version: 66.08
glider: 141
mission: 15
dive: 429
start: 4 19 111 7 41 34
data:
$ID,141
$MISSION,15
$DIVE,429
$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,34
$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
$GPS1,190411,044344,6721.528,-5803.417,0,3115.7,0,-38.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.51
$_SM_ANGLEo,-5.2
$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,-6.95,0.000,2,0.000,0.000,2872,872,3062,0,0,0,0,0,0
$GC,27,-0.62,-146.0,5.9,-0.0,1,53,0.57,0.35,-20.48,0.000,4,0.101,0.148,2669,1099,3627,0,0,0,0,0,0
$GC,93,-0.57,-146.0,13.5,-14.5,12,100,0.00,2.20,0.00,0.000,6,0.000,0.057,2668,2488,3629,0,0,0,0,0,0
$GC,439,-0.47,-146.0,66.6,-15.0,73,446,0.15,2.30,0.00,0.000,4,0.218,0.073,2703,3899,3628,0,0,0,0,0,0
$GC,454,-0.38,-146.0,68.9,-15.0,75,461,0.12,2.17,0.00,0.000,6,0.209,0.044,2733,2490,3629,0,0,0,0,0,0
$GC,801,-0.46,-146.0,99.5,-8.1,136,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2490,3629,0,0,0,0,0,0
$GC,1129,-0.55,-146.0,127.5,-8.4,167,1136,0.15,0.00,0.00,0.000,6,0.122,0.000,2681,2490,3628,0,0,0,0,0,0
$GC,1456,-0.52,-146.0,166.8,-11.6,198,1460,0.00,2.22,0.00,0.000,4,0.000,0.062,2681,1089,3626,0,0,0,0,0,0
$GC,1466,-0.49,-146.0,168.3,-11.4,198,1473,0.00,2.22,0.00,0.000,6,0.000,0.059,2681,2488,3626,0,0,0,0,0,0
$GC,1791,-0.49,-146.0,203.9,-9.3,229,1795,0.00,2.30,0.00,0.000,4,0.000,0.075,2681,3900,3625,0,0,0,0,0,0
$GC,1822,-0.49,-146.0,206.6,-9.0,231,1826,0.00,2.17,0.00,0.000,6,0.000,0.044,2681,2485,3625,0,0,0,0,0,0
$GC,2146,-0.49,-146.0,238.8,-10.1,261,2150,0.00,2.20,0.00,0.000,4,0.000,0.058,2681,1075,3625,0,0,0,0,0,0
$GC,2192,-0.51,-146.0,243.7,-11.1,265,2196,0.00,2.25,0.00,0.000,6,0.000,0.057,2680,2493,3625,0,0,0,0,0,0
$GC,2517,-0.51,-146.0,277.9,-10.2,295,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2493,3626,0,0,0,0,0,0
$GC,2836,-0.51,-146.0,310.2,-9.9,325,2840,0.00,2.30,0.00,0.000,4,0.000,0.073,2681,3899,3626,0,0,0,0,0,0
$GC,2915,-0.54,-146.0,318.1,-9.7,331,2922,0.00,2.17,0.00,0.000,6,0.000,0.042,2681,2488,3625,0,0,0,0,0,0
$GC,3240,-0.54,-146.0,349.4,-9.9,362,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2488,3626,0,0,0,0,0,0
$GC,3559,-0.54,-146.0,381.7,-9.6,392,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2488,3626,0,0,0,0,0,0
$GC,3880,-0.54,-146.0,408.9,-7.9,422,3883,0.00,2.17,0.00,0.000,4,0.000,0.056,2681,1088,3626,0,0,0,0,0,0
$GC,3908,-0.54,-146.0,411.8,-9.3,424,3913,0.00,2.22,0.00,0.000,6,0.000,0.056,2681,2492,3626,0,0,0,0,0,0
