version: 66.08
glider: 141
mission: 15
dive: 428
start: 4 19 111 5 6 13
data:
$ID,141
$MISSION,15
$DIVE,428
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,190411,044344,6721.528,-5803.417,0,3115.7,0,-38.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.71
$_SM_ANGLEo,-2.8
$GPS2,190411,044344,6721.528,-5803.417,0,3115.7,0,-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,161.1,64370,-17.5,-10.000
$D_GRID,875
$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,-6.53,0.000,2,0.000,0.000,2869,3693,3076,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.0,-0.0,1,53,0.57,4.15,-17.20,0.000,4,0.093,0.057,2664,1078,3628,0,0,0,0,0,0
$GC,111,-0.55,-146.0,17.2,-13.8,15,118,0.00,2.25,0.00,0.000,6,0.000,0.057,2664,2496,3629,0,0,0,0,0,0
$GC,456,-0.44,-146.0,69.2,-14.7,76,463,0.22,0.00,0.00,0.000,6,0.216,0.000,2719,2497,3629,0,0,0,0,0,0
$GC,802,-0.47,-146.0,104.4,-9.3,133,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2497,3629,0,0,0,0,0,0
$GC,1120,-0.52,-146.0,135.3,-10.1,163,1124,0.00,2.33,0.00,0.000,4,0.000,0.076,2719,3905,3627,0,0,0,0,0,0
$GC,1175,-0.62,-146.0,141.0,-9.4,167,1183,0.17,2.20,0.00,0.000,6,0.104,0.045,2657,2478,3628,0,0,0,0,0,0
$GC,1501,-0.54,-146.0,186.8,-14.4,198,1502,0.12,0.00,0.00,0.000,6,0.213,0.000,2685,2478,3627,0,0,0,0,0,0
$GC,1820,-0.54,-146.0,221.6,-10.7,228,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2478,3626,0,0,0,0,0,0
$GC,2139,-0.54,-146.0,255.1,-10.8,258,2144,0.00,2.35,0.00,0.000,4,0.000,0.071,2685,3905,3626,0,0,0,0,0,0
$GC,2191,-0.59,-146.0,260.8,-10.2,262,2195,0.00,2.17,0.00,0.000,6,0.000,0.044,2685,2488,3626,0,0,0,0,0,0
$GC,2518,-0.61,-146.0,294.9,-9.9,292,2522,0.00,2.30,0.00,0.000,4,0.000,0.070,2685,3900,3626,0,0,0,0,0,0
$GC,2551,-0.65,-146.0,298.8,-10.9,294,2558,0.00,2.17,0.00,0.000,6,0.000,0.042,2686,2488,3626,0,0,0,0,0,0
$GC,2877,-0.67,-146.0,330.7,-9.6,325,2882,0.12,2.33,0.00,0.000,4,0.130,0.069,2643,3907,3626,0,0,0,0,0,0
$GC,2894,-0.67,-146.0,332.5,-9.8,326,2898,0.00,2.17,0.00,0.000,6,0.000,0.041,2642,2481,3626,0,0,0,0,0,0
$GC,3220,-0.59,-146.0,373.2,-12.9,356,3224,0.12,2.20,0.00,0.000,4,0.212,0.058,2671,1087,3626,0,0,0,0,0,0
$GC,3248,-0.56,-146.0,376.8,-12.6,358,3252,0.00,2.22,0.00,0.000,6,0.000,0.057,2671,2489,3626,0,0,0,0,0,0
$GC,3575,-0.56,-146.0,410.5,-11.0,388,3579,0.00,2.28,0.00,0.000,4,0.000,0.073,2671,3898,3626,0,0,0,0,0,0
$GC,3603,-0.56,-146.0,413.9,-11.3,390,3607,0.00,2.17,0.00,0.000,6,0.000,0.042,2671,2481,3626,0,0,0,0,0,0
$GC,3935,-0.56,-146.0,450.4,-11.5,421,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2481,3627,0,0,0,0,0,0
$GC,4253,-0.56,-146.0,484.2,-10.3,451,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2481,3628,0,0,0,0,0,0
$GC,4574,-0.56,-146.0,517.8,-10.0,481,4578,0.00,2.30,0.00,0.000,4,0.000,0.069,2671,3904,3628,0,0,0,0,0,0
$GC,4592,-0.56,-146.0,519.9,-10.3,482,4595,0.00,2.17,0.00,0.000,6,0.000,0.041,2671,2491,3627,0,0,0,0,0,0
$GC,4922,-0.56,-146.0,549.5,-8.8,513,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2491,3627,0,0,0,0,0,0
$GC,5241,-0.56,-146.0,577.6,-8.8,543,5245,0.00,2.28,0.00,0.000,4,0.000,0.068,2671,3898,3628,0,0,0,0,0,0
$GC,5259,-0.56,-146.0,579.1,-8.1,544,5262,0.00,2.17,0.00,0.000,6,0.000,0.041,2671,2487,3627,0,0,0,0,0,0
$STATE,5585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5585,begin apogee
