version: 66.08
glider: 141
mission: 15
dive: 467
start: 4 22 111 20 39 50
data:
$ID,141
$MISSION,15
$DIVE,467
$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,37
$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
$GPS1,220411,182120,6706.983,-5649.079,10,1.2,10,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.98
$_SM_ANGLEo,1.5
$GPS2,220411,182120,6706.983,-5649.079,10,1.2,10,-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,211.6,7417,-17.5,-10.000
$D_GRID,425
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.85,0.000,2,0.000,0.000,2886,3694,3157,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.7,-0.0,1,52,0.65,4.18,-12.75,0.000,4,0.123,0.054,2669,1082,3629,0,0,0,0,0,0
$GC,159,-0.58,-146.0,23.6,-13.1,24,166,0.00,2.22,0.00,0.000,6,0.000,0.053,2669,2486,3629,0,0,0,0,0,0
$GC,504,-0.49,-146.0,74.9,-14.1,85,511,0.12,0.00,0.00,0.000,6,0.226,0.000,2698,2486,3628,0,0,0,0,0,0
$GC,842,-0.49,-146.0,111.4,-10.1,136,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2486,3627,0,0,0,0,0,0
$GC,1163,-0.52,-146.0,141.3,-9.2,166,1167,0.00,2.30,0.00,0.000,4,0.000,0.071,2698,3906,3626,0,0,0,0,0,0
$GC,1203,-0.58,-146.0,144.8,-8.2,169,1210,0.00,2.17,0.00,0.000,6,0.000,0.043,2698,2481,3625,0,0,0,0,0,0
$GC,1529,-0.63,-146.0,171.8,-8.3,200,1533,0.12,2.33,0.00,0.000,4,0.129,0.068,2656,3897,3623,0,0,0,0,0,0
$GC,1557,-0.63,-146.0,174.7,-10.6,202,1561,0.00,2.17,0.00,0.000,6,0.000,0.043,2656,2493,3623,0,0,0,0,0,0
$GC,1882,-0.58,-146.0,214.1,-12.2,232,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2492,3623,0,0,0,0,0,0
$GC,2204,-0.54,-146.0,250.3,-11.3,262,2211,0.12,0.00,0.00,0.000,6,0.203,0.000,2685,2492,3623,0,0,0,0,0,0
$GC,2530,-0.57,-146.0,280.9,-8.8,293,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2492,3623,0,0,0,0,0,0
$GC,2850,-0.61,-146.0,308.4,-8.8,323,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2492,3624,0,0,0,0,0,0
$GC,3170,-0.65,-146.0,336.8,-9.0,353,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2492,3624,0,0,0,0,0,0
$GC,3497,-0.69,-146.0,363.4,-8.3,384,3504,0.15,0.00,0.00,0.000,6,0.119,0.000,2635,2492,3624,0,0,0,0,0,0
$GC,3826,-0.60,-146.0,400.9,-11.3,415,3833,0.12,0.00,0.00,0.000,6,0.210,0.000,2662,2492,3625,0,0,0,0,0,0
$STATE,4085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4085,begin apogee
$GC,4092,-0.12,0.0,425.8,9.7,440,4217,0.52,0.00,118.53,1.144,6,0.183,0.000,2816,2252,3030,0,0,0,0,0,0
$STATE,4218,end apogee,CONTROL_FINISHED_OK
$STATE,4218,begin climb
$GC,4220,0.62,146.0,429.4,0.0,451,4352,0.77,2.47,123.00,1.095,4,0.132,0.060,3066,893,2434,0,0,0,0,0,0
$GC,4399,0.55,146.0,415.3,11.8,467,4403,0.00,2.35,0.00,0.000,6,0.000,0.045,3066,2277,2430,0,0,0,0,0,0
$GC,4730,0.46,146.0,372.9,13.6,498,4735,0.20,2.30,0.00,0.000,4,0.179,0.060,3013,3692,2428,0,0,0,0,0,0
$GC,4843,0.43,146.0,360.0,10.6,507,4850,0.00,2.20,0.00,0.000,6,0.000,0.042,3021,2294,2427,0,0,0,0,0,0
