version: 66.08
glider: 141
mission: 15
dive: 550
start: 5 5 111 4 58 27
data:
$ID,141
$MISSION,15
$DIVE,550
$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,24
$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
$GPS1,050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.59
$_SM_ANGLEo,-7.8
$GPS2,050511,042536,6655.952,-6015.461,0,4099.8,0,-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,236.8,23440,-17.5,-10.000
$D_GRID,627
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.15,0.000,2,0.000,0.000,2902,2281,2925,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.0,-0.0,1,53,0.62,2.80,-18.10,0.000,4,0.068,0.095,2655,3904,3630,0,0,0,0,0,0
$GC,77,-0.46,-146.0,18.5,-18.9,9,85,0.22,2.25,0.00,0.000,6,0.215,0.054,2708,2489,3632,0,0,0,0,0,0
$GC,424,-0.40,-146.0,79.1,-17.8,70,431,0.00,2.30,0.00,0.000,4,0.000,0.070,2708,1074,3632,0,0,0,0,0,0
$GC,467,-0.40,-146.0,86.3,-15.6,77,474,0.00,2.33,0.00,0.000,6,0.000,0.069,2708,2490,3632,0,0,0,0,0,0
$GC,804,-0.40,-146.0,129.3,-12.3,117,808,0.00,2.40,0.00,0.000,4,0.000,0.085,2708,3907,3631,0,0,0,0,0,0
$GC,845,-0.43,-146.0,134.1,-11.9,120,850,0.00,2.28,0.00,0.000,6,0.000,0.054,2708,2482,3631,0,0,0,0,0,0
$GC,1171,-0.43,-146.0,169.8,-11.4,150,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2482,3630,0,0,0,0,0,0
$GC,1493,-0.46,-146.0,203.5,-10.6,180,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2482,3630,0,0,0,0,0,0
$GC,1821,-0.50,-146.0,238.4,-11.0,211,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2482,3630,0,0,0,0,0,0
$GC,2140,-0.55,-146.0,270.1,-8.3,241,2144,0.00,2.28,0.00,0.000,4,0.000,0.070,2708,1079,3630,0,0,0,0,0,0
$GC,2169,-0.60,-146.0,272.9,-8.9,243,2174,0.12,2.33,0.00,0.000,6,0.133,0.067,2667,2494,3629,0,0,0,0,0,0
$GC,2495,-0.56,-146.0,306.5,-10.9,273,2499,0.00,2.38,0.00,0.000,4,0.000,0.084,2667,3908,3629,0,0,0,0,0,0
$GC,2527,-0.53,-146.0,310.4,-11.6,275,2534,0.00,2.28,0.00,0.000,6,0.000,0.054,2667,2482,3629,0,0,0,0,0,0
$GC,2853,-0.49,-146.0,347.3,-12.0,306,2855,0.15,0.00,0.00,0.000,6,0.207,0.000,2703,2482,3629,0,0,0,0,0,0
$GC,3173,-0.55,-146.0,376.8,-8.8,336,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2482,3630,0,0,0,0,0,0
$GC,3492,-0.61,-146.0,404.0,-8.2,366,3499,0.12,0.00,0.00,0.000,6,0.135,0.000,2661,2482,3630,0,0,0,0,0,0
$GC,3818,-0.57,-146.0,439.0,-10.8,397,3822,0.00,2.38,0.00,0.000,4,0.000,0.078,2659,3899,3630,0,0,0,0,0,0
$GC,3858,-0.55,-146.0,443.4,-11.8,400,3862,0.00,2.25,0.00,0.000,6,0.000,0.050,2660,2482,3630,0,0,0,0,0,0
$GC,4184,-0.50,-146.0,479.5,-11.5,430,4189,0.15,2.28,0.00,0.000,4,0.207,0.067,2695,1071,3630,0,0,0,0,0,0
