version: 66.08
glider: 141
mission: 15
dive: 492
start: 4 25 111 9 30 9
data:
$ID,141
$MISSION,15
$DIVE,492
$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,-41059.945
$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,33
$R_STBD_OVSHOOT,37
$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
$GPS1,250411,084322,6706.547,-5647.404,0,3103.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-31.6
$GPS2,250411,084322,6706.547,-5647.404,181,99.0,181,-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,221.4,6583,-17.5,-10.000
$D_GRID,421
$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,-146.0,0.0,0.0,0,174,0.00,0.00,-153.27,0.000,2,0.000,0.000,105,2503,3405,0,0,0,0,0,0
$GC,177,-0.62,-146.0,5.7,-9.5,27,203,13.15,2.28,-4.72,0.000,4,0.324,0.071,2650,1085,3630,0,0,0,0,0,0
$GC,424,-0.54,-146.0,53.7,-15.2,70,431,0.12,2.25,0.00,0.000,6,0.214,0.060,2679,2476,3631,0,0,0,0,0,0
$GC,770,-0.51,-146.0,96.7,-11.6,131,777,0.00,2.33,0.00,0.000,4,0.000,0.075,2680,3900,3631,0,0,0,0,0,0
$GC,866,-0.51,-146.0,107.7,-11.3,142,874,0.00,2.22,0.00,0.000,6,0.000,0.044,2680,2469,3631,0,0,0,0,0,0
$GC,1194,-0.51,-146.0,142.5,-10.1,173,1198,0.00,2.17,0.00,0.000,4,0.000,0.061,2680,1087,3629,0,0,0,0,0,0
$GC,1223,-0.51,-146.0,145.5,-9.9,175,1227,0.00,2.25,0.00,0.000,6,0.000,0.058,2680,2499,3630,0,0,0,0,0,0
$GC,1553,-0.51,-146.0,179.7,-10.6,206,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2499,3628,0,0,0,0,0,0
$GC,1873,-0.51,-146.0,214.5,-10.8,236,1877,0.00,2.30,0.00,0.000,4,0.000,0.072,2680,3906,3629,0,0,0,0,0,0
$GC,1883,-0.51,-146.0,215.8,-10.6,236,1890,0.00,2.20,0.00,0.000,6,0.000,0.041,2679,2481,3629,0,0,0,0,0,0
$GC,2209,-0.51,-146.0,249.8,-9.8,267,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2481,3630,0,0,0,0,0,0
$GC,2530,-0.51,-146.0,278.5,-8.2,297,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2481,3631,0,0,0,0,0,0
$GC,2849,-0.53,-146.0,304.2,-8.2,327,2853,0.00,2.33,0.00,0.000,4,0.000,0.066,2680,3908,3632,0,0,0,0,0,0
$GC,2860,-0.55,-146.0,305.5,-8.3,327,2867,0.00,2.17,0.00,0.000,6,0.000,0.037,2680,2485,3632,0,0,0,0,0,0
$GC,3187,-0.58,-146.0,330.9,-7.9,358,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2485,3634,0,0,0,0,0,0
$GC,3506,-0.61,-146.0,356.0,-8.3,388,3510,0.00,2.30,0.00,0.000,4,0.000,0.065,2680,3903,3635,0,0,0,0,0,0
$GC,3539,-0.66,-146.0,359.0,-8.5,390,3545,0.00,2.17,0.00,0.000,6,0.000,0.037,2680,2480,3634,0,0,0,0,0,0
$GC,3864,-0.69,-146.0,384.7,-7.9,421,3866,0.12,0.00,0.00,0.000,6,0.125,0.000,2635,2480,3635,0,0,0,0,0,0
$STATE,4180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4180,begin apogee
$GC,4187,-0.12,0.0,421.2,11.5,451,4318,0.62,0.00,121.53,1.138,6,0.191,0.000,2810,2256,3030,0,0,0,0,0,0
$STATE,4319,end apogee,CONTROL_FINISHED_OK
$STATE,4319,begin climb
$GC,4322,0.62,146.0,424.9,0.0,463,4454,0.80,0.00,123.75,1.095,6,0.136,0.000,3056,2256,2434,0,0,0,0,0,0
$GC,4772,0.57,146.0,378.4,11.9,505,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2256,2429,0,0,0,0,0,0
$GC,5100,0.51,146.0,338.6,12.8,536,5104,0.00,2.30,0.00,0.000,4,0.000,0.059,3056,3689,2427,0,0,0,0,0,0
