version: 66.08
glider: 141
mission: 15
dive: 513
start: 4 27 111 23 19 30
data:
$ID,141
$MISSION,15
$DIVE,513
$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,25
$R_STBD_OVSHOOT,20
$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
$GPS1,270411,204301,6703.250,-5716.313,0,3105.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.03
$_SM_ANGLEo,-0.1
$GPS2,270411,204301,6703.250,-5716.313,0,3105.0,0,-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,293.2,143274,-17.5,-10.000
$D_GRID,780
$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,26,-0.62,-146.0,10.4,-0.0,1,51,0.65,4.25,-13.77,0.000,4,0.121,0.064,2667,1074,3629,0,0,0,0,0,0
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$GC,523,-0.52,-146.0,82.2,-15.6,88,530,0.00,2.38,0.00,0.000,4,0.000,0.082,2667,3906,3629,0,0,0,0,0,0
$GC,577,-0.52,-146.0,90.4,-14.0,97,583,0.00,2.28,0.00,0.000,6,0.000,0.054,2667,2481,3629,0,0,0,0,0,0
$GC,912,-0.47,-146.0,135.6,-12.0,134,917,0.17,2.42,0.00,0.000,4,0.210,0.080,2710,3907,3628,0,0,0,0,0,0
$GC,957,-0.57,-146.0,139.9,-8.7,137,964,0.00,2.25,0.00,0.000,6,0.000,0.052,2710,2488,3628,0,0,0,0,0,0
$GC,1285,-0.64,-146.0,173.8,-10.9,168,1290,0.15,2.30,0.00,0.000,4,0.119,0.070,2658,1071,3626,0,0,0,0,0,0
$GC,1351,-0.62,-146.0,183.1,-13.4,173,1358,0.00,2.33,0.00,0.000,6,0.000,0.067,2658,2488,3626,0,0,0,0,0,0
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$GC,2006,-0.53,-146.0,253.5,-10.2,235,2008,0.12,0.00,0.00,0.000,6,0.220,0.000,2685,2488,3627,0,0,0,0,0,0
$GC,2323,-0.56,-146.0,278.7,-8.3,265,2328,0.00,2.35,0.00,0.000,4,0.000,0.080,2686,3908,3627,0,0,0,0,0,0
$GC,2364,-0.61,-146.0,282.0,-8.1,268,2368,0.00,2.22,0.00,0.000,6,0.000,0.050,2686,2487,3627,0,0,0,0,0,0
$GC,2690,-0.64,-146.0,309.9,-8.6,298,2694,0.00,2.25,0.00,0.000,4,0.000,0.067,2686,1077,3627,0,0,0,0,0,0
$GC,2745,-0.70,-146.0,314.9,-8.8,302,2753,0.15,2.33,0.00,0.000,6,0.122,0.065,2638,2499,3627,0,0,0,0,0,0
$GC,3071,-0.62,-146.0,354.0,-11.7,333,3075,0.00,2.33,0.00,0.000,4,0.000,0.080,2638,3906,3626,0,0,0,0,0,0
$GC,3148,-0.58,-146.0,363.0,-10.9,339,3155,0.15,2.22,0.00,0.000,6,0.204,0.050,2672,2488,3626,0,0,0,0,0,0
$GC,3474,-0.58,-146.0,391.6,-8.8,370,3478,0.00,2.25,0.00,0.000,4,0.000,0.067,2673,1079,3627,0,0,0,0,0,0
$GC,3514,-0.61,-146.0,395.3,-9.9,373,3519,0.00,2.30,0.00,0.000,6,0.000,0.064,2673,2491,3627,0,0,0,0,0,0
$GC,3841,-0.61,-146.0,426.1,-9.5,403,3845,0.00,2.35,0.00,0.000,4,0.000,0.080,2673,3899,3627,0,0,0,0,0,0
