000,4,0.125,0.069,2646,1082,3628,0,0,0,0,0,0
$GC,2964,-0.66,-146.0,367.0,-9.6,309,2969,0.00,2.30,0.00,0.000,6,0.000,0.069,2646,2491,3628,0,0,0,0,0,0
$GC,3296,-0.57,-146.0,410.7,-12.7,340,3300,0.12,2.40,0.00,0.000,4,0.226,0.083,2674,3906,3628,0,0,0,0,0,0
$GC,3329,-0.57,-146.0,414.6,-10.7,342,3336,0.00,2.25,0.00,0.000,6,0.000,0.053,2674,2489,3628,0,0,0,0,0,0
$GC,3656,-0.57,-146.0,446.5,-9.9,373,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2489,3629,0,0,0,0,0,0
$GC,3974,-0.57,-146.0,478.8,-10.3,403,3978,0.00,2.25,0.00,0.000,4,0.000,0.067,2674,1081,3628,0,0,0,0,0,0
$GC,4003,-0.57,-146.0,482.2,-10.8,405,4007,0.00,2.33,0.00,0.000,6,0.000,0.067,2674,2497,3628,0,0,0,0,0,0
$GC,4329,-0.57,-146.0,515.2,-10.4,435,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2497,3629,0,0,0,0,0,0
$GC,4649,-0.57,-146.0,546.9,-9.8,465,4653,0.00,2.35,0.00,0.000,4,0.000,0.083,2674,3899,3629,0,0,0,0,0,0
$GC,4666,-0.57,-146.0,548.8,-10.0,466,4671,0.00,2.22,0.00,0.000,6,0.000,0.050,2674,2489,3629,0,0,0,0,0,0
$GC,4998,-0.57,-146.0,580.5,-7.6,497,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2489,3629,0,0,0,0,0,0
$STATE,5324,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5324,begin apogee
$GC,5330,-0.12,0.0,612.5,9.5,520,5463,0.50,0.00,126.03,1.320,6,0.197,0.000,2813,2257,3030,0,0,0,0,0,0
$STATE,5464,end apogee,CONTROL_FINISHED_OK
$STATE,5464,begin climb
$GC,5467,0.62,146.0,616.3,0.0,524,5608,0.80,2.58,132.70,1.268,4,0.141,0.072,3061,877,2433,0,0,0,0,0,0
$GC,5718,0.58,146.0,596.8,10.8,531,5725,0.00,2.47,0.00,0.000,6,0.000,0.060,3061,2284,2428,0,0,0,0,0,0
$GC,6044,0.53,146.0,562.4,10.2,562,6048,0.00,2.35,0.00,0.000,4,0.000,0.076,3061,3692,2426,0,0,0,0,0,0
$GC,6176,0.42,146.0,546.9,12.6,573,6181,0.25,2.30,0.00,0.000,6,0.188,0.059,3006,2284,2426,0,0,0,0,0,0
$GC,6502,0.55,210.1,522.5,7.0,603,6569,0.10,2.47,56.42,1.216,4,0.125,0.075,3063,865,2171,0,0,0,0,0,0
$GC,6597,0.55,210.1,512.6,11.2,611,6604,0.00,2.38,0.00,0.000,6,0.000,0.061,3063,2277,2169,0,0,0,0,0,0
$GC,6924,0.55,210.1,474.9,12.1,642,6928,0.00,2.35,0.00,0.000,4,0.000,0.076,3063,3695,2164,0,0,0,0,0,0
$GC,6979,0.49,210.1,467.0,14.2,646,6986,0.17,2.33,0.00,0.000,6,0.187,0.060,3029,2266,2164,0,0,0,0,0,0
$GC,7306,0.56,221.7,435.0,9.5,677,7321,0.00,2.30,10.32,1.065,4,0.000,0.075,3038,864,2126,0,0,0,0,0,0
$GC,7363,0.65,230.7,429.4,9.6,682,7379,0.10,2.33,10.00,1.056,6,0.124,0.061,3084,2288,2089,0,0,0,0,0,0
$GC,7705,0.60,230.7,382.1,13.9,714,7709,0.00,2.28,0.00,0.000,4,0.000,0.076,3084,3685,2086,0,0,0,0,0,0
$GC,7771,0.52,230.7,371.6,15.6,719,7779,0.22,2.30,0.00,0.000,6,0.194,0.059,3037,2266,2084,0,0,0,0,0,0
$GC,8097,0.59,231.7,338.3,10.0,750,8101,0.00,2.28,0.00,0.000,4,0.000,0.074,3042,864,2084,0,0,0,0,0,0
$GC,8141,0.66,232.9,333.8,9.9,753,8148,0.10,2.30,0.00,0.000,6,0.128,0.060,3087,2282,2083,0,0,0,0,0,0
$GC,8467,0.63,232.9,290.9,12.8,784,8471,0.00,2.30,0.00,0.000,4,0.000,0.076,3087,3694,2083,0,0,0,0,0,0
