version: 66.08
glider: 141
mission: 15
dive: 506
start: 4 26 111 23 26 57
data:
$ID,141
$MISSION,15
$DIVE,506
$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,-44746.707
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,260411,204800,6702.160,-5648.239,0,2105.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.37
$_SM_ANGLEo,-32.6
$GPS2,260411,204800,6702.160,-5648.239,181,99.0,181,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,295.7,162817,-17.5,-10.000
$D_GRID,547
$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,-146.0,0.0,0.0,0,184,0.00,0.00,-163.82,0.000,6,0.000,0.000,109,2503,3625,0,0,0,0,0,0
$GC,187,-0.62,-146.0,3.5,-0.0,29,206,10.07,2.30,0.00,0.000,4,0.233,0.065,2656,3880,3627,0,0,0,0,0,0
$GC,264,-0.62,-146.0,7.5,-7.5,42,270,0.00,2.17,0.00,0.000,6,0.000,0.047,2657,2487,3628,0,0,0,0,0,0
$GC,609,-0.54,-146.0,57.2,-14.8,103,617,0.12,2.28,0.00,0.000,4,0.221,0.065,2687,1084,3627,0,0,0,0,0,0
$GC,664,-0.54,-146.0,64.7,-12.6,112,671,0.00,2.28,0.00,0.000,6,0.000,0.063,2687,2481,3628,0,0,0,0,0,0
$GC,1005,-0.54,-146.0,108.1,-12.1,167,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2481,3626,0,0,0,0,0,0
$GC,1327,-0.54,-146.0,145.2,-11.9,197,1331,0.00,2.35,0.00,0.000,4,0.000,0.079,2687,3905,3625,0,0,0,0,0,0
$GC,1390,-0.60,-146.0,152.6,-11.1,202,1394,0.00,2.20,0.00,0.000,6,0.000,0.047,2687,2489,3625,0,0,0,0,0,0
$GC,1717,-0.63,-146.0,186.0,-9.7,232,1721,0.00,2.22,0.00,0.000,4,0.000,0.063,2687,1084,3625,0,0,0,0,0,0
$GC,1769,-0.68,-146.0,191.1,-9.0,236,1774,0.12,2.28,0.00,0.000,6,0.127,0.060,2646,2490,3624,0,0,0,0,0,0
$GC,2095,-0.62,-146.0,229.9,-11.9,266,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2490,3625,0,0,0,0,0,0
$GC,2415,-0.57,-146.0,269.7,-12.4,296,2420,0.12,2.30,0.00,0.000,4,0.214,0.073,2675,3905,3626,0,0,0,0,0,0
$GC,2476,-0.62,-146.0,276.6,-10.1,301,2483,0.00,2.20,0.00,0.000,6,0.000,0.043,2674,2484,3626,0,0,0,0,0,0
$GC,2802,-0.65,-146.0,308.7,-10.2,332,2806,0.00,2.20,0.00,0.000,4,0.000,0.059,2674,1078,3628,0,0,0,0,0,0
$GC,2868,-0.68,-146.0,315.4,-9.9,337,2875,0.00,2.28,0.00,0.000,6,0.000,0.057,2675,2501,3628,0,0,0,0,0,0
$GC,3194,-0.71,-146.0,348.5,-10.2,368,3198,0.12,2.28,0.00,0.000,4,0.119,0.070,2630,3899,3629,0,0,0,0,0,0
$GC,3234,-0.65,-146.0,353.4,-13.1,371,3238,0.00,2.17,0.00,0.000,6,0.000,0.041,2630,2487,3629,0,0,0,0,0,0
$GC,3564,-0.57,-146.0,398.8,-13.6,402,3569,0.17,2.22,0.00,0.000,4,0.204,0.057,2674,1084,3631,0,0,0,0,0,0
$GC,3614,-0.62,-146.0,404.6,-10.2,406,3621,0.00,2.25,0.00,0.000,6,0.000,0.054,2674,2498,3631,0,0,0,0,0,0
$GC,3942,-0.65,-146.0,434.2,-8.7,437,3946,0.00,2.25,0.00,0.000,4,0.000,0.070,2674,3899,3631,0,0,0,0,0,0
$GC,3993,-0.71,-146.0,438.9,-8.6,441,3998,0.12,2.17,0.00,0.000,6,0.119,0.041,2630,2487,3632,0,0,0,0,0,0
