version: 66.08
glider: 141
mission: 15
dive: 444
start: 4 20 111 21 9 0
data:
$ID,141
$MISSION,15
$DIVE,444
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,200411,203544,6719.248,-5736.754,0,4098.5,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.64
$_SM_ANGLEo,0.2
$GPS2,200411,203544,6719.248,-5736.754,0,4098.5,0,-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,169.4,46315,-17.5,-10.000
$D_GRID,522
$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,-6.55,0.000,2,0.000,0.000,2880,3691,3133,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.6,-0.0,1,52,0.60,4.10,-13.70,0.000,4,0.112,0.053,2673,1082,3627,0,0,0,0,0,0
$GC,70,-0.56,-146.0,12.5,-10.9,8,77,0.00,2.20,0.00,0.000,6,0.000,0.053,2673,2486,3628,0,0,0,0,0,0
$GC,416,-0.47,-146.0,62.6,-14.7,69,423,0.15,2.22,0.00,0.000,4,0.231,0.056,2706,1074,3628,0,0,0,0,0,0
$GC,510,-0.50,-146.0,73.0,-10.0,85,517,0.00,2.22,0.00,0.000,6,0.000,0.054,2706,2488,3628,0,0,0,0,0,0
$GC,856,-0.53,-146.0,110.4,-10.4,138,860,0.00,2.28,0.00,0.000,4,0.000,0.072,2706,3899,3626,0,0,0,0,0,0
$GC,896,-0.59,-146.0,114.6,-10.6,141,902,0.00,2.15,0.00,0.000,6,0.000,0.043,2706,2486,3626,0,0,0,0,0,0
$GC,1221,-0.63,-146.0,145.0,-8.7,172,1226,0.15,2.20,0.00,0.000,4,0.121,0.057,2655,1086,3624,0,0,0,0,0,0
$GC,1254,-0.58,-146.0,148.7,-12.2,174,1261,0.00,2.25,0.00,0.000,6,0.000,0.057,2655,2495,3623,0,0,0,0,0,0
$GC,1581,-0.51,-146.0,189.9,-12.8,205,1586,0.17,2.22,0.00,0.000,4,0.208,0.057,2698,1088,3622,0,0,0,0,0,0
$GC,1599,-0.46,-146.0,192.2,-12.5,206,1603,0.00,2.20,0.00,0.000,6,0.000,0.055,2698,2490,3622,0,0,0,0,0,0
$GC,1926,-0.50,-146.0,220.0,-8.3,236,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2490,3621,0,0,0,0,0,0
$GC,2253,-0.57,-146.0,247.5,-8.3,267,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2490,3621,0,0,0,0,0,0
$GC,2573,-0.62,-146.0,273.2,-7.6,297,2577,0.12,2.28,0.00,0.000,4,0.125,0.068,2654,3903,3622,0,0,0,0,0,0
$GC,2583,-0.67,-146.0,274.3,-7.9,297,2590,0.00,2.15,0.00,0.000,6,0.000,0.039,2654,2482,3622,0,0,0,0,0,0
$GC,2909,-0.62,-146.0,310.8,-11.1,328,2913,0.00,2.15,0.00,0.000,4,0.000,0.053,2654,1082,3622,0,0,0,0,0,0
$GC,2971,-0.60,-146.0,317.9,-10.8,333,2975,0.00,2.20,0.00,0.000,6,0.000,0.052,2654,2493,3622,0,0,0,0,0,0
$GC,3297,-0.55,-146.0,352.5,-10.5,363,3301,0.12,2.20,0.00,0.000,4,0.207,0.051,2683,1087,3623,0,0,0,0,0,0
$GC,3337,-0.59,-146.0,356.0,-8.3,366,3343,0.00,2.22,0.00,0.000,6,0.000,0.051,2683,2501,3623,0,0,0,0,0,0
$GC,3662,-0.63,-146.0,380.3,-7.4,397,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2501,3624,0,0,0,0,0,0
$GC,3983,-0.66,-146.0,404.1,-7.7,427,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2501,3624,0,0,0,0,0,0
$STATE,4105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4105,begin apogee
$GC,4111,-0.12,0.0,413.7,7.5,439,4235,0.45,0.00,118.30,1.136,6,0.181,0.000,2815,2256,3030,0,0,0,0,0,0
$STATE,4236,end apogee,CONTROL_FINISHED_OK
$STATE,4236,begin climb
$GC,4238,0.62,146.0,416.6,0.0,450,4371,0.77,2.47,123.05,1.090,4,0.136,0.059,3063,884,2434,0,0,0,0,0,0
