version: 66.08
glider: 141
mission: 15
dive: 496
start: 4 25 111 20 18 9
data:
$ID,141
$MISSION,15
$DIVE,496
$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,-42166.68
$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,31
$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,-5645.507,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-35.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.68,-90.6,0.0,0.0,0,167,0.00,0.00,-146.75,0.000,2,0.000,0.000,113,2506,3302,0,0,0,0,0,0
$GC,170,-0.74,-141.5,5.2,-6.2,26,196,12.98,2.35,-7.05,0.000,4,0.324,0.083,2614,3896,3611,0,0,0,0,0,0
$GC,238,-0.63,-141.5,24.6,-21.2,37,245,0.17,2.17,0.00,0.000,6,0.230,0.043,2655,2487,3612,0,0,0,0,0,0
$GC,582,-0.63,-141.5,83.4,-18.0,98,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2486,3612,0,0,0,0,0,0
$GC,913,-0.63,-141.5,137.3,-15.7,137,917,0.00,2.22,0.00,0.000,4,0.000,0.060,2655,1074,3610,0,0,0,0,0,0
$GC,947,-0.68,-141.5,142.9,-15.9,139,954,0.00,2.25,0.00,0.000,6,0.000,0.057,2655,2489,3610,0,0,0,0,0,0
$GC,1273,-0.72,-141.5,184.0,-11.1,170,1277,0.00,2.30,0.00,0.000,4,0.000,0.073,2655,3905,3609,0,0,0,0,0,0
$GC,1363,-0.81,-141.5,193.9,-10.6,177,1370,0.17,2.20,0.00,0.000,6,0.112,0.043,2597,2484,3609,0,0,0,0,0,0
$GC,1688,-0.74,-141.5,243.9,-15.4,208,1692,0.00,2.20,0.00,0.000,4,0.000,0.057,2597,1085,3609,0,0,0,0,0,0
$GC,1720,-0.68,-141.5,249.2,-15.2,210,1728,0.17,2.22,0.00,0.000,6,0.235,0.057,2637,2491,3609,0,0,0,0,0,0
$GC,2046,-0.68,-141.5,289.2,-12.7,241,2050,0.00,2.28,0.00,0.000,4,0.000,0.070,2637,3904,3610,0,0,0,0,0,0
$GC,2138,-0.73,-141.5,300.6,-12.7,249,2142,0.00,2.17,0.00,0.000,6,0.000,0.041,2637,2488,3610,0,0,0,0,0,0
$GC,2464,-0.76,-141.5,342.9,-12.4,279,2468,0.00,2.17,0.00,0.000,4,0.000,0.055,2637,1084,3611,0,0,0,0,0,0
$GC,2516,-0.82,-141.5,349.2,-11.9,283,2522,0.12,2.22,0.00,0.000,6,0.128,0.054,2597,2496,3611,0,0,0,0,0,0
$GC,2848,-0.77,-141.5,398.1,-13.7,314,2852,0.00,2.28,0.00,0.000,4,0.000,0.069,2596,3905,3612,0,0,0,0,0,0
$GC,2948,-0.75,-141.5,412.6,-13.6,322,2955,0.00,2.20,0.00,0.000,6,0.000,0.041,2596,2484,3613,0,0,0,0,0,0
$GC,3275,-0.69,-141.5,460.6,-14.9,353,3280,0.17,2.20,0.00,0.000,4,0.231,0.054,2637,1082,3614,0,0,0,0,0,0
$GC,3327,-0.76,-141.5,467.4,-11.2,357,3331,0.00,2.22,0.00,0.000,6,0.000,0.053,2637,2499,3614,0,0,0,0,0,0
$STATE,3629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3629,begin apogee
$GC,3635,-0.12,0.0,502.2,11.5,385,3760,0.62,0.00,118.88,1.198,6,0.189,0.000,2815,2259,3030,0,0,0,0,0,0
$STATE,3761,end apogee,CONTROL_FINISHED_OK
$STATE,3761,begin climb
$GC,3763,0.74,141.5,506.4,0.0,396,3896,0.90,2.42,121.95,1.157,4,0.132,0.060,3103,891,2451,0,0,0,0,0,0
$GC,3947,0.70,141.5,489.4,13.7,412,3953,0.00,2.38,0.00,0.000,6,0.000,0.054,3103,2278,2448,0,0,0,0,0,0
$GC,4272,0.66,141.5,443.1,13.9,443,4276,0.00,2.30,0.00,0.000,4,0.000,0.063,3103,3683,2447,0,0,0,0,0,0
$GC,4334,0.56,141.5,433.3,16.1,448,4339,0.25,2.20,0.00,0.000,6,0.207,0.047,3051,2291,2447,0,0,0,0,0,0
$GC,4660,0.60,141.5,398.2,10.0,478,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2291,2446,0,0,0,0,0,0
$GC,4980,0.65,141.5,364.2,10.7,508,4984,0.00,2.25,0.00,0.000,4,0.000,0.063,3059,870,2445,0,0,0,0,0,0
