version: 66.08
glider: 141
mission: 15
dive: 489
start: 4 25 111 1 17 54
data:
$ID,141
$MISSION,15
$DIVE,489
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,250411,004240,6705.022,-5651.364,0,3152.3,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.08
$_SM_ANGLEo,-0.6
$GPS2,250411,004240,6705.022,-5651.364,0,3152.3,0,-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,184.6,4464,-17.5,-10.000
$D_GRID,491
$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,-6.68,0.000,2,0.000,0.000,2885,863,3170,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.1,-0.0,1,48,0.62,4.93,-11.23,0.000,4,0.114,0.064,2670,3896,3626,0,0,0,0,0,0
$GC,207,-0.58,-146.0,32.3,-13.4,32,214,0.00,2.17,0.00,0.000,6,0.000,0.038,2669,2475,3628,0,0,0,0,0,0
$GC,552,-0.51,-146.0,81.5,-14.4,93,559,0.12,0.00,0.00,0.000,6,0.222,0.000,2697,2474,3627,0,0,0,0,0,0
$GC,892,-0.51,-146.0,123.8,-11.8,137,896,0.00,2.15,0.00,0.000,4,0.000,0.056,2698,1089,3625,0,0,0,0,0,0
$GC,931,-0.55,-146.0,128.3,-11.0,140,938,0.00,2.20,0.00,0.000,6,0.000,0.054,2698,2494,3625,0,0,0,0,0,0
$GC,1258,-0.59,-146.0,158.6,-8.7,171,1262,0.00,2.25,0.00,0.000,4,0.000,0.070,2698,3897,3623,0,0,0,0,0,0
$GC,1303,-0.66,-146.0,162.6,-8.2,174,1310,0.15,2.12,0.00,0.000,6,0.118,0.040,2648,2491,3622,0,0,0,0,0,0
$GC,1628,-0.58,-146.0,203.0,-13.1,205,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2491,3621,0,0,0,0,0,0
$GC,1950,-0.51,-146.0,244.0,-12.6,235,1957,0.17,0.00,0.00,0.000,6,0.202,0.000,2691,2491,3621,0,0,0,0,0,0
$GC,2276,-0.56,-146.0,274.2,-8.4,266,2280,0.00,2.28,0.00,0.000,4,0.000,0.064,2691,3903,3621,0,0,0,0,0,0
$GC,2306,-0.61,-146.0,276.6,-8.1,268,2309,0.00,2.15,0.00,0.000,6,0.000,0.037,2691,2480,3621,0,0,0,0,0,0
$GC,2637,-0.67,-146.0,303.7,-8.3,299,2639,0.12,0.00,0.00,0.000,6,0.125,0.000,2647,2480,3622,0,0,0,0,0,0
$GC,2955,-0.61,-146.0,341.4,-11.8,329,2959,0.00,2.28,0.00,0.000,4,0.000,0.063,2646,3899,3623,0,0,0,0,0,0
$GC,2977,-0.54,-146.0,344.2,-12.1,330,2984,0.15,2.12,0.00,0.000,6,0.193,0.037,2683,2484,3622,0,0,0,0,0,0
$GC,3303,-0.59,-146.0,373.5,-8.8,361,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2484,3623,0,0,0,0,0,0
$GC,3625,-0.63,-146.0,400.5,-8.3,391,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2483,3624,0,0,0,0,0,0
$GC,3952,-0.67,-146.0,425.7,-7.5,422,3954,0.12,0.00,0.00,0.000,6,0.129,0.000,2640,2483,3624,0,0,0,0,0,0
$GC,4269,-0.61,-146.0,460.7,-11.1,452,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2483,3624,0,0,0,0,0,0
$STATE,4554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4554,begin apogee
$GC,4560,-0.12,0.0,492.0,10.8,479,4685,0.62,0.00,119.62,1.177,6,0.195,0.000,2813,2253,3030,0,0,0,0,0,0
$STATE,4686,end apogee,CONTROL_FINISHED_OK
$STATE,4686,begin climb
$GC,4688,0.62,146.0,494.6,0.0,490,4819,0.77,0.00,124.55,1.135,6,0.131,0.000,3053,2252,2434,0,0,0,0,0,0
$GC,5134,0.55,146.0,445.8,12.2,532,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2252,2428,0,0,0,0,0,0
