version: 66.08
glider: 141
mission: 15
dive: 474
start: 4 23 111 13 35 30
data:
$ID,141
$MISSION,15
$DIVE,474
$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,32
$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
$GPS1,230411,123512,6707.172,-5649.759,0,4121.5,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.91
$_SM_ANGLEo,0.9
$GPS2,230411,123512,6707.172,-5649.759,0,4121.5,0,-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,208.3,7830,-17.5,-10.000
$D_GRID,434
$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,12,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.10,0.000,2,0.000,0.000,2885,2264,3123,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.2,-0.0,1,51,0.62,2.70,-14.00,0.000,4,0.113,0.075,2669,3893,3629,0,0,0,0,0,0
$GC,65,-0.65,-146.0,11.6,-9.7,7,71,0.00,2.12,0.00,0.000,6,0.000,0.036,2669,2478,3630,0,0,0,0,0,0
$GC,410,-0.57,-146.0,58.8,-13.3,68,416,0.00,2.12,0.00,0.000,4,0.000,0.050,2669,1091,3629,0,0,0,0,0,0
$GC,442,-0.50,-146.0,63.1,-13.7,73,449,0.12,2.20,0.00,0.000,6,0.214,0.050,2697,2488,3629,0,0,0,0,0,0
$GC,788,-0.50,-146.0,97.3,-9.7,134,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2488,3627,0,0,0,0,0,0
$GC,1118,-0.53,-146.0,128.6,-9.5,167,1122,0.00,2.25,0.00,0.000,4,0.000,0.069,2697,3897,3626,0,0,0,0,0,0
$GC,1184,-0.59,-146.0,135.1,-9.6,172,1192,0.00,2.15,0.00,0.000,6,0.000,0.039,2697,2488,3625,0,0,0,0,0,0
$GC,1510,-0.63,-146.0,165.3,-8.8,203,1515,0.12,2.28,0.00,0.000,4,0.128,0.064,2654,3898,3624,0,0,0,0,0,0
$GC,1528,-0.63,-146.0,167.0,-9.4,204,1532,0.00,2.15,0.00,0.000,6,0.000,0.039,2654,2485,3623,0,0,0,0,0,0
$GC,1859,-0.58,-146.0,209.0,-13.5,235,1863,0.00,2.28,0.00,0.000,4,0.000,0.064,2654,3897,3623,0,0,0,0,0,0
$GC,1877,-0.52,-146.0,211.3,-12.7,236,1882,0.15,2.15,0.00,0.000,6,0.191,0.038,2691,2484,3623,0,0,0,0,0,0
$GC,2208,-0.57,-146.0,240.7,-8.7,267,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2484,3623,0,0,0,0,0,0
$GC,2529,-0.62,-146.0,267.2,-8.5,297,2533,0.00,2.30,0.00,0.000,4,0.000,0.063,2690,3905,3623,0,0,0,0,0,0
$GC,2558,-0.69,-146.0,269.5,-7.8,299,2562,0.15,2.15,0.00,0.000,6,0.114,0.037,2638,2479,3623,0,0,0,0,0,0
$GC,2884,-0.61,-146.0,309.9,-12.5,329,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2479,3624,0,0,0,0,0,0
$GC,3203,-0.53,-146.0,349.5,-12.3,359,3205,0.20,0.00,0.00,0.000,6,0.198,0.000,2688,2478,3624,0,0,0,0,0,0
$GC,3521,-0.59,-146.0,375.5,-8.0,389,3525,0.00,2.30,0.00,0.000,4,0.000,0.062,2689,3905,3625,0,0,0,0,0,0
$GC,3554,-0.67,-146.0,378.2,-8.1,391,3561,0.12,2.15,0.00,0.000,6,0.115,0.035,2644,2491,3625,0,0,0,0,0,0
$GC,3879,-0.62,-146.0,412.4,-10.7,422,3883,0.00,2.15,0.00,0.000,4,0.000,0.049,2643,1086,3625,0,0,0,0,0,0
$GC,3901,-0.56,-146.0,414.9,-11.0,423,3908,0.15,2.22,0.00,0.000,6,0.203,0.050,2678,2500,3625,0,0,0,0,0,0
$STATE,4151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4151,begin apogee
$GC,4157,-0.12,0.0,434.5,7.7,447,4282,0.45,0.00,118.95,1.148,6,0.180,0.000,2812,2251,3030,0,0,0,0,0,0
$STATE,4283,end apogee,CONTROL_FINISHED_OK
$STATE,4283,begin climb
