version: 66.08
glider: 141
mission: 15
dive: 434
start: 4 19 111 21 58 35
data:
$ID,141
$MISSION,15
$DIVE,434
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,190411,203512,6721.528,-5752.641,0,4119.5,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.23
$_SM_ANGLEo,-0.8
$GPS2,190411,203512,6721.528,-5752.641,0,4119.5,0,-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,165.2,57935,-17.5,-10.000
$D_GRID,643
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.00,0.000,2,0.000,0.000,2882,865,3146,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.4,-0.0,1,51,0.62,4.85,-11.95,0.000,4,0.116,0.063,2667,3897,3627,0,0,0,0,0,0
$GC,204,-0.56,-146.0,32.3,-14.0,32,211,0.00,2.15,0.00,0.000,6,0.000,0.040,2667,2474,3629,0,0,0,0,0,0
$GC,550,-0.46,-146.0,84.7,-15.1,93,557,0.17,2.33,0.00,0.000,4,0.214,0.069,2709,3892,3627,0,0,0,0,0,0
$GC,576,-0.42,-146.0,88.2,-13.2,97,583,0.00,2.12,0.00,0.000,6,0.000,0.041,2709,2487,3627,0,0,0,0,0,0
$GC,915,-0.45,-146.0,122.5,-10.0,138,919,0.00,2.20,0.00,0.000,4,0.000,0.058,2709,1085,3625,0,0,0,0,0,0
$GC,932,-0.48,-146.0,124.5,-10.5,139,937,0.00,2.20,0.00,0.000,6,0.000,0.056,2709,2484,3626,0,0,0,0,0,0
$GC,1264,-0.54,-146.0,155.8,-8.0,170,1268,0.00,2.28,0.00,0.000,4,0.000,0.072,2709,3898,3623,0,0,0,0,0,0
$GC,1282,-0.61,-146.0,157.2,-7.8,171,1287,0.12,2.15,0.00,0.000,6,0.125,0.042,2667,2495,3623,0,0,0,0,0,0
$GC,1614,-0.56,-146.0,193.7,-11.3,202,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2495,3621,0,0,0,0,0,0
$GC,1933,-0.53,-146.0,230.1,-10.8,232,1937,0.00,2.28,0.00,0.000,4,0.000,0.067,2667,3899,3621,0,0,0,0,0,0
$GC,1965,-0.53,-146.0,233.7,-9.8,234,1972,0.00,2.17,0.00,0.000,6,0.000,0.041,2667,2486,3621,0,0,0,0,0,0
$GC,2293,-0.50,-146.0,263.6,-8.9,265,2297,0.12,2.20,0.00,0.000,4,0.204,0.057,2697,1080,3621,0,0,0,0,0,0
$GC,2310,-0.50,-146.0,265.1,-7.9,266,2314,0.00,2.22,0.00,0.000,6,0.000,0.054,2697,2498,3622,0,0,0,0,0,0
$GC,2637,-0.56,-146.0,286.2,-6.5,296,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2498,3622,0,0,0,0,0,0
$GC,2955,-0.63,-146.0,307.7,-6.8,326,2960,0.12,2.25,0.00,0.000,4,0.125,0.054,2653,1079,3623,0,0,0,0,0,0
$GC,2975,-0.65,-146.0,309.4,-7.6,327,2979,0.00,2.22,0.00,0.000,6,0.000,0.054,2653,2498,3623,0,0,0,0,0,0
$GC,3301,-0.59,-146.0,343.3,-10.3,357,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2498,3623,0,0,0,0,0,0
$GC,3620,-0.53,-146.0,377.6,-10.8,387,3625,0.15,2.28,0.00,0.000,4,0.204,0.068,2689,3899,3624,0,0,0,0,0,0
$GC,3659,-0.60,-146.0,381.3,-8.3,390,3666,0.00,2.17,0.00,0.000,6,0.000,0.039,2689,2478,3624,0,0,0,0,0,0
$GC,3985,-0.65,-146.0,406.2,-7.8,421,3990,0.12,2.33,0.00,0.000,4,0.119,0.066,2644,3899,3624,0,0,0,0,0,0
$GC,4003,-0.65,-146.0,407.8,-8.4,422,4007,0.00,2.15,0.00,0.000,6,0.000,0.039,2644,2491,3624,0,0,0,0,0,0
$GC,4328,-0.59,-146.0,443.4,-10.9,452,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2491,3624,0,0,0,0,0,0
$GC,4649,-0.53,-146.0,477.2,-11.2,482,4654,0.17,2.30,0.00,0.000,4,0.201,0.067,2688,3899,3625,0,0,0,0,0,0
$GC,4666,-0.53,-146.0,479.2,-10.8,483,4670,0.00,2.15,0.00,0.000,6,0.000,0.038,2688,2488,3625,0,0,0,0,0,0
$STATE,4921,end dive,NO_VERTICAL_VELOCITY
$STATE,4922,begin apogee
$GC,4927,-0.12,0.0,486.1,0.0,507,5057,0.40,0.00,119.62,1.190,6,0.138,0.000,2816,2251,3029,0,0,0,0,0,0
$STATE,5058,end apogee,CONTROL_FINISHED_OK
$STATE,5058,begin climb
$GC,5060,0.62,146.0,485.8,0.0,519,5197,0.77,2.62,124.03,1.146,4,0.140,0.060,3052,3683,2433,0,0,0,0,0,0
$GC,5255,0.49,146.0,469.0,14.1,537,5260,0.15,2.30,0.00,0.000,6,0.183,0.044,3028,2313,2430,0,0,0,0,0,0
