version: 66.08
glider: 141
mission: 15
dive: 481
start: 4 24 111 6 29 15
data:
$ID,141
$MISSION,15
$DIVE,481
$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,35
$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
$GPS1,240411,044301,6708.531,-5651.815,0,3130.3,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.98
$_SM_ANGLEo,1.2
$GPS2,240411,044301,6708.531,-5651.815,0,3130.3,0,-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,202.5,10607,-17.5,-10.000
$D_GRID,411
$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,-6.70,0.000,2,0.000,0.000,2880,2264,3172,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.1,-0.0,1,47,0.60,1.85,-11.18,0.000,4,0.116,0.069,2672,1072,3628,0,0,0,0,0,0
$GC,146,-0.59,-146.0,23.4,-11.9,21,153,0.00,2.25,0.00,0.000,6,0.000,0.054,2672,2485,3630,0,0,0,0,0,0
$GC,490,-0.52,-146.0,71.0,-13.4,82,497,0.00,2.30,0.00,0.000,4,0.000,0.071,2672,3897,3628,0,0,0,0,0,0
$GC,505,-0.45,-146.0,73.1,-13.6,84,513,0.17,2.17,0.00,0.000,6,0.213,0.041,2714,2488,3628,0,0,0,0,0,0
$GC,849,-0.51,-146.0,105.1,-9.5,140,853,0.00,2.22,0.00,0.000,4,0.000,0.058,2714,1076,3627,0,0,0,0,0,0
$GC,861,-0.56,-146.0,106.3,-9.5,141,865,0.00,2.28,0.00,0.000,6,0.000,0.057,2714,2498,3627,0,0,0,0,0,0
$GC,1187,-0.65,-146.0,136.8,-8.4,171,1192,0.17,2.30,0.00,0.000,4,0.111,0.072,2652,3908,3625,0,0,0,0,0,0
$GC,1233,-0.60,-146.0,142.3,-13.4,175,1237,0.00,2.20,0.00,0.000,6,0.000,0.043,2652,2484,3625,0,0,0,0,0,0
$GC,1559,-0.53,-146.0,184.5,-12.2,205,1563,0.15,2.20,0.00,0.000,4,0.204,0.058,2688,1087,3624,0,0,0,0,0,0
$GC,1591,-0.55,-146.0,188.4,-10.2,207,1598,0.00,2.25,0.00,0.000,6,0.000,0.057,2688,2496,3623,0,0,0,0,0,0
$GC,1919,-0.59,-146.0,217.3,-9.3,238,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2497,3623,0,0,0,0,0,0
$GC,2246,-0.63,-146.0,246.2,-8.4,269,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2496,3623,0,0,0,0,0,0
$GC,2565,-0.67,-146.0,272.2,-8.1,299,2570,0.12,2.30,0.00,0.000,4,0.121,0.070,2642,3902,3623,0,0,0,0,0,0
$GC,2628,-0.63,-146.0,279.3,-11.9,304,2632,0.00,2.17,0.00,0.000,6,0.000,0.041,2644,2490,3623,0,0,0,0,0,0
$GC,2959,-0.57,-146.0,319.6,-12.2,335,2964,0.15,2.20,0.00,0.000,4,0.207,0.055,2679,1082,3623,0,0,0,0,0,0
$GC,2969,-0.51,-146.0,320.9,-11.9,335,2976,0.00,2.25,0.00,0.000,6,0.000,0.054,2679,2499,3624,0,0,0,0,0,0
$GC,3295,-0.55,-146.0,351.1,-9.1,366,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2499,3624,0,0,0,0,0,0
$GC,3615,-0.58,-146.0,378.9,-8.8,396,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2499,3625,0,0,0,0,0,0
$GC,3934,-0.62,-146.0,403.8,-7.8,426,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2499,3625,0,0,0,0,0,0
$STATE,4033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4034,begin apogee
$GC,4039,-0.12,0.0,411.5,7.4,436,4164,0.45,0.00,118.80,1.129,6,0.179,0.000,2812,2257,3030,0,0,0,0,0,0
$STATE,4165,end apogee,CONTROL_FINISHED_OK
$STATE,4165,begin climb
$GC,4167,0.62,146.0,414.4,0.0,447,4298,0.77,0.00,123.38,1.082,6,0.134,0.000,3052,2257,2433,0,0,0,0,0,0
