version: 66.08
glider: 141
mission: 15
dive: 501
start: 4 26 111 9 58 33
data:
$ID,141
$MISSION,15
$DIVE,501
$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,-43641.984
$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,40
$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
$GPS1,260411,084322,6705.412,-5648.722,0,3147.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-20.6
$GPS2,260411,084322,6705.412,-5648.722,181,99.0,181,-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,210.9,4496,-17.5,-10.000
$D_GRID,448
$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,16,-0.62,-146.0,0.0,0.0,0,154,0.00,0.00,-135.40,0.000,2,0.000,0.000,113,2512,3168,0,0,0,0,0,0
$GC,158,-0.62,-146.0,5.3,-5.6,24,190,13.23,2.38,-11.77,0.000,4,0.328,0.074,2650,1081,3629,0,0,0,0,0,0
$GC,383,-0.55,-146.0,43.1,-14.5,63,390,0.12,2.25,0.00,0.000,6,0.213,0.059,2680,2474,3630,0,0,0,0,0,0
$GC,729,-0.51,-146.0,86.2,-11.8,124,736,0.00,2.35,0.00,0.000,4,0.000,0.076,2680,3898,3630,0,0,0,0,0,0
$GC,799,-0.51,-146.0,94.3,-10.5,136,806,0.00,2.20,0.00,0.000,6,0.000,0.047,2680,2494,3629,0,0,0,0,0,0
$GC,1128,-0.51,-146.0,133.2,-11.5,171,1133,0.00,2.25,0.00,0.000,4,0.000,0.063,2680,1074,3628,0,0,0,0,0,0
$GC,1161,-0.51,-146.0,137.1,-11.7,173,1168,0.00,2.25,0.00,0.000,6,0.000,0.060,2680,2487,3628,0,0,0,0,0,0
$GC,1489,-0.51,-146.0,168.9,-9.5,204,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2487,3627,0,0,0,0,0,0
$GC,1807,-0.51,-146.0,198.5,-9.3,234,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2487,3626,0,0,0,0,0,0
$GC,2126,-0.51,-146.0,228.7,-9.5,264,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2487,3628,0,0,0,0,0,0
$GC,2444,-0.53,-146.0,259.8,-9.6,294,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2487,3629,0,0,0,0,0,0
$GC,2763,-0.56,-146.0,288.9,-8.8,324,2767,0.00,2.30,0.00,0.000,4,0.000,0.071,2680,3909,3630,0,0,0,0,0,0
$GC,2792,-0.60,-146.0,291.8,-9.0,326,2796,0.00,2.20,0.00,0.000,6,0.000,0.041,2680,2485,3630,0,0,0,0,0,0
$GC,3118,-0.63,-146.0,318.5,-7.3,356,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2484,3631,0,0,0,0,0,0
$GC,3440,-0.65,-146.0,341.3,-7.1,386,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2484,3633,0,0,0,0,0,0
$GC,3768,-0.68,-146.0,366.3,-8.0,417,3769,0.12,0.00,0.00,0.000,6,0.129,0.000,2637,2484,3633,0,0,0,0,0,0
$GC,4085,-0.61,-146.0,402.2,-11.9,447,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2484,3634,0,0,0,0,0,0
$GC,4405,-0.55,-146.0,439.5,-11.9,477,4407,0.17,0.00,0.00,0.000,6,0.199,0.000,2681,2484,3635,0,0,0,0,0,0
$STATE,4496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4496,begin apogee
$GC,4503,-0.12,0.0,448.1,8.3,486,4635,0.45,0.03,121.85,1.154,6,0.174,0.070,2814,2286,3029,0,0,0,0,0,0
$STATE,4636,end apogee,CONTROL_FINISHED_OK
$STATE,4636,begin climb
$GC,4639,0.62,146.0,451.8,0.0,498,4773,0.77,2.58,124.10,1.113,4,0.132,0.060,3065,884,2434,0,0,0,0,0,0
$GC,4846,0.56,146.0,433.7,12.8,516,4853,0.00,2.33,0.00,0.000,6,0.000,0.047,3064,2266,2430,0,0,0,0,0,0
$GC,5173,0.47,146.0,391.5,13.0,547,5178,0.17,2.30,0.00,0.000,4,0.177,0.061,3018,3683,2427,0,0,0,0,0,0
$GC,5263,0.43,146.0,380.5,11.6,554,5269,0.00,2.20,0.00,0.000,6,0.000,0.044,3028,2292,2427,0,0,0,0,0,0
$GC,5587,0.43,146.0,346.9,10.6,585,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2293,2428,0,0,0,0,0,0
$GC,5910,0.43,146.0,314.0,10.2,615,5914,0.00,2.22,0.00,0.000,4,0.000,0.059,3027,3690,2428,0,0,0,0,0,0
