version: 66.08
glider: 141
mission: 15
dive: 490
start: 4 25 111 3 48 6
data:
$ID,141
$MISSION,15
$DIVE,490
$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,35
$R_STBD_OVSHOOT,30
$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,7.10
$_SM_ANGLEo,0.7
$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,-6.30,0.000,2,0.000,0.000,2884,3685,3128,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.5,-0.0,1,53,0.62,4.15,-13.93,0.000,4,0.107,0.051,2667,1088,3629,0,0,0,0,0,0
$GC,161,-0.58,-146.0,24.9,-14.5,24,168,0.00,2.20,0.00,0.000,6,0.000,0.053,2667,2491,3629,0,0,0,0,0,0
$GC,507,-0.49,-146.0,77.4,-16.1,85,514,0.15,2.30,0.00,0.000,4,0.217,0.069,2702,3898,3628,0,0,0,0,0,0
$GC,567,-0.54,-146.0,85.3,-11.7,95,574,0.00,2.17,0.00,0.000,6,0.000,0.041,2702,2483,3628,0,0,0,0,0,0
$GC,902,-0.58,-146.0,121.4,-9.7,137,906,0.00,2.17,0.00,0.000,4,0.000,0.058,2703,1085,3627,0,0,0,0,0,0
$GC,935,-0.62,-146.0,124.9,-9.4,139,942,0.12,2.20,0.00,0.000,6,0.129,0.054,2662,2495,3627,0,0,0,0,0,0
$GC,1262,-0.56,-146.0,165.3,-12.6,170,1266,0.00,2.22,0.00,0.000,4,0.000,0.057,2662,1089,3625,0,0,0,0,0,0
$GC,1279,-0.51,-146.0,167.8,-13.1,171,1284,0.15,2.20,0.00,0.000,6,0.210,0.055,2696,2490,3625,0,0,0,0,0,0
$GC,1605,-0.56,-146.0,199.4,-9.2,201,1609,0.00,2.30,0.00,0.000,4,0.000,0.070,2696,3898,3623,0,0,0,0,0,0
$GC,1639,-0.63,-146.0,202.8,-9.4,203,1646,0.12,2.17,0.00,0.000,6,0.124,0.042,2655,2489,3623,0,0,0,0,0,0
$GC,1964,-0.58,-146.0,239.8,-11.2,234,1968,0.00,2.28,0.00,0.000,4,0.000,0.067,2655,3905,3622,0,0,0,0,0,0
$GC,1975,-0.53,-146.0,241.2,-11.1,234,1982,0.15,2.17,0.00,0.000,6,0.196,0.041,2690,2486,3622,0,0,0,0,0,0
$GC,2301,-0.57,-146.0,266.1,-7.5,265,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2485,3623,0,0,0,0,0,0
$GC,2622,-0.62,-146.0,290.7,-8.0,295,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2485,3623,0,0,0,0,0,0
$GC,2950,-0.68,-146.0,319.1,-8.9,326,2951,0.15,0.00,0.00,0.000,6,0.116,0.000,2637,2486,3624,0,0,0,0,0,0
$GC,3267,-0.60,-146.0,359.3,-12.3,356,3269,0.12,0.00,0.00,0.000,6,0.210,0.000,2665,2485,3624,0,0,0,0,0,0
$GC,3585,-0.60,-146.0,389.1,-8.8,386,3589,0.00,2.17,0.00,0.000,4,0.000,0.053,2665,1085,3625,0,0,0,0,0,0
$GC,3597,-0.60,-146.0,390.3,-9.2,387,3601,0.00,2.22,0.00,0.000,6,0.000,0.051,2666,2501,3624,0,0,0,0,0,0
$GC,3923,-0.60,-146.0,418.3,-8.3,417,3927,0.00,2.28,0.00,0.000,4,0.000,0.066,2665,3905,3625,0,0,0,0,0,0