$GC,4285,0.62,146.0,436.9,0.0,458,4418,0.77,2.45,123.15,1.103,4,0.132,0.057,3063,891,2434,0,0,0,0,0,0
$GC,4514,0.56,146.0,415.1,13.1,478,4521,0.00,2.28,0.00,0.000,6,0.000,0.043,3063,2276,2429,0,0,0,0,0,0
$GC,4839,0.47,146.0,372.3,12.9,509,4844,0.17,2.28,0.00,0.000,4,0.183,0.060,3018,3690,2428,0,0,0,0,0,0
$GC,4880,0.44,146.0,367.4,11.7,512,4884,0.00,2.20,0.00,0.000,6,0.000,0.041,3026,2284,2427,0,0,0,0,0,0
$GC,5206,0.44,146.0,331.0,11.5,542,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2285,2427,0,0,0,0,0,0
$GC,5525,0.44,146.0,295.1,11.0,572,5529,0.00,2.22,0.00,0.000,4,0.000,0.057,3026,3693,2427,0,0,0,0,0,0
$GC,5577,0.38,146.0,288.6,12.7,576,5582,0.17,2.20,0.00,0.000,6,0.182,0.041,2993,2272,2427,0,0,0,0,0,0
$GC,5902,0.50,188.9,260.8,8.0,606,5947,0.10,2.25,36.05,1.016,4,0.118,0.056,3054,875,2257,0,0,0,0,0,0
$GC,5975,0.50,188.9,252.6,12.4,612,5982,0.00,2.25,0.00,0.000,6,0.000,0.044,3054,2283,2255,0,0,0,0,0,0
$GC,6302,0.47,188.9,213.4,11.6,643,6307,0.15,2.22,0.00,0.000,4,0.177,0.059,3015,3686,2253,0,0,0,0,0,0
$GC,6400,0.49,190.8,203.3,9.9,651,6404,0.00,2.20,0.00,0.000,6,0.000,0.041,3022,2266,2252,0,0,0,0,0,0
$GC,6725,0.57,212.9,174.9,9.0,681,6751,0.00,2.20,21.05,0.949,4,0.000,0.056,3029,874,2161,0,0,0,0,0,0
$GC,6786,0.69,245.7,169.5,8.5,686,6826,0.17,2.20,29.52,0.947,6,0.087,0.043,3104,2279,2027,0,0,0,0,0,0
$GC,7143,0.61,245.7,114.6,16.1,720,7148,0.15,2.22,0.00,0.000,4,0.180,0.058,3065,3682,2020,0,0,0,0,0,0
$GC,7212,0.61,245.7,104.6,13.8,726,7216,0.00,2.17,0.00,0.000,6,0.000,0.042,3074,2278,2019,0,0,0,0,0,0
$GC,7554,0.65,245.7,61.8,11.3,783,7561,0.00,2.17,0.00,0.000,4,0.000,0.055,3083,872,2019,0,0,0,0,0,0
$GC,7635,0.68,245.7,53.1,10.4,797,7642,0.00,2.17,0.00,0.000,6,0.000,0.044,3083,2276,2018,0,0,0,0,0,0
$GC,7979,0.68,245.7,17.4,10.2,858,7986,0.00,2.20,0.00,0.000,4,0.000,0.060,3083,3681,2018,0,0,0,0,0,0
$GC,8032,0.68,245.7,11.3,12.2,867,8039,0.00,2.17,0.00,0.000,6,0.000,0.041,3093,2268,2018,0,0,0,0,0,0
$FREEZE,8.88,-1.689,-1.838,3,9,0
$STATE,8050,end climb,FINISH_DEPTH_REACHED
$STATE,8050,begin subsurface finish
$FINISH1,8.9,1.026893,30
$GC,8057,0.04,29.7,8.9,-12.3,870,8094,0.70,2.20,-28.00,0.000,4,0.163,0.065,2881,868,2910,0,0,0,0,0,0
$FINISH2,7.0
$STATE,8095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8095,begin surface
$RAFOS_CLK,429
$RAFOS_FIX,6707.171875,-5649.758789,230411,121212,4,122,0.25
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,401.1,55.3
$24V_AH,22.5,62.566
$10V_AH,10.1,32.011
$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,4.500,78.300,328.725,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2079.006,4138.703,375.056,1404.082,153.060,0.000,1138.464,0.000,1398.995,0.000,12.790,0.000
$DEVICE_MAMPS,214.200,74.970,1148.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.443,659.886,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33438,876
$CAP_FILE_SIZE,95469,0
$CFSIZE,260165632,223059968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.6
$GPS,230411,123512,6707.172,-5649.759,0,4121.5,0,-37.6