version: 66.08
glider: 141
mission: 15
dive: 491
start: 4 25 111 6 39 58
data:
$ID,141
$MISSION,15
$DIVE,491
$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,-40691.371
$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,36
$R_STBD_OVSHOOT,40
$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
$GPS1,250411,044344,6705.188,-5649.358,0,3117.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-37.7
$GPS2,250411,044344,6705.188,-5649.358,181,99.0,181,-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,204.0,4169,-17.5,-10.000
$D_GRID,465
$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,15,-0.62,-146.0,0.0,0.0,0,144,0.00,0.00,-125.85,0.000,2,0.000,0.000,104,2505,3327,0,0,0,0,0,0
$GC,149,-0.62,-146.0,5.3,-10.9,22,175,13.10,2.33,-6.70,0.000,4,0.324,0.068,2651,1075,3630,0,0,0,0,0,0
$GC,328,-0.55,-146.0,41.2,-15.2,53,335,0.12,2.25,0.00,0.000,6,0.212,0.057,2681,2475,3631,0,0,0,0,0,0
$GC,674,-0.52,-146.0,86.3,-12.7,114,681,0.00,2.33,0.00,0.000,4,0.000,0.073,2681,3897,3630,0,0,0,0,0,0
$GC,739,-0.52,-146.0,94.1,-11.2,125,746,0.00,2.17,0.00,0.000,6,0.000,0.044,2681,2482,3629,0,0,0,0,0,0
$GC,1069,-0.49,-146.0,129.5,-11.2,160,1073,0.00,2.20,0.00,0.000,4,0.000,0.060,2681,1076,3629,0,0,0,0,0,0
$GC,1091,-0.47,-146.0,132.2,-11.4,161,1098,0.10,2.28,0.00,0.000,6,0.219,0.057,2704,2495,3629,0,0,0,0,0,0
$GC,1417,-0.53,-146.0,161.1,-8.8,192,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2495,3628,0,0,0,0,0,0
$GC,1737,-0.59,-146.0,187.8,-8.2,222,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2495,3627,0,0,0,0,0,0
$GC,2056,-0.67,-146.0,213.6,-7.7,252,2061,0.17,2.30,0.00,0.000,4,0.106,0.070,2641,3899,3628,0,0,0,0,0,0
$GC,2087,-0.64,-146.0,216.9,-11.2,254,2091,0.00,2.15,0.00,0.000,6,0.000,0.041,2641,2486,3628,0,0,0,0,0,0
$GC,2417,-0.56,-146.0,258.5,-12.8,285,2419,0.15,0.00,0.00,0.000,6,0.206,0.000,2677,2485,3629,0,0,0,0,0,0
$GC,2736,-0.56,-146.0,287.4,-8.6,315,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2486,3630,0,0,0,0,0,0
$GC,3057,-0.56,-146.0,316.9,-9.7,345,3060,0.00,2.15,0.00,0.000,4,0.000,0.053,2678,1087,3631,0,0,0,0,0,0
$GC,3073,-0.56,-146.0,318.8,-9.3,346,3080,0.00,2.22,0.00,0.000,6,0.000,0.052,2677,2496,3630,0,0,0,0,0,0
$GC,3399,-0.58,-146.0,348.9,-9.1,377,3403,0.00,2.28,0.00,0.000,4,0.000,0.067,2677,3905,3631,0,0,0,0,0,0
$GC,3444,-0.63,-146.0,353.0,-8.7,380,3450,0.00,2.15,0.00,0.000,6,0.000,0.038,2677,2484,3631,0,0,0,0,0,0
$GC,3771,-0.66,-146.0,382.0,-8.9,411,3775,0.00,2.30,0.00,0.000,4,0.000,0.063,2677,3905,3632,0,0,0,0,0,0