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$GC,4222,-0.66,-146.0,463.1,-9.6,438,4226,0.00,2.25,0.00,0.000,4,0.000,0.067,2673,1072,3627,0,0,0,0,0,0
$GC,4288,-0.70,-146.0,469.7,-10.0,443,4295,0.00,2.33,0.00,0.000,6,0.000,0.064,2673,2491,3627,0,0,0,0,0,0
$GC,4617,-0.72,-146.0,500.2,-9.4,474,4622,0.12,2.35,0.00,0.000,4,0.128,0.080,2630,3899,3627,0,0,0,0,0,0
$GC,4680,-0.67,-146.0,508.0,-12.6,479,4684,0.00,2.22,0.00,0.000,6,0.000,0.050,2630,2486,3627,0,0,0,0,0,0
$GC,5010,-0.58,-146.0,549.8,-12.7,510,5018,0.17,2.28,0.00,0.000,4,0.211,0.066,2673,1078,3627,0,0,0,0,0,0
$GC,5071,-0.63,-146.0,556.1,-9.7,515,5075,0.00,2.30,0.00,0.000,6,0.000,0.063,2673,2492,3627,0,0,0,0,0,0
$GC,5397,-0.65,-146.0,585.8,-9.1,545,5401,0.00,2.33,0.00,0.000,4,0.000,0.080,2673,3899,3627,0,0,0,0,0,0
$GC,5453,-0.71,-146.0,591.0,-9.0,549,5461,0.12,2.22,0.00,0.000,6,0.128,0.049,2630,2480,3627,0,0,0,0,0,0
$GC,5781,-0.63,-146.0,631.0,-12.2,565,5785,0.12,2.28,0.00,0.000,4,0.221,0.067,2658,1073,3627,0,0,0,0,0,0
$GC,5831,-0.65,-146.0,636.8,-10.3,566,5835,0.00,2.33,0.00,0.000,6,0.000,0.063,2659,2496,3627,0,0,0,0,0,0
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$GC,6542,-0.68,-146.0,707.1,-9.7,589,6546,0.00,2.28,0.00,0.000,4,0.000,0.066,2659,1073,3627,0,0,0,0,0,0
$GC,6581,-0.68,-146.0,711.1,-9.8,590,6585,0.00,2.30,0.00,0.000,6,0.000,0.063,2659,2489,3626,0,0,0,0,0,0
$GC,6912,-0.68,-146.0,741.9,-9.3,601,6916,0.00,2.38,0.00,0.000,4,0.000,0.080,2659,3907,3626,0,0,0,0,0,0
$GC,6975,-0.71,-146.0,747.9,-9.7,603,6979,0.00,2.22,0.00,0.000,6,0.000,0.050,2659,2491,3626,0,0,0,0,0,0
$GC,7316,-0.71,-146.0,779.3,-9.2,614,7320,0.00,2.30,0.00,0.000,4,0.000,0.066,2659,1081,3627,0,0,0,0,0,0
$STATE,7324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7324,begin apogee
$GC,7332,-0.12,0.0,780.5,9.2,614,7466,0.55,0.00,126.70,1.430,6,0.195,0.000,2811,2284,3030,0,0,0,0,0,0
$STATE,7467,end apogee,CONTROL_FINISHED_OK
$STATE,7467,begin climb
$GC,7470,0.62,146.0,784.0,0.0,618,7615,0.80,2.70,135.20,1.375,4,0.135,0.069,3060,875,2432,0,0,0,0,0,0
$GC,7649,0.57,146.0,771.1,11.8,624,7653,0.00,2.50,0.00,0.000,6,0.000,0.058,3060,2282,2429,0,0,0,0,0,0
$GC,7967,0.51,146.0,734.3,11.5,635,7972,0.12,2.40,0.00,0.000,4,0.188,0.074,3031,3698,2425,0,0,0,0,0,0
$GC,8040,0.45,146.0,725.5,12.4,637,8044,0.00,2.33,0.00,0.000,6,0.000,0.058,3039,2279,2424,0,0,0,0,0,0
$GC,8370,0.42,146.0,690.4,10.7,648,8375,0.15,2.33,0.00,0.000,4,0.181,0.073,3001,3688,2423,0,0,0,0,0,0
$GC,8402,0.42,146.0,686.8,10.1,649,8406,0.00,2.30,0.00,0.000,6,0.000,0.058,3009,2273,2423,0,0,0,0,0,0
