version: 66.08
glider: 141
mission: 15
dive: 499
start: 4 26 111 3 48 32
data:
$ID,141
$MISSION,15
$DIVE,499
$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,-42904.84
$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
$GPS1,260411,003512,6655.710,-5649.561,0,2095.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-59.2
$GPS2,260411,003512,6655.710,-5649.561,181,99.0,181,-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,42.4,13549,-17.5,-10.000
$D_GRID,611
$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,-146.0,0.0,0.0,0,169,0.00,0.00,-148.77,0.000,2,0.000,0.000,112,2503,3335,0,0,0,0,0,0
$GC,172,-0.62,-146.0,5.0,-8.7,26,198,13.12,2.38,-6.62,0.000,4,0.325,0.093,2650,3885,3628,0,0,0,0,0,0
$GC,245,-0.53,-146.0,25.4,-17.6,38,253,0.15,2.17,0.00,0.000,6,0.200,0.045,2687,2493,3630,0,0,0,0,0,0
$GC,591,-0.50,-146.0,70.9,-12.4,99,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2492,3630,0,0,0,0,0,0
$GC,935,-0.48,-146.0,112.3,-11.4,151,939,0.00,2.22,0.00,0.000,4,0.000,0.062,2688,1085,3629,0,0,0,0,0,0
$GC,976,-0.48,-146.0,116.9,-10.9,154,980,0.00,2.28,0.00,0.000,6,0.000,0.063,2688,2481,3629,0,0,0,0,0,0
$GC,1301,-0.48,-146.0,155.1,-11.2,184,1305,0.00,2.38,0.00,0.000,4,0.000,0.079,2688,3909,3628,0,0,0,0,0,0
$GC,1386,-0.52,-146.0,164.0,-10.2,191,1393,0.00,2.20,0.00,0.000,6,0.000,0.045,2688,2486,3627,0,0,0,0,0,0
$GC,1714,-0.54,-146.0,195.2,-8.5,222,1718,0.00,2.22,0.00,0.000,4,0.000,0.062,2688,1079,3627,0,0,0,0,0,0
$GC,1775,-0.59,-146.0,200.5,-7.8,227,1782,0.00,2.30,0.00,0.000,6,0.000,0.060,2688,2499,3627,0,0,0,0,0,0
$GC,2103,-0.61,-146.0,226.6,-8.1,258,2107,0.00,2.33,0.00,0.000,4,0.000,0.074,2688,3908,3628,0,0,0,0,0,0
$GC,2170,-0.67,-146.0,232.3,-7.9,263,2178,0.12,2.17,0.00,0.000,6,0.122,0.042,2645,2488,3628,0,0,0,0,0,0
$GC,2496,-0.60,-146.0,269.1,-11.5,294,2500,0.00,2.20,0.00,0.000,4,0.000,0.057,2645,1079,3628,0,0,0,0,0,0
$GC,2581,-0.57,-146.0,278.9,-11.4,301,2586,0.15,2.28,0.00,0.000,6,0.209,0.057,2679,2496,3629,0,0,0,0,0,0
$GC,2908,-0.57,-146.0,309.5,-9.9,331,2912,0.00,2.28,0.00,0.000,4,0.000,0.071,2679,3899,3630,0,0,0,0,0,0
$GC,2986,-0.61,-146.0,317.2,-9.2,337,2993,0.00,2.15,0.00,0.000,6,0.000,0.040,2679,2487,3630,0,0,0,0,0,0
$GC,3312,-0.64,-146.0,349.5,-9.7,368,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2487,3631,0,0,0,0,0,0
$GC,3631,-0.66,-146.0,379.6,-9.2,398,3636,0.00,2.17,0.00,0.000,4,0.000,0.054,2679,1087,3633,0,0,0,0,0,0
$GC,3667,-0.70,-146.0,382.9,-9.9,401,3672,0.12,2.22,0.00,0.000,6,0.125,0.054,2637,2497,3633,0,0,0,0,0,0
$GC,3992,-0.63,-146.0,421.9,-11.6,431,3996,0.00,2.28,0.00,0.000,4,0.000,0.069,2636,3906,3633,0,0,0,0,0,0
$GC,4070,-0.58,-146.0,431.0,-11.2,437,4077,0.15,2.17,0.00,0.000,6,0.200,0.039,2672,2488,3633,0,0,0,0,0,0
$GC,4395,-0.58,-146.0,459.2,-8.6,468,4399,0.00,2.20,0.00,0.000,4,0.000,0.054,2673,1079,3634,0,0,0,0,0,0
