version: 66.08
glider: 141
mission: 15
dive: 504
start: 4 26 111 17 40 32
data:
$ID,141
$MISSION,15
$DIVE,504
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,260411,164656,6704.616,-5646.708,0,2122.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.95
$_SM_ANGLEo,1.1
$GPS2,260411,164656,6704.616,-5646.708,0,2122.0,0,-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,234.9,3135,-17.5,-10.000
$D_GRID,470
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.00,0.000,2,0.000,0.000,2884,3685,3090,0,0,0,0,0,0
$GC,26,-0.62,-146.0,6.7,-0.0,1,52,0.62,4.15,-17.02,0.000,4,0.112,0.051,2669,1072,3626,0,0,0,0,0,0
$GC,252,-0.59,-146.0,34.9,-13.1,40,259,0.00,2.28,0.00,0.000,6,0.000,0.056,2669,2491,3628,0,0,0,0,0,0
$GC,598,-0.53,-146.0,85.9,-14.5,101,604,0.00,2.30,0.00,0.000,4,0.000,0.070,2669,3904,3627,0,0,0,0,0,0
$GC,618,-0.47,-146.0,88.9,-14.3,104,625,0.15,2.20,0.00,0.000,6,0.206,0.042,2705,2483,3626,0,0,0,0,0,0
$GC,952,-0.51,-146.0,120.3,-8.8,144,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2484,3625,0,0,0,0,0,0
$GC,1272,-0.56,-146.0,148.0,-7.7,174,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2483,3623,0,0,0,0,0,0
$GC,1591,-0.63,-146.0,170.1,-6.3,204,1597,0.15,0.00,0.00,0.000,6,0.120,0.000,2653,2484,3622,0,0,0,0,0,0
$GC,1919,-0.58,-146.0,205.9,-11.9,235,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2483,3621,0,0,0,0,0,0
$GC,2246,-0.53,-146.0,244.5,-11.5,266,2248,0.15,0.00,0.00,0.000,6,0.195,0.000,2689,2483,3621,0,0,0,0,0,0
$GC,2563,-0.58,-146.0,272.1,-8.4,296,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2483,3622,0,0,0,0,0,0
$GC,2883,-0.63,-146.0,299.6,-8.5,326,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2483,3622,0,0,0,0,0,0
$GC,3202,-0.68,-146.0,324.9,-8.0,356,3207,0.15,2.22,0.00,0.000,4,0.115,0.054,2637,1074,3622,0,0,0,0,0,0
$GC,3231,-0.65,-146.0,328.0,-10.7,358,3235,0.00,2.25,0.00,0.000,6,0.000,0.052,2637,2493,3622,0,0,0,0,0,0
$GC,3556,-0.58,-146.0,365.2,-11.1,388,3561,0.15,2.30,0.00,0.000,4,0.212,0.066,2673,3901,3623,0,0,0,0,0,0
$GC,3601,-0.63,-146.0,369.6,-9.3,391,3607,0.00,2.15,0.00,0.000,6,0.000,0.038,2673,2485,3623,0,0,0,0,0,0
$GC,3928,-0.65,-146.0,397.8,-8.9,422,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2485,3623,0,0,0,0,0,0
$GC,4247,-0.68,-146.0,425.9,-8.7,452,4251,0.00,2.17,0.00,0.000,4,0.000,0.052,2673,1076,3624,0,0,0,0,0,0
$GC,4269,-0.70,-146.0,428.3,-8.8,453,4277,0.12,2.22,0.00,0.000,6,0.123,0.050,2630,2492,3624,0,0,0,0,0,0
$GC,4595,-0.63,-146.0,467.1,-11.9,484,4600,0.12,2.30,0.00,0.000,4,0.217,0.065,2659,3906,3624,0,0,0,0,0,0
$GC,4617,-0.59,-146.0,469.8,-11.3,485,4624,0.00,2.17,0.00,0.000,6,0.000,0.037,2659,2486,3624,0,0,0,0,0,0
$STATE,4632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4632,begin apogee
$GC,4638,-0.12,0.0,471.5,10.7,487,4763,0.55,0.00,119.47,1.167,6,0.185,0.000,2815,2256,3029,0,0,0,0,0,0
$STATE,4764,end apogee,CONTROL_FINISHED_OK
$STATE,4764,begin climb
$GC,4766,0.62,146.0,475.0,0.0,498,4900,0.77,2.42,124.00,1.122,4,0.129,0.059,3066,892,2434,0,0,0,0,0,0
$GC,4928,0.56,146.0,462.7,11.6,512,4935,0.00,2.38,0.00,0.000,6,0.000,0.055,3066,2276,2431,0,0,0,0,0,0
$GC,5255,0.47,146.0,423.3,11.7,543,5260,0.17,2.33,0.00,0.000,4,0.177,0.060,3020,3694,2428,0,0,0,0,0,0
$GC,5345,0.44,146.0,413.0,11.1,550,5352,0.00,2.20,0.00,0.000,6,0.000,0.042,3028,2297,2428,0,0,0,0,0,0
