version: 66.08
glider: 141
mission: 15
dive: 435
start: 4 20 111 0 39 54
data:
$ID,141
$MISSION,15
$DIVE,435
$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,31
$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
$GPS1,200411,001456,6724.044,-5752.756,0,2111.5,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.29
$_SM_ANGLEo,0.4
$GPS2,200411,001456,6724.044,-5752.756,0,2111.5,0,-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,168.7,60875,-17.5,-10.000
$D_GRID,513
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.15,0.000,2,0.000,0.000,2883,3680,3107,0,0,0,0,0,0
$GC,28,-0.62,-146.0,5.9,-0.0,1,54,0.62,4.12,-17.83,0.000,4,0.106,0.051,2667,1069,3628,0,0,0,0,0,0
$GC,189,-0.57,-146.0,25.2,-13.1,29,196,0.00,2.25,0.00,0.000,6,0.000,0.054,2667,2484,3628,0,0,0,0,0,0
$GC,536,-0.47,-146.0,76.8,-15.0,90,544,0.17,2.30,0.00,0.000,4,0.219,0.071,2709,3899,3628,0,0,0,0,0,0
$GC,554,-0.38,-146.0,79.4,-15.0,92,562,0.10,2.17,0.00,0.000,6,0.204,0.041,2732,2477,3628,0,0,0,0,0,0
$GC,900,-0.47,-146.0,107.5,-6.6,144,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2477,3626,0,0,0,0,0,0
$GC,1220,-0.58,-146.0,129.9,-7.2,174,1221,0.17,0.00,0.00,0.000,6,0.109,0.000,2670,2477,3625,0,0,0,0,0,0
$GC,1536,-0.54,-146.0,168.0,-12.3,204,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2477,3622,0,0,0,0,0,0
$GC,1858,-0.51,-146.0,203.2,-10.5,234,1863,0.00,2.30,0.00,0.000,4,0.000,0.067,2670,3901,3622,0,0,0,0,0,0
$GC,1892,-0.51,-146.0,207.1,-9.8,236,1898,0.00,2.15,0.00,0.000,6,0.000,0.041,2670,2488,3622,0,0,0,0,0,0
$GC,2218,-0.48,-146.0,237.5,-8.8,267,2220,0.12,0.00,0.00,0.000,6,0.213,0.000,2700,2488,3621,0,0,0,0,0,0
$GC,2536,-0.55,-146.0,258.6,-6.7,297,2540,0.00,2.28,0.00,0.000,4,0.000,0.066,2699,3899,3622,0,0,0,0,0,0
$GC,2554,-0.61,-146.0,259.8,-6.9,298,2558,0.00,2.15,0.00,0.000,6,0.000,0.038,2699,2489,3622,0,0,0,0,0,0
$GC,2886,-0.67,-146.0,281.6,-6.4,329,2887,0.17,0.00,0.00,0.000,6,0.110,0.000,2639,2488,3623,0,0,0,0,0,0
$GC,3205,-0.58,-146.0,316.4,-11.3,359,3210,0.12,2.28,0.00,0.000,4,0.210,0.064,2666,3899,3624,0,0,0,0,0,0
$GC,3234,-0.55,-146.0,319.7,-10.5,361,3238,0.00,2.15,0.00,0.000,6,0.000,0.038,2667,2478,3624,0,0,0,0,0,0
$GC,3565,-0.55,-146.0,350.8,-9.3,392,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2478,3624,0,0,0,0,0,0
$GC,3884,-0.55,-146.0,379.5,-9.1,422,3888,0.00,2.30,0.00,0.000,4,0.000,0.064,2667,3905,3624,0,0,0,0,0,0
$GC,3914,-0.55,-146.0,382.4,-9.3,424,3918,0.00,2.15,0.00,0.000,6,0.000,0.039,2667,2482,3624,0,0,0,0,0,0
$GC,4245,-0.55,-146.0,413.6,-9.5,455,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2482,3624,0,0,0,0,0,0
