version: 66.08
glider: 141
mission: 15
dive: 559
start: 5 6 111 7 41 24
data:
$ID,141
$MISSION,15
$DIVE,559
$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,-46593.008
$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,21
$R_STBD_OVSHOOT,18
$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
$GPS1,060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.70
$_SM_ANGLEo,-3.1
$GPS2,060511,041736,6648.941,-6023.830,0,4107.8,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,118.1,158020,-17.5,-10.000
$D_GRID,544
$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,12,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,-5.80,0.000,2,0.000,0.000,2899,3687,2927,0,0,0,0,0,0
$GC,27,-0.62,-146.0,12.0,-0.0,1,52,0.65,0.35,-17.48,0.000,4,0.106,0.177,2671,3899,3629,0,0,0,0,0,0
$GC,262,-0.54,-146.0,49.5,-16.7,42,268,0.00,2.28,0.00,0.000,6,0.000,0.058,2671,2489,3631,0,0,0,0,0,0
$GC,609,-0.41,-146.0,113.8,-18.1,97,614,0.22,2.38,0.00,0.000,4,0.227,0.083,2725,3899,3631,0,0,0,0,0,0
$GC,684,-0.50,-146.0,122.9,-9.1,103,688,0.00,2.28,0.00,0.000,6,0.000,0.058,2725,2489,3631,0,0,0,0,0,0
$GC,1010,-0.54,-146.0,155.3,-10.0,133,1015,0.12,2.33,0.00,0.000,4,0.133,0.076,2683,1073,3630,0,0,0,0,0,0
$GC,1050,-0.51,-146.0,160.3,-13.5,136,1054,0.00,2.35,0.00,0.000,6,0.000,0.073,2683,2489,3630,0,0,0,0,0,0
$GC,1377,-0.47,-146.0,201.1,-12.2,166,1381,0.00,2.38,0.00,0.000,4,0.000,0.090,2683,3901,3630,0,0,0,0,0,0
$GC,1444,-0.47,-146.0,209.9,-11.8,171,1451,0.00,2.28,0.00,0.000,6,0.000,0.059,2683,2478,3630,0,0,0,0,0,0
$GC,1770,-0.44,-146.0,249.9,-11.9,202,1774,0.15,2.30,0.00,0.000,4,0.216,0.075,2718,1079,3629,0,0,0,0,0,0
$GC,1787,-0.44,-146.0,252.1,-12.5,203,1791,0.00,2.33,0.00,0.000,6,0.000,0.073,2718,2492,3629,0,0,0,0,0,0
$GC,2113,-0.51,-146.0,280.6,-8.4,233,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2491,3629,0,0,0,0,0,0
$GC,2431,-0.59,-146.0,305.9,-8.1,263,2436,0.15,2.40,0.00,0.000,4,0.120,0.089,2665,3910,3629,0,0,0,0,0,0
$GC,2461,-0.59,-146.0,308.8,-10.9,265,2465,0.00,2.28,0.00,0.000,6,0.000,0.059,2665,2487,3629,0,0,0,0,0,0
$GC,2786,-0.54,-146.0,348.8,-12.0,295,2791,0.00,2.28,0.00,0.000,4,0.000,0.073,2665,1079,3628,0,0,0,0,0,0
$GC,2820,-0.51,-146.0,353.0,-12.9,297,2827,0.12,2.35,0.00,0.000,6,0.213,0.072,2693,2496,3629,0,0,0,0,0,0
$GC,3146,-0.54,-146.0,382.9,-8.9,328,3150,0.00,2.35,0.00,0.000,4,0.000,0.087,2692,3900,3629,0,0,0,0,0,0
$GC,3210,-0.60,-146.0,388.5,-8.9,333,3214,0.00,2.25,0.00,0.000,6,0.000,0.057,2693,2488,3628,0,0,0,0,0,0
$GC,3536,-0.64,-146.0,415.1,-8.3,363,3538,0.12,0.00,0.00,0.000,6,0.134,0.000,2651,2488,3629,0,0,0,0,0,0
