version: 66.08
glider: 141
mission: 15
dive: 457
start: 4 21 111 22 51 58
data:
$ID,141
$MISSION,15
$DIVE,457
$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,-39950.715
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,210411,203013,6713.838,-5712.298,0,3111.7,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.82
$_SM_ANGLEo,-0.8
$GPS2,210411,203013,6713.838,-5712.298,0,3111.7,0,-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,177.7,26660,-17.5,-10.000
$D_GRID,439
$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,-6.50,0.000,2,0.000,0.000,2885,867,3166,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.4,-0.0,1,47,0.62,4.90,-11.20,0.000,4,0.118,0.064,2671,3897,3628,0,0,0,0,0,0
$GC,152,-0.57,-146.0,26.7,-16.8,22,159,0.00,2.15,0.00,0.000,6,0.000,0.040,2671,2482,3629,0,0,0,0,0,0
$GC,497,-0.50,-146.0,81.4,-13.8,83,504,0.12,2.33,0.00,0.000,4,0.223,0.067,2699,3903,3629,0,0,0,0,0,0
$GC,541,-0.54,-146.0,86.1,-9.8,90,548,0.00,2.15,0.00,0.000,6,0.000,0.041,2699,2490,3628,0,0,0,0,0,0
$GC,877,-0.56,-146.0,118.9,-11.1,134,881,0.00,2.20,0.00,0.000,4,0.000,0.058,2699,1088,3627,0,0,0,0,0,0
$GC,894,-0.58,-146.0,121.1,-11.5,135,899,0.00,2.22,0.00,0.000,6,0.000,0.056,2699,2488,3627,0,0,0,0,0,0
$GC,1226,-0.62,-146.0,154.1,-8.3,166,1228,0.12,0.00,0.00,0.000,6,0.125,0.000,2656,2488,3625,0,0,0,0,0,0
$GC,1543,-0.56,-146.0,191.7,-11.7,196,1547,0.00,2.28,0.00,0.000,4,0.000,0.070,2656,3899,3624,0,0,0,0,0,0
$GC,1607,-0.54,-146.0,199.0,-11.2,201,1612,0.12,2.15,0.00,0.000,6,0.200,0.042,2685,2492,3623,0,0,0,0,0,0
$GC,1933,-0.56,-146.0,229.0,-9.0,231,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2491,3623,0,0,0,0,0,0
$GC,2253,-0.59,-146.0,256.5,-8.4,261,2257,0.00,2.17,0.00,0.000,4,0.000,0.055,2685,1082,3623,0,0,0,0,0,0
$GC,2271,-0.62,-146.0,258.2,-8.5,262,2275,0.00,2.20,0.00,0.000,6,0.000,0.053,2685,2492,3623,0,0,0,0,0,0
$GC,2596,-0.65,-146.0,285.6,-8.5,292,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2492,3624,0,0,0,0,0,0
$GC,2918,-0.69,-146.0,311.2,-7.9,322,2924,0.15,0.00,0.00,0.000,6,0.116,0.000,2633,2492,3624,0,0,0,0,0,0
$GC,3246,-0.60,-146.0,350.9,-12.5,353,3251,0.12,2.28,0.00,0.000,4,0.213,0.067,2662,3905,3624,0,0,0,0,0,0
$GC,3314,-0.60,-146.0,358.3,-9.6,359,3318,0.00,2.15,0.00,0.000,6,0.000,0.039,2662,2482,3624,0,0,0,0,0,0
$STATE,3577,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3577,begin apogee
$GC,3583,-0.12,0.0,383.4,9.8,383,3707,0.52,0.00,118.18,1.119,6,0.187,0.000,2814,2259,3030,0,0,0,0,0,0
$STATE,3708,end apogee,CONTROL_FINISHED_OK
$STATE,3708,begin climb
$GC,3710,0.62,146.0,387.3,0.0,394,3842,0.77,2.47,122.57,1.078,4,0.135,0.060,3063,891,2434,0,0,0,0,0,0
$GC,3900,0.55,146.0,371.6,12.1,411,3905,0.00,2.33,0.00,0.000,6,0.000,0.044,3063,2280,2429,0,0,0,0,0,0
$GC,4226,0.47,146.0,329.3,12.8,441,4230,0.17,2.28,0.00,0.000,4,0.178,0.060,3018,3683,2428,0,0,0,0,0,0
$GC,4304,0.43,146.0,319.9,11.9,447,4311,0.00,2.17,0.00,0.000,6,0.000,0.044,3026,2293,2427,0,0,0,0,0,0
$GC,4632,0.43,147.8,288.1,9.9,478,4636,0.00,2.25,0.00,0.000,4,0.000,0.058,3037,863,2427,0,0,0,0,0,0
