version: 66.08
glider: 141
mission: 15
dive: 561
start: 5 6 111 13 32 20
data:
$ID,141
$MISSION,15
$DIVE,561
$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,22
$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
$GPS1,060511,123056,6651.353,-6009.125,0,6105.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.51
$_SM_ANGLEo,6.5
$GPS2,060511,123056,6651.353,-6009.125,0,6105.5,0,-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,119.2,146834,-17.5,-10.000
$D_GRID,637
$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,-146.0,0.0,0.0,0,93,0.00,0.00,-73.70,0.000,2,0.000,0.000,2902,2287,3087,0,0,0,0,0,0
$GC,96,-0.62,-146.0,5.1,-2.4,13,126,0.68,0.00,-22.48,0.000,6,0.109,0.000,2667,2288,3627,0,0,0,0,0,0
$GC,466,-0.45,-146.0,71.5,-20.9,78,474,0.17,2.75,0.00,0.000,4,0.235,0.089,2707,3899,3628,0,0,0,0,0,0
$GC,661,-0.48,-146.0,100.1,-13.0,112,666,0.00,2.25,0.00,0.000,6,0.000,0.059,2707,2487,3628,0,0,0,0,0,0
$GC,986,-0.48,-146.0,140.3,-11.1,142,990,0.00,2.33,0.00,0.000,4,0.000,0.076,2708,1068,3627,0,0,0,0,0,0
$GC,1009,-0.48,-146.0,142.8,-10.5,143,1015,0.00,2.38,0.00,0.000,6,0.000,0.074,2707,2496,3627,0,0,0,0,0,0
$GC,1334,-0.48,-146.0,179.3,-11.0,174,1338,0.00,2.38,0.00,0.000,4,0.000,0.090,2707,3906,3627,0,0,0,0,0,0
$GC,1392,-0.54,-146.0,185.1,-10.1,179,1396,0.00,2.28,0.00,0.000,6,0.000,0.059,2707,2482,3627,0,0,0,0,0,0
$GC,1718,-0.58,-146.0,218.0,-9.9,209,1722,0.00,2.28,0.00,0.000,4,0.000,0.074,2708,1082,3627,0,0,0,0,0,0
$GC,1742,-0.61,-146.0,220.5,-10.3,211,1747,0.12,2.33,0.00,0.000,6,0.137,0.073,2667,2494,3627,0,0,0,0,0,0
$GC,2068,-0.55,-146.0,261.8,-12.5,241,2072,0.00,2.38,0.00,0.000,4,0.000,0.090,2667,3900,3626,0,0,0,0,0,0
$GC,2096,-0.50,-146.0,265.7,-13.4,243,2103,0.12,2.28,0.00,0.000,6,0.208,0.059,2694,2492,3626,0,0,0,0,0,0
$GC,2421,-0.50,-146.0,298.5,-9.7,274,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2492,3626,0,0,0,0,0,0
$GC,2743,-0.52,-146.0,328.1,-9.4,304,2747,0.00,2.30,0.00,0.000,4,0.000,0.073,2695,1079,3626,0,0,0,0,0,0
$GC,2800,-0.57,-146.0,334.0,-9.7,309,2805,0.00,2.35,0.00,0.000,6,0.000,0.072,2695,2494,3626,0,0,0,0,0,0
$GC,3127,-0.60,-146.0,365.1,-9.3,339,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2494,3625,0,0,0,0,0,0
$GC,3446,-0.64,-146.0,393.9,-8.8,369,3448,0.12,0.00,0.00,0.000,6,0.132,0.000,2652,2494,3625,0,0,0,0,0,0
$GC,3763,-0.57,-146.0,431.9,-12.4,399,3768,0.00,2.35,0.00,0.000,4,0.000,0.086,2652,3899,3626,0,0,0,0,0,0
$GC,3827,-0.54,-146.0,439.8,-12.1,404,3831,0.12,2.25,0.00,0.000,6,0.203,0.057,2681,2487,3626,0,0,0,0,0,0
$GC,4152,-0.54,-146.0,471.8,-9.9,434,4156,0.00,2.28,0.00,0.000,4,0.000,0.071,2681,1074,3626,0,0,0,0,0,0
