version: 66.08
glider: 141
mission: 15
dive: 473
start: 4 23 111 11 16 53
data:
$ID,141
$MISSION,15
$DIVE,473
$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,38
$R_STBD_OVSHOOT,34
$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
$GPS1,230411,084240,6707.101,-5654.573,0,3106.7,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.37
$_SM_ANGLEo,-0.2
$GPS2,230411,084240,6707.101,-5654.573,0,3106.7,0,-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,185.6,8955,-17.5,-10.000
$D_GRID,436
$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,-5.93,0.000,2,0.000,0.000,2884,874,3130,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.2,-0.0,1,52,0.62,4.90,-13.05,0.000,4,0.122,0.063,2671,3886,3627,0,0,0,0,0,0
$GC,194,-0.58,-146.0,29.0,-13.0,30,201,0.00,2.12,0.00,0.000,6,0.000,0.038,2671,2478,3629,0,0,0,0,0,0
$GC,539,-0.51,-146.0,78.8,-13.9,91,546,0.00,2.30,0.00,0.000,4,0.000,0.066,2671,3899,3627,0,0,0,0,0,0
$GC,587,-0.51,-146.0,85.4,-12.4,99,594,0.00,2.12,0.00,0.000,6,0.000,0.041,2671,2494,3627,0,0,0,0,0,0
$GC,926,-0.46,-146.0,129.9,-13.0,140,931,0.15,2.20,0.00,0.000,4,0.213,0.056,2706,1086,3626,0,0,0,0,0,0
$GC,982,-0.55,-146.0,135.9,-9.0,144,989,0.00,2.20,0.00,0.000,6,0.000,0.054,2707,2484,3625,0,0,0,0,0,0
$GC,1308,-0.62,-146.0,163.8,-8.3,175,1312,0.12,2.30,0.00,0.000,4,0.124,0.070,2661,3898,3623,0,0,0,0,0,0
$GC,1351,-0.62,-146.0,168.6,-11.5,178,1358,0.00,2.17,0.00,0.000,6,0.000,0.041,2661,2494,3623,0,0,0,0,0,0
$GC,1678,-0.58,-146.0,205.5,-11.6,209,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2494,3622,0,0,0,0,0,0
$GC,1997,-0.56,-146.0,240.3,-10.0,239,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2494,3623,0,0,0,0,0,0
$GC,2316,-0.53,-146.0,273.2,-10.2,269,2318,0.12,0.00,0.00,0.000,6,0.205,0.000,2690,2494,3622,0,0,0,0,0,0
$GC,2633,-0.59,-146.0,299.8,-8.9,299,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2494,3623,0,0,0,0,0,0
$GC,2952,-0.64,-146.0,328.3,-8.7,329,2956,0.00,2.17,0.00,0.000,4,0.000,0.051,2690,1071,3623,0,0,0,0,0,0
$GC,2964,-0.70,-146.0,329.4,-8.7,329,2971,0.15,2.20,0.00,0.000,6,0.116,0.050,2638,2491,3623,0,0,0,0,0,0
$GC,3289,-0.63,-146.0,367.6,-11.7,360,3293,0.00,2.25,0.00,0.000,4,0.000,0.065,2638,3899,3623,0,0,0,0,0,0
$GC,3352,-0.60,-146.0,374.9,-11.4,365,3357,0.12,2.15,0.00,0.000,6,0.201,0.038,2666,2473,3623,0,0,0,0,0,0
$GC,3677,-0.60,-146.0,404.1,-9.6,395,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2473,3624,0,0,0,0,0,0
$GC,3998,-0.60,-146.0,432.6,-9.0,425,4002,0.00,2.30,0.00,0.000,4,0.000,0.062,2666,3906,3625,0,0,0,0,0,0
$STATE,4036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4036,begin apogee
$GC,4044,-0.12,0.0,436.4,9.0,428,4169,0.50,0.00,118.47,1.150,6,0.181,0.000,2812,2274,3030,0,0,0,0,0,0
$STATE,4169,end apogee,CONTROL_FINISHED_OK
$STATE,4170,begin climb
$GC,4172,0.62,146.0,439.9,0.0,439,4304,0.77,2.50,123.05,1.103,4,0.131,0.056,3064,879,2434,0,0,0,0,0,0
$GC,4355,0.55,146.0,424.7,12.4,455,4362,0.00,2.33,0.00,0.000,6,0.000,0.042,3064,2279,2430,0,0,0,0,0,0
$GC,4680,0.47,146.0,382.5,12.3,486,4685,0.17,2.28,0.00,0.000,4,0.178,0.059,3018,3683,2428,0,0,0,0,0,0
