version: 66.08
glider: 141
mission: 15
dive: 439
start: 4 20 111 10 17 57
data:
$ID,141
$MISSION,15
$DIVE,439
$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,34
$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
$GPS1,200411,084322,6720.484,-5750.438,0,3117.3,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.42
$_SM_ANGLEo,-0.3
$GPS2,200411,084322,6720.484,-5750.438,0,3117.3,0,-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,164.6,55512,-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,13,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,-5.97,0.000,2,0.000,0.000,2882,872,3146,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.6,-0.0,1,51,0.62,4.85,-11.80,0.000,4,0.119,0.063,2668,3891,3627,0,0,0,0,0,0
$GC,222,-0.57,-146.0,34.6,-13.2,35,228,0.00,2.15,0.00,0.000,6,0.000,0.040,2668,2486,3628,0,0,0,0,0,0
$GC,567,-0.46,-146.0,86.4,-15.8,96,574,0.17,0.00,0.00,0.000,6,0.213,0.000,2710,2486,3628,0,0,0,0,0,0
$GC,906,-0.49,-146.0,121.6,-10.0,138,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2485,3626,0,0,0,0,0,0
$GC,1227,-0.54,-146.0,150.9,-8.3,168,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2486,3624,0,0,0,0,0,0
$GC,1546,-0.61,-146.0,176.4,-7.5,198,1553,0.15,0.00,0.00,0.000,6,0.123,0.000,2660,2486,3622,0,0,0,0,0,0
$GC,1873,-0.55,-146.0,211.2,-10.9,229,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2485,3622,0,0,0,0,0,0
$GC,2191,-0.49,-146.0,246.1,-11.0,259,2196,0.17,2.20,0.00,0.000,4,0.201,0.054,2703,1089,3621,0,0,0,0,0,0
$GC,2235,-0.57,-146.0,250.5,-8.2,262,2242,0.00,2.17,0.00,0.000,6,0.000,0.051,2703,2484,3621,0,0,0,0,0,0
$GC,2563,-0.64,-146.0,276.3,-8.4,293,2564,0.15,0.00,0.00,0.000,6,0.109,0.000,2647,2484,3622,0,0,0,0,0,0
$GC,2879,-0.57,-146.0,314.8,-12.1,323,2881,0.12,0.00,0.00,0.000,6,0.205,0.000,2676,2485,3622,0,0,0,0,0,0
$GC,3198,-0.57,-146.0,346.3,-9.3,353,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2485,3623,0,0,0,0,0,0
$GC,3519,-0.57,-146.0,376.8,-9.5,383,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2485,3624,0,0,0,0,0,0
$GC,3836,-0.57,-146.0,406.6,-8.9,413,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2486,3624,0,0,0,0,0,0
$GC,4155,-0.57,-146.0,434.6,-8.7,443,4159,0.00,2.25,0.00,0.000,4,0.000,0.067,2676,3897,3624,0,0,0,0,0,0
$GC,4188,-0.61,-146.0,437.8,-8.3,445,4194,0.00,2.12,0.00,0.000,6,0.000,0.038,2676,2488,3624,0,0,0,0,0,0
$GC,4513,-0.64,-146.0,465.1,-7.9,476,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2488,3625,0,0,0,0,0,0
$STATE,4564,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4564,begin apogee
$GC,4569,-0.12,0.0,469.5,8.0,481,4695,0.47,0.00,119.05,1.180,6,0.180,0.000,2816,2245,3030,0,0,0,0,0,0
$STATE,4695,end apogee,CONTROL_FINISHED_OK
$STATE,4695,begin climb
$GC,4697,0.62,146.0,472.8,0.0,492,4831,0.77,2.45,123.88,1.131,4,0.133,0.058,3065,897,2434,0,0,0,0,0,0
$GC,4882,0.56,146.0,455.6,12.7,508,4889,0.00,2.33,0.00,0.000,6,0.000,0.044,3065,2280,2430,0,0,0,0,0,0
$GC,5207,0.49,146.0,412.6,12.9,539,5212,0.15,2.28,0.00,0.000,4,0.185,0.060,3027,3687,2428,0,0,0,0,0,0
$GC,5352,0.43,146.0,394.1,12.5,551,5359,0.12,2.17,0.00,0.000,6,0.191,0.043,3005,2287,2427,0,0,0,0,0,0
$GC,5678,0.52,179.1,364.5,8.5,582,5713,0.00,2.28,27.80,1.053,4,0.000,0.057,3014,864,2299,0,0,0,0,0,0
$GC,5760,0.61,195.9,357.3,9.2,589,5783,0.15,2.22,15.70,1.004,6,0.094,0.044,3083,2283,2231,0,0,0,0,0,0
