version: 66.08
glider: 141
mission: 15
dive: 477
start: 4 23 111 20 33 5
data:
$ID,141
$MISSION,15
$DIVE,477
$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,-40322.797
$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,36
$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
$GPS1,230411,163856,6701.562,-5647.920,0,4100.2,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.76
$_SM_ANGLEo,1.2
$GPS2,230411,163856,6701.562,-5647.920,0,4100.2,0,-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,36.4,2664,-18.3,-10.000
$D_GRID,532
$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,-134.7,0.0,0.0,0,26,0.00,0.00,-8.02,0.000,2,0.000,0.000,2882,3690,3222,0,0,0,0,0,0
$GC,29,-0.64,-146.0,9.8,-0.0,1,49,0.62,4.10,-9.98,0.000,4,0.111,0.050,2665,1078,3630,0,0,0,0,0,0
$GC,160,-0.64,-146.0,25.8,-13.6,23,166,0.00,2.22,0.00,0.000,6,0.000,0.053,2665,2488,3630,0,0,0,0,0,0
$GC,504,-0.58,-146.0,77.2,-14.1,84,511,0.00,2.28,0.00,0.000,4,0.000,0.068,2666,3897,3629,0,0,0,0,0,0
$GC,591,-0.58,-146.0,90.2,-14.2,99,598,0.00,2.17,0.00,0.000,6,0.000,0.041,2666,2482,3629,0,0,0,0,0,0
$GC,927,-0.54,-146.0,138.7,-13.7,136,931,0.00,2.17,0.00,0.000,4,0.000,0.055,2665,1089,3627,0,0,0,0,0,0
$GC,1035,-0.54,-146.0,152.3,-11.8,145,1039,0.00,2.20,0.00,0.000,6,0.000,0.055,2665,2488,3626,0,0,0,0,0,0
$GC,1361,-0.54,-146.0,189.8,-11.0,175,1365,0.00,2.28,0.00,0.000,4,0.000,0.069,2665,3899,3624,0,0,0,0,0,0
$GC,1458,-0.57,-146.0,199.9,-9.7,183,1462,0.00,2.15,0.00,0.000,6,0.000,0.041,2666,2486,3624,0,0,0,0,0,0
$GC,1783,-0.57,-146.0,232.9,-10.3,213,1787,0.00,2.15,0.00,0.000,4,0.000,0.053,2666,1088,3624,0,0,0,0,0,0
$GC,1832,-0.59,-146.0,238.5,-10.9,217,1839,0.00,2.22,0.00,0.000,6,0.000,0.052,2665,2498,3624,0,0,0,0,0,0
$GC,2157,-0.59,-146.0,272.8,-10.2,248,2161,0.00,2.22,0.00,0.000,4,0.000,0.067,2665,3897,3624,0,0,0,0,0,0
$GC,2254,-0.62,-146.0,282.1,-9.6,256,2258,0.00,2.12,0.00,0.000,6,0.000,0.038,2665,2491,3624,0,0,0,0,0,0
$GC,2585,-0.62,-146.0,313.2,-9.6,287,2589,0.00,2.15,0.00,0.000,4,0.000,0.050,2665,1087,3624,0,0,0,0,0,0
$GC,2671,-0.65,-146.0,321.5,-9.6,294,2675,0.00,2.17,0.00,0.000,6,0.000,0.050,2665,2490,3625,0,0,0,0,0,0
$GC,2996,-0.65,-146.0,353.4,-9.6,324,3000,0.00,2.28,0.00,0.000,4,0.000,0.066,2666,3897,3625,0,0,0,0,0,0
$GC,3103,-0.68,-146.0,363.8,-9.6,333,3107,0.00,2.12,0.00,0.000,6,0.000,0.037,2665,2485,3625,0,0,0,0,0,0
$GC,3430,-0.68,-146.0,395.0,-9.6,363,3434,0.00,2.15,0.00,0.000,4,0.000,0.050,2665,1081,3626,0,0,0,0,0,0
$GC,3504,-0.72,-146.0,402.4,-9.7,369,3508,0.00,2.20,0.00,0.000,6,0.000,0.049,2665,2490,3626,0,0,0,0,0,0
$GC,3829,-0.72,-146.0,435.0,-10.2,399,3833,0.00,2.25,0.00,0.000,4,0.000,0.066,2666,3897,3626,0,0,0,0,0,0
$GC,3886,-0.76,-146.0,440.7,-9.9,403,3893,0.15,2.15,0.00,0.000,6,0.114,0.037,2613,2482,3626,0,0,0,0,0,0
$STATE,4028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4028,begin apogee
$GC,4035,-0.12,0.0,460.1,13.6,417,4166,0.73,0.00,119.62,1.167,6,0.202,0.000,2811,2255,3029,0,0,0,0,0,0
$STATE,4166,end apogee,CONTROL_FINISHED_OK
$STATE,4167,begin climb
$GC,4169,0.64,146.0,465.0,0.0,429,4303,0.80,0.00,124.28,1.125,6,0.135,0.000,3057,2254,2434,0,0,0,0,0,0
$GC,4622,0.60,146.0,420.2,10.4,472,4626,0.00,2.33,0.00,0.000,4,0.000,0.058,3057,3686,2428,0,0,0,0,0,0
