version: 66.08
glider: 141
mission: 15
dive: 432
start: 4 19 111 16 47 8
data:
$ID,141
$MISSION,15
$DIVE,432
$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,31
$R_STBD_OVSHOOT,31
$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,6.40
$_SM_ANGLEo,-1.0
$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,-7.28,0.000,2,0.000,0.000,2882,2269,3133,0,0,0,0,0,0
$GC,28,-0.62,-146.0,7.2,-0.0,1,53,0.60,2.65,-15.32,0.000,4,0.097,0.076,2667,3898,3628,0,0,0,0,0,0
$GC,71,-0.54,-146.0,11.1,-10.4,8,78,0.00,2.17,0.00,0.000,6,0.000,0.041,2667,2479,3629,0,0,0,0,0,0
$GC,416,-0.43,-146.0,64.3,-16.1,69,422,0.20,0.00,0.00,0.000,6,0.210,0.000,2716,2479,3630,0,0,0,0,0,0
$GC,761,-0.46,-146.0,100.3,-9.3,130,765,0.00,2.28,0.00,0.000,4,0.000,0.069,2716,3893,3629,0,0,0,0,0,0
$GC,790,-0.51,-146.0,102.9,-8.7,132,797,0.00,2.15,0.00,0.000,6,0.000,0.042,2716,2481,3628,0,0,0,0,0,0
$GC,1117,-0.57,-146.0,132.8,-8.6,163,1122,0.12,2.30,0.00,0.000,4,0.119,0.069,2671,3892,3626,0,0,0,0,0,0
$GC,1146,-0.57,-146.0,135.9,-11.3,165,1150,0.00,2.15,0.00,0.000,6,0.000,0.043,2671,2490,3626,0,0,0,0,0,0
$GC,1477,-0.53,-146.0,176.1,-11.9,196,1480,0.00,2.22,0.00,0.000,4,0.000,0.057,2671,1085,3624,0,0,0,0,0,0
$GC,1528,-0.53,-146.0,182.0,-11.2,200,1532,0.00,2.20,0.00,0.000,6,0.000,0.056,2671,2484,3624,0,0,0,0,0,0
$GC,1855,-0.51,-146.0,217.4,-10.8,230,1859,0.00,2.28,0.00,0.000,4,0.000,0.070,2672,3899,3623,0,0,0,0,0,0
$GC,1876,-0.51,-146.0,220.1,-10.9,231,1883,0.00,2.20,0.00,0.000,6,0.000,0.042,2671,2491,3623,0,0,0,0,0,0
$GC,2201,-0.51,-146.0,255.6,-10.8,262,2205,0.00,2.28,0.00,0.000,4,0.000,0.067,2671,3905,3623,0,0,0,0,0,0
$GC,2252,-0.51,-146.0,260.9,-10.2,266,2256,0.00,2.15,0.00,0.000,6,0.000,0.041,2671,2490,3623,0,0,0,0,0,0
$GC,2579,-0.51,-146.0,295.0,-10.7,296,2583,0.00,2.30,0.00,0.000,4,0.000,0.067,2671,3905,3624,0,0,0,0,0,0
$GC,2641,-0.51,-146.0,301.4,-9.7,301,2645,0.00,2.17,0.00,0.000,6,0.000,0.040,2671,2480,3624,0,0,0,0,0,0
$GC,2971,-0.51,-146.0,334.4,-9.3,332,2975,0.00,2.28,0.00,0.000,4,0.000,0.066,2671,3899,3624,0,0,0,0,0,0
$GC,3001,-0.53,-146.0,336.9,-8.5,334,3005,0.00,2.15,0.00,0.000,6,0.000,0.041,2671,2485,3624,0,0,0,0,0,0
$GC,3326,-0.53,-146.0,366.4,-9.1,364,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2486,3625,0,0,0,0,0,0
$GC,3647,-0.53,-146.0,394.8,-8.8,394,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2485,3626,0,0,0,0,0,0
$GC,3975,-0.53,-146.0,423.6,-8.4,425,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2486,3626,0,0,0,0,0,0
$GC,4290,-0.53,-146.0,451.2,-8.9,455,4294,0.00,2.30,0.00,0.000,4,0.000,0.065,2671,3899,3627,0,0,0,0,0,0
$GC,4313,-0.53,-146.0,453.3,-9.0,456,4320,0.00,2.15,0.00,0.000,6,0.000,0.038,2671,2478,3626,0,0,0,0,0,0
$GC,4639,-0.53,-146.0,482.7,-9.3,487,4643,0.00,2.28,0.00,0.000,4,0.000,0.063,2671,3899,3627,0,0,0,0,0,0
$GC,4650,-0.53,-146.0,484.1,-10.0,487,4657,0.00,2.15,0.00,0.000,6,0.000,0.039,2671,2481,3627,0,0,0,0,0,0
$STATE,4750,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4750,begin apogee
$GC,4756,-0.12,0.0,493.2,9.1,497,4881,0.50,0.00,119.70,1.187,6,0.184,0.000,2815,2256,3031,0,0,0,0,0,0
$STATE,4882,end apogee,CONTROL_FINISHED_OK
$STATE,4882,begin climb
$GC,4884,0.62,146.0,497.1,0.0,508,5018,0.77,0.00,124.82,1.144,6,0.133,0.000,3053,2255,2433,0,0,0,0,0,0
