version: 66.08
glider: 141
mission: 15
dive: 503
start: 4 26 111 15 21 43
data:
$ID,141
$MISSION,15
$DIVE,503
$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,-44010.559
$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,41
$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
$GPS1,260411,124656,6705.887,-5647.337,0,2135.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-52.9
$GPS2,260411,124656,6705.887,-5647.337,181,99.0,181,-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,222.7,5368,-17.5,-10.000
$D_GRID,438
$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,-146.0,0.0,0.0,0,168,0.00,0.00,-147.48,0.000,2,0.000,0.000,108,2505,3338,0,0,0,0,0,0
$GC,171,-0.62,-146.0,5.3,-7.9,26,197,13.27,2.33,-6.43,0.000,4,0.328,0.070,2652,1085,3629,0,0,0,0,0,0
$GC,435,-0.56,-146.0,54.2,-15.6,72,442,0.12,2.25,0.00,0.000,6,0.213,0.060,2681,2476,3630,0,0,0,0,0,0
$GC,781,-0.53,-146.0,100.7,-12.6,133,786,0.00,2.35,0.00,0.000,4,0.000,0.076,2681,3904,3630,0,0,0,0,0,0
$GC,810,-0.53,-146.0,104.4,-12.4,135,814,0.00,2.20,0.00,0.000,6,0.000,0.045,2682,2494,3630,0,0,0,0,0,0
$GC,1135,-0.53,-146.0,142.7,-11.2,165,1139,0.00,2.25,0.00,0.000,4,0.000,0.063,2681,1085,3629,0,0,0,0,0,0
$GC,1163,-0.53,-146.0,145.8,-11.2,167,1167,0.00,2.25,0.00,0.000,6,0.000,0.060,2682,2495,3629,0,0,0,0,0,0
$GC,1488,-0.53,-146.0,177.8,-10.1,197,1492,0.00,2.30,0.00,0.000,4,0.000,0.074,2682,3899,3628,0,0,0,0,0,0
$GC,1548,-0.58,-146.0,184.0,-10.1,202,1555,0.00,2.20,0.00,0.000,6,0.000,0.044,2682,2485,3628,0,0,0,0,0,0
$GC,1875,-0.58,-146.0,215.7,-9.6,233,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2486,3628,0,0,0,0,0,0
$GC,2194,-0.60,-146.0,242.3,-7.9,263,2198,0.00,2.30,0.00,0.000,4,0.000,0.068,2682,3899,3629,0,0,0,0,0,0
$GC,2213,-0.63,-146.0,243.9,-7.9,264,2217,0.00,2.17,0.00,0.000,6,0.000,0.041,2681,2486,3628,0,0,0,0,0,0
$GC,2544,-0.66,-146.0,270.5,-8.3,295,2548,0.00,2.20,0.00,0.000,4,0.000,0.057,2682,1076,3630,0,0,0,0,0,0
$GC,2589,-0.71,-146.0,274.6,-8.9,298,2596,0.15,2.25,0.00,0.000,6,0.116,0.054,2630,2490,3630,0,0,0,0,0,0
$GC,2914,-0.62,-146.0,315.0,-13.0,329,2919,0.12,2.30,0.00,0.000,4,0.220,0.068,2659,3899,3631,0,0,0,0,0,0
$GC,2942,-0.58,-146.0,318.6,-11.5,331,2949,0.00,2.17,0.00,0.000,6,0.000,0.040,2659,2481,3631,0,0,0,0,0,0
$GC,3268,-0.56,-146.0,351.7,-9.9,362,3272,0.00,2.30,0.00,0.000,4,0.000,0.065,2659,3900,3632,0,0,0,0,0,0
$GC,3280,-0.54,-146.0,352.8,-9.6,362,3287,0.00,2.17,0.00,0.000,6,0.000,0.039,2659,2484,3632,0,0,0,0,0,0
$GC,3607,-0.54,-146.0,385.5,-10.0,393,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2484,3634,0,0,0,0,0,0
$GC,3924,-0.54,-146.0,417.7,-10.3,423,3928,0.00,2.30,0.00,0.000,4,0.000,0.064,2659,3906,3634,0,0,0,0,0,0
$GC,3947,-0.54,-146.0,420.2,-10.1,425,3951,0.00,2.17,0.00,0.000,6,0.000,0.038,2659,2485,3635,0,0,0,0,0,0
$STATE,4142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4142,begin apogee
$GC,4149,-0.12,0.0,438.9,9.2,443,4280,0.55,0.00,121.47,1.150,6,0.184,0.000,2816,2261,3030,0,0,0,0,0,0
$STATE,4281,end apogee,CONTROL_FINISHED_OK
$STATE,4281,begin climb
$GC,4283,0.62,146.0,442.0,0.0,455,4418,0.77,2.47,124.22,1.107,4,0.132,0.060,3067,892,2433,0,0,0,0,0,0
$GC,4448,0.56,146.0,428.5,12.8,470,4452,0.00,2.38,0.00,0.000,6,0.000,0.045,3066,2282,2430,0,0,0,0,0,0