$GC,3789,-0.69,-146.0,383.7,-8.7,412,3794,0.12,2.15,0.00,0.000,6,0.123,0.038,2634,2486,3632,0,0,0,0,0,0
$GC,4114,-0.60,-146.0,421.9,-11.8,442,4116,0.12,0.00,0.00,0.000,6,0.210,0.000,2662,2486,3633,0,0,0,0,0,0
$GC,4433,-0.60,-146.0,451.9,-9.1,472,4436,0.00,2.15,0.00,0.000,4,0.000,0.052,2662,1088,3634,0,0,0,0,0,0
$GC,4445,-0.60,-146.0,453.1,-9.0,473,4449,0.00,2.20,0.00,0.000,6,0.000,0.051,2662,2499,3634,0,0,0,0,0,0
$STATE,4582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4582,begin apogee
$GC,4588,-0.12,0.0,465.5,8.9,486,4720,0.52,0.00,121.82,1.168,6,0.184,0.000,2815,2254,3029,0,0,0,0,0,0
$STATE,4721,end apogee,CONTROL_FINISHED_OK
$STATE,4721,begin climb
$GC,4723,0.62,146.0,468.9,0.0,498,4857,0.77,2.47,124.47,1.131,4,0.132,0.060,3064,892,2433,0,0,0,0,0,0
$GC,4930,0.56,146.0,451.0,12.6,516,4937,0.00,2.33,0.00,0.000,6,0.000,0.055,3064,2278,2429,0,0,0,0,0,0
$GC,5256,0.48,146.0,410.2,12.8,547,5261,0.15,2.30,0.00,0.000,4,0.183,0.061,3025,3686,2428,0,0,0,0,0,0
$GC,5356,0.44,146.0,398.4,11.9,555,5360,0.00,2.20,0.00,0.000,6,0.000,0.044,3033,2294,2428,0,0,0,0,0,0
$GC,5680,0.44,146.0,363.2,10.5,585,5684,0.00,2.28,0.00,0.000,4,0.000,0.060,3043,869,2427,0,0,0,0,0,0
$GC,5722,0.44,146.0,358.9,11.0,588,5726,0.15,2.22,0.00,0.000,6,0.184,0.045,3006,2288,2427,0,0,0,0,0,0
$GC,6047,0.51,174.1,330.2,8.7,618,6081,0.00,2.30,23.92,1.037,4,0.000,0.061,3006,3680,2320,0,0,0,0,0,0
$GC,6166,0.51,174.1,318.4,10.7,628,6172,0.00,2.22,0.00,0.000,6,0.000,0.043,3014,2266,2318,0,0,0,0,0,0
$GC,6491,0.55,177.5,286.7,9.8,659,6503,0.00,2.25,4.15,0.658,4,0.000,0.059,3023,874,2306,0,0,0,0,0,0
$GC,6539,0.60,177.5,281.8,10.7,663,6543,0.10,2.17,0.00,0.000,6,0.119,0.045,3072,2277,2305,0,0,0,0,0,0
$GC,6864,0.53,177.5,235.6,13.8,693,6869,0.15,2.25,0.00,0.000,4,0.178,0.060,3032,3693,2305,0,0,0,0,0,0
$GC,6949,0.51,177.5,224.6,12.0,700,6953,0.00,2.20,0.00,0.000,6,0.000,0.042,3041,2274,2305,0,0,0,0,0,0
$GC,7277,0.51,177.5,189.0,10.2,730,7281,0.00,2.22,0.00,0.000,4,0.000,0.056,3050,859,2305,0,0,0,0,0,0
$GC,7343,0.51,181.0,181.9,9.8,735,7354,0.00,2.20,4.85,0.697,6,0.000,0.045,3050,2277,2291,0,0,0,0,0,0
$GC,7679,0.51,181.0,146.0,11.1,767,7683,0.00,2.20,0.00,0.000,4,0.000,0.059,3050,3681,2292,0,0,0,0,0,0
$GC,7743,0.46,181.0,138.3,12.8,772,7749,0.12,2.20,0.00,0.000,6,0.167,0.042,3022,2260,2291,0,0,0,0,0,0
$GC,8075,0.58,225.3,109.0,8.0,803,8120,0.00,2.22,38.78,0.929,4,0.000,0.056,3028,871,2110,0,0,0,0,0,0
$GC,8201,0.74,262.5,99.0,8.3,814,8244,0.20,2.17,32.97,0.903,6,0.086,0.044,3114,2274,1958,0,0,0,0,0,0