$GC,4451,0.56,146.0,396.6,12.9,469,4455,0.00,2.33,0.00,0.000,6,0.000,0.044,3064,2285,2429,0,0,0,0,0,0
$GC,4778,0.48,146.0,351.4,14.1,499,4782,0.17,2.28,0.00,0.000,4,0.181,0.060,3019,3694,2428,0,0,0,0,0,0
$GC,4920,0.44,146.0,333.5,12.6,511,4925,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,2293,2427,0,0,0,0,0,0
$GC,5245,0.44,146.0,298.8,10.3,541,5249,0.00,2.22,0.00,0.000,4,0.000,0.058,3038,869,2427,0,0,0,0,0,0
$GC,5320,0.45,150.6,291.2,9.8,547,5332,0.00,2.20,4.32,0.665,6,0.000,0.044,3038,2280,2415,0,0,0,0,0,0
$GC,5650,0.46,161.4,258.7,9.5,578,5666,0.00,2.22,11.15,0.930,4,0.000,0.059,3037,3687,2370,0,0,0,0,0,0
$GC,5713,0.41,161.4,252.4,11.4,583,5717,0.20,2.20,0.00,0.000,6,0.178,0.043,2996,2274,2369,0,0,0,0,0,0
$GC,6043,0.56,225.8,229.3,7.0,614,6109,0.15,2.33,55.22,0.998,4,0.090,0.057,3074,870,2107,0,0,0,0,0,0
$GC,6137,0.56,225.8,218.0,14.0,622,6144,0.08,2.28,0.00,0.000,6,0.153,0.044,3042,2279,2104,0,0,0,0,0,0
$GC,6464,0.58,225.8,181.1,11.1,653,6468,0.00,2.22,0.00,0.000,4,0.000,0.058,3042,3694,2100,0,0,0,0,0,0
$GC,6548,0.58,225.8,170.6,12.6,660,6552,0.00,2.20,0.00,0.000,6,0.000,0.043,3050,2266,2099,0,0,0,0,0,0
$GC,6873,0.58,225.8,133.1,11.8,690,6877,0.00,2.17,0.00,0.000,4,0.000,0.057,3058,868,2099,0,0,0,0,0,0
$GC,6928,0.62,225.8,127.0,11.1,694,6935,0.00,2.17,0.00,0.000,6,0.000,0.043,3058,2285,2098,0,0,0,0,0,0
$GC,7258,0.65,227.8,91.3,9.9,732,7265,0.00,2.20,0.00,0.000,4,0.000,0.057,3058,3681,2098,0,0,0,0,0,0
$GC,7322,0.65,227.8,84.1,11.1,743,7329,0.00,2.17,0.00,0.000,6,0.000,0.043,3068,2263,2098,0,0,0,0,0,0
$GC,7667,0.68,227.8,49.1,10.0,804,7673,0.00,2.17,0.00,0.000,4,0.000,0.058,3077,865,2098,0,0,0,0,0,0
$GC,7731,0.75,233.8,42.9,9.7,815,7744,0.00,2.17,6.32,0.739,6,0.000,0.044,3077,2280,2076,0,0,0,0,0,0
$FREEZE,8.88,-1.689,-1.835,3,45,1
$FREEZE,8.24,-1.689,-1.835,3,45,1
$GC,8087,0.78,239.4,8.2,9.7,877,8095,0.12,2.28,2.67,0.389,4,0.099,0.060,3134,3681,2054,0,0,0,0,0,0
$FREEZE,6.25,-1.683,-1.833,3,45,1
$FREEZE,5.36,-1.690,-1.833,3,45,1
$FREEZE,4.60,-1.692,-1.832,3,45,1
$FREEZE,3.64,-1.691,-1.831,3,45,1
$FREEZE,2.67,-1.688,-1.831,3,45,1
$STATE,8122,end climb,SURFACE_DEPTH_REACHED
$STATE,8122,begin surface coast
$FREEZE,2.01,-1.701,-1.830,3,45,1
$FREEZE,2.04,-1.697,-1.830,3,45,1
$FREEZE,2.01,-1.700,-1.830,3,45,1
$FINISH,2.0,1.026850
$STATE,8140,end surface coast,CONTROL_FINISHED_OK
$STATE,8140,begin surface
$RAFOS_CLK,428
$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,46.33
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.7
$ALTIM_BOTTOM_PING,400.1,28.5
$24V_AH,22.5,59.451
$10V_AH,10.2,30.481
$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,3.275,80.100,321.050,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2124.654,4266.199,350.956,1435.104,143.322,0.000,1130.899,0.000,1424.480,0.000,10.653,0.000
$DEVICE_MAMPS,231.030,71.910,1136.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.066,660.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,33412,886
$CAP_FILE_SIZE,98193,0
$CFSIZE,260165632,224518144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.4
$GPS,200411,203544,6719.248,-5736.754,0,4098.5,0,-38.9