version: 66.08
glider: 141
mission: 15
dive: 441
start: 4 20 111 15 26 52
data:
$ID,141
$MISSION,15
$DIVE,441
$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,-39213.566
$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,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
$GPS1,200411,122141,6715.567,-5734.492,181,99.0,181,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.98
$_SM_ANGLEo,1.2
$GPS2,200411,122141,6715.567,-5734.492,181,99.0,181,-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,163.6,40852,-17.5,-10.000
$D_GRID,621
$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,-6.55,0.000,2,0.000,0.000,2882,3687,3145,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.1,-0.0,1,52,0.62,4.15,-12.88,0.000,4,0.121,0.050,2670,1072,3629,0,0,0,0,0,0
$GC,130,-0.56,-146.0,19.7,-13.0,18,137,0.00,2.25,0.00,0.000,6,0.000,0.052,2670,2495,3630,0,0,0,0,0,0
$GC,475,-0.46,-146.0,68.1,-13.5,79,482,0.15,0.00,0.00,0.000,6,0.230,0.000,2706,2495,3629,0,0,0,0,0,0
$GC,818,-0.48,-146.0,105.6,-10.7,135,822,0.00,2.22,0.00,0.000,4,0.000,0.057,2706,1071,3628,0,0,0,0,0,0
$GC,834,-0.48,-146.0,107.6,-10.7,136,841,0.00,2.22,0.00,0.000,6,0.000,0.054,2706,2490,3628,0,0,0,0,0,0
$GC,1161,-0.52,-146.0,141.2,-10.0,167,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2490,3626,0,0,0,0,0,0
$GC,1479,-0.58,-146.0,171.6,-9.3,197,1483,0.00,2.28,0.00,0.000,4,0.000,0.070,2706,3899,3625,0,0,0,0,0,0
$GC,1513,-0.67,-146.0,175.0,-9.0,199,1520,0.17,2.17,0.00,0.000,6,0.103,0.041,2643,2481,3624,0,0,0,0,0,0
$GC,1838,-0.57,-146.0,217.0,-12.1,230,1840,0.12,0.00,0.00,0.000,6,0.216,0.000,2671,2480,3623,0,0,0,0,0,0
$GC,2157,-0.57,-146.0,247.2,-9.9,260,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2480,3624,0,0,0,0,0,0
$GC,2477,-0.57,-146.0,279.4,-9.3,290,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2480,3623,0,0,0,0,0,0
$GC,2794,-0.57,-146.0,304.9,-10.3,320,2798,0.00,2.28,0.00,0.000,4,0.000,0.065,2671,3900,3624,0,0,0,0,0,0
$GC,2834,-0.61,-146.0,310.8,-14.5,323,2838,0.00,2.15,0.00,0.000,6,0.000,0.040,2671,2484,3624,0,0,0,0,0,0
$STATE,3136,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3136,begin apogee
$GC,3142,-0.12,0.0,348.6,10.5,351,3265,0.50,0.00,117.57,1.108,6,0.187,0.000,2817,2262,3030,0,0,0,0,0,0
$STATE,3266,end apogee,CONTROL_FINISHED_OK
$STATE,3266,begin climb
$GC,3268,0.62,146.0,353.8,0.0,362,3400,0.77,2.45,122.03,1.060,4,0.138,0.058,3064,890,2432,0,0,0,0,0,0
$GC,3451,0.57,146.0,343.1,11.3,378,3458,0.00,2.35,0.00,0.000,6,0.000,0.044,3064,2277,2429,0,0,0,0,0,0
$GC,3778,0.49,146.0,309.7,12.0,409,3782,0.15,2.30,0.00,0.000,4,0.188,0.063,3026,3686,2427,0,0,0,0,0,0
$GC,3945,0.45,146.0,291.7,10.5,423,3952,0.00,2.17,0.00,0.000,6,0.000,0.043,3034,2287,2427,0,0,0,0,0,0
$GC,4270,0.45,146.0,258.8,10.7,454,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2287,2427,0,0,0,0,0,0
