version: 66.08
glider: 141
mission: 15
dive: 443
start: 4 20 111 19 7 28
data:
$ID,141
$MISSION,15
$DIVE,443
$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,-39213.566
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,200411,163316,6720.666,-5742.212,0,5104.6,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.93
$_SM_ANGLEo,-1.5
$GPS2,200411,163316,6720.666,-5742.212,0,5104.6,0,-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,168.8,51021,-17.5,-10.000
$D_GRID,544
$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,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.10,0.000,2,0.000,0.000,2879,862,3129,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.8,-0.0,1,51,0.60,4.93,-13.52,0.000,4,0.112,0.065,2670,3897,3628,0,0,0,0,0,0
$GC,182,-0.57,-146.0,28.2,-13.0,28,189,0.00,2.15,0.00,0.000,6,0.000,0.039,2670,2480,3630,0,0,0,0,0,0
$GC,528,-0.47,-146.0,79.1,-14.9,89,535,0.15,2.17,0.00,0.000,4,0.223,0.055,2705,1088,3629,0,0,0,0,0,0
$GC,543,-0.38,-146.0,81.3,-14.7,91,550,0.12,2.22,0.00,0.000,6,0.220,0.054,2734,2489,3629,0,0,0,0,0,0
$GC,883,-0.48,-146.0,108.4,-7.8,142,887,0.00,2.28,0.00,0.000,4,0.000,0.070,2734,3903,3627,0,0,0,0,0,0
$GC,896,-0.57,-146.0,109.5,-7.7,143,901,0.17,2.15,0.00,0.000,6,0.106,0.041,2672,2494,3627,0,0,0,0,0,0
$GC,1221,-0.52,-146.0,150.0,-13.2,173,1225,0.00,2.20,0.00,0.000,4,0.000,0.057,2671,1074,3625,0,0,0,0,0,0
$GC,1317,-0.52,-146.0,162.4,-13.2,181,1321,0.00,2.25,0.00,0.000,6,0.000,0.055,2671,2490,3625,0,0,0,0,0,0
$GC,1648,-0.49,-146.0,204.0,-11.4,212,1652,0.12,2.22,0.00,0.000,4,0.221,0.057,2700,1081,3623,0,0,0,0,0,0
$GC,1657,-0.46,-146.0,205.4,-11.6,212,1664,0.00,2.22,0.00,0.000,6,0.000,0.053,2700,2496,3623,0,0,0,0,0,0
$GC,1985,-0.52,-146.0,232.1,-8.1,243,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2496,3623,0,0,0,0,0,0
$GC,2303,-0.57,-146.0,256.9,-7.4,273,2307,0.00,2.25,0.00,0.000,4,0.000,0.068,2700,3906,3623,0,0,0,0,0,0
$GC,2321,-0.63,-146.0,258.2,-7.1,274,2326,0.12,2.17,0.00,0.000,6,0.121,0.039,2657,2476,3623,0,0,0,0,0,0
$GC,2652,-0.58,-146.0,296.2,-11.1,305,2656,0.00,2.28,0.00,0.000,4,0.000,0.065,2656,3899,3623,0,0,0,0,0,0
$GC,2706,-0.58,-146.0,302.7,-11.5,309,2713,0.00,2.15,0.00,0.000,6,0.000,0.039,2656,2480,3624,0,0,0,0,0,0
$GC,3032,-0.54,-146.0,337.0,-10.4,340,3037,0.12,2.20,0.00,0.000,4,0.205,0.054,2685,1084,3624,0,0,0,0,0,0
$GC,3084,-0.60,-146.0,341.2,-7.7,344,3088,0.00,2.20,0.00,0.000,6,0.000,0.051,2686,2490,3624,0,0,0,0,0,0
$GC,3415,-0.64,-146.0,367.4,-8.8,375,3418,0.00,2.20,0.00,0.000,4,0.000,0.052,2686,1088,3625,0,0,0,0,0,0
$STATE,3428,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3429,begin apogee
$GC,3436,-0.12,0.0,369.0,8.9,376,3562,0.43,0.00,118.28,1.114,6,0.179,0.000,2812,2278,3030,0,0,0,0,0,0
$STATE,3563,end apogee,CONTROL_FINISHED_OK
$STATE,3563,begin climb
$GC,3565,0.62,146.0,372.4,0.0,388,3699,0.77,2.47,122.47,1.067,4,0.135,0.057,3061,881,2433,0,0,0,0,0,0
$GC,3760,0.57,146.0,357.5,10.4,405,3767,0.00,2.33,0.00,0.000,6,0.000,0.045,3061,2272,2429,0,0,0,0,0,0
$GC,4086,0.49,146.0,321.5,11.9,436,4090,0.15,2.30,0.00,0.000,4,0.185,0.062,3024,3683,2427,0,0,0,0,0,0
