version: 66.08
glider: 141
mission: 15
dive: 442
start: 4 20 111 17 21 30
data:
$ID,141
$MISSION,15
$DIVE,442
$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,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
$GPS1,200411,163316,6720.666,-5742.212,0,5104.6,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.56
$_SM_ANGLEo,0.5
$GPS2,200411,163316,6720.666,-5742.212,0,5104.6,0,-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,168.8,51021,-17.5,-10.000
$D_GRID,544
$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,-6.65,0.000,2,0.000,0.000,2879,3681,3131,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.1,-0.0,1,52,0.62,4.10,-14.62,0.000,4,0.119,0.053,2667,1070,3628,0,0,0,0,0,0
$GC,157,-0.57,-146.0,22.0,-13.7,23,163,0.00,2.20,0.00,0.000,6,0.000,0.053,2667,2485,3629,0,0,0,0,0,0
$GC,502,-0.45,-146.0,76.5,-16.0,84,509,0.17,2.28,0.00,0.000,4,0.219,0.069,2709,3898,3628,0,0,0,0,0,0
$GC,517,-0.36,-146.0,78.8,-15.9,86,524,0.12,2.15,0.00,0.000,6,0.209,0.041,2739,2481,3628,0,0,0,0,0,0
$GC,857,-0.46,-146.0,108.6,-7.7,137,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2482,3627,0,0,0,0,0,0
$GC,1176,-0.59,-146.0,131.8,-7.0,167,1181,0.20,2.17,0.00,0.000,4,0.109,0.055,2669,1084,3625,0,0,0,0,0,0
$GC,1239,-0.56,-146.0,138.4,-11.5,172,1243,0.00,2.22,0.00,0.000,6,0.000,0.056,2669,2496,3625,0,0,0,0,0,0
$GC,1564,-0.51,-146.0,177.8,-11.7,202,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2496,3623,0,0,0,0,0,0
$GC,1885,-0.47,-146.0,214.4,-11.6,232,1889,0.15,2.30,0.00,0.000,4,0.212,0.071,2705,3900,3622,0,0,0,0,0,0
$GC,1917,-0.55,-146.0,217.9,-8.8,234,1924,0.00,2.15,0.00,0.000,6,0.000,0.041,2705,2479,3622,0,0,0,0,0,0
$GC,2245,-0.63,-146.0,244.4,-7.6,265,2249,0.15,2.30,0.00,0.000,4,0.116,0.067,2652,3899,3622,0,0,0,0,0,0
$GC,2255,-0.69,-146.0,245.6,-7.5,265,2262,0.00,2.15,0.00,0.000,6,0.000,0.041,2652,2492,3622,0,0,0,0,0,0
$GC,2582,-0.62,-146.0,284.3,-12.4,296,2586,0.00,2.25,0.00,0.000,4,0.000,0.065,2652,3899,3622,0,0,0,0,0,0
$GC,2603,-0.56,-146.0,287.2,-12.0,297,2611,0.12,2.12,0.00,0.000,6,0.200,0.039,2680,2492,3622,0,0,0,0,0,0
$GC,2928,-0.56,-146.0,317.5,-9.1,328,2932,0.00,2.28,0.00,0.000,4,0.000,0.064,2680,3900,3623,0,0,0,0,0,0
$GC,2984,-0.62,-146.0,322.7,-9.1,332,2991,0.00,2.15,0.00,0.000,6,0.000,0.038,2680,2478,3623,0,0,0,0,0,0
$STATE,3010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3010,begin apogee
$GC,3016,-0.12,0.0,325.2,9.0,335,3140,0.45,0.00,117.40,1.094,6,0.185,0.000,2812,2252,3030,0,0,0,0,0,0
$STATE,3141,end apogee,CONTROL_FINISHED_OK
$STATE,3141,begin climb
