version: 66.08
glider: 141
mission: 15
dive: 475
start: 4 23 111 15 52 12
data:
$ID,141
$MISSION,15
$DIVE,475
$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,31
$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,8.49
$_SM_ANGLEo,0.4
$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,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,-6.60,0.000,2,0.000,0.000,2881,868,3164,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.7,-0.0,1,52,0.62,4.88,-11.70,0.000,4,0.124,0.061,2669,3904,3627,0,0,0,0,0,0
$GC,194,-0.59,-146.0,30.0,-13.1,30,201,0.00,2.12,0.00,0.000,6,0.000,0.037,2669,2487,3628,0,0,0,0,0,0
$GC,540,-0.52,-146.0,76.8,-12.7,91,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2487,3628,0,0,0,0,0,0
$GC,877,-0.47,-146.0,117.3,-12.6,139,879,0.15,0.00,0.00,0.000,6,0.210,0.000,2704,2487,3626,0,0,0,0,0,0
$GC,1196,-0.52,-146.0,147.7,-9.2,169,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2487,3624,0,0,0,0,0,0
$GC,1515,-0.59,-146.0,175.0,-8.5,199,1519,0.00,2.28,0.00,0.000,4,0.000,0.065,2704,3897,3623,0,0,0,0,0,0
$GC,1555,-0.70,-146.0,178.2,-8.3,202,1560,0.20,2.12,0.00,0.000,6,0.101,0.037,2633,2484,3623,0,0,0,0,0,0
$GC,1881,-0.60,-146.0,220.0,-12.7,232,1883,0.15,0.00,0.00,0.000,6,0.214,0.000,2667,2484,3622,0,0,0,0,0,0
$GC,2198,-0.60,-146.0,252.9,-10.6,262,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2484,3622,0,0,0,0,0,0
$GC,2519,-0.60,-146.0,284.8,-9.5,292,2523,0.00,2.28,0.00,0.000,4,0.000,0.062,2666,3905,3622,0,0,0,0,0,0
$GC,2547,-0.60,-146.0,287.6,-9.6,294,2551,0.00,2.12,0.00,0.000,6,0.000,0.036,2667,2487,3622,0,0,0,0,0,0
$GC,2878,-0.60,-146.0,317.7,-8.8,325,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2486,3623,0,0,0,0,0,0
$GC,3200,-0.60,-146.0,345.2,-8.6,355,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2486,3623,0,0,0,0,0,0
$GC,3525,-0.60,-146.0,373.4,-8.8,386,3529,0.00,2.25,0.00,0.000,4,0.000,0.060,2667,3894,3623,0,0,0,0,0,0
$GC,3542,-0.60,-146.0,375.0,-9.0,387,3546,0.00,2.10,0.00,0.000,6,0.000,0.035,2667,2489,3623,0,0,0,0,0,0
$GC,3867,-0.60,-146.0,402.6,-8.4,417,3871,0.00,2.15,0.00,0.000,4,0.000,0.049,2667,1088,3624,0,0,0,0,0,0
$GC,3896,-0.60,-146.0,405.3,-8.8,419,3901,0.00,2.20,0.00,0.000,6,0.000,0.048,2667,2499,3625,0,0,0,0,0,0
$GC,4222,-0.60,-146.0,433.8,-8.7,449,4226,0.00,2.22,0.00,0.000,4,0.000,0.064,2667,3901,3624,0,0,0,0,0,0
$STATE,4232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4232,begin apogee
$GC,4239,-0.12,0.0,434.9,8.9,450,4364,0.50,0.00,118.90,1.153,6,0.183,0.000,2813,2269,3030,0,0,0,0,0,0
$STATE,4365,end apogee,CONTROL_FINISHED_OK
$STATE,4365,begin climb
$GC,4367,0.62,146.0,438.7,0.0,461,4500,0.77,2.50,123.22,1.107,4,0.134,0.055,3063,875,2433,0,0,0,0,0,0
$GC,4584,0.57,146.0,419.8,12.1,480,4591,0.00,2.33,0.00,0.000,6,0.000,0.044,3063,2280,2429,0,0,0,0,0,0
$GC,4910,0.48,146.0,379.3,13.1,511,4915,0.15,2.28,0.00,0.000,4,0.181,0.060,3025,3692,2428,0,0,0,0,0,0
$GC,4984,0.43,146.0,370.2,12.1,517,4988,0.00,2.22,0.00,0.000,6,0.000,0.042,3033,2273,2427,0,0,0,0,0,0