$GC,4319,-0.63,-146.0,477.1,-12.4,471,4323,0.00,2.20,0.00,0.000,4,0.000,0.056,2630,1085,3632,0,0,0,0,0,0
$GC,4404,-0.59,-146.0,487.6,-12.1,478,4411,0.15,2.25,0.00,0.000,6,0.211,0.054,2665,2499,3633,0,0,0,0,0,0
$GC,4729,-0.59,-146.0,518.6,-9.4,509,4733,0.00,2.28,0.00,0.000,4,0.000,0.069,2665,3899,3633,0,0,0,0,0,0
$GC,4774,-0.63,-146.0,522.8,-8.9,512,4780,0.00,2.15,0.00,0.000,6,0.000,0.041,2665,2490,3633,0,0,0,0,0,0
$STATE,5054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5054,begin apogee
$GC,5061,-0.12,0.0,547.8,8.6,539,5191,0.50,0.00,123.22,1.229,6,0.177,0.000,2813,2256,3030,0,0,0,0,0,0
$STATE,5192,end apogee,CONTROL_FINISHED_OK
$STATE,5192,begin climb
$GC,5194,0.62,146.0,550.9,0.0,551,5330,0.77,2.38,126.55,1.183,4,0.130,0.061,3062,895,2433,0,0,0,0,0,0
$GC,5386,0.57,146.0,535.0,11.8,568,5393,0.00,2.38,0.00,0.000,6,0.000,0.048,3062,2281,2429,0,0,0,0,0,0
$GC,5711,0.50,146.0,495.9,12.5,599,5716,0.12,2.33,0.00,0.000,4,0.184,0.065,3031,3695,2428,0,0,0,0,0,0
$GC,5774,0.44,146.0,488.6,11.5,604,5779,0.12,2.25,0.00,0.000,6,0.187,0.047,3010,2285,2427,0,0,0,0,0,0
$GC,6100,0.50,169.4,459.9,8.9,634,6125,0.00,2.35,20.20,1.088,4,0.000,0.064,3018,869,2338,0,0,0,0,0,0
$GC,6134,0.58,204.7,456.9,8.4,637,6171,0.00,2.25,32.08,1.105,6,0.000,0.048,3018,2292,2195,0,0,0,0,0,0
$GC,6492,0.63,213.2,422.3,9.6,670,6506,0.15,2.33,7.95,0.940,4,0.092,0.063,3085,3690,2160,0,0,0,0,0,0
$GC,6530,0.54,213.2,417.2,15.2,673,6535,0.20,2.25,0.00,0.000,6,0.184,0.047,3044,2275,2160,0,0,0,0,0,0
$GC,6855,0.54,213.2,378.4,12.2,703,6859,0.00,2.28,0.00,0.000,4,0.000,0.062,3052,864,2159,0,0,0,0,0,0
$GC,6871,0.54,213.2,376.4,11.3,704,6878,0.00,2.22,0.00,0.000,6,0.000,0.047,3052,2278,2157,0,0,0,0,0,0
$GC,7197,0.54,213.2,336.2,13.1,735,7201,0.00,2.22,0.00,0.000,4,0.000,0.063,3052,3683,2158,0,0,0,0,0,0
$GC,7248,0.51,213.2,329.2,14.8,739,7253,0.12,2.22,0.00,0.000,6,0.186,0.047,3032,2268,2157,0,0,0,0,0,0
$GC,7573,0.54,213.2,291.7,11.3,769,7577,0.00,2.22,0.00,0.000,4,0.000,0.060,3040,866,2157,0,0,0,0,0,0
$GC,7606,0.60,213.2,288.0,11.0,771,7613,0.00,2.22,0.00,0.000,6,0.000,0.049,3040,2284,2156,0,0,0,0,0,0
$GC,7932,0.62,213.2,249.7,12.1,802,7936,0.00,2.25,0.00,0.000,4,0.000,0.063,3040,3693,2156,0,0,0,0,0,0
$GC,7987,0.62,213.2,241.9,14.1,806,7994,0.00,2.22,0.00,0.000,6,0.000,0.047,3050,2263,2156,0,0,0,0,0,0
$GC,8313,0.62,213.2,200.7,11.8,837,8316,0.00,2.20,0.00,0.000,4,0.000,0.060,3060,868,2156,0,0,0,0,0,0
$GC,8347,0.64,213.2,197.0,10.5,840,8351,0.00,2.20,0.00,0.000,6,0.000,0.049,3060,2276,2155,0,0,0,0,0,0
$GC,8678,0.64,213.2,161.6,10.3,871,8682,0.00,2.25,0.00,0.000,4,0.000,0.063,3060,3690,2155,0,0,0,0,0,0
$GC,8774,0.61,213.2,150.5,12.2,879,8778,0.00,2.20,0.00,0.000,6,0.000,0.046,3071,2276,2155,0,0,0,0,0,0
