version: 66.08
glider: 141
mission: 15
dive: 493
start: 4 25 111 12 7 18
data:
$ID,141
$MISSION,15
$DIVE,493
$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,-41429.52
$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,39
$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,-5647.404,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-35.2
$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,15,-0.62,-146.0,0.0,0.0,0,174,0.00,0.00,-154.25,0.000,2,0.000,0.000,109,2503,3456,0,0,0,0,0,0
$GC,177,-0.62,-146.0,6.1,-11.7,27,202,13.25,2.25,-3.47,0.000,4,0.327,0.066,2654,1081,3630,0,0,0,0,0,0
$GC,417,-0.56,-146.0,54.6,-14.3,69,424,0.00,2.25,0.00,0.000,6,0.000,0.057,2654,2481,3631,0,0,0,0,0,0
$GC,759,-0.47,-146.0,106.6,-13.8,126,764,0.20,2.33,0.00,0.000,4,0.207,0.072,2705,3902,3630,0,0,0,0,0,0
$GC,815,-0.54,-146.0,112.6,-8.5,130,822,0.00,2.20,0.00,0.000,6,0.000,0.044,2706,2479,3630,0,0,0,0,0,0
$GC,1141,-0.60,-146.0,141.2,-9.1,161,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2480,3629,0,0,0,0,0,0
$GC,1461,-0.66,-146.0,171.4,-8.9,191,1463,0.17,0.00,0.00,0.000,6,0.109,0.000,2643,2480,3628,0,0,0,0,0,0
$GC,1778,-0.58,-146.0,212.3,-12.2,221,1783,0.12,2.35,0.00,0.000,4,0.212,0.070,2671,3897,3629,0,0,0,0,0,0
$GC,1823,-0.60,-146.0,217.3,-9.9,224,1830,0.00,2.17,0.00,0.000,6,0.000,0.043,2671,2483,3628,0,0,0,0,0,0
$GC,2148,-0.60,-146.0,249.8,-9.7,255,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2483,3630,0,0,0,0,0,0
$GC,2471,-0.60,-146.0,279.5,-9.4,285,2475,0.00,2.20,0.00,0.000,4,0.000,0.056,2671,1079,3630,0,0,0,0,0,0
$GC,2481,-0.60,-146.0,280.9,-9.5,285,2488,0.00,2.22,0.00,0.000,6,0.000,0.053,2671,2489,3630,0,0,0,0,0,0
$GC,2807,-0.60,-146.0,311.7,-9.8,316,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2489,3632,0,0,0,0,0,0
$GC,3127,-0.60,-146.0,341.2,-9.3,346,3131,0.00,2.28,0.00,0.000,4,0.000,0.068,2671,3908,3633,0,0,0,0,0,0
$GC,3196,-0.63,-146.0,347.4,-9.6,352,3200,0.00,2.17,0.00,0.000,6,0.000,0.040,2671,2488,3632,0,0,0,0,0,0
$GC,3521,-0.63,-146.0,375.8,-8.4,382,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2489,3634,0,0,0,0,0,0
$GC,3842,-0.63,-146.0,404.1,-8.8,412,3846,0.00,2.28,0.00,0.000,4,0.000,0.063,2671,3899,3635,0,0,0,0,0,0
$GC,3859,-0.63,-146.0,405.8,-8.7,413,3863,0.00,2.15,0.00,0.000,6,0.000,0.037,2671,2491,3635,0,0,0,0,0,0
$STATE,4044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4044,begin apogee
$GC,4050,-0.12,0.0,421.4,8.0,430,4182,0.47,0.00,121.60,1.137,6,0.181,0.000,2810,2245,3029,0,0,0,0,0,0
$STATE,4183,end apogee,CONTROL_FINISHED_OK
$STATE,4183,begin climb
$GC,4185,0.62,146.0,424.1,0.0,442,4319,0.80,2.45,123.82,1.093,4,0.136,0.059,3066,895,2433,0,0,0,0,0,0
$GC,4354,0.55,146.0,409.7,13.0,457,4358,0.00,2.35,0.00,0.000,6,0.000,0.045,3066,2274,2430,0,0,0,0,0,0
$GC,4681,0.47,146.0,367.4,12.4,487,4686,0.17,2.30,0.00,0.000,4,0.181,0.061,3021,3690,2428,0,0,0,0,0,0
$GC,4770,0.43,146.0,356.5,11.2,494,4777,0.00,2.20,0.00,0.000,6,0.000,0.043,3029,2298,2427,0,0,0,0,0,0
$GC,5095,0.45,161.5,324.9,9.3,525,5115,0.00,0.00,13.52,0.962,6,0.000,0.000,3029,2298,2371,0,0,0,0,0,0
