version: 66.08
glider: 141
mission: 15
dive: 500
start: 4 26 111 7 3 58
data:
$ID,141
$MISSION,15
$DIVE,500
$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,-43273.414
$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,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
$GPS1,260411,044344,6704.756,-5649.629,0,3139.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-42.0
$GPS2,260411,044344,6704.756,-5649.629,181,99.0,181,-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,197.7,3458,-17.5,-10.000
$D_GRID,465
$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,-0.62,-146.0,0.0,0.0,0,186,0.00,0.00,-166.95,0.000,2,0.000,0.000,105,2504,3482,0,0,0,0,0,0
$GC,188,-0.62,-146.0,6.3,-12.2,29,214,13.15,2.30,-3.00,0.000,4,0.324,0.068,2654,1087,3630,0,0,0,0,0,0
$GC,379,-0.56,-146.0,46.5,-15.1,62,387,0.10,2.22,0.00,0.000,6,0.221,0.057,2677,2479,3631,0,0,0,0,0,0
$GC,726,-0.51,-146.0,93.2,-12.4,123,732,0.00,2.33,0.00,0.000,4,0.000,0.073,2677,3897,3630,0,0,0,0,0,0
$GC,751,-0.47,-146.0,96.4,-12.0,127,759,0.12,2.20,0.00,0.000,6,0.201,0.044,2708,2487,3631,0,0,0,0,0,0
$GC,1086,-0.52,-146.0,128.1,-10.0,161,1090,0.00,2.22,0.00,0.000,4,0.000,0.060,2708,1086,3630,0,0,0,0,0,0
$GC,1120,-0.58,-146.0,131.6,-9.8,163,1126,0.00,2.25,0.00,0.000,6,0.000,0.057,2708,2498,3630,0,0,0,0,0,0
$GC,1445,-0.65,-146.0,161.6,-9.1,194,1447,0.17,0.00,0.00,0.000,6,0.109,0.000,2644,2498,3629,0,0,0,0,0,0
$GC,1765,-0.58,-146.0,205.6,-13.9,224,1767,0.12,0.00,0.00,0.000,6,0.206,0.000,2673,2498,3628,0,0,0,0,0,0
$GC,2082,-0.58,-146.0,239.7,-10.0,254,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2498,3629,0,0,0,0,0,0
$GC,2403,-0.58,-146.0,268.7,-8.7,284,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2498,3630,0,0,0,0,0,0
$GC,2720,-0.58,-146.0,296.9,-8.9,314,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2499,3631,0,0,0,0,0,0
$GC,3040,-0.58,-146.0,324.2,-8.3,344,3044,0.00,2.28,0.00,0.000,4,0.000,0.067,2672,3905,3632,0,0,0,0,0,0
$GC,3055,-0.58,-146.0,325.8,-8.0,345,3062,0.00,2.15,0.00,0.000,6,0.000,0.038,2673,2484,3632,0,0,0,0,0,0
$GC,3381,-0.58,-146.0,351.3,-7.3,376,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2484,3633,0,0,0,0,0,0
$GC,3701,-0.58,-146.0,375.6,-7.6,406,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2484,3634,0,0,0,0,0,0
$GC,4017,-0.58,-146.0,402.0,-8.4,436,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2484,3636,0,0,0,0,0,0
$GC,4337,-0.58,-146.0,429.0,-8.2,466,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2484,3636,0,0,0,0,0,0
$GC,4655,-0.60,-146.0,454.9,-7.9,496,4659,0.00,2.15,0.00,0.000,4,0.000,0.051,2673,1086,3637,0,0,0,0,0,0
$GC,4674,-0.60,-146.0,456.4,-8.6,497,4678,0.00,2.20,0.00,0.000,6,0.000,0.050,2673,2495,3637,0,0,0,0,0,0
$STATE,4784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4784,begin apogee
$GC,4791,-0.12,0.0,465.6,8.1,507,4924,0.47,0.00,122.30,1.167,6,0.178,0.000,2813,2262,3030,0,0,0,0,0,0
$STATE,4924,end apogee,CONTROL_FINISHED_OK
$STATE,4925,begin climb
$GC,4927,0.62,146.0,468.2,0.0,519,5062,0.77,2.47,124.70,1.125,4,0.132,0.058,3063,891,2433,0,0,0,0,0,0
$GC,5108,0.56,146.0,452.4,12.4,535,5115,0.00,2.33,0.00,0.000,6,0.000,0.044,3063,2273,2430,0,0,0,0,0,0
$GC,5433,0.47,146.0,408.8,12.8,566,5438,0.17,2.30,0.00,0.000,4,0.178,0.060,3018,3690,2428,0,0,0,0,0,0
$GC,5543,0.44,146.0,395.1,12.5,575,5547,0.00,2.20,0.00,0.000,6,0.000,0.042,3026,2291,2427,0,0,0,0,0,0
$GC,5868,0.44,146.0,359.1,11.2,605,5872,0.00,2.25,0.00,0.000,4,0.000,0.058,3036,869,2427,0,0,0,0,0,0
$GC,5911,0.44,146.0,354.1,11.2,608,5919,0.00,2.22,0.00,0.000,6,0.000,0.046,3036,2283,2427,0,0,0,0,0,0
