version: 66.08
glider: 141
mission: 15
dive: 469
start: 4 23 111 1 19 8
data:
$ID,141
$MISSION,15
$DIVE,469
$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,32
$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
$GPS1,230411,004240,6707.794,-5658.447,0,3149.7,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.55
$_SM_ANGLEo,1.2
$GPS2,230411,004240,6707.794,-5658.447,0,3149.7,0,-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,177.2,11651,-17.5,-10.000
$D_GRID,461
$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,-7.30,0.000,2,0.000,0.000,2884,3683,3215,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.4,-0.0,1,47,0.65,4.12,-9.48,0.000,4,0.129,0.052,2668,1081,3630,0,0,0,0,0,0
$GC,82,-0.58,-146.0,16.8,-11.1,10,89,0.00,2.22,0.00,0.000,6,0.000,0.052,2668,2489,3630,0,0,0,0,0,0
$GC,428,-0.51,-146.0,68.9,-14.8,71,435,0.12,2.28,0.00,0.000,4,0.227,0.068,2696,3900,3630,0,0,0,0,0,0
$GC,443,-0.44,-146.0,71.2,-14.7,73,450,0.00,2.15,0.00,0.000,6,0.000,0.039,2696,2481,3630,0,0,0,0,0,0
$GC,783,-0.44,-146.0,109.8,-9.8,125,787,0.00,2.28,0.00,0.000,4,0.000,0.066,2696,3897,3629,0,0,0,0,0,0
$GC,812,-0.44,-146.0,112.6,-9.7,127,816,0.00,2.15,0.00,0.000,6,0.000,0.040,2696,2486,3628,0,0,0,0,0,0
$GC,1145,-0.47,-146.0,141.7,-8.0,158,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2487,3626,0,0,0,0,0,0
$GC,1464,-0.51,-146.0,168.0,-9.1,188,1468,0.00,2.15,0.00,0.000,4,0.000,0.054,2696,1091,3625,0,0,0,0,0,0
$GC,1555,-0.57,-146.0,177.3,-9.9,196,1559,0.00,2.17,0.00,0.000,6,0.000,0.052,2697,2492,3624,0,0,0,0,0,0
$GC,1888,-0.63,-146.0,208.4,-8.9,227,1890,0.10,0.00,0.00,0.000,6,0.138,0.000,2662,2492,3623,0,0,0,0,0,0
$GC,2205,-0.60,-146.0,243.3,-10.6,257,2209,0.00,2.28,0.00,0.000,4,0.000,0.067,2662,3908,3623,0,0,0,0,0,0
$GC,2256,-0.60,-146.0,248.8,-10.7,261,2260,0.00,2.15,0.00,0.000,6,0.000,0.038,2662,2487,3623,0,0,0,0,0,0
$GC,2589,-0.57,-146.0,285.0,-11.4,292,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2486,3623,0,0,0,0,0,0
$GC,2907,-0.54,-146.0,319.6,-10.9,322,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2486,3624,0,0,0,0,0,0
$GC,3226,-0.52,-146.0,352.0,-9.6,352,3233,0.12,0.00,0.00,0.000,6,0.203,0.000,2691,2486,3625,0,0,0,0,0,0
$GC,3554,-0.58,-146.0,376.3,-7.6,383,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2486,3626,0,0,0,0,0,0
$GC,3873,-0.64,-146.0,400.1,-7.9,413,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2486,3626,0,0,0,0,0,0
$GC,4201,-0.71,-146.0,425.7,-7.9,444,4208,0.17,0.00,0.00,0.000,6,0.108,0.000,2629,2486,3627,0,0,0,0,0,0
$STATE,4513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4513,begin apogee
$GC,4519,-0.12,0.0,461.9,11.6,474,4644,0.65,0.00,119.20,1.167,6,0.194,0.000,2810,2253,3030,0,0,0,0,0,0
$STATE,4645,end apogee,CONTROL_FINISHED_OK
$STATE,4645,begin climb
$GC,4648,0.62,146.0,465.2,0.0,485,4781,0.80,2.55,123.82,1.124,4,0.135,0.057,3056,3684,2433,0,0,0,0,0,0
