version: 66.08
glider: 141
mission: 15
dive: 510
start: 4 27 111 12 43 44
data:
$ID,141
$MISSION,15
$DIVE,510
$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,22
$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,2.04
$_SM_ANGLEo,8.0
$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,-146.0,0.0,0.0,0,156,0.00,0.38,-132.73,0.000,6,0.000,0.156,3097,2493,3627,0,0,0,0,0,0
$GC,160,-0.62,-146.0,4.0,-6.2,24,167,1.33,2.35,0.00,0.000,4,0.133,0.067,2672,1069,3627,0,0,0,0,0,0
$GC,175,-1.19,-146.0,5.5,-7.1,26,183,0.55,2.33,0.00,0.000,6,0.086,0.061,2478,2496,3627,0,0,0,0,0,0
$GC,527,-0.77,-146.0,111.8,-32.4,85,532,0.55,2.35,0.00,0.000,4,0.272,0.077,2602,3903,3627,0,0,0,0,0,0
$GC,702,-0.66,-146.0,145.4,-17.4,100,707,0.17,2.28,0.00,0.000,6,0.224,0.053,2644,2481,3626,0,0,0,0,0,0
$GC,1029,-0.60,-146.0,194.4,-13.8,130,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2480,3625,0,0,0,0,0,0
$GC,1348,-0.53,-146.0,235.9,-13.0,160,1353,0.17,2.40,0.00,0.000,4,0.205,0.078,2690,3897,3625,0,0,0,0,0,0
$GC,1388,-0.61,-146.0,240.6,-9.7,163,1392,0.00,2.22,0.00,0.000,6,0.000,0.050,2690,2480,3625,0,0,0,0,0,0
$GC,1714,-0.65,-146.0,273.3,-9.8,193,1719,0.12,2.28,0.00,0.000,4,0.126,0.070,2646,1081,3626,0,0,0,0,0,0
$GC,1771,-0.62,-146.0,280.4,-12.6,198,1775,0.00,2.30,0.00,0.000,6,0.000,0.067,2646,2488,3626,0,0,0,0,0,0
$GC,2096,-0.56,-146.0,320.8,-12.6,228,2101,0.12,2.38,0.00,0.000,4,0.220,0.081,2675,3909,3626,0,0,0,0,0,0
$GC,2135,-0.59,-146.0,325.0,-9.5,231,2142,0.00,2.25,0.00,0.000,6,0.000,0.052,2675,2482,3626,0,0,0,0,0,0
$GC,2461,-0.62,-146.0,355.5,-9.6,262,2465,0.00,2.25,0.00,0.000,4,0.000,0.070,2675,1082,3626,0,0,0,0,0,0
$GC,2505,-0.66,-146.0,360.3,-10.6,265,2511,0.00,2.30,0.00,0.000,6,0.000,0.066,2675,2490,3625,0,0,0,0,0,0
$GC,2832,-0.68,-146.0,392.7,-9.7,296,2836,0.00,2.38,0.00,0.000,4,0.000,0.081,2675,3909,3626,0,0,0,0,0,0
$GC,2884,-0.74,-146.0,398.0,-9.4,300,2889,0.15,2.25,0.00,0.000,6,0.116,0.053,2625,2483,3625,0,0,0,0,0,0
$GC,3211,-0.65,-146.0,440.9,-13.6,330,3215,0.00,2.25,0.00,0.000,4,0.000,0.069,2625,1081,3625,0,0,0,0,0,0
$GC,3280,-0.60,-146.0,450.1,-12.6,335,3287,0.17,2.33,0.00,0.000,6,0.211,0.067,2665,2493,3625,0,0,0,0,0,0
$GC,3605,-0.60,-146.0,481.1,-9.3,366,3609,0.00,2.38,0.00,0.000,4,0.000,0.081,2665,3907,3625,0,0,0,0,0,0
$GC,3657,-0.65,-146.0,485.5,-8.5,370,3661,0.00,2.25,0.00,0.000,6,0.000,0.051,2666,2487,3625,0,0,0,0,0,0
$GC,3988,-0.65,-146.0,513.6,-8.7,401,3992,0.00,2.28,0.00,0.000,4,0.000,0.067,2666,1080,3625,0,0,0,0,0,0
$GC,4055,-0.68,-146.0,519.7,-8.8,406,4062,0.00,2.30,0.00,0.000,6,0.000,0.063,2666,2490,3626,0,0,0,0,0,0