$GC,9105,0.61,213.2,113.2,11.3,910,9108,0.00,2.20,0.00,0.000,4,0.000,0.058,3081,868,2155,0,0,0,0,0,0
$GC,9128,0.61,213.2,110.8,10.5,912,9132,0.00,2.17,0.00,0.000,6,0.000,0.047,3081,2277,2155,0,0,0,0,0,0
$GC,9468,0.61,213.2,71.5,10.9,964,9474,0.00,2.25,0.00,0.000,4,0.000,0.062,3081,3684,2155,0,0,0,0,0,0
$GC,9560,0.57,213.2,59.6,13.1,980,9567,0.15,2.20,0.00,0.000,6,0.183,0.045,3052,2274,2156,0,0,0,0,0,0
$GC,9908,0.64,224.2,28.5,9.5,1041,9921,0.00,2.22,6.12,0.819,4,0.000,0.059,3055,866,2113,0,0,0,0,0,0
$GC,9952,0.74,224.2,23.9,10.8,1048,9959,0.12,2.20,0.00,0.000,6,0.112,0.048,3110,2282,2113,0,0,0,0,0,0
$FREEZE,8.92,-1.654,-1.839,2,41,0
$FREEZE,8.26,-1.651,-1.838,2,41,0
$FREEZE,7.76,-1.651,-1.838,2,41,0
$FREEZE,7.35,-1.651,-1.837,2,41,0
$FREEZE,6.71,-1.651,-1.837,2,41,0
$FREEZE,6.08,-1.651,-1.837,2,41,0
$FREEZE,5.26,-1.652,-1.836,2,41,0
$FREEZE,4.59,-1.650,-1.835,2,41,0
$FREEZE,3.98,-1.652,-1.835,2,41,0
$FREEZE,3.47,-1.659,-1.835,2,41,0
$FREEZE,2.89,-1.663,-1.834,2,41,0
$STATE,10126,end climb,SURFACE_DEPTH_REACHED
$STATE,10126,begin surface coast
$FREEZE,2.55,-1.659,-1.834,2,41,0
$FREEZE,2.85,-1.662,-1.834,2,41,0
$FREEZE,2.81,-1.663,-1.834,2,41,0
$FREEZE,2.86,-1.659,-1.834,2,41,0
$FINISH,2.9,1.026889
$STATE,10151,end surface coast,CONTROL_FINISHED_OK
$STATE,10151,begin surface
$RAFOS_CLK,563
$RAFOS,6,1303865344,0.833333,0.817778,83,59,54,53,53,52,844,215,1061,188,162,153
$RAFOS,5,1303864867,0.700000,0.685278,165,67,62,58,57,56,640,218,195,166,175,157
$RAFOS,4,1303864385,0.566667,0.551389,61,60,58,55,55,50,126,870,204,225,180,147
$RAFOS,3,1303863904,0.433333,0.417778,114,62,55,54,53,50,953,192,168,177,151,206
$RAFOS,2,1303863427,0.300000,0.285278,63,60,57,57,54,53,157,200,171,104,113,185
$RAFOS,1,1303862951,0.166667,0.153056,61,57,55,54,54,49,211,146,227,130,178,117
$RAFOS,0,1303862467,0.033333,0.018611,64,60,58,55,54,50,171,205,191,182,214,154
$RAFOS_FIX,6654.463379,-5656.198730,270411,000032,3,121,1.10
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,46.22
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.0
$24V_AH,22.1,65.879
$10V_AH,10.1,33.984
$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,13.300,108.075,316.125,0.000,0.000,98.443,17.403,0.000,1.500,0.000,183.291,2622.697,5429.820,467.816,2060.156,515.535,0.000,1440.154,0.000,1745.830,2520.000,11.456,0.000
$DEVICE_MAMPS,233.325,78.795,1229.355,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,764.267,816.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150480
$DATA_FILE_SIZE,43398,1084
$CAP_FILE_SIZE,129220,0
$CFSIZE,260165632,221261824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$GPS,270411,004032,6654.463,-5656.199,0,3120.7,0,-37.6