version: 66.08
glider: 141
mission: 15
dive: 507
start: 4 27 111 2 20 24
data:
$ID,141
$MISSION,15
$DIVE,507
$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,32
$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
$GPS1,270411,004032,6654.463,-5656.199,0,3120.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,10.1
$GPS2,270411,004032,6654.463,-5656.199,0,3120.7,0,-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,300.4,154701,-17.5,-10.000
$D_GRID,673
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,115,0.00,0.30,-91.78,0.000,6,0.000,0.163,3110,2492,3625,0,0,0,0,0,0
$GC,119,-0.62,-146.0,3.6,-3.9,17,127,1.33,2.25,0.00,0.000,4,0.125,0.054,2674,1069,3625,0,0,0,0,0,0
$GC,336,-0.62,-146.0,27.8,-13.0,55,343,0.00,2.28,0.00,0.000,6,0.000,0.057,2674,2482,3625,0,0,0,0,0,0
$GC,681,-0.58,-146.0,74.3,-14.1,116,688,0.00,2.30,0.00,0.000,4,0.000,0.073,2674,3897,3623,0,0,0,0,0,0
$GC,758,-0.58,-146.0,84.9,-13.5,129,765,0.00,2.17,0.00,0.000,6,0.000,0.045,2674,2488,3623,0,0,0,0,0,0
$GC,1095,-0.58,-146.0,130.6,-14.1,170,1099,0.00,2.22,0.00,0.000,4,0.000,0.060,2674,1075,3622,0,0,0,0,0,0
$GC,1139,-0.58,-146.0,137.0,-13.6,173,1147,0.00,2.30,0.00,0.000,6,0.000,0.060,2674,2488,3622,0,0,0,0,0,0
$GC,1465,-0.58,-146.0,176.8,-11.5,204,1469,0.00,2.33,0.00,0.000,4,0.000,0.074,2674,3902,3620,0,0,0,0,0,0
$GC,1505,-0.61,-146.0,181.3,-10.6,207,1509,0.00,2.20,0.00,0.000,6,0.000,0.046,2674,2492,3619,0,0,0,0,0,0
$GC,1836,-0.61,-146.0,217.7,-10.1,238,1839,0.00,2.20,0.00,0.000,4,0.000,0.059,2674,1083,3619,0,0,0,0,0,0
$GC,1875,-0.63,-146.0,221.8,-10.1,241,1882,0.00,2.28,0.00,0.000,6,0.000,0.057,2674,2500,3619,0,0,0,0,0,0
$GC,2200,-0.63,-146.0,252.4,-9.1,272,2204,0.00,2.30,0.00,0.000,4,0.000,0.072,2674,3906,3619,0,0,0,0,0,0
$GC,2240,-0.67,-146.0,256.0,-8.9,275,2244,0.00,2.20,0.00,0.000,6,0.000,0.043,2674,2484,3618,0,0,0,0,0,0
$GC,2571,-0.67,-146.0,286.8,-9.0,306,2575,0.00,2.17,0.00,0.000,4,0.000,0.057,2674,1087,3620,0,0,0,0,0,0
$GC,2645,-0.71,-146.0,293.4,-8.2,312,2652,0.12,2.25,0.00,0.000,6,0.123,0.057,2633,2491,3620,0,0,0,0,0,0
$GC,2970,-0.64,-146.0,330.1,-11.2,343,2974,0.00,2.30,0.00,0.000,4,0.000,0.070,2632,3900,3620,0,0,0,0,0,0
$GC,3025,-0.60,-146.0,336.6,-10.9,347,3033,0.15,2.20,0.00,0.000,6,0.200,0.043,2668,2488,3620,0,0,0,0,0,0
$GC,3351,-0.60,-146.0,363.6,-8.1,378,3354,0.00,2.22,0.00,0.000,4,0.000,0.057,2668,1076,3622,0,0,0,0,0,0