$GC,3143,0.62,146.0,328.8,0.0,346,3274,0.77,2.40,121.75,1.045,4,0.139,0.059,3061,887,2433,0,0,0,0,0,0
$GC,3310,0.57,146.0,317.9,10.5,361,3314,0.00,2.35,0.00,0.000,6,0.000,0.046,3062,2278,2429,0,0,0,0,0,0
$GC,3636,0.49,146.0,282.1,12.1,391,3641,0.15,2.30,0.00,0.000,4,0.184,0.061,3024,3691,2427,0,0,0,0,0,0
$GC,3781,0.45,146.0,266.2,10.2,403,3788,0.00,2.20,0.00,0.000,6,0.000,0.044,3031,2296,2426,0,0,0,0,0,0
$GC,4108,0.48,164.7,237.2,9.1,434,4128,0.00,2.33,15.95,0.943,4,0.000,0.058,3032,3698,2358,0,0,0,0,0,0
$GC,4175,0.43,164.7,230.3,10.5,440,4179,0.15,2.25,0.00,0.000,6,0.184,0.043,3005,2265,2356,0,0,0,0,0,0
$GC,4505,0.57,224.2,204.9,7.3,471,4564,0.12,2.30,51.22,0.976,4,0.102,0.058,3076,871,2114,0,0,0,0,0,0
$GC,4597,0.57,224.2,194.3,12.3,479,4604,0.00,2.28,0.00,0.000,6,0.000,0.045,3076,2280,2110,0,0,0,0,0,0
$GC,4924,0.53,224.2,152.4,13.1,510,4929,0.15,2.22,0.00,0.000,4,0.177,0.059,3036,3694,2107,0,0,0,0,0,0
$GC,4987,0.55,224.2,144.8,11.7,515,4991,0.00,2.20,0.00,0.000,6,0.000,0.043,3043,2272,2105,0,0,0,0,0,0
$GC,5314,0.62,224.2,109.8,11.2,545,5318,0.00,2.22,0.00,0.000,4,0.000,0.057,3046,865,2106,0,0,0,0,0,0
$GC,5392,0.71,224.2,101.6,10.2,551,5400,0.12,2.17,0.00,0.000,6,0.103,0.044,3104,2279,2104,0,0,0,0,0,0
$GC,5735,0.68,224.2,57.4,12.4,611,5742,0.00,2.20,0.00,0.000,4,0.000,0.059,3104,3685,2104,0,0,0,0,0,0
$GC,5845,0.60,224.2,41.8,15.2,630,5852,0.20,2.17,0.00,0.000,6,0.187,0.044,3062,2272,2105,0,0,0,0,0,0
$FREEZE,8.71,-1.724,-1.837,3,43,0
$GC,6191,0.68,250.0,9.9,8.8,691,6207,0.00,1.77,11.80,0.819,3,0.000,0.057,3068,1172,2009,0,0,0,0,0,0
$STATE,6208,end climb,FINISH_DEPTH_REACHED
$STATE,6208,begin subsurface finish
$FINISH1,8.7,1.026879,30
$GC,6217,0.04,30.4,8.7,-9.1,693,6254,0.60,2.30,-30.27,0.000,4,0.148,0.067,2879,862,2909,0,0,0,0,0,0
$FINISH2,6.6
$STATE,6254,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6254,begin surface
$RAFOS_CLK,332
$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,44.99
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.8
$ALTIM_BOTTOM_PING,300.2,39.8
$24V_AH,22.7,59.257
$10V_AH,10.2,30.381
$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,4.275,70.550,318.125,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1659.333,3034.578,356.646,1144.369,114.116,0.000,989.590,0.000,1138.163,0.000,7.149,0.000
$DEVICE_MAMPS,218.790,71.145,1093.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.438,520.398,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26746,699
$CAP_FILE_SIZE,79134,0
$CFSIZE,260165632,224636928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.2
$GPS,200411,163316,6720.666,-5742.212,0,5104.6,0,-38.9