version: 66.08
glider: 141
mission: 15
dive: 465
start: 4 22 111 15 51 25
data:
$ID,141
$MISSION,15
$DIVE,465
$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,400
$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,-40321.543
$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,39
$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
$GPS1,220411,153237,6707.764,-5649.178,25,1.5,25,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-68.4
$GPS2,220411,155052,6707.762,-5649.046,12,2.6,31,-37.6
$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,212.7,8852,-17.5,-10.000
$D_GRID,417
$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,-146.0,0.0,0.0,0,195,0.00,0.00,-177.15,0.000,2,0.000,0.000,114,2510,3440,0,0,0,0,0,0
$GC,198,-0.62,-146.0,5.7,-11.5,31,223,13.02,2.28,-4.05,0.000,4,0.324,0.084,2650,3886,3630,0,0,0,0,0,0
$GC,326,-0.54,-146.0,35.6,-15.4,53,334,0.15,2.17,0.00,0.000,6,0.200,0.045,2687,2492,3632,0,0,0,0,0,0
$GC,672,-0.50,-146.0,76.3,-11.3,114,678,0.00,2.22,0.00,0.000,4,0.000,0.062,2688,1083,3631,0,0,0,0,0,0
$GC,736,-0.50,-146.0,83.5,-10.8,125,743,0.00,2.25,0.00,0.000,6,0.000,0.058,2688,2481,3632,0,0,0,0,0,0
$GC,1076,-0.50,-146.0,123.6,-11.3,169,1080,0.00,2.33,0.00,0.000,4,0.000,0.075,2688,3898,3630,0,0,0,0,0,0
$GC,1131,-0.54,-146.0,129.8,-10.3,173,1138,0.00,2.20,0.00,0.000,6,0.000,0.046,2688,2487,3630,0,0,0,0,0,0
$GC,1458,-0.54,-146.0,161.6,-9.1,204,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2487,3629,0,0,0,0,0,0
$GC,1776,-0.57,-146.0,191.4,-9.6,234,1780,0.00,2.20,0.00,0.000,4,0.000,0.060,2688,1083,3630,0,0,0,0,0,0
$GC,1798,-0.59,-146.0,194.0,-10.8,235,1804,0.00,2.25,0.00,0.000,6,0.000,0.056,2688,2490,3629,0,0,0,0,0,0
$GC,2123,-0.63,-146.0,226.8,-9.7,266,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2490,3630,0,0,0,0,0,0
$GC,2444,-0.67,-146.0,255.5,-8.5,296,2451,0.12,0.00,0.00,0.000,6,0.122,0.000,2644,2490,3631,0,0,0,0,0,0
$GC,2770,-0.60,-146.0,295.1,-12.2,327,2774,0.00,2.30,0.00,0.000,4,0.000,0.069,2643,3905,3632,0,0,0,0,0,0
$GC,2814,-0.56,-146.0,300.8,-12.2,330,2822,0.15,2.20,0.00,0.000,6,0.192,0.040,2679,2480,3632,0,0,0,0,0,0
$GC,3141,-0.58,-146.0,330.1,-8.1,361,3145,0.00,2.30,0.00,0.000,4,0.000,0.065,2679,3908,3633,0,0,0,0,0,0
$GC,3153,-0.60,-146.0,331.2,-8.4,361,3159,0.00,2.17,0.00,0.000,6,0.000,0.038,2680,2489,3632,0,0,0,0,0,0
$GC,3479,-0.64,-146.0,358.4,-8.1,392,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2488,3634,0,0,0,0,0,0
$GC,3799,-0.67,-146.0,383.9,-8.2,422,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2489,3635,0,0,0,0,0,0
$STATE,3985,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3985,begin apogee
$GC,3992,-0.12,0.0,399.2,7.5,440,4123,0.45,0.00,121.07,1.126,6,0.174,0.000,2814,2249,3029,0,0,0,0,0,0
$STATE,4124,end apogee,CONTROL_FINISHED_OK
$STATE,4124,begin climb
$GC,4126,0.62,146.0,402.6,0.0,452,4259,0.77,2.47,122.90,1.085,4,0.134,0.060,3064,884,2433,0,0,0,0,0,0
$GC,4287,0.56,146.0,389.6,12.6,466,4294,0.00,2.40,0.00,0.000,6,0.000,0.044,3064,2288,2430,0,0,0,0,0,0
$GC,4614,0.48,146.0,346.1,13.6,497,4619,0.17,2.28,0.00,0.000,4,0.179,0.060,3018,3687,2427,0,0,0,0,0,0
$GC,4681,0.45,146.0,337.3,12.1,502,4687,0.00,2.20,0.00,0.000,6,0.000,0.042,3026,2293,2427,0,0,0,0,0,0
$GC,5007,0.45,149.4,303.8,9.8,533,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2293,2427,0,0,0,0,0,0
$GC,5326,0.47,164.2,274.0,9.3,563,5345,0.00,0.00,15.73,0.962,6,0.000,0.000,3026,2293,2360,0,0,0,0,0,0