$GC,3420,-0.63,-146.0,369.5,-8.5,384,3424,0.00,2.28,0.00,0.000,6,0.000,0.056,2669,2499,3621,0,0,0,0,0,0
$GC,3745,-0.63,-146.0,397.3,-8.6,414,3749,0.00,2.28,0.00,0.000,4,0.000,0.070,2668,3899,3622,0,0,0,0,0,0
$GC,3782,-0.66,-146.0,400.2,-8.8,417,3786,0.00,2.15,0.00,0.000,6,0.000,0.041,2668,2488,3622,0,0,0,0,0,0
$GC,4114,-0.68,-146.0,429.0,-8.7,448,4117,0.00,2.17,0.00,0.000,4,0.000,0.056,2668,1087,3622,0,0,0,0,0,0
$GC,4205,-0.72,-146.0,437.5,-9.1,456,4210,0.12,2.22,0.00,0.000,6,0.124,0.054,2627,2494,3622,0,0,0,0,0,0
$GC,4536,-0.64,-146.0,476.5,-12.1,487,4541,0.12,2.33,0.00,0.000,4,0.216,0.070,2655,3900,3622,0,0,0,0,0,0
$GC,4580,-0.64,-146.0,481.3,-9.9,490,4587,0.00,2.17,0.00,0.000,6,0.000,0.041,2655,2490,3622,0,0,0,0,0,0
$GC,4905,-0.64,-146.0,512.7,-9.4,521,4909,0.00,2.22,0.00,0.000,4,0.000,0.055,2655,1086,3623,0,0,0,0,0,0
$GC,4963,-0.64,-146.0,518.4,-9.1,526,4967,0.00,2.25,0.00,0.000,6,0.000,0.054,2655,2497,3622,0,0,0,0,0,0
$GC,5288,-0.64,-146.0,548.4,-9.6,556,5292,0.00,2.30,0.00,0.000,4,0.000,0.069,2655,3906,3622,0,0,0,0,0,0
$GC,5317,-0.64,-146.0,551.1,-9.5,558,5321,0.00,2.20,0.00,0.000,6,0.000,0.040,2655,2479,3622,0,0,0,0,0,0
$GC,5648,-0.64,-146.0,582.1,-9.4,589,5652,0.00,2.17,0.00,0.000,4,0.000,0.056,2655,1083,3623,0,0,0,0,0,0
$GC,5716,-0.64,-146.0,588.7,-9.4,595,5721,0.00,2.25,0.00,0.000,6,0.000,0.054,2655,2496,3623,0,0,0,0,0,0
$GC,6035,-0.64,-146.0,618.1,-9.5,613,6040,0.00,2.25,0.00,0.000,4,0.000,0.069,2655,3896,3624,0,0,0,0,0,0
$GC,6104,-0.66,-146.0,624.6,-8.9,615,6108,0.00,2.17,0.00,0.000,6,0.000,0.041,2655,2489,3624,0,0,0,0,0,0
$GC,6441,-0.86,-146.0,647.8,-2.1,626,6446,0.20,2.22,0.00,0.000,4,0.110,0.054,2586,1079,3625,0,0,0,0,0,0
$STATE,6568,end dive,NO_VERTICAL_VELOCITY
$STATE,6569,begin apogee
$GC,6576,-0.12,0.0,647.7,0.0,629,6708,0.73,0.00,122.95,1.301,6,0.129,0.000,2818,2279,3030,0,0,0,0,0,0
$STATE,6709,end apogee,CONTROL_FINISHED_OK
$STATE,6709,begin climb
$GC,6711,0.62,146.0,647.8,0.0,634,6845,0.77,0.00,130.10,1.258,6,0.120,0.000,3057,2279,2433,0,0,0,0,0,0
$GC,7133,0.57,146.0,607.6,11.2,648,7138,0.00,2.33,0.00,0.000,4,0.000,0.066,3057,3682,2427,0,0,0,0,0,0
$GC,7208,0.46,146.0,597.5,14.1,651,7213,0.20,2.28,0.00,0.000,6,0.184,0.049,3017,2277,2426,0,0,0,0,0,0
$GC,7533,0.46,147.1,565.6,9.9,681,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2277,2425,0,0,0,0,0,0
$GC,7856,0.48,165.2,535.5,9.2,711,7879,0.00,2.30,16.50,1.149,4,0.000,0.063,3017,3680,2356,0,0,0,0,0,0