$GC,3964,-0.62,-146.0,421.7,-8.4,420,3968,0.00,2.15,0.00,0.000,6,0.000,0.038,2666,2484,3625,0,0,0,0,0,0
$GC,4289,-0.62,-146.0,449.8,-9.0,450,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2483,3626,0,0,0,0,0,0
$GC,4611,-0.62,-146.0,481.2,-9.9,480,4615,0.00,2.15,0.00,0.000,4,0.000,0.050,2665,1084,3626,0,0,0,0,0,0
$GC,4635,-0.62,-146.0,483.9,-10.0,482,4639,0.00,2.20,0.00,0.000,6,0.000,0.050,2666,2498,3626,0,0,0,0,0,0
$STATE,4713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4713,begin apogee
$GC,4719,-0.12,0.0,491.7,9.6,489,4845,0.50,0.00,119.95,1.179,6,0.180,0.000,2813,2250,3030,0,0,0,0,0,0
$STATE,4846,end apogee,CONTROL_FINISHED_OK
$STATE,4846,begin climb
$GC,4848,0.62,146.0,495.5,0.0,500,4982,0.77,2.45,124.60,1.139,4,0.129,0.058,3064,895,2433,0,0,0,0,0,0
$GC,5044,0.56,146.0,479.2,11.9,517,5051,0.00,2.30,0.00,0.000,6,0.000,0.044,3063,2275,2429,0,0,0,0,0,0
$GC,5369,0.47,146.0,439.2,12.6,548,5374,0.17,2.28,0.00,0.000,4,0.181,0.060,3017,3683,2428,0,0,0,0,0,0
$GC,5460,0.44,146.0,428.8,11.4,556,5464,0.00,2.20,0.00,0.000,6,0.000,0.043,3025,2284,2427,0,0,0,0,0,0
$GC,5785,0.45,155.7,396.8,9.6,586,5796,0.00,0.00,8.45,0.924,6,0.000,0.000,3025,2283,2395,0,0,0,0,0,0
$GC,6115,0.45,155.7,363.4,10.5,617,6119,0.00,2.25,0.00,0.000,4,0.000,0.057,3025,3693,2395,0,0,0,0,0,0
$GC,6178,0.41,155.7,356.0,12.0,622,6183,0.15,2.17,0.00,0.000,6,0.185,0.042,2998,2276,2394,0,0,0,0,0,0
$GC,6504,0.51,190.5,326.9,8.4,652,6540,0.00,2.25,30.90,1.040,4,0.000,0.058,3002,868,2252,0,0,0,0,0,0
$GC,6579,0.66,220.8,320.1,8.6,658,6613,0.20,2.20,27.55,1.021,6,0.082,0.042,3088,2282,2129,0,0,0,0,0,0
$GC,6933,0.57,220.8,263.2,16.2,691,6938,0.15,2.22,0.00,0.000,4,0.180,0.059,3049,3680,2123,0,0,0,0,0,0
$GC,7023,0.57,220.8,249.7,14.7,699,7028,0.00,2.20,0.00,0.000,6,0.000,0.042,3057,2268,2122,0,0,0,0,0,0
$GC,7349,0.55,220.8,207.4,12.6,729,7352,0.00,2.20,0.00,0.000,4,0.000,0.055,3068,859,2122,0,0,0,0,0,0
$GC,7406,0.55,220.8,200.0,12.9,734,7410,0.00,2.20,0.00,0.000,6,0.000,0.044,3068,2282,2120,0,0,0,0,0,0
$GC,7736,0.52,220.8,157.9,12.4,765,7741,0.12,2.20,0.00,0.000,4,0.177,0.058,3035,3687,2119,0,0,0,0,0,0
$GC,7813,0.52,220.8,149.3,10.3,771,7821,0.00,2.22,0.00,0.000,6,0.000,0.041,3043,2238,2119,0,0,0,0,0,0
$GC,8139,0.56,233.1,118.2,9.4,802,8155,0.00,2.15,10.38,0.850,4,0.000,0.058,3046,865,2079,0,0,0,0,0,0
$GC,8223,0.67,247.4,110.3,9.3,809,8244,0.10,2.17,14.27,0.879,6,0.119,0.042,3094,2277,2020,0,0,0,0,0,0
