version: 66.08
glider: 141
mission: 15
dive: 425
start: 4 18 111 20 8 25
data:
$ID,141
$MISSION,15
$DIVE,425
$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,400
$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,-38475.41
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,180411,164240,6721.959,-5810.082,0,3118.0,0,-38.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.74
$_SM_ANGLEo,1.6
$GPS2,180411,164240,6721.959,-5810.082,0,3118.0,0,-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,159.5,68894,-17.5,-10.000
$D_GRID,962
$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,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.90,0.000,2,0.000,0.000,2884,3690,3151,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.0,-0.0,1,48,0.62,4.18,-12.57,0.000,4,0.116,0.056,2670,1066,3628,0,0,0,0,0,0
$GC,152,-0.57,-146.0,24.5,-13.1,22,159,0.00,2.25,0.00,0.000,6,0.000,0.057,2670,2489,3630,0,0,0,0,0,0
$GC,498,-0.48,-146.0,75.5,-14.8,83,505,0.15,2.30,0.00,0.000,4,0.231,0.074,2704,3898,3628,0,0,0,0,0,0
$GC,529,-0.46,-146.0,79.8,-12.7,88,536,0.00,2.17,0.00,0.000,6,0.000,0.044,2705,2478,3629,0,0,0,0,0,0
$GC,871,-0.46,-146.0,115.9,-10.8,136,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2478,3628,0,0,0,0,0,0
$GC,1192,-0.49,-146.0,148.5,-10.2,166,1196,0.00,2.30,0.00,0.000,4,0.000,0.071,2705,3897,3627,0,0,0,0,0,0
$GC,1203,-0.51,-146.0,150.0,-10.2,166,1210,0.00,2.15,0.00,0.000,6,0.000,0.044,2705,2490,3627,0,0,0,0,0,0
$GC,1529,-0.56,-146.0,180.9,-9.3,197,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2490,3625,0,0,0,0,0,0
$GC,1849,-0.62,-146.0,208.1,-8.1,227,1851,0.12,0.00,0.00,0.000,6,0.127,0.000,2661,2490,3624,0,0,0,0,0,0
$GC,2166,-0.57,-146.0,243.6,-11.7,257,2170,0.00,2.20,0.00,0.000,4,0.000,0.060,2662,1081,3625,0,0,0,0,0,0
$GC,2176,-0.51,-146.0,245.1,-12.0,257,2184,0.15,2.22,0.00,0.000,6,0.214,0.057,2695,2490,3625,0,0,0,0,0,0
$GC,2502,-0.56,-146.0,273.3,-8.3,288,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2489,3625,0,0,0,0,0,0
$GC,2824,-0.61,-146.0,300.7,-8.6,318,2828,0.00,2.30,0.00,0.000,4,0.000,0.073,2695,3899,3625,0,0,0,0,0,0
$GC,2859,-0.68,-146.0,304.2,-8.8,321,2864,0.15,2.17,0.00,0.000,6,0.115,0.042,2644,2484,3625,0,0,0,0,0,0
$GC,3190,-0.60,-146.0,343.1,-11.9,352,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2484,3625,0,0,0,0,0,0
$GC,3510,-0.54,-146.0,379.9,-11.5,382,3512,0.17,0.00,0.00,0.000,6,0.201,0.000,2687,2484,3626,0,0,0,0,0,0
$GC,3829,-0.58,-146.0,405.6,-8.5,412,3833,0.00,2.30,0.00,0.000,4,0.000,0.070,2688,3899,3626,0,0,0,0,0,0
$GC,3839,-0.63,-146.0,406.6,-8.0,412,3847,0.00,2.15,0.00,0.000,6,0.000,0.041,2687,2488,3626,0,0,0,0,0,0
$GC,4167,-0.67,-146.0,432.2,-8.2,443,4168,0.12,0.00,0.00,0.000,6,0.127,0.000,2644,2489,3627,0,0,0,0,0,0
$GC,4483,-0.61,-146.0,469.5,-11.3,473,4487,0.00,2.17,0.00,0.000,4,0.000,0.057,2645,1088,3628,0,0,0,0,0,0