$GC,4837,0.51,146.0,447.4,14.0,502,4845,0.15,2.30,0.00,0.000,6,0.181,0.040,3032,2301,2431,0,0,0,0,0,0
$GC,5163,0.51,146.0,411.5,11.0,533,5167,0.00,2.30,0.00,0.000,4,0.000,0.055,3041,863,2428,0,0,0,0,0,0
$GC,5262,0.51,146.0,399.9,11.6,541,5270,0.00,2.22,0.00,0.000,6,0.000,0.044,3041,2281,2427,0,0,0,0,0,0
$GC,5589,0.48,146.0,361.4,11.7,572,5593,0.00,2.20,0.00,0.000,4,0.000,0.059,3041,3680,2427,0,0,0,0,0,0
$GC,5700,0.39,146.0,345.5,14.4,581,5708,0.22,2.17,0.00,0.000,6,0.178,0.042,2992,2263,2426,0,0,0,0,0,0
$GC,6026,0.49,167.9,315.3,9.0,612,6050,0.00,2.28,18.65,1.014,4,0.000,0.057,2999,867,2345,0,0,0,0,0,0
$GC,6101,0.64,209.9,308.8,8.1,618,6144,0.20,2.20,36.90,1.036,6,0.081,0.044,3086,2284,2174,0,0,0,0,0,0
$GC,6470,0.56,209.9,253.4,15.5,653,6474,0.15,2.22,0.00,0.000,4,0.180,0.058,3048,3690,2167,0,0,0,0,0,0
$GC,6548,0.53,209.9,242.3,12.9,659,6555,0.00,2.17,0.00,0.000,6,0.000,0.041,3056,2274,2167,0,0,0,0,0,0
$GC,6873,0.51,209.9,202.0,12.1,690,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2274,2167,0,0,0,0,0,0
$GC,7193,0.51,209.9,164.0,11.6,720,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2274,2165,0,0,0,0,0,0
$GC,7513,0.52,214.7,129.9,9.8,750,7525,0.00,2.22,4.32,0.630,4,0.000,0.055,3067,863,2154,0,0,0,0,0,0
$GC,7587,0.53,224.9,122.2,9.5,756,7606,0.12,2.20,10.35,0.860,6,0.171,0.043,3034,2287,2112,0,0,0,0,0,0
$GC,7926,0.66,274.9,95.9,7.7,792,7980,0.12,2.28,44.45,0.922,4,0.098,0.057,3091,3678,1908,0,0,0,0,0,0
$GC,8055,0.63,274.9,79.4,14.3,814,8063,0.12,2.20,0.00,0.000,6,0.187,0.042,3072,2263,1905,0,0,0,0,0,0
$GC,8401,0.69,274.9,43.2,10.1,875,8408,0.00,2.20,0.00,0.000,4,0.000,0.057,3079,865,1902,0,0,0,0,0,0
$GC,8460,0.77,274.9,36.9,10.2,885,8467,0.00,2.17,0.00,0.000,6,0.000,0.043,3079,2283,1901,0,0,0,0,0,0
$FREEZE,8.79,-1.715,-1.837,3,4,0
$STATE,8726,end climb,FINISH_DEPTH_REACHED
$STATE,8726,begin subsurface finish
$FINISH1,8.8,1.026872,31
$GC,8733,0.04,30.8,8.8,-10.7,932,8775,0.62,2.30,-31.48,0.000,4,0.147,0.074,2882,3689,2906,0,0,0,0,0,0
$FINISH2,7.0
$STATE,8776,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8776,begin surface
$RAFOS_CLK,456
$RAFOS_FIX,6707.794434,-5658.447266,230411,000040,3,150,0.30
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026964
$HUMID,45.66
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,22.4,62.052
$10V_AH,10.1,31.739
$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,4.350,62.450,357.700,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2223.432,4579.170,402.331,1482.095,144.578,0.000,1187.829,0.000,1477.295,0.000,13.371,0.000
$DEVICE_MAMPS,227.205,74.205,1167.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,658.383,707.476,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36786,939
$CAP_FILE_SIZE,93946,0
$CFSIZE,260165632,223326208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.1
$GPS,230411,004240,6707.794,-5658.447,0,3149.7,0,-37.6