version: 66.08
glider: 141
mission: 15
dive: 449
start: 4 21 111 6 57 58
data:
$ID,141
$MISSION,15
$DIVE,449
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,210411,043329,6718.863,-5729.480,0,5113.4,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.76
$_SM_ANGLEo,1.3
$GPS2,210411,043329,6718.863,-5729.480,0,5113.4,0,-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,173.3,41956,-17.5,-10.000
$D_GRID,458
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.45,0.000,2,0.000,0.000,2884,3693,3116,0,0,0,0,0,0
$GC,26,-0.62,-146.0,7.8,-0.0,1,52,0.62,4.15,-15.00,0.000,4,0.114,0.053,2670,1070,3629,0,0,0,0,0,0
$GC,156,-0.58,-146.0,22.4,-13.3,23,163,0.00,2.22,0.00,0.000,6,0.000,0.053,2670,2487,3629,0,0,0,0,0,0
$GC,501,-0.49,-146.0,73.1,-15.3,84,508,0.12,0.00,0.00,0.000,6,0.232,0.000,2698,2487,3628,0,0,0,0,0,0
$GC,840,-0.49,-146.0,111.2,-10.4,135,845,0.00,2.30,0.00,0.000,4,0.000,0.070,2698,3905,3627,0,0,0,0,0,0
$GC,904,-0.54,-146.0,117.3,-9.1,140,908,0.00,2.17,0.00,0.000,6,0.000,0.042,2697,2482,3627,0,0,0,0,0,0
$GC,1230,-0.56,-146.0,146.8,-7.8,170,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2481,3625,0,0,0,0,0,0
$GC,1550,-0.60,-146.0,171.8,-8.1,200,1554,0.00,2.17,0.00,0.000,4,0.000,0.057,2698,1080,3624,0,0,0,0,0,0
$GC,1574,-0.63,-146.0,174.1,-8.8,202,1579,0.12,2.22,0.00,0.000,6,0.129,0.054,2657,2501,3623,0,0,0,0,0,0
$GC,1900,-0.57,-146.0,211.5,-12.0,232,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2501,3623,0,0,0,0,0,0
$GC,2221,-0.51,-146.0,248.2,-10.0,262,2226,0.15,2.25,0.00,0.000,4,0.206,0.069,2692,3897,3622,0,0,0,0,0,0
$GC,2273,-0.59,-146.0,252.7,-7.5,266,2277,0.00,2.15,0.00,0.000,6,0.000,0.041,2692,2483,3622,0,0,0,0,0,0
$GC,2607,-0.64,-146.0,279.4,-7.5,297,2611,0.00,2.28,0.00,0.000,4,0.000,0.067,2692,3899,3623,0,0,0,0,0,0
$GC,2640,-0.72,-146.0,282.5,-8.1,299,2648,0.17,2.17,0.00,0.000,6,0.102,0.040,2630,2480,3623,0,0,0,0,0,0
$GC,2966,-0.61,-146.0,325.6,-12.9,330,2971,0.15,2.17,0.00,0.000,4,0.216,0.054,2665,1083,3623,0,0,0,0,0,0
$GC,2977,-0.52,-146.0,327.3,-13.5,330,2983,0.00,2.20,0.00,0.000,6,0.000,0.050,2664,2495,3623,0,0,0,0,0,0
$GC,3301,-0.52,-146.0,363.0,-10.4,361,3306,0.10,2.30,0.00,0.000,4,0.225,0.068,2688,3905,3624,0,0,0,0,0,0
$GC,3358,-0.61,-146.0,368.5,-9.4,365,3365,0.00,2.15,0.00,0.000,6,0.000,0.039,2689,2487,3624,0,0,0,0,0,0
$STATE,3479,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3479,begin apogee
$GC,3485,-0.12,0.0,379.9,8.5,377,3609,0.43,0.00,118.22,1.122,6,0.183,0.000,2814,2260,3030,0,0,0,0,0,0
$STATE,3610,end apogee,CONTROL_FINISHED_OK
$STATE,3610,begin climb
$GC,3612,0.62,146.0,384.6,0.0,388,3744,0.77,2.40,122.97,1.076,4,0.137,0.059,3063,895,2433,0,0,0,0,0,0
$GC,3824,0.56,146.0,369.0,12.1,407,3828,0.00,2.30,0.00,0.000,6,0.000,0.042,3063,2271,2428,0,0,0,0,0,0
$GC,4151,0.46,146.0,332.4,11.4,437,4156,0.17,2.30,0.00,0.000,4,0.183,0.059,3017,3697,2427,0,0,0,0,0,0
$GC,4264,0.46,173.6,319.9,8.7,446,4294,0.00,2.17,23.23,1.001,6,0.000,0.043,3025,2295,2322,0,0,0,0,0,0
$GC,4611,0.46,173.6,281.6,13.3,479,4615,0.00,2.25,0.00,0.000,4,0.000,0.058,3035,865,2319,0,0,0,0,0,0
$GC,4672,0.49,173.6,273.7,12.3,484,4679,0.00,2.22,0.00,0.000,6,0.000,0.045,3035,2287,2317,0,0,0,0,0,0