$GC,4614,0.57,146.0,367.7,11.2,489,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2257,2427,0,0,0,0,0,0
$GC,4934,0.53,146.0,333.1,10.3,519,4938,0.00,2.33,0.00,0.000,4,0.000,0.060,3052,3691,2427,0,0,0,0,0,0
$GC,4990,0.43,146.0,325.6,13.3,523,4997,0.20,2.20,0.00,0.000,6,0.182,0.044,3011,2287,2427,0,0,0,0,0,0
$GC,5315,0.50,183.9,297.8,8.2,554,5352,0.00,2.30,31.77,1.013,4,0.000,0.063,3019,868,2279,0,0,0,0,0,0
$GC,5406,0.60,207.5,290.0,8.9,562,5434,0.10,2.22,21.88,0.986,6,0.116,0.047,3069,2282,2183,0,0,0,0,0,0
$GC,5753,0.55,207.5,240.3,14.3,594,5757,0.00,2.22,0.00,0.000,4,0.000,0.062,3069,3687,2177,0,0,0,0,0,0
$GC,5885,0.48,207.5,220.3,15.4,605,5892,0.17,2.17,0.00,0.000,6,0.163,0.044,3025,2281,2175,0,0,0,0,0,0
$GC,6218,0.53,219.5,187.7,9.4,636,6233,0.00,2.25,10.62,0.876,4,0.000,0.061,3029,870,2135,0,0,0,0,0,0
$GC,6327,0.65,248.4,178.3,8.7,645,6361,0.12,2.20,26.33,0.941,6,0.105,0.047,3086,2278,2017,0,0,0,0,0,0
$GC,6679,0.61,248.4,131.2,14.2,678,6683,0.00,2.25,0.00,0.000,4,0.000,0.060,3087,3686,2012,0,0,0,0,0,0
$GC,6790,0.56,248.4,113.6,15.5,687,6798,0.20,2.20,0.00,0.000,6,0.175,0.044,3044,2275,2010,0,0,0,0,0,0
$GC,7127,0.63,248.4,76.7,10.1,737,7134,0.00,2.22,0.00,0.000,4,0.000,0.060,3044,869,2009,0,0,0,0,0,0
$GC,7187,0.76,254.9,70.9,9.7,747,7201,0.17,2.20,6.15,0.729,6,0.091,0.045,3115,2289,1990,0,0,0,0,0,0
$GC,7537,0.76,254.9,25.0,12.1,809,7544,0.00,2.20,0.00,0.000,4,0.000,0.061,3116,3678,1990,0,0,0,0,0,0
$GC,7589,0.68,254.9,18.0,14.7,818,7597,0.15,2.20,0.00,0.000,6,0.193,0.045,3088,2265,1989,0,0,0,0,0,0
$FREEZE,8.53,-1.748,-1.837,3,16,0
$STATE,7672,end climb,FINISH_DEPTH_REACHED
$STATE,7672,begin subsurface finish
$FINISH1,8.5,1.026876,31
$GC,7679,0.04,30.6,8.5,-10.6,832,7714,0.68,0.00,-28.98,0.000,6,0.164,0.000,2882,2265,2908,0,0,0,0,0,0
$FINISH2,7.2
$STATE,7715,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7715,begin surface
$RAFOS_CLK,397
$RAFOS,3,1303633506,8.433333,8.418333,55,54,53,53,51,50,199,242,152,181,138,210
$RAFOS,2,1303633029,8.300000,8.285833,62,62,61,60,56,45,141,155,210,191,120,131
$RAFOS,1,1303632547,8.166667,8.151944,63,58,57,55,53,50,216,189,157,205,140,175
$RAFOS,0,1303632072,8.033334,8.020000,54,53,52,51,51,50,188,216,154,121,173,199
$RAFOS_FIX,6708.530762,-5651.815430,240411,040401,3,130,0.95
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.029211
$HUMID,45.31
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.4
$24V_AH,22.6,63.248
$10V_AH,10.3,32.389
$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,4.400,62.475,338.925,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1998.343,3917.714,370.721,1343.256,139.645,0.000,1097.531,0.000,1336.477,1800.000,7.925,0.000
$DEVICE_MAMPS,212.670,71.910,1129.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.531,632.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30128,838
$CAP_FILE_SIZE,90709,0
$CFSIZE,260165632,222703616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$GPS,240411,044301,6708.531,-5651.815,0,3130.3,0,-37.6