$GC,4494,-0.54,-146.0,470.9,-11.3,473,4501,0.17,2.25,0.00,0.000,6,0.214,0.056,2686,2498,3627,0,0,0,0,0,0
$GC,4821,-0.58,-146.0,496.9,-8.1,504,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2498,3628,0,0,0,0,0,0
$GC,5139,-0.63,-146.0,521.9,-7.5,534,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2498,3628,0,0,0,0,0,0
$GC,5458,-0.67,-146.0,545.8,-7.7,564,5463,0.12,2.30,0.00,0.000,4,0.126,0.072,2642,3906,3627,0,0,0,0,0,0
$GC,5504,-0.63,-146.0,550.4,-10.7,567,5511,0.00,2.20,0.00,0.000,6,0.000,0.042,2642,2482,3627,0,0,0,0,0,0
$GC,5829,-0.57,-146.0,585.1,-10.3,598,5834,0.12,2.22,0.00,0.000,4,0.210,0.056,2672,1077,3627,0,0,0,0,0,0
$GC,5847,-0.53,-146.0,586.8,-10.2,599,5851,0.00,2.25,0.00,0.000,6,0.000,0.057,2672,2489,3627,0,0,0,0,0,0
$GC,6167,-0.53,-146.0,612.6,-8.2,619,6171,0.00,2.28,0.00,0.000,4,0.000,0.073,2672,3899,3628,0,0,0,0,0,0
$GC,6178,-0.53,-146.0,613.6,-8.2,619,6182,0.00,2.20,0.00,0.000,6,0.000,0.041,2671,2485,3628,0,0,0,0,0,0
$GC,6502,-0.55,-146.0,639.6,-8.1,630,6507,0.00,2.30,0.00,0.000,4,0.000,0.070,2672,3902,3628,0,0,0,0,0,0
$GC,6524,-0.58,-146.0,641.7,-9.1,630,6531,0.00,2.15,0.00,0.000,6,0.000,0.043,2672,2491,3628,0,0,0,0,0,0
$GC,6838,-0.60,-146.0,667.3,-8.2,641,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2491,3627,0,0,0,0,0,0
$STATE,6927,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6927,begin apogee
$GC,6933,-0.12,0.0,675.0,8.4,644,7062,0.50,0.00,123.57,1.340,6,0.184,0.000,2816,2254,3030,0,0,0,0,0,0
$STATE,7063,end apogee,CONTROL_FINISHED_OK
$STATE,7063,begin climb
$GC,7065,0.62,146.0,677.9,0.0,648,7204,0.77,2.45,130.23,1.292,4,0.136,0.064,3062,894,2432,0,0,0,0,0,0
$GC,7271,0.62,146.0,661.1,26496.0,654,7275,0.00,2.38,0.00,0.000,6,0.000,0.050,3062,2280,2428,0,0,0,0,0,0
$GC,7584,0.62,146.0,622.3,26496.0,664,7588,0.00,2.33,0.00,0.000,4,0.000,0.068,3062,3696,2426,0,0,0,0,0,0
$GC,7667,0.62,146.0,609.9,26496.0,666,7671,0.00,2.28,0.00,0.000,6,0.000,0.050,3071,2287,2425,0,0,0,0,0,0
$GC,7997,0.62,146.0,566.7,26496.0,691,8001,0.00,2.28,0.00,0.000,4,0.000,0.065,3082,868,2424,0,0,0,0,0,0
$GC,8052,0.62,146.0,558.7,26496.0,695,8059,0.00,2.25,0.00,0.000,6,0.000,0.053,3082,2287,2423,0,0,0,0,0,0
$GC,8379,0.62,146.0,515.6,26496.0,726,8383,0.00,2.28,0.00,0.000,4,0.000,0.068,3082,3696,2423,0,0,0,0,0,0
$GC,8479,0.62,146.0,500.4,26496.0,734,8486,0.00,2.22,0.00,0.000,6,0.000,0.050,3091,2277,2422,0,0,0,0,0,0
$GC,8806,0.62,146.0,455.9,26496.0,765,8810,0.00,2.22,0.00,0.000,4,0.000,0.063,3103,867,2422,0,0,0,0,0,0
$GC,8861,0.62,146.0,447.3,26496.0,769,8869,0.15,2.22,0.00,0.000,6,0.209,0.052,3068,2277,2422,0,0,0,0,0,0
$GC,9188,0.62,146.0,406.2,26496.0,800,9192,0.00,2.25,0.00,0.000,4,0.000,0.066,3068,3694,2422,0,0,0,0,0,0
$GC,9262,0.62,146.0,395.6,26496.0,806,9266,0.00,2.22,0.00,0.000,6,0.000,0.050,3077,2270,2422,0,0,0,0,0,0
$GC,9592,0.62,146.0,353.2,26496.0,837,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2270,2422,0,0,0,0,0,0
