version: 66.08
glider: 141
mission: 15
dive: 426
start: 4 18 111 23 34 20
data:
$ID,141
$MISSION,15
$DIVE,426
$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,31
$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
$GPS1,180411,204344,6721.237,-5806.079,0,3138.3,0,-38.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,55.54
$_SM_ANGLEo,3.8
$GPS2,180411,204344,6721.237,-5806.079,0,3138.3,0,-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,159.8,65727,-17.5,-10.000
$D_GRID,950
$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,-146.0,0.0,0.0,0,25,0.00,0.38,-6.15,0.000,3,0.000,0.132,2887,3411,3633,0,0,0,0,0,0
$GC,28,-0.62,-146.0,56.9,-0.0,1,36,0.65,3.65,0.00,0.000,4,0.135,0.047,2675,1073,3635,0,0,0,0,0,0
$GC,112,-0.59,-146.0,65.9,-11.8,15,118,0.00,2.22,0.00,0.000,6,0.000,0.054,2674,2491,3634,0,0,0,0,0,0
$GC,451,-0.53,-146.0,113.0,-12.9,67,455,0.00,2.25,0.00,0.000,4,0.000,0.069,2675,3897,3634,0,0,0,0,0,0
$GC,484,-0.49,-146.0,117.4,-12.7,69,492,0.10,2.17,0.00,0.000,6,0.219,0.041,2698,2478,3633,0,0,0,0,0,0
$GC,811,-0.51,-146.0,148.9,-9.6,100,815,0.00,2.30,0.00,0.000,4,0.000,0.067,2698,3905,3633,0,0,0,0,0,0
$GC,856,-0.57,-146.0,153.6,-9.5,103,863,0.00,2.17,0.00,0.000,6,0.000,0.041,2698,2483,3633,0,0,0,0,0,0
$GC,1182,-0.62,-146.0,184.7,-9.0,134,1186,0.00,2.28,0.00,0.000,4,0.000,0.067,2698,3897,3632,0,0,0,0,0,0
$GC,1217,-0.68,-146.0,187.9,-9.0,137,1222,0.17,2.15,0.00,0.000,6,0.112,0.041,2639,2488,3631,0,0,0,0,0,0
$GC,1548,-0.59,-146.0,230.6,-12.8,168,1549,0.12,0.00,0.00,0.000,6,0.220,0.000,2666,2487,3631,0,0,0,0,0,0
$GC,1868,-0.57,-146.0,262.0,-9.2,198,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2488,3630,0,0,0,0,0,0
$GC,2184,-0.57,-146.0,292.0,-9.7,228,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2488,3631,0,0,0,0,0,0
$GC,2503,-0.57,-146.0,322.6,-9.8,258,2507,0.00,2.25,0.00,0.000,4,0.000,0.065,2666,3898,3630,0,0,0,0,0,0
$GC,2529,-0.57,-146.0,325.3,-9.8,260,2536,0.00,2.15,0.00,0.000,6,0.000,0.038,2666,2484,3630,0,0,0,0,0,0
$GC,2855,-0.57,-146.0,355.3,-9.6,291,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2484,3631,0,0,0,0,0,0
$GC,3175,-0.57,-146.0,386.2,-9.4,321,3179,0.00,2.30,0.00,0.000,4,0.000,0.064,2666,3904,3632,0,0,0,0,0,0
$GC,3215,-0.57,-146.0,390.0,-9.6,324,3219,0.00,2.15,0.00,0.000,6,0.000,0.038,2667,2481,3632,0,0,0,0,0,0
$GC,3540,-0.57,-146.0,420.7,-9.1,354,3544,0.00,2.28,0.00,0.000,4,0.000,0.063,2666,3900,3633,0,0,0,0,0,0
$GC,3551,-0.57,-146.0,421.9,-9.3,354,3558,0.00,2.15,0.00,0.000,6,0.000,0.037,2666,2488,3633,0,0,0,0,0,0
$GC,3877,-0.57,-146.0,452.3,-9.3,385,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2487,3633,0,0,0,0,0,0
$GC,4195,-0.57,-146.0,483.1,-9.4,415,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2487,3633,0,0,0,0,0,0
$GC,4513,-0.57,-146.0,513.0,-9.5,445,4518,0.00,2.28,0.00,0.000,4,0.000,0.066,2666,3899,3633,0,0,0,0,0,0
$GC,4546,-0.57,-146.0,516.4,-9.5,447,4553,0.00,2.15,0.00,0.000,6,0.000,0.038,2666,2481,3633,0,0,0,0,0,0
$GC,4873,-0.57,-146.0,546.4,-9.2,478,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2481,3633,0,0,0,0,0,0
$GC,5192,-0.57,-146.0,575.5,-9.6,508,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2481,3633,0,0,0,0,0,0
$GC,5508,-0.57,-146.0,606.4,-9.7,534,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2481,3633,0,0,0,0,0,0
$STATE,5596,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5596,begin apogee
$GC,5602,-0.12,0.0,615.4,9.8,537,5732,0.50,0.00,123.15,1.297,6,0.184,0.000,2812,2257,3031,0,0,0,0,0,0