$GC,4777,0.43,146.0,371.4,11.6,494,4781,0.00,2.20,0.00,0.000,6,0.000,0.043,3026,2279,2427,0,0,0,0,0,0
$GC,5108,0.43,146.0,336.6,10.8,525,5112,0.00,2.22,0.00,0.000,4,0.000,0.055,3037,867,2428,0,0,0,0,0,0
$GC,5170,0.43,146.0,329.8,11.0,530,5175,0.12,2.20,0.00,0.000,6,0.185,0.044,3007,2278,2427,0,0,0,0,0,0
$GC,5496,0.47,153.3,298.0,9.7,560,5509,0.00,2.30,6.55,0.828,4,0.000,0.059,3007,3694,2403,0,0,0,0,0,0
$GC,5577,0.47,153.3,289.0,11.9,567,5581,0.00,2.17,0.00,0.000,6,0.000,0.042,3016,2276,2404,0,0,0,0,0,0
$GC,5909,0.52,173.3,257.1,9.1,598,5929,0.00,0.00,18.35,0.980,6,0.000,0.000,3015,2276,2323,0,0,0,0,0,0
$GC,6248,0.59,202.4,226.6,8.7,630,6277,0.12,0.00,26.00,0.980,6,0.099,0.000,3078,2276,2204,0,0,0,0,0,0
$GC,6595,0.53,202.4,182.5,13.0,663,6600,0.15,2.25,0.00,0.000,4,0.181,0.057,3038,3683,2200,0,0,0,0,0,0
$GC,6644,0.53,202.4,176.3,12.1,667,6651,0.00,2.20,0.00,0.000,6,0.000,0.042,3046,2279,2199,0,0,0,0,0,0
$GC,6969,0.53,202.4,138.9,11.5,698,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2279,2199,0,0,0,0,0,0
$GC,7292,0.56,202.4,104.4,10.6,728,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2279,2199,0,0,0,0,0,0
$GC,7634,0.64,234.8,70.7,8.5,786,7670,0.00,2.25,28.60,0.897,4,0.000,0.057,3049,865,2071,0,0,0,0,0,0
$GC,7717,0.77,255.1,63.2,9.1,800,7742,0.17,2.20,18.65,0.869,6,0.090,0.042,3123,2287,1990,0,0,0,0,0,0
$GC,8081,0.73,255.1,16.8,12.3,864,8088,0.00,2.20,0.00,0.000,4,0.000,0.058,3123,3687,1984,0,0,0,0,0,0
$FREEZE,8.11,-1.706,-1.837,3,8,0
$STATE,8138,end climb,FINISH_DEPTH_REACHED
$STATE,8138,begin subsurface finish
$FINISH1,8.1,1.026885,30
$GC,8147,0.04,30.1,8.1,-15.7,874,8189,0.85,0.00,-34.67,0.000,6,0.177,0.000,2885,2264,2909,0,0,0,0,0,0
$FINISH2,5.2
$STATE,8189,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8190,begin surface
$RAFOS_CLK,424
$RAFOS,6,1303562943,12.833333,12.817500,126,62,58,57,55,53,856,138,205,120,219,175
$RAFOS,5,1303562465,12.700000,12.684722,134,62,61,56,52,49,677,209,146,224,168,131
$RAFOS,4,1303561984,12.566667,12.551111,150,61,59,59,55,52,911,161,216,203,189,137
$RAFOS,3,1303561503,12.433333,12.417500,66,61,60,56,53,49,181,171,217,131,148,120
$RAFOS,2,1303561024,12.300000,12.284445,62,62,60,56,55,52,177,191,158,139,202,125
$RAFOS,1,1303560552,12.166667,12.153334,76,61,57,56,55,55,1027,198,146,124,224,1308
$RAFOS,0,1303560064,12.033333,12.017777,62,55,53,51,50,50,211,186,235,159,141,150
$RAFOS_FIX,6707.171875,-5649.758789,230411,121212,4,122,0.25
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$24V_AH,22.5,62.466
$10V_AH,10.2,31.959
$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,4.175,65.475,339.675,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2088.505,4261.054,379.363,1387.092,142.791,0.000,1122.800,0.000,1380.630,2520.000,12.091,0.000
$DEVICE_MAMPS,212.670,69.615,1149.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.435,664.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33387,881
$CAP_FILE_SIZE,90812,0
$CFSIZE,260165632,223113216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.2
$GPS,230411,123512,6707.172,-5649.759,0,4121.5,0,-37.6