version: 66.08
glider: 141
mission: 15
dive: 427
start: 4 19 111 2 16 28
data:
$ID,141
$MISSION,15
$DIVE,427
$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,-3
$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,400
$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,-38475.41
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,190411,003512,6721.053,-5801.331,0,4136.2,0,-38.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.53
$_SM_ANGLEo,0.2
$GPS2,190411,003512,6721.053,-5801.331,0,4136.2,0,-38.9
$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,161.2,62626,-17.5,-10.000
$D_GRID,841
$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,-6.07,0.000,2,0.000,0.000,2884,862,3102,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.6,-0.0,1,52,0.62,4.97,-15.25,0.000,4,0.110,0.070,2669,3893,3628,0,0,0,0,0,0
$GC,250,-0.58,-146.0,37.4,-13.9,40,256,0.00,2.20,0.00,0.000,6,0.000,0.044,2669,2479,3629,0,0,0,0,0,0
$GC,594,-0.48,-146.0,89.4,-13.6,101,602,0.15,2.33,0.00,0.000,4,0.214,0.070,2703,3898,3629,0,0,0,0,0,0
$GC,626,-0.48,-146.0,93.7,-13.0,106,633,0.00,2.20,0.00,0.000,6,0.000,0.044,2703,2482,3629,0,0,0,0,0,0
$GC,956,-0.51,-146.0,128.0,-10.3,142,960,0.00,2.30,0.00,0.000,4,0.000,0.071,2703,3897,3627,0,0,0,0,0,0
$GC,989,-0.56,-146.0,131.6,-10.3,144,996,0.00,2.17,0.00,0.000,6,0.000,0.045,2703,2490,3628,0,0,0,0,0,0
$GC,1317,-0.61,-146.0,162.4,-9.0,175,1324,0.12,0.00,0.00,0.000,6,0.129,0.000,2661,2490,3626,0,0,0,0,0,0
$GC,1643,-0.56,-146.0,201.8,-11.6,206,1647,0.00,2.30,0.00,0.000,4,0.000,0.071,2661,3893,3625,0,0,0,0,0,0
$GC,1694,-0.56,-146.0,207.7,-11.3,210,1698,0.00,2.17,0.00,0.000,6,0.000,0.044,2661,2484,3624,0,0,0,0,0,0
$GC,2024,-0.52,-146.0,244.7,-11.2,241,2029,0.12,2.33,0.00,0.000,4,0.208,0.071,2689,3903,3624,0,0,0,0,0,0
$GC,2065,-0.58,-146.0,248.4,-8.6,244,2069,0.00,2.20,0.00,0.000,6,0.000,0.044,2689,2480,3624,0,0,0,0,0,0
$GC,2391,-0.61,-146.0,277.3,-9.1,274,2395,0.00,2.30,0.00,0.000,4,0.000,0.068,2690,3903,3625,0,0,0,0,0,0
$GC,2415,-0.65,-146.0,279.4,-8.9,276,2420,0.12,2.17,0.00,0.000,6,0.118,0.042,2646,2488,3625,0,0,0,0,0,0
$GC,2740,-0.57,-146.0,321.4,-12.8,306,2745,0.12,2.22,0.00,0.000,4,0.213,0.058,2675,1087,3626,0,0,0,0,0,0
$GC,2758,-0.51,-146.0,323.5,-12.5,307,2762,0.00,2.22,0.00,0.000,6,0.000,0.057,2675,2484,3626,0,0,0,0,0,0
$GC,3083,-0.51,-146.0,355.9,-9.5,337,3088,0.00,2.28,0.00,0.000,4,0.000,0.072,2675,3899,3626,0,0,0,0,0,0
$GC,3105,-0.51,-146.0,358.2,-10.2,338,3112,0.00,2.17,0.00,0.000,6,0.000,0.041,2675,2495,3626,0,0,0,0,0,0
