version: 66.08
glider: 141
mission: 15
dive: 498
start: 4 26 111 1 6 29
data:
$ID,141
$MISSION,15
$DIVE,498
$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,-42535.258
$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,32
$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
$GPS1,250411,204301,6704.072,-5648.662,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-57.0
$GPS2,250411,204301,6704.072,-5648.662,181,99.0,181,-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,204.1,2042,-22.3,-10.000
$D_GRID,486
$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,-0.67,-92.5,0.0,0.0,0,168,0.00,0.00,-148.12,0.000,2,0.000,0.000,105,2506,3339,0,0,0,0,0,0
$GC,171,-0.69,-103.4,5.1,-9.2,26,197,12.85,2.35,-2.75,0.000,4,0.321,0.087,2627,3889,3455,0,0,0,0,0,0
$GC,434,-0.63,-103.4,57.1,-16.4,72,442,0.12,2.17,0.00,0.000,6,0.227,0.045,2655,2488,3457,0,0,0,0,0,0
$GC,783,-0.60,-103.4,109.2,-13.9,128,787,0.00,2.22,0.00,0.000,4,0.000,0.062,2655,1083,3457,0,0,0,0,0,0
$GC,826,-0.60,-103.4,115.9,-14.7,131,833,0.00,2.25,0.00,0.000,6,0.000,0.062,2656,2475,3456,0,0,0,0,0,0
$GC,1153,-0.60,-103.4,159.3,-12.3,162,1157,0.00,2.35,0.00,0.000,4,0.000,0.077,2656,3904,3455,0,0,0,0,0,0
$GC,1186,-0.60,-103.4,163.6,-12.4,164,1194,0.00,2.20,0.00,0.000,6,0.000,0.045,2656,2478,3455,0,0,0,0,0,0
$GC,1512,-0.60,-103.4,199.2,-10.8,195,1516,0.00,2.35,0.00,0.000,4,0.000,0.072,2656,3902,3454,0,0,0,0,0,0
$GC,1533,-0.60,-103.4,201.7,-10.6,196,1540,0.00,2.17,0.00,0.000,6,0.000,0.044,2656,2484,3454,0,0,0,0,0,0
$GC,1858,-0.60,-103.4,236.7,-11.1,227,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2484,3455,0,0,0,0,0,0
$GC,2181,-0.63,-103.4,270.9,-10.8,257,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2484,3456,0,0,0,0,0,0
$GC,2509,-0.67,-109.3,303.6,-9.6,288,2513,0.00,2.33,0.00,0.000,4,0.000,0.067,2655,3904,3457,0,0,0,0,0,0
$GC,2550,-0.71,-109.3,308.0,-10.5,291,2554,0.00,2.20,0.00,0.000,6,0.000,0.041,2655,2478,3457,0,0,0,0,0,0
$GC,2882,-0.74,-110.7,340.6,-9.9,322,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2477,3458,0,0,0,0,0,0
$GC,3201,-0.80,-124.4,370.2,-9.0,352,3205,0.15,2.22,0.00,0.000,4,0.120,0.055,2604,1083,3459,0,0,0,0,0,0
$GC,3218,-0.81,-131.1,372.2,-9.5,353,3222,0.00,2.28,0.00,0.000,6,0.000,0.054,2603,2501,3459,0,0,0,0,0,0
$GC,3544,-0.72,-131.1,412.8,-12.5,383,3548,0.00,2.22,0.00,0.000,4,0.000,0.053,2603,1078,3460,0,0,0,0,0,0
$GC,3554,-0.63,-131.1,414.3,-12.8,383,3562,0.22,2.28,0.00,0.000,6,0.225,0.054,2656,2499,3459,0,0,0,0,0,0
$GC,3880,-0.68,-131.2,446.2,-10.0,414,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2499,3461,0,0,0,0,0,0
$GC,4203,-0.75,-146.0,476.5,-8.8,444,4208,0.12,2.30,0.00,0.000,4,0.125,0.068,2614,3899,3461,0,0,0,0,0,0
$GC,4236,-0.70,-146.0,480.6,-11.2,446,4243,0.00,2.17,0.00,0.000,6,0.000,0.039,2614,2486,3461,0,0,0,0,0,0
$STATE,4283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4283,begin apogee
$GC,4289,-0.12,0.0,486.4,11.9,451,4380,0.73,0.00,87.70,1.192,6,0.206,0.000,2810,2263,3030,0,0,0,0,0,0
$STATE,4383,end apogee,CONTROL_FINISHED_OK
$STATE,4384,begin climb
$GC,4386,0.74,146.0,489.4,0.0,459,4518,0.90,0.00,124.25,1.148,6,0.137,0.000,3090,2262,2434,0,0,0,0,0,0
$GC,4834,0.70,146.0,434.0,14.5,501,4838,0.00,2.35,0.00,0.000,4,0.000,0.060,3089,3692,2428,0,0,0,0,0,0