$GC,4205,-0.50,-146.0,482.0,-10.7,431,4212,0.00,2.33,0.00,0.000,6,0.000,0.065,2696,2499,3630,0,0,0,0,0,0
$GC,4531,-0.56,-146.0,508.7,-8.2,462,4535,0.00,2.35,0.00,0.000,4,0.000,0.082,2696,3903,3630,0,0,0,0,0,0
$GC,4561,-0.63,-146.0,511.1,-7.8,464,4566,0.12,2.25,0.00,0.000,6,0.129,0.051,2654,2485,3630,0,0,0,0,0,0
$GC,4887,-0.59,-146.0,546.6,-10.2,494,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2485,3630,0,0,0,0,0,0
$GC,5207,-0.55,-146.0,579.9,-10.1,524,5212,0.12,2.40,0.00,0.000,4,0.202,0.079,2683,3899,3630,0,0,0,0,0,0
$GC,5225,-0.55,-146.0,581.8,-10.2,525,5229,0.00,2.22,0.00,0.000,6,0.000,0.050,2684,2488,3630,0,0,0,0,0,0
$GC,5556,-0.73,-146.0,596.8,-0.0,556,5561,0.17,2.40,0.00,0.000,4,0.113,0.076,2622,3910,3631,0,0,0,0,0,0
$STATE,5573,end dive,NO_VERTICAL_VELOCITY
$STATE,5573,begin apogee
$GC,5582,-0.12,0.0,596.8,0.0,557,5715,0.65,0.00,126.18,1.308,6,0.158,0.000,2818,2263,3030,0,0,0,0,0,0
$STATE,5715,end apogee,CONTROL_FINISHED_OK
$STATE,5716,begin climb
$GC,5718,0.62,146.0,596.7,0.0,569,5861,0.77,2.72,132.77,1.260,4,0.130,0.073,3053,3692,2432,0,0,0,0,0,0
$GC,5900,0.48,146.0,589.8,11.2,585,5908,0.17,2.53,0.00,0.000,6,0.197,0.058,3026,2282,2429,0,0,0,0,0,0
$GC,6225,0.50,161.1,560.6,9.3,616,6245,0.00,0.00,13.77,1.130,6,0.000,0.000,3026,2282,2371,0,0,0,0,0,0
$GC,6566,0.54,190.1,530.8,8.7,648,6595,0.00,0.00,26.58,1.187,6,0.000,0.000,3026,2282,2255,0,0,0,0,0,0
$GC,6913,0.58,196.6,497.7,9.7,681,6926,0.00,2.40,6.78,0.975,4,0.000,0.072,3026,3692,2228,0,0,0,0,0,0
$GC,6954,0.58,196.6,493.0,11.5,684,6961,0.00,2.33,0.00,0.000,6,0.000,0.060,3033,2267,2227,0,0,0,0,0,0
$GC,7281,0.61,196.6,459.1,10.1,715,7285,0.00,2.30,0.00,0.000,4,0.000,0.074,3043,856,2227,0,0,0,0,0,0
$GC,7344,0.65,196.6,452.5,10.3,720,7348,0.00,2.33,0.00,0.000,6,0.000,0.062,3043,2282,2225,0,0,0,0,0,0
$GC,7671,0.66,204.1,419.7,9.7,750,7684,0.00,2.38,7.95,1.017,4,0.000,0.076,3043,3689,2198,0,0,0,0,0,0
$GC,7754,0.63,204.1,410.7,11.6,757,7758,0.00,2.30,0.00,0.000,6,0.000,0.059,3053,2265,2197,0,0,0,0,0,0
$GC,8079,0.63,204.1,378.4,10.2,787,8083,0.00,2.28,0.00,0.000,4,0.000,0.073,3063,869,2197,0,0,0,0,0,0
$GC,8114,0.63,204.1,374.9,10.7,790,8118,0.00,2.28,0.00,0.000,6,0.000,0.061,3063,2277,2196,0,0,0,0,0,0
$GC,8444,0.63,204.1,336.1,11.9,821,8448,0.00,2.30,0.00,0.000,4,0.000,0.075,3063,3693,2196,0,0,0,0,0,0
$GC,8530,0.57,204.1,324.5,15.1,828,8534,0.00,2.30,0.00,0.000,6,0.000,0.059,3073,2266,2195,0,0,0,0,0,0
$GC,8857,0.54,204.1,282.1,13.0,858,8862,0.12,2.33,0.00,0.000,4,0.188,0.073,3049,860,2196,0,0,0,0,0,0
