version: 66.08
glider: 141
mission: 15
dive: 485
start: 4 24 111 15 27 40
data:
$ID,141
$MISSION,15
$DIVE,485
$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,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
$GPS1,240411,124344,6705.746,-5646.890,0,3109.0,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.17
$_SM_ANGLEo,-0.3
$GPS2,240411,124344,6705.746,-5646.890,0,3109.0,0,-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,226.6,5149,-17.5,-10.000
$D_GRID,427
$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,-6.40,0.000,2,0.000,0.000,2882,865,3147,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.1,-0.0,1,52,0.62,4.93,-12.68,0.000,4,0.122,0.063,2670,3890,3628,0,0,0,0,0,0
$GC,212,-0.59,-146.0,31.7,-13.0,33,218,0.00,2.15,0.00,0.000,6,0.000,0.041,2670,2480,3629,0,0,0,0,0,0
$GC,557,-0.51,-146.0,81.8,-14.4,94,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2480,3628,0,0,0,0,0,0
$GC,896,-0.46,-146.0,125.6,-12.1,137,901,0.15,2.20,0.00,0.000,4,0.210,0.058,2706,1082,3626,0,0,0,0,0,0
$GC,954,-0.55,-146.0,130.9,-8.3,142,958,0.00,2.25,0.00,0.000,6,0.000,0.056,2706,2491,3626,0,0,0,0,0,0
$GC,1279,-0.63,-146.0,156.6,-7.8,172,1284,0.15,2.30,0.00,0.000,4,0.114,0.070,2653,3909,3624,0,0,0,0,0,0
$GC,1337,-0.60,-146.0,162.4,-10.5,177,1341,0.00,2.20,0.00,0.000,6,0.000,0.042,2653,2483,3623,0,0,0,0,0,0
$GC,1662,-0.54,-146.0,196.6,-10.2,207,1664,0.12,0.00,0.00,0.000,6,0.206,0.000,2682,2482,3623,0,0,0,0,0,0
$GC,1983,-0.56,-146.0,222.5,-8.1,237,1987,0.00,2.30,0.00,0.000,4,0.000,0.067,2682,3899,3622,0,0,0,0,0,0
$GC,2023,-0.62,-146.0,226.0,-8.4,240,2027,0.00,2.17,0.00,0.000,6,0.000,0.041,2682,2482,3622,0,0,0,0,0,0
$GC,2349,-0.65,-146.0,254.3,-9.0,270,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2482,3622,0,0,0,0,0,0
$GC,2667,-0.68,-146.0,284.0,-9.7,300,2672,0.12,2.33,0.00,0.000,4,0.130,0.065,2638,3905,3623,0,0,0,0,0,0
$GC,2730,-0.64,-146.0,291.3,-12.4,305,2734,0.00,2.17,0.00,0.000,6,0.000,0.040,2639,2485,3622,0,0,0,0,0,0
$GC,3056,-0.57,-146.0,332.9,-11.7,335,3058,0.15,0.00,0.00,0.000,6,0.207,0.000,2675,2485,3623,0,0,0,0,0,0
$GC,3374,-0.59,-146.0,361.0,-8.0,365,3378,0.00,2.30,0.00,0.000,4,0.000,0.065,2674,3904,3624,0,0,0,0,0,0
$GC,3396,-0.61,-146.0,363.0,-8.3,366,3403,0.00,2.17,0.00,0.000,6,0.000,0.038,2675,2484,3624,0,0,0,0,0,0
$GC,3722,-0.64,-146.0,389.1,-8.1,397,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2484,3625,0,0,0,0,0,0
$GC,4041,-0.67,-146.0,414.6,-8.0,427,4045,0.00,2.28,0.00,0.000,4,0.000,0.064,2675,3899,3625,0,0,0,0,0,0
$GC,4081,-0.72,-146.0,418.0,-8.6,430,4086,0.15,2.17,0.00,0.000,6,0.109,0.038,2624,2481,3625,0,0,0,0,0,0
$STATE,4170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4171,begin apogee
$GC,4177,-0.12,0.0,428.2,12.0,438,4308,0.70,0.00,119.05,1.139,6,0.203,0.000,2813,2261,3029,0,0,0,0,0,0
$STATE,4308,end apogee,CONTROL_FINISHED_OK
$STATE,4309,begin climb
$GC,4311,0.62,146.0,431.6,0.0,450,4442,0.77,2.47,123.75,1.097,4,0.131,0.060,3065,885,2433,0,0,0,0,0,0
$GC,4473,0.55,146.0,418.3,12.1,466,4478,0.00,2.40,0.00,0.000,6,0.000,0.047,3065,2283,2430,0,0,0,0,0,0
$GC,4800,0.48,146.0,376.3,13.3,496,4805,0.17,2.33,0.00,0.000,4,0.174,0.062,3019,3697,2428,0,0,0,0,0,0
