version: 66.08
glider: 141
mission: 15
dive: 437
start: 4 20 111 5 40 6
data:
$ID,141
$MISSION,15
$DIVE,437
$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,38
$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
$GPS1,200411,043544,6721.465,-5750.275,0,4121.0,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,14.2
$GPS2,200411,043544,6721.465,-5750.275,0,4121.0,0,-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,166.1,56497,-17.5,-10.000
$D_GRID,594
$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,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,167,0.00,0.38,-145.43,0.000,6,0.000,0.148,3195,2500,3626,0,0,0,0,0,0
$GC,170,-0.62,-146.0,3.6,-2.4,26,178,1.85,2.33,0.00,0.000,4,0.207,0.057,2681,1086,3626,0,0,0,0,0,0
$GC,192,-1.21,-146.0,5.7,-7.1,29,199,0.60,2.22,0.00,0.000,6,0.085,0.056,2470,2486,3626,0,0,0,0,0,0
$GC,536,-0.73,-146.0,114.5,-34.2,86,538,0.68,0.00,0.00,0.000,6,0.279,0.000,2619,2487,3626,0,0,0,0,0,0
$GC,856,-0.57,-146.0,178.1,-17.3,116,863,0.22,0.00,0.00,0.000,6,0.230,0.000,2675,2487,3624,0,0,0,0,0,0
$GC,1181,-0.57,-146.0,215.3,-10.7,147,1186,0.00,2.28,0.00,0.000,4,0.000,0.073,2675,3897,3623,0,0,0,0,0,0
$GC,1203,-0.57,-146.0,217.6,-10.0,148,1210,0.00,2.17,0.00,0.000,6,0.000,0.042,2675,2487,3623,0,0,0,0,0,0
$GC,1528,-0.57,-146.0,251.0,-10.3,179,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2487,3623,0,0,0,0,0,0
$GC,1850,-0.57,-146.0,281.1,-8.7,209,1854,0.00,2.28,0.00,0.000,4,0.000,0.067,2675,3899,3623,0,0,0,0,0,0
$GC,1860,-0.57,-146.0,282.4,-8.9,209,1867,0.00,2.17,0.00,0.000,6,0.000,0.038,2675,2478,3623,0,0,0,0,0,0
$GC,2186,-0.57,-146.0,311.4,-8.9,240,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2479,3624,0,0,0,0,0,0
$GC,2506,-0.57,-146.0,340.6,-7.7,270,2510,0.00,2.15,0.00,0.000,4,0.000,0.054,2675,1085,3624,0,0,0,0,0,0
$GC,2552,-0.60,-146.0,344.5,-8.7,274,2556,0.00,2.20,0.00,0.000,6,0.000,0.052,2675,2490,3625,0,0,0,0,0,0
$GC,2878,-0.60,-146.0,364.3,-5.8,304,2882,0.00,2.28,0.00,0.000,4,0.000,0.066,2675,3905,3625,0,0,0,0,0,0
$GC,2908,-0.60,-146.0,366.4,-7.3,306,2912,0.00,2.15,0.00,0.000,6,0.000,0.038,2675,2480,3625,0,0,0,0,0,0
$GC,3238,-0.60,-146.0,388.8,-6.3,337,3242,0.00,2.28,0.00,0.000,4,0.000,0.063,2675,3904,3625,0,0,0,0,0,0
$GC,3268,-0.63,-146.0,390.6,-6.3,339,3272,0.00,2.15,0.00,0.000,6,0.000,0.038,2675,2493,3625,0,0,0,0,0,0
$GC,3599,-0.63,-146.0,413.2,-7.3,370,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2493,3625,0,0,0,0,0,0
$STATE,3809,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3809,begin apogee
$GC,3815,-0.12,0.0,430.1,9.5,390,3939,0.47,0.00,118.78,1.153,6,0.182,0.000,2814,2256,3030,0,0,0,0,0,0
$STATE,3940,end apogee,CONTROL_FINISHED_OK
$STATE,3940,begin climb
$GC,3942,0.62,146.0,433.9,0.0,401,4077,0.77,2.58,123.25,1.108,4,0.138,0.056,3053,3691,2433,0,0,0,0,0,0
$GC,4129,0.50,146.0,416.2,15.0,418,4136,0.15,2.35,0.00,0.000,6,0.184,0.049,3030,2293,2430,0,0,0,0,0,0
