version: 66.08
glider: 141
mission: 15
dive: 461
start: 4 22 111 7 18 33
data:
$ID,141
$MISSION,15
$DIVE,461
$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,-40320.289
$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,32
$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
$GPS1,220411,043420,6713.250,-5710.810,181,99.0,181,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.25
$_SM_ANGLEo,-1.4
$GPS2,220411,043420,6713.250,-5710.810,181,99.0,181,-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,177.9,25132,-17.5,-10.000
$D_GRID,434
$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,-6.85,0.000,2,0.000,0.000,2883,864,3139,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.2,-0.0,1,53,0.62,4.97,-13.73,0.000,4,0.111,0.069,2666,3898,3627,0,0,0,0,0,0
$GC,240,-0.57,-146.0,36.4,-14.6,38,246,0.00,2.17,0.00,0.000,6,0.000,0.044,2666,2484,3629,0,0,0,0,0,0
$GC,585,-0.47,-146.0,87.6,-14.6,99,592,0.17,0.00,0.00,0.000,6,0.212,0.000,2708,2485,3628,0,0,0,0,0,0
$GC,924,-0.50,-146.0,121.0,-9.3,140,928,0.00,2.20,0.00,0.000,4,0.000,0.063,2709,1085,3627,0,0,0,0,0,0
$GC,946,-0.54,-146.0,123.2,-9.5,141,953,0.00,2.25,0.00,0.000,6,0.000,0.060,2709,2490,3627,0,0,0,0,0,0
$GC,1272,-0.60,-146.0,148.8,-6.8,172,1276,0.12,2.33,0.00,0.000,4,0.127,0.075,2664,3905,3625,0,0,0,0,0,0
$GC,1344,-0.60,-146.0,155.7,-10.0,178,1351,0.00,2.20,0.00,0.000,6,0.000,0.046,2664,2486,3624,0,0,0,0,0,0
$GC,1669,-0.55,-146.0,190.2,-10.7,209,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2486,3623,0,0,0,0,0,0
$GC,1990,-0.52,-146.0,225.5,-10.9,239,1994,0.12,2.25,0.00,0.000,4,0.213,0.061,2693,1081,3623,0,0,0,0,0,0
$GC,2007,-0.52,-146.0,227.6,-11.2,240,2011,0.00,2.25,0.00,0.000,6,0.000,0.058,2693,2498,3623,0,0,0,0,0,0
$GC,2333,-0.58,-146.0,256.5,-9.0,270,2337,0.00,2.30,0.00,0.000,4,0.000,0.072,2693,3906,3622,0,0,0,0,0,0
$GC,2396,-0.67,-146.0,262.2,-8.8,275,2401,0.15,2.17,0.00,0.000,6,0.114,0.043,2641,2484,3623,0,0,0,0,0,0
$GC,2721,-0.59,-146.0,301.4,-12.3,305,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2484,3623,0,0,0,0,0,0
$GC,3042,-0.52,-146.0,339.1,-11.7,335,3047,0.20,2.33,0.00,0.000,4,0.197,0.067,2692,3907,3624,0,0,0,0,0,0
$GC,3072,-0.55,-146.0,342.5,-9.8,337,3076,0.00,2.17,0.00,0.000,6,0.000,0.041,2692,2485,3624,0,0,0,0,0,0
$GC,3398,-0.61,-146.0,368.9,-7.8,367,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2484,3625,0,0,0,0,0,0
$STATE,3480,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3480,begin apogee
$GC,3486,-0.12,0.0,375.5,7.6,375,3610,0.40,0.00,118.20,1.115,6,0.171,0.000,2814,2250,3030,0,0,0,0,0,0
$STATE,3611,end apogee,CONTROL_FINISHED_OK
$STATE,3611,begin climb
$GC,3613,0.62,146.0,378.9,0.0,386,3742,0.77,0.00,122.60,1.073,6,0.133,0.000,3054,2250,2434,0,0,0,0,0,0
$GC,4061,0.57,146.0,334.4,11.6,428,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2250,2428,0,0,0,0,0,0
$GC,4388,0.52,146.0,296.6,11.7,459,4393,0.00,2.33,0.00,0.000,4,0.000,0.061,3054,3693,2428,0,0,0,0,0,0
