version: 66.08
glider: 141
mission: 15
dive: 466
start: 4 22 111 18 21 51
data:
$ID,141
$MISSION,15
$DIVE,466
$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,36
$R_STBD_OVSHOOT,40
$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
$GPS1,220411,180731,6707.010,-5649.008,35,1.8,35,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-70.9
$GPS2,220411,182120,6706.983,-5649.079,10,1.2,10,-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,211.6,7417,-17.5,-10.000
$D_GRID,425
$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,-146.0,0.0,0.0,0,155,0.00,0.00,-136.07,0.000,2,0.000,0.000,117,2512,3463,0,0,0,0,0,0
$GC,159,-0.62,-146.0,5.7,-10.9,24,184,13.12,2.33,-3.42,0.000,4,0.324,0.067,2654,1083,3630,0,0,0,0,0,0
$GC,337,-0.55,-146.0,44.7,-15.2,55,345,0.12,2.25,0.00,0.000,6,0.213,0.056,2683,2479,3631,0,0,0,0,0,0
$GC,683,-0.51,-146.0,88.1,-11.0,116,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2480,3630,0,0,0,0,0,0
$GC,1015,-0.51,-146.0,122.9,-9.8,156,1019,0.00,2.33,0.00,0.000,4,0.000,0.073,2684,3898,3629,0,0,0,0,0,0
$GC,1090,-0.55,-146.0,129.4,-8.0,162,1094,0.00,2.17,0.00,0.000,6,0.000,0.044,2684,2487,3628,0,0,0,0,0,0
$GC,1415,-0.55,-146.0,160.7,-10.4,192,1419,0.00,2.30,0.00,0.000,4,0.000,0.070,2684,3903,3627,0,0,0,0,0,0
$GC,1438,-0.55,-146.0,163.2,-11.2,194,1442,0.00,2.20,0.00,0.000,6,0.000,0.042,2684,2481,3627,0,0,0,0,0,0
$GC,1765,-0.55,-146.0,195.0,-9.7,224,1769,0.00,2.30,0.00,0.000,4,0.000,0.067,2684,3899,3627,0,0,0,0,0,0
$GC,1775,-0.55,-146.0,196.5,-9.8,224,1781,0.00,2.17,0.00,0.000,6,0.000,0.041,2684,2483,3626,0,0,0,0,0,0
$GC,2102,-0.58,-146.0,228.9,-10.0,255,2106,0.00,2.30,0.00,0.000,4,0.000,0.067,2684,3898,3628,0,0,0,0,0,0
$GC,2130,-0.61,-146.0,231.9,-10.4,257,2135,0.00,2.15,0.00,0.000,6,0.000,0.041,2684,2491,3627,0,0,0,0,0,0
$GC,2462,-0.65,-146.0,259.8,-7.9,288,2466,0.00,2.17,0.00,0.000,4,0.000,0.057,2684,1088,3629,0,0,0,0,0,0
$GC,2491,-0.69,-146.0,262.2,-8.7,290,2496,0.12,2.22,0.00,0.000,6,0.125,0.054,2642,2494,3628,0,0,0,0,0,0
$GC,2816,-0.62,-146.0,302.3,-12.8,320,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2493,3629,0,0,0,0,0,0
$GC,3138,-0.54,-146.0,342.5,-12.1,350,3143,0.17,2.30,0.00,0.000,4,0.201,0.069,2685,3903,3630,0,0,0,0,0,0
$GC,3172,-0.59,-146.0,346.4,-9.3,352,3179,0.00,2.17,0.00,0.000,6,0.000,0.040,2685,2485,3630,0,0,0,0,0,0
$GC,3498,-0.64,-146.0,373.5,-8.5,383,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2484,3631,0,0,0,0,0,0
$GC,3818,-0.69,-146.0,399.5,-8.3,413,3820,0.15,0.00,0.00,0.000,6,0.117,0.000,2634,2485,3632,0,0,0,0,0,0
$STATE,4005,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4007,begin apogee
$GC,4013,-0.12,0.0,421.8,12.1,431,4144,0.65,0.00,120.68,1.141,6,0.193,0.000,2814,2261,3030,0,0,0,0,0,0
$STATE,4145,end apogee,CONTROL_FINISHED_OK
$STATE,4145,begin climb
$GC,4148,0.62,146.0,425.8,0.0,443,4281,0.77,2.50,123.30,1.099,4,0.133,0.060,3065,884,2433,0,0,0,0,0,0
$GC,4308,0.56,146.0,413.6,11.8,457,4315,0.00,2.38,0.00,0.000,6,0.000,0.045,3065,2275,2430,0,0,0,0,0,0