$GC,8582,0.71,262.5,46.2,13.1,881,8589,0.00,2.25,0.00,0.000,4,0.000,0.058,3114,3680,1952,0,0,0,0,0,0
$GC,8676,0.65,262.5,32.5,15.9,897,8684,0.17,2.20,0.00,0.000,6,0.182,0.043,3079,2275,1951,0,0,0,0,0,0
$FREEZE,8.54,-1.688,-1.836,2,26,0
$FREEZE,8.08,-1.690,-1.836,2,26,0
$FREEZE,7.55,-1.690,-1.835,2,26,0
$FREEZE,7.10,-1.690,-1.835,2,26,0
$FREEZE,6.59,-1.690,-1.835,2,26,0
$FREEZE,6.05,-1.690,-1.834,2,26,0
$FREEZE,5.53,-1.693,-1.834,2,26,0
$FREEZE,5.01,-1.694,-1.833,2,26,0
$FREEZE,4.48,-1.695,-1.833,2,26,0
$FREEZE,4.04,-1.696,-1.833,2,26,0
$FREEZE,3.52,-1.695,-1.832,2,26,0
$FREEZE,2.82,-1.698,-1.832,2,26,0
$STATE,8960,end climb,SURFACE_DEPTH_REACHED
$STATE,8960,begin surface coast
$FREEZE,2.36,-1.699,-1.831,2,26,0
$FREEZE,1.84,-1.703,-1.831,2,26,0
$FREEZE,1.70,-1.684,-1.830,2,26,0
$FREEZE,1.66,-1.708,-1.831,2,26,0
$FREEZE,1.75,-1.711,-1.831,2,26,0
$FREEZE,1.74,-1.713,-1.831,2,26,0
$FINISH,1.7,1.026865
$STATE,8993,end surface coast,CONTROL_FINISHED_OK
$STATE,8993,begin surface
$SM_CCo,9016,129.82,0.065,0,0,750,559.04
$SM_GC,2.35,0.00,0.00,129.82,0.000,0.000,0.065,105,2502,750,-8.62,0.37,559.04
$RAFOS_CLK,503
$RAFOS,6,1303721345,8.833333,8.818055,118,64,58,56,56,55,848,213,157,173,190,134
$RAFOS,5,1303720870,8.700000,8.686111,109,65,60,57,56,54,653,128,203,221,183,152
$RAFOS,4,1303720385,8.566667,8.551389,82,59,58,53,52,52,901,185,213,150,164,201
$RAFOS,3,1303719906,8.433333,8.418333,79,60,59,57,50,47,209,120,194,980,145,219
$RAFOS,2,1303719430,8.300000,8.286111,64,57,56,55,53,51,190,204,136,116,162,150
$RAFOS,1,1303718948,8.166667,8.152223,70,61,59,52,52,51,215,166,182,191,148,128
$RAFOS,0,1303718465,8.033334,8.018056,56,54,52,49,49,48,195,120,216,139,153,181
$RAFOS_FIX,6706.546875,-5647.403809,250411,080822,3,103,0.20
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,44.13
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.1
$ALTIM_BOTTOM_PING,450.0,82.8
$24V_AH,22.4,64.296
$10V_AH,10.1,32.951
$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,24.725,81.175,350.975,129.825,0.000,98.927,17.418,0.000,1.750,0.000,183.288,2292.195,4751.194,598.077,1844.542,473.723,0.000,1446.312,0.000,1531.627,2520.000,12.573,0.000
$DEVICE_MAMPS,324.360,72.675,1168.155,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.154,715.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,36721,954
$CAP_FILE_SIZE,114307,0
$CFSIZE,260165632,222150656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,250411,084322,6706.547,-5647.404,0,3103.0,0,-37.6