$GC,4240,-0.54,-146.0,440.4,-8.7,455,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2492,3626,0,0,0,0,0,0
$GC,4558,-0.56,-146.0,466.5,-7.9,485,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2492,3627,0,0,0,0,0,0
$GC,4879,-0.58,-146.0,493.1,-8.3,515,4883,0.00,2.28,0.00,0.000,4,0.000,0.071,2681,3899,3627,0,0,0,0,0,0
$GC,4901,-0.60,-146.0,495.4,-8.7,516,4908,0.00,2.15,0.00,0.000,6,0.000,0.041,2681,2488,3627,0,0,0,0,0,0
$GC,5226,-0.62,-146.0,522.5,-8.1,547,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2488,3627,0,0,0,0,0,0
$GC,5546,-0.65,-146.0,548.2,-8.0,577,5550,0.00,2.30,0.00,0.000,4,0.000,0.069,2681,3905,3628,0,0,0,0,0,0
$GC,5577,-0.69,-146.0,550.9,-8.2,579,5584,0.12,2.15,0.00,0.000,6,0.120,0.041,2635,2493,3628,0,0,0,0,0,0
$GC,5902,-0.61,-146.0,586.9,-11.6,610,5907,0.12,2.33,0.00,0.000,4,0.210,0.069,2663,3904,3628,0,0,0,0,0,0
$GC,5920,-0.56,-146.0,588.8,-10.9,611,5924,0.00,2.17,0.00,0.000,6,0.000,0.041,2664,2478,3628,0,0,0,0,0,0
$STATE,6195,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6195,begin apogee
$GC,6201,-0.12,0.0,614.5,9.3,627,6331,0.52,0.00,122.72,1.305,6,0.187,0.000,2814,2262,3031,0,0,0,0,0,0
$STATE,6332,end apogee,CONTROL_FINISHED_OK
$STATE,6332,begin climb
$GC,6334,0.62,146.0,618.3,0.0,631,6473,0.77,2.42,129.38,1.255,4,0.133,0.065,3062,890,2433,0,0,0,0,0,0
$GC,6535,-1.87,146.0,601.3,23682.7,637,6544,2.92,2.40,0.00,0.000,6,0.171,0.050,2273,2283,2428,0,0,0,0,0,0
$GC,6870,-1.87,146.0,542.8,23682.7,666,6874,0.00,2.30,0.00,0.000,4,0.000,0.061,2272,884,2421,0,0,0,0,0,0
$GC,6910,-1.87,146.0,535.5,23682.7,669,6914,0.00,2.30,0.00,0.000,6,0.000,0.056,2272,2286,2421,0,0,0,0,0,0
$GC,7237,-1.87,146.0,471.3,23682.7,699,7241,0.00,2.28,0.00,0.000,4,0.000,0.059,2272,872,2420,0,0,0,0,0,0
$GC,7247,-1.87,146.0,469.2,23682.7,699,7254,0.00,2.30,0.00,0.000,6,0.000,0.063,2272,2274,2421,0,0,0,0,0,0
$GC,7574,-1.87,146.0,407.2,23682.7,730,7578,0.00,2.28,0.00,0.000,4,0.000,0.063,2272,3696,2419,0,0,0,0,0,0
$GC,7585,-1.87,146.0,404.7,23682.7,730,7592,0.00,2.20,0.00,0.000,6,0.000,0.044,2272,2282,2419,0,0,0,0,0,0
$GC,7912,-1.87,146.0,346.4,23682.7,761,7916,0.00,2.30,0.00,0.000,4,0.000,0.067,2272,3694,2418,0,0,0,0,0,0
$GC,7922,-1.87,146.0,344.7,23682.7,761,7929,0.00,2.20,0.00,0.000,6,0.000,0.047,2272,2277,2419,0,0,0,0,0,0
$GC,8249,-1.87,146.0,287.4,23682.7,792,8253,0.00,2.20,0.00,0.000,4,0.000,0.051,2272,855,2418,0,0,0,0,0,0
$GC,8259,-1.87,146.0,285.3,23682.7,792,8266,0.00,2.28,0.00,0.000,6,0.000,0.054,2272,2279,2419,0,0,0,0,0,0
