version: 66.08
glider: 141
mission: 15
dive: 430
start: 4 19 111 10 46 20
data:
$ID,141
$MISSION,15
$DIVE,430
$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,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,-38844.988
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,190411,084240,6721.117,-5802.970,0,3112.3,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-27.0
$GPS2,190411,084240,6721.117,-5802.970,181,99.0,181,-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,160.7,63693,-17.5,-10.000
$D_GRID,894
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-119.75,0.000,2,0.000,0.000,106,2495,3167,0,0,0,0,0,0
$GC,141,-0.62,-146.0,5.2,-10.4,21,173,13.25,2.25,-11.38,0.000,4,0.324,0.071,2651,1087,3629,0,0,0,0,0,0
$GC,180,-0.01,-146.0,16.2,-25.7,27,187,0.75,2.25,0.00,0.000,6,0.206,0.062,2851,2487,3629,0,0,0,0,0,0
$GC,526,-0.43,-146.0,47.0,-9.7,88,534,0.35,2.25,0.00,0.000,4,0.115,0.062,2731,1087,3630,0,0,0,0,0,0
$GC,604,-0.56,-146.0,54.0,-8.8,101,611,0.15,2.25,0.00,0.000,6,0.119,0.059,2679,2496,3629,0,0,0,0,0,0
$GC,950,-0.50,-146.0,103.3,-14.2,160,954,0.00,2.30,0.00,0.000,4,0.000,0.078,2679,3899,3629,0,0,0,0,0,0
$GC,1013,-0.50,-146.0,112.5,-13.4,165,1017,0.00,2.20,0.00,0.000,6,0.000,0.047,2678,2490,3629,0,0,0,0,0,0
$GC,1340,-0.45,-146.0,155.5,-12.2,195,1344,0.15,2.25,0.00,0.000,4,0.213,0.064,2714,1085,3628,0,0,0,0,0,0
$GC,1357,-0.42,-146.0,157.8,-12.2,196,1361,0.00,2.28,0.00,0.000,6,0.000,0.062,2714,2488,3628,0,0,0,0,0,0
$GC,1684,-0.50,-146.0,183.5,-7.7,226,1688,0.00,2.33,0.00,0.000,4,0.000,0.077,2715,3906,3628,0,0,0,0,0,0
$GC,1725,-0.60,-146.0,186.6,-7.1,229,1730,0.15,2.20,0.00,0.000,6,0.112,0.045,2664,2482,3628,0,0,0,0,0,0
$GC,2050,-0.55,-146.0,220.8,-11.0,259,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2482,3627,0,0,0,0,0,0
$GC,2370,-0.50,-146.0,256.6,-11.6,289,2372,0.15,0.00,0.00,0.000,6,0.214,0.000,2699,2482,3628,0,0,0,0,0,0
$GC,2689,-0.54,-146.0,284.7,-9.0,319,2693,0.00,2.20,0.00,0.000,4,0.000,0.061,2699,1081,3630,0,0,0,0,0,0
$GC,2699,-0.59,-146.0,286.0,-9.4,319,2706,0.00,2.28,0.00,0.000,6,0.000,0.058,2699,2495,3629,0,0,0,0,0,0
$GC,3025,-0.64,-146.0,315.7,-9.0,350,3030,0.12,2.33,0.00,0.000,4,0.125,0.073,2655,3899,3631,0,0,0,0,0,0
$GC,3057,-0.61,-146.0,319.4,-11.8,352,3064,0.00,2.20,0.00,0.000,6,0.000,0.044,2655,2481,3630,0,0,0,0,0,0
$GC,3383,-0.56,-146.0,359.1,-12.0,383,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2481,3630,0,0,0,0,0,0
$GC,3706,-0.51,-146.0,396.6,-11.8,413,3711,0.15,2.35,0.00,0.000,4,0.199,0.071,2691,3906,3631,0,0,0,0,0,0
$GC,3739,-0.56,-146.0,400.7,-9.5,415,3746,0.00,2.20,0.00,0.000,6,0.000,0.043,2692,2487,3631,0,0,0,0,0,0