$GC,4635,0.49,146.0,373.4,11.8,488,4640,0.15,2.33,0.00,0.000,4,0.179,0.061,3027,3690,2428,0,0,0,0,0,0
$GC,4767,0.44,146.0,358.3,11.4,499,4772,0.00,2.20,0.00,0.000,6,0.000,0.043,3034,2293,2428,0,0,0,0,0,0
$GC,5092,0.44,146.0,325.3,10.5,529,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2292,2428,0,0,0,0,0,0
$GC,5413,0.41,146.0,292.1,10.5,559,5420,0.15,0.00,0.00,0.000,6,0.177,0.000,2996,2292,2428,0,0,0,0,0,0
$GC,5739,0.53,197.3,265.8,7.6,590,5790,0.12,0.00,43.15,1.016,6,0.102,0.000,3053,2293,2225,0,0,0,0,0,0
$GC,6108,0.50,197.3,220.7,13.0,625,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2292,2220,0,0,0,0,0,0
$GC,6428,0.47,197.3,181.9,11.9,655,6434,0.12,2.22,0.00,0.000,4,0.181,0.058,3022,3690,2219,0,0,0,0,0,0
$GC,6508,0.47,197.3,172.6,11.0,662,6512,0.00,2.20,0.00,0.000,6,0.000,0.041,3029,2275,2219,0,0,0,0,0,0
$GC,6834,0.52,197.3,139.4,10.2,692,6838,0.00,2.25,0.00,0.000,4,0.000,0.057,3038,859,2218,0,0,0,0,0,0
$GC,6878,0.58,200.7,134.6,9.8,695,6885,0.00,2.22,0.00,0.000,6,0.000,0.044,3038,2289,2218,0,0,0,0,0,0
$GC,7203,0.63,200.7,100.2,10.0,726,7207,0.00,2.17,0.00,0.000,4,0.000,0.058,3038,3683,2218,0,0,0,0,0,0
$GC,7283,0.63,200.7,91.5,10.5,739,7290,0.00,2.17,0.00,0.000,6,0.000,0.041,3048,2270,2217,0,0,0,0,0,0
$GC,7630,0.74,254.6,62.8,7.5,800,7689,0.15,2.28,48.85,0.902,4,0.094,0.057,3124,879,1990,0,0,0,0,0,0
$GC,7769,0.70,254.6,45.9,13.2,824,7776,0.12,2.22,0.00,0.000,6,0.196,0.044,3096,2285,1984,0,0,0,0,0,0
$FREEZE,8.62,-1.674,-1.837,3,1,0
$STATE,8090,end climb,FINISH_DEPTH_REACHED
$STATE,8092,begin subsurface finish
$FINISH1,8.6,1.026876,31
$GC,8098,0.04,30.6,8.6,-11.4,881,8134,0.68,2.33,-29.02,0.000,4,0.159,0.075,2886,3694,2908,0,0,0,0,0,0
$FINISH2,6.9
$STATE,8135,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8135,begin surface
$RAFOS_CLK,374
$RAFOS,3,1303503901,20.433332,20.416945,60,54,53,52,51,50,1687,227,205,191,131,164
$RAFOS,2,1303503425,20.299999,20.284721,67,62,60,56,55,53,193,206,215,184,224,152
$RAFOS,1,1303502943,20.166666,20.150833,75,62,61,57,55,50,1056,174,197,187,215,138
$RAFOS,0,1303502468,20.033333,20.018888,60,57,55,52,51,51,219,187,170,138,196,118
$RAFOS_FIX,6710.401855,-5659.286621,220411,161628,4,131,3.03
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.029211
$HUMID,44.32
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.6
$ALTIM_BOTTOM_PING,400.4,36.2
$24V_AH,22.4,61.742
$10V_AH,10.2,31.579
$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,16.625,61.150,335.975,0.000,0.000,29.063,18.382,480.216,1.250,0.000,12.473,2077.575,4165.096,467.061,1885.460,406.229,0.000,1236.181,0.000,1384.467,1800.000,10.679,0.000
$DEVICE_MAMPS,324.360,74.970,1141.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.204,669.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150488
$DATA_FILE_SIZE,33387,887
$CAP_FILE_SIZE,100725,0
$CFSIZE,260165632,223469568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,220411,182120,6706.983,-5649.079,10,1.2,10,-37.6