$GC,4992,0.70,141.5,362.7,10.8,509,4996,0.00,2.22,0.00,0.000,6,0.000,0.047,3059,2282,2446,0,0,0,0,0,0
$GC,5318,0.74,141.5,324.9,12.0,539,5322,0.12,2.22,0.00,0.000,4,0.103,0.063,3116,3691,2445,0,0,0,0,0,0
$GC,5368,0.61,141.5,316.9,17.6,543,5375,0.25,2.20,0.00,0.000,6,0.218,0.044,3065,2270,2445,0,0,0,0,0,0
$GC,5693,0.64,141.5,275.6,12.5,574,5697,0.00,2.28,0.00,0.000,4,0.000,0.059,3064,3693,2445,0,0,0,0,0,0
$GC,5722,0.64,141.5,271.7,13.8,576,5726,0.00,2.20,0.00,0.000,6,0.000,0.044,3073,2264,2445,0,0,0,0,0,0
$GC,6047,0.64,141.5,228.9,13.0,606,6051,0.00,2.28,0.00,0.000,4,0.000,0.060,3073,3697,2445,0,0,0,0,0,0
$GC,6086,0.61,141.5,223.4,14.9,609,6093,0.00,2.22,0.00,0.000,6,0.000,0.044,3083,2270,2445,0,0,0,0,0,0
$GC,6412,0.61,141.5,179.7,13.1,640,6416,0.00,2.28,0.00,0.000,4,0.000,0.059,3083,3688,2446,0,0,0,0,0,0
$GC,6464,0.55,141.5,172.2,15.5,644,6469,0.20,2.20,0.00,0.000,6,0.191,0.044,3042,2265,2446,0,0,0,0,0,0
$GC,6795,0.64,147.4,139.9,9.6,675,6806,0.00,0.00,5.53,0.731,6,0.000,0.000,3042,2265,2428,0,0,0,0,0,0
$GC,7127,0.76,162.3,110.5,8.9,706,7150,0.17,2.33,14.12,0.897,4,0.088,0.060,3119,3682,2367,0,0,0,0,0,0
$GC,7175,0.67,162.3,104.4,13.8,710,7179,0.17,2.22,0.00,0.000,6,0.212,0.044,3086,2265,2368,0,0,0,0,0,0
$GC,7517,0.74,170.9,66.8,9.4,767,7530,0.00,2.28,8.90,0.821,4,0.000,0.057,3094,866,2333,0,0,0,0,0,0
$GC,7589,0.80,181.0,60.1,9.3,779,7608,0.00,2.22,9.90,0.833,6,0.000,0.047,3094,2278,2292,0,0,0,0,0,0
$GC,7948,0.86,181.0,24.6,10.5,842,7956,0.12,2.28,0.00,0.000,4,0.103,0.063,3147,3684,2292,0,0,0,0,0,0
$GC,7980,0.81,181.0,20.4,12.5,847,7990,0.12,2.20,0.00,0.000,6,0.228,0.045,3131,2267,2292,0,0,0,0,0,0
$FREEZE,8.63,-1.661,-1.838,2,31,0
$FREEZE,8.08,-1.661,-1.837,2,31,0
$FREEZE,7.44,-1.660,-1.837,2,31,0
$FREEZE,6.71,-1.660,-1.836,2,31,0
$STATE,8092,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8092,begin subsurface finish
$FINISH1,6.7,1.026884,30
$GC,8098,0.04,30.2,6.7,-12.2,866,8135,0.85,2.38,-25.15,0.000,4,0.184,0.074,2883,3694,2908,0,0,0,0,0,0
$FINISH2,4.7
$STATE,8136,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8136,begin surface
$RAFOS_CLK,460
$RAFOS,6,1303764541,20.833334,20.816944,110,58,55,54,50,50,863,222,161,148,172,120
$RAFOS,5,1303764067,20.700001,20.685278,126,60,58,54,54,51,652,228,195,157,111,142
$RAFOS,4,1303763590,20.566668,20.552778,102,77,62,62,57,52,866,215,131,192,179,115
$RAFOS,3,1303763101,20.433332,20.416945,66,65,58,52,51,51,198,216,122,165,174,1015
$RAFOS_FIX,6704.072266,-5648.662109,250411,202001,3,113,0.26
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,45.78
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.5
$24V_AH,22.2,64.799
$10V_AH,10.1,33.292
$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,17.600,83.575,279.275,0.000,0.000,98.438,17.406,0.000,2.000,0.000,183.287,2044.699,4269.000,445.817,1723.028,465.259,0.000,1233.120,0.000,1407.755,1440.000,14.348,0.000
$DEVICE_MAMPS,324.360,82.620,1197.990,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,612.840,654.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150480
$DATA_FILE_SIZE,33359,872
$CAP_FILE_SIZE,103188,0
$CFSIZE,260165632,221868032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$GPS,250411,204301,6704.072,-5648.662,0,3112.7,0,-37.6