$GC,6101,0.52,195.9,306.3,15.5,621,6105,0.20,2.22,0.00,0.000,4,0.177,0.057,3028,3683,2227,0,0,0,0,0,0
$GC,6172,0.52,195.9,296.7,12.5,627,6179,0.00,2.22,0.00,0.000,6,0.000,0.044,3036,2276,2226,0,0,0,0,0,0
$GC,6497,0.52,195.9,260.4,10.6,658,6501,0.00,2.20,0.00,0.000,4,0.000,0.057,3045,865,2226,0,0,0,0,0,0
$GC,6550,0.54,195.9,255.0,10.4,662,6554,0.00,2.17,0.00,0.000,6,0.000,0.044,3045,2279,2225,0,0,0,0,0,0
$GC,6879,0.54,195.9,219.8,10.7,693,6883,0.00,2.20,0.00,0.000,4,0.000,0.058,3045,3686,2225,0,0,0,0,0,0
$GC,6987,0.50,195.9,207.4,11.7,702,6991,0.00,2.17,0.00,0.000,6,0.000,0.044,3055,2270,2225,0,0,0,0,0,0
$GC,7317,0.48,195.9,168.7,12.4,733,7322,0.12,2.20,0.00,0.000,4,0.184,0.057,3032,865,2225,0,0,0,0,0,0
$GC,7373,0.57,213.5,163.2,9.2,737,7393,0.00,2.17,15.75,0.932,6,0.000,0.044,3032,2283,2159,0,0,0,0,0,0
$GC,7720,0.63,217.6,130.4,9.8,770,7733,0.10,2.20,4.97,0.698,4,0.116,0.056,3086,3681,2142,0,0,0,0,0,0
$GC,7826,0.55,217.6,115.1,15.1,779,7830,0.20,2.20,0.00,0.000,6,0.184,0.044,3045,2264,2141,0,0,0,0,0,0
$GC,8160,0.65,249.3,83.5,8.5,826,8196,0.00,2.22,28.77,0.916,4,0.000,0.057,3045,863,2011,0,0,0,0,0,0
$GC,8250,0.83,289.0,76.2,8.2,841,8292,0.25,2.20,35.90,0.901,6,0.080,0.042,3142,2276,1850,0,0,0,0,0,0
$GC,8628,0.75,289.0,17.3,17.2,908,8636,0.15,2.22,0.00,0.000,4,0.194,0.057,3105,3682,1843,0,0,0,0,0,0
$FREEZE,8.11,-1.711,-1.837,3,40,2
$FREEZE,7.35,-1.710,-1.836,3,40,2
$GC,8695,0.73,289.0,7.4,15.1,919,8702,0.00,2.20,0.00,0.000,6,0.000,0.044,3112,2279,1841,0,0,0,0,0,0
$FREEZE,5.15,-1.708,-1.835,3,40,2
$FREEZE,4.50,-1.709,-1.834,3,40,2
$FREEZE,3.80,-1.709,-1.834,3,40,2
$FREEZE,3.09,-1.709,-1.833,3,40,2
$FREEZE,2.53,-1.714,-1.833,3,40,2
$STATE,8727,end climb,SURFACE_DEPTH_REACHED
$STATE,8727,begin surface coast
$FREEZE,2.35,-1.695,-1.832,3,40,2
$FREEZE,2.45,-1.717,-1.833,3,40,2
$FREEZE,2.54,-1.719,-1.833,3,40,2
$FREEZE,2.40,-1.720,-1.833,3,40,2
$FINISH,2.4,1.026886
$STATE,8751,end surface coast,CONTROL_FINISHED_OK
$STATE,8751,begin surface
$SM_CCo,8888,117.53,0.067,0,0,750,559.04
$SM_GC,3.62,0.00,0.00,117.53,0.000,0.000,0.067,107,2499,750,-8.62,0.25,559.04
$RAFOS_CLK,468
$RAFOS,4,1303302784,12.566667,12.551111,100,74,66,58,57,54,824,181,213,151,203,129
$RAFOS,3,1303302309,12.433333,12.419167,62,62,57,55,54,53,202,976,213,187,155,143
$RAFOS,2,1303301822,12.300000,12.283889,65,61,59,55,52,48,1032,115,213,190,147,226
$RAFOS,1,1303301342,12.166667,12.150556,91,65,63,53,53,52,994,205,192,214,139,224
$RAFOS,0,1303300864,12.033333,12.017777,65,62,58,56,51,49,216,141,127,197,181,154
$RAFOS_FIX,6715.566895,-5734.491699,200411,121241,3,85,1.11
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.028462
$HUMID,44.36
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.4
$ALTIM_BOTTOM_PING,450.0,33.9
$24V_AH,22.5,58.953
$10V_AH,10.2,30.226
$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,12.525,60.950,371.825,117.525,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2244.311,4707.380,497.226,1485.943,147.126,0.000,1300.399,0.000,1477.979,2160.000,12.438,0.000
$DEVICE_MAMPS,213.435,66.555,1180.395,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.657,698.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36664,929
$CAP_FILE_SIZE,101252,0
$CFSIZE,260165632,224763904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,200411,122141,6715.567,-5734.492,0,3085.3,0,-38.9