version: 66.08
glider: 141
mission: 15
dive: 495
start: 4 25 111 17 31 34
data:
$ID,141
$MISSION,15
$DIVE,495
$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,-41798.102
$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,34
$R_STBD_OVSHOOT,38
$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
$GPS1,250411,164322,6702.428,-5645.507,0,3094.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-36.7
$GPS2,250411,164322,6702.428,-5645.507,181,99.0,181,-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,338.1,2088,-22.6,-10.000
$D_GRID,502
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.68,-90.6,0.0,0.0,0,183,0.00,0.00,-162.48,0.000,6,0.000,0.000,114,2498,3400,0,0,0,0,0,0
$GC,186,-0.69,-104.9,5.8,-8.9,29,206,13.02,2.35,-1.27,0.000,4,0.324,0.086,2630,3893,3461,0,0,0,0,0,0
$GC,237,-0.36,-104.9,23.5,-29.8,37,244,0.43,2.20,0.00,0.000,6,0.216,0.044,2738,2484,3462,0,0,0,0,0,0
$GC,583,-0.55,-123.5,55.2,-8.6,98,590,0.17,2.25,0.00,0.000,4,0.116,0.059,2678,1082,3462,0,0,0,0,0,0
$GC,643,-0.60,-123.5,62.6,-13.0,108,650,0.00,2.22,0.00,0.000,6,0.000,0.057,2678,2476,3462,0,0,0,0,0,0
$GC,992,-0.63,-123.5,105.9,-12.6,166,996,0.00,2.33,0.00,0.000,4,0.000,0.073,2678,3903,3461,0,0,0,0,0,0
$GC,1103,-0.71,-123.5,120.7,-12.4,175,1110,0.12,2.17,0.00,0.000,6,0.125,0.044,2634,2488,3460,0,0,0,0,0,0
$GC,1428,-0.67,-123.5,168.4,-14.4,206,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2488,3460,0,0,0,0,0,0
$GC,1751,-0.65,-123.5,211.6,-12.7,236,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2488,3459,0,0,0,0,0,0
$GC,2077,-0.65,-123.5,251.0,-11.5,267,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2489,3460,0,0,0,0,0,0
$GC,2396,-0.65,-123.5,285.7,-10.4,297,2400,0.00,2.17,0.00,0.000,4,0.000,0.054,2634,1084,3461,0,0,0,0,0,0
$GC,2452,-0.65,-123.5,292.5,-11.0,301,2459,0.00,2.22,0.00,0.000,6,0.000,0.055,2633,2496,3461,0,0,0,0,0,0
$GC,2777,-0.65,-123.5,327.1,-10.6,332,2781,0.00,2.25,0.00,0.000,4,0.000,0.068,2633,3899,3463,0,0,0,0,0,0
$GC,2839,-0.65,-123.5,333.8,-10.8,337,2843,0.00,2.17,0.00,0.000,6,0.000,0.040,2633,2483,3462,0,0,0,0,0,0
$GC,3165,-0.65,-123.5,368.3,-10.6,367,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2483,3464,0,0,0,0,0,0
$GC,3487,-0.66,-128.8,400.5,-9.6,397,3491,0.00,2.17,0.00,0.000,4,0.000,0.053,2633,1075,3465,0,0,0,0,0,0
$GC,3530,-0.66,-128.8,405.4,-10.4,400,3537,0.00,2.22,0.00,0.000,6,0.000,0.051,2633,2502,3466,0,0,0,0,0,0
$GC,3856,-0.67,-143.0,435.9,-8.9,431,3860,0.00,2.25,0.00,0.000,4,0.000,0.066,2633,3899,3466,0,0,0,0,0,0
$GC,3961,-0.67,-143.0,446.1,-10.0,440,3968,0.00,2.20,0.00,0.000,6,0.000,0.038,2633,2467,3466,0,0,0,0,0,0
$GC,4287,-0.67,-143.0,479.7,-11.9,471,4290,0.00,2.15,0.00,0.000,4,0.000,0.052,2633,1088,3467,0,0,0,0,0,0
$GC,4365,-0.70,-143.0,488.8,-11.2,477,4371,0.00,2.20,0.00,0.000,6,0.000,0.052,2633,2490,3468,0,0,0,0,0,0
$STATE,4486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4486,begin apogee
$GC,4492,-0.12,0.0,502.7,12.2,489,4590,0.65,0.00,88.97,1.200,6,0.198,0.000,2812,2260,3029,0,0,0,0,0,0
$STATE,4593,end apogee,CONTROL_FINISHED_OK
$STATE,4593,begin climb
$GC,4595,0.74,143.0,507.3,0.0,498,4728,0.90,2.40,121.50,1.161,4,0.132,0.058,3106,894,2446,0,0,0,0,0,0
$GC,4744,0.69,143.0,495.4,12.8,511,4751,0.00,2.38,0.00,0.000,6,0.000,0.046,3106,2277,2443,0,0,0,0,0,0
$GC,5070,0.65,143.0,448.8,14.1,542,5074,0.12,2.30,0.00,0.000,4,0.210,0.062,3077,3690,2439,0,0,0,0,0,0