$GC,3853,-0.57,-146.0,452.1,-11.5,393,3857,0.00,2.28,0.00,0.000,4,0.000,0.072,2651,1078,3629,0,0,0,0,0,0
$GC,3883,-0.51,-146.0,455.6,-11.6,395,3888,0.17,2.35,0.00,0.000,6,0.207,0.070,2692,2498,3629,0,0,0,0,0,0
$GC,4208,-0.56,-146.0,482.3,-8.2,425,4213,0.00,2.35,0.00,0.000,4,0.000,0.086,2692,3906,3629,0,0,0,0,0,0
$GC,4243,-0.62,-146.0,485.1,-8.1,427,4249,0.00,2.25,0.00,0.000,6,0.000,0.056,2692,2489,3629,0,0,0,0,0,0
$GC,4568,-0.67,-146.0,511.6,-8.1,458,4573,0.12,2.30,0.00,0.000,4,0.128,0.071,2649,1077,3629,0,0,0,0,0,0
$GC,4588,-0.67,-146.0,513.4,-8.8,459,4593,0.00,2.35,0.00,0.000,6,0.000,0.071,2648,2495,3629,0,0,0,0,0,0
$STATE,4837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4837,begin apogee
$GC,4844,-0.12,0.0,544.1,12.2,482,4977,0.60,0.00,124.93,1.281,6,0.206,0.000,2810,2266,3030,0,0,0,0,0,0
$STATE,4978,end apogee,CONTROL_FINISHED_OK
$STATE,4978,begin climb
$GC,4980,0.62,146.0,549.6,0.0,494,5124,0.85,2.65,131.55,1.230,4,0.147,0.078,3068,877,2433,0,0,0,0,0,0
$GC,5172,0.56,146.0,537.8,10.6,511,5176,0.00,2.50,0.00,0.000,6,0.000,0.063,3068,2276,2430,0,0,0,0,0,0
$GC,5497,0.49,146.0,501.8,11.3,541,5502,0.17,2.42,0.00,0.000,4,0.181,0.080,3024,3694,2427,0,0,0,0,0,0
$GC,5553,0.46,146.0,495.9,10.4,545,5560,0.00,2.38,0.00,0.000,6,0.000,0.063,3031,2270,2427,0,0,0,0,0,0
$GC,5879,0.50,179.6,466.0,8.5,576,5911,0.00,0.00,29.38,1.165,6,0.000,0.000,3032,2270,2298,0,0,0,0,0,0
$GC,6229,0.55,196.0,433.9,9.2,609,6253,0.00,2.35,15.68,1.112,4,0.000,0.080,3042,863,2229,0,0,0,0,0,0
$GC,6289,0.60,198.7,428.2,9.9,614,6293,0.00,2.33,0.00,0.000,6,0.000,0.065,3042,2279,2227,0,0,0,0,0,0
$GC,6616,0.63,204.0,395.4,9.8,644,6631,0.00,2.42,8.25,0.998,4,0.000,0.080,3042,3698,2198,0,0,0,0,0,0
$GC,6685,0.60,204.0,387.6,12.1,650,6689,0.00,2.35,0.00,0.000,6,0.000,0.063,3052,2264,2197,0,0,0,0,0,0
$GC,7010,0.60,204.0,353.1,10.3,680,7014,0.00,2.33,0.00,0.000,4,0.000,0.078,3063,860,2196,0,0,0,0,0,0
$GC,7043,0.60,204.0,349.6,10.7,682,7050,0.00,2.33,0.00,0.000,6,0.000,0.065,3062,2278,2195,0,0,0,0,0,0
$GC,7369,0.60,204.0,315.3,10.7,713,7373,0.00,2.33,0.00,0.000,4,0.000,0.080,3062,3687,2195,0,0,0,0,0,0
$GC,7421,0.55,204.0,309.1,12.4,717,7426,0.12,2.33,0.00,0.000,6,0.195,0.064,3043,2265,2195,0,0,0,0,0,0
$GC,7747,0.63,239.9,279.6,8.3,747,7785,0.00,2.35,33.42,1.092,4,0.000,0.078,3048,863,2051,0,0,0,0,0,0
$GC,7839,0.76,274.3,271.8,8.4,754,7880,0.17,2.38,32.72,1.073,6,0.095,0.066,3118,2282,1910,0,0,0,0,0,0
$GC,8198,0.69,274.3,219.8,14.7,788,8203,0.12,2.35,0.00,0.000,4,0.188,0.080,3088,3693,1902,0,0,0,0,0,0
$GC,8244,0.69,274.3,213.1,14.4,792,8248,0.00,2.35,0.00,0.000,6,0.000,0.065,3096,2265,1901,0,0,0,0,0,0