$GC,5973,0.38,146.0,306.5,12.0,620,5977,0.17,2.22,0.00,0.000,6,0.181,0.044,2992,2264,2428,0,0,0,0,0,0
$GC,6298,0.52,203.9,281.5,7.3,650,6355,0.12,2.25,48.75,1.027,4,0.104,0.058,3062,872,2198,0,0,0,0,0,0
$GC,6383,0.52,203.9,272.3,12.1,657,6390,0.00,2.25,0.00,0.000,6,0.000,0.047,3062,2276,2195,0,0,0,0,0,0
$GC,6710,0.48,203.9,231.3,12.8,688,6715,0.15,2.25,0.00,0.000,4,0.175,0.060,3022,3682,2192,0,0,0,0,0,0
$GC,6784,0.52,203.9,222.5,11.7,694,6788,0.00,2.20,0.00,0.000,6,0.000,0.043,3029,2274,2192,0,0,0,0,0,0
$GC,7115,0.55,203.9,187.9,10.8,725,7119,0.00,2.20,0.00,0.000,4,0.000,0.057,3040,865,2191,0,0,0,0,0,0
$GC,7170,0.62,203.9,181.9,10.3,729,7177,0.00,2.20,0.00,0.000,6,0.000,0.045,3040,2277,2189,0,0,0,0,0,0
$GC,7496,0.65,210.0,147.9,9.7,760,7508,0.00,2.22,5.78,0.739,4,0.000,0.057,3040,3690,2172,0,0,0,0,0,0
$GC,7611,0.65,210.0,135.4,11.6,770,7615,0.00,2.20,0.00,0.000,6,0.000,0.042,3050,2271,2172,0,0,0,0,0,0
$GC,7937,0.68,215.6,102.7,9.7,800,7950,0.10,2.28,6.55,0.760,4,0.116,0.056,3111,861,2150,0,0,0,0,0,0
$GC,7992,0.63,215.6,95.9,13.8,807,7999,0.17,2.20,0.00,0.000,6,0.187,0.044,3066,2279,2149,0,0,0,0,0,0
$GC,8337,0.64,227.9,59.9,9.4,868,8356,0.00,2.22,12.32,0.852,4,0.000,0.057,3065,3692,2099,0,0,0,0,0,0
$GC,8424,0.64,227.9,49.9,11.3,883,8431,0.00,2.20,0.00,0.000,6,0.000,0.043,3074,2276,2099,0,0,0,0,0,0
$GC,8773,0.68,242.9,16.6,9.3,944,8786,0.00,2.28,7.60,0.806,4,0.000,0.058,3083,872,2038,0,0,0,0,0,0
$FREEZE,8.70,-1.664,-1.837,2,36,0
$FREEZE,8.25,-1.663,-1.836,2,36,0
$FREEZE,7.81,-1.666,-1.836,2,36,0
$FREEZE,7.04,-1.666,-1.835,2,36,0
$FREEZE,6.29,-1.663,-1.835,2,36,0
$FREEZE,5.44,-1.663,-1.834,2,36,0
$GC,8869,0.78,282.9,7.8,8.2,960,8898,0.00,2.17,19.62,0.827,6,0.000,0.046,3083,2278,1874,0,0,0,0,0,0
$FREEZE,4.04,-1.665,-1.833,2,36,0
$FREEZE,3.56,-1.664,-1.833,2,36,0
$FREEZE,3.09,-1.664,-1.832,2,36,0
$FREEZE,2.52,-1.665,-1.832,2,36,0
$STATE,8919,end climb,SURFACE_DEPTH_REACHED
$STATE,8919,begin surface coast
$FREEZE,1.94,-1.666,-1.832,2,36,0
$FREEZE,1.89,-1.668,-1.832,2,36,0
$FREEZE,1.95,-1.674,-1.832,2,36,0
$FREEZE,1.86,-1.673,-1.831,2,36,0
$FREEZE,1.78,-1.672,-1.831,2,36,0
$FREEZE,1.91,-1.670,-1.831,2,36,0
$FINISH,1.9,1.026864
$STATE,8953,end surface coast,CONTROL_FINISHED_OK
$STATE,8953,begin surface
$SM_CCo,9085,120.80,0.065,0,0,751,559.04
$SM_GC,3.15,0.00,0.00,120.80,0.000,0.000,0.065,105,2507,751,-8.62,0.48,559.04
$RAFOS_CLK,513
$RAFOS,2,1303820224,12.300000,12.284445,63,61,53,53,53,49,199,182,144,156,211,126
$RAFOS,1,1303819751,12.166667,12.153055,63,61,57,57,50,49,199,122,161,213,139,183
$RAFOS,0,1303819268,12.033333,12.018888,64,58,53,53,52,52,198,188,170,216,153,232
$RAFOS_FIX,6705.411621,-5648.722168,260411,080822,3,147,0.10
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.028462
$HUMID,44.17
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,22.3,65.315
$10V_AH,10.1,33.645
$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,24.250,63.825,346.575,120.800,0.000,100.229,16.922,0.000,1.000,0.000,183.286,2301.444,4809.947,596.581,1835.744,481.234,0.000,1437.445,0.000,1523.182,1440.000,7.923,0.000
$DEVICE_MAMPS,328.185,76.500,1154.385,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,683.651,727.340,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150524
$DATA_FILE_SIZE,36761,974
$CAP_FILE_SIZE,109824,0
$CFSIZE,260165632,221577216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$GPS,260411,084322,6705.412,-5648.722,181,99.0,181,-37.6