$GC,5436,0.45,161.5,291.1,10.0,557,5440,0.00,2.22,0.00,0.000,4,0.000,0.059,3029,3697,2370,0,0,0,0,0,0
$GC,5476,0.43,161.5,286.4,11.3,560,5481,0.15,2.22,0.00,0.000,6,0.179,0.041,3002,2267,2369,0,0,0,0,0,0
$GC,5803,0.56,216.1,259.9,7.5,590,5859,0.12,2.25,47.05,1.007,4,0.103,0.057,3073,869,2147,0,0,0,0,0,0
$GC,5908,0.56,216.1,247.2,12.6,599,5916,0.00,2.25,0.00,0.000,6,0.000,0.045,3073,2287,2143,0,0,0,0,0,0
$GC,6234,0.51,216.1,202.4,13.7,630,6239,0.15,2.22,0.00,0.000,4,0.178,0.060,3032,3683,2142,0,0,0,0,0,0
$GC,6319,0.51,216.1,192.0,11.5,637,6323,0.00,2.20,0.00,0.000,6,0.000,0.043,3041,2274,2141,0,0,0,0,0,0
$GC,6646,0.53,216.1,156.9,10.8,667,6650,0.00,2.22,0.00,0.000,4,0.000,0.058,3041,3684,2141,0,0,0,0,0,0
$GC,6701,0.53,216.1,150.0,12.5,671,6708,0.00,2.20,0.00,0.000,6,0.000,0.042,3050,2266,2141,0,0,0,0,0,0
$GC,7028,0.56,216.1,113.9,10.8,702,7032,0.00,2.20,0.00,0.000,4,0.000,0.057,3059,868,2141,0,0,0,0,0,0
$GC,7091,0.61,216.1,107.1,11.3,707,7095,0.00,2.20,0.00,0.000,6,0.000,0.045,3059,2283,2140,0,0,0,0,0,0
$GC,7431,0.64,216.1,71.7,10.2,761,7438,0.00,2.20,0.00,0.000,4,0.000,0.060,3059,3681,2140,0,0,0,0,0,0
$GC,7495,0.64,216.1,64.6,11.3,772,7502,0.00,2.20,0.00,0.000,6,0.000,0.043,3070,2265,2140,0,0,0,0,0,0
$GC,7841,0.70,235.7,30.7,9.1,833,7859,0.00,2.25,10.07,0.887,4,0.000,0.059,3078,872,2069,0,0,0,0,0,0
$GC,7912,0.77,253.1,24.1,9.2,845,7931,0.10,2.20,9.18,0.837,6,0.123,0.047,3124,2276,1997,0,0,0,0,0,0
$FREEZE,8.85,-1.732,-1.837,2,28,0
$FREEZE,7.99,-1.732,-1.836,2,28,0
$FREEZE,7.46,-1.731,-1.836,2,28,0
$FREEZE,6.79,-1.732,-1.836,2,28,0
$STATE,8047,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8047,begin subsurface finish
$FINISH1,6.8,1.026875,31
$GC,8054,0.04,30.6,6.8,-13.2,869,8097,0.80,2.33,-36.38,0.000,4,0.165,0.076,2883,3681,2907,0,0,0,0,0,0
$FINISH2,4.8
$STATE,8098,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8098,begin surface
$RAFOS_CLK,456
$RAFOS,6,1303735745,12.833333,12.818055,126,60,58,50,50,49,862,188,206,220,111,139
$RAFOS,5,1303735267,12.700000,12.685278,122,60,56,54,50,49,666,128,216,195,138,185
$RAFOS,4,1303734791,12.566667,12.553056,93,66,54,52,52,51,868,202,159,222,141,323
$RAFOS,3,1303734302,12.433333,12.417222,109,58,56,56,53,51,1001,172,204,161,118,130
$RAFOS,2,1303733823,12.300000,12.284166,60,59,53,52,52,51,185,203,219,148,135,171
$RAFOS,1,1303733345,12.166667,12.151389,69,62,59,56,53,53,193,202,169,213,115,155
$RAFOS_FIX,6659.216309,-5646.229980,250411,121228,4,112,0.96
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,45.62
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.5
$24V_AH,22.4,64.511
$10V_AH,10.1,33.088
$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,16.525,69.850,325.250,0.000,0.000,98.346,17.368,0.000,1.000,0.000,183.288,2038.330,4227.825,484.604,1705.232,445.396,0.000,1266.390,0.000,1394.030,2160.000,7.924,0.000
$DEVICE_MAMPS,327.420,76.500,1136.790,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.646,652.645,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33384,876
$CAP_FILE_SIZE,101302,0
$CFSIZE,260165632,222044160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.2
$GPS,250411,123928,6659.216,-5646.230,0,4112.5,0,-37.6