$GC,8739,0.48,168.8,657.0,8.9,660,8761,0.00,0.00,19.80,1.261,6,0.000,0.000,3009,2273,2342,0,0,0,0,0,0
$GC,9046,0.55,195.8,629.9,8.8,670,9079,0.10,2.42,26.08,1.267,4,0.118,0.073,3056,3680,2230,0,0,0,0,0,0
$GC,9084,0.56,199.0,625.5,9.9,671,9093,0.00,2.33,4.47,0.841,6,0.000,0.057,3067,2267,2218,0,0,0,0,0,0
$GC,9410,0.51,199.0,583.6,12.8,689,9417,0.15,0.00,0.00,0.000,6,0.181,0.000,3028,2267,2214,0,0,0,0,0,0
$GC,9735,0.54,199.0,549.7,10.4,720,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2267,2213,0,0,0,0,0,0
$GC,10057,0.57,200.8,518.0,9.9,750,10061,0.00,2.28,0.00,0.000,4,0.000,0.074,3035,864,2212,0,0,0,0,0,0
$GC,10081,0.62,200.8,515.4,10.3,752,10085,0.00,2.30,0.00,0.000,6,0.000,0.060,3035,2281,2212,0,0,0,0,0,0
$GC,10408,0.64,200.8,481.9,10.3,782,10413,0.10,2.33,0.00,0.000,4,0.122,0.075,3081,3686,2211,0,0,0,0,0,0
$GC,10452,0.54,200.8,475.3,15.6,785,10459,0.20,2.28,0.00,0.000,6,0.196,0.059,3041,2275,2211,0,0,0,0,0,0
$GC,10777,0.54,200.8,438.9,11.0,816,10781,0.00,2.30,0.00,0.000,4,0.000,0.073,3050,865,2211,0,0,0,0,0,0
$GC,10805,0.54,200.8,435.8,10.4,818,10809,0.00,2.30,0.00,0.000,6,0.000,0.060,3050,2286,2210,0,0,0,0,0,0
$GC,11130,0.54,200.8,400.1,10.5,848,11134,0.00,2.30,0.00,0.000,4,0.000,0.075,3050,3696,2210,0,0,0,0,0,0
$GC,11158,0.51,200.8,396.7,11.4,850,11165,0.00,2.30,0.00,0.000,6,0.000,0.058,3060,2269,2210,0,0,0,0,0,0
$GC,11484,0.51,200.8,362.6,10.1,881,11488,0.00,2.30,0.00,0.000,4,0.000,0.072,3071,858,2210,0,0,0,0,0,0
$GC,11502,0.51,200.8,360.6,10.2,882,11507,0.15,2.30,0.00,0.000,6,0.186,0.060,3034,2279,2210,0,0,0,0,0,0
$GC,11828,0.56,204.8,330.1,9.8,912,11840,0.00,2.30,5.70,0.887,4,0.000,0.074,3033,3687,2193,0,0,0,0,0,0
$GC,11868,0.56,204.8,325.6,11.0,915,11875,0.00,2.28,0.00,0.000,6,0.000,0.058,3042,2275,2193,0,0,0,0,0,0
$GC,12195,0.58,204.8,288.4,11.8,946,12199,0.00,2.30,0.00,0.000,4,0.000,0.072,3051,864,2193,0,0,0,0,0,0
$GC,12224,0.61,204.8,284.8,12.5,948,12228,0.00,2.25,0.00,0.000,6,0.000,0.059,3051,2276,2192,0,0,0,0,0,0
$GC,12554,0.63,214.1,249.2,9.6,979,12569,0.00,2.35,9.77,0.998,4,0.000,0.076,3051,3681,2157,0,0,0,0,0,0
$GC,12591,0.63,214.1,245.1,10.6,982,12599,0.00,2.28,0.00,0.000,6,0.000,0.058,3061,2273,2156,0,0,0,0,0,0
$GC,12918,0.63,214.1,211.3,10.5,1013,12923,0.00,2.28,0.00,0.000,4,0.000,0.070,3072,863,2156,0,0,0,0,0,0
$GC,12940,0.63,214.1,208.5,11.0,1014,12947,0.00,2.30,0.00,0.000,6,0.000,0.059,3072,2274,2154,0,0,0,0,0,0
$GC,13266,0.63,214.1,172.3,10.6,1045,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2275,2154,0,0,0,0,0,0