$GC,4997,0.49,173.6,237.1,10.7,515,5001,0.00,2.20,0.00,0.000,4,0.000,0.060,3035,3691,2317,0,0,0,0,0,0
$GC,5075,0.46,173.6,227.2,13.4,521,5083,0.12,2.17,0.00,0.000,6,0.190,0.041,3015,2273,2317,0,0,0,0,0,0
$GC,5401,0.59,234.2,198.8,7.2,552,5459,0.12,2.28,51.97,0.983,4,0.103,0.057,3085,863,2074,0,0,0,0,0,0
$GC,5492,0.56,234.2,187.8,13.8,560,5500,0.15,2.22,0.00,0.000,6,0.177,0.044,3048,2281,2070,0,0,0,0,0,0
$GC,5818,0.59,234.2,148.3,10.9,591,5822,0.00,2.22,0.00,0.000,4,0.000,0.059,3048,3683,2067,0,0,0,0,0,0
$GC,5891,0.59,234.2,139.9,10.9,597,5895,0.00,2.17,0.00,0.000,6,0.000,0.043,3056,2276,2066,0,0,0,0,0,0
$GC,6217,0.64,256.0,107.6,9.0,627,6243,0.00,2.30,19.00,0.897,4,0.000,0.056,3065,859,1985,0,0,0,0,0,0
$GC,6296,0.71,261.1,100.1,9.8,634,6308,0.00,2.22,5.78,0.726,6,0.000,0.044,3065,2277,1965,0,0,0,0,0,0
$GC,6647,0.79,275.2,66.9,9.3,695,6668,0.15,2.25,14.12,0.868,4,0.090,0.059,3131,3687,1906,0,0,0,0,0,0
$GC,6762,0.69,275.2,48.9,17.8,714,6769,0.20,2.20,0.00,0.000,6,0.190,0.044,3089,2269,1904,0,0,0,0,0,0
$GC,7109,0.72,275.2,9.7,11.5,775,7116,0.00,2.22,0.00,0.000,4,0.000,0.058,3098,860,1903,0,0,0,0,0,0
$FREEZE,8.09,-1.718,-1.835,3,50,2
$FREEZE,7.58,-1.717,-1.835,3,50,2
$FREEZE,6.93,-1.712,-1.835,3,50,2
$FREEZE,6.44,-1.714,-1.834,3,50,2
$FREEZE,5.95,-1.714,-1.834,3,50,2
$FREEZE,5.28,-1.712,-1.833,3,50,2
$FREEZE,4.69,-1.723,-1.833,3,50,2
$FREEZE,4.04,-1.725,-1.833,3,50,2
$FREEZE,3.50,-1.725,-1.832,3,50,2
$FREEZE,2.92,-1.725,-1.832,3,50,2
$STATE,7167,end climb,SURFACE_DEPTH_REACHED
$STATE,7167,begin surface coast
$FREEZE,2.40,-1.728,-1.831,3,50,2
$FREEZE,1.76,-1.727,-1.831,3,50,2
$FREEZE,1.41,-1.729,-1.831,3,50,2
$FREEZE,1.39,-1.738,-1.831,3,50,2
$FINISH,1.4,1.026874
$STATE,7190,end surface coast,CONTROL_FINISHED_OK
$STATE,7190,begin surface
$SM_CCo,7210,124.20,0.065,0,0,750,559.04
$SM_GC,2.37,0.00,0.00,124.20,0.000,0.000,0.065,112,2493,750,-8.60,0.08,559.04
$RAFOS_CLK,386
$RAFOS,6,1303375742,8.833333,8.817223,134,65,59,53,52,50,745,203,188,221,242,166
$RAFOS,5,1303375271,8.700000,8.686389,73,64,59,58,54,53,614,210,192,182,124,154
$RAFOS,4,1303374787,8.566667,8.551945,80,61,56,56,53,51,835,157,213,198,131,146
$RAFOS,3,1303374306,8.433333,8.418333,59,57,55,52,51,49,216,203,134,191,159,144
$RAFOS,2,1303373829,8.300000,8.285833,75,67,60,54,52,48,193,206,159,220,140,120
$RAFOS,1,1303373347,8.166667,8.151944,70,63,56,55,55,53,212,201,175,148,225,113
$RAFOS,0,1303372866,8.033334,8.018333,68,65,59,56,56,54,220,196,154,206,164,121
$RAFOS_FIX,6717.888672,-5728.600098,210411,080822,3,96,0.13
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,44.80
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,350.8,43.7
$24V_AH,22.6,59.957
$10V_AH,10.2,30.709
$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,11.950,73.950,355.300,124.200,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1927.147,3550.561,492.205,1302.946,133.485,0.000,1201.402,0.000,1293.277,2520.000,8.929,0.000
$DEVICE_MAMPS,231.795,70.380,1122.255,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.258,591.371,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30146,790
$CAP_FILE_SIZE,91910,0
$CFSIZE,260165632,224296960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.2
$GPS,210411,084322,6717.889,-5728.600,0,3095.7,0,-38.9