version: 66.08
glider: 141
mission: 15
dive: 451
start: 4 21 111 11 48 58
data:
$ID,141
$MISSION,15
$DIVE,451
$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,-39582.141
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,210411,084322,6717.889,-5728.600,181,99.0,181,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.34
$_SM_ANGLEo,-0.1
$GPS2,210411,084322,6717.889,-5728.600,181,99.0,181,-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,172.1,40248,-17.5,-10.000
$D_GRID,496
$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,-6.38,0.000,2,0.000,0.000,2885,875,3138,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.2,-0.0,1,52,0.62,4.90,-12.98,0.000,4,0.118,0.063,2670,3892,3629,0,0,0,0,0,0
$GC,199,-0.57,-146.0,30.2,-13.3,31,206,0.00,2.12,0.00,0.000,6,0.000,0.040,2670,2484,3630,0,0,0,0,0,0
$GC,545,-0.49,-146.0,82.2,-15.3,92,552,0.12,0.00,0.00,0.000,6,0.220,0.000,2698,2484,3629,0,0,0,0,0,0
$GC,885,-0.49,-146.0,121.1,-10.5,136,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2484,3627,0,0,0,0,0,0
$GC,1210,-0.53,-146.0,153.9,-10.1,166,1213,0.00,2.17,0.00,0.000,4,0.000,0.057,2699,1091,3625,0,0,0,0,0,0
$GC,1244,-0.57,-146.0,158.0,-10.3,168,1251,0.00,2.20,0.00,0.000,6,0.000,0.053,2698,2496,3625,0,0,0,0,0,0
$GC,1570,-0.63,-146.0,187.1,-8.2,199,1571,0.12,0.00,0.00,0.000,6,0.126,0.000,2656,2496,3624,0,0,0,0,0,0
$GC,1889,-0.57,-146.0,224.9,-12.5,229,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2496,3623,0,0,0,0,0,0
$GC,2206,-0.53,-146.0,259.6,-10.6,259,2208,0.12,0.00,0.00,0.000,6,0.200,0.000,2685,2496,3623,0,0,0,0,0,0
$GC,2526,-0.56,-146.0,284.3,-7.4,289,2530,0.00,2.22,0.00,0.000,4,0.000,0.066,2685,3898,3624,0,0,0,0,0,0
$GC,2554,-0.61,-146.0,286.6,-7.7,291,2558,0.00,2.12,0.00,0.000,6,0.000,0.037,2684,2484,3624,0,0,0,0,0,0
$GC,2886,-0.65,-146.0,308.7,-6.4,322,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2484,3624,0,0,0,0,0,0
$GC,3204,-0.69,-146.0,330.6,-7.1,352,3209,0.15,2.28,0.00,0.000,4,0.119,0.062,2634,3903,3625,0,0,0,0,0,0
$GC,3215,-0.72,-146.0,331.4,-7.1,352,3222,0.00,2.15,0.00,0.000,6,0.000,0.036,2634,2484,3625,0,0,0,0,0,0
$GC,3541,-0.63,-146.0,367.1,-10.9,383,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2484,3625,0,0,0,0,0,0
$GC,3859,-0.55,-146.0,402.5,-11.0,413,3864,0.20,2.28,0.00,0.000,4,0.200,0.060,2685,3905,3626,0,0,0,0,0,0
$GC,3888,-0.55,-146.0,405.1,-8.7,415,3892,0.00,2.12,0.00,0.000,6,0.000,0.037,2685,2489,3626,0,0,0,0,0,0
$STATE,4084,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4084,begin apogee
$GC,4091,-0.12,0.0,419.0,7.5,433,4216,0.43,0.00,118.88,1.138,6,0.177,0.000,2812,2261,3030,0,0,0,0,0,0
$STATE,4217,end apogee,CONTROL_FINISHED_OK
$STATE,4217,begin climb
$GC,4219,0.62,146.0,421.8,0.0,444,4351,0.77,2.40,123.30,1.097,4,0.132,0.057,3063,892,2433,0,0,0,0,0,0
$GC,4398,0.53,146.0,406.9,12.9,460,4405,0.00,2.33,0.00,0.000,6,0.000,0.042,3063,2283,2429,0,0,0,0,0,0
$GC,4723,0.46,146.0,364.2,13.2,491,4728,0.17,2.30,0.00,0.000,4,0.180,0.058,3018,3695,2427,0,0,0,0,0,0
$GC,4836,0.42,146.0,350.5,12.5,500,4843,0.00,2.17,0.00,0.000,6,0.000,0.041,3026,2295,2427,0,0,0,0,0,0
