version: 66.08
glider: 141
mission: 15
dive: 509
start: 4 27 111 9 16 8
data:
$ID,141
$MISSION,15
$DIVE,509
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.21
$_SM_ANGLEo,-0.2
$GPS2,270411,084656,6703.493,-5702.274,0,2128.5,0,-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,294.0,153348,-17.5,-10.000
$D_GRID,656
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.82,0.000,2,0.000,0.000,2885,3692,3100,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.2,-0.0,1,52,0.62,4.22,-14.80,0.000,4,0.110,0.063,2668,1076,3629,0,0,0,0,0,0
$GC,188,-0.62,-146.0,31.5,-14.7,29,195,0.00,2.30,0.00,0.000,6,0.000,0.062,2668,2491,3629,0,0,0,0,0,0
$GC,534,-0.57,-146.0,81.6,-14.1,90,540,0.00,2.33,0.00,0.000,4,0.000,0.077,2669,3899,3629,0,0,0,0,0,0
$GC,661,-0.55,-146.0,98.8,-13.4,112,667,0.00,2.22,0.00,0.000,6,0.000,0.050,2668,2479,3628,0,0,0,0,0,0
$GC,993,-0.52,-146.0,142.5,-13.3,144,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2479,3627,0,0,0,0,0,0
$GC,1313,-0.49,-146.0,183.2,-12.2,174,1318,0.12,2.28,0.00,0.000,4,0.210,0.067,2697,1082,3626,0,0,0,0,0,0
$GC,1399,-0.55,-146.0,191.6,-8.8,181,1404,0.00,2.30,0.00,0.000,6,0.000,0.064,2697,2491,3627,0,0,0,0,0,0
$GC,1727,-0.61,-146.0,218.1,-8.4,211,1731,0.00,2.33,0.00,0.000,4,0.000,0.080,2698,3901,3626,0,0,0,0,0,0
$GC,1760,-0.68,-146.0,221.3,-9.1,213,1768,0.17,2.25,0.00,0.000,6,0.113,0.050,2639,2478,3626,0,0,0,0,0,0
$GC,2086,-0.61,-146.0,267.5,-14.2,244,2090,0.00,2.22,0.00,0.000,4,0.000,0.067,2639,1082,3626,0,0,0,0,0,0
$GC,2171,-0.57,-146.0,279.2,-12.7,251,2176,0.15,2.30,0.00,0.000,6,0.212,0.066,2673,2488,3625,0,0,0,0,0,0
$GC,2496,-0.57,-146.0,313.1,-10.2,281,2500,0.00,2.35,0.00,0.000,4,0.000,0.080,2673,3910,3626,0,0,0,0,0,0
$GC,2563,-0.61,-146.0,320.0,-9.7,286,2570,0.00,2.22,0.00,0.000,6,0.000,0.050,2673,2490,3625,0,0,0,0,0,0
$GC,2888,-0.61,-146.0,352.4,-10.2,317,2892,0.00,2.28,0.00,0.000,4,0.000,0.067,2673,1078,3626,0,0,0,0,0,0
$GC,2940,-0.65,-146.0,357.6,-10.2,321,2944,0.00,2.30,0.00,0.000,6,0.000,0.063,2673,2500,3626,0,0,0,0,0,0
$GC,3271,-0.67,-146.0,389.5,-9.5,352,3275,0.00,2.33,0.00,0.000,4,0.000,0.080,2673,3910,3625,0,0,0,0,0,0
$GC,3334,-0.72,-146.0,395.3,-8.8,357,3339,0.12,2.22,0.00,0.000,6,0.125,0.050,2632,2488,3625,0,0,0,0,0,0
$GC,3660,-0.65,-146.0,436.6,-13.0,387,3664,0.00,2.25,0.00,0.000,4,0.000,0.065,2632,1075,3625,0,0,0,0,0,0
$GC,3738,-0.61,-146.0,447.0,-12.9,393,3745,0.12,2.30,0.00,0.000,6,0.222,0.063,2660,2492,3625,0,0,0,0,0,0
$GC,4063,-0.61,-146.0,482.1,-10.6,424,4067,0.00,2.33,0.00,0.000,4,0.000,0.079,2660,3905,3625,0,0,0,0,0,0
$GC,4141,-0.63,-146.0,490.5,-10.2,430,4148,0.00,2.22,0.00,0.000,6,0.000,0.050,2661,2481,3625,0,0,0,0,0,0
$GC,4466,-0.63,-146.0,524.4,-10.6,461,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2480,3626,0,0,0,0,0,0
