version: 66.08
glider: 141
mission: 15
dive: 433
start: 4 19 111 19 25 56
data:
$ID,141
$MISSION,15
$DIVE,433
$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,-38844.988
$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,30
$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
$GPS1,190411,164240,6721.586,-5756.985,0,3126.0,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.81
$_SM_ANGLEo,3.0
$GPS2,190411,164240,6721.586,-5756.985,0,3126.0,0,-38.9
$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,163.5,60552,-17.5,-10.000
$D_GRID,711
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.70,0.000,2,0.000,0.000,2886,3693,3162,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.0,-0.0,1,47,0.65,4.12,-12.00,0.000,4,0.124,0.052,2668,1084,3628,0,0,0,0,0,0
$GC,77,-0.56,-146.0,14.2,-11.0,9,83,0.00,2.20,0.00,0.000,6,0.000,0.052,2669,2487,3629,0,0,0,0,0,0
$GC,422,-0.46,-146.0,62.7,-15.6,70,429,0.17,2.22,0.00,0.000,4,0.223,0.057,2710,1079,3628,0,0,0,0,0,0
$GC,505,-0.51,-146.0,72.2,-10.3,84,511,0.00,2.25,0.00,0.000,6,0.000,0.054,2710,2498,3628,0,0,0,0,0,0
$GC,846,-0.51,-146.0,107.5,-9.8,138,850,0.00,2.25,0.00,0.000,4,0.000,0.071,2711,3897,3627,0,0,0,0,0,0
$GC,886,-0.56,-146.0,111.4,-9.4,141,890,0.00,2.15,0.00,0.000,6,0.000,0.041,2711,2487,3627,0,0,0,0,0,0
$GC,1214,-0.60,-146.0,139.9,-8.2,171,1219,0.12,2.30,0.00,0.000,4,0.129,0.068,2668,3901,3625,0,0,0,0,0,0
$GC,1231,-0.60,-146.0,141.7,-8.4,172,1236,0.00,2.15,0.00,0.000,6,0.000,0.042,2667,2494,3625,0,0,0,0,0,0
$GC,1559,-0.55,-146.0,177.4,-10.9,202,1563,0.00,2.22,0.00,0.000,4,0.000,0.059,2668,1079,3623,0,0,0,0,0,0
$GC,1602,-0.55,-146.0,182.8,-10.9,205,1609,0.00,2.25,0.00,0.000,6,0.000,0.056,2667,2484,3622,0,0,0,0,0,0
$GC,1928,-0.52,-146.0,217.6,-11.1,236,1932,0.00,2.28,0.00,0.000,4,0.000,0.071,2668,3899,3621,0,0,0,0,0,0
$GC,1944,-0.50,-146.0,219.5,-10.9,237,1951,0.12,2.15,0.00,0.000,6,0.200,0.041,2697,2488,3622,0,0,0,0,0,0
$GC,2269,-0.54,-146.0,249.0,-9.2,268,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2489,3621,0,0,0,0,0,0
$GC,2592,-0.59,-146.0,279.8,-10.0,298,2597,0.00,2.28,0.00,0.000,4,0.000,0.067,2697,3906,3621,0,0,0,0,0,0
$GC,2610,-0.66,-146.0,282.0,-10.0,299,2615,0.15,2.15,0.00,0.000,6,0.113,0.038,2645,2481,3621,0,0,0,0,0,0
$GC,2936,-0.59,-146.0,324.0,-12.2,329,2939,0.00,2.17,0.00,0.000,4,0.000,0.055,2645,1084,3622,0,0,0,0,0,0
$GC,2958,-0.51,-146.0,326.9,-12.1,330,2966,0.20,2.22,0.00,0.000,6,0.207,0.055,2693,2497,3622,0,0,0,0,0,0
$GC,3284,-0.57,-146.0,353.3,-7.4,361,3288,0.00,2.20,0.00,0.000,4,0.000,0.054,2693,1089,3623,0,0,0,0,0,0
$GC,3302,-0.62,-146.0,354.8,-7.8,362,3306,0.00,2.20,0.00,0.000,6,0.000,0.054,2693,2496,3624,0,0,0,0,0,0
$GC,3628,-0.68,-146.0,379.7,-7.4,392,3629,0.15,0.00,0.00,0.000,6,0.113,0.000,2639,2497,3624,0,0,0,0,0,0
$GC,3946,-0.60,-146.0,417.3,-12.0,422,3951,0.12,2.28,0.00,0.000,4,0.205,0.069,2667,3897,3624,0,0,0,0,0,0
$GC,3967,-0.56,-146.0,419.8,-10.5,423,3974,0.00,2.15,0.00,0.000,6,0.000,0.037,2668,2489,3624,0,0,0,0,0,0
$GC,4294,-0.56,-146.0,449.5,-8.9,454,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2488,3625,0,0,0,0,0,0
$GC,4610,-0.56,-146.0,476.6,-8.6,484,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2488,3625,0,0,0,0,0,0
$STATE,4715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4715,begin apogee
$GC,4721,-0.12,0.0,485.7,8.6,494,4846,0.50,0.00,119.28,1.183,6,0.185,0.000,2813,2246,3029,0,0,0,0,0,0
$STATE,4846,end apogee,CONTROL_FINISHED_OK
$STATE,4846,begin climb
$GC,4849,0.62,146.0,488.8,0.0,505,4982,0.77,2.35,124.00,1.142,4,0.132,0.060,3063,891,2433,0,0,0,0,0,0