$GC,8579,0.67,247.4,65.0,12.4,865,8586,0.00,2.20,0.00,0.000,4,0.000,0.058,3094,3682,2018,0,0,0,0,0,0
$GC,8673,0.62,247.4,51.7,14.7,881,8681,0.15,2.20,0.00,0.000,6,0.189,0.043,3064,2266,2018,0,0,0,0,0,0
$GC,9020,0.69,256.5,17.5,9.6,942,9033,0.00,2.22,4.43,0.662,4,0.000,0.058,3071,879,1983,0,0,0,0,0,0
$GC,9090,0.80,269.4,10.9,9.4,954,9104,0.15,2.15,6.50,0.732,6,0.097,0.045,3134,2275,1931,0,0,0,0,0,0
$FREEZE,8.65,-1.706,-1.838,2,25,1
$FREEZE,7.97,-1.707,-1.837,2,25,1
$FREEZE,7.21,-1.708,-1.836,2,25,1
$FREEZE,6.48,-1.711,-1.836,2,25,1
$FREEZE,5.87,-1.711,-1.835,2,25,1
$FREEZE,5.13,-1.712,-1.835,2,25,1
$FREEZE,4.29,-1.715,-1.834,2,25,1
$FREEZE,3.51,-1.720,-1.833,2,25,1
$FREEZE,2.88,-1.722,-1.833,2,25,1
$STATE,9152,end climb,SURFACE_DEPTH_REACHED
$STATE,9152,begin surface coast
$FREEZE,1.74,-1.722,-1.832,2,25,1
$FREEZE,1.43,-1.731,-1.761,2,25,1
$FREEZE,1.47,-1.730,-1.762,2,25,1
$FREEZE,1.49,-1.733,-1.763,2,25,1
$FINISH,1.5,1.025900
$STATE,9174,end surface coast,CONTROL_FINISHED_OK
$STATE,9175,begin surface
$SM_CCo,9192,58.05,0.063,0,0,1398,400.08
$SM_GC,2.79,0.00,0.00,58.05,0.000,0.000,0.063,105,2505,1398,-8.63,0.40,400.08
$RAFOS_CLK,478
$RAFOS,6,1303706951,4.833333,4.819722,103,58,56,56,56,55,816,161,213,225,122,171
$RAFOS,5,1303706465,4.700000,4.684722,136,64,61,60,57,54,676,211,186,158,196,144
$RAFOS,4,1303705987,4.566667,4.551944,113,73,60,58,51,49,888,214,186,169,195,138
$RAFOS,3,1303705509,4.433333,4.419167,65,59,58,53,50,49,216,184,203,963,231,147
$RAFOS,2,1303705025,4.300000,4.284722,63,59,55,54,53,53,202,181,125,157,190,223
$RAFOS,1,1303704544,4.166667,4.151111,62,58,57,55,54,51,226,214,151,202,126,84
$RAFOS,0,1303704067,4.033333,4.018611,60,57,55,55,55,54,213,135,166,199,115,1611
$RAFOS_FIX,6705.187988,-5649.357910,250411,040444,3,117,0.10
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.4,64.182
$10V_AH,10.1,32.878
$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,12.625,86.850,347.025,58.050,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2371.257,4791.856,434.422,1557.177,167.766,0.000,1268.120,0.000,1546.375,2520.000,11.150,0.000
$DEVICE_MAMPS,217.260,70.380,1178.865,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.141,723.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36745,969
$CAP_FILE_SIZE,110194,0
$CFSIZE,260165632,222216192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$GPS,250411,044344,6705.188,-5649.358,0,3117.3,0,-37.6