version: 66.08
glider: 141
mission: 15
dive: 468
start: 4 22 111 23 2 10
data:
$ID,141
$MISSION,15
$DIVE,468
$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
$GPS1,220411,182120,6706.983,-5649.079,10,1.2,10,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.83
$_SM_ANGLEo,1.0
$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,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,-6.85,0.000,2,0.000,0.000,2884,3694,3194,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.3,-0.0,1,47,0.62,4.12,-9.95,0.000,4,0.110,0.051,2668,1082,3630,0,0,0,0,0,0
$GC,151,-0.58,-146.0,27.1,-14.1,22,158,0.00,2.22,0.00,0.000,6,0.000,0.053,2668,2491,3629,0,0,0,0,0,0
$GC,497,-0.49,-146.0,79.4,-14.6,83,504,0.12,2.28,0.00,0.000,4,0.223,0.068,2696,3898,3628,0,0,0,0,0,0
$GC,512,-0.42,-146.0,81.6,-14.7,85,519,0.12,2.17,0.00,0.000,6,0.204,0.039,2726,2481,3629,0,0,0,0,0,0
$GC,850,-0.50,-146.0,111.4,-8.3,134,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2481,3627,0,0,0,0,0,0
$GC,1170,-0.60,-146.0,135.5,-7.4,164,1172,0.17,0.00,0.00,0.000,6,0.115,0.000,2666,2481,3626,0,0,0,0,0,0
$GC,1487,-0.56,-146.0,176.3,-13.1,194,1491,0.00,2.15,0.00,0.000,4,0.000,0.056,2666,1091,3624,0,0,0,0,0,0
$GC,1560,-0.56,-146.0,185.3,-11.3,200,1564,0.00,2.22,0.00,0.000,6,0.000,0.054,2666,2493,3624,0,0,0,0,0,0
$GC,1886,-0.53,-146.0,221.8,-11.3,230,1890,0.00,2.28,0.00,0.000,4,0.000,0.069,2666,3906,3623,0,0,0,0,0,0
$GC,1925,-0.53,-146.0,226.2,-11.0,233,1932,0.00,2.17,0.00,0.000,6,0.000,0.040,2666,2490,3623,0,0,0,0,0,0
$GC,2250,-0.53,-146.0,260.1,-10.7,264,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2489,3623,0,0,0,0,0,0
$GC,2570,-0.53,-146.0,292.6,-10.2,294,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2489,3623,0,0,0,0,0,0
$GC,2891,-0.53,-146.0,324.8,-10.4,324,2895,0.00,2.28,0.00,0.000,4,0.000,0.063,2666,3905,3623,0,0,0,0,0,0
$GC,2912,-0.53,-146.0,327.6,-10.1,325,2919,0.00,2.17,0.00,0.000,6,0.000,0.037,2666,2490,3623,0,0,0,0,0,0
$GC,3238,-0.53,-146.0,359.4,-9.6,356,3242,0.00,2.17,0.00,0.000,4,0.000,0.051,2666,1086,3624,0,0,0,0,0,0
$GC,3248,-0.53,-146.0,360.6,-9.6,356,3255,0.00,2.20,0.00,0.000,6,0.000,0.050,2666,2491,3624,0,0,0,0,0,0
$GC,3574,-0.53,-146.0,389.9,-8.8,387,3578,0.00,2.25,0.00,0.000,4,0.000,0.065,2666,3897,3624,0,0,0,0,0,0
$GC,3592,-0.53,-146.0,391.6,-9.2,388,3596,0.00,2.12,0.00,0.000,6,0.000,0.037,2666,2486,3624,0,0,0,0,0,0
$GC,3918,-0.53,-146.0,420.4,-8.9,418,3922,0.00,2.28,0.00,0.000,4,0.000,0.063,2666,3899,3625,0,0,0,0,0,0
$STATE,3968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3968,begin apogee
$GC,3976,-0.12,0.0,425.2,8.8,422,4100,0.52,0.00,118.82,1.144,6,0.185,0.000,2816,2273,3030,0,0,0,0,0,0
$STATE,4101,end apogee,CONTROL_FINISHED_OK
$STATE,4101,begin climb
$GC,4104,0.62,146.0,428.3,0.0,433,4236,0.77,2.53,122.97,1.102,4,0.132,0.057,3067,872,2433,0,0,0,0,0,0
$GC,4272,0.55,146.0,414.5,12.8,448,4276,0.00,2.38,0.00,0.000,6,0.000,0.043,3067,2277,2430,0,0,0,0,0,0
$GC,4597,0.48,146.0,372.4,12.8,478,4602,0.17,2.28,0.00,0.000,4,0.174,0.059,3021,3687,2428,0,0,0,0,0,0
$GC,4733,0.43,146.0,357.1,11.6,489,4740,0.00,2.22,0.00,0.000,6,0.000,0.051,3029,2273,2428,0,0,0,0,0,0
