version: 66.08
glider: 141
mission: 15
dive: 438
start: 4 20 111 7 53 19
data:
$ID,141
$MISSION,15
$DIVE,438
$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,36
$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
$GPS1,200411,043544,6721.465,-5750.275,0,4121.0,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.88
$_SM_ANGLEo,2.1
$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,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,-6.53,0.000,2,0.000,0.000,2887,3685,3137,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.9,-0.0,1,52,0.62,4.15,-13.57,0.000,4,0.118,0.054,2673,1075,3630,0,0,0,0,0,0
$GC,123,-0.57,-146.0,18.9,-13.4,17,130,0.00,2.25,0.00,0.000,6,0.000,0.054,2672,2497,3631,0,0,0,0,0,0
$GC,469,-0.47,-146.0,71.4,-15.5,78,476,0.15,0.00,0.00,0.000,6,0.230,0.000,2706,2497,3629,0,0,0,0,0,0
$GC,815,-0.47,-146.0,110.3,-10.6,131,819,0.00,2.28,0.00,0.000,4,0.000,0.071,2706,3897,3628,0,0,0,0,0,0
$GC,838,-0.47,-146.0,112.7,-10.0,132,845,0.00,2.12,0.00,0.000,6,0.000,0.041,2707,2488,3628,0,0,0,0,0,0
$GC,1165,-0.50,-146.0,148.4,-10.1,163,1169,0.00,2.17,0.00,0.000,4,0.000,0.057,2706,1084,3626,0,0,0,0,0,0
$GC,1205,-0.55,-146.0,152.6,-10.4,166,1209,0.00,2.20,0.00,0.000,6,0.000,0.054,2706,2488,3626,0,0,0,0,0,0
$GC,1531,-0.60,-146.0,179.4,-8.3,196,1533,0.12,0.00,0.00,0.000,6,0.128,0.000,2663,2489,3625,0,0,0,0,0,0
$GC,1849,-0.55,-146.0,219.3,-12.5,226,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2489,3623,0,0,0,0,0,0
$GC,2171,-0.50,-146.0,256.5,-11.2,256,2175,0.15,2.22,0.00,0.000,4,0.207,0.055,2699,1087,3623,0,0,0,0,0,0
$GC,2192,-0.50,-146.0,259.3,-10.7,257,2199,0.00,2.22,0.00,0.000,6,0.000,0.054,2699,2501,3623,0,0,0,0,0,0
$GC,2518,-0.56,-146.0,284.7,-7.7,288,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2501,3623,0,0,0,0,0,0
$GC,2836,-0.62,-146.0,309.9,-8.7,318,2838,0.12,0.00,0.00,0.000,6,0.122,0.000,2655,2501,3624,0,0,0,0,0,0
$GC,3155,-0.59,-146.0,347.1,-11.1,348,3159,0.00,2.22,0.00,0.000,4,0.000,0.054,2655,1083,3624,0,0,0,0,0,0
$GC,3185,-0.54,-146.0,350.5,-11.7,350,3189,0.12,2.20,0.00,0.000,6,0.197,0.050,2685,2499,3624,0,0,0,0,0,0
$GC,3510,-0.59,-146.0,376.6,-7.4,380,3514,0.00,2.22,0.00,0.000,4,0.000,0.067,2684,3900,3625,0,0,0,0,0,0
$GC,3521,-0.63,-146.0,377.6,-7.3,380,3528,0.00,2.15,0.00,0.000,6,0.000,0.037,2685,2486,3625,0,0,0,0,0,0
$GC,3846,-0.68,-146.0,403.3,-7.1,411,3848,0.12,0.00,0.00,0.000,6,0.126,0.000,2642,2486,3626,0,0,0,0,0,0
$GC,4164,-0.62,-146.0,437.1,-11.4,441,4168,0.00,2.15,0.00,0.000,4,0.000,0.050,2642,1080,3626,0,0,0,0,0,0
$GC,4176,-0.55,-146.0,438.1,-10.0,442,4181,0.17,2.22,0.00,0.000,6,0.203,0.051,2684,2496,3627,0,0,0,0,0,0
$STATE,4393,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4393,begin apogee
$GC,4398,-0.12,0.0,455.8,7.6,462,4524,0.45,0.00,119.50,1.164,6,0.184,0.000,2816,2251,3030,0,0,0,0,0,0
$STATE,4525,end apogee,CONTROL_FINISHED_OK
$STATE,4525,begin climb
$GC,4527,0.62,146.0,458.4,0.0,473,4661,0.77,2.47,123.90,1.119,4,0.135,0.058,3065,882,2434,0,0,0,0,0,0
$GC,4729,0.54,146.0,438.1,11.9,491,4734,0.00,2.33,0.00,0.000,6,0.000,0.045,3065,2276,2429,0,0,0,0,0,0
$GC,5055,0.44,146.0,393.0,13.3,521,5060,0.20,2.28,0.00,0.000,4,0.177,0.058,3012,3681,2428,0,0,0,0,0,0
$GC,5178,0.44,146.0,379.1,10.8,531,5185,0.00,2.20,0.00,0.000,6,0.000,0.044,3020,2281,2427,0,0,0,0,0,0
