version: 66.08
glider: 141
mission: 15
dive: 487
start: 4 24 111 20 24 20
data:
$ID,141
$MISSION,15
$DIVE,487
$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,400
$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,-40322.797
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.91
$_SM_ANGLEo,-1.3
$GPS2,240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,29.9,5746,-17.5,-10.000
$D_GRID,535
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.78,0.000,2,0.000,0.000,2880,2266,3160,0,0,0,0,0,0
$GC,28,-0.62,-146.0,8.9,-0.0,1,49,0.60,2.70,-12.35,0.000,4,0.106,0.077,2669,3894,3628,0,0,0,0,0,0
$GC,56,-0.74,-146.0,11.0,-6.6,5,64,0.12,2.12,0.00,0.000,6,0.138,0.038,2628,2481,3629,0,0,0,0,0,0
$GC,402,-0.57,-146.0,76.4,-18.4,66,410,0.20,2.15,0.00,0.000,4,0.220,0.051,2675,1092,3628,0,0,0,0,0,0
$GC,451,-0.57,-146.0,84.0,-13.3,74,458,0.00,2.20,0.00,0.000,6,0.000,0.054,2675,2492,3628,0,0,0,0,0,0
$GC,790,-0.53,-146.0,125.6,-11.9,117,794,0.00,2.30,0.00,0.000,4,0.000,0.070,2675,3906,3627,0,0,0,0,0,0
$GC,868,-0.53,-146.0,134.6,-10.8,123,874,0.00,2.17,0.00,0.000,6,0.000,0.041,2676,2487,3626,0,0,0,0,0,0
$GC,1193,-0.53,-146.0,166.1,-9.6,154,1198,0.00,2.30,0.00,0.000,4,0.000,0.066,2675,3902,3625,0,0,0,0,0,0
$GC,1227,-0.55,-146.0,169.7,-9.8,156,1233,0.00,2.15,0.00,0.000,6,0.000,0.040,2676,2488,3625,0,0,0,0,0,0
$GC,1553,-0.55,-146.0,200.4,-9.6,187,1557,0.00,2.17,0.00,0.000,4,0.000,0.054,2675,1079,3624,0,0,0,0,0,0
$GC,1595,-0.58,-146.0,204.6,-9.6,190,1599,0.00,2.20,0.00,0.000,6,0.000,0.052,2675,2491,3624,0,0,0,0,0,0
$GC,1920,-0.58,-146.0,236.2,-9.2,220,1924,0.00,2.25,0.00,0.000,4,0.000,0.067,2675,3898,3623,0,0,0,0,0,0
$GC,1999,-0.62,-146.0,243.5,-9.1,226,2006,0.00,2.15,0.00,0.000,6,0.000,0.039,2675,2483,3623,0,0,0,0,0,0
$GC,2327,-0.62,-146.0,273.7,-9.0,257,2331,0.00,2.15,0.00,0.000,4,0.000,0.052,2675,1085,3624,0,0,0,0,0,0
$GC,2367,-0.65,-146.0,277.8,-9.7,260,2371,0.00,2.20,0.00,0.000,6,0.000,0.051,2675,2493,3624,0,0,0,0,0,0
$GC,2693,-0.65,-146.0,306.6,-8.6,290,2697,0.00,2.25,0.00,0.000,4,0.000,0.067,2675,3903,3624,0,0,0,0,0,0
$GC,2779,-0.69,-146.0,314.0,-8.2,297,2784,0.12,2.15,0.00,0.000,6,0.120,0.038,2633,2484,3624,0,0,0,0,0,0
$GC,3105,-0.60,-146.0,353.2,-12.1,327,3110,0.15,2.20,0.00,0.000,4,0.212,0.052,2667,1084,3625,0,0,0,0,0,0
$GC,3183,-0.63,-146.0,361.0,-8.6,333,3190,0.00,2.22,0.00,0.000,6,0.000,0.050,2667,2500,3625,0,0,0,0,0,0
$GC,3508,-0.63,-146.0,389.5,-8.6,364,3512,0.00,2.22,0.00,0.000,4,0.000,0.066,2667,3897,3625,0,0,0,0,0,0