$GC,5591,-0.12,0.0,610.3,10.3,569,5721,0.50,0.00,122.55,1.293,6,0.181,0.000,2816,2251,3031,0,0,0,0,0,0
$STATE,5721,end apogee,CONTROL_FINISHED_OK
$STATE,5721,begin climb
$GC,5723,0.62,146.0,614.7,0.0,573,5860,0.77,2.40,129.00,1.248,4,0.135,0.063,3062,890,2432,0,0,0,0,0,0
$GC,5981,-1.87,146.0,593.7,21160.3,583,5993,2.88,2.33,0.00,0.000,6,0.176,0.048,2279,2281,2426,0,0,0,0,0,0
$GC,6311,-1.87,146.0,539.4,21160.3,614,6315,0.00,2.28,0.00,0.000,4,0.000,0.060,2279,878,2420,0,0,0,0,0,0
$GC,6324,-1.87,146.0,536.7,21160.3,615,6328,0.00,2.28,0.00,0.000,6,0.000,0.055,2276,2272,2422,0,0,0,0,0,0
$GC,6649,-1.87,146.0,475.9,21160.3,645,6653,0.00,2.30,0.00,0.000,4,0.000,0.073,2276,3681,2421,0,0,0,0,0,0
$GC,6843,-1.87,146.0,438.4,21160.3,662,6850,0.00,2.12,0.00,0.000,6,0.000,0.041,2275,2289,2420,0,0,0,0,0,0
$GC,7170,-1.87,146.0,378.0,21160.3,693,7174,0.00,2.30,0.00,0.000,4,0.000,0.072,2275,3687,2419,0,0,0,0,0,0
$GC,7180,-1.87,146.0,374.8,21160.3,693,7187,0.00,2.20,0.00,0.000,6,0.000,0.046,2275,2276,2419,0,0,0,0,0,0
$GC,7507,-1.87,146.0,314.0,21160.3,724,7511,0.00,2.30,0.00,0.000,4,0.000,0.063,2275,3695,2420,0,0,0,0,0,0
$GC,7527,-1.87,146.0,309.2,21160.3,725,7534,0.00,2.20,0.00,0.000,6,0.000,0.047,2275,2271,2420,0,0,0,0,0,0
$GC,7853,-1.87,146.0,247.3,21160.3,756,7856,0.00,2.20,0.00,0.000,4,0.000,0.056,2275,866,2420,0,0,0,0,0,0
$GC,7865,-1.87,146.0,245.6,21160.3,757,7869,0.00,2.25,0.00,0.000,6,0.000,0.056,2274,2277,2420,0,0,0,0,0,0
$GC,8195,-1.87,146.0,185.1,21160.3,788,8199,0.00,2.20,0.00,0.000,4,0.000,0.050,2273,863,2419,0,0,0,0,0,0
$GC,8211,-1.87,146.0,181.2,21160.3,789,8219,0.00,2.25,0.00,0.000,6,0.000,0.056,2273,2278,2419,0,0,0,0,0,0
$GC,8538,-1.87,146.0,119.4,21160.3,820,8542,0.00,2.25,0.00,0.000,4,0.000,0.070,2272,3679,2420,0,0,0,0,0,0
$GC,8555,-1.87,146.0,115.9,21160.3,821,8559,0.00,2.20,0.00,0.000,6,0.000,0.045,2273,2266,2420,0,0,0,0,0,0
$GC,8894,-1.87,146.0,52.5,21160.3,873,8900,0.00,2.20,0.00,0.000,4,0.000,0.057,2273,859,2419,0,0,0,0,0,0
$GC,8919,-1.87,146.0,48.0,21160.3,877,8925,0.00,2.25,0.00,0.000,6,0.000,0.054,2273,2279,2420,0,0,0,0,0,0
$FREEZE,8.62,-1.621,-1.827,3,29,0
$FREEZE,8.19,-1.233,-1.803,3,29,0
$FREEZE,7.39,-1.502,-1.819,3,29,0
$FREEZE,6.15,-1.603,-1.824,3,29,0
$FREEZE,5.27,-1.583,-1.822,3,29,0
$FREEZE,4.77,-1.417,-1.811,3,29,0
$FREEZE,4.28,-1.695,-1.829,3,29,0
$STATE,9166,end climb,FINISH_DEPTH_REACHED
$STATE,9167,begin subsurface finish
$FINISH1,4.3,1.026804,34
$GC,9173,0.04,34.1,4.3,-21160.3,921,9210,2.08,2.33,-29.55,0.000,4,0.190,0.074,2872,872,2892,0,0,0,0,0,0
$FINISH2,3.3
$STATE,9211,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9211,begin surface
$RAFOS_CLK,491
$RAFOS_FIX,6721.527832,-5803.416992,190411,040444,3,116,0.12
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,550.4,73.1
$24V_AH,22.0,57.716
$10V_AH,10.1,29.567
$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,7.575,85.375,251.550,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2291.873,5000.128,309.201,1513.716,151.719,0.000,1117.646,0.000,1504.872,0.000,17.605,0.000
$DEVICE_MAMPS,216.495,75.735,1292.850,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.555,706.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36733,927
$CAP_FILE_SIZE,100231,0
$CFSIZE,260165632,225415168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.8
$GPS,190411,044344,6721.528,-5803.417,0,3115.7,0,-38.9