$GC,4656,0.52,146.0,416.0,12.0,475,4661,0.12,2.20,0.00,0.000,6,0.190,0.044,3038,2294,2427,0,0,0,0,0,0
$GC,4986,0.52,146.0,382.2,10.4,506,4990,0.00,2.25,0.00,0.000,4,0.000,0.060,3046,869,2426,0,0,0,0,0,0
$GC,5018,0.52,146.0,378.7,10.4,508,5025,0.00,2.22,0.00,0.000,6,0.000,0.044,3046,2273,2426,0,0,0,0,0,0
$GC,5344,0.53,150.4,345.2,9.8,539,5356,0.00,2.28,4.15,0.669,4,0.000,0.062,3046,3675,2416,0,0,0,0,0,0
$GC,5384,0.46,150.4,340.6,11.4,542,5392,0.17,2.15,0.00,0.000,6,0.188,0.044,3012,2275,2415,0,0,0,0,0,0
$GC,5712,0.56,190.3,313.7,8.0,573,5750,0.00,0.00,35.05,1.054,6,0.000,0.000,3012,2274,2254,0,0,0,0,0,0
$GC,6069,0.66,225.4,284.2,8.2,607,6105,0.20,2.28,31.00,1.023,4,0.080,0.059,3107,868,2110,0,0,0,0,0,0
$GC,6113,0.56,225.4,278.6,14.5,611,6118,0.22,2.25,0.00,0.000,6,0.190,0.044,3049,2281,2108,0,0,0,0,0,0
$GC,6438,0.56,225.4,240.0,11.7,641,6442,0.00,2.22,0.00,0.000,4,0.000,0.059,3048,3693,2105,0,0,0,0,0,0
$GC,6470,0.56,225.4,235.8,12.8,643,6477,0.00,2.20,0.00,0.000,6,0.000,0.042,3056,2270,2104,0,0,0,0,0,0
$GC,6797,0.56,225.4,195.0,12.4,674,6801,0.00,2.22,0.00,0.000,4,0.000,0.056,3056,3683,2104,0,0,0,0,0,0
$GC,6806,0.56,225.4,193.5,12.4,674,6814,0.00,2.20,0.00,0.000,6,0.000,0.040,3067,2271,2104,0,0,0,0,0,0
$GC,7133,0.56,225.4,151.5,12.6,705,7137,0.00,2.22,0.00,0.000,4,0.000,0.057,3067,3687,2103,0,0,0,0,0,0
$GC,7143,0.56,225.4,149.8,12.8,705,7151,0.08,2.20,0.00,0.000,6,0.167,0.040,3053,2275,2103,0,0,0,0,0,0
$GC,7469,0.59,225.4,113.7,10.5,736,7473,0.00,2.20,0.00,0.000,4,0.000,0.056,3061,868,2103,0,0,0,0,0,0
$GC,7503,0.64,226.9,110.3,9.9,738,7510,0.00,2.17,0.00,0.000,6,0.000,0.043,3060,2278,2101,0,0,0,0,0,0
$GC,7842,0.70,227.5,75.2,10.0,790,7848,0.00,2.22,0.00,0.000,4,0.000,0.058,3060,3692,2102,0,0,0,0,0,0
$GC,7878,0.72,227.5,71.4,11.0,796,7885,0.00,2.20,0.00,0.000,6,0.000,0.042,3071,2264,2102,0,0,0,0,0,0
$GC,8224,0.78,233.1,37.3,9.7,857,8237,0.12,2.25,3.42,0.626,4,0.103,0.057,3139,869,2078,0,0,0,0,0,0
$FREEZE,8.60,-1.734,-1.837,3,12,0
$STATE,8440,end climb,FINISH_DEPTH_REACHED
$STATE,8440,begin subsurface finish
$FINISH1,8.6,1.026871,31
$GC,8449,0.04,30.8,8.6,-13.3,895,8485,0.85,2.28,-27.02,0.000,4,0.174,0.071,2885,864,2906,0,0,0,0,0,0
$FINISH2,6.8
$STATE,8486,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8486,begin surface
$RAFOS_CLK,441
$RAFOS,6,1303591744,20.833334,20.817778,94,60,55,54,53,53,848,207,161,198,179,228
$RAFOS,5,1303591264,20.700001,20.684444,120,60,59,59,58,57,674,195,222,210,172,137
$RAFOS,4,1303590807,20.566668,20.557501,81,57,57,53,53,53,774,214,170,113,140,149
$RAFOS_FIX,6705.655762,-5649.287598,230411,202044,3,98,0.52
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.07
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.1
$ALTIM_BOTTOM_PING,451.5,22.6
$24V_AH,22.4,62.867
$10V_AH,10.2,32.171
$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,4.075,92.850,317.525,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2137.225,4406.537,383.875,1475.000,145.705,0.000,1173.391,0.000,1460.556,1080.000,12.411,0.000
$DEVICE_MAMPS,201.960,71.145,1167.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.654,675.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,33474,901
$CAP_FILE_SIZE,97846,0
$CFSIZE,260165632,222912512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.5
$GPS,230411,204344,6705.656,-5649.288,0,3098.3,0,-37.6