$GC,3617,-0.65,-146.0,399.0,-9.1,373,3620,0.00,2.12,0.00,0.000,6,0.000,0.037,2667,2490,3625,0,0,0,0,0,0
$GC,3942,-0.65,-146.0,428.1,-9.5,403,3946,0.00,2.17,0.00,0.000,4,0.000,0.051,2667,1089,3625,0,0,0,0,0,0
$GC,3982,-0.68,-146.0,432.0,-9.2,406,3987,0.00,2.20,0.00,0.000,6,0.000,0.051,2667,2499,3625,0,0,0,0,0,0
$GC,4308,-0.68,-146.0,463.1,-9.6,436,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2499,3626,0,0,0,0,0,0
$STATE,4550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4550,begin apogee
$GC,4556,-0.12,0.0,486.7,9.9,459,4686,0.50,0.00,119.65,1.182,6,0.186,0.000,2812,2254,3030,0,0,0,0,0,0
$STATE,4687,end apogee,CONTROL_FINISHED_OK
$STATE,4687,begin climb
$GC,4689,0.62,146.0,491.2,0.0,471,4824,0.77,2.45,124.53,1.138,4,0.133,0.060,3062,892,2433,0,0,0,0,0,0
$GC,4842,0.55,146.0,481.7,10.0,485,4847,0.00,2.38,0.00,0.000,6,0.000,0.046,3062,2274,2430,0,0,0,0,0,0
$GC,5168,0.48,146.0,442.8,12.7,515,5172,0.15,2.33,0.00,0.000,4,0.181,0.063,3024,3692,2427,0,0,0,0,0,0
$GC,5191,0.43,146.0,440.0,12.1,517,5195,0.00,2.22,0.00,0.000,6,0.000,0.044,3031,2291,2427,0,0,0,0,0,0
$GC,5518,0.41,146.0,406.1,10.3,547,5520,0.12,0.00,0.00,0.000,6,0.184,0.000,3001,2291,2426,0,0,0,0,0,0
$GC,5835,0.51,189.6,380.4,8.0,577,5880,0.00,2.28,36.80,1.080,4,0.000,0.059,3001,3684,2257,0,0,0,0,0,0
$GC,5886,0.60,225.6,376.1,8.3,581,5926,0.15,2.25,33.05,1.059,6,0.093,0.044,3069,2268,2110,0,0,0,0,0,0
$GC,6244,0.55,225.6,324.7,15.0,615,6248,0.00,2.22,0.00,0.000,4,0.000,0.060,3080,866,2102,0,0,0,0,0,0
$GC,6257,0.50,225.6,322.8,14.9,616,6262,0.20,2.20,0.00,0.000,6,0.176,0.046,3027,2280,2100,0,0,0,0,0,0
$GC,6582,0.53,225.6,284.7,11.6,646,6586,0.00,2.25,0.00,0.000,4,0.000,0.061,3027,3684,2099,0,0,0,0,0,0
$GC,6623,0.56,225.6,279.7,12.7,649,6627,0.00,2.20,0.00,0.000,6,0.000,0.044,3034,2271,2099,0,0,0,0,0,0
$GC,6950,0.59,225.6,242.2,11.2,679,6954,0.00,2.20,0.00,0.000,4,0.000,0.057,3043,864,2098,0,0,0,0,0,0
$GC,6961,0.61,225.6,240.7,11.2,679,6967,0.00,2.17,0.00,0.000,6,0.000,0.044,3043,2279,2096,0,0,0,0,0,0
$GC,7287,0.61,225.6,202.6,12.0,710,7291,0.00,2.22,0.00,0.000,4,0.000,0.061,3043,3683,2097,0,0,0,0,0,0
$GC,7330,0.61,225.6,196.5,13.9,713,7337,0.00,2.20,0.00,0.000,6,0.000,0.044,3053,2279,2097,0,0,0,0,0,0
$GC,7656,0.61,225.6,153.8,13.0,744,7660,0.00,2.25,0.00,0.000,4,0.000,0.059,3053,3690,2097,0,0,0,0,0,0
$GC,7667,0.61,225.6,152.4,12.7,745,7672,0.00,2.20,0.00,0.000,6,0.000,0.042,3063,2267,2096,0,0,0,0,0,0
$GC,7992,0.61,225.6,111.1,12.0,775,7996,0.00,2.17,0.00,0.000,4,0.000,0.057,3074,868,2096,0,0,0,0,0,0