$GC,8569,0.69,274.3,174.4,11.6,822,8573,0.00,2.30,0.00,0.000,4,0.000,0.079,3106,863,1900,0,0,0,0,0,0
$GC,8609,0.69,274.3,170.0,11.3,825,8614,0.00,2.30,0.00,0.000,6,0.000,0.067,3107,2274,1899,0,0,0,0,0,0
$GC,8936,0.69,274.3,133.7,11.0,855,8940,0.00,2.33,0.00,0.000,4,0.000,0.082,3107,3686,1899,0,0,0,0,0,0
$GC,9003,0.64,274.3,125.2,13.5,860,9010,0.17,2.33,0.00,0.000,6,0.197,0.067,3073,2266,1897,0,0,0,0,0,0
$GC,9331,0.76,305.1,96.6,8.6,894,9367,0.12,2.38,27.10,1.007,4,0.109,0.080,3137,868,1785,0,0,0,0,0,0
$GC,9432,0.76,305.1,85.7,10.6,911,9439,0.00,2.35,0.00,0.000,6,0.000,0.068,3137,2281,1782,0,0,0,0,0,0
$GC,9778,0.76,305.1,46.7,10.4,972,9785,0.00,2.35,0.00,0.000,4,0.000,0.083,3137,3687,1779,0,0,0,0,0,0
$GC,9832,0.73,305.1,39.8,13.3,981,9839,0.17,2.33,0.00,0.000,6,0.200,0.067,3104,2274,1779,0,0,0,0,0,0
$FREEZE,8.77,-1.708,-1.766,2,94,0
$GC,10180,0.85,339.2,9.5,8.4,1042,10190,0.10,0.00,7.75,0.881,2,0.123,0.000,3146,2274,1719,0,0,0,0,0,0
$STATE,10191,end climb,FINISH_DEPTH_REACHED
$STATE,10191,begin subsurface finish
$FINISH1,8.8,1.025861,80
$GC,10198,0.10,80.4,8.8,-8.6,1043,10246,0.82,2.38,-37.92,0.000,4,0.172,0.090,2900,864,2706,0,0,0,0,0,0
$FINISH2,7.3
$STATE,10247,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10247,begin surface
$RAFOS_CLK,568
$RAFOS,6,1304671751,8.833333,8.819722,151,57,56,56,53,52,752,198,228,146,208,171
$RAFOS,5,1304671269,8.700000,8.685833,100,61,53,52,52,50,922,215,131,118,152,174
$RAFOS,4,1304670784,8.566667,8.551111,106,64,61,58,50,48,726,210,181,161,194,107
$RAFOS,3,1304670308,8.433333,8.418889,99,65,56,56,53,51,790,219,137,159,202,123
$RAFOS,2,1304669826,8.300000,8.285000,116,58,54,54,53,50,671,214,147,180,199,134
$RAFOS,1,1304669345,8.166667,8.151389,121,61,61,57,54,50,568,215,205,153,128,185
$RAFOS,0,1304668866,8.033334,8.018333,120,62,56,55,52,52,613,218,144,188,176,130
$RAFOS_FIX,6650.460938,-6016.395508,060511,080825,7,116,0.41
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,48.42
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.3
$ALTIM_BOTTOM_PING,500.1,84.0
$24V_AH,21.6,74.036
$10V_AH,10.0,38.254
$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,5.300,108.525,410.775,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2548.103,5402.922,464.044,1712.996,201.442,0.000,1395.163,0.000,1698.791,2520.000,14.336,0.000
$DEVICE_MAMPS,227.205,176.715,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.892,800.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40076,1051
$CAP_FILE_SIZE,121710,0
$CFSIZE,260165632,217198592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,060511,082725,6650.461,-6016.396,0,7116.1,0,-37.6