$GC,4381,-0.70,-146.0,548.8,-9.0,437,4385,0.00,2.38,0.00,0.000,4,0.000,0.080,2666,3903,3626,0,0,0,0,0,0
$GC,4461,-0.74,-146.0,556.4,-9.3,444,4466,0.12,2.22,0.00,0.000,6,0.124,0.050,2623,2485,3626,0,0,0,0,0,0
$GC,4786,-0.66,-146.0,596.6,-12.4,474,4791,0.12,2.28,0.00,0.000,4,0.223,0.067,2651,1083,3626,0,0,0,0,0,0
$GC,4864,-0.66,-146.0,605.3,-10.5,477,4868,0.00,2.30,0.00,0.000,6,0.000,0.063,2650,2489,3626,0,0,0,0,0,0
$GC,5182,-0.66,-146.0,637.3,-9.9,488,5186,0.00,2.40,0.00,0.000,4,0.000,0.081,2649,3905,3627,0,0,0,0,0,0
$GC,5231,-0.66,-146.0,642.4,-9.6,489,5236,0.00,2.25,0.00,0.000,6,0.000,0.053,2650,2491,3627,0,0,0,0,0,0
$STATE,5389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5389,begin apogee
$GC,5395,-0.12,0.0,657.9,9.8,494,5525,0.57,0.00,124.20,1.333,6,0.188,0.000,2814,2261,3030,0,0,0,0,0,0
$STATE,5526,end apogee,CONTROL_FINISHED_OK
$STATE,5526,begin climb
$GC,5528,0.62,146.0,661.7,0.0,498,5668,0.80,2.58,131.75,1.284,4,0.135,0.071,3065,878,2433,0,0,0,0,0,0
$GC,5704,0.57,146.0,649.2,11.6,503,5708,0.00,2.50,0.00,0.000,6,0.000,0.059,3065,2280,2428,0,0,0,0,0,0
$GC,6039,0.50,146.0,608.5,11.9,514,6044,0.15,2.38,0.00,0.000,4,0.181,0.074,3027,3696,2426,0,0,0,0,0,0
$GC,6111,0.45,146.0,600.1,11.3,516,6115,0.00,2.33,0.00,0.000,6,0.000,0.058,3035,2280,2425,0,0,0,0,0,0
$GC,6437,0.45,146.0,568.1,10.1,546,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2280,2424,0,0,0,0,0,0
$GC,6757,0.45,146.0,535.2,10.0,576,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2280,2425,0,0,0,0,0,0
$GC,7078,0.45,146.0,502.3,10.6,606,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2280,2424,0,0,0,0,0,0
$GC,7404,0.45,146.0,468.4,10.3,637,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2281,2423,0,0,0,0,0,0
$GC,7723,0.45,146.0,435.7,10.0,667,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2280,2423,0,0,0,0,0,0
$GC,8041,0.45,146.0,402.3,10.8,697,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2281,2423,0,0,0,0,0,0
$GC,8360,0.45,146.0,369.5,10.1,727,8364,0.00,2.33,0.00,0.000,4,0.000,0.072,3035,3698,2424,0,0,0,0,0,0
$GC,8370,0.45,146.0,367.9,10.1,727,8378,0.12,2.30,0.00,0.000,6,0.196,0.055,3016,2264,2423,0,0,0,0,0,0
$GC,8698,0.53,183.2,340.2,8.3,758,8736,0.00,0.00,31.58,1.114,6,0.000,0.000,3016,2264,2282,0,0,0,0,0,0
$GC,9056,0.66,231.6,311.2,7.8,792,9107,0.17,2.40,43.72,1.087,4,0.092,0.069,3088,3691,2086,0,0,0,0,0,0
$GC,9120,0.60,231.6,303.4,14.0,798,9125,0.15,2.33,0.00,0.000,6,0.194,0.055,3063,2265,2084,0,0,0,0,0,0
$GC,9446,0.62,231.6,264.3,12.1,828,9450,0.00,2.30,0.00,0.000,4,0.000,0.073,3072,856,2079,0,0,0,0,0,0
