version: 66.08
glider: 141
mission: 15
dive: 431
start: 4 19 111 13 59 0
data:
$ID,141
$MISSION,15
$DIVE,431
$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,-38844.988
$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,30
$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
$GPS1,190411,124344,6720.738,-5759.161,0,3147.7,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.11
$_SM_ANGLEo,1.2
$GPS2,190411,124344,6720.738,-5759.161,0,3147.7,0,-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,161.5,60992,-17.5,-10.000
$D_GRID,789
$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,-6.43,0.000,2,0.000,0.000,2883,2275,3123,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.5,-0.0,1,52,0.62,2.67,-14.18,0.000,4,0.115,0.080,2668,3893,3629,0,0,0,0,0,0
$GC,82,-0.58,-146.0,14.3,-11.6,10,89,0.00,2.15,0.00,0.000,6,0.000,0.041,2668,2480,3630,0,0,0,0,0,0
$GC,429,-0.49,-146.0,66.0,-15.3,71,435,0.15,0.00,0.00,0.000,6,0.214,0.000,2703,2480,3630,0,0,0,0,0,0
$GC,776,-0.49,-146.0,106.6,-11.8,128,780,0.00,2.30,0.00,0.000,4,0.000,0.070,2703,3897,3629,0,0,0,0,0,0
$GC,810,-0.52,-146.0,110.6,-11.8,130,817,0.00,2.17,0.00,0.000,6,0.000,0.044,2703,2486,3629,0,0,0,0,0,0
$GC,1136,-0.55,-146.0,143.7,-9.1,161,1140,0.00,2.20,0.00,0.000,4,0.000,0.060,2703,1075,3627,0,0,0,0,0,0
$GC,1180,-0.62,-146.0,148.3,-9.5,164,1187,0.12,2.25,0.00,0.000,6,0.125,0.057,2661,2496,3627,0,0,0,0,0,0
$GC,1505,-0.57,-146.0,191.0,-12.8,195,1509,0.00,2.28,0.00,0.000,4,0.000,0.072,2661,3903,3625,0,0,0,0,0,0
$GC,1577,-0.55,-146.0,199.8,-12.0,201,1584,0.00,2.17,0.00,0.000,6,0.000,0.043,2661,2477,3626,0,0,0,0,0,0
$GC,1904,-0.50,-146.0,237.7,-11.0,232,1906,0.15,0.00,0.00,0.000,6,0.207,0.000,2697,2478,3626,0,0,0,0,0,0
$GC,2221,-0.55,-146.0,264.5,-7.6,262,2225,0.00,2.30,0.00,0.000,4,0.000,0.066,2697,3900,3626,0,0,0,0,0,0
$GC,2273,-0.64,-146.0,268.4,-7.3,266,2278,0.12,2.17,0.00,0.000,6,0.124,0.041,2655,2479,3625,0,0,0,0,0,0
$GC,2598,-0.58,-146.0,301.5,-10.2,296,2602,0.00,2.30,0.00,0.000,4,0.000,0.066,2655,3903,3626,0,0,0,0,0,0
$GC,2626,-0.54,-146.0,304.5,-10.4,298,2633,0.12,2.15,0.00,0.000,6,0.192,0.040,2683,2492,3625,0,0,0,0,0,0
$GC,2952,-0.57,-146.0,330.4,-7.7,329,2956,0.00,2.28,0.00,0.000,4,0.000,0.065,2684,3906,3627,0,0,0,0,0,0
$GC,3020,-0.62,-146.0,335.7,-8.1,335,3024,0.00,2.15,0.00,0.000,6,0.000,0.039,2684,2486,3626,0,0,0,0,0,0
$GC,3345,-0.66,-146.0,361.3,-7.7,365,3350,0.00,2.30,0.00,0.000,4,0.000,0.065,2684,3906,3628,0,0,0,0,0,0
$GC,3390,-0.71,-146.0,365.0,-7.9,368,3397,0.15,2.15,0.00,0.000,6,0.112,0.038,2633,2488,3628,0,0,0,0,0,0
$GC,3715,-0.62,-146.0,403.1,-11.9,399,3717,0.12,0.00,0.00,0.000,6,0.217,0.000,2661,2488,3629,0,0,0,0,0,0
$GC,4035,-0.62,-146.0,434.8,-10.0,429,4039,0.00,2.28,0.00,0.000,4,0.000,0.066,2661,3906,3630,0,0,0,0,0,0
$GC,4067,-0.62,-146.0,438.1,-10.1,431,4074,0.00,2.15,0.00,0.000,6,0.000,0.038,2661,2490,3629,0,0,0,0,0,0
$GC,4393,-0.62,-146.0,469.4,-9.5,462,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2490,3630,0,0,0,0,0,0
$GC,4717,-0.62,-146.0,500.8,-10.2,492,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2490,3630,0,0,0,0,0,0
$STATE,4913,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4913,begin apogee
$GC,4919,-0.12,0.0,521.7,10.4,511,5050,0.52,0.00,121.40,1.213,6,0.191,0.000,2812,2246,3029,0,0,0,0,0,0
$STATE,5051,end apogee,CONTROL_FINISHED_OK
$STATE,5051,begin climb
$GC,5053,0.62,146.0,525.2,0.0,523,5188,0.77,2.45,125.55,1.173,4,0.132,0.061,3061,898,2434,0,0,0,0,0,0
$GC,5240,0.55,146.0,511.2,10.9,540,5245,0.00,2.35,0.00,0.000,6,0.000,0.046,3061,2283,2430,0,0,0,0,0,0
$GC,5566,0.47,146.0,473.6,11.4,570,5570,0.15,2.30,0.00,0.000,4,0.187,0.062,3023,3686,2427,0,0,0,0,0,0