$GC,5161,0.42,146.0,314.8,11.0,531,5165,0.00,2.25,0.00,0.000,4,0.000,0.057,3036,863,2427,0,0,0,0,0,0
$GC,5206,0.42,146.0,309.7,11.2,535,5211,0.12,2.20,0.00,0.000,6,0.183,0.044,3006,2290,2426,0,0,0,0,0,0
$GC,5532,0.48,163.9,279.3,9.2,565,5555,0.00,2.22,15.20,0.973,4,0.000,0.059,3006,3681,2361,0,0,0,0,0,0
$GC,5635,0.48,163.9,268.4,11.4,574,5639,0.00,2.17,0.00,0.000,6,0.000,0.041,3014,2268,2360,0,0,0,0,0,0
$GC,5963,0.53,174.0,235.8,9.5,604,5977,0.00,2.25,9.93,0.902,4,0.000,0.057,3022,865,2320,0,0,0,0,0,0
$GC,6031,0.59,174.0,229.0,10.0,610,6035,0.00,2.20,0.00,0.000,6,0.000,0.043,3022,2279,2319,0,0,0,0,0,0
$GC,6356,0.63,174.0,195.1,10.4,640,6361,0.12,2.22,0.00,0.000,4,0.101,0.058,3081,3691,2319,0,0,0,0,0,0
$GC,6498,0.51,174.0,173.2,16.0,652,6502,0.22,2.20,0.00,0.000,6,0.186,0.043,3033,2264,2319,0,0,0,0,0,0
$GC,6828,0.54,183.0,138.6,9.6,683,6843,0.00,2.22,9.10,0.845,4,0.000,0.057,3041,875,2282,0,0,0,0,0,0
$GC,6907,0.58,185.0,131.0,9.9,690,6911,0.00,2.15,0.00,0.000,6,0.000,0.044,3041,2276,2281,0,0,0,0,0,0
$GC,7233,0.64,215.2,100.9,8.6,720,7268,0.00,2.22,28.70,0.915,4,0.000,0.057,3042,3682,2151,0,0,0,0,0,0
$GC,7370,0.64,215.2,86.6,11.1,743,7377,0.00,2.20,0.00,0.000,6,0.000,0.042,3050,2270,2149,0,0,0,0,0,0
$GC,7716,0.76,256.6,56.4,8.1,804,7759,0.15,2.30,36.38,0.896,4,0.093,0.057,3124,869,1983,0,0,0,0,0,0
$GC,7818,0.72,256.6,44.4,13.0,821,7825,0.00,2.22,0.00,0.000,6,0.000,0.044,3124,2278,1978,0,0,0,0,0,0
$FREEZE,8.63,-1.691,-1.836,3,52,0
$STATE,8088,end climb,FINISH_DEPTH_REACHED
$STATE,8088,begin subsurface finish
$FINISH1,8.6,1.026866,31
$GC,8094,0.04,31.1,8.6,-15.5,869,8132,0.80,2.33,-30.40,0.000,4,0.164,0.076,2884,3689,2905,0,0,0,0,0,0
$FINISH2,6.9
$STATE,8133,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8133,begin surface
$RAFOS_CLK,422
$RAFOS,6,1303390150,12.833333,12.819445,135,63,60,55,52,51,717,207,220,168,78,184
$RAFOS,5,1303389665,12.700000,12.684722,138,58,57,54,53,52,649,152,192,202,172,211
$RAFOS,4,1303389187,12.566667,12.551945,96,55,54,50,50,48,842,174,186,205,115,215
$RAFOS,3,1303388710,12.433333,12.419444,59,59,57,55,51,48,118,169,213,184,150,136
$RAFOS,2,1303388222,12.300000,12.283889,77,58,54,53,52,50,206,185,215,196,161,149
$RAFOS,1,1303387742,12.166667,12.150556,63,54,53,53,51,49,211,222,146,171,122,191
$RAFOS,0,1303387261,12.033333,12.016945,60,57,56,55,54,54,201,171,213,111,184,226
$RAFOS_FIX,6716.753418,-5724.643066,210411,121244,3,123,0.24
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.9
$ALTIM_BOTTOM_PING,400.3,33.1
$24V_AH,22.4,60.163
$10V_AH,10.2,30.832
$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,4.150,67.450,341.475,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2084.332,4207.887,370.048,1393.512,143.151,0.000,1114.326,0.000,1388.785,2520.000,12.501,0.000
$DEVICE_MAMPS,220.320,75.735,1138.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.094,660.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33380,875
$CAP_FILE_SIZE,91992,0
$CFSIZE,260165632,224182272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.5
$GPS,210411,124344,6716.753,-5724.643,0,3123.0,0,-38.9