$GC,4787,-0.63,-146.0,556.5,-9.9,491,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2481,3626,0,0,0,0,0,0
$GC,5106,-0.63,-146.0,588.1,-9.6,521,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2481,3626,0,0,0,0,0,0
$GC,5415,-0.63,-146.0,617.4,-9.3,539,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2481,3626,0,0,0,0,0,0
$GC,5721,-0.63,-146.0,645.9,-9.3,549,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2480,3627,0,0,0,0,0,0
$STATE,5841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5841,begin apogee
$GC,5847,-0.12,0.0,657.1,9.1,553,5977,0.52,0.00,124.47,1.335,6,0.188,0.000,2812,2264,3030,0,0,0,0,0,0
$STATE,5978,end apogee,CONTROL_FINISHED_OK
$STATE,5978,begin climb
$GC,5981,0.62,146.0,661.0,0.0,557,6121,0.80,2.50,131.55,1.284,4,0.138,0.071,3062,884,2433,0,0,0,0,0,0
$GC,6184,0.56,146.0,645.4,11.7,563,6188,0.00,2.42,0.00,0.000,6,0.000,0.057,3062,2274,2429,0,0,0,0,0,0
$GC,6497,0.50,146.0,609.2,11.6,573,6502,0.12,2.38,0.00,0.000,4,0.184,0.073,3031,3686,2427,0,0,0,0,0,0
$GC,6552,0.45,146.0,602.5,12.4,574,6559,0.00,2.30,0.00,0.000,6,0.000,0.055,3039,2283,2426,0,0,0,0,0,0
$GC,6876,0.42,146.0,569.2,10.6,603,6881,0.15,2.33,0.00,0.000,4,0.179,0.072,3001,3692,2426,0,0,0,0,0,0
$GC,6905,0.42,146.0,566.3,10.0,605,6909,0.00,2.30,0.00,0.000,6,0.000,0.055,3009,2268,2425,0,0,0,0,0,0
$GC,7230,0.48,163.2,536.6,9.2,635,7253,0.00,2.35,15.05,1.151,4,0.000,0.072,3009,3690,2364,0,0,0,0,0,0
$GC,7270,0.52,172.1,532.6,9.6,638,7288,0.00,2.30,9.57,1.079,6,0.000,0.054,3019,2270,2327,0,0,0,0,0,0
$GC,7607,0.55,173.5,499.8,9.9,670,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2269,2324,0,0,0,0,0,0
$GC,7929,0.60,185.1,469.3,9.5,700,7946,0.10,0.00,12.43,1.109,6,0.118,0.000,3068,2270,2275,0,0,0,0,0,0
$GC,8264,0.54,185.1,426.8,12.9,732,8268,0.00,2.33,0.00,0.000,4,0.000,0.070,3068,3690,2273,0,0,0,0,0,0
$GC,8315,0.46,185.1,419.6,14.4,736,8322,0.22,2.28,0.00,0.000,6,0.185,0.054,3020,2270,2273,0,0,0,0,0,0
$GC,8641,0.53,206.3,389.6,9.0,767,8666,0.00,2.33,20.25,1.112,4,0.000,0.070,3029,873,2187,0,0,0,0,0,0
$GC,8690,0.61,224.7,385.1,9.2,771,8719,0.10,2.28,18.05,1.089,6,0.122,0.057,3076,2286,2113,0,0,0,0,0,0
$GC,9037,0.59,224.7,339.1,13.2,804,9041,0.00,2.30,0.00,0.000,4,0.000,0.070,3076,3696,2109,0,0,0,0,0,0
$GC,9086,0.54,224.7,331.4,14.9,808,9094,0.17,2.30,0.00,0.000,6,0.189,0.054,3042,2265,2109,0,0,0,0,0,0
$GC,9412,0.58,224.7,296.4,10.6,839,9417,0.00,2.25,0.00,0.000,4,0.000,0.069,3050,864,2108,0,0,0,0,0,0
$GC,9434,0.63,224.7,293.9,10.4,840,9441,0.00,2.25,0.00,0.000,6,0.000,0.055,3050,2276,2107,0,0,0,0,0,0
$GC,9760,0.66,224.7,261.0,10.1,871,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2276,2107,0,0,0,0,0,0
$GC,10081,0.70,228.9,229.2,9.8,901,10094,0.12,2.33,4.22,0.714,4,0.106,0.072,3106,3694,2096,0,0,0,0,0,0
$GC,10129,0.59,228.9,222.5,15.0,905,10134,0.22,2.28,0.00,0.000,6,0.195,0.054,3059,2269,2096,0,0,0,0,0,0