$GC,6238,0.41,146.0,317.7,10.8,639,6242,0.15,2.22,0.00,0.000,4,0.179,0.060,2998,3682,2427,0,0,0,0,0,0
$GC,6338,0.42,156.9,307.6,9.5,647,6356,0.00,2.17,9.30,0.920,6,0.000,0.042,3005,2267,2391,0,0,0,0,0,0
$GC,6674,0.51,185.9,278.4,8.7,679,6704,0.00,0.00,26.17,1.011,6,0.000,0.000,3005,2267,2271,0,0,0,0,0,0
$GC,7023,0.59,201.6,246.1,9.3,712,7043,0.15,0.00,14.38,0.950,6,0.092,0.000,3073,2267,2208,0,0,0,0,0,0
$GC,7361,0.52,201.6,197.1,14.5,744,7366,0.15,2.28,0.00,0.000,4,0.173,0.057,3033,3682,2205,0,0,0,0,0,0
$GC,7418,0.52,201.6,189.7,12.5,749,7422,0.00,2.20,0.00,0.000,6,0.000,0.042,3041,2269,2205,0,0,0,0,0,0
$GC,7742,0.52,201.6,152.8,10.7,779,7746,0.00,2.20,0.00,0.000,4,0.000,0.056,3050,869,2204,0,0,0,0,0,0
$GC,7804,0.56,202.1,146.4,10.0,784,7811,0.00,2.20,0.00,0.000,6,0.000,0.044,3050,2279,2203,0,0,0,0,0,0
$GC,8131,0.56,204.8,112.9,9.9,815,8143,0.00,2.28,3.83,0.569,4,0.000,0.058,3050,3684,2195,0,0,0,0,0,0
$GC,8182,0.54,204.8,106.9,11.5,819,8189,0.00,2.20,0.00,0.000,6,0.000,0.043,3060,2265,2195,0,0,0,0,0,0
$GC,8522,0.54,204.8,71.9,10.3,874,8529,0.00,2.28,0.00,0.000,4,0.000,0.057,3060,3692,2195,0,0,0,0,0,0
$GC,8575,0.54,204.8,65.7,12.9,883,8583,0.12,2.17,0.00,0.000,6,0.183,0.043,3039,2276,2195,0,0,0,0,0,0
$GC,8924,0.66,237.5,35.5,8.5,944,8955,0.10,2.28,21.12,0.949,4,0.122,0.057,3096,868,2059,0,0,0,0,0,0
$GC,8996,0.66,237.5,27.6,11.4,956,9003,0.00,2.20,0.00,0.000,6,0.000,0.045,3096,2284,2056,0,0,0,0,0,0
$FREEZE,8.70,-1.642,-1.838,2,35,1
$FREEZE,8.07,-1.645,-1.838,2,35,1
$FREEZE,7.60,-1.646,-1.837,2,35,1
$FREEZE,7.03,-1.651,-1.837,2,35,1
$FREEZE,6.43,-1.674,-1.836,2,35,1
$FREEZE,5.93,-1.674,-1.836,2,35,1
$FREEZE,5.28,-1.670,-1.835,2,35,1
$FREEZE,4.64,-1.668,-1.835,2,35,1
$FREEZE,3.93,-1.675,-1.834,2,35,1
$FREEZE,3.42,-1.676,-1.834,2,35,1
$FREEZE,2.66,-1.677,-1.833,2,35,1
$STATE,9210,end climb,SURFACE_DEPTH_REACHED
$STATE,9210,begin surface coast
$FREEZE,2.17,-1.677,-1.833,2,35,1
$FREEZE,1.87,-1.692,-1.833,2,35,1
$FREEZE,1.90,-1.689,-1.832,2,35,1
$FREEZE,1.80,-1.689,-1.832,2,35,1
$FINISH,1.8,1.026881
$STATE,9234,end surface coast,CONTROL_FINISHED_OK
$STATE,9235,begin surface
$SM_CCo,9258,140.25,0.063,0,0,750,559.04
$SM_GC,2.52,0.00,0.00,140.25,0.000,0.000,0.063,113,2511,750,-8.60,0.59,559.04
$RAFOS_CLK,518
$RAFOS,6,1303807747,8.833333,8.818611,130,59,57,53,50,50,835,189,213,158,116,149
$RAFOS,5,1303807261,8.700000,8.683611,166,61,59,59,55,50,694,216,120,140,161,184
$RAFOS,4,1303806784,8.566667,8.551111,145,60,58,54,52,51,904,214,171,223,194,145
$RAFOS,3,1303806304,8.433333,8.417778,62,57,53,52,49,48,203,150,185,131,215,163
$RAFOS,2,1303805825,8.300000,8.284722,63,56,56,55,53,53,227,192,119,170,217,206
$RAFOS,1,1303805347,8.166667,8.151944,64,62,61,58,51,51,190,121,199,155,172,214
$RAFOS,0,1303804869,8.033334,8.019167,61,61,59,54,53,52,171,217,118,206,140,227
$RAFOS_FIX,6705.411621,-5648.722168,260411,080822,3,147,0.10
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.1
$24V_AH,22.4,65.204
$10V_AH,10.1,33.572
$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,24.200,63.400,321.800,140.250,0.000,99.134,18.976,0.000,1.250,0.000,182.285,2349.788,4913.337,620.960,1861.761,472.504,0.000,1465.336,0.000,1546.321,2520.000,9.690,0.000
$DEVICE_MAMPS,324.360,73.440,1166.625,63.495,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,701.308,748.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150468
$DATA_FILE_SIZE,36694,999
$CAP_FILE_SIZE,109716,0
$CFSIZE,260165632,221638656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.9
$GPS,260411,084322,6705.412,-5648.722,0,3147.0,0,-37.6