$GC,4465,-0.63,-146.0,465.0,-8.0,474,4469,0.00,2.22,0.00,0.000,6,0.000,0.052,2672,2491,3635,0,0,0,0,0,0
$GC,4792,-0.63,-146.0,491.2,-8.2,504,4796,0.00,2.28,0.00,0.000,4,0.000,0.067,2672,3904,3635,0,0,0,0,0,0
$GC,4867,-0.67,-146.0,497.8,-9.1,510,4871,0.00,2.17,0.00,0.000,6,0.000,0.038,2673,2485,3635,0,0,0,0,0,0
$GC,5198,-0.67,-146.0,526.3,-8.4,541,5202,0.00,2.17,0.00,0.000,4,0.000,0.052,2673,1079,3636,0,0,0,0,0,0
$GC,5238,-0.71,-146.0,529.8,-8.2,544,5243,0.12,2.22,0.00,0.000,6,0.124,0.051,2629,2502,3636,0,0,0,0,0,0
$STATE,5562,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5562,begin apogee
$GC,5568,-0.12,0.0,567.5,11.4,574,5702,0.68,0.00,123.95,1.235,6,0.191,0.000,2816,2258,3030,0,0,0,0,0,0
$STATE,5703,end apogee,CONTROL_FINISHED_OK
$STATE,5703,begin climb
$GC,5705,0.62,146.0,571.3,0.0,586,5842,0.77,2.45,127.35,1.196,4,0.132,0.061,3064,886,2433,0,0,0,0,0,0
$GC,5934,0.56,146.0,550.6,11.8,606,5938,0.00,2.35,0.00,0.000,6,0.000,0.047,3064,2277,2429,0,0,0,0,0,0
$GC,6265,0.47,146.0,509.7,12.4,637,6269,0.17,2.30,0.00,0.000,4,0.187,0.062,3020,3684,2427,0,0,0,0,0,0
$GC,6332,0.44,146.0,502.0,11.4,642,6339,0.00,2.22,0.00,0.000,6,0.000,0.045,3028,2286,2426,0,0,0,0,0,0
$GC,6657,0.44,147.4,470.1,9.9,673,6661,0.00,2.25,0.00,0.000,4,0.000,0.060,3028,3693,2426,0,0,0,0,0,0
$GC,6698,0.39,147.4,465.4,12.6,676,6702,0.17,2.20,0.00,0.000,6,0.189,0.044,2995,2275,2425,0,0,0,0,0,0
$GC,7023,0.50,193.4,439.1,7.9,706,7071,0.00,2.35,40.20,1.125,4,0.000,0.062,3002,872,2240,0,0,0,0,0,0
$GC,7084,0.63,228.6,434.2,8.4,711,7124,0.17,2.28,32.30,1.099,6,0.085,0.047,3078,2282,2098,0,0,0,0,0,0
$GC,7443,0.56,228.6,380.8,15.3,745,7448,0.12,2.22,0.00,0.000,4,0.188,0.060,3047,3683,2089,0,0,0,0,0,0
$GC,7506,0.56,228.6,371.7,14.1,750,7510,0.00,2.22,0.00,0.000,6,0.000,0.044,3055,2275,2088,0,0,0,0,0,0
$GC,7833,0.53,228.6,328.7,13.7,780,7837,0.00,2.25,0.00,0.000,4,0.000,0.058,3066,858,2087,0,0,0,0,0,0
$GC,7843,0.51,228.6,326.8,13.9,780,7851,0.15,2.20,0.00,0.000,6,0.174,0.044,3027,2281,2086,0,0,0,0,0,0
$GC,8169,0.55,228.6,289.0,11.6,811,8173,0.00,2.22,0.00,0.000,4,0.000,0.060,3027,3686,2085,0,0,0,0,0,0
$GC,8209,0.58,228.6,284.1,13.0,814,8216,0.00,2.22,0.00,0.000,6,0.000,0.044,3033,2262,2085,0,0,0,0,0,0
$GC,8534,0.61,228.6,245.3,11.6,845,8538,0.00,2.17,0.00,0.000,4,0.000,0.057,3042,865,2085,0,0,0,0,0,0
$GC,8564,0.66,228.6,241.9,12.2,847,8569,0.10,2.17,0.00,0.000,6,0.121,0.045,3089,2279,2084,0,0,0,0,0,0
$GC,8890,0.59,228.6,191.2,15.6,877,8894,0.12,2.20,0.00,0.000,4,0.187,0.059,3057,3684,2084,0,0,0,0,0,0
$GC,8934,0.59,228.6,184.3,14.7,880,8941,0.00,2.20,0.00,0.000,6,0.000,0.044,3066,2272,2083,0,0,0,0,0,0
$GC,9259,0.59,228.6,138.9,14.1,911,9263,0.00,2.20,0.00,0.000,4,0.000,0.057,3077,863,2084,0,0,0,0,0,0
