version: 66.08
glider: 141
mission: 15
dive: 445
start: 4 20 111 23 28 35
data:
$ID,141
$MISSION,15
$DIVE,445
$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,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,2.10
$_SM_ANGLEo,7.9
$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,14,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,115,0.00,1.88,-89.30,0.000,6,0.000,0.064,3143,2498,3627,0,0,0,0,0,0
$GC,119,-0.62,-146.0,5.3,-9.4,17,126,1.60,2.25,0.00,0.000,4,0.181,0.057,2676,3898,3628,0,0,0,0,0,0
$GC,184,-0.62,-146.0,11.0,-10.0,28,191,0.00,2.17,0.00,0.000,6,0.000,0.041,2676,2481,3628,0,0,0,0,0,0
$GC,531,-0.54,-146.0,59.5,-14.1,89,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2481,3626,0,0,0,0,0,0
$GC,873,-0.47,-146.0,105.6,-13.0,146,875,0.12,0.00,0.00,0.000,6,0.219,0.000,2704,2480,3625,0,0,0,0,0,0
$GC,1192,-0.51,-146.0,138.4,-9.5,176,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2481,3623,0,0,0,0,0,0
$GC,1512,-0.56,-146.0,166.3,-8.5,206,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2481,3621,0,0,0,0,0,0
$GC,1830,-0.62,-146.0,192.6,-7.8,236,1835,0.12,2.17,0.00,0.000,4,0.130,0.054,2661,1086,3621,0,0,0,0,0,0
$GC,1841,-0.66,-146.0,193.7,-7.9,236,1848,0.00,2.20,0.00,0.000,6,0.000,0.054,2661,2486,3620,0,0,0,0,0,0
$GC,2168,-0.61,-146.0,230.1,-11.5,267,2172,0.00,2.28,0.00,0.000,4,0.000,0.068,2661,3906,3620,0,0,0,0,0,0
$GC,2190,-0.57,-146.0,233.1,-11.9,268,2197,0.00,2.17,0.00,0.000,6,0.000,0.039,2661,2486,3620,0,0,0,0,0,0
$GC,2516,-0.53,-146.0,269.4,-11.4,299,2518,0.12,0.00,0.00,0.000,6,0.210,0.000,2690,2485,3621,0,0,0,0,0,0
$GC,2835,-0.57,-146.0,295.4,-7.9,329,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2485,3621,0,0,0,0,0,0
$GC,3153,-0.61,-146.0,319.7,-7.4,359,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2486,3622,0,0,0,0,0,0
$GC,3472,-0.66,-146.0,343.5,-7.5,389,3474,0.12,0.00,0.00,0.000,6,0.126,0.000,2647,2485,3623,0,0,0,0,0,0
$GC,3790,-0.61,-146.0,377.0,-10.9,419,3794,0.00,2.28,0.00,0.000,4,0.000,0.062,2646,3908,3622,0,0,0,0,0,0
$GC,3800,-0.54,-146.0,378.3,-10.6,419,3807,0.15,2.15,0.00,0.000,6,0.198,0.035,2682,2477,3623,0,0,0,0,0,0
$STATE,4070,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4070,begin apogee
$GC,4075,-0.12,0.0,400.6,8.3,445,4199,0.45,0.00,118.03,1.127,6,0.177,0.000,2815,2248,3030,0,0,0,0,0,0
$STATE,4200,end apogee,CONTROL_FINISHED_OK
$STATE,4200,begin climb
$GC,4202,0.62,146.0,403.4,0.0,456,4335,0.77,2.35,122.72,1.085,4,0.138,0.054,3064,895,2432,0,0,0,0,0,0
$GC,4386,0.56,146.0,388.4,11.9,472,4392,0.00,2.35,0.00,0.000,6,0.000,0.053,3063,2279,2429,0,0,0,0,0,0
$GC,4713,0.50,146.0,350.2,11.5,503,4717,0.15,2.30,0.00,0.000,4,0.181,0.060,3024,3693,2427,0,0,0,0,0,0
$GC,4837,0.46,146.0,335.4,11.6,513,4843,0.00,2.20,0.00,0.000,6,0.000,0.042,3032,2293,2426,0,0,0,0,0,0
$GC,5161,0.46,146.0,300.8,10.7,544,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2293,2426,0,0,0,0,0,0