$STATE,5733,end apogee,CONTROL_FINISHED_OK
$STATE,5733,begin climb
$GC,5735,0.62,146.0,618.9,0.0,541,5871,0.77,2.38,128.40,1.248,4,0.132,0.062,3060,900,2433,0,0,0,0,0,0
$GC,5924,-1.87,146.0,604.2,21103.8,547,5933,2.90,2.35,0.00,0.000,6,0.171,0.049,2274,2273,2428,0,0,0,0,0,0
$GC,6253,-1.87,146.0,549.0,21103.8,574,6258,0.00,2.38,0.00,0.000,4,0.000,0.073,2273,3693,2421,0,0,0,0,0,0
$GC,6408,-1.87,146.0,518.7,21103.8,587,6412,0.00,2.22,0.00,0.000,6,0.000,0.046,2274,2289,2421,0,0,0,0,0,0
$GC,6733,-1.87,146.0,457.5,21103.8,617,6737,0.00,2.22,0.00,0.000,4,0.000,0.051,2273,857,2419,0,0,0,0,0,0
$GC,6768,-1.87,146.0,450.9,21103.8,620,6772,0.00,2.28,0.00,0.000,6,0.000,0.055,2273,2275,2420,0,0,0,0,0,0
$GC,7094,-1.87,146.0,387.9,21103.8,650,7098,0.00,2.20,0.00,0.000,4,0.000,0.050,2273,863,2418,0,0,0,0,0,0
$GC,7106,-1.87,146.0,385.6,21103.8,651,7111,0.00,2.22,0.00,0.000,6,0.000,0.053,2272,2278,2419,0,0,0,0,0,0
$GC,7433,-1.87,146.0,321.7,21103.8,681,7437,0.00,2.22,0.00,0.000,4,0.000,0.056,2272,866,2417,0,0,0,0,0,0
$GC,7691,-1.87,146.0,269.3,21103.8,703,7698,0.00,2.22,0.00,0.000,6,0.000,0.052,2272,2283,2418,0,0,0,0,0,0
$GC,8016,-1.87,146.0,208.5,21103.8,734,8020,0.00,2.25,0.00,0.000,4,0.000,0.056,2273,859,2418,0,0,0,0,0,0
$GC,8048,-1.87,146.0,202.2,21103.8,736,8055,0.00,2.25,0.00,0.000,6,0.000,0.057,2272,2276,2419,0,0,0,0,0,0
$GC,8375,-1.87,146.0,141.1,21103.8,767,8379,0.00,2.22,0.00,0.000,4,0.000,0.057,2273,865,2418,0,0,0,0,0,0
$GC,8635,-0.44,146.0,89.5,20.2,794,8643,2.17,2.25,0.00,0.000,6,0.311,0.055,2714,2280,2418,0,0,0,0,0,0
$GC,8982,0.45,231.8,66.2,6.0,855,9066,0.93,2.40,71.53,0.951,4,0.162,0.060,3000,863,2082,0,0,0,0,0,0
$GC,9322,0.92,277.7,43.1,7.9,914,9371,0.50,2.25,38.70,0.927,6,0.147,0.049,3154,2281,1896,0,0,0,0,0,0
$FREEZE,8.62,-1.734,-1.835,3,27,0
$STATE,9544,end climb,FINISH_DEPTH_REACHED
$STATE,9544,begin subsurface finish
$FINISH1,8.6,1.026841,32
$GC,9551,0.04,32.3,8.6,-17.1,953,9599,0.95,2.38,-40.55,0.000,4,0.187,0.075,2884,862,2899,0,0,0,0,0,0
$FINISH2,5.7
$STATE,9600,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9600,begin surface
$RAFOS_CLK,507
$RAFOS,6,1303174152,0.833333,0.820000,150,56,56,55,54,52,607,229,187,210,174,111
$RAFOS,5,1303173661,0.700000,0.683611,163,63,60,60,54,53,701,181,219,204,115,138
$RAFOS,4,1303173187,0.566667,0.551944,167,59,58,57,55,55,786,204,193,176,138,161
$RAFOS,3,1303172704,0.433333,0.417778,58,57,56,55,55,52,205,231,163,215,178,146
$RAFOS,2,1303172226,0.300000,0.285000,60,56,55,54,52,51,157,137,146,176,118,186
$RAFOS,1,1303171746,0.166667,0.151667,65,61,54,54,54,53,937,213,139,225,155,201
$RAFOS,0,1303171269,0.033333,0.019167,65,58,57,53,53,52,186,204,226,216,195,170
$RAFOS_FIX,6721.052734,-5801.331055,190411,000012,4,136,0.25
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,44.72
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,16.3
$ALTIM_BOTTOM_PING,600.5,27.6
$24V_AH,22.2,57.534
$10V_AH,10.2,29.452
$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,9.775,76.275,361.775,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2345.308,5178.440,385.958,1607.870,152.572,0.000,1238.670,0.000,1588.951,2520.000,19.452,0.000
$DEVICE_MAMPS,310.590,131.580,1296.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,678.261,728.726,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40023,961
$CAP_FILE_SIZE,105555,0
$CFSIZE,260165632,225525760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.2
$GPS,190411,003512,6721.053,-5801.331,0,4136.2,0,-38.9