$GC,5093,0.58,143.0,445.2,15.4,544,5098,0.12,2.20,0.00,0.000,6,0.207,0.043,3056,2295,2439,0,0,0,0,0,0
$GC,5418,0.62,143.0,405.6,11.7,574,5422,0.00,2.25,0.00,0.000,4,0.000,0.059,3056,3691,2439,0,0,0,0,0,0
$GC,5445,0.62,143.0,401.9,13.2,576,5452,0.00,2.22,0.00,0.000,6,0.000,0.044,3065,2274,2439,0,0,0,0,0,0
$GC,5772,0.62,143.0,361.2,12.2,607,5776,0.00,2.25,0.00,0.000,4,0.000,0.058,3065,3690,2439,0,0,0,0,0,0
$GC,5816,0.59,143.0,354.7,13.9,610,5823,0.00,2.22,0.00,0.000,6,0.000,0.044,3076,2266,2439,0,0,0,0,0,0
$GC,6141,0.59,143.0,313.8,12.7,641,6145,0.00,2.28,0.00,0.000,4,0.000,0.058,3076,3694,2439,0,0,0,0,0,0
$GC,6156,0.59,143.0,311.6,12.9,642,6163,0.00,2.20,0.00,0.000,6,0.000,0.043,3085,2264,2439,0,0,0,0,0,0
$GC,6484,0.59,143.0,269.1,13.2,673,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2264,2438,0,0,0,0,0,0
$GC,6801,0.59,143.0,229.1,12.5,703,6805,0.00,2.25,0.00,0.000,4,0.000,0.057,3085,3689,2438,0,0,0,0,0,0
$GC,6879,0.54,143.0,217.9,14.7,709,6887,0.20,2.17,0.00,0.000,6,0.192,0.042,3044,2273,2439,0,0,0,0,0,0
$GC,7205,0.65,165.2,189.0,8.4,740,7229,0.00,2.33,18.77,0.952,4,0.000,0.057,3044,3690,2356,0,0,0,0,0,0
$GC,7235,0.76,193.9,186.5,7.9,742,7267,0.15,2.20,25.75,0.953,6,0.092,0.041,3114,2263,2238,0,0,0,0,0,0
$GC,7593,0.73,193.9,135.5,14.6,776,7597,0.00,2.28,0.00,0.000,4,0.000,0.057,3114,3699,2234,0,0,0,0,0,0
$GC,7646,0.68,193.9,127.3,16.2,780,7650,0.15,2.20,0.00,0.000,6,0.210,0.042,3089,2275,2234,0,0,0,0,0,0
$GC,7975,0.72,193.9,88.3,11.4,819,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2274,2234,0,0,0,0,0,0
$GC,8319,0.79,193.9,51.2,11.0,880,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2274,2234,0,0,0,0,0,0
$GC,8664,0.87,193.9,14.2,10.3,941,8671,0.15,2.30,0.00,0.000,4,0.099,0.058,3150,3693,2234,0,0,0,0,0,0
$GC,8680,0.92,193.9,12.4,11.0,943,8687,0.00,2.22,0.00,0.000,6,0.000,0.043,3160,2265,2234,0,0,0,0,0,0
$FREEZE,8.86,-1.645,-1.838,2,30,2
$FREEZE,8.02,-1.645,-1.838,2,30,2
$FREEZE,7.21,-1.645,-1.837,2,30,2
$FREEZE,6.34,-1.643,-1.836,2,30,2
$FREEZE,5.56,-1.643,-1.836,2,30,2
$FREEZE,4.94,-1.643,-1.835,2,30,2
$FREEZE,4.10,-1.646,-1.835,2,30,2
$FREEZE,3.36,-1.645,-1.834,2,30,2
$FREEZE,2.65,-1.646,-1.833,2,30,2
$STATE,8745,end climb,SURFACE_DEPTH_REACHED
$STATE,8745,begin surface coast
$FREEZE,1.91,-1.649,-1.833,2,30,2
$FREEZE,1.52,-1.648,-1.832,2,30,2
$FREEZE,1.55,-1.655,-1.831,2,30,2
$FINISH,1.5,1.026864
$STATE,8765,end surface coast,CONTROL_FINISHED_OK
$STATE,8765,begin surface
$SM_CCo,8783,159.57,0.063,0,0,751,559.04
$SM_GC,2.46,0.00,0.00,159.57,0.000,0.000,0.063,113,2506,751,-8.60,0.45,559.04
$RAFOS_CLK,499
$RAFOS_FIX,6702.428223,-5645.507324,250411,161622,3,94,0.41
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,44.09
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,17.9
$ALTIM_BOTTOM_PING,500.0,43.8
$24V_AH,22.4,64.705
$10V_AH,10.1,33.225
$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,24.875,76.900,255.000,159.575,0.000,98.859,19.210,0.000,2.000,0.000,183.292,2242.935,4607.849,593.986,1833.721,479.745,0.000,1421.479,0.000,1517.959,0.000,15.624,0.000
$DEVICE_MAMPS,324.360,85.680,1199.520,63.495,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,676.625,714.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150496
$DATA_FILE_SIZE,36714,958
$CAP_FILE_SIZE,107901,0
$CFSIZE,260165632,221921280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.7
$GPS,250411,164322,6702.428,-5645.507,181,99.0,181,-37.6