$GC,4196,-0.58,-146.0,476.5,-10.5,437,4203,0.00,2.35,0.00,0.000,6,0.000,0.070,2681,2496,3626,0,0,0,0,0,0
$GC,4521,-0.58,-146.0,508.4,-9.3,468,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2496,3626,0,0,0,0,0,0
$GC,4842,-0.58,-146.0,537.3,-8.6,498,4846,0.00,2.35,0.00,0.000,4,0.000,0.085,2681,3906,3627,0,0,0,0,0,0
$GC,4882,-0.62,-146.0,541.0,-8.7,501,4887,0.00,2.25,0.00,0.000,6,0.000,0.055,2681,2487,3627,0,0,0,0,0,0
$GC,5208,-0.65,-146.0,569.6,-9.3,531,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2487,3627,0,0,0,0,0,0
$GC,5528,-0.67,-146.0,598.9,-9.2,561,5530,0.10,0.00,0.00,0.000,6,0.150,0.000,2648,2487,3627,0,0,0,0,0,0
$STATE,5729,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5730,begin apogee
$GC,5736,-0.12,0.0,623.4,12.6,569,5870,0.60,0.00,125.65,1.329,6,0.205,0.000,2810,2254,3030,0,0,0,0,0,0
$STATE,5871,end apogee,CONTROL_FINISHED_OK
$STATE,5871,begin climb
$GC,5874,0.62,146.0,628.3,0.0,573,6020,0.82,2.65,133.10,1.277,4,0.147,0.076,3062,882,2432,0,0,0,0,0,0
$GC,6071,0.57,146.0,614.6,10.8,579,6075,0.00,2.47,0.00,0.000,6,0.000,0.063,3062,2275,2429,0,0,0,0,0,0
$GC,6397,0.50,146.0,580.0,10.3,600,6402,0.12,2.38,0.00,0.000,4,0.185,0.077,3031,3691,2426,0,0,0,0,0,0
$GC,6482,0.45,146.0,571.1,10.9,607,6487,0.12,2.33,0.00,0.000,6,0.193,0.061,3011,2284,2425,0,0,0,0,0,0
$GC,6808,0.55,199.2,545.8,7.5,637,6862,0.00,0.00,46.72,1.222,6,0.000,0.000,3011,2284,2216,0,0,0,0,0,0
$GC,7181,0.69,252.1,516.3,7.6,672,7238,0.22,2.45,47.83,1.206,4,0.082,0.079,3114,859,2001,0,0,0,0,0,0
$GC,7257,0.60,252.1,506.1,15.8,678,7264,0.20,2.40,0.00,0.000,6,0.204,0.064,3066,2280,1999,0,0,0,0,0,0
$GC,7582,0.60,252.1,463.4,13.3,709,7586,0.00,2.33,0.00,0.000,4,0.000,0.078,3066,3689,1992,0,0,0,0,0,0
$GC,7616,0.60,252.1,458.7,13.8,712,7620,0.00,2.33,0.00,0.000,6,0.000,0.063,3074,2269,1992,0,0,0,0,0,0
$GC,7946,0.58,252.1,414.4,12.9,743,7951,0.00,2.30,0.00,0.000,4,0.000,0.077,3084,862,1991,0,0,0,0,0,0
$GC,7987,0.58,252.1,408.9,13.6,746,7991,0.12,2.30,0.00,0.000,6,0.186,0.064,3054,2286,1990,0,0,0,0,0,0
$GC,8312,0.61,252.1,371.9,11.3,776,8316,0.00,2.30,0.00,0.000,4,0.000,0.078,3054,3690,1989,0,0,0,0,0,0
$GC,8361,0.63,252.1,365.6,12.4,780,8368,0.00,2.30,0.00,0.000,6,0.000,0.063,3062,2264,1988,0,0,0,0,0,0
$GC,8687,0.63,252.1,328.1,11.6,811,8691,0.00,2.28,0.00,0.000,4,0.000,0.076,3073,865,1988,0,0,0,0,0,0
$GC,8737,0.67,252.1,322.1,11.6,815,8743,0.00,2.28,0.00,0.000,6,0.000,0.063,3073,2277,1987,0,0,0,0,0,0
$GC,9062,0.67,252.1,282.7,11.8,846,9066,0.00,2.30,0.00,0.000,4,0.000,0.079,3072,3687,1987,0,0,0,0,0,0
$GC,9117,0.65,252.1,275.4,13.5,850,9124,0.00,2.30,0.00,0.000,6,0.000,0.063,3082,2271,1987,0,0,0,0,0,0