$GC,5662,0.43,146.0,462.8,11.8,578,5666,0.00,2.20,0.00,0.000,6,0.000,0.046,3031,2295,2427,0,0,0,0,0,0
$GC,5992,0.43,146.0,428.6,10.1,609,5996,0.00,2.28,0.00,0.000,4,0.000,0.060,3042,859,2426,0,0,0,0,0,0
$GC,6047,0.41,146.0,422.9,10.6,613,6055,0.17,2.22,0.00,0.000,6,0.182,0.047,2997,2290,2425,0,0,0,0,0,0
$GC,6373,0.51,192.7,396.5,7.8,644,6418,0.00,2.33,39.25,1.113,4,0.000,0.061,2997,3681,2243,0,0,0,0,0,0
$GC,6466,0.56,192.7,388.3,10.6,652,6471,0.12,2.22,0.00,0.000,6,0.099,0.044,3054,2275,2241,0,0,0,0,0,0
$GC,6796,0.50,192.7,345.8,12.9,683,6800,0.00,2.25,0.00,0.000,4,0.000,0.059,3066,859,2239,0,0,0,0,0,0
$GC,6848,0.47,192.7,339.4,12.4,687,6853,0.17,2.22,0.00,0.000,6,0.182,0.046,3020,2278,2237,0,0,0,0,0,0
$GC,7174,0.51,205.4,307.6,9.4,717,7190,0.00,2.22,11.15,0.978,4,0.000,0.060,3020,3681,2193,0,0,0,0,0,0
$GC,7252,0.51,205.4,299.3,10.6,723,7258,0.00,2.20,0.00,0.000,6,0.000,0.045,3028,2266,2192,0,0,0,0,0,0
$GC,7577,0.52,213.1,266.6,9.6,754,7592,0.00,2.28,8.52,0.913,4,0.000,0.060,3038,866,2160,0,0,0,0,0,0
$GC,7623,0.56,213.1,262.1,10.3,758,7627,0.00,2.20,0.00,0.000,6,0.000,0.045,3038,2285,2159,0,0,0,0,0,0
$GC,7947,0.56,213.1,225.9,11.0,788,7951,0.00,2.20,0.00,0.000,4,0.000,0.060,3038,3689,2159,0,0,0,0,0,0
$GC,8033,0.56,213.1,215.4,12.7,795,8037,0.00,2.20,0.00,0.000,6,0.000,0.044,3048,2272,2159,0,0,0,0,0,0
$GC,8358,0.56,213.1,177.4,11.5,825,8362,0.00,2.17,0.00,0.000,4,0.000,0.057,3058,869,2158,0,0,0,0,0,0
$GC,8398,0.56,213.1,173.1,10.6,828,8402,0.00,2.17,0.00,0.000,6,0.000,0.045,3058,2282,2157,0,0,0,0,0,0
$GC,8723,0.53,213.1,132.1,13.6,858,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2282,2157,0,0,0,0,0,0
$GC,9044,0.54,219.1,95.0,9.7,892,9057,0.00,2.20,6.50,0.767,4,0.000,0.058,3058,3683,2137,0,0,0,0,0,0
$GC,9120,0.54,219.1,87.0,10.9,905,9127,0.00,2.17,0.00,0.000,6,0.000,0.043,3069,2264,2136,0,0,0,0,0,0
$GC,9465,0.60,245.7,56.4,8.8,966,9495,0.00,2.28,24.75,0.907,4,0.000,0.057,3078,866,2028,0,0,0,0,0,0
$GC,9543,0.67,262.6,49.6,9.2,979,9567,0.00,2.20,16.17,0.872,6,0.000,0.044,3078,2281,1958,0,0,0,0,0,0
$GC,9904,0.71,262.6,11.7,12.5,1043,9911,0.00,2.22,0.00,0.000,4,0.000,0.060,3078,3681,1954,0,0,0,0,0,0
$FREEZE,8.75,-1.749,-1.837,3,32,0
$STATE,9928,end climb,FINISH_DEPTH_REACHED
$STATE,9928,begin subsurface finish
$FINISH1,8.7,1.026867,31
$GC,9936,0.04,31.0,8.7,-12.0,1047,9972,0.68,0.00,-32.00,0.000,6,0.158,0.000,2882,2269,2905,0,0,0,0,0,0
$FINISH2,6.7
$STATE,9973,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9973,begin surface
$RAFOS_CLK,524
$RAFOS,4,1303230783,16.566668,16.550833,123,67,64,55,54,51,817,134,211,121,167,190
$RAFOS,3,1303230303,16.433332,16.417500,65,56,54,53,50,48,192,211,153,137,108,126
$RAFOS,2,1303229823,16.299999,16.284166,58,57,57,53,52,48,192,145,215,120,174,157
$RAFOS,1,1303229347,16.166666,16.151945,64,64,55,52,52,49,217,944,163,89,200,190
$RAFOS,0,1303228870,16.033333,16.019444,72,56,55,54,54,48,199,145,174,120,217,154
$RAFOS_FIX,6720.738281,-5759.161133,190411,121244,3,148,0.19
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.029211
$HUMID,44.36
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.6
$ALTIM_BOTTOM_PING,500.8,35.2
$24V_AH,22.3,58.047
$10V_AH,10.1,29.775
$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,4.175,94.550,353.300,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2498.492,5253.541,409.399,1696.678,170.894,0.000,1320.302,0.000,1689.097,2160.000,15.954,0.000
$DEVICE_MAMPS,217.260,79.560,1213.290,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,743.271,797.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150496
$DATA_FILE_SIZE,40072,1053
$CAP_FILE_SIZE,114369,0
$CFSIZE,260165632,225214464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.5
$GPS,190411,124344,6720.738,-5759.161,0,3147.7,0,-38.9