version: 66.08
glider: 141
mission: 15
dive: 512
start: 4 27 111 19 29 0
data:
$ID,141
$MISSION,15
$DIVE,512
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,270411,164322,6702.967,-5710.934,0,3132.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.66
$_SM_ANGLEo,-0.1
$GPS2,270411,164322,6702.967,-5710.934,0,3132.3,0,-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,293.8,146962,-17.5,-10.000
$D_GRID,745
$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
$STATE,13,begin dive
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$GC,6546,-0.65,-146.0,698.3,-10.6,601,6550,0.00,2.25,0.00,0.000,4,0.000,0.067,2650,1080,3626,0,0,0,0,0,0
$GC,6579,-0.65,-146.0,702.0,-10.9,602,6583,0.00,2.30,0.00,0.000,6,0.000,0.065,2650,2489,3626,0,0,0,0,0,0
$GC,6916,-0.65,-146.0,735.6,-10.0,613,6920,0.00,2.40,0.00,0.000,4,0.000,0.081,2650,3909,3626,0,0,0,0,0,0
$GC,6971,-0.65,-146.0,741.5,-9.7,614,6978,0.00,2.25,0.00,0.000,6,0.000,0.051,2650,2489,3626,0,0,0,0,0,0
$STATE,7006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7006,begin apogee
$GC,7012,-0.12,0.0,745.2,10.3,616,7146,0.57,0.00,126.20,1.398,6,0.190,0.000,2813,2258,3029,0,0,0,0,0,0
$STATE,7147,end apogee,CONTROL_FINISHED_OK
$STATE,7147,begin climb
$GC,7149,0.62,146.0,749.4,0.0,620,7296,0.80,2.55,134.45,1.346,4,0.134,0.073,3063,880,2432,0,0,0,0,0,0
$GC,7341,0.55,146.0,734.4,12.5,626,7345,0.00,2.45,0.00,0.000,6,0.000,0.059,3063,2274,2428,0,0,0,0,0,0
$GC,7665,0.47,146.0,694.3,12.4,637,7670,0.17,2.38,0.00,0.000,4,0.182,0.074,3018,3693,2425,0,0,0,0,0,0
$GC,7687,0.41,146.0,691.4,12.1,637,7694,0.00,2.35,0.00,0.000,6,0.000,0.058,3026,2278,2424,0,0,0,0,0,0
$GC,8000,0.42,150.6,660.6,9.8,648,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2277,2424,0,0,0,0,0,0
$GC,8306,0.43,161.7,631.5,9.5,658,8322,0.00,0.00,13.73,1.190,6,0.000,0.000,3026,2278,2370,0,0,0,0,0,0
$GC,8615,0.44,166.2,601.4,9.8,668,8625,0.00,2.35,5.60,0.955,4,0.000,0.073,3036,855,2351,0,0,0,0,0,0
$GC,8636,0.46,178.8,598.9,9.4,668,8655,0.00,2.30,12.70,1.171,6,0.000,0.060,3037,2281,2301,0,0,0,0,0,0
$GC,8972,0.46,178.8,563.5,10.9,700,8976,0.00,2.30,0.00,0.000,4,0.000,0.076,3036,3683,2299,0,0,0,0,0,0
$GC,9006,0.42,178.8,559.4,12.4,703,9011,0.17,2.30,0.00,0.000,6,0.187,0.060,3003,2263,2299,0,0,0,0,0,0
$GC,9332,0.52,212.7,531.1,8.4,733,9369,0.00,2.35,31.73,1.229,4,0.000,0.075,3012,865,2162,0,0,0,0,0,0
$GC,9397,0.65,234.9,525.3,9.0,738,9427,0.17,2.30,21.58,1.184,6,0.092,0.060,3085,2274,2072,0,0,0,0,0,0
$GC,9744,0.59,234.9,472.5,16.2,771,9748,0.00,2.35,0.00,0.000,4,0.000,0.076,3085,3694,2065,0,0,0,0,0,0
$GC,9789,0.52,234.9,464.6,17.4,775,9794,0.25,2.33,0.00,0.000,6,0.189,0.060,3031,2267,2064,0,0,0,0,0,0
$GC,10115,0.56,234.9,427.4,10.9,805,10119,0.00,2.30,0.00,0.000,4,0.000,0.073,3040,857,2063,0,0,0,0,0,0
$GC,10147,0.63,234.9,423.7,10.4,807,10154,0.00,2.30,0.00,0.000,6,0.000,0.061,3040,2276,2062,0,0,0,0,0,0
$GC,10473,0.66,234.9,388.5,10.6,838,10478,0.10,2.30,0.00,0.000,4,0.119,0.076,3086,3686,2062,0,0,0,0,0,0
$GC,10494,0.64,234.9,385.4,12.4,839,10501,0.00,2.28,0.00,0.000,6,0.000,0.060,3097,2272,2062,0,0,0,0,0,0