$GC,4565,-0.55,-146.0,444.0,-9.1,485,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2482,3625,0,0,0,0,0,0
$STATE,4870,end dive,NO_VERTICAL_VELOCITY
$STATE,4870,begin apogee
$GC,4876,-0.12,0.0,457.3,0.0,514,5000,0.43,0.00,119.05,1.172,6,0.120,0.000,2815,2261,3030,0,0,0,0,0,0
$STATE,5001,end apogee,CONTROL_FINISHED_OK
$STATE,5001,begin climb
$GC,5003,0.62,146.0,457.4,0.0,525,5137,0.77,2.50,123.82,1.131,4,0.136,0.063,3059,891,2433,0,0,0,0,0,0
$GC,5389,0.56,146.0,440.1,11.2,559,5396,0.00,2.22,0.00,0.000,6,0.000,0.045,3059,2278,2427,0,0,0,0,0,0
$GC,5716,0.47,146.0,401.4,12.1,590,5718,0.15,0.00,0.00,0.000,6,0.187,0.000,3022,2277,2427,0,0,0,0,0,0
$GC,6033,0.50,167.8,371.3,9.0,620,6057,0.00,2.33,18.35,1.040,4,0.000,0.061,3021,3686,2347,0,0,0,0,0,0
$GC,6107,0.47,167.8,363.5,11.6,626,6114,0.00,2.17,0.00,0.000,6,0.000,0.044,3029,2291,2344,0,0,0,0,0,0
$GC,6432,0.47,167.8,329.7,10.8,657,6436,0.00,2.22,0.00,0.000,4,0.000,0.059,3040,869,2344,0,0,0,0,0,0
$GC,6475,0.47,167.8,325.0,10.9,660,6482,0.00,2.20,0.00,0.000,6,0.000,0.045,3040,2270,2343,0,0,0,0,0,0
$GC,6803,0.45,167.8,290.2,10.8,691,6807,0.00,2.22,0.00,0.000,4,0.000,0.060,3040,3692,2343,0,0,0,0,0,0
$GC,6899,0.39,167.8,278.0,12.8,699,6903,0.20,2.20,0.00,0.000,6,0.179,0.044,2998,2263,2342,0,0,0,0,0,0
$GC,7224,0.53,223.9,252.8,7.4,729,7281,0.12,2.25,48.78,1.034,4,0.099,0.057,3068,863,2115,0,0,0,0,0,0
$GC,7317,0.53,223.9,242.4,12.4,737,7321,0.12,2.22,0.00,0.000,6,0.174,0.044,3038,2277,2112,0,0,0,0,0,0
$GC,7642,0.53,223.9,205.1,11.6,767,7646,0.00,2.22,0.00,0.000,4,0.000,0.059,3037,3684,2109,0,0,0,0,0,0
$GC,7726,0.53,223.9,194.6,12.8,774,7733,0.00,2.17,0.00,0.000,6,0.000,0.045,3045,2276,2107,0,0,0,0,0,0
$GC,8051,0.53,223.9,155.8,11.4,805,8055,0.00,2.20,0.00,0.000,4,0.000,0.058,3055,865,2106,0,0,0,0,0,0
$GC,8100,0.53,223.9,150.4,10.5,809,8108,0.00,2.22,0.00,0.000,6,0.000,0.044,3055,2284,2106,0,0,0,0,0,0
$GC,8426,0.53,223.9,113.6,10.0,840,8430,0.00,2.20,0.00,0.000,4,0.000,0.059,3055,3693,2105,0,0,0,0,0,0
$GC,8511,0.50,223.9,104.1,11.9,847,8515,0.15,2.22,0.00,0.000,6,0.180,0.044,3027,2263,2106,0,0,0,0,0,0
$GC,8853,0.67,282.3,77.9,7.3,903,8913,0.15,2.28,50.30,0.931,4,0.093,0.059,3104,873,1877,0,0,0,0,0,0
$GC,8959,0.67,282.3,65.8,11.7,921,8966,0.00,2.20,0.00,0.000,6,0.000,0.045,3104,2275,1873,0,0,0,0,0,0
$GC,9306,0.67,282.3,22.0,12.9,982,9312,0.00,2.25,0.00,0.000,4,0.000,0.060,3104,3690,1870,0,0,0,0,0,0
$GC,9348,0.63,282.3,15.8,14.6,989,9356,0.17,2.20,0.00,0.000,6,0.189,0.046,3068,2276,1868,0,0,0,0,0,0
$FREEZE,8.80,-1.722,-1.836,2,36,0
$FREEZE,8.36,-1.722,-1.836,2,36,0