$GC,4142,0.45,146.0,315.4,10.1,441,4147,0.00,2.20,0.00,0.000,6,0.000,0.044,3032,2278,2428,0,0,0,0,0,0
$GC,4467,0.45,146.0,282.9,10.0,471,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2278,2427,0,0,0,0,0,0
$GC,4788,0.43,146.0,249.5,11.2,501,4792,0.00,2.25,0.00,0.000,4,0.000,0.058,3032,3696,2428,0,0,0,0,0,0
$GC,4854,0.37,146.0,241.0,12.0,506,4862,0.20,2.20,0.00,0.000,6,0.183,0.043,2991,2266,2427,0,0,0,0,0,0
$GC,5180,0.54,217.1,215.9,6.7,537,5247,0.15,2.33,59.58,0.992,4,0.090,0.057,3070,872,2144,0,0,0,0,0,0
$GC,5274,0.54,217.1,205.3,12.4,545,5282,0.08,2.28,0.00,0.000,6,0.151,0.045,3047,2272,2139,0,0,0,0,0,0
$GC,5600,0.56,217.1,170.2,11.2,576,5604,0.00,2.25,0.00,0.000,4,0.000,0.059,3046,3694,2136,0,0,0,0,0,0
$GC,5677,0.56,217.1,160.9,12.5,583,5681,0.00,2.20,0.00,0.000,6,0.000,0.043,3054,2271,2135,0,0,0,0,0,0
$GC,6002,0.58,233.3,125.6,9.3,613,6025,0.00,2.25,13.82,0.886,4,0.000,0.057,3063,876,2077,0,0,0,0,0,0
$GC,6096,0.63,239.3,117.0,9.7,621,6109,0.00,2.20,6.82,0.773,6,0.000,0.044,3064,2302,2053,0,0,0,0,0,0
$GC,6436,0.68,242.9,83.6,9.8,667,6449,0.00,2.22,4.55,0.640,4,0.000,0.059,3064,3675,2039,0,0,0,0,0,0
$GC,6528,0.68,242.9,72.8,12.8,683,6535,0.00,2.17,0.00,0.000,6,0.000,0.043,3074,2276,2038,0,0,0,0,0,0
$GC,6874,0.73,245.3,38.7,9.9,744,6882,0.00,2.22,0.00,0.000,4,0.000,0.057,3083,865,2038,0,0,0,0,0,0
$GC,6940,0.79,247.5,32.3,9.9,755,6954,0.10,2.17,4.57,0.682,6,0.123,0.045,3129,2277,2020,0,0,0,0,0,0
$FREEZE,8.16,-1.714,-1.836,3,44,0
$STATE,7124,end climb,FINISH_DEPTH_REACHED
$STATE,7124,begin subsurface finish
$FINISH1,8.2,1.026862,31
$GC,7130,0.04,31.2,8.2,-13.0,787,7166,0.82,2.33,-30.33,0.000,4,0.167,0.076,2880,3691,2905,0,0,0,0,0,0
$FINISH2,6.5
$STATE,7167,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7167,begin surface
$RAFOS_CLK,374
$RAFOS,6,1303332548,20.833334,20.818890,122,63,60,58,57,52,695,185,195,173,206,147
$RAFOS,5,1303332068,20.700001,20.685556,126,64,61,60,59,59,632,201,146,210,176,128
$RAFOS,4,1303331583,20.566668,20.550833,80,63,56,53,50,46,846,210,188,121,170,223
$RAFOS,3,1303331104,20.433332,20.417778,63,62,60,58,55,53,197,134,173,207,227,156
$RAFOS,2,1303330626,20.299999,20.285000,60,59,58,56,56,52,201,180,145,157,212,114
$RAFOS,1,1303330143,20.166666,20.150833,66,64,57,56,54,53,1005,215,196,174,157,148
$RAFOS,0,1303329669,20.033333,20.019167,58,57,56,53,52,52,180,195,162,147,110,206
$RAFOS_FIX,6719.248047,-5736.754395,200411,202044,4,98,0.32
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.78
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,16.8
$ALTIM_BOTTOM_PING,300.2,83.8
$24V_AH,22.6,59.354
$10V_AH,10.1,30.429
$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,4.125,80.525,330.100,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1887.574,3556.068,371.609,1289.474,131.204,0.000,1082.344,0.000,1278.538,2520.000,9.215,0.000
$DEVICE_MAMPS,223.380,75.735,1113.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.674,593.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30061,793
$CAP_FILE_SIZE,88690,0
$CFSIZE,260165632,224579584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.8
$GPS,200411,203544,6719.248,-5736.754,0,4098.5,0,-38.9