$GC,5058,0.46,163.1,325.6,9.2,520,5078,0.00,0.00,15.00,0.983,6,0.000,0.000,3029,2273,2364,0,0,0,0,0,0
$GC,5397,0.47,174.1,294.0,9.5,552,5412,0.00,2.25,10.50,0.936,4,0.000,0.057,3029,3686,2320,0,0,0,0,0,0
$GC,5465,0.44,174.1,286.8,11.5,558,5469,0.12,2.20,0.00,0.000,6,0.182,0.041,3009,2274,2320,0,0,0,0,0,0
$GC,5790,0.51,184.5,256.6,9.5,588,5806,0.00,2.25,10.50,0.923,4,0.000,0.056,3015,862,2277,0,0,0,0,0,0
$GC,5841,0.60,184.5,251.4,10.0,592,5848,0.12,2.20,0.00,0.000,6,0.105,0.042,3074,2279,2275,0,0,0,0,0,0
$GC,6166,0.53,184.5,206.3,13.7,623,6171,0.15,2.22,0.00,0.000,4,0.176,0.058,3034,3690,2275,0,0,0,0,0,0
$GC,6262,0.53,184.5,194.6,11.9,631,6266,0.00,2.17,0.00,0.000,6,0.000,0.041,3043,2270,2274,0,0,0,0,0,0
$GC,6593,0.54,187.0,162.1,9.9,662,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2269,2274,0,0,0,0,0,0
$GC,6914,0.56,208.6,131.6,9.0,692,6940,0.00,2.20,21.73,0.922,4,0.000,0.054,3052,868,2178,0,0,0,0,0,0
$GC,6976,0.61,208.6,125.7,10.3,697,6980,0.00,2.20,0.00,0.000,6,0.000,0.042,3051,2279,2176,0,0,0,0,0,0
$GC,7305,0.66,220.2,92.7,9.5,733,7324,0.00,2.22,11.02,0.846,4,0.000,0.058,3052,3685,2132,0,0,0,0,0,0
$GC,7387,0.66,220.2,83.9,11.6,747,7394,0.00,2.20,0.00,0.000,6,0.000,0.042,3061,2272,2132,0,0,0,0,0,0
$GC,7732,0.71,237.2,49.8,9.2,808,7757,0.00,2.28,16.35,0.866,4,0.000,0.056,3071,865,2061,0,0,0,0,0,0
$GC,7787,0.80,256.7,44.9,9.1,817,7812,0.15,2.20,17.80,0.871,6,0.096,0.043,3136,2274,1982,0,0,0,0,0,0
$FREEZE,8.46,-1.700,-1.837,3,3,0
$STATE,8043,end climb,FINISH_DEPTH_REACHED
$STATE,8043,begin subsurface finish
$FINISH1,8.5,1.026876,31
$GC,8049,0.04,30.6,8.5,-15.1,862,8091,0.85,2.30,-31.38,0.000,4,0.171,0.074,2884,3683,2908,0,0,0,0,0,0
$FINISH2,6.6
$STATE,8092,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8092,begin surface
$RAFOS_CLK,418
$RAFOS,6,1303519751,0.833333,0.819722,162,54,53,52,51,49,787,184,141,220,161,211
$RAFOS,5,1303519270,0.700000,0.686111,165,62,60,57,55,51,626,120,200,215,137,162
$RAFOS,4,1303518781,0.566667,0.550278,122,59,57,50,50,50,897,192,207,180,219,121
$RAFOS,3,1303518311,0.433333,0.419722,62,57,55,55,54,53,153,196,120,947,206,171
$RAFOS,2,1303517829,0.300000,0.285833,66,64,61,57,54,50,181,208,1036,196,152,217
$RAFOS,1,1303517342,0.166667,0.150556,59,56,54,52,51,49,160,215,193,134,235,203
$RAFOS,0,1303516869,0.033333,0.019167,57,56,54,53,53,52,195,182,113,222,1896,297
$RAFOS_FIX,6707.794434,-5658.447266,230411,000040,3,150,0.30
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.025466
$HUMID,45.58
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.4
$24V_AH,22.5,61.943
$10V_AH,10.1,31.684
$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,3.925,75.925,344.700,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2064.408,4183.492,380.178,1384.669,148.509,0.000,1132.885,0.000,1380.459,2520.000,7.926,0.000
$DEVICE_MAMPS,222.615,74.205,1144.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.248,656.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,33398,869
$CAP_FILE_SIZE,94432,0
$CFSIZE,260165632,223371264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.9
$GPS,230411,004240,6707.794,-5658.447,0,3149.7,0,-37.6