version: 66.08
glider: 141
mission: 15
dive: 508
start: 4 27 111 5 58 3
data:
$ID,141
$MISSION,15
$DIVE,508
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,270411,044800,6702.368,-5657.240,0,2128.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,6.6
$GPS2,270411,044800,6702.368,-5657.240,0,2128.5,0,-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,295.0,156464,-17.5,-10.000
$D_GRID,639
$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,-146.0,0.0,0.0,0,127,0.00,0.38,-105.05,0.000,6,0.000,0.156,3098,2493,3626,0,0,0,0,0,0
$GC,132,-0.62,-146.0,3.9,-6.0,19,139,1.35,2.28,0.00,0.000,4,0.143,0.057,2674,1076,3627,0,0,0,0,0,0
$GC,242,-0.62,-146.0,16.0,-14.9,38,249,0.00,2.28,0.00,0.000,6,0.000,0.060,2674,2487,3627,0,0,0,0,0,0
$GC,587,-0.58,-146.0,59.4,-12.8,99,594,0.00,2.30,0.00,0.000,4,0.000,0.075,2674,3900,3625,0,0,0,0,0,0
$GC,691,-0.58,-146.0,72.2,-11.9,117,698,0.00,2.22,0.00,0.000,6,0.000,0.047,2674,2478,3626,0,0,0,0,0,0
$GC,1031,-0.58,-146.0,114.9,-12.3,167,1035,0.00,2.20,0.00,0.000,4,0.000,0.063,2675,1085,3624,0,0,0,0,0,0
$GC,1086,-0.58,-146.0,122.0,-12.3,171,1093,0.00,2.28,0.00,0.000,6,0.000,0.062,2674,2492,3624,0,0,0,0,0,0
$GC,1411,-0.58,-146.0,160.1,-10.8,202,1415,0.00,2.30,0.00,0.000,4,0.000,0.076,2674,3900,3622,0,0,0,0,0,0
$GC,1489,-0.62,-146.0,168.2,-10.0,208,1496,0.00,2.22,0.00,0.000,6,0.000,0.047,2675,2481,3622,0,0,0,0,0,0
$GC,1816,-0.62,-146.0,199.7,-9.4,239,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2481,3621,0,0,0,0,0,0
$GC,2134,-0.62,-146.0,228.0,-8.3,269,2138,0.00,2.22,0.00,0.000,4,0.000,0.060,2674,1075,3621,0,0,0,0,0,0
$GC,2186,-0.65,-146.0,232.9,-8.9,273,2190,0.00,2.28,0.00,0.000,6,0.000,0.059,2674,2490,3621,0,0,0,0,0,0
$GC,2513,-0.65,-146.0,263.3,-9.5,303,2517,0.00,2.33,0.00,0.000,4,0.000,0.073,2674,3909,3621,0,0,0,0,0,0
$GC,2592,-0.69,-146.0,271.2,-9.7,309,2598,0.00,2.20,0.00,0.000,6,0.000,0.044,2674,2480,3621,0,0,0,0,0,0
$GC,2917,-0.69,-146.0,302.7,-9.6,340,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2480,3622,0,0,0,0,0,0
$GC,3238,-0.72,-146.0,332.3,-9.3,370,3245,0.12,0.00,0.00,0.000,6,0.127,0.000,2632,2480,3622,0,0,0,0,0,0
$GC,3564,-0.65,-146.0,373.5,-12.3,401,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2480,3622,0,0,0,0,0,0
$GC,3884,-0.58,-146.0,413.0,-12.3,431,3889,0.17,2.22,0.00,0.000,4,0.203,0.058,2675,1085,3622,0,0,0,0,0,0
$GC,3936,-0.64,-146.0,418.4,-9.0,435,3940,0.00,2.25,0.00,0.000,6,0.000,0.057,2675,2492,3622,0,0,0,0,0,0
$GC,4268,-0.67,-146.0,447.4,-8.9,466,4272,0.00,2.28,0.00,0.000,4,0.000,0.072,2675,3899,3623,0,0,0,0,0,0
$GC,4346,-0.73,-146.0,454.5,-8.9,472,4353,0.15,2.17,0.00,0.000,6,0.111,0.044,2625,2487,3623,0,0,0,0,0,0