$GC,8036,0.64,225.6,106.3,10.5,778,8043,0.00,2.15,0.00,0.000,6,0.000,0.045,3074,2276,2096,0,0,0,0,0,0
$GC,8375,0.64,225.6,71.4,10.5,833,8382,0.00,2.20,0.00,0.000,4,0.000,0.060,3074,3684,2096,0,0,0,0,0,0
$GC,8416,0.64,225.6,66.3,13.1,840,8423,0.00,2.20,0.00,0.000,6,0.000,0.044,3083,2265,2096,0,0,0,0,0,0
$GC,8762,0.64,225.6,27.9,10.9,901,8768,0.00,2.20,0.00,0.000,4,0.000,0.058,3094,866,2095,0,0,0,0,0,0
$GC,8781,0.64,225.6,25.8,11.1,904,8788,0.00,2.17,0.00,0.000,6,0.000,0.047,3093,2274,2095,0,0,0,0,0,0
$FREEZE,8.76,-1.634,-1.837,3,22,0
$FREEZE,8.23,-1.627,-1.837,3,22,0
$FREEZE,7.70,-1.623,-1.837,3,22,0
$FREEZE,7.11,-1.621,-1.836,3,22,0
$FREEZE,6.65,-1.621,-1.836,3,22,0
$FREEZE,6.18,-1.619,-1.835,3,22,0
$FREEZE,5.50,-1.618,-1.835,3,22,0
$FREEZE,5.13,-1.617,-1.835,3,22,0
$FREEZE,4.64,-1.617,-1.834,3,22,0
$FREEZE,4.07,-1.616,-1.834,3,22,0
$FREEZE,3.58,-1.619,-1.834,3,22,0
$FREEZE,2.94,-1.623,-1.833,3,22,0
$STATE,8995,end climb,SURFACE_DEPTH_REACHED
$STATE,8995,begin surface coast
$FREEZE,2.37,-1.624,-1.833,3,22,0
$FREEZE,1.71,-1.625,-1.832,3,22,0
$FREEZE,1.51,-1.622,-1.832,3,22,0
$FREEZE,1.59,-1.590,-1.830,3,22,0
$FREEZE,1.58,-1.282,-1.810,3,22,0
$FINISH,1.6,1.026556
$STATE,9024,end surface coast,CONTROL_FINISHED_OK
$STATE,9025,begin surface
$SM_CCo,9042,76.80,0.063,0,0,1398,400.08
$SM_GC,3.00,0.00,0.00,76.80,0.000,0.000,0.063,105,2499,1398,-8.62,0.25,400.08
$RAFOS_CLK,468
$RAFOS,6,1303678146,20.833334,20.818333,169,62,57,53,52,52,834,213,196,183,146,166
$RAFOS,5,1303677670,20.700001,20.686111,108,57,55,52,51,50,640,212,159,190,131,177
$RAFOS,4,1303677184,20.566668,20.551111,93,62,60,58,56,53,896,213,191,181,160,230
$RAFOS,3,1303676705,20.433332,20.418056,61,60,57,56,52,51,117,165,205,180,1419,218
$RAFOS,2,1303676222,20.299999,20.283890,63,61,59,59,55,51,213,204,170,187,119,1900
$RAFOS_FIX,6705.833008,-5649.697266,240411,202044,3,123,0.76
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.0
$ALTIM_BOTTOM_PING,450.7,50.6
$24V_AH,22.3,63.853
$10V_AH,10.1,32.711
$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,11.625,98.575,314.025,76.800,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2295.814,4752.274,435.334,1543.973,164.790,0.000,1265.046,0.000,1530.733,1440.000,12.486,0.000
$DEVICE_MAMPS,219.555,77.265,1181.925,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.200,711.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,36694,948
$CAP_FILE_SIZE,108898,0
$CFSIZE,260165632,222375936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.8
$GPS,240411,204344,6705.833,-5649.697,0,3123.3,0,-37.6