$GC,5482,0.46,146.0,267.3,10.5,574,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2293,2426,0,0,0,0,0,0
$GC,5799,0.46,146.0,233.6,10.9,604,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2293,2426,0,0,0,0,0,0
$GC,6120,0.46,146.0,199.1,10.7,634,6124,0.00,2.22,0.00,0.000,4,0.000,0.055,3042,867,2426,0,0,0,0,0,0
$GC,6174,0.46,146.0,192.5,11.0,638,6183,0.08,2.22,0.00,0.000,6,0.160,0.044,3004,2285,2425,0,0,0,0,0,0
$GC,6503,0.55,173.5,162.6,8.7,669,6537,0.12,2.30,23.08,0.947,4,0.096,0.058,3065,3692,2321,0,0,0,0,0,0
$GC,6629,0.46,173.5,146.1,14.7,680,6634,0.22,2.20,0.00,0.000,6,0.177,0.042,3016,2270,2319,0,0,0,0,0,0
$GC,6955,0.58,212.2,118.1,8.2,710,6994,0.10,2.30,33.38,0.925,4,0.116,0.055,3079,865,2164,0,0,0,0,0,0
$GC,7043,0.58,212.2,108.4,12.5,717,7048,0.00,2.20,0.00,0.000,6,0.000,0.044,3079,2277,2161,0,0,0,0,0,0
$GC,7383,0.58,212.2,68.7,11.1,771,7389,0.00,2.22,0.00,0.000,4,0.000,0.057,3079,3682,2159,0,0,0,0,0,0
$GC,7436,0.52,212.2,62.2,12.3,780,7443,0.20,2.17,0.00,0.000,6,0.180,0.042,3035,2266,2159,0,0,0,0,0,0
$GC,7783,0.67,263.1,35.5,7.6,841,7820,0.12,2.28,30.40,0.950,4,0.101,0.057,3103,874,1956,0,0,0,0,0,0
$GC,7861,0.67,263.1,27.2,11.5,854,7868,0.00,2.17,0.00,0.000,6,0.000,0.044,3103,2275,1952,0,0,0,0,0,0
$FREEZE,8.71,-1.705,-1.836,3,46,0
$STATE,8019,end climb,FINISH_DEPTH_REACHED
$STATE,8019,begin subsurface finish
$FINISH1,8.7,1.026855,32
$GC,8025,0.04,31.6,8.7,-11.8,882,8062,0.73,2.33,-29.85,0.000,4,0.157,0.074,2882,3688,2905,0,0,0,0,0,0
$FINISH2,7.2
$STATE,8063,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8063,begin surface
$RAFOS_CLK,423
$RAFOS,6,1303346944,0.833333,0.817778,140,61,60,57,52,52,727,189,214,201,128,137
$RAFOS,5,1303346465,0.700000,0.684722,146,66,57,55,54,54,656,186,130,171,218,156
$RAFOS,4,1303345984,0.566667,0.551111,109,60,56,53,53,50,849,212,191,156,132,174
$RAFOS,3,1303345510,0.433333,0.419444,58,57,57,57,56,54,152,128,177,193,141,207
$RAFOS,2,1303345021,0.300000,0.283611,66,63,53,51,50,48,199,175,118,216,140,109
$RAFOS,1,1303344543,0.166667,0.150833,76,75,57,56,55,51,213,1008,197,158,171,112
$RAFOS,0,1303344067,0.033333,0.018611,58,54,53,53,47,47,217,151,207,226,174,125
$RAFOS_FIX,6718.292969,-5732.389648,210411,000022,3,132,0.24
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,17.6
$ALTIM_BOTTOM_PING,350.9,64.1
$24V_AH,22.6,59.548
$10V_AH,10.1,30.534
$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,5.200,53.675,327.600,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2076.673,4117.430,412.286,1388.592,135.077,0.000,1159.614,0.000,1380.088,2520.000,8.982,0.000
$DEVICE_MAMPS,218.790,74.205,1126.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.726,662.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33447,888
$CAP_FILE_SIZE,88753,0
$CFSIZE,260165632,224477184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,210411,004322,6718.293,-5732.390,0,3131.7,0,-38.9