$GC,5310,0.41,146.0,335.1,11.1,547,5312,0.12,0.00,0.00,0.000,6,0.182,0.000,3002,2273,2426,0,0,0,0,0,0
$GC,5628,0.47,156.6,305.2,9.5,577,5639,0.00,0.00,9.12,0.920,6,0.000,0.000,3002,2273,2391,0,0,0,0,0,0
$GC,5958,0.56,182.2,275.2,8.8,608,5988,0.12,2.35,23.08,1.011,4,0.099,0.058,3061,3691,2286,0,0,0,0,0,0
$GC,6016,0.47,182.2,267.7,14.5,613,6024,0.20,2.22,0.00,0.000,6,0.178,0.041,3019,2272,2285,0,0,0,0,0,0
$GC,6342,0.53,207.1,236.5,8.9,644,6369,0.00,2.22,22.45,0.981,4,0.000,0.054,3028,863,2184,0,0,0,0,0,0
$GC,6408,0.63,230.6,230.1,8.9,649,6438,0.12,2.22,21.65,0.970,6,0.105,0.044,3087,2279,2089,0,0,0,0,0,0
$GC,6755,0.57,230.6,179.6,15.0,682,6760,0.15,2.25,0.00,0.000,4,0.181,0.059,3048,3681,2083,0,0,0,0,0,0
$GC,6829,0.57,230.6,169.2,13.6,688,6833,0.00,2.20,0.00,0.000,6,0.000,0.042,3056,2267,2082,0,0,0,0,0,0
$GC,7154,0.57,230.6,127.3,12.3,718,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2267,2081,0,0,0,0,0,0
$GC,7477,0.57,230.6,89.0,11.8,756,7483,0.00,2.20,0.00,0.000,4,0.000,0.054,3066,859,2081,0,0,0,0,0,0
$GC,7535,0.61,230.6,82.4,11.6,766,7542,0.00,2.17,0.00,0.000,6,0.000,0.044,3066,2279,2079,0,0,0,0,0,0
$GC,7881,0.67,247.3,45.9,9.2,827,7901,0.00,2.25,14.48,0.855,4,0.000,0.059,3066,3693,2021,0,0,0,0,0,0
$GC,7970,0.67,247.3,36.4,11.5,842,7977,0.00,2.22,0.00,0.000,6,0.000,0.042,3076,2262,2020,0,0,0,0,0,0
$FREEZE,8.67,-1.694,-1.838,3,10,0
$STATE,8255,end climb,FINISH_DEPTH_REACHED
$STATE,8255,begin subsurface finish
$FINISH1,8.7,1.026894,30
$GC,8262,0.04,29.7,8.7,-10.0,892,8298,0.62,2.17,-27.95,0.000,4,0.158,0.065,2884,865,2910,0,0,0,0,0,0
$FINISH2,7.1
$STATE,8299,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8299,begin surface
$RAFOS_CLK,431
$RAFOS,6,1303577348,16.833334,16.818890,136,58,58,56,55,51,830,157,131,174,115,213
$RAFOS,5,1303576871,16.700001,16.686388,101,58,58,57,54,52,639,200,167,212,134,145
$RAFOS,4,1303576383,16.566668,16.550833,83,63,60,58,55,52,910,174,219,194,120,140
$RAFOS,3,1303575905,16.433332,16.418056,81,60,58,55,52,52,989,210,197,167,219,177
$RAFOS,2,1303575422,16.299999,16.283890,61,57,56,55,49,46,184,123,202,212,170,94
$RAFOS,1,1303574944,16.166666,16.151112,57,53,53,50,48,45,92,130,161,205,1074,218
$RAFOS,0,1303574463,16.033333,16.017500,69,56,55,54,53,50,199,225,130,159,212,176
$RAFOS_FIX,6701.562012,-5647.919922,230411,161656,4,100,0.72
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.4
$24V_AH,22.4,62.667
$10V_AH,10.1,32.064
$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,3.900,63.075,332.900,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2124.922,4337.932,360.666,1402.995,139.410,0.000,1107.936,0.000,1397.054,2520.000,7.927,0.000
$DEVICE_MAMPS,214.200,65.025,1152.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.958,672.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33366,898
$CAP_FILE_SIZE,90688,0
$CFSIZE,260165632,223014912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$GPS,230411,163856,6701.562,-5647.920,0,4100.2,0,-37.6