$GC,9269,0.57,228.6,137.3,14.2,911,9276,0.00,2.17,0.00,0.000,6,0.000,0.043,3077,2279,2083,0,0,0,0,0,0
$GC,9596,0.57,228.6,94.0,10.8,946,9603,0.00,2.20,0.00,0.000,4,0.000,0.059,3077,3680,2083,0,0,0,0,0,0
$GC,9622,0.55,228.6,91.3,11.5,950,9629,0.17,2.20,0.00,0.000,6,0.184,0.042,3041,2260,2084,0,0,0,0,0,0
$GC,9969,0.70,275.8,65.2,7.8,1011,10017,0.15,0.00,40.25,0.914,6,0.093,0.000,3108,2260,1903,0,0,0,0,0,0
$GC,10356,0.70,275.8,18.4,12.7,1079,10363,0.00,2.30,0.00,0.000,4,0.000,0.058,3108,3689,1899,0,0,0,0,0,0
$GC,10370,0.68,275.8,16.5,13.1,1081,10378,0.12,2.20,0.00,0.000,6,0.188,0.043,3087,2275,1897,0,0,0,0,0,0
$FREEZE,8.66,-1.667,-1.838,2,34,0
$FREEZE,8.17,-1.667,-1.837,2,34,0
$FREEZE,7.55,-1.667,-1.837,2,34,0
$FREEZE,7.09,-1.666,-1.837,2,34,0
$FREEZE,6.45,-1.666,-1.836,2,34,0
$FREEZE,5.95,-1.668,-1.836,2,34,0
$FREEZE,5.41,-1.666,-1.835,2,34,0
$FREEZE,4.82,-1.666,-1.835,2,34,0
$FREEZE,4.17,-1.667,-1.834,2,34,0
$FREEZE,3.50,-1.667,-1.834,2,34,0
$FREEZE,3.00,-1.667,-1.834,2,34,0
$STATE,10486,end climb,SURFACE_DEPTH_REACHED
$STATE,10486,begin surface coast
$FREEZE,2.45,-1.666,-1.833,2,34,0
$FREEZE,1.98,-1.667,-1.833,2,34,0
$FREEZE,1.34,-1.677,-1.833,2,34,0
$FREEZE,1.33,-1.659,-1.729,2,34,0
$FINISH,1.3,1.025411
$STATE,10509,end surface coast,FINISH_DEPTH_REACHED
$STATE,10509,begin surface
$SM_CCo,10527,124.55,0.064,0,0,750,559.04
$SM_GC,2.43,0.00,0.00,124.55,0.000,0.000,0.064,105,2503,750,-8.62,0.37,559.04
$RAFOS_CLK,579
$RAFOS,6,1303793347,4.833333,4.818611,132,61,59,59,54,52,835,205,124,165,214,174
$RAFOS,5,1303792862,4.700000,4.683889,154,59,58,58,55,53,684,214,161,197,151,184
$RAFOS,4,1303792383,4.566667,4.550833,132,62,61,58,56,55,906,209,170,127,148,221
$RAFOS,3,1303791908,4.433333,4.418889,64,60,60,59,56,54,143,175,209,187,960,229
$RAFOS,2,1303791421,4.300000,4.283611,63,60,59,55,52,51,186,203,168,131,115,222
$RAFOS,1,1303790949,4.166667,4.152500,62,59,59,55,53,53,210,163,219,148,133,184
$RAFOS,0,1303790466,4.033333,4.018333,69,57,57,55,54,52,208,188,135,170,146,120
$RAFOS_FIX,6704.756348,-5649.629395,260411,040444,3,139,1.12
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026964
$HUMID,44.36
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,551.2,30.9
$24V_AH,22.1,65.097
$10V_AH,10.1,33.497
$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,25.325,108.150,364.050,124.550,0.000,98.358,17.371,0.000,2.000,0.000,183.291,2664.091,5526.415,642.998,2116.501,516.581,0.000,1639.765,0.000,1800.541,2520.000,15.967,0.000
$DEVICE_MAMPS,325.125,92.565,1235.475,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.588,834.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150500
$DATA_FILE_SIZE,43350,1106
$CAP_FILE_SIZE,134288,0
$CFSIZE,260165632,221675520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.2
$GPS,260411,044344,6704.756,-5649.629,0,3139.3,0,-37.6