version: 66.08
glider: 141
mission: 15
dive: 486
start: 4 24 111 17 46 40
data:
$ID,141
$MISSION,15
$DIVE,486
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.04
$_SM_ANGLEo,-0.3
$GPS2,240411,163928,6659.925,-5646.936,0,4120.2,0,-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,29.9,5746,-17.5,-10.000
$D_GRID,535
$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,-6.65,0.000,2,0.000,0.000,2882,874,3168,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.1,-0.0,1,46,0.62,0.30,-11.20,0.000,4,0.124,0.142,2670,1095,3626,0,0,0,0,0,0
$GC,65,-0.57,-146.0,13.4,-10.0,7,72,0.00,2.15,0.00,0.000,6,0.000,0.054,2670,2487,3627,0,0,0,0,0,0
$GC,410,-0.49,-146.0,62.4,-14.9,68,418,0.12,2.28,0.00,0.000,4,0.233,0.069,2698,3896,3627,0,0,0,0,0,0
$GC,505,-0.52,-146.0,73.3,-10.5,84,512,0.00,2.15,0.00,0.000,6,0.000,0.040,2698,2480,3626,0,0,0,0,0,0
$GC,846,-0.55,-146.0,108.2,-9.2,137,850,0.00,2.28,0.00,0.000,4,0.000,0.067,2698,3896,3625,0,0,0,0,0,0
$GC,890,-0.60,-146.0,112.6,-9.7,140,897,0.00,2.15,0.00,0.000,6,0.000,0.041,2698,2482,3625,0,0,0,0,0,0
$GC,1218,-0.64,-146.0,144.0,-10.1,171,1222,0.12,2.20,0.00,0.000,4,0.130,0.059,2656,1082,3622,0,0,0,0,0,0
$GC,1261,-0.61,-146.0,149.7,-12.3,174,1268,0.00,2.22,0.00,0.000,6,0.000,0.056,2656,2496,3623,0,0,0,0,0,0
$GC,1588,-0.57,-146.0,193.5,-12.9,205,1592,0.00,2.25,0.00,0.000,4,0.000,0.071,2656,3897,3621,0,0,0,0,0,0
$GC,1656,-0.57,-146.0,202.1,-11.9,211,1660,0.00,2.15,0.00,0.000,6,0.000,0.042,2656,2488,3621,0,0,0,0,0,0
$GC,1983,-0.52,-146.0,241.1,-11.6,241,1988,0.15,2.20,0.00,0.000,4,0.198,0.056,2692,1081,3621,0,0,0,0,0,0
$GC,2035,-0.60,-146.0,246.6,-9.4,245,2039,0.00,2.22,0.00,0.000,6,0.000,0.054,2692,2503,3620,0,0,0,0,0,0
$GC,2361,-0.66,-146.0,274.9,-8.9,275,2366,0.12,2.28,0.00,0.000,4,0.119,0.069,2645,3902,3621,0,0,0,0,0,0
$GC,2433,-0.63,-146.0,283.6,-12.2,281,2440,0.00,2.12,0.00,0.000,6,0.000,0.040,2645,2490,3620,0,0,0,0,0,0
$GC,2758,-0.57,-146.0,324.0,-12.0,312,2763,0.12,2.28,0.00,0.000,4,0.210,0.065,2674,3897,3621,0,0,0,0,0,0
$GC,2791,-0.59,-146.0,327.8,-10.4,314,2798,0.00,2.12,0.00,0.000,6,0.000,0.039,2674,2488,3621,0,0,0,0,0,0
$GC,3117,-0.61,-146.0,358.0,-9.4,345,3121,0.00,2.17,0.00,0.000,4,0.000,0.053,2674,1087,3622,0,0,0,0,0,0
$GC,3196,-0.65,-146.0,365.7,-9.3,352,3200,0.00,2.20,0.00,0.000,6,0.000,0.052,2675,2496,3622,0,0,0,0,0,0
$GC,3528,-0.67,-146.0,396.2,-9.7,383,3532,0.00,2.25,0.00,0.000,4,0.000,0.067,2674,3905,3621,0,0,0,0,0,0
$GC,3617,-0.72,-146.0,404.5,-9.0,390,3625,0.12,2.17,0.00,0.000,6,0.121,0.038,2631,2483,3622,0,0,0,0,0,0
$GC,3944,-0.64,-146.0,443.8,-11.9,421,3948,0.00,2.15,0.00,0.000,4,0.000,0.054,2632,1087,3622,0,0,0,0,0,0
$GC,4054,-0.60,-146.0,456.8,-11.4,430,4059,0.15,2.22,0.00,0.000,6,0.209,0.053,2666,2495,3623,0,0,0,0,0,0
$GC,4379,-0.60,-146.0,484.6,-8.2,460,4383,0.00,2.28,0.00,0.000,4,0.000,0.068,2666,3905,3623,0,0,0,0,0,0
$GC,4476,-0.62,-146.0,492.9,-8.6,468,4480,0.00,2.15,0.00,0.000,6,0.000,0.039,2666,2485,3623,0,0,0,0,0,0
$STATE,4562,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4563,begin apogee
$GC,4568,-0.12,0.0,500.4,8.9,476,4694,0.50,0.00,119.38,1.196,6,0.184,0.000,2812,2262,3030,0,0,0,0,0,0
$STATE,4695,end apogee,CONTROL_FINISHED_OK
$STATE,4695,begin climb
$GC,4697,0.62,146.0,504.2,0.0,487,4826,0.77,0.00,125.55,1.151,6,0.132,0.000,3050,2262,2434,0,0,0,0,0,0
$GC,5144,0.57,146.0,462.0,10.5,530,5148,0.00,2.33,0.00,0.000,4,0.000,0.060,3050,3686,2427,0,0,0,0,0,0
$GC,5179,0.48,146.0,457.9,12.6,533,5183,0.15,2.20,0.00,0.000,6,0.190,0.044,3024,2291,2426,0,0,0,0,0,0
