version: 66.08
glider: 141
mission: 15
dive: 453
start: 4 21 111 15 56 53
data:
$ID,141
$MISSION,15
$DIVE,453
$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,33
$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
$GPS1,210411,124344,6716.753,-5724.643,0,3123.0,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.61
$_SM_ANGLEo,0.6
$GPS2,210411,124344,6716.753,-5724.643,0,3123.0,0,-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,172.8,36728,-17.5,-10.000
$D_GRID,495
$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,-6.75,0.000,2,0.000,0.000,2886,3682,3129,0,0,0,0,0,0
$GC,27,-0.62,-146.0,7.7,-0.0,1,52,0.65,4.10,-14.35,0.000,4,0.119,0.052,2668,1079,3628,0,0,0,0,0,0
$GC,161,-0.56,-146.0,25.4,-15.7,24,167,0.00,2.20,0.00,0.000,6,0.000,0.050,2668,2487,3630,0,0,0,0,0,0
$GC,506,-0.47,-146.0,75.9,-14.1,85,513,0.15,2.25,0.00,0.000,4,0.214,0.056,2704,1078,3628,0,0,0,0,0,0
$GC,549,-0.50,-146.0,81.1,-11.1,92,555,0.00,2.22,0.00,0.000,6,0.000,0.052,2704,2502,3629,0,0,0,0,0,0
$GC,886,-0.54,-146.0,111.9,-8.8,141,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2502,3627,0,0,0,0,0,0
$GC,1205,-0.59,-146.0,139.4,-9.0,171,1210,0.00,2.20,0.00,0.000,4,0.000,0.070,2703,3893,3625,0,0,0,0,0,0
$GC,1222,-0.65,-146.0,141.2,-8.8,172,1230,0.15,2.15,0.00,0.000,6,0.116,0.041,2652,2479,3625,0,0,0,0,0,0
$GC,1547,-0.58,-146.0,185.7,-13.9,203,1551,0.00,2.15,0.00,0.000,4,0.000,0.057,2652,1086,3624,0,0,0,0,0,0
$GC,1559,-0.51,-146.0,187.3,-13.6,203,1566,0.17,2.22,0.00,0.000,6,0.208,0.055,2693,2489,3624,0,0,0,0,0,0
$GC,1884,-0.57,-146.0,215.9,-7.8,234,1888,0.00,2.28,0.00,0.000,4,0.000,0.070,2693,3899,3623,0,0,0,0,0,0
$GC,1958,-0.64,-146.0,221.8,-7.8,240,1965,0.12,2.15,0.00,0.000,6,0.125,0.041,2651,2487,3623,0,0,0,0,0,0
$GC,2283,-0.60,-146.0,256.4,-10.5,271,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2486,3623,0,0,0,0,0,0
$GC,2603,-0.55,-146.0,291.8,-11.7,301,2608,0.12,2.30,0.00,0.000,4,0.210,0.065,2680,3899,3623,0,0,0,0,0,0
$GC,2624,-0.55,-146.0,294.5,-10.8,302,2631,0.00,2.17,0.00,0.000,6,0.000,0.037,2680,2484,3623,0,0,0,0,0,0
$STATE,2696,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2696,begin apogee
$GC,2702,-0.12,0.0,300.4,8.4,309,2824,0.45,0.00,117.03,1.080,6,0.184,0.000,2812,2258,3030,0,0,0,0,0,0
$STATE,2825,end apogee,CONTROL_FINISHED_OK
$STATE,2825,begin climb
$GC,2828,0.62,146.0,304.3,0.0,320,2955,0.77,0.00,121.35,1.030,6,0.134,0.000,3053,2257,2434,0,0,0,0,0,0
$GC,3270,0.56,146.0,261.4,10.7,362,3274,0.00,2.35,0.00,0.000,4,0.000,0.060,3053,3683,2428,0,0,0,0,0,0
$GC,3348,0.46,146.0,251.6,12.7,368,3355,0.17,2.20,0.00,0.000,6,0.184,0.044,3020,2295,2428,0,0,0,0,0,0
