version: 66.08
glider: 141
mission: 15
dive: 470
start: 4 23 111 3 47 15
data:
$ID,141
$MISSION,15
$DIVE,470
$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,33
$R_STBD_OVSHOOT,33
$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,7.95
$_SM_ANGLEo,1.8
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.22,0.000,2,0.000,0.000,2882,3689,3125,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.4,-0.0,1,52,0.60,4.10,-14.02,0.000,4,0.102,0.051,2669,1067,3629,0,0,0,0,0,0
$GC,165,-0.58,-146.0,24.2,-13.8,25,172,0.00,2.22,0.00,0.000,6,0.000,0.051,2669,2486,3629,0,0,0,0,0,0
$GC,511,-0.50,-146.0,75.1,-15.1,86,518,0.12,0.00,0.00,0.000,6,0.226,0.000,2697,2486,3628,0,0,0,0,0,0
$GC,855,-0.50,-146.0,113.1,-9.9,136,859,0.00,2.28,0.00,0.000,4,0.000,0.069,2697,3897,3627,0,0,0,0,0,0
$GC,913,-0.56,-146.0,118.6,-9.2,141,917,0.00,2.15,0.00,0.000,6,0.000,0.041,2697,2479,3626,0,0,0,0,0,0
$GC,1238,-0.60,-146.0,147.3,-8.5,171,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2479,3625,0,0,0,0,0,0
$GC,1559,-0.65,-146.0,174.7,-8.7,201,1564,0.12,2.17,0.00,0.000,4,0.130,0.054,2655,1078,3623,0,0,0,0,0,0
$GC,1580,-0.65,-146.0,177.3,-10.6,202,1587,0.00,2.25,0.00,0.000,6,0.000,0.054,2655,2487,3623,0,0,0,0,0,0
$GC,1906,-0.59,-146.0,217.5,-11.5,233,1910,0.00,2.25,0.00,0.000,4,0.000,0.067,2655,3900,3623,0,0,0,0,0,0
$GC,1923,-0.54,-146.0,219.7,-12.3,234,1928,0.12,2.15,0.00,0.000,6,0.196,0.040,2684,2484,3623,0,0,0,0,0,0
$GC,2249,-0.57,-146.0,250.6,-9.1,264,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2484,3623,0,0,0,0,0,0
$GC,2570,-0.60,-146.0,278.9,-9.1,294,2574,0.00,2.17,0.00,0.000,4,0.000,0.052,2684,1078,3623,0,0,0,0,0,0
$GC,2580,-0.63,-146.0,280.1,-9.0,294,2587,0.00,2.22,0.00,0.000,6,0.000,0.051,2684,2494,3623,0,0,0,0,0,0
$GC,2906,-0.67,-146.0,307.5,-8.1,325,2911,0.12,2.25,0.00,0.000,4,0.122,0.066,2640,3899,3624,0,0,0,0,0,0
$GC,2928,-0.67,-146.0,309.8,-9.6,326,2934,0.00,2.15,0.00,0.000,6,0.000,0.038,2640,2491,3623,0,0,0,0,0,0
$GC,3254,-0.60,-146.0,346.4,-11.1,357,3258,0.00,2.15,0.00,0.000,4,0.000,0.050,2640,1084,3624,0,0,0,0,0,0
$GC,3264,-0.53,-146.0,347.9,-11.3,357,3272,0.20,2.20,0.00,0.000,6,0.200,0.052,2690,2497,3624,0,0,0,0,0,0
$GC,3591,-0.58,-146.0,372.1,-7.4,388,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2497,3625,0,0,0,0,0,0
$GC,3908,-0.65,-146.0,396.4,-8.6,418,3913,0.12,2.28,0.00,0.000,4,0.122,0.067,2644,3899,3625,0,0,0,0,0,0
$GC,3942,-0.65,-146.0,400.0,-11.7,421,3947,0.00,2.12,0.00,0.000,6,0.000,0.038,2643,2488,3625,0,0,0,0,0,0
$GC,4273,-0.61,-146.0,437.5,-11.1,452,4277,0.00,2.17,0.00,0.000,4,0.000,0.050,2644,1079,3626,0,0,0,0,0,0
$GC,4285,-0.56,-146.0,438.8,-11.0,453,4290,0.15,2.20,0.00,0.000,6,0.207,0.051,2678,2493,3626,0,0,0,0,0,0
$STATE,4545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4545,begin apogee
$GC,4550,-0.12,0.0,461.1,8.2,477,4676,0.45,0.00,119.28,1.164,6,0.178,0.000,2813,2260,3030,0,0,0,0,0,0
$STATE,4676,end apogee,CONTROL_FINISHED_OK
$STATE,4676,begin climb
$GC,4679,0.62,146.0,464.7,0.0,488,4812,0.77,2.47,123.53,1.120,4,0.130,0.058,3064,887,2433,0,0,0,0,0,0
$GC,4939,0.56,146.0,440.4,12.1,511,4943,0.00,2.28,0.00,0.000,6,0.000,0.044,3064,2278,2429,0,0,0,0,0,0
$GC,5267,0.47,146.0,399.1,13.0,541,5271,0.17,2.25,0.00,0.000,4,0.179,0.060,3018,3681,2428,0,0,0,0,0,0