$GC,10820,0.56,234.9,334.6,15.5,870,10825,0.20,2.28,0.00,0.000,4,0.190,0.073,3053,868,2061,0,0,0,0,0,0
$GC,10853,0.59,234.9,330.2,11.7,872,10860,0.00,2.28,0.00,0.000,6,0.000,0.060,3053,2277,2060,0,0,0,0,0,0
$GC,11178,0.59,234.9,293.5,11.4,903,11182,0.00,2.30,0.00,0.000,4,0.000,0.076,3053,3687,2059,0,0,0,0,0,0
$GC,11212,0.59,234.9,289.5,11.7,906,11216,0.00,2.28,0.00,0.000,6,0.000,0.060,3063,2268,2059,0,0,0,0,0,0
$GC,11542,0.59,234.9,250.9,11.6,937,11546,0.00,2.28,0.00,0.000,4,0.000,0.073,3074,867,2059,0,0,0,0,0,0
$GC,11597,0.59,234.9,244.4,11.6,941,11604,0.00,2.30,0.00,0.000,6,0.000,0.062,3074,2284,2059,0,0,0,0,0,0
$GC,11923,0.59,234.9,204.1,12.8,972,11924,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2284,2059,0,0,0,0,0,0
$GC,12243,0.59,234.9,166.1,12.1,1002,12244,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2284,2059,0,0,0,0,0,0
$GC,12561,0.59,234.9,131.0,10.6,1032,12566,0.00,2.30,0.00,0.000,4,0.000,0.075,3074,3687,2059,0,0,0,0,0,0
$GC,12591,0.56,234.9,127.4,11.9,1034,12596,0.15,2.28,0.00,0.000,6,0.184,0.058,3045,2275,2059,0,0,0,0,0,0
$GC,12917,0.69,279.7,99.0,7.9,1065,12960,0.12,0.00,39.38,0.988,6,0.106,0.000,3102,2276,1889,0,0,0,0,0,0
$GC,13298,0.69,279.7,52.0,11.0,1132,13305,0.00,2.35,0.00,0.000,4,0.000,0.072,3111,858,1883,0,0,0,0,0,0
$GC,13346,0.69,279.7,46.4,12.0,1140,13352,0.00,2.28,0.00,0.000,6,0.000,0.058,3112,2276,1881,0,0,0,0,0,0
$FREEZE,8.31,-1.756,-1.834,2,47,0
$STATE,13638,end climb,FINISH_DEPTH_REACHED
$STATE,13639,begin subsurface finish
$FINISH1,8.3,1.026837,32
$GC,13645,0.04,32.5,8.3,-13.3,1192,13693,0.77,2.38,-38.35,0.000,4,0.177,0.090,2885,3695,2900,0,0,0,0,0,0
$FINISH2,6.5
$STATE,13694,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13694,begin surface
$RAFOS_CLK,734
$RAFOS,6,1303937343,20.833334,20.817499,128,70,58,57,56,54,783,208,162,171,147,191
$RAFOS,5,1303936864,20.700001,20.684444,100,58,56,55,54,47,595,238,204,149,177,118
$RAFOS,4,1303936389,20.566668,20.552500,87,64,60,56,54,54,792,208,223,176,120,1809
$RAFOS,3,1303935902,20.433332,20.417223,61,57,57,56,52,52,174,135,212,156,189,227
$RAFOS,2,1303935429,20.299999,20.285833,66,60,58,51,49,48,208,189,138,121,163,153
$RAFOS,1,1303934941,20.166666,20.150278,69,61,61,59,53,50,198,151,223,175,140,128
$RAFOS,0,1303934462,20.033333,20.017221,70,59,53,53,52,51,212,200,142,167,119,1537
$RAFOS_FIX,6703.250488,-5716.313477,270411,202001,3,105,0.27
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,46.88
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,21.7,66.678
$10V_AH,10.0,34.420
$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,5.075,147.825,385.350,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2938.992,8082.586,476.825,2034.244,232.336,0.000,1583.024,0.000,2014.086,2520.000,18.523,0.000
$DEVICE_MAMPS,224.145,89.505,1398.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.084,917.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46694,1200
$CAP_FILE_SIZE,149257,0
$CFSIZE,260165632,220819456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.7
$GPS,270411,204301,6703.250,-5716.313,0,3105.0,0,-37.6