$GC,4698,0.43,147.8,280.9,10.6,483,4706,0.08,2.25,0.00,0.000,6,0.161,0.046,3005,2279,2427,0,0,0,0,0,0
$GC,5025,0.54,186.6,253.3,8.2,514,5069,0.00,2.35,33.92,1.000,4,0.000,0.061,3005,3690,2268,0,0,0,0,0,0
$GC,5139,0.57,186.6,242.8,10.0,524,5144,0.10,2.22,0.00,0.000,6,0.111,0.043,3056,2276,2267,0,0,0,0,0,0
$GC,5465,0.53,186.6,206.7,11.2,554,5469,0.00,2.22,0.00,0.000,4,0.000,0.057,3067,867,2265,0,0,0,0,0,0
$GC,5555,0.53,186.6,196.0,11.8,562,5560,0.12,2.17,0.00,0.000,6,0.177,0.045,3036,2279,2263,0,0,0,0,0,0
$GC,5880,0.53,186.6,163.6,10.3,592,5884,0.00,2.22,0.00,0.000,4,0.000,0.060,3036,3681,2263,0,0,0,0,0,0
$GC,5957,0.53,186.6,154.7,12.0,598,5965,0.00,2.20,0.00,0.000,6,0.000,0.043,3044,2278,2263,0,0,0,0,0,0
$GC,6283,0.59,209.5,123.6,8.9,629,6308,0.00,2.28,20.20,0.915,4,0.000,0.058,3053,869,2175,0,0,0,0,0,0
$GC,6397,0.65,218.1,113.2,9.6,639,6412,0.00,2.17,8.85,0.826,6,0.000,0.045,3052,2275,2140,0,0,0,0,0,0
$GC,6744,0.70,218.1,76.7,10.3,690,6751,0.10,2.25,0.00,0.000,4,0.113,0.060,3101,3680,2138,0,0,0,0,0,0
$GC,6827,0.60,218.1,65.8,14.2,704,6835,0.20,2.20,0.00,0.000,6,0.187,0.043,3059,2264,2137,0,0,0,0,0,0
$GC,7175,0.68,246.0,34.1,8.7,765,7199,0.00,2.25,16.05,0.959,4,0.000,0.061,3059,875,2025,0,0,0,0,0,0
$GC,7252,0.82,268.0,27.1,9.0,778,7272,0.20,2.17,11.70,0.877,6,0.086,0.047,3139,2274,1936,0,0,0,0,0,0
$FREEZE,8.23,-1.670,-1.836,3,58,0
$STATE,7389,end climb,FINISH_DEPTH_REACHED
$STATE,7389,begin subsurface finish
$FINISH1,8.2,1.026861,31
$GC,7395,0.04,31.3,8.2,-13.8,802,7438,0.85,2.25,-33.45,0.000,4,0.171,0.076,2887,3680,2905,0,0,0,0,0,0
$FINISH2,6.4
$STATE,7439,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7439,begin surface
$RAFOS_CLK,394
$RAFOS,6,1303433342,0.833333,0.817222,122,58,54,53,51,50,787,222,160,173,193,209
$RAFOS,5,1303432864,0.700000,0.684444,163,64,62,61,56,53,654,187,154,229,209,121
$RAFOS,4,1303432386,0.566667,0.551667,120,62,61,60,59,58,854,223,140,127,164,187
$RAFOS,3,1303431909,0.433333,0.419167,80,70,59,59,53,50,982,210,158,192,181,148
$RAFOS,2,1303431425,0.300000,0.284722,70,60,57,57,53,53,1052,201,147,176,224,163
$RAFOS,1,1303430944,0.166667,0.151111,62,61,60,60,55,54,175,218,191,1037,158,132
$RAFOS,0,1303430467,0.033333,0.018611,62,60,59,58,57,53,212,142,130,185,157,111
$RAFOS_FIX,6713.764160,-5714.300293,220411,000050,5,111,0.10
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,17.1
$ALTIM_BOTTOM_PING,350.9,47.2
$24V_AH,22.6,60.750
$10V_AH,10.1,31.101
$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,4.400,72.200,331.475,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1933.477,3760.933,366.433,1317.328,132.915,0.000,1083.725,0.000,1309.799,2520.000,8.940,0.000
$DEVICE_MAMPS,223.380,76.500,1119.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.785,607.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30093,809
$CAP_FILE_SIZE,91295,0
$CFSIZE,260165632,223916032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.3
$GPS,220411,003550,6713.764,-5714.300,0,5111.0,0,-38.9