$GC,9912,0.62,146.0,313.2,26496.0,867,9916,0.00,2.28,0.00,0.000,4,0.000,0.063,3076,3697,2421,0,0,0,0,0,0
$GC,9975,0.62,146.0,304.5,26496.0,872,9979,0.00,2.22,0.00,0.000,6,0.000,0.050,3086,2268,2421,0,0,0,0,0,0
$GC,10300,0.62,146.0,261.2,26496.0,902,10304,0.00,2.20,0.00,0.000,4,0.000,0.060,3097,862,2421,0,0,0,0,0,0
$GC,10375,0.62,146.0,251.2,26496.0,908,10380,0.12,2.20,0.00,0.000,6,0.205,0.050,3068,2280,2421,0,0,0,0,0,0
$GC,10701,0.62,146.0,211.4,26496.0,938,10705,0.00,2.22,0.00,0.000,4,0.000,0.063,3068,3689,2421,0,0,0,0,0,0
$GC,10801,0.62,146.0,198.1,26496.0,946,10808,0.00,2.22,0.00,0.000,6,0.000,0.048,3077,2271,2422,0,0,0,0,0,0
$GC,11126,0.62,146.0,160.9,26496.0,977,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2271,2422,0,0,0,0,0,0
$GC,11446,0.62,146.0,127.2,26496.0,1007,11450,0.00,2.28,0.00,0.000,4,0.000,0.060,3077,3694,2423,0,0,0,0,0,0
$GC,11512,0.62,146.0,119.0,26496.0,1012,11519,0.00,2.22,0.00,0.000,6,0.000,0.047,3086,2273,2423,0,0,0,0,0,0
$GC,11846,0.62,146.0,84.4,26496.0,1057,11853,0.00,2.20,0.00,0.000,4,0.000,0.059,3097,863,2424,0,0,0,0,0,0
$GC,11921,0.62,146.0,77.2,26496.0,1070,11929,0.12,2.22,0.00,0.000,6,0.197,0.049,3068,2284,2423,0,0,0,0,0,0
$STATE,12208,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12208,begin subsurface finish
$FINISH1,54.8,1.026852,32
$GC,12215,0.04,31.8,54.8,-26496.0,1121,12229,0.60,2.30,-4.25,0.000,4,0.172,0.076,2886,3683,2909,0,0,0,0,0,0
$FINISH2,53.7
$STATE,12229,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12230,begin surface
$RAFOS_CLK,649
$RAFOS,6,1303159751,20.833334,20.819723,121,56,55,53,53,51,606,215,192,181,170,139
$RAFOS,5,1303159267,20.700001,20.685278,132,67,59,59,58,58,667,206,116,185,170,157
$RAFOS,4,1303158790,20.566668,20.552778,162,60,60,57,55,54,762,192,167,201,240,226
$RAFOS,3,1303158301,20.433332,20.416945,60,60,59,56,52,50,146,203,214,171,125,1572
$RAFOS,2,1303157821,20.299999,20.283611,64,57,56,56,54,51,198,128,175,149,215,166
$RAFOS,1,1303157343,20.166666,20.150833,66,63,55,55,55,46,199,215,178,117,153,165
$RAFOS,0,1303156866,20.033333,20.018333,66,60,60,58,50,50,213,167,152,120,134,1899
$RAFOS_FIX,6721.237305,-5806.079102,180411,202044,3,138,0.22
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,45.39
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.5
$ALTIM_BOTTOM_PING,55.5,19.0
$24V_AH,22.0,57.415
$10V_AH,10.2,29.392
$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,4.200,103.300,253.800,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2767.508,7185.838,310.958,1847.800,184.321,0.000,1279.889,0.000,1830.973,2160.000,19.604,0.000
$DEVICE_MAMPS,231.030,76.500,1340.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.148,857.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43380,1123
$CAP_FILE_SIZE,128651,0
$CFSIZE,260165632,225562624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.7
$GPS,180411,204344,6721.237,-5806.079,0,3138.3,0,-38.9