$GC,5670,0.44,146.0,380.6,10.5,581,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2296,2427,0,0,0,0,0,0
$GC,5991,0.44,146.0,347.6,10.4,611,5995,0.00,2.20,0.00,0.000,4,0.000,0.059,3028,3686,2427,0,0,0,0,0,0
$GC,6057,0.38,146.0,339.3,12.8,616,6065,0.17,2.20,0.00,0.000,6,0.180,0.042,2994,2260,2427,0,0,0,0,0,0
$GC,6383,0.48,174.8,312.1,8.7,647,6413,0.00,0.00,24.55,1.026,6,0.000,0.000,2994,2260,2317,0,0,0,0,0,0
$GC,6732,0.60,206.1,283.0,8.6,680,6766,0.17,2.30,27.60,1.012,4,0.085,0.057,3084,864,2188,0,0,0,0,0,0
$GC,6794,0.55,206.1,274.7,14.8,685,6802,0.15,2.25,0.00,0.000,6,0.176,0.046,3046,2282,2186,0,0,0,0,0,0
$GC,7119,0.55,206.1,234.9,11.6,716,7123,0.00,2.22,0.00,0.000,4,0.000,0.060,3046,3691,2185,0,0,0,0,0,0
$GC,7210,0.55,206.1,222.9,13.5,724,7214,0.00,2.20,0.00,0.000,6,0.000,0.042,3054,2274,2184,0,0,0,0,0,0
$GC,7535,0.55,206.1,181.0,13.3,754,7539,0.00,2.20,0.00,0.000,4,0.000,0.056,3064,861,2184,0,0,0,0,0,0
$GC,7575,0.55,206.1,175.9,13.0,757,7579,0.00,2.22,0.00,0.000,6,0.000,0.045,3064,2285,2182,0,0,0,0,0,0
$GC,7902,0.53,206.1,133.5,12.0,787,7906,0.00,2.20,0.00,0.000,4,0.000,0.059,3064,3687,2182,0,0,0,0,0,0
$GC,8010,0.48,206.1,118.6,13.2,796,8015,0.20,2.20,0.00,0.000,6,0.174,0.042,3021,2264,2182,0,0,0,0,0,0
$GC,8342,0.61,232.5,89.3,8.8,836,8374,0.12,2.25,22.83,0.900,4,0.102,0.057,3090,871,2081,0,0,0,0,0,0
$GC,8398,0.61,232.5,82.9,12.4,845,8406,0.12,2.22,0.00,0.000,6,0.176,0.046,3059,2284,2079,0,0,0,0,0,0
$GC,8746,0.70,261.1,48.2,8.7,906,8776,0.00,2.30,25.55,0.884,4,0.000,0.060,3059,3681,1965,0,0,0,0,0,0
$GC,8829,0.78,274.2,40.9,9.4,920,8849,0.15,2.22,10.43,0.887,6,0.095,0.042,3126,2264,1912,0,0,0,0,0,0
$FREEZE,8.36,-1.677,-1.838,2,39,0
$FREEZE,7.51,-1.680,-1.837,2,39,0
$FREEZE,6.89,-1.684,-1.836,2,39,0
$FREEZE,6.13,-1.680,-1.836,2,39,0
$FREEZE,5.19,-1.681,-1.835,2,39,0
$FREEZE,4.56,-1.685,-1.835,2,39,0
$FREEZE,3.85,-1.685,-1.834,2,39,0
$FREEZE,3.13,-1.686,-1.833,2,39,0
$FREEZE,2.40,-1.690,-1.833,2,39,0
$STATE,9099,end climb,SURFACE_DEPTH_REACHED
$STATE,9099,begin surface coast
$FREEZE,1.52,-1.685,-1.832,2,39,0
$FREEZE,1.46,-1.696,-1.832,2,39,0
$FREEZE,1.43,-1.701,-1.832,2,39,0
$FREEZE,1.44,-1.697,-1.832,2,39,0
$FINISH,1.4,1.026880
$STATE,9120,end surface coast,CONTROL_FINISHED_OK
$STATE,9121,begin surface
$SM_CCo,9139,124.65,0.063,0,0,751,559.04
$SM_GC,2.64,0.00,0.00,124.65,0.000,0.000,0.063,110,2497,751,-8.61,0.20,559.04
$RAFOS_CLK,478
$RAFOS,0,1303848065,20.033333,20.018055,61,57,57,55,53,52,214,199,162,174,148,120
$RAFOS_FIX,6704.616211,-5646.707520,260411,161656,2,122,0.17
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.028462
$HUMID,43.69
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.5
$24V_AH,22.3,65.661
$10V_AH,10.1,33.828
$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,12.850,69.925,354.425,124.650,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2303.259,4819.739,509.397,1517.965,176.644,0.000,1319.901,0.000,1518.549,720.000,9.693,0.000
$DEVICE_MAMPS,217.260,70.380,1166.625,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.275,734.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,36662,972
$CAP_FILE_SIZE,103951,0
$CFSIZE,260165632,221417472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.8
$GPS,260411,164656,6704.616,-5646.708,181,99.0,181,-37.6