$GC,5169,0.47,178.2,329.3,8.5,538,5199,0.00,0.00,27.38,1.023,6,0.000,0.000,3021,2293,2303,0,0,0,0,0,0
$GC,5519,0.48,179.8,296.3,9.9,571,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2293,2300,0,0,0,0,0,0
$GC,5837,0.49,195.1,265.6,9.3,601,5860,0.00,2.25,15.30,0.964,4,0.000,0.058,3021,3692,2234,0,0,0,0,0,0
$GC,5906,0.49,195.1,258.2,11.6,607,5910,0.00,2.22,0.00,0.000,6,0.000,0.042,3031,2266,2233,0,0,0,0,0,0
$GC,6237,0.49,195.1,223.9,10.7,638,6241,0.00,2.17,0.00,0.000,4,0.000,0.057,3041,869,2232,0,0,0,0,0,0
$GC,6292,0.53,195.1,218.1,10.8,642,6299,0.00,2.20,0.00,0.000,6,0.000,0.044,3042,2283,2230,0,0,0,0,0,0
$GC,6617,0.53,195.1,182.2,10.9,673,6621,0.00,2.20,0.00,0.000,4,0.000,0.060,3041,3687,2230,0,0,0,0,0,0
$GC,6725,0.50,195.1,169.5,12.4,682,6729,0.00,2.20,0.00,0.000,6,0.000,0.042,3052,2263,2230,0,0,0,0,0,0
$GC,7051,0.50,195.1,134.9,10.4,712,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2263,2230,0,0,0,0,0,0
$GC,7369,0.50,195.1,101.3,10.3,742,7373,0.00,2.15,0.00,0.000,4,0.000,0.057,3059,872,2230,0,0,0,0,0,0
$GC,7415,0.53,200.3,96.8,9.8,748,7429,0.00,2.17,5.55,0.708,6,0.000,0.044,3059,2282,2213,0,0,0,0,0,0
$GC,7768,0.59,221.2,64.1,9.0,810,7793,0.00,2.28,19.52,0.889,4,0.000,0.060,3060,3680,2128,0,0,0,0,0,0
$GC,7885,0.59,221.2,52.0,11.1,830,7892,0.00,2.20,0.00,0.000,6,0.000,0.043,3070,2270,2127,0,0,0,0,0,0
$GC,8231,0.66,248.2,20.3,8.8,891,8251,0.00,2.28,13.98,0.881,4,0.000,0.058,3079,873,2017,0,0,0,0,0,0
$GC,8287,0.72,248.2,15.1,10.5,900,8294,0.00,2.20,0.00,0.000,6,0.000,0.044,3079,2279,2013,0,0,0,0,0,0
$FREEZE,8.98,-1.710,-1.837,3,2,0
$STATE,8356,end climb,FINISH_DEPTH_REACHED
$STATE,8356,begin subsurface finish
$FINISH1,9.0,1.026875,31
$GC,8362,0.04,30.6,9.0,-8.0,912,8399,0.62,2.28,-27.12,0.000,4,0.150,0.073,2884,3694,2907,0,0,0,0,0,0
$FINISH2,7.7
$STATE,8399,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8399,begin surface
$RAFOS_CLK,436
$RAFOS,6,1303505345,20.833334,20.818056,150,62,57,54,53,53,814,113,196,206,152,143
$RAFOS,5,1303504863,20.700001,20.684166,117,57,54,54,51,50,661,192,210,153,178,113
$RAFOS,4,1303504387,20.566668,20.551945,82,58,58,57,56,50,871,188,130,205,222,156
$RAFOS_FIX,6750.394531,-5722.939453,220411,202046,5,97,10.47
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.23
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.4
$24V_AH,22.4,61.840
$10V_AH,10.2,31.632
$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,3.425,53.825,323.250,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2157.971,4397.923,361.057,1426.407,142.692,0.000,1115.226,0.000,1420.243,720.000,7.924,0.000
$DEVICE_MAMPS,225.675,72.675,1143.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.011,691.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150576
$DATA_FILE_SIZE,33416,918
$CAP_FILE_SIZE,88460,0
$CFSIZE,260165632,223428608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.9
$GPS,220411,182120,6706.983,-5649.079,10,1.2,10,-37.6