$GC,4903,0.63,146.0,422.4,17.1,507,4907,0.00,2.22,0.00,0.000,6,0.000,0.044,3097,2293,2427,0,0,0,0,0,0
$GC,5230,0.58,146.0,372.5,15.1,537,5232,0.17,0.00,0.00,0.000,6,0.200,0.000,3054,2293,2427,0,0,0,0,0,0
$GC,5547,0.61,146.0,333.2,11.8,567,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2293,2427,0,0,0,0,0,0
$GC,5867,0.65,146.0,297.4,11.1,597,5871,0.00,2.22,0.00,0.000,4,0.000,0.058,3053,3693,2427,0,0,0,0,0,0
$GC,5941,0.65,146.0,287.7,13.3,603,5945,0.00,2.22,0.00,0.000,6,0.000,0.044,3062,2266,2427,0,0,0,0,0,0
$GC,6266,0.68,146.0,246.5,12.4,633,6270,0.00,2.28,0.00,0.000,4,0.000,0.057,3062,3700,2427,0,0,0,0,0,0
$GC,6328,0.68,146.0,238.0,13.8,638,6335,0.00,2.22,0.00,0.000,6,0.000,0.044,3073,2275,2428,0,0,0,0,0,0
$GC,6655,0.70,146.0,198.0,12.0,669,6659,0.00,2.30,0.00,0.000,4,0.000,0.057,3073,3699,2428,0,0,0,0,0,0
$GC,6711,0.67,146.0,190.2,14.0,673,6718,0.00,2.22,0.00,0.000,6,0.000,0.042,3082,2268,2428,0,0,0,0,0,0
$GC,7037,0.67,146.0,148.5,12.0,704,7041,0.00,2.25,0.00,0.000,4,0.000,0.057,3083,3693,2428,0,0,0,0,0,0
$GC,7101,0.62,146.0,140.1,13.3,709,7105,0.00,2.20,0.00,0.000,6,0.000,0.042,3093,2275,2428,0,0,0,0,0,0
$GC,7426,0.62,146.0,101.5,10.9,739,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2275,2428,0,0,0,0,0,0
$GC,7762,0.63,152.1,68.0,9.6,797,7774,0.00,0.00,5.88,0.720,6,0.000,0.000,3093,2274,2410,0,0,0,0,0,0
$GC,8114,0.67,163.4,35.4,9.2,859,8127,0.00,2.33,8.80,0.877,4,0.000,0.058,3093,3691,2363,0,0,0,0,0,0
$GC,8174,0.67,163.4,29.1,11.7,869,8180,0.00,2.22,0.00,0.000,6,0.000,0.044,3104,2265,2363,0,0,0,0,0,0
$FREEZE,8.78,-1.633,-1.837,2,33,0
$FREEZE,8.20,-1.633,-1.836,2,33,0
$FREEZE,7.66,-1.633,-1.836,2,33,0
$FREEZE,7.19,-1.634,-1.836,2,33,0
$FREEZE,6.70,-1.631,-1.835,2,33,0
$FREEZE,6.20,-1.636,-1.835,2,33,0
$FREEZE,5.67,-1.635,-1.835,2,33,0
$FREEZE,5.21,-1.637,-1.834,2,33,0
$FREEZE,4.73,-1.636,-1.834,2,33,0
$FREEZE,4.27,-1.636,-1.834,2,33,0
$FREEZE,3.71,-1.638,-1.833,2,33,0
$FREEZE,3.32,-1.637,-1.833,2,33,0
$FREEZE,2.83,-1.636,-1.832,2,33,0
$STATE,8439,end climb,SURFACE_DEPTH_REACHED
$STATE,8441,begin surface coast
$FREEZE,2.03,-1.637,-1.832,2,33,0
$FREEZE,1.68,-1.637,-1.832,2,33,0
$FREEZE,1.61,-1.637,-1.831,2,33,0
$FREEZE,1.74,-1.640,-1.832,2,33,0
$FREEZE,1.59,-1.644,-1.832,2,33,0
$FREEZE,1.61,-1.654,-1.832,2,33,0
$FINISH,1.6,1.026884
$STATE,8473,end surface coast,CONTROL_FINISHED_OK
$STATE,8473,begin surface
$SM_CCo,8491,173.02,0.064,0,0,751,559.04
$SM_GC,2.99,0.00,0.00,173.02,0.000,0.000,0.064,111,2503,751,-8.60,0.37,559.04
$RAFOS_CLK,486
$RAFOS,5,1303778462,0.700000,0.683889,103,61,60,58,53,51,681,207,192,120,145,163
$RAFOS_FIX,6655.709961,-5649.561035,260411,000012,2,96,1.11
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,44.64
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,22.5,64.970
$10V_AH,10.1,33.414
$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,23.800,63.800,226.625,173.025,0.000,98.764,17.137,0.000,1.250,0.000,183.288,2227.204,4489.337,552.774,1743.098,453.757,0.000,1324.051,0.000,1435.215,0.000,9.688,0.000
$DEVICE_MAMPS,321.300,87.210,1191.870,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.020,693.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36737,923
$CAP_FILE_SIZE,101344,0
$CFSIZE,260165632,221769728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,260411,003512,6655.710,-5649.561,0,2095.5,0,-37.6