$GC,5062,0.55,146.0,469.5,12.6,524,5066,0.00,2.33,0.00,0.000,6,0.000,0.044,3063,2285,2429,0,0,0,0,0,0
$GC,5388,0.46,146.0,427.9,12.6,554,5392,0.17,2.30,0.00,0.000,4,0.184,0.060,3018,3696,2428,0,0,0,0,0,0
$GC,5484,0.42,146.0,416.5,11.8,562,5488,0.00,2.20,0.00,0.000,6,0.000,0.044,3026,2293,2427,0,0,0,0,0,0
$GC,5815,0.40,155.9,382.6,9.5,593,5831,0.12,2.30,8.70,0.936,4,0.187,0.060,3003,872,2394,0,0,0,0,0,0
$GC,5878,0.50,174.5,376.9,9.1,598,5901,0.00,2.20,17.50,1.031,6,0.000,0.046,3004,2283,2318,0,0,0,0,0,0
$GC,6221,0.57,190.4,346.9,9.3,630,6244,0.12,2.25,14.82,1.004,4,0.100,0.060,3064,3682,2253,0,0,0,0,0,0
$GC,6314,0.48,190.4,333.7,15.5,638,6319,0.20,2.20,0.00,0.000,6,0.184,0.044,3023,2266,2252,0,0,0,0,0,0
$GC,6639,0.51,220.5,302.0,8.6,668,6673,0.00,2.22,27.02,1.026,4,0.000,0.057,3029,869,2130,0,0,0,0,0,0
$GC,6725,0.63,264.7,295.1,8.0,675,6776,0.12,2.20,39.62,1.027,6,0.103,0.044,3087,2279,1950,0,0,0,0,0,0
$GC,7093,0.56,264.7,237.7,16.6,710,7098,0.15,2.22,0.00,0.000,4,0.181,0.059,3049,3689,1942,0,0,0,0,0,0
$GC,7138,0.56,264.7,231.2,13.6,714,7143,0.00,2.20,0.00,0.000,6,0.000,0.044,3056,2271,1940,0,0,0,0,0,0
$GC,7463,0.56,264.7,194.2,10.5,744,7467,0.00,2.20,0.00,0.000,4,0.000,0.057,3067,858,1939,0,0,0,0,0,0
$GC,7519,0.59,265.0,188.5,10.0,748,7526,0.00,2.20,0.00,0.000,6,0.000,0.044,3067,2275,1938,0,0,0,0,0,0
$GC,7844,0.59,265.0,146.0,13.3,779,7848,0.00,2.20,0.00,0.000,4,0.000,0.058,3067,3686,1938,0,0,0,0,0,0
$GC,7921,0.59,265.0,135.0,14.0,785,7928,0.00,2.22,0.00,0.000,6,0.000,0.044,3077,2264,1937,0,0,0,0,0,0
$GC,8249,0.59,265.0,92.6,12.6,821,8256,0.00,2.20,0.00,0.000,4,0.000,0.057,3086,861,1937,0,0,0,0,0,0
$GC,8303,0.62,265.0,86.4,12.1,830,8309,0.00,2.17,0.00,0.000,6,0.000,0.044,3086,2286,1936,0,0,0,0,0,0
$GC,8650,0.64,265.0,47.7,10.1,891,8656,0.00,2.20,0.00,0.000,4,0.000,0.059,3086,3688,1936,0,0,0,0,0,0
$GC,8715,0.64,265.0,39.7,12.5,902,8722,0.00,2.17,0.00,0.000,6,0.000,0.044,3096,2267,1937,0,0,0,0,0,0
$FREEZE,8.73,-1.709,-1.838,3,34,0
$STATE,8979,end climb,FINISH_DEPTH_REACHED
$STATE,8980,begin subsurface finish
$FINISH1,8.7,1.026881,30
$GC,8986,0.04,30.3,8.7,-11.9,949,9028,0.70,2.25,-31.45,0.000,4,0.161,0.070,2882,865,2909,0,0,0,0,0,0
$FINISH2,7.0
$STATE,9029,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9029,begin surface
$RAFOS_CLK,468
$RAFOS,6,1303246142,20.833334,20.817223,112,78,57,54,54,50,692,191,223,170,159,200
$RAFOS,5,1303245669,20.700001,20.685833,175,62,61,55,54,54,651,222,127,149,199,210
$RAFOS,4,1303245191,20.566668,20.553055,93,61,58,58,56,52,777,122,208,153,166,218
$RAFOS,3,1303244708,20.433332,20.418888,62,61,60,54,54,53,184,146,204,215,976,127
$RAFOS,2,1303244225,20.299999,20.284721,58,57,54,52,52,50,208,147,1016,124,165,156
$RAFOS,1,1303243743,20.166666,20.150833,98,68,65,63,54,51,970,212,191,157,123,228
$RAFOS,0,1303243263,20.033333,20.017500,68,62,59,53,52,51,210,198,151,187,135,223
$RAFOS_FIX,6721.528320,-5752.640625,190411,202012,4,120,0.22
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.03
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,450.3,49.5
$24V_AH,22.4,58.269
$10V_AH,10.2,29.891
$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,4.575,93.325,350.950,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2287.664,4706.874,401.046,1544.187,160.718,0.000,1237.966,0.000,1534.751,2520.000,12.677,0.000
$DEVICE_MAMPS,223.380,71.145,1182.690,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.931,720.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,36701,956
$CAP_FILE_SIZE,109061,0
$CFSIZE,260165632,225099776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.7
$GPS,190411,203512,6721.528,-5752.641,0,4119.5,0,-38.9