$GC,13586,0.66,239.0,142.6,8.9,1075,13614,0.00,2.33,23.80,1.008,4,0.000,0.074,3072,3691,2054,0,0,0,0,0,0
$GC,13676,0.66,239.0,133.1,10.6,1082,13683,0.00,2.30,0.00,0.000,6,0.000,0.057,3082,2276,2052,0,0,0,0,0,0
$GC,14001,0.66,239.0,101.6,10.1,1113,14005,0.00,2.30,0.00,0.000,4,0.000,0.071,3092,860,2050,0,0,0,0,0,0
$GC,14013,0.66,239.0,100.3,10.4,1114,14017,0.00,2.28,0.00,0.000,6,0.000,0.058,3092,2280,2049,0,0,0,0,0,0
$GC,14356,0.66,239.0,60.2,12.0,1174,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2280,2048,0,0,0,0,0,0
$GC,14703,0.66,239.0,19.9,11.0,1235,14709,0.00,2.33,0.00,0.000,4,0.000,0.076,3092,3689,2048,0,0,0,0,0,0
$GC,14734,0.63,239.0,15.8,12.8,1240,14742,0.12,2.28,0.00,0.000,6,0.196,0.059,3073,2276,2049,0,0,0,0,0,0
$FREEZE,8.84,-1.764,-1.835,2,48,0
$STATE,14803,end climb,FINISH_DEPTH_REACHED
$STATE,14803,begin subsurface finish
$FINISH1,8.8,1.026848,32
$GC,14810,0.04,32.0,8.8,-7.8,1252,14847,0.62,2.42,-30.50,0.000,4,0.171,0.087,2885,3686,2902,0,0,0,0,0,0
$FINISH2,7.5
$STATE,14848,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14848,begin surface
$RAFOS_CLK,804
$RAFOS,6,1303951743,0.833333,0.817500,113,64,62,54,53,51,764,194,204,124,160,146
$RAFOS,5,1303951261,0.700000,0.683611,131,64,56,56,54,52,597,192,210,148,127,183
$RAFOS,4,1303950790,0.566667,0.552778,120,66,55,52,50,50,776,182,214,197,225,165
$RAFOS,3,1303950303,0.433333,0.417500,59,56,54,54,50,49,190,214,172,231,132,147
$RAFOS,2,1303949830,0.300000,0.286111,62,56,56,53,52,51,210,191,170,137,154,224
$RAFOS,1,1303949342,0.166667,0.150556,65,63,56,54,50,48,196,215,175,113,130,155
$RAFOS,0,1303948866,0.033333,0.018333,61,59,54,54,50,50,174,205,195,185,139,223
$RAFOS_FIX,6703.689941,-5723.183594,280411,000022,3,121,0.35
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,47.40
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.3
$24V_AH,21.6,66.811
$10V_AH,10.1,34.500
$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,5.025,161.100,351.525,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,3169.854,8869.119,466.469,2156.577,255.960,0.000,1626.163,0.000,2133.148,2520.000,22.911,0.000
$DEVICE_MAMPS,221.085,87.210,1429.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.382,965.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50014,1258
$CAP_FILE_SIZE,160770,0
$CFSIZE,260165632,220729344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,280411,004322,6703.690,-5723.184,0,3121.3,0,-37.6