$GC,8586,-1.87,146.0,226.1,23682.7,823,8590,0.00,2.25,0.00,0.000,4,0.000,0.069,2272,3682,2419,0,0,0,0,0,0
$GC,8619,-1.87,146.0,219.9,23682.7,825,8626,0.00,2.22,0.00,0.000,6,0.000,0.051,2272,2271,2419,0,0,0,0,0,0
$GC,8945,-1.87,146.0,159.2,23682.7,856,8948,0.00,2.17,0.00,0.000,4,0.000,0.052,2272,863,2418,0,0,0,0,0,0
$GC,9174,-1.87,146.0,114.4,23682.7,876,9181,0.00,2.25,0.00,0.000,6,0.000,0.055,2272,2278,2418,0,0,0,0,0,0
$GC,9514,-1.87,146.0,52.8,23682.7,930,9521,0.00,2.22,0.00,0.000,4,0.000,0.053,2272,865,2419,0,0,0,0,0,0
$GC,9690,-1.87,146.0,21.0,23682.7,961,9700,0.00,2.22,0.00,0.000,6,0.000,0.052,2272,2275,2420,0,0,0,0,0,0
$FREEZE,8.66,-1.250,-1.803,3,30,2
$FREEZE,7.43,-1.590,-1.824,3,30,2
$FREEZE,6.42,-1.666,-1.828,3,30,2
$FREEZE,5.72,-1.482,-1.816,3,30,2
$FREEZE,4.64,-1.460,-1.813,3,30,2
$FREEZE,3.54,-1.644,-1.824,3,30,2
$FREEZE,3.02,-1.727,-1.829,3,30,2
$FREEZE,2.75,-1.721,-1.829,3,30,2
$STATE,9794,end climb,SURFACE_DEPTH_REACHED
$STATE,9794,begin surface coast
$FREEZE,2.79,-1.709,-1.828,3,30,2
$FINISH,2.8,1.026809
$STATE,9800,end surface coast,CONTROL_FINISHED_OK
$STATE,9800,begin surface
$SM_CCo,9936,112.85,0.068,0,0,1399,400.08
$SM_GC,3.56,0.00,0.00,112.85,0.000,0.000,0.068,106,2494,1399,-8.62,0.14,400.08
$RAFOS_CLK,532
$RAFOS,6,1303202950,8.833333,8.819445,116,65,63,60,53,52,619,196,208,174,113,131
$RAFOS,5,1303202461,8.700000,8.683611,124,61,58,55,52,50,699,205,195,220,157,182
$RAFOS,4,1303201983,8.566667,8.550834,97,68,64,60,59,53,803,213,188,166,147,177
$RAFOS,3,1303201505,8.433333,8.418056,70,68,62,62,61,58,175,215,205,157,196,119
$RAFOS,2,1303201028,8.300000,8.285556,67,62,61,49,48,48,166,221,203,980,824,139
$RAFOS,1,1303200545,8.166667,8.151389,60,58,55,53,53,52,189,211,164,136,123,178
$RAFOS,0,1303200071,8.033334,8.019722,65,61,59,55,53,50,211,126,181,222,87,115
$RAFOS_FIX,6721.117188,-5802.969727,190411,080840,3,112,0.06
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,600.4,28.4
$24V_AH,22.1,57.810
$10V_AH,10.2,29.628
$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,11.575,84.100,252.100,112.850,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2456.914,5475.268,427.460,1598.452,162.871,0.000,1283.690,0.000,1581.372,2520.000,20.833,0.000
$DEVICE_MAMPS,218.025,147.645,1305.090,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.022,743.967,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,39987,980
$CAP_FILE_SIZE,111654,0
$CFSIZE,260165632,225345536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.1
$GPS,190411,084240,6721.117,-5802.970,0,3112.3,0,-38.9