$GC,4454,0.46,146.0,382.9,11.2,449,4458,0.00,2.30,0.00,0.000,4,0.000,0.058,3038,868,2427,0,0,0,0,0,0
$GC,4509,0.48,155.9,377.1,9.5,453,4528,0.00,2.22,8.65,0.908,6,0.000,0.045,3038,2282,2394,0,0,0,0,0,0
$GC,4846,0.44,167.5,337.5,9.5,485,4863,0.12,2.22,11.57,0.959,4,0.187,0.058,3008,3680,2346,0,0,0,0,0,0
$GC,4932,0.44,167.5,328.2,11.6,492,4936,0.00,2.22,0.00,0.000,6,0.000,0.043,3015,2264,2345,0,0,0,0,0,0
$GC,5258,0.49,179.3,296.6,9.5,522,5274,0.00,2.20,11.15,0.948,4,0.000,0.056,3025,868,2299,0,0,0,0,0,0
$GC,5332,0.55,191.4,289.4,9.4,528,5349,0.00,2.20,12.10,0.959,6,0.000,0.045,3025,2286,2249,0,0,0,0,0,0
$GC,5668,0.60,209.7,254.8,9.2,559,5692,0.10,2.22,16.80,0.971,4,0.110,0.057,3075,3686,2174,0,0,0,0,0,0
$GC,5755,0.51,209.7,243.4,15.0,566,5762,0.22,2.22,0.00,0.000,6,0.195,0.044,3028,2274,2173,0,0,0,0,0,0
$GC,6080,0.56,230.7,212.4,9.0,597,6106,0.00,2.28,19.33,0.962,4,0.000,0.058,3035,872,2088,0,0,0,0,0,0
$GC,6148,0.66,247.1,206.3,9.2,603,6171,0.12,2.20,15.48,0.933,6,0.106,0.043,3091,2285,2021,0,0,0,0,0,0
$GC,6489,0.59,247.1,153.5,15.7,635,6494,0.15,2.22,0.00,0.000,4,0.177,0.057,3052,3694,2017,0,0,0,0,0,0
$GC,6546,0.59,247.1,145.8,12.7,640,6550,0.00,2.22,0.00,0.000,6,0.000,0.043,3059,2262,2017,0,0,0,0,0,0
$GC,6871,0.62,247.1,109.4,10.5,670,6875,0.00,2.17,0.00,0.000,4,0.000,0.057,3070,862,2016,0,0,0,0,0,0
$GC,6939,0.67,247.1,102.2,10.7,676,6943,0.00,2.20,0.00,0.000,6,0.000,0.044,3070,2282,2015,0,0,0,0,0,0
$GC,7283,0.72,247.7,66.9,10.0,734,7290,0.00,2.22,0.00,0.000,4,0.000,0.059,3070,3694,2016,0,0,0,0,0,0
$GC,7364,0.72,247.7,57.4,11.8,748,7370,0.00,2.20,0.00,0.000,6,0.000,0.044,3080,2271,2015,0,0,0,0,0,0
$GC,7709,0.75,247.7,22.4,10.3,809,7716,0.00,2.20,0.00,0.000,4,0.000,0.060,3088,865,2015,0,0,0,0,0,0
$GC,7773,0.79,251.6,16.0,9.8,820,7780,0.00,2.17,1.27,0.097,6,0.000,0.045,3088,2279,2004,0,0,0,0,0,0
$FREEZE,8.48,-1.713,-1.837,3,38,0
$STATE,7842,end climb,FINISH_DEPTH_REACHED
$STATE,7842,begin subsurface finish
$FINISH1,8.5,1.026871,31
$GC,7849,0.04,30.8,8.5,-10.6,832,7886,0.65,2.30,-29.83,0.000,4,0.155,0.073,2886,3686,2907,0,0,0,0,0,0
$FINISH2,7.0
$STATE,7887,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7887,begin surface
$RAFOS_CLK,410
$RAFOS_FIX,6721.464844,-5750.275391,200411,040444,4,121,0.33
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,46.14
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,400.5,44.3
$24V_AH,22.6,58.736
$10V_AH,10.1,30.114
$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,6.125,74.500,338.375,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,1959.452,4029.942,477.798,1344.574,132.026,0.000,1224.936,0.000,1337.292,0.000,10.889,0.000
$DEVICE_MAMPS,279.225,148.410,1152.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.830,626.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33411,838
$CAP_FILE_SIZE,91589,0
$CFSIZE,260165632,224878592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.6
$GPS,200411,043544,6721.465,-5750.275,0,4121.0,0,-38.9