$GC,4879,0.45,146.0,366.4,12.5,502,4887,0.00,2.22,0.00,0.000,6,0.000,0.043,3027,2281,2427,0,0,0,0,0,0
$GC,5205,0.45,146.2,331.8,10.0,533,5209,0.00,2.28,0.00,0.000,4,0.000,0.060,3027,3692,2427,0,0,0,0,0,0
$GC,5249,0.40,146.2,326.4,10.9,536,5257,0.15,2.20,0.00,0.000,6,0.180,0.042,3000,2271,2426,0,0,0,0,0,0
$GC,5575,0.53,215.9,300.9,6.8,567,5642,0.10,2.30,59.40,1.036,4,0.114,0.057,3061,865,2148,0,0,0,0,0,0
$GC,5677,0.53,215.9,290.4,11.1,576,5681,0.00,2.28,0.00,0.000,6,0.000,0.046,3061,2286,2142,0,0,0,0,0,0
$GC,6004,0.50,215.9,250.6,12.9,606,6008,0.12,2.22,0.00,0.000,4,0.179,0.060,3029,3691,2139,0,0,0,0,0,0
$GC,6089,0.50,215.9,239.9,12.0,613,6093,0.00,2.20,0.00,0.000,6,0.000,0.042,3037,2274,2138,0,0,0,0,0,0
$GC,6414,0.50,215.9,199.9,12.9,643,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2274,2138,0,0,0,0,0,0
$GC,6735,0.52,215.9,162.3,11.2,673,6739,0.00,2.25,0.00,0.000,4,0.000,0.058,3037,3695,2138,0,0,0,0,0,0
$GC,6784,0.52,215.9,155.9,12.2,677,6791,0.00,2.22,0.00,0.000,6,0.000,0.041,3046,2268,2138,0,0,0,0,0,0
$GC,7110,0.55,215.9,118.6,11.4,708,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2268,2137,0,0,0,0,0,0
$GC,7436,0.60,227.1,86.2,9.5,750,7454,0.00,2.25,9.38,0.818,4,0.000,0.057,3055,866,2103,0,0,0,0,0,0
$GC,7496,0.67,229.9,80.4,9.9,760,7509,0.00,2.20,4.07,0.594,6,0.000,0.044,3055,2282,2091,0,0,0,0,0,0
$GC,7849,0.75,234.8,46.9,9.8,822,7863,0.15,2.20,6.00,0.724,4,0.091,0.058,3124,3678,2072,0,0,0,0,0,0
$GC,7950,0.64,234.8,32.2,16.2,839,7957,0.22,2.17,0.00,0.000,6,0.184,0.043,3075,2274,2072,0,0,0,0,0,0
$FREEZE,8.80,-1.699,-1.836,3,20,0
$STATE,8171,end climb,FINISH_DEPTH_REACHED
$STATE,8171,begin subsurface finish
$FINISH1,8.8,1.026856,32
$GC,8178,0.04,31.6,8.8,-10.0,878,8214,0.62,2.25,-25.95,0.000,4,0.160,0.070,2882,874,2905,0,0,0,0,0,0
$FINISH2,7.3
$STATE,8215,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8215,begin surface
$RAFOS_CLK,427
$RAFOS,6,1303663744,16.833334,16.817778,141,62,60,60,58,57,853,217,139,194,150,166
$RAFOS,5,1303663267,16.700001,16.685278,140,56,54,54,53,52,664,138,171,122,190,211
$RAFOS,4,1303662792,16.566668,16.553333,97,71,65,52,51,48,859,211,137,187,161,147
$RAFOS,3,1303662303,16.433332,16.417500,103,59,59,58,51,50,995,215,187,121,152,163
$RAFOS,2,1303661828,16.299999,16.285555,57,57,56,56,54,51,209,225,137,188,151,119
$RAFOS,1,1303661344,16.166666,16.151112,58,57,54,52,50,49,195,113,184,219,973,137
$RAFOS,0,1303660863,16.033333,16.017500,58,56,55,50,50,50,192,225,161,136,206,174
$RAFOS_FIX,6659.925293,-5646.936035,240411,161628,4,120,0.76
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.31
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,22.5,63.647
$10V_AH,10.1,32.595
$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,4.500,72.675,321.650,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2105.087,4255.303,372.729,1402.056,145.564,0.000,1119.649,0.000,1388.967,2520.000,8.121,0.000
$DEVICE_MAMPS,210.375,70.380,1139.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.184,660.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33377,884
$CAP_FILE_SIZE,94390,0
$CFSIZE,260165632,222498816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.7
$GPS,240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6