$GC,5580,0.46,146.0,433.6,10.5,567,5584,0.00,2.33,0.00,0.000,4,0.000,0.060,3036,865,2427,0,0,0,0,0,0
$GC,5664,0.44,146.0,424.6,10.7,574,5669,0.12,2.25,0.00,0.000,6,0.185,0.047,3008,2282,2426,0,0,0,0,0,0
$GC,5990,0.48,159.5,393.8,9.4,604,6006,0.00,2.25,11.57,0.996,4,0.000,0.060,3008,3693,2380,0,0,0,0,0,0
$GC,6057,0.48,159.5,386.9,10.8,609,6064,0.00,2.22,0.00,0.000,6,0.000,0.044,3016,2263,2379,0,0,0,0,0,0
$GC,6382,0.51,183.1,355.7,8.9,640,6408,0.00,2.22,21.45,1.049,4,0.000,0.058,3027,865,2283,0,0,0,0,0,0
$GC,6468,0.55,186.6,347.7,9.8,647,6480,0.00,2.22,4.12,0.685,6,0.000,0.047,3027,2277,2270,0,0,0,0,0,0
$GC,6798,0.55,186.6,313.6,10.7,678,6802,0.00,2.22,0.00,0.000,4,0.000,0.060,3026,3681,2269,0,0,0,0,0,0
$GC,6878,0.52,186.6,303.5,13.0,685,6882,0.00,2.20,0.00,0.000,6,0.000,0.046,3037,2264,2268,0,0,0,0,0,0
$GC,7208,0.52,186.6,263.3,12.2,716,7212,0.00,2.22,0.00,0.000,4,0.000,0.060,3046,859,2268,0,0,0,0,0,0
$GC,7296,0.52,186.6,252.4,12.3,723,7303,0.00,2.17,0.00,0.000,6,0.000,0.046,3046,2274,2267,0,0,0,0,0,0
$GC,7622,0.49,186.6,212.4,12.1,754,7626,0.00,2.25,0.00,0.000,4,0.000,0.060,3046,3681,2267,0,0,0,0,0,0
$GC,7677,0.43,186.6,204.8,13.5,758,7684,0.20,2.20,0.00,0.000,6,0.187,0.045,3005,2271,2267,0,0,0,0,0,0
$GC,8003,0.50,188.6,172.4,9.9,789,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2271,2266,0,0,0,0,0,0
$GC,8321,0.63,230.7,144.4,8.1,819,8366,0.17,2.30,38.88,0.965,4,0.083,0.059,3093,868,2089,0,0,0,0,0,0
$GC,8404,0.57,230.7,134.3,14.0,826,8409,0.17,2.20,0.00,0.000,6,0.182,0.044,3049,2277,2085,0,0,0,0,0,0
$GC,8730,0.61,232.9,98.2,9.9,857,8737,0.00,2.22,0.00,0.000,4,0.000,0.059,3048,3680,2082,0,0,0,0,0,0
$GC,8800,0.61,232.9,90.3,11.9,869,8807,0.00,2.17,0.00,0.000,6,0.000,0.044,3056,2273,2082,0,0,0,0,0,0
$GC,9145,0.70,259.2,59.7,8.8,930,9176,0.00,2.30,24.83,0.900,4,0.000,0.059,3059,865,1973,0,0,0,0,0,0
$GC,9241,0.84,294.3,51.6,8.4,946,9279,0.22,2.22,32.15,0.894,6,0.078,0.044,3151,2285,1830,0,0,0,0,0,0
$FREEZE,8.36,-1.710,-1.837,3,35,1
$FREEZE,7.38,-1.709,-1.837,3,35,1
$STATE,9498,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9498,begin subsurface finish
$FINISH1,7.4,1.026883,30
$GC,9504,0.04,30.2,7.4,-17.8,991,9558,0.93,2.22,-45.80,0.000,4,0.180,0.073,2883,3680,2907,0,0,0,0,0,0
$FINISH2,4.4
$STATE,9559,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9559,begin surface
$RAFOS_CLK,494
$RAFOS,3,1303259102,0.433333,0.417222,58,57,55,55,54,47,198,213,155,174,131,1674
$RAFOS,2,1303258623,0.300000,0.284167,76,66,56,55,55,54,1032,190,165,211,201,181
$RAFOS,1,1303258145,0.166667,0.151389,147,61,59,55,55,53,964,190,147,234,163,217
$RAFOS,0,1303257669,0.033333,0.019167,56,54,53,52,49,49,143,212,191,201,174,158
$RAFOS_FIX,6724.043945,-5752.756348,200411,000056,2,112,0.35
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.029211
$HUMID,44.44
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,16.9
$24V_AH,22.4,58.384
$10V_AH,10.3,29.950
$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,4.775,94.650,376.650,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2350.260,5075.647,427.181,1597.245,171.630,0.000,1297.880,0.000,1588.727,1800.000,12.545,0.000
$DEVICE_MAMPS,214.200,73.440,1189.575,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.574,759.056,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40037,1000
$CAP_FILE_SIZE,111793,0
$CFSIZE,260165632,225030144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.0
$GPS,200411,001456,6724.044,-5752.756,0,2111.5,0,-38.9