$GC,7896,0.48,167.6,531.0,9.9,714,7906,0.00,2.25,3.85,0.707,6,0.000,0.048,3025,2274,2346,0,0,0,0,0,0
$GC,8232,0.48,167.6,497.8,10.1,746,8236,0.00,2.30,0.00,0.000,4,0.000,0.064,3025,3689,2344,0,0,0,0,0,0
$GC,8249,0.48,167.6,496.1,10.3,747,8253,0.00,2.25,0.00,0.000,6,0.000,0.048,3035,2269,2344,0,0,0,0,0,0
$GC,8574,0.48,167.6,460.2,11.1,777,8578,0.00,2.30,0.00,0.000,4,0.000,0.064,3035,3686,2343,0,0,0,0,0,0
$GC,8590,0.46,167.6,458.2,11.5,778,8598,0.12,2.22,0.00,0.000,6,0.194,0.047,3016,2276,2343,0,0,0,0,0,0
$GC,8916,0.51,175.7,426.2,9.6,809,8927,0.00,0.00,8.12,0.991,6,0.000,0.000,3016,2276,2313,0,0,0,0,0,0
$GC,9246,0.54,175.7,393.3,10.1,840,9250,0.00,2.25,0.00,0.000,4,0.000,0.063,3024,869,2312,0,0,0,0,0,0
$GC,9256,0.57,175.7,392.0,10.1,840,9263,0.00,2.22,0.00,0.000,6,0.000,0.049,3024,2274,2312,0,0,0,0,0,0
$GC,9583,0.63,194.5,360.1,9.1,871,9607,0.12,2.35,17.48,1.066,4,0.102,0.065,3081,3684,2237,0,0,0,0,0,0
$GC,9643,0.51,194.5,352.0,15.8,876,9648,0.22,2.22,0.00,0.000,6,0.185,0.047,3032,2268,2236,0,0,0,0,0,0
$GC,9968,0.51,194.5,318.6,10.0,906,9972,0.00,2.22,0.00,0.000,4,0.000,0.062,3042,865,2235,0,0,0,0,0,0
$GC,9990,0.51,194.5,316.2,10.1,908,9995,0.00,2.22,0.00,0.000,6,0.000,0.050,3042,2276,2234,0,0,0,0,0,0
$GC,10317,0.51,194.5,282.8,10.4,938,10321,0.00,2.25,0.00,0.000,4,0.000,0.064,3041,3683,2234,0,0,0,0,0,0
$GC,10395,0.49,194.5,273.5,12.2,944,10402,0.00,2.20,0.00,0.000,6,0.000,0.047,3052,2275,2235,0,0,0,0,0,0
$GC,10720,0.49,194.5,237.1,11.6,975,10724,0.00,2.28,0.00,0.000,4,0.000,0.062,3052,3684,2234,0,0,0,0,0,0
$GC,10749,0.45,194.5,233.6,12.6,977,10753,0.17,2.22,0.00,0.000,6,0.183,0.047,3017,2263,2234,0,0,0,0,0,0
$GC,11074,0.54,209.9,203.6,9.3,1007,11097,0.00,2.28,14.40,0.952,4,0.000,0.061,3025,866,2174,0,0,0,0,0,0
$GC,11114,0.67,247.2,199.9,8.3,1010,11155,0.15,2.22,33.95,0.988,6,0.099,0.049,3087,2276,2022,0,0,0,0,0,0
$GC,11472,0.64,247.2,150.1,14.2,1044,11476,0.00,2.28,0.00,0.000,4,0.000,0.063,3087,3692,2015,0,0,0,0,0,0
$GC,11542,0.60,247.2,139.7,15.0,1050,11546,0.15,2.25,0.00,0.000,6,0.186,0.047,3060,2266,2014,0,0,0,0,0,0
$GC,11867,0.65,247.5,104.6,10.0,1080,11871,0.00,2.20,0.00,0.000,4,0.000,0.060,3069,866,2014,0,0,0,0,0,0
$GC,11884,0.69,247.5,102.7,10.1,1081,11891,0.00,2.22,0.00,0.000,6,0.000,0.048,3069,2279,2013,0,0,0,0,0,0
$GC,12229,0.78,266.4,69.5,9.1,1140,12256,0.12,2.30,16.88,0.887,4,0.103,0.065,3125,3681,1944,0,0,0,0,0,0