$GC,8909,0.59,204.1,276.1,10.9,862,8913,0.00,2.28,0.00,0.000,6,0.000,0.061,3049,2278,2195,0,0,0,0,0,0
$GC,9236,0.65,232.9,244.1,8.7,892,9271,0.00,2.33,27.60,1.070,4,0.000,0.076,3049,3685,2079,0,0,0,0,0,0
$GC,9340,0.65,232.9,233.4,11.2,901,9344,0.00,2.30,0.00,0.000,6,0.000,0.059,3059,2276,2077,0,0,0,0,0,0
$GC,9666,0.69,238.4,202.5,9.7,931,9679,0.00,2.30,5.47,0.815,4,0.000,0.072,3070,867,2059,0,0,0,0,0,0
$GC,9730,0.74,238.7,196.3,10.0,936,9737,0.00,2.30,0.00,0.000,6,0.000,0.061,3070,2278,2057,0,0,0,0,0,0
$GC,10056,0.81,269.5,166.9,8.6,967,10094,0.15,2.40,29.95,1.028,4,0.097,0.077,3133,3687,1930,0,0,0,0,0,0
$GC,10168,0.71,269.5,150.4,16.2,977,10174,0.20,2.33,0.00,0.000,6,0.207,0.061,3094,2273,1928,0,0,0,0,0,0
$GC,10495,0.72,279.1,116.1,9.6,1007,10510,0.00,2.38,9.73,0.931,4,0.000,0.076,3103,859,1892,0,0,0,0,0,0
$GC,10557,0.76,279.1,110.0,10.1,1012,10564,0.00,2.33,0.00,0.000,6,0.000,0.062,3103,2278,1890,0,0,0,0,0,0
$GC,10896,0.84,312.6,79.1,8.5,1064,10933,0.00,2.45,31.40,0.993,4,0.000,0.075,3111,859,1754,0,0,0,0,0,0
$GC,10981,0.96,334.4,71.6,9.0,1078,11012,0.17,2.35,21.38,0.956,6,0.101,0.063,3178,2277,1666,0,0,0,0,0,0
$GC,11352,0.90,334.4,16.1,14.0,1143,11359,0.00,2.33,0.00,0.000,4,0.000,0.079,3178,3687,1658,0,0,0,0,0,0
$FREEZE,8.93,-1.731,-1.766,2,85,1
$FREEZE,8.31,-1.732,-1.765,2,85,1
$FREEZE,7.75,-1.735,-1.765,2,85,1
$FREEZE,6.91,-1.736,-1.764,2,85,1
$STATE,11413,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11413,begin subsurface finish
$FINISH1,6.9,1.025856,81
$GC,11423,0.10,80.6,6.9,-13.9,1154,11494,1.02,2.42,-62.22,0.000,4,0.202,0.089,2905,3697,2698,0,0,0,0,0,0
$FINISH2,3.6
$STATE,11497,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11497,begin surface
$RAFOS_CLK,635
$RAFOS,0,1304582467,8.033334,8.018611,84,62,61,56,56,56,611,171,209,156,224,196
$RAFOS_FIX,6655.952148,-6015.460938,050511,040436,4,100,0.89
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.029211
$HUMID,47.04
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.3
$24V_AH,21.5,72.747
$10V_AH,10.0,37.660
$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,5.100,110.575,439.550,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2776.497,6173.690,517.420,1857.632,228.478,0.000,1523.626,0.000,1849.607,720.000,13.220,0.000
$DEVICE_MAMPS,214.965,94.860,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,831.140,895.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43370,1166
$CAP_FILE_SIZE,128885,0
$CFSIZE,260165632,217784320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.5
$GPS,050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6