$GC,5509,0.51,164.4,426.7,9.1,564,5532,0.00,2.28,16.12,1.050,4,0.000,0.060,3032,869,2358,0,0,0,0,0,0
$GC,5548,0.53,179.9,422.8,9.3,567,5570,0.00,2.22,14.80,1.034,6,0.000,0.047,3032,2283,2295,0,0,0,0,0,0
$GC,5896,0.53,179.9,384.5,11.1,600,5900,0.00,2.22,0.00,0.000,4,0.000,0.061,3032,3690,2291,0,0,0,0,0,0
$GC,5947,0.49,179.9,378.2,12.5,604,5951,0.00,2.20,0.00,0.000,6,0.000,0.044,3043,2270,2291,0,0,0,0,0,0
$GC,6272,0.45,179.9,340.0,11.7,634,6277,0.12,2.28,0.00,0.000,4,0.183,0.059,3011,3686,2291,0,0,0,0,0,0
$GC,6284,0.42,179.9,338.6,11.3,635,6288,0.00,2.20,0.00,0.000,6,0.000,0.043,3019,2270,2291,0,0,0,0,0,0
$GC,6610,0.47,203.5,308.1,8.9,665,6636,0.00,2.30,20.88,1.030,4,0.000,0.060,3019,3698,2199,0,0,0,0,0,0
$GC,6644,0.53,227.1,305.2,8.9,668,6671,0.00,2.25,22.20,1.011,6,0.000,0.043,3029,2266,2104,0,0,0,0,0,0
$GC,6990,0.56,227.1,269.9,10.7,700,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2265,2098,0,0,0,0,0,0
$GC,7312,0.59,227.1,236.0,11.2,730,7316,0.00,2.25,0.00,0.000,4,0.000,0.058,3029,3687,2096,0,0,0,0,0,0
$GC,7333,0.61,227.1,232.9,11.8,731,7340,0.00,2.20,0.00,0.000,6,0.000,0.043,3039,2266,2096,0,0,0,0,0,0
$GC,7658,0.61,227.1,195.2,11.1,762,7662,0.00,2.20,0.00,0.000,4,0.000,0.060,3047,869,2096,0,0,0,0,0,0
$GC,7675,0.61,227.1,193.4,11.0,763,7679,0.00,2.20,0.00,0.000,6,0.000,0.044,3047,2291,2095,0,0,0,0,0,0
$GC,8005,0.61,227.1,155.8,11.0,794,8009,0.00,2.20,0.00,0.000,4,0.000,0.059,3047,3681,2095,0,0,0,0,0,0
$GC,8055,0.61,227.1,149.4,13.4,798,8060,0.00,2.20,0.00,0.000,6,0.000,0.044,3057,2267,2095,0,0,0,0,0,0
$GC,8380,0.61,227.1,110.1,11.8,828,8384,0.00,2.22,0.00,0.000,4,0.000,0.057,3057,3681,2095,0,0,0,0,0,0
$GC,8401,0.61,227.1,107.4,11.9,829,8409,0.00,2.20,0.00,0.000,6,0.000,0.042,3067,2272,2095,0,0,0,0,0,0
$GC,8742,0.64,227.1,68.7,12.2,884,8749,0.00,2.17,0.00,0.000,4,0.000,0.057,3076,869,2095,0,0,0,0,0,0
$GC,8792,0.67,227.1,63.1,11.8,892,8798,0.00,2.15,0.00,0.000,6,0.000,0.044,3076,2275,2095,0,0,0,0,0,0
$GC,9139,0.71,236.6,27.2,9.6,953,9152,0.00,2.28,4.38,0.691,4,0.000,0.060,3076,3680,2065,0,0,0,0,0,0
$GC,9181,0.71,236.6,22.3,11.5,960,9188,0.00,2.17,0.00,0.000,6,0.000,0.044,3085,2267,2065,0,0,0,0,0,0
$FREEZE,8.75,-1.673,-1.838,3,21,0
$STATE,9312,end climb,FINISH_DEPTH_REACHED
$STATE,9312,begin subsurface finish
$FINISH1,8.7,1.026882,30
$GC,9319,0.04,30.3,8.7,-9.9,983,9349,0.68,0.00,-26.73,0.000,6,0.158,0.000,2880,2266,2908,0,0,0,0,0,0
$FINISH2,7.0
$STATE,9349,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9350,begin surface
$RAFOS_CLK,477
$RAFOS,1,1303675743,20.166666,20.150833,56,55,55,54,54,53,144,119,197,166,220,175
$RAFOS,0,1303675270,20.033333,20.019444,61,60,59,54,53,53,187,208,148,121,166,222
$RAFOS_FIX,6659.925293,-5646.936035,240411,161628,4,120,0.76
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.029211
$HUMID,45.07
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.0
$ALTIM_BOTTOM_PING,500.4,12.9
$24V_AH,22.3,63.750
$10V_AH,10.1,32.654
$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,3.775,100.175,323.300,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2363.104,4881.946,386.844,1605.490,167.713,0.000,1243.202,0.000,1590.144,1080.000,17.054,0.000
$DEVICE_MAMPS,232.560,142.290,1196.460,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.466,742.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40048,988
$CAP_FILE_SIZE,110640,0
$CFSIZE,260165632,222429184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.3
$GPS,240411,163928,6659.925,-5646.936,0,4120.2,0,-37.6