$GC,12297,0.70,266.4,59.7,16.1,1151,12305,0.17,2.22,0.00,0.000,6,0.186,0.048,3090,2277,1942,0,0,0,0,0,0
$GC,12647,0.70,266.4,19.7,11.6,1212,12654,0.00,2.28,0.00,0.000,4,0.000,0.064,3090,3693,1940,0,0,0,0,0,0
$GC,12700,0.70,266.4,11.9,14.2,1221,12707,0.00,2.25,0.00,0.000,6,0.000,0.050,3098,2269,1941,0,0,0,0,0,0
$FREEZE,8.74,-1.698,-1.838,2,42,0
$FREEZE,7.86,-1.698,-1.837,2,42,0
$FREEZE,7.39,-1.698,-1.837,2,42,0
$FREEZE,6.96,-1.699,-1.836,2,42,0
$FREEZE,6.44,-1.698,-1.836,2,42,0
$FREEZE,5.86,-1.697,-1.836,2,42,0
$FREEZE,5.21,-1.699,-1.835,2,42,0
$FREEZE,4.34,-1.700,-1.834,2,42,0
$FREEZE,3.54,-1.700,-1.834,2,42,0
$FREEZE,3.04,-1.702,-1.833,2,42,0
$FREEZE,2.63,-1.708,-1.833,2,42,0
$STATE,12777,end climb,SURFACE_DEPTH_REACHED
$STATE,12778,begin surface coast
$FREEZE,2.98,-1.710,-1.833,2,42,0
$FREEZE,2.85,-1.710,-1.833,2,42,0
$FREEZE,2.92,-1.640,-1.829,2,42,0
$FREEZE,2.84,-1.710,-1.833,2,42,0
$FINISH,2.8,1.026879
$STATE,12799,end surface coast,CONTROL_FINISHED_OK
$STATE,12799,begin surface
$RAFOS_CLK,663
$RAFOS,6,1303879748,4.833333,4.818889,114,64,53,51,51,49,806,206,176,215,94,145
$RAFOS,5,1303879268,4.700000,4.685555,143,65,56,54,53,52,622,202,217,161,235,193
$RAFOS,4,1303878788,4.566667,4.552222,61,60,56,53,53,52,164,214,131,187,173,198
$RAFOS,3,1303878301,4.433333,4.416945,64,63,56,53,51,48,220,203,122,173,158,140
$RAFOS,2,1303877832,4.300000,4.286667,62,60,56,54,54,53,206,192,125,167,177,140
$RAFOS,1,1303877341,4.166667,4.150278,64,57,56,54,52,51,210,169,219,150,200,228
$RAFOS,0,1303876863,4.033333,4.017500,64,63,62,53,53,52,204,195,165,137,227,215
$RAFOS_FIX,6702.368164,-5657.239746,270411,040400,2,128,0.99
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,46.14
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.6
$24V_AH,22.0,66.002
$10V_AH,10.1,34.060
$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,5.000,139.225,364.225,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,3082.424,7109.056,488.993,2065.609,242.639,0.000,1603.793,0.000,2049.087,2520.000,18.975,0.000
$DEVICE_MAMPS,215.730,162.945,1301.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.695,940.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150596
$DATA_FILE_SIZE,49967,1239
$CAP_FILE_SIZE,147501,0
$CFSIZE,260165632,221163520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.5
$GPS,270411,044800,6702.368,-5657.240,0,2128.5,0,-37.6