$GC,4065,-0.61,-146.0,426.3,-7.7,446,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2486,3632,0,0,0,0,0,0
$GC,4386,-0.66,-146.0,451.2,-8.2,476,4393,0.12,0.00,0.00,0.000,6,0.125,0.000,2646,2486,3633,0,0,0,0,0,0
$GC,4712,-0.59,-146.0,487.9,-11.3,507,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2486,3633,0,0,0,0,0,0
$GC,5032,-0.53,-146.0,525.5,-12.8,537,5034,0.17,0.00,0.00,0.000,6,0.197,0.000,2690,2486,3633,0,0,0,0,0,0
$GC,5349,-0.59,-146.0,552.2,-8.1,567,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2486,3635,0,0,0,0,0,0
$GC,5669,-0.65,-146.0,578.0,-7.1,597,5676,0.12,0.00,0.00,0.000,6,0.127,0.000,2646,2486,3634,0,0,0,0,0,0
$GC,5997,-0.92,-146.0,599.9,-0.3,628,6002,0.22,2.33,0.00,0.000,4,0.107,0.068,2566,3900,3634,0,0,0,0,0,0
$STATE,6039,end dive,NO_VERTICAL_VELOCITY
$STATE,6039,begin apogee
$GC,6047,-0.12,0.0,599.8,0.0,631,6177,0.77,0.00,124.25,1.300,6,0.135,0.000,2813,2268,3030,0,0,0,0,0,0
$STATE,6178,end apogee,CONTROL_FINISHED_OK
$STATE,6178,begin climb
$GC,6180,0.62,146.0,599.8,0.0,643,6318,0.80,0.00,129.40,1.246,6,0.136,0.000,3054,2268,2434,0,0,0,0,0,0
$GC,6636,0.57,146.0,555.3,10.5,686,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2268,2426,0,0,0,0,0,0
$GC,6954,0.51,146.0,522.3,10.2,716,6958,0.00,2.35,0.00,0.000,4,0.000,0.065,3054,3689,2425,0,0,0,0,0,0
$GC,6995,0.40,146.0,517.1,13.3,719,7000,0.25,2.25,0.00,0.000,6,0.193,0.052,3001,2277,2425,0,0,0,0,0,0
$GC,7320,0.49,187.8,490.7,8.1,749,7367,0.00,2.40,35.88,1.186,4,0.000,0.067,3008,856,2262,0,0,0,0,0,0
$GC,7408,0.62,212.9,483.5,8.8,756,7438,0.15,2.33,23.55,1.148,6,0.099,0.051,3072,2289,2162,0,0,0,0,0,0
$GC,7755,0.55,212.9,434.7,14.0,789,7760,0.12,2.28,0.00,0.000,4,0.190,0.067,3041,3682,2156,0,0,0,0,0,0
$GC,7823,0.52,212.9,425.6,13.1,795,7828,0.00,2.22,0.00,0.000,6,0.000,0.051,3049,2276,2155,0,0,0,0,0,0
$GC,8150,0.50,212.9,385.2,12.7,825,8154,0.00,2.28,0.00,0.000,4,0.000,0.066,3060,862,2154,0,0,0,0,0,0
$GC,8205,0.50,212.9,377.8,12.4,829,8212,0.12,2.25,0.00,0.000,6,0.184,0.050,3029,2271,2153,0,0,0,0,0,0
$GC,8532,0.53,212.9,341.5,11.1,860,8536,0.00,2.25,0.00,0.000,4,0.000,0.066,3029,3686,2153,0,0,0,0,0,0
$GC,8620,0.53,212.9,330.0,12.5,867,8627,0.00,2.25,0.00,0.000,6,0.000,0.050,3037,2276,2152,0,0,0,0,0,0
$GC,8946,0.53,212.9,291.6,11.6,898,8950,0.00,2.25,0.00,0.000,4,0.000,0.064,3046,864,2152,0,0,0,0,0,0
$GC,8992,0.57,212.9,286.4,11.6,902,8996,0.00,2.22,0.00,0.000,6,0.000,0.050,3047,2277,2150,0,0,0,0,0,0
$GC,9316,0.57,212.9,249.0,12.3,932,9320,0.00,2.22,0.00,0.000,4,0.000,0.065,3047,3684,2150,0,0,0,0,0,0
$GC,9383,0.54,212.9,240.3,12.9,937,9390,0.00,2.22,0.00,0.000,6,0.000,0.048,3056,2264,2151,0,0,0,0,0,0