$GC,5663,0.47,164.2,239.7,10.3,595,5667,0.00,2.22,0.00,0.000,4,0.000,0.058,3026,3692,2358,0,0,0,0,0,0
$GC,5703,0.47,164.2,235.2,11.6,598,5707,0.00,2.20,0.00,0.000,6,0.000,0.042,3036,2274,2357,0,0,0,0,0,0
$GC,6027,0.47,164.2,200.7,10.7,628,6031,0.00,2.22,0.00,0.000,4,0.000,0.057,3044,863,2357,0,0,0,0,0,0
$GC,6082,0.47,164.2,194.7,10.5,632,6090,0.00,2.22,0.00,0.000,6,0.000,0.044,3044,2283,2357,0,0,0,0,0,0
$GC,6408,0.47,164.2,160.7,11.1,663,6412,0.00,2.20,0.00,0.000,4,0.000,0.059,3044,3688,2357,0,0,0,0,0,0
$GC,6505,0.41,164.2,148.9,12.9,671,6510,0.20,2.20,0.00,0.000,6,0.176,0.041,3001,2265,2358,0,0,0,0,0,0
$GC,6830,0.59,235.5,124.8,6.7,701,6894,0.15,0.00,60.90,0.940,6,0.093,0.000,3069,2265,2069,0,0,0,0,0,0
$GC,7218,0.59,235.5,80.2,11.5,752,7225,0.00,2.28,0.00,0.000,4,0.000,0.057,3069,3682,2060,0,0,0,0,0,0
$GC,7248,0.59,235.5,76.5,12.5,757,7255,0.00,2.20,0.00,0.000,6,0.000,0.041,3079,2272,2060,0,0,0,0,0,0
$GC,7595,0.61,235.5,40.5,10.4,818,7601,0.00,2.20,0.00,0.000,4,0.000,0.057,3087,866,2060,0,0,0,0,0,0
$GC,7671,0.64,235.5,32.7,10.7,831,7677,0.00,2.20,0.00,0.000,6,0.000,0.043,3087,2283,2058,0,0,0,0,0,0
$FREEZE,8.95,-1.624,-1.837,3,1,0
$FREEZE,8.46,-1.619,-1.836,3,1,0
$FREEZE,7.94,-1.607,-1.836,3,1,0
$FREEZE,7.36,-1.592,-1.835,3,1,0
$FREEZE,6.89,-1.583,-1.835,3,1,0
$FREEZE,6.34,-1.589,-1.834,3,1,0
$FREEZE,5.86,-1.581,-1.834,3,1,0
$FREEZE,5.40,-1.575,-1.834,3,1,0
$FREEZE,4.91,-1.575,-1.834,3,1,0
$FREEZE,4.25,-1.557,-1.833,3,1,0
$FREEZE,3.75,-1.574,-1.833,3,1,0
$FREEZE,3.24,-1.562,-1.832,3,1,0
$FREEZE,2.73,-1.574,-1.832,3,1,0
$STATE,7958,end climb,SURFACE_DEPTH_REACHED
$STATE,7958,begin surface coast
$FREEZE,1.94,-1.579,-1.831,3,1,0
$FREEZE,1.35,-1.562,-1.830,3,1,0
$FREEZE,1.21,-1.618,-1.767,3,1,0
$FINISH,1.2,1.025954
$STATE,7976,end surface coast,FINISH_DEPTH_REACHED
$STATE,7976,begin surface
$SM_CCo,7993,71.30,0.062,0,0,1398,400.08
$SM_GC,2.22,0.00,0.00,71.30,0.000,0.000,0.062,117,2512,1398,-8.59,0.62,400.08
$RAFOS_CLK,365
$RAFOS,6,1303490950,16.833334,16.819445,173,63,59,57,56,50,787,218,136,179,191,149
$RAFOS,5,1303490463,16.700001,16.684166,106,80,63,60,57,55,673,198,157,215,180,138
$RAFOS,4,1303489987,16.566668,16.551945,162,69,63,60,58,53,879,120,217,184,175,142
$RAFOS,3,1303489510,16.433332,16.419445,82,62,58,52,52,51,982,194,167,141,90,203
$RAFOS,2,1303489023,16.299999,16.284166,69,61,59,59,52,51,196,1086,214,116,130,227
$RAFOS,1,1303488548,16.166666,16.152222,63,63,61,54,53,51,175,215,187,227,142,160
$RAFOS,0,1303488064,16.033333,16.017778,63,62,58,57,55,51,157,200,214,187,118,145
$RAFOS_FIX,6710.401855,-5659.286621,220411,161628,4,131,3.03
$IRIDIUM_FIX,6636.54,-5652.31,220411,151522
$TT8_MAMPS,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.2
$ALTIM_BOTTOM_PING,350.5,63.1
$24V_AH,22.4,61.608
$10V_AH,10.1,31.516
$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,23.675,59.025,320.600,71.300,0.000,52.374,73.969,576.268,1.000,0.000,34.533,2080.161,4072.777,555.795,2063.749,420.169,0.000,1313.926,0.000,1372.920,2520.000,10.429,0.000
$DEVICE_MAMPS,324.360,84.150,1126.080,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.143,667.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150416
$DATA_FILE_SIZE,33395,886
$CAP_FILE_SIZE,105521,0
$CFSIZE,260165632,223522816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.9
$GPS,220411,180731,6707.010,-5649.008,35,1.8,35,-37.6