$GC,4673,-0.65,-146.0,494.6,-12.6,503,4675,0.12,0.00,0.00,0.000,6,0.225,0.000,2652,2487,3623,0,0,0,0,0,0
$GC,4990,-0.65,-146.0,527.7,-10.4,533,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2487,3625,0,0,0,0,0,0
$GC,5310,-0.65,-146.0,561.2,-10.3,563,5314,0.00,2.20,0.00,0.000,4,0.000,0.059,2652,1081,3624,0,0,0,0,0,0
$GC,5343,-0.65,-146.0,565.1,-10.3,565,5350,0.00,2.25,0.00,0.000,6,0.000,0.056,2652,2492,3625,0,0,0,0,0,0
$GC,5671,-0.65,-146.0,597.7,-10.3,596,5675,0.00,2.28,0.00,0.000,4,0.000,0.073,2652,3897,3624,0,0,0,0,0,0
$GC,5734,-0.65,-146.0,604.4,-9.6,599,5738,0.00,2.17,0.00,0.000,6,0.000,0.044,2652,2488,3624,0,0,0,0,0,0
$GC,6075,-0.65,-146.0,637.5,-10.0,610,6079,0.00,2.20,0.00,0.000,4,0.000,0.059,2652,1087,3625,0,0,0,0,0,0
$STATE,6088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6088,begin apogee
$GC,6096,-0.12,0.0,639.3,10.2,610,6226,0.55,0.00,123.03,1.304,6,0.182,0.000,2812,2279,3030,0,0,0,0,0,0
$STATE,6227,end apogee,CONTROL_FINISHED_OK
$STATE,6227,begin climb
$GC,6229,0.62,146.0,643.2,0.0,614,6370,0.77,2.60,129.85,1.258,4,0.131,0.063,3060,883,2432,0,0,0,0,0,0
$GC,6415,0.57,146.0,629.5,10.8,620,6419,0.00,2.42,0.00,0.000,6,0.000,0.053,3060,2275,2429,0,0,0,0,0,0
$GC,6730,0.51,146.0,593.0,11.3,632,6735,0.12,2.35,0.00,0.000,4,0.184,0.069,3029,3694,2426,0,0,0,0,0,0
$GC,6774,0.47,146.0,587.8,11.3,635,6781,0.00,2.30,0.00,0.000,6,0.000,0.053,3037,2275,2426,0,0,0,0,0,0
$GC,7099,0.45,146.0,554.7,10.3,666,7104,0.00,2.33,0.00,0.000,4,0.000,0.067,3037,3688,2425,0,0,0,0,0,0
$GC,7130,0.40,146.0,551.4,11.3,668,7135,0.20,2.28,0.00,0.000,6,0.189,0.052,2997,2265,2424,0,0,0,0,0,0
$GC,7456,0.51,192.7,524.8,7.8,698,7498,0.00,0.00,40.40,1.200,6,0.000,0.000,2998,2265,2243,0,0,0,0,0,0
$GC,7814,0.64,231.0,495.7,8.2,732,7854,0.20,0.00,34.85,1.173,6,0.083,0.000,3082,2265,2087,0,0,0,0,0,0
$GC,8172,0.59,231.0,444.1,14.9,766,8177,0.00,2.33,0.00,0.000,4,0.000,0.069,3083,3689,2080,0,0,0,0,0,0
$GC,8217,0.53,231.0,436.5,16.8,769,8225,0.20,2.28,0.00,0.000,6,0.183,0.053,3041,2270,2079,0,0,0,0,0,0
$GC,8543,0.55,231.0,397.1,11.6,800,8547,0.00,2.25,0.00,0.000,4,0.000,0.067,3049,862,2078,0,0,0,0,0,0
$GC,8565,0.59,231.0,394.3,11.1,801,8572,0.00,2.28,0.00,0.000,6,0.000,0.054,3049,2288,2077,0,0,0,0,0,0
$GC,8890,0.61,231.0,357.0,11.7,832,8894,0.00,2.25,0.00,0.000,4,0.000,0.069,3049,3694,2077,0,0,0,0,0,0
$GC,8934,0.61,231.0,351.3,13.5,835,8941,0.00,2.25,0.00,0.000,6,0.000,0.051,3059,2265,2076,0,0,0,0,0,0
$GC,9259,0.61,231.0,309.9,13.4,866,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2264,2076,0,0,0,0,0,0
$GC,9581,0.61,231.0,268.6,12.4,896,9585,0.00,2.33,0.00,0.000,4,0.000,0.067,3059,3693,2076,0,0,0,0,0,0
$GC,9599,0.61,231.0,266.0,12.6,897,9603,0.00,2.25,0.00,0.000,6,0.000,0.050,3070,2268,2076,0,0,0,0,0,0