$GC,8552,0.54,232.9,278.9,15.3,791,8557,0.20,2.30,0.00,0.000,6,0.193,0.059,3047,2268,2083,0,0,0,0,0,0
$GC,8878,0.61,248.7,247.4,9.3,821,8901,0.00,2.30,16.92,1.050,4,0.000,0.072,3055,860,2015,0,0,0,0,0,0
$GC,8949,0.69,251.5,240.7,9.9,827,8961,0.00,2.30,4.15,0.716,6,0.000,0.060,3055,2276,2003,0,0,0,0,0,0
$GC,9280,0.76,263.8,208.6,9.4,858,9303,0.15,2.40,12.82,1.005,4,0.093,0.075,3123,3696,1953,0,0,0,0,0,0
$GC,9355,0.66,263.8,197.6,16.3,864,9362,0.20,2.33,0.00,0.000,6,0.199,0.058,3082,2265,1952,0,0,0,0,0,0
$GC,9681,0.69,263.8,160.4,11.3,895,9685,0.00,2.28,0.00,0.000,4,0.000,0.073,3091,864,1950,0,0,0,0,0,0
$GC,9731,0.73,263.8,154.3,12.3,899,9736,0.00,2.30,0.00,0.000,6,0.000,0.061,3091,2281,1949,0,0,0,0,0,0
$GC,10057,0.77,276.8,121.2,9.4,929,10080,0.00,2.38,13.07,0.977,4,0.000,0.076,3090,3686,1901,0,0,0,0,0,0
$GC,10126,0.77,276.8,113.6,12.3,935,10130,0.00,2.28,0.00,0.000,6,0.000,0.060,3101,2276,1900,0,0,0,0,0,0
$GC,10463,0.82,276.8,78.7,10.3,983,10469,0.00,2.30,0.00,0.000,4,0.000,0.073,3111,869,1899,0,0,0,0,0,0
$GC,10494,0.91,300.6,76.0,8.9,988,10525,0.12,2.30,23.23,0.989,6,0.118,0.062,3160,2281,1804,0,0,0,0,0,0
$GC,10863,0.89,300.6,34.1,11.1,1053,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2281,1799,0,0,0,0,0,0
$FREEZE,8.68,-1.728,-1.765,2,84,0
$STATE,11065,end climb,FINISH_DEPTH_REACHED
$STATE,11066,begin subsurface finish
$FINISH1,8.7,1.025852,81
$GC,11072,0.10,80.8,8.7,-13.8,1089,11114,0.85,0.00,-35.58,0.000,6,0.162,0.000,2902,2281,2702,0,0,0,0,0,0
$FINISH2,7.0
$STATE,11115,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11115,begin surface
$RAFOS_CLK,610
$RAFOS,6,1304570945,4.833333,4.818056,74,59,54,53,52,51,786,180,114,202,143,165
$RAFOS,5,1304570464,4.700000,4.684444,61,60,57,56,53,53,203,227,174,160,125,147
$RAFOS,4,1304569983,4.566667,4.550833,125,66,59,58,57,53,741,188,174,206,227,156
$RAFOS,3,1304569510,4.433333,4.419445,70,58,54,54,53,49,208,218,157,194,182,121
$RAFOS,2,1304569023,4.300000,4.284167,60,59,59,53,53,51,193,163,151,176,212,233
$RAFOS,1,1304568548,4.166667,4.152222,85,68,59,56,54,54,580,204,193,117,215,131
$RAFOS,0,1304568062,4.033333,4.017222,115,69,66,59,57,56,666,206,193,228,181,167
$RAFOS_FIX,6655.952148,-6015.460938,050511,040436,4,100,0.89
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,48.58
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.1
$ALTIM_BOTTOM_PING,600.8,24.0
$24V_AH,21.6,72.600
$10V_AH,10.0,37.591
$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,5.275,109.975,405.675,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2692.289,5962.833,465.493,1835.565,220.016,0.000,1459.239,0.000,1819.257,2520.000,17.712,0.000
$DEVICE_MAMPS,227.205,85.680,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.224,839.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43312,1096
$CAP_FILE_SIZE,126350,0
$CFSIZE,260165632,217858048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$GPS,050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6