$GC,9442,0.65,252.1,236.5,12.1,881,9446,0.00,2.28,0.00,0.000,4,0.000,0.076,3093,866,1987,0,0,0,0,0,0
$GC,9493,0.65,252.1,230.5,11.9,885,9497,0.00,2.28,0.00,0.000,6,0.000,0.063,3092,2277,1986,0,0,0,0,0,0
$GC,9823,0.65,252.1,189.2,12.8,916,9827,0.00,2.30,0.00,0.000,4,0.000,0.079,3093,3687,1986,0,0,0,0,0,0
$GC,9897,0.60,252.1,178.9,14.0,922,9902,0.17,2.30,0.00,0.000,6,0.200,0.063,3059,2269,1986,0,0,0,0,0,0
$GC,10223,0.71,286.9,149.7,8.4,952,10260,0.10,2.38,30.90,1.031,4,0.120,0.076,3115,869,1859,0,0,0,0,0,0
$GC,10291,0.71,286.9,142.1,12.0,958,10296,0.00,2.30,0.00,0.000,6,0.000,0.064,3115,2276,1857,0,0,0,0,0,0
$GC,10616,0.71,286.9,103.2,10.8,988,10621,0.00,2.33,0.00,0.000,4,0.000,0.079,3115,3691,1855,0,0,0,0,0,0
$GC,10714,0.69,286.9,91.6,12.1,1002,10721,0.15,2.33,0.00,0.000,6,0.199,0.063,3089,2270,1853,0,0,0,0,0,0
$GC,11060,0.85,343.5,62.3,7.4,1063,11118,0.15,2.38,50.88,0.990,4,0.098,0.076,3160,857,1630,0,0,0,0,0,0
$GC,11217,0.87,343.5,45.2,11.0,1090,11224,0.00,2.35,0.00,0.000,6,0.000,0.064,3159,2275,1625,0,0,0,0,0,0
$FREEZE,8.36,-1.691,-1.766,2,96,0
$STATE,11488,end climb,FINISH_DEPTH_REACHED
$STATE,11488,begin subsurface finish
$FINISH1,8.4,1.025864,80
$GC,11495,0.10,80.2,8.4,-13.7,1138,11548,0.88,2.40,-43.45,0.000,4,0.182,0.097,2906,3694,2705,0,0,0,0,0,0
$FINISH2,6.6
$STATE,11549,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11549,begin surface
$RAFOS_CLK,640
$RAFOS,4,1304699583,16.566668,16.550833,133,61,59,55,54,53,703,202,212,125,175,115
$RAFOS,3,1304699110,16.433332,16.419445,64,52,52,52,51,48,210,177,187,160,147,138
$RAFOS,2,1304698624,16.299999,16.284445,95,68,59,56,52,50,685,222,166,204,117,178
$RAFOS,1,1304698148,16.166666,16.152222,100,59,58,56,56,53,548,201,165,218,131,143
$RAFOS,0,1304697661,16.033333,16.016945,88,65,61,60,55,52,668,206,174,157,118,138
$RAFOS_FIX,6650.382324,-6010.150879,060511,161632,4,104,0.14
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.029211
$HUMID,47.71
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,17.6
$ALTIM_BOTTOM_PING,601.0,35.4
$24V_AH,21.5,74.339
$10V_AH,10.0,38.390
$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,5.125,105.700,435.075,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2730.436,6257.143,524.013,1890.272,217.628,0.000,1559.155,0.000,1870.771,2160.000,17.742,0.000
$DEVICE_MAMPS,234.855,97.155,1328.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,818.633,873.702,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43379,1147
$CAP_FILE_SIZE,128700,0
$CFSIZE,260165632,217055232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,060511,161632,6650.382,-6010.151,0,4104.0,0,-37.6