$GC,9924,0.61,231.0,228.8,11.8,927,9928,0.00,2.22,0.00,0.000,4,0.000,0.065,3080,865,2076,0,0,0,0,0,0
$GC,9964,0.61,231.0,224.0,11.8,930,9969,0.00,2.22,0.00,0.000,6,0.000,0.054,3080,2277,2075,0,0,0,0,0,0
$GC,10290,0.61,231.0,182.6,12.5,960,10294,0.00,2.25,0.00,0.000,4,0.000,0.070,3080,3681,2075,0,0,0,0,0,0
$GC,10352,0.57,231.0,174.2,13.6,965,10357,0.15,2.22,0.00,0.000,6,0.187,0.051,3051,2275,2075,0,0,0,0,0,0
$GC,10679,0.68,274.1,145.7,8.0,995,10724,0.00,2.30,37.75,1.004,4,0.000,0.064,3055,859,1911,0,0,0,0,0,0
$GC,10741,0.81,315.1,140.4,8.1,1000,10784,0.20,2.30,37.20,0.973,6,0.088,0.053,3136,2279,1745,0,0,0,0,0,0
$GC,11110,0.77,315.1,84.0,15.8,1043,11116,0.00,2.28,0.00,0.000,4,0.000,0.070,3136,3683,1735,0,0,0,0,0,0
$GC,11191,0.73,315.1,71.1,15.4,1057,11198,0.17,2.25,0.00,0.000,6,0.194,0.053,3103,2278,1733,0,0,0,0,0,0
$GC,11539,0.76,315.1,29.7,12.8,1118,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2277,1733,0,0,0,0,0,0
$FREEZE,8.87,-1.737,-1.835,2,43,0
$STATE,11702,end climb,FINISH_DEPTH_REACHED
$STATE,11702,begin subsurface finish
$FINISH1,8.9,1.026849,32
$GC,11709,0.04,31.9,8.9,-13.6,1147,11757,0.70,2.40,-41.25,0.000,4,0.158,0.082,2885,3693,2902,0,0,0,0,0,0
$FINISH2,7.1
$STATE,11758,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11758,begin surface
$RAFOS_CLK,613
$RAFOS,6,1303894149,8.833333,8.819167,116,64,57,53,52,52,786,210,187,118,175,166
$RAFOS,5,1303893667,8.700000,8.685278,141,58,58,58,57,57,617,187,209,145,161,132
$RAFOS,4,1303893182,8.566667,8.550555,59,59,58,57,53,53,190,223,214,120,179,202
$RAFOS,3,1303892707,8.433333,8.418612,64,59,58,54,53,52,124,177,204,160,139,149
$RAFOS,2,1303892221,8.300000,8.283611,67,54,52,50,50,47,201,152,176,123,113,223
$RAFOS,1,1303891745,8.166667,8.151389,61,58,56,53,51,49,204,191,221,110,137,148
$RAFOS,0,1303891264,8.033334,8.017777,62,59,58,55,52,51,206,153,179,166,192,222
$RAFOS_FIX,6703.493164,-5702.274414,270411,080856,2,128,0.29
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,47.32
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.5
$24V_AH,22.0,66.140
$10V_AH,10.1,34.131
$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,5.200,102.375,403.075,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2773.172,6420.522,531.026,1892.838,206.606,0.000,1554.865,0.000,1878.898,2520.000,17.897,0.000
$DEVICE_MAMPS,224.910,156.060,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.683,874.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,46720,1155
$CAP_FILE_SIZE,128369,0
$CFSIZE,260165632,221118464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.1
$GPS,270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6