$GC,9486,0.65,231.6,259.5,11.6,831,9490,0.00,2.33,0.00,0.000,6,0.000,0.059,3072,2285,2077,0,0,0,0,0,0
$GC,9813,0.65,231.6,221.3,11.5,861,9817,0.00,2.30,0.00,0.000,4,0.000,0.073,3072,3684,2077,0,0,0,0,0,0
$GC,9891,0.61,231.6,211.2,13.3,867,9898,0.00,2.28,0.00,0.000,6,0.000,0.057,3082,2273,2077,0,0,0,0,0,0
$GC,10216,0.58,231.6,172.2,11.9,898,10220,0.00,2.33,0.00,0.000,4,0.000,0.071,3082,3686,2076,0,0,0,0,0,0
$GC,10234,0.55,231.6,170.0,11.8,899,10239,0.17,2.28,0.00,0.000,6,0.187,0.057,3047,2271,2076,0,0,0,0,0,0
$GC,10560,0.62,250.8,140.1,9.1,929,10583,0.00,2.30,16.40,0.979,4,0.000,0.073,3047,864,2007,0,0,0,0,0,0
$GC,10642,0.75,264.5,132.7,9.4,936,10665,0.17,2.30,14.32,0.952,6,0.096,0.058,3117,2282,1949,0,0,0,0,0,0
$GC,10989,0.72,264.5,83.9,13.1,978,10996,0.00,2.30,0.00,0.000,4,0.000,0.073,3117,3694,1945,0,0,0,0,0,0
$GC,11025,0.67,264.5,78.6,14.4,984,11033,0.17,2.30,0.00,0.000,6,0.191,0.057,3085,2268,1946,0,0,0,0,0,0
$GC,11374,0.71,264.5,40.8,10.2,1045,11380,0.00,2.28,0.00,0.000,4,0.000,0.072,3093,862,1946,0,0,0,0,0,0
$GC,11404,0.75,264.5,37.0,11.5,1050,11411,0.00,2.28,0.00,0.000,6,0.000,0.057,3093,2279,1945,0,0,0,0,0,0
$FREEZE,8.06,-1.710,-1.834,2,45,1
$FREEZE,7.07,-1.711,-1.833,2,45,1
$FREEZE,6.31,-1.712,-1.833,2,45,1
$FREEZE,5.93,-1.714,-1.832,2,45,1
$FREEZE,5.26,-1.712,-1.832,2,45,1
$FREEZE,4.90,-1.714,-1.832,2,45,1
$FREEZE,4.13,-1.714,-1.831,2,45,1
$FREEZE,3.43,-1.713,-1.830,2,45,1
$FREEZE,2.91,-1.713,-1.830,2,45,1
$STATE,11709,end climb,SURFACE_DEPTH_REACHED
$STATE,11709,begin surface coast
$FREEZE,1.93,-1.711,-1.829,2,45,1
$FREEZE,1.81,-1.710,-1.829,2,45,1
$FREEZE,1.88,-1.712,-1.829,2,45,1
$FREEZE,1.98,-1.712,-1.829,2,45,1
$FINISH,2.0,1.026834
$STATE,11731,end surface coast,CONTROL_FINISHED_OK
$STATE,11731,begin surface
$RAFOS_CLK,637
$RAFOS,6,1303908546,12.833333,12.818334,133,64,58,58,55,54,794,212,142,188,165,153
$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,47.40
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,21.8
$24V_AH,21.8,66.399
$10V_AH,10.1,34.271
$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,6.100,107.300,361.975,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2707.909,6650.126,479.899,1868.185,206.655,0.000,1497.065,0.000,1850.728,360.000,18.264,0.000
$DEVICE_MAMPS,272.340,156.060,1332.630,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.777,842.385,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43411,1108
$CAP_FILE_SIZE,130523,0
$CFSIZE,260165632,220983296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6