$GC,5503,0.44,146.0,345.9,10.4,562,5507,0.00,2.22,0.00,0.000,4,0.000,0.058,3029,864,2427,0,0,0,0,0,0
$GC,5571,0.44,146.0,338.8,10.6,567,5578,0.00,2.20,0.00,0.000,6,0.000,0.044,3030,2285,2427,0,0,0,0,0,0
$GC,5896,0.41,146.0,302.5,11.2,598,5901,0.12,2.22,0.00,0.000,4,0.185,0.059,2999,3691,2427,0,0,0,0,0,0
$GC,5939,0.48,206.2,298.9,7.2,601,5995,0.00,2.17,50.25,1.045,6,0.000,0.041,3006,2266,2189,0,0,0,0,0,0
$GC,6314,0.58,227.1,272.6,9.0,636,6338,0.12,2.30,18.50,0.981,4,0.103,0.058,3076,866,2104,0,0,0,0,0,0
$GC,6396,0.58,227.1,262.9,12.0,643,6400,0.00,2.22,0.00,0.000,6,0.000,0.043,3075,2283,2101,0,0,0,0,0,0
$GC,6721,0.52,227.1,221.1,14.4,673,6726,0.15,2.25,0.00,0.000,4,0.179,0.057,3035,3693,2099,0,0,0,0,0,0
$GC,6764,0.52,227.1,214.9,12.5,676,6772,0.00,2.22,0.00,0.000,6,0.000,0.041,3043,2274,2098,0,0,0,0,0,0
$GC,7091,0.52,227.1,176.0,12.2,707,7095,0.00,2.20,0.00,0.000,4,0.000,0.056,3053,858,2098,0,0,0,0,0,0
$GC,7135,0.56,227.1,170.5,12.2,710,7142,0.00,2.20,0.00,0.000,6,0.000,0.043,3053,2282,2097,0,0,0,0,0,0
$GC,7460,0.58,227.1,128.2,13.3,741,7464,0.00,2.17,0.00,0.000,4,0.000,0.057,3053,3678,2097,0,0,0,0,0,0
$GC,7544,0.58,227.1,115.5,15.6,748,7549,0.00,2.15,0.00,0.000,6,0.000,0.041,3063,2271,2097,0,0,0,0,0,0
$GC,7882,0.62,230.4,72.2,9.8,798,7889,0.00,2.17,0.00,0.000,4,0.000,0.056,3071,868,2097,0,0,0,0,0,0
$GC,7930,0.68,240.9,67.6,9.5,806,7949,0.00,2.17,12.75,0.866,6,0.000,0.043,3071,2275,2047,0,0,0,0,0,0
$GC,8290,0.72,240.9,32.1,10.1,869,8296,0.00,2.22,0.00,0.000,4,0.000,0.060,3070,3680,2045,0,0,0,0,0,0
$GC,8359,0.72,240.9,24.1,11.9,881,8366,0.00,2.15,0.00,0.000,6,0.000,0.043,3081,2276,2045,0,0,0,0,0,0
$FREEZE,8.64,-1.733,-1.837,3,39,0
$STATE,8512,end climb,FINISH_DEPTH_REACHED
$STATE,8512,begin subsurface finish
$FINISH1,8.6,1.026875,31
$GC,8519,0.04,30.6,8.6,-9.7,908,8555,0.65,2.25,-26.90,0.000,4,0.159,0.071,2882,872,2909,0,0,0,0,0,0
$FINISH2,7.6
$STATE,8557,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8557,begin surface
$RAFOS_CLK,450
$RAFOS,6,1303289347,8.833333,8.818611,128,54,53,53,53,52,667,198,112,219,163,208
$RAFOS,5,1303288864,8.700000,8.684444,93,64,59,57,52,49,669,148,202,161,124,180
$RAFOS,4,1303288386,8.566667,8.551666,131,76,69,63,56,53,803,182,210,193,146,114
$RAFOS,3,1303287910,8.433333,8.419444,63,62,61,60,58,49,130,194,151,215,170,140
$RAFOS,2,1303287421,8.300000,8.283611,61,61,61,56,54,53,146,178,215,123,197,155
$RAFOS,1,1303286948,8.166667,8.152223,71,63,62,53,52,51,212,175,201,140,159,184
$RAFOS,0,1303286464,8.033334,8.017777,59,59,56,54,52,51,168,194,213,179,222,151
$RAFOS_FIX,6720.484375,-5750.437988,200411,080822,3,117,0.12
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026964
$HUMID,45.35
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.8
$ALTIM_BOTTOM_PING,450.1,20.4
$24V_AH,22.5,58.838
$10V_AH,10.1,30.169
$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,4.075,79.950,324.900,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2196.272,4436.059,367.935,1467.904,150.049,0.000,1157.711,0.000,1459.513,2520.000,15.307,0.000
$DEVICE_MAMPS,229.500,71.145,1163.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.457,690.998,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36755,914
$CAP_FILE_SIZE,99033,0
$CFSIZE,260165632,224821248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.6
$GPS,200411,084322,6720.484,-5750.438,0,3117.3,0,-38.9