$GC,5411,0.43,146.0,382.0,11.1,553,5418,0.00,2.17,0.00,0.000,6,0.000,0.043,3026,2285,2427,0,0,0,0,0,0
$GC,5738,0.43,146.0,349.5,10.2,584,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2286,2427,0,0,0,0,0,0
$GC,6056,0.43,147.3,317.1,9.9,614,6060,0.00,2.22,0.00,0.000,4,0.000,0.058,3026,3696,2427,0,0,0,0,0,0
$GC,6109,0.38,147.3,311.2,12.0,618,6113,0.17,2.17,0.00,0.000,6,0.183,0.041,2992,2276,2426,0,0,0,0,0,0
$GC,6434,0.52,208.2,285.7,7.2,648,6493,0.12,2.30,52.22,1.039,4,0.102,0.057,3063,872,2180,0,0,0,0,0,0
$GC,6549,0.52,208.2,272.0,12.2,658,6556,0.00,2.25,0.00,0.000,6,0.000,0.044,3063,2310,2176,0,0,0,0,0,0
$GC,6875,0.48,208.2,228.9,13.1,689,6880,0.15,2.17,0.00,0.000,4,0.176,0.058,3024,3694,2173,0,0,0,0,0,0
$GC,6932,0.51,208.2,222.1,11.5,694,6936,0.00,2.20,0.00,0.000,6,0.000,0.041,3030,2265,2172,0,0,0,0,0,0
$GC,7258,0.53,208.2,187.5,11.3,724,7262,0.00,2.17,0.00,0.000,4,0.000,0.055,3041,867,2172,0,0,0,0,0,0
$GC,7304,0.59,208.2,182.5,11.2,728,7308,0.00,2.17,0.00,0.000,6,0.000,0.044,3041,2286,2171,0,0,0,0,0,0
$GC,7629,0.59,208.2,145.8,11.5,758,7633,0.00,2.17,0.00,0.000,4,0.000,0.058,3041,3684,2171,0,0,0,0,0,0
$GC,7740,0.59,208.2,131.1,13.2,767,7748,0.00,2.20,0.00,0.000,6,0.000,0.041,3051,2238,2171,0,0,0,0,0,0
$GC,8069,0.62,212.5,95.7,9.8,802,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2238,2171,0,0,0,0,0,0
$GC,8416,0.71,247.2,64.7,8.4,863,8453,0.12,0.00,33.22,0.900,6,0.099,0.000,3112,2238,2021,0,0,0,0,0,0
$GC,8794,0.69,247.2,17.7,12.6,929,8800,0.00,2.15,0.00,0.000,4,0.000,0.057,3123,859,2017,0,0,0,0,0,0
$GC,8841,0.67,247.2,11.7,13.2,937,8849,0.15,2.20,0.00,0.000,6,0.190,0.044,3085,2287,2015,0,0,0,0,0,0
$FREEZE,8.53,-1.714,-1.837,3,5,0
$STATE,8866,end climb,FINISH_DEPTH_REACHED
$STATE,8866,begin subsurface finish
$FINISH1,8.5,1.026875,31
$GC,8872,0.04,30.6,8.5,-12.5,941,8909,0.65,2.22,-28.23,0.000,4,0.158,0.072,2882,3691,2907,0,0,0,0,0,0
$FINISH2,6.9
$STATE,8910,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8910,begin surface
$RAFOS_CLK,460
$RAFOS,6,1303534149,4.833333,4.819167,95,63,61,52,51,50,798,189,216,157,134,116
$RAFOS,5,1303533664,4.700000,4.684444,161,62,60,57,57,53,661,159,132,187,118,213
$RAFOS,4,1303533189,4.566667,4.552500,107,61,58,56,55,54,857,170,196,152,207,142
$RAFOS,3,1303532703,4.433333,4.417500,61,57,55,54,54,53,186,131,200,119,217,168
$RAFOS,2,1303532221,4.300000,4.283611,62,61,59,52,51,49,200,147,175,216,120,106
$RAFOS,1,1303531745,4.166667,4.151389,62,60,59,56,55,51,147,207,188,219,131,117
$RAFOS,0,1303531266,4.033333,4.018333,59,57,55,49,48,46,126,167,204,224,144,176
$RAFOS_FIX,6707.620117,-5657.720703,230411,040444,3,121,0.04
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,44.88
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.7
$24V_AH,22.4,62.153
$10V_AH,10.2,31.796
$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,4.350,79.625,328.250,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2284.313,4633.331,369.931,1525.329,161.286,0.000,1188.856,0.000,1518.026,2520.000,10.968,0.000
$DEVICE_MAMPS,226.440,71.910,1163.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,665.085,714.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36737,947
$CAP_FILE_SIZE,102232,0
$CFSIZE,260165632,223268864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.3
$GPS,230411,044344,6707.620,-5657.721,0,3121.0,0,-37.6