$GC,3431,-0.51,-146.0,389.0,-9.6,369,3435,0.00,2.28,0.00,0.000,4,0.000,0.068,2675,3906,3626,0,0,0,0,0,0
$GC,3471,-0.54,-146.0,392.8,-9.1,372,3475,0.00,2.17,0.00,0.000,6,0.000,0.041,2675,2486,3626,0,0,0,0,0,0
$GC,3803,-0.57,-146.0,423.2,-9.0,403,3807,0.00,2.30,0.00,0.000,4,0.000,0.067,2675,3902,3627,0,0,0,0,0,0
$GC,3866,-0.61,-146.0,429.0,-9.6,408,3870,0.00,2.15,0.00,0.000,6,0.000,0.041,2675,2486,3627,0,0,0,0,0,0
$GC,4197,-0.61,-146.0,458.4,-8.7,439,4201,0.00,2.28,0.00,0.000,4,0.000,0.067,2675,3900,3628,0,0,0,0,0,0
$GC,4220,-0.63,-146.0,460.6,-9.1,440,4226,0.00,2.15,0.00,0.000,6,0.000,0.040,2675,2484,3628,0,0,0,0,0,0
$GC,4545,-0.63,-146.0,490.3,-9.3,471,4549,0.00,2.28,0.00,0.000,4,0.000,0.067,2675,3900,3628,0,0,0,0,0,0
$GC,4562,-0.63,-146.0,491.9,-9.4,472,4566,0.00,2.15,0.00,0.000,6,0.000,0.039,2675,2482,3628,0,0,0,0,0,0
$GC,4893,-0.63,-146.0,523.0,-9.6,503,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2482,3628,0,0,0,0,0,0
$GC,5214,-0.65,-146.0,553.2,-9.4,533,5218,0.00,2.30,0.00,0.000,4,0.000,0.067,2675,3909,3628,0,0,0,0,0,0
$GC,5235,-0.67,-146.0,555.6,-9.7,534,5242,0.00,2.15,0.00,0.000,6,0.000,0.040,2675,2491,3628,0,0,0,0,0,0
$GC,5562,-0.70,-146.0,587.1,-9.4,565,5563,0.12,0.00,0.00,0.000,6,0.122,0.000,2631,2490,3629,0,0,0,0,0,0
$GC,5884,-0.93,-146.0,615.0,-0.8,582,5888,0.20,2.22,0.00,0.000,4,0.112,0.060,2561,1094,3629,0,0,0,0,0,0
$GC,5894,-1.23,-146.0,615.1,-0.3,582,5899,0.28,2.17,0.00,0.000,6,0.102,0.052,2463,2493,3629,0,0,0,0,0,0
$STATE,6026,end dive,NO_VERTICAL_VELOCITY
$STATE,6026,begin apogee
$GC,6032,-0.12,0.0,615.1,0.0,587,6162,1.08,0.00,122.45,1.298,6,0.125,0.000,2816,2256,3030,0,0,0,0,0,0
$STATE,6162,end apogee,CONTROL_FINISHED_OK
$STATE,6163,begin climb
$GC,6165,0.62,146.0,615.3,0.0,591,6301,0.77,2.38,128.15,1.252,4,0.142,0.057,3054,884,2433,0,0,0,0,0,0
$GC,6555,-1.73,146.0,603.3,23112.3,603,6564,2.58,2.28,0.00,0.000,6,0.164,0.050,2318,2276,2426,0,0,0,0,0,0
$GC,6885,-1.73,146.0,553.9,23112.3,630,6889,0.00,2.30,0.00,0.000,4,0.000,0.070,2317,3693,2422,0,0,0,0,0,0
$GC,6902,-1.73,146.0,551.0,23112.3,631,6907,0.00,2.20,0.00,0.000,6,0.000,0.046,2317,2290,2421,0,0,0,0,0,0
$GC,7228,-1.73,146.0,495.8,23112.3,661,7232,0.00,2.25,0.00,0.000,4,0.000,0.063,2317,3685,2421,0,0,0,0,0,0
$GC,7246,-1.73,146.0,492.8,23112.3,662,7250,0.00,2.28,0.00,0.000,6,0.000,0.058,2317,2273,2420,0,0,0,0,0,0
$GC,7573,-1.73,146.0,437.2,23112.3,692,7577,0.00,2.22,0.00,0.000,4,0.000,0.059,2317,856,2420,0,0,0,0,0,0
$GC,7831,-1.73,146.0,391.1,23112.3,714,7838,0.00,2.30,0.00,0.000,6,0.000,0.062,2316,2278,2421,0,0,0,0,0,0