$FREEZE,7.82,-1.723,-1.836,2,36,0
$FREEZE,7.37,-1.722,-1.835,2,36,0
$FREEZE,6.80,-1.724,-1.835,2,36,0
$FREEZE,6.29,-1.722,-1.834,2,36,0
$FREEZE,5.64,-1.723,-1.834,2,36,0
$FREEZE,5.09,-1.723,-1.834,2,36,0
$FREEZE,4.57,-1.724,-1.833,2,36,0
$FREEZE,4.02,-1.725,-1.833,2,36,0
$FREEZE,3.52,-1.725,-1.832,2,36,0
$FREEZE,3.45,-1.681,-1.830,2,36,0
$FREEZE,3.37,-1.557,-1.822,2,36,0
$FREEZE,3.43,-1.721,-1.832,2,36,0
$FREEZE,3.34,-1.725,-1.832,2,36,0
$FREEZE,3.41,-1.726,-1.832,2,36,0
$FREEZE,3.40,-1.726,-1.832,2,36,0
$FREEZE,3.44,-1.722,-1.832,2,36,0
$FREEZE,3.41,-1.726,-1.833,2,36,0
$FREEZE,3.36,-1.727,-1.833,2,36,0
$FREEZE,3.43,-1.727,-1.833,2,36,0
$FREEZE,3.43,-1.728,-1.833,2,36,0
$FREEZE,3.40,-1.726,-1.833,2,36,0
$FREEZE,3.41,-1.728,-1.833,2,36,0
$FREEZE,3.44,-1.727,-1.833,2,36,0
$FREEZE,3.41,-1.724,-1.832,2,36,0
$FREEZE,3.42,-1.723,-1.832,2,36,0
$FREEZE,3.47,-1.724,-1.833,2,36,0
$FREEZE,3.33,-1.725,-1.833,2,36,0
$FREEZE,3.38,-1.724,-1.832,2,36,0
$FREEZE,3.34,-1.724,-1.832,2,36,0
$FREEZE,3.45,-1.726,-1.833,2,36,0
$FREEZE,3.45,-1.726,-1.833,2,36,0
$FREEZE,3.41,-1.727,-1.833,2,36,0
$FREEZE,3.41,-1.728,-1.833,2,36,0
$FREEZE,3.37,-1.728,-1.833,2,36,0
$FREEZE,3.33,-1.726,-1.833,2,36,0
$FREEZE,3.37,-1.727,-1.833,2,36,0
$FREEZE,3.38,-1.726,-1.833,2,36,0
$STATE,9610,end climb,NO_VERTICAL_VELOCITY
$STATE,9611,begin subsurface finish
$FINISH1,3.4,1.026869,31
$GC,9617,0.04,30.9,3.4,-0.2,1038,9626,0.60,0.00,-5.05,0.000,2,0.156,0.000,2882,2276,1972,0,0,0,0,0,0
$FINISH2,3.5
$STATE,9626,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,9627,begin surface
$RAFOS_CLK,495
$RAFOS,6,1303260543,0.833333,0.817500,148,70,57,56,55,52,689,201,213,161,170,127
$RAFOS,5,1303260063,0.700000,0.684167,155,63,57,57,55,52,684,198,208,147,117,187
$RAFOS,4,1303259584,0.566667,0.551111,120,64,60,59,59,55,823,198,168,219,187,119
$RAFOS_FIX,6721.390625,-5748.732910,200411,000000,5,129,5.56
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.55
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,22.4,58.496
$10V_AH,10.2,30.011
$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,4.375,73.625,360.300,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2538.661,4957.587,378.457,1658.299,165.041,0.000,1247.718,0.000,1649.411,720.000,12.709,0.000
$DEVICE_MAMPS,218.790,71.145,1171.980,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.727,785.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40144,1039
$CAP_FILE_SIZE,107220,0
$CFSIZE,260165632,224972800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.9
$GPS,200411,001456,6724.044,-5752.756,0,2111.5,0,-38.9