$GC,5211,0.40,146.0,321.8,14.8,545,5219,0.25,2.17,0.00,0.000,6,0.184,0.043,3001,2294,2427,0,0,0,0,0,0
$GC,5537,0.47,163.2,291.1,9.2,576,5560,0.00,2.30,15.02,0.968,4,0.000,0.060,3009,866,2363,0,0,0,0,0,0
$GC,5596,0.57,188.2,285.9,8.8,581,5625,0.12,2.22,22.70,0.994,6,0.103,0.044,3067,2285,2262,0,0,0,0,0,0
$GC,5943,0.52,188.2,242.3,12.2,613,5948,0.12,2.25,0.00,0.000,4,0.182,0.059,3036,3683,2258,0,0,0,0,0,0
$GC,6045,0.52,188.2,230.6,11.3,622,6049,0.00,2.20,0.00,0.000,6,0.000,0.042,3044,2271,2257,0,0,0,0,0,0
$GC,6370,0.52,188.2,196.1,10.7,652,6374,0.00,2.20,0.00,0.000,4,0.000,0.057,3054,868,2257,0,0,0,0,0,0
$GC,6405,0.52,188.2,192.6,10.4,655,6409,0.00,2.20,0.00,0.000,6,0.000,0.044,3055,2285,2256,0,0,0,0,0,0
$GC,6736,0.50,188.2,155.7,11.4,686,6740,0.00,2.20,0.00,0.000,4,0.000,0.058,3055,3694,2256,0,0,0,0,0,0
$GC,6844,0.45,188.2,141.7,13.4,695,6849,0.20,2.17,0.00,0.000,6,0.171,0.041,3011,2274,2256,0,0,0,0,0,0
$GC,7175,0.58,218.8,113.8,8.6,726,7209,0.12,2.22,26.65,0.913,4,0.103,0.055,3080,866,2137,0,0,0,0,0,0
$GC,7269,0.58,218.8,102.9,12.6,734,7273,0.00,2.22,0.00,0.000,6,0.000,0.043,3080,2286,2134,0,0,0,0,0,0
$GC,7611,0.58,218.8,62.4,10.9,792,7618,0.00,2.20,0.00,0.000,4,0.000,0.058,3080,3692,2133,0,0,0,0,0,0
$GC,7687,0.54,218.8,53.2,12.6,805,7694,0.20,2.20,0.00,0.000,6,0.175,0.042,3036,2275,2133,0,0,0,0,0,0
$GC,8036,0.72,286.4,27.8,6.9,866,8084,0.17,2.30,38.20,0.920,4,0.087,0.058,3123,870,1860,0,0,0,0,0,0
$GC,8111,0.72,286.4,19.6,13.1,878,8117,0.00,2.22,0.00,0.000,6,0.000,0.045,3123,2274,1856,0,0,0,0,0,0
$FREEZE,8.47,-1.720,-1.837,2,27,0
$FREEZE,7.78,-1.720,-1.837,2,27,0
$FREEZE,7.04,-1.720,-1.836,2,27,0
$FREEZE,6.32,-1.720,-1.835,2,27,0
$FREEZE,5.64,-1.718,-1.835,2,27,0
$FREEZE,5.01,-1.717,-1.835,2,27,0
$FREEZE,4.28,-1.724,-1.834,2,27,0
$FREEZE,3.46,-1.721,-1.833,2,27,0
$FREEZE,2.68,-1.726,-1.833,2,27,0
$STATE,8232,end climb,SURFACE_DEPTH_REACHED
$STATE,8233,begin surface coast
$FREEZE,2.00,-1.727,-1.832,2,27,0
$FREEZE,1.75,-1.724,-1.832,2,27,0
$FREEZE,1.68,-1.732,-1.832,2,27,0
$FINISH,1.7,1.026881
$STATE,8249,end surface coast,FINISH_DEPTH_REACHED
$STATE,8249,begin surface
$SM_CCo,8268,118.45,0.065,0,0,750,559.04
$SM_GC,2.49,0.00,0.00,118.45,0.000,0.000,0.065,109,2502,750,-8.61,0.34,559.04
$RAFOS_CLK,470
$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,44.60
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,17.9
$24V_AH,22.5,64.407
$10V_AH,10.1,33.020
$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,24.575,63.200,347.850,118.450,0.000,98.344,16.936,0.000,1.250,0.000,183.288,2106.653,4287.191,598.958,1743.354,458.625,0.000,1386.263,0.000,1427.936,0.000,7.922,0.000
$DEVICE_MAMPS,323.595,74.970,1138.320,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.128,670.293,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150488
$DATA_FILE_SIZE,33297,903
$CAP_FILE_SIZE,100705,0
$CFSIZE,260165632,222097408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.7
$GPS,250411,084322,6706.547,-5647.404,181,99.0,181,-37.6