$GC,9708,0.54,212.9,200.2,12.1,968,9712,0.00,2.20,0.00,0.000,4,0.000,0.063,3067,863,2150,0,0,0,0,0,0
$GC,9770,0.54,212.9,192.8,13.0,973,9774,0.00,2.22,0.00,0.000,6,0.000,0.050,3067,2279,2150,0,0,0,0,0,0
$GC,10096,0.50,212.9,152.9,11.4,1003,10101,0.15,2.22,0.00,0.000,4,0.183,0.063,3027,3683,2150,0,0,0,0,0,0
$GC,10158,0.53,212.9,146.4,10.2,1008,10162,0.00,2.20,0.00,0.000,6,0.000,0.047,3035,2262,2150,0,0,0,0,0,0
$GC,10484,0.60,232.8,118.0,9.1,1038,10507,0.00,2.22,17.17,0.950,4,0.000,0.062,3042,861,2079,0,0,0,0,0,0
$GC,10558,0.71,248.1,111.1,9.3,1044,10580,0.15,2.22,14.82,0.924,6,0.099,0.047,3108,2275,2017,0,0,0,0,0,0
$GC,10915,0.67,248.1,60.9,13.0,1101,10922,0.00,2.25,0.00,0.000,4,0.000,0.062,3108,3683,2015,0,0,0,0,0,0
$GC,11014,0.59,248.1,45.8,15.1,1118,11021,0.22,2.20,0.00,0.000,6,0.183,0.048,3059,2273,2014,0,0,0,0,0,0
$GC,11361,0.66,248.1,11.0,10.7,1179,11368,0.00,2.25,0.00,0.000,4,0.000,0.063,3059,864,2014,0,0,0,0,0,0
$FREEZE,8.63,-1.728,-1.837,3,31,0
$STATE,11385,end climb,FINISH_DEPTH_REACHED
$STATE,11385,begin subsurface finish
$FINISH1,8.6,1.026872,31
$GC,11393,0.04,30.8,8.6,-8.9,1183,11429,0.57,0.00,-29.20,0.000,6,0.159,0.000,2883,2276,2906,0,0,0,0,0,0
$FINISH2,7.1
$STATE,11430,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11430,begin surface
$RAFOS_CLK,639
$RAFOS,6,1303217344,12.833333,12.817778,140,69,64,59,56,56,661,144,194,212,183,167
$RAFOS,5,1303216866,12.700000,12.685000,136,60,53,53,52,51,669,207,170,181,151,137
$RAFOS,4,1303216389,12.566667,12.552500,167,66,59,55,54,50,781,214,194,145,167,131
$RAFOS,3,1303215909,12.433333,12.419167,69,56,56,53,52,51,210,168,222,120,188,199
$RAFOS,2,1303215422,12.300000,12.283889,66,57,56,53,52,52,186,170,207,120,227,430
$RAFOS,1,1303214944,12.166667,12.151111,60,58,58,57,55,54,220,196,953,183,166,232
$RAFOS,0,1303214466,12.033333,12.018333,70,60,60,58,55,55,217,198,183,166,207,122
$RAFOS_FIX,6720.738281,-5759.161133,190411,121244,3,148,0.19
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,22.0,57.934
$10V_AH,10.1,29.712
$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,19.200,95.025,345.075,0.000,0.000,100.281,17.336,0.000,1.750,0.000,183.291,2827.076,6225.990,507.710,2190.768,463.989,0.000,1512.743,0.000,1867.928,2520.000,13.423,0.000
$DEVICE_MAMPS,324.360,78.030,1300.500,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.880,901.356,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150496
$DATA_FILE_SIZE,46632,1189
$CAP_FILE_SIZE,134299,0
$CFSIZE,260165632,225255424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.6
$GPS,190411,124344,6720.738,-5759.161,0,3147.7,0,-38.9