$GC,3673,0.49,169.2,221.8,8.9,399,3698,0.00,2.33,19.50,0.946,4,0.000,0.060,3028,875,2339,0,0,0,0,0,0
$GC,3740,0.56,186.2,215.8,9.2,405,3764,0.00,2.20,15.75,0.931,6,0.000,0.045,3028,2280,2270,0,0,0,0,0,0
$GC,4082,0.60,200.7,185.2,9.3,437,4105,0.00,2.30,13.45,0.904,4,0.000,0.060,3028,3688,2210,0,0,0,0,0,0
$GC,4212,0.60,200.7,170.0,11.9,448,4219,0.00,2.22,0.00,0.000,6,0.000,0.044,3039,2266,2209,0,0,0,0,0,0
$GC,4538,0.63,200.7,136.2,10.2,479,4542,0.00,2.20,0.00,0.000,4,0.000,0.060,3042,863,2208,0,0,0,0,0,0
$GC,4595,0.69,204.9,130.7,9.8,484,4608,0.12,2.17,4.78,0.667,6,0.107,0.044,3099,2279,2194,0,0,0,0,0,0
$GC,4931,0.63,204.9,86.1,11.5,524,4938,0.12,2.22,0.00,0.000,4,0.185,0.059,3067,3687,2194,0,0,0,0,0,0
$GC,5030,0.60,204.9,74.2,12.0,541,5037,0.00,2.20,0.00,0.000,6,0.000,0.043,3076,2265,2194,0,0,0,0,0,0
$GC,5375,0.61,215.9,40.2,9.5,602,5394,0.00,2.22,10.43,0.856,4,0.000,0.059,3085,878,2149,0,0,0,0,0,0
$GC,5476,0.65,230.9,30.6,9.3,619,5489,0.00,2.20,8.25,0.861,6,0.000,0.047,3085,2283,2088,0,0,0,0,0,0
$FREEZE,8.43,-1.720,-1.836,3,54,0
$STATE,5691,end climb,FINISH_DEPTH_REACHED
$STATE,5691,begin subsurface finish
$FINISH1,8.4,1.026861,31
$GC,5697,0.04,31.3,8.4,-10.3,657,5734,0.65,2.30,-26.48,0.000,4,0.157,0.075,2885,3684,2904,0,0,0,0,0,0
$FINISH2,6.9
$STATE,5734,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5735,begin surface
$RAFOS_CLK,306
$RAFOS,6,1303404542,16.833334,16.817223,124,61,58,56,53,53,770,183,202,212,149,169
$RAFOS,5,1303404064,16.700001,16.684444,59,58,55,53,50,47,214,205,163,181,111,228
$RAFOS,4,1303403587,16.566668,16.551945,164,58,55,52,52,50,848,131,205,223,181,194
$RAFOS,3,1303403103,16.433332,16.417500,63,59,58,57,51,50,191,204,144,158,127,223
$RAFOS,2,1303402622,16.299999,16.283890,66,61,59,55,54,53,194,219,139,1689,120,160
$RAFOS,1,1303402146,16.166666,16.151667,78,59,59,55,55,55,1018,196,179,151,213,137
$RAFOS,0,1303401664,16.033333,16.017778,72,60,56,54,54,51,121,79,154,192,208,217
$RAFOS_FIX,6721.145020,-5723.580566,210411,161642,3,122,0.59
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.47
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,300.4,12.3
$24V_AH,22.7,60.349
$10V_AH,10.1,30.914
$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,3.675,57.825,310.525,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1564.001,2720.533,349.137,1061.291,103.193,0.000,936.229,0.000,1054.419,2520.000,7.078,0.000
$DEVICE_MAMPS,214.200,74.970,1080.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.126,494.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23441,663
$CAP_FILE_SIZE,72454,0
$CFSIZE,260165632,224120832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.9
$GPS,210411,163242,6721.145,-5723.581,0,3122.0,0,-38.9