$GC,4466,0.42,146.0,285.9,14.1,465,4475,0.22,2.17,0.00,0.000,6,0.183,0.045,3006,2292,2428,0,0,0,0,0,0
$GC,4793,0.53,200.8,259.5,7.5,496,4843,0.00,0.00,46.00,1.004,6,0.000,0.000,3006,2293,2210,0,0,0,0,0,0
$GC,5161,0.66,240.8,229.1,8.2,531,5203,0.20,2.40,34.92,0.978,4,0.078,0.063,3102,862,2048,0,0,0,0,0,0
$GC,5239,0.60,240.8,218.9,15.2,538,5244,0.17,2.25,0.00,0.000,6,0.181,0.048,3058,2282,2044,0,0,0,0,0,0
$GC,5564,0.60,240.8,179.2,11.9,568,5568,0.00,2.25,0.00,0.000,4,0.000,0.062,3058,3693,2041,0,0,0,0,0,0
$GC,5649,0.60,240.8,168.5,12.4,575,5655,0.00,2.20,0.00,0.000,6,0.000,0.044,3067,2271,2040,0,0,0,0,0,0
$GC,5974,0.60,240.8,127.4,12.2,606,5978,0.00,2.20,0.00,0.000,4,0.000,0.059,3077,866,2040,0,0,0,0,0,0
$GC,6006,0.60,240.8,123.1,12.4,608,6013,0.00,2.22,0.00,0.000,6,0.000,0.046,3077,2277,2038,0,0,0,0,0,0
$GC,6340,0.62,240.8,84.5,10.2,652,6346,0.00,2.25,0.00,0.000,4,0.000,0.060,3077,3696,2038,0,0,0,0,0,0
$GC,6410,0.60,240.8,75.8,13.5,664,6416,0.00,2.20,0.00,0.000,6,0.000,0.044,3087,2268,2038,0,0,0,0,0,0
$GC,6755,0.60,240.8,36.2,11.4,725,6761,0.00,2.20,0.00,0.000,4,0.000,0.060,3097,865,2038,0,0,0,0,0,0
$GC,6802,0.60,240.8,30.8,11.4,733,6810,0.15,2.17,0.00,0.000,6,0.175,0.046,3058,2278,2038,0,0,0,0,0,0
$FREEZE,8.76,-1.705,-1.837,3,62,0
$STATE,7058,end climb,FINISH_DEPTH_REACHED
$STATE,7058,begin subsurface finish
$FINISH1,8.8,1.026877,31
$GC,7064,0.04,30.5,8.8,-8.6,778,7101,0.55,2.30,-26.70,0.000,4,0.148,0.078,2883,3682,2908,0,0,0,0,0,0
$FINISH2,7.6
$STATE,7102,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7102,begin surface
$RAFOS_CLK,372
$RAFOS,6,1303462147,8.833333,8.818611,91,62,58,56,56,56,779,203,193,159,213,115
$RAFOS,5,1303461670,8.700000,8.686111,144,71,60,54,54,53,627,121,198,218,167,181
$RAFOS,4,1303461185,8.566667,8.551389,102,57,54,54,53,52,872,189,205,159,225,145
$RAFOS,3,1303460705,8.433333,8.418056,55,53,53,52,52,49,133,181,1389,192,172,216
$RAFOS,2,1303460224,8.300000,8.284445,58,56,55,50,48,48,206,158,217,124,182,135
$RAFOS,1,1303459752,8.166667,8.153334,64,61,58,56,54,51,171,162,210,196,149,125
$RAFOS,0,1303459272,8.033334,8.020000,67,63,57,54,52,49,157,210,182,193,139,805
$RAFOS_FIX,6713.305176,-5709.167969,220411,080822,3,112,0.08
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.74
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.0
$ALTIM_BOTTOM_PING,350.8,39.0
$24V_AH,22.6,61.157
$10V_AH,10.2,31.306
$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,3.875,59.075,321.725,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1866.016,3585.511,366.042,1234.951,116.789,0.000,1031.088,0.000,1226.278,2520.000,10.780,0.000
$DEVICE_MAMPS,212.670,78.030,1115.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.499,585.129,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30054,784
$CAP_FILE_SIZE,80592,0
$CFSIZE,260165632,223739904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.3
$GPS,220411,084322,6713.305,-5709.168,0,3112.3,0,-38.9