$GC,8158,-1.73,146.0,338.1,23112.3,745,8162,0.00,2.28,0.00,0.000,4,0.000,0.060,2316,855,2420,0,0,0,0,0,0
$GC,8388,-1.73,146.0,296.9,23112.3,765,8392,0.00,2.28,0.00,0.000,6,0.000,0.055,2316,2286,2419,0,0,0,0,0,0
$GC,8718,-1.73,146.0,239.0,23112.3,796,8722,0.00,2.28,0.00,0.000,4,0.000,0.058,2316,858,2420,0,0,0,0,0,0
$GC,8976,-1.73,146.0,192.1,23112.3,818,8983,0.00,2.28,0.00,0.000,6,0.000,0.058,2316,2279,2419,0,0,0,0,0,0
$GC,9301,-1.73,146.0,134.4,23112.3,849,9305,0.00,2.22,0.00,0.000,4,0.000,0.052,2316,855,2418,0,0,0,0,0,0
$GC,9330,-1.73,146.0,129.4,23112.3,851,9335,0.00,2.28,0.00,0.000,6,0.000,0.058,2314,2276,2419,0,0,0,0,0,0
$GC,9665,-1.73,146.0,71.4,23112.3,896,9671,0.00,2.25,0.00,0.000,4,0.000,0.056,2314,853,2418,0,0,0,0,0,0
$GC,9775,-1.73,146.0,51.8,23112.3,915,9781,0.00,2.28,0.00,0.000,6,0.000,0.057,2314,2279,2420,0,0,0,0,0,0
$FREEZE,8.57,-1.629,-1.827,3,28,0
$STATE,10022,end climb,FINISH_DEPTH_REACHED
$STATE,10022,begin subsurface finish
$FINISH1,8.6,1.026731,38
$GC,10028,0.05,37.7,8.6,-23112.3,959,10059,2.88,2.35,-21.80,0.000,4,0.330,0.080,2869,3692,2878,0,0,0,0,0,0
$FINISH2,4.8
$STATE,10060,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10060,begin surface
$RAFOS_CLK,528
$RAFOS,6,1303188549,4.833333,4.819167,119,67,59,56,55,53,619,186,202,174,122,153
$RAFOS,5,1303188061,4.700000,4.683611,141,69,62,60,60,59,710,219,137,228,174,190
$RAFOS,4,1303187583,4.566667,4.550833,87,61,61,56,56,55,804,223,200,239,173,164
$RAFOS,3,1303187107,4.433333,4.418611,60,57,56,56,54,53,206,139,172,221,191,92
$RAFOS,2,1303186626,4.300000,4.285000,63,56,51,51,51,50,205,188,169,121,133,224
$RAFOS,1,1303186143,4.166667,4.150833,67,58,58,53,53,53,203,156,145,131,178,122
$RAFOS,0,1303185665,4.033333,4.018055,58,56,50,50,48,46,217,185,147,233,115,134
$RAFOS_FIX,6721.527832,-5803.416992,190411,040444,3,116,0.12
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.95
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.2
$24V_AH,22.2,57.625
$10V_AH,10.2,29.513
$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,9.175,104.175,250.600,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2437.518,5500.057,314.856,1705.510,167.691,0.000,1211.881,0.000,1683.605,2520.000,20.763,0.000
$DEVICE_MAMPS,329.715,80.325,1298.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,683.287,734.985,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,40025,964
$CAP_FILE_SIZE,114321,0
$CFSIZE,260165632,225460224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.5
$GPS,190411,044344,6721.528,-5803.417,0,3115.7,0,-38.9