$GC,4590,0.46,155.6,227.9,9.6,484,4605,0.00,2.33,8.27,0.861,4,0.000,0.059,3034,3700,2395,0,0,0,0,0,0
$GC,4661,0.41,155.6,219.9,11.0,490,4669,0.17,2.20,0.00,0.000,6,0.182,0.042,2999,2274,2394,0,0,0,0,0,0
$GC,4987,0.56,212.0,195.5,7.4,521,5038,0.12,0.00,48.58,0.985,6,0.100,0.000,3055,2274,2165,0,0,0,0,0,0
$GC,5356,0.56,212.0,153.1,11.6,556,5360,0.00,2.25,0.00,0.000,4,0.000,0.057,3054,3690,2159,0,0,0,0,0,0
$GC,5405,0.52,212.0,146.4,13.2,560,5413,0.12,2.20,0.00,0.000,6,0.181,0.042,3034,2266,2158,0,0,0,0,0,0
$GC,5731,0.58,224.9,115.0,9.4,591,5747,0.00,2.20,11.50,0.863,4,0.000,0.055,3042,865,2112,0,0,0,0,0,0
$GC,5809,0.68,237.0,107.6,9.4,597,5828,0.12,2.22,11.93,0.863,6,0.109,0.044,3097,2293,2063,0,0,0,0,0,0
$GC,6162,0.68,237.0,65.3,11.6,655,6169,0.00,2.20,0.00,0.000,4,0.000,0.058,3096,3683,2060,0,0,0,0,0,0
$GC,6278,0.62,237.0,50.3,12.9,675,6285,0.15,2.20,0.00,0.000,6,0.184,0.043,3069,2266,2059,0,0,0,0,0,0
$GC,6625,0.68,247.9,16.8,9.5,736,6638,0.00,2.28,7.35,0.783,4,0.000,0.059,3074,864,2018,0,0,0,0,0,0
$GC,6685,0.75,247.9,10.9,10.1,746,6691,0.00,2.17,0.00,0.000,6,0.000,0.045,3074,2275,2016,0,0,0,0,0,0
$FREEZE,8.55,-1.731,-1.837,3,42,0
$STATE,6709,end climb,FINISH_DEPTH_REACHED
$STATE,6709,begin subsurface finish
$FINISH1,8.6,1.026881,30
$GC,6715,0.04,30.3,8.6,-9.5,750,6752,0.62,2.22,-27.92,0.000,4,0.151,0.072,2879,3682,2908,0,0,0,0,0,0
$FINISH2,7.3
$STATE,6752,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6753,begin surface
$RAFOS_CLK,354
$RAFOS,6,1303318143,16.833334,16.817499,105,65,61,56,56,56,710,181,208,140,152,170
$RAFOS,5,1303317671,16.700001,16.686388,154,68,65,61,60,58,640,198,119,221,174,139
$RAFOS,4,1303317182,16.566668,16.550556,115,67,61,60,59,55,841,219,209,145,123,168
$RAFOS,3,1303316710,16.433332,16.419445,60,58,57,56,53,51,983,152,208,185,198,173
$RAFOS,2,1303316231,16.299999,16.286388,59,55,54,52,52,52,217,121,198,177,110,158
$RAFOS,1,1303315748,16.166666,16.152222,89,67,60,57,57,55,960,186,215,137,205,196
$RAFOS,0,1303315271,16.033333,16.019722,61,53,52,48,47,47,217,193,157,227,171,145
$RAFOS_FIX,6720.666016,-5742.212402,200411,161616,5,105,0.72
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.03
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.6
$ALTIM_BOTTOM_PING,300.5,62.1
$24V_AH,22.7,59.163
$10V_AH,10.2,30.339
$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,3.825,53.775,327.225,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1796.794,3352.032,359.049,1201.326,117.572,0.000,1009.320,0.000,1197.176,2520.000,7.214,0.000
$DEVICE_MAMPS,229.500,71.910,1107.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.553,565.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150496
$DATA_FILE_SIZE,30051,756
$CAP_FILE_SIZE,78068,0
$CFSIZE,260165632,224677888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.9
$GPS,200411,163316,6720.666,-5742.212,0,5104.6,0,-38.9