$GC,5336,0.55,146.0,446.6,12.5,551,5340,0.00,2.35,0.00,0.000,4,0.000,0.060,3053,3684,2429,0,0,0,0,0,0
$GC,5421,0.44,146.0,433.9,14.9,558,5428,0.22,2.22,0.00,0.000,6,0.187,0.045,3006,2289,2428,0,0,0,0,0,0
$GC,5746,0.48,160.1,402.4,9.3,589,5768,0.00,2.35,12.27,1.001,4,0.000,0.060,3015,862,2376,0,0,0,0,0,0
$GC,5796,0.53,160.1,397.3,10.2,593,5803,0.00,2.22,0.00,0.000,6,0.000,0.046,3015,2291,2375,0,0,0,0,0,0
$GC,6123,0.55,160.1,362.3,10.7,624,6127,0.00,2.22,0.00,0.000,4,0.000,0.060,3015,3690,2375,0,0,0,0,0,0
$GC,6178,0.52,160.1,355.4,12.1,628,6184,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2273,2374,0,0,0,0,0,0
$GC,6504,0.52,160.1,320.1,10.4,659,6508,0.00,2.20,0.00,0.000,4,0.000,0.058,3035,863,2374,0,0,0,0,0,0
$GC,6559,0.52,160.1,314.1,10.6,663,6566,0.00,2.22,0.00,0.000,6,0.000,0.045,3035,2277,2374,0,0,0,0,0,0
$GC,6887,0.50,160.1,280.7,10.3,694,6891,0.00,2.20,0.00,0.000,4,0.000,0.060,3035,3682,2374,0,0,0,0,0,0
$GC,6938,0.45,160.1,274.7,11.5,698,6943,0.15,2.17,0.00,0.000,6,0.190,0.043,3008,2262,2375,0,0,0,0,0,0
$GC,7264,0.57,222.5,249.4,7.1,728,7324,0.12,0.00,54.03,1.021,6,0.101,0.000,3071,2261,2121,0,0,0,0,0,0
$GC,7642,0.51,222.5,197.8,14.1,764,7644,0.15,0.00,0.00,0.000,6,0.181,0.000,3033,2262,2114,0,0,0,0,0,0
$GC,7962,0.54,222.5,164.6,10.7,794,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2261,2113,0,0,0,0,0,0
$GC,8281,0.59,222.5,130.2,10.2,824,8285,0.00,2.17,0.00,0.000,4,0.000,0.057,3041,868,2113,0,0,0,0,0,0
$GC,8321,0.67,228.5,126.1,9.7,827,8334,0.12,2.20,4.78,0.679,6,0.106,0.044,3099,2285,2098,0,0,0,0,0,0
$GC,8657,0.64,228.5,84.4,12.4,869,8664,0.00,2.17,0.00,0.000,4,0.000,0.057,3099,3680,2098,0,0,0,0,0,0
$GC,8756,0.56,228.5,71.2,13.3,886,8763,0.22,2.15,0.00,0.000,6,0.177,0.042,3048,2273,2098,0,0,0,0,0,0
$GC,9103,0.70,282.3,40.9,7.5,947,9151,0.12,2.25,40.22,0.973,4,0.101,0.058,3117,868,1878,0,0,0,0,0,0
$GC,9198,0.70,282.3,30.1,11.5,963,9205,0.00,2.22,0.00,0.000,6,0.000,0.045,3117,2272,1873,0,0,0,0,0,0
$FREEZE,8.69,-1.700,-1.837,3,33,0
$STATE,9357,end climb,FINISH_DEPTH_REACHED
$STATE,9357,begin subsurface finish
$FINISH1,8.7,1.026874,31
$GC,9363,0.04,30.7,8.7,-13.5,991,9405,0.77,2.35,-34.53,0.000,4,0.171,0.076,2886,3693,2907,0,0,0,0,0,0
$FINISH2,6.9
$STATE,9406,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9406,begin surface
$RAFOS_CLK,492
$RAFOS,6,1303231744,16.833334,16.817778,122,68,63,61,60,57,669,209,227,187,173,154
$RAFOS,5,1303231267,16.700001,16.685278,133,70,60,54,53,50,674,185,209,151,127,221
$RAFOS_FIX,6721.586426,-5756.984863,190411,161640,3,126,0.15
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.3
$ALTIM_BOTTOM_PING,450.4,57.3
$24V_AH,22.3,58.158
$10V_AH,10.1,29.833
$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,4.100,82.975,355.825,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2349.134,4965.853,433.414,1563.709,159.934,0.000,1267.478,0.000,1556.182,360.000,14.433,0.000
$DEVICE_MAMPS,210.375,76.500,1187.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.804,751.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36652,998
$CAP_FILE_SIZE,105996,0
$CFSIZE,260165632,225161216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.0
$GPS,190411,164240,6721.586,-5756.985,0,3126.0,0,-38.9