$GC,5456,0.48,146.0,404.8,12.9,562,5461,0.12,2.35,0.00,0.000,4,0.207,0.057,3024,3697,2428,0,0,0,0,0,0
$GC,5557,0.44,146.0,392.0,11.9,570,5564,0.00,2.17,0.00,0.000,6,0.000,0.041,3031,2296,2428,0,0,0,0,0,0
$GC,5884,0.42,156.9,359.4,9.5,601,5900,0.12,2.30,9.48,0.941,4,0.191,0.057,3010,869,2390,0,0,0,0,0,0
$GC,5946,0.55,208.3,354.3,7.6,606,5997,0.00,2.20,45.12,1.059,6,0.000,0.044,3009,2288,2179,0,0,0,0,0,0
$GC,6315,0.64,233.1,323.3,8.9,641,6343,0.17,2.22,22.30,1.007,4,0.082,0.057,3087,3681,2078,0,0,0,0,0,0
$GC,6423,0.55,233.1,306.2,17.1,650,6428,0.20,2.22,0.00,0.000,6,0.186,0.042,3046,2266,2076,0,0,0,0,0,0
$GC,6749,0.55,233.1,263.3,13.4,680,6753,0.00,2.20,0.00,0.000,4,0.000,0.057,3055,869,2073,0,0,0,0,0,0
$GC,6806,0.60,233.1,256.0,12.7,685,6810,0.00,2.17,0.00,0.000,6,0.000,0.043,3055,2285,2071,0,0,0,0,0,0
$GC,7131,0.60,233.1,210.4,13.6,715,7135,0.00,2.17,0.00,0.000,4,0.000,0.057,3055,3680,2071,0,0,0,0,0,0
$GC,7222,0.60,233.1,197.0,14.4,723,7226,0.00,2.17,0.00,0.000,6,0.000,0.041,3066,2262,2071,0,0,0,0,0,0
$GC,7552,0.60,233.1,152.2,12.9,754,7556,0.00,2.17,0.00,0.000,4,0.000,0.056,3077,860,2071,0,0,0,0,0,0
$GC,7587,0.60,233.1,148.0,12.2,757,7591,0.00,2.17,0.00,0.000,6,0.000,0.042,3076,2288,2070,0,0,0,0,0,0
$GC,7918,0.60,233.1,104.8,12.9,788,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2288,2069,0,0,0,0,0,0
$GC,8253,0.60,233.1,66.2,10.8,844,8259,0.00,2.20,0.00,0.000,4,0.000,0.057,3076,3688,2070,0,0,0,0,0,0
$GC,8328,0.57,233.1,57.2,12.5,857,8336,0.15,2.20,0.00,0.000,6,0.180,0.041,3047,2260,2070,0,0,0,0,0,0
$GC,8677,0.77,318.5,30.3,6.1,918,8733,0.17,2.30,49.03,0.943,4,0.088,0.059,3131,869,1730,0,0,0,0,0,0
$GC,8781,0.77,318.5,18.0,12.5,935,8788,0.00,2.22,0.00,0.000,6,0.000,0.043,3131,2280,1725,0,0,0,0,0,0
$FREEZE,8.91,-1.666,-1.839,3,24,0
$STATE,8844,end climb,FINISH_DEPTH_REACHED
$STATE,8844,begin subsurface finish
$FINISH1,8.9,1.026893,30
$GC,8851,0.04,29.7,8.9,-15.0,946,8899,0.82,2.25,-39.75,0.000,4,0.165,0.073,2884,3685,2909,0,0,0,0,0,0
$FINISH2,6.5
$STATE,8900,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8900,begin surface
$RAFOS_CLK,457
$RAFOS_FIX,6705.021973,-5651.363770,250411,000040,3,152,0.13
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.86
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,22.4,64.073
$10V_AH,10.2,32.819
$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,4.650,62.675,370.100,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2260.947,4648.313,404.873,1491.052,151.677,0.000,1194.771,0.000,1484.869,0.000,11.504,0.000
$DEVICE_MAMPS,221.850,72.675,1176.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.628,716.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36724,954
$CAP_FILE_SIZE,96682,0
$CFSIZE,260165632,222277632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.3
$GPS,250411,004240,6705.022,-5651.364,0,3152.3,0,-37.6