$GC,4773,0.49,146.0,386.3,12.5,500,4778,0.15,2.30,0.00,0.000,4,0.178,0.060,3028,3697,2428,0,0,0,0,0,0
$GC,4882,0.44,146.0,373.3,12.3,509,4886,0.00,2.20,0.00,0.000,6,0.000,0.043,3036,2291,2428,0,0,0,0,0,0
$GC,5212,0.44,146.0,337.6,10.8,540,5216,0.00,2.25,0.00,0.000,4,0.000,0.057,3036,3697,2428,0,0,0,0,0,0
$GC,5266,0.37,146.0,330.9,12.3,544,5274,0.22,2.25,0.00,0.000,6,0.181,0.053,2989,2265,2428,0,0,0,0,0,0
$GC,5592,0.50,195.0,304.2,7.7,575,5636,0.12,0.00,41.40,1.033,6,0.105,0.000,3046,2265,2235,0,0,0,0,0,0
$GC,5951,0.50,195.0,261.2,12.2,609,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2265,2230,0,0,0,0,0,0
$GC,6273,0.50,195.0,223.3,11.4,639,6277,0.00,2.30,0.00,0.000,4,0.000,0.058,3046,3697,2229,0,0,0,0,0,0
$GC,6317,0.47,195.0,217.5,12.3,642,6325,0.15,2.22,0.00,0.000,6,0.182,0.042,3019,2267,2229,0,0,0,0,0,0
$GC,6643,0.56,228.7,189.2,8.4,673,6674,0.00,0.00,29.08,0.961,6,0.000,0.000,3019,2267,2097,0,0,0,0,0,0
$GC,6992,0.69,269.6,159.3,8.1,706,7035,0.20,0.00,36.30,0.942,6,0.082,0.000,3103,2266,1929,0,0,0,0,0,0
$GC,7353,0.65,269.6,105.0,15.0,740,7358,0.00,2.28,0.00,0.000,4,0.000,0.058,3104,3686,1923,0,0,0,0,0,0
$GC,7388,0.59,269.6,99.6,15.6,743,7396,0.20,2.20,0.00,0.000,6,0.181,0.043,3062,2275,1922,0,0,0,0,0,0
$GC,7736,0.69,287.1,63.8,9.2,804,7761,0.00,2.28,15.55,0.860,4,0.000,0.058,3071,872,1858,0,0,0,0,0,0
$GC,7803,0.82,307.9,57.6,9.0,815,7828,0.15,2.22,19.50,0.866,6,0.100,0.044,3132,2289,1774,0,0,0,0,0,0
$FREEZE,8.95,-1.692,-1.837,2,38,0
$FREEZE,8.15,-1.692,-1.837,2,38,0
$FREEZE,7.50,-1.693,-1.836,2,38,0
$FREEZE,6.75,-1.693,-1.836,2,38,0
$STATE,8146,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8146,begin subsurface finish
$FINISH1,6.8,1.026876,31
$GC,8153,0.04,30.6,6.8,-14.4,876,8206,0.82,2.33,-46.53,0.000,4,0.164,0.078,2884,3685,2908,0,0,0,0,0,0
$FINISH2,4.6
$STATE,8207,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8207,begin surface
$RAFOS_CLK,456
$RAFOS,6,1303836541,16.833334,16.816944,143,65,61,58,56,53,875,180,204,115,213,151
$RAFOS,5,1303836063,16.700001,16.684166,101,62,62,61,58,53,683,225,198,213,141,168
$RAFOS,4,1303835590,16.566668,16.552778,75,63,56,56,51,51,187,863,213,144,165,202
$RAFOS,3,1303835108,16.433332,16.418888,68,57,54,54,52,50,214,186,146,167,119,135
$RAFOS,2,1303834630,16.299999,16.286112,60,60,53,53,51,51,181,216,145,154,203,192
$RAFOS,1,1303834151,16.166666,16.153055,67,59,59,58,58,54,214,196,178,205,154,121
$RAFOS,0,1303833663,16.033333,16.017500,67,67,60,57,56,55,179,221,147,124,202,189
$RAFOS_FIX,6704.616211,-5646.707520,260411,161656,2,122,0.17
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.026215
$HUMID,44.44
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.4
$24V_AH,22.4,65.550
$10V_AH,10.1,33.770
$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,17.025,70.450,387.525,0.000,0.000,98.832,17.360,0.000,1.250,0.000,183.290,2037.313,4281.972,527.645,1702.659,468.590,0.000,1318.092,0.000,1393.262,2520.000,9.418,0.000
$DEVICE_MAMPS,328.185,78.030,1149.795,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.989,663.429,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33351,885
$CAP_FILE_SIZE,102112,0
$CFSIZE,260165632,221474816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.7
$GPS,260411,164656,6704.616,-5646.708,0,2122.0,0,-37.6