$GC,10455,0.62,229.1,188.2,10.0,935,10459,0.00,2.33,0.00,0.000,4,0.000,0.070,3058,3690,2095,0,0,0,0,0,0
$GC,10473,0.65,231.8,186.4,9.9,936,10486,0.00,2.25,4.28,0.708,6,0.000,0.053,3068,2268,2084,0,0,0,0,0,0
$GC,10803,0.65,231.8,152.6,10.2,967,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2268,2083,0,0,0,0,0,0
$GC,11124,0.67,231.8,118.9,10.4,997,11129,0.00,2.30,0.00,0.000,4,0.000,0.070,3067,3686,2083,0,0,0,0,0,0
$GC,11147,0.67,231.8,116.1,10.9,998,11154,0.00,2.25,0.00,0.000,6,0.000,0.054,3078,2277,2083,0,0,0,0,0,0
$GC,11482,0.67,231.8,79.4,10.9,1045,11489,0.00,2.28,0.00,0.000,4,0.000,0.068,3086,856,2083,0,0,0,0,0,0
$GC,11519,0.70,231.8,75.4,10.8,1051,11526,0.00,2.30,0.00,0.000,6,0.000,0.058,3086,2283,2082,0,0,0,0,0,0
$GC,11865,0.70,231.8,37.6,11.6,1112,11872,0.00,2.30,0.00,0.000,4,0.000,0.073,3086,3687,2082,0,0,0,0,0,0
$GC,11948,0.76,308.8,31.0,6.4,1126,12000,0.00,2.28,45.58,0.998,6,0.000,0.057,3097,2272,1770,0,0,0,0,0,0
$FREEZE,8.94,-1.716,-1.835,2,44,0
$FREEZE,8.38,-1.716,-1.835,2,44,0
$FREEZE,7.91,-1.718,-1.834,2,44,0
$FREEZE,7.26,-1.718,-1.834,2,44,0
$FREEZE,6.79,-1.718,-1.834,2,44,0
$FREEZE,6.16,-1.717,-1.833,2,44,0
$FREEZE,5.76,-1.718,-1.833,2,44,0
$FREEZE,5.14,-1.718,-1.832,2,44,0
$FREEZE,4.52,-1.718,-1.832,2,44,0
$FREEZE,3.95,-1.720,-1.831,2,44,0
$FREEZE,3.21,-1.719,-1.831,2,44,0
$FREEZE,2.12,-1.718,-1.830,2,44,0
$STATE,12195,end climb,SURFACE_DEPTH_REACHED
$STATE,12195,begin surface coast
$FREEZE,1.79,-1.717,-1.825,2,44,0
$FREEZE,1.92,-1.722,-1.824,2,44,0
$FREEZE,1.85,-1.724,-1.823,2,44,0
$FINISH,1.9,1.026750
$STATE,12212,end surface coast,FINISH_DEPTH_REACHED
$STATE,12212,begin surface
$RAFOS_CLK,658
$RAFOS,4,1303907585,12.566667,12.551389,61,54,53,51,50,49,207,121,192,142,168,132
$RAFOS,3,1303907102,12.433333,12.417222,59,57,55,53,52,51,204,195,148,178,130,161
$RAFOS,2,1303906622,12.300000,12.283889,57,56,55,50,48,47,213,121,147,192,136,163
$RAFOS,1,1303906146,12.166667,12.151667,64,60,60,55,54,51,187,145,201,215,129,161
$RAFOS,0,1303905663,12.033333,12.017500,64,61,59,56,51,49,197,177,117,215,152,161
$RAFOS_FIX,6703.493164,-5702.274414,270411,080856,2,128,0.29
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,47.59
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,651.4,52.8
$24V_AH,21.9,66.273
$10V_AH,10.0,34.202
$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,3.875,107.925,385.450,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2883.506,6952.161,423.952,1918.000,215.077,0.000,1455.414,0.000,1904.621,1800.000,21.210,0.000
$DEVICE_MAMPS,221.850,80.325,1334.925,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.321,899.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46686,1173
$CAP_FILE_SIZE,134418,0
$CFSIZE,260165632,221044736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6