version: 66.08
glider: 141
mission: 15
dive: 471
start: 4 23 111 6 17 49
data:
$ID,141
$MISSION,15
$DIVE,471
$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,33
$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
$GPS1,230411,044344,6707.620,-5657.721,0,3121.0,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.00
$_SM_ANGLEo,0.0
$GPS2,230411,044344,6707.620,-5657.721,0,3121.0,0,-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,178.2,11067,-17.5,-10.000
$D_GRID,470
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.00,0.000,2,0.000,0.000,2882,3692,3135,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.3,-0.0,1,52,0.62,4.15,-12.57,0.000,4,0.118,0.050,2669,1075,3630,0,0,0,0,0,0
$GC,129,-0.57,-146.0,20.1,-12.7,18,136,0.00,2.22,0.00,0.000,6,0.000,0.051,2669,2487,3630,0,0,0,0,0,0
$GC,474,-0.49,-146.0,71.3,-15.3,79,482,0.15,2.20,0.00,0.000,4,0.220,0.053,2704,1081,3629,0,0,0,0,0,0
$GC,489,-0.41,-146.0,73.7,-15.7,81,496,0.00,2.22,0.00,0.000,6,0.000,0.052,2704,2493,3629,0,0,0,0,0,0
$GC,828,-0.44,-146.0,113.0,-10.8,131,832,0.00,2.25,0.00,0.000,4,0.000,0.069,2704,3902,3628,0,0,0,0,0,0
$GC,873,-0.52,-146.0,117.9,-10.0,134,880,0.00,2.15,0.00,0.000,6,0.000,0.041,2704,2479,3627,0,0,0,0,0,0
$GC,1201,-0.58,-146.0,149.0,-9.2,165,1205,0.00,2.30,0.00,0.000,4,0.000,0.067,2704,3899,3625,0,0,0,0,0,0
$GC,1244,-0.67,-146.0,153.2,-8.9,168,1252,0.17,2.15,0.00,0.000,6,0.108,0.041,2643,2486,3625,0,0,0,0,0,0
$GC,1570,-0.58,-146.0,193.6,-11.8,199,1575,0.12,2.17,0.00,0.000,4,0.218,0.055,2671,1088,3624,0,0,0,0,0,0
$GC,1581,-0.50,-146.0,195.2,-12.1,199,1588,0.10,2.22,0.00,0.000,6,0.233,0.053,2693,2499,3624,0,0,0,0,0,0
$GC,1907,-0.55,-146.0,220.3,-7.7,230,1911,0.00,2.22,0.00,0.000,4,0.000,0.068,2693,3897,3623,0,0,0,0,0,0
$GC,1925,-0.61,-146.0,221.8,-7.7,231,1929,0.00,2.15,0.00,0.000,6,0.000,0.040,2693,2491,3623,0,0,0,0,0,0
$GC,2257,-0.66,-146.0,248.8,-8.2,262,2262,0.12,2.17,0.00,0.000,4,0.133,0.052,2650,1086,3623,0,0,0,0,0,0
$GC,2278,-0.66,-146.0,251.0,-9.5,263,2285,0.00,2.20,0.00,0.000,6,0.000,0.052,2650,2497,3623,0,0,0,0,0,0
$GC,2604,-0.61,-146.0,289.9,-12.2,294,2608,0.00,2.25,0.00,0.000,4,0.000,0.068,2650,3898,3624,0,0,0,0,0,0
$GC,2631,-0.56,-146.0,293.4,-12.7,296,2638,0.12,2.15,0.00,0.000,6,0.206,0.039,2679,2478,3624,0,0,0,0,0,0
$GC,2957,-0.59,-146.0,324.8,-9.3,327,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2478,3624,0,0,0,0,0,0
$GC,3278,-0.61,-146.0,354.1,-9.0,357,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2478,3625,0,0,0,0,0,0
$GC,3607,-0.64,-146.0,383.1,-8.6,388,3611,0.00,2.28,0.00,0.000,4,0.000,0.063,2679,3905,3626,0,0,0,0,0,0
$GC,3617,-0.67,-146.0,384.3,-8.6,388,3624,0.00,2.15,0.00,0.000,6,0.000,0.037,2679,2476,3625,0,0,0,0,0,0
$GC,3944,-0.72,-146.0,412.1,-8.2,419,3948,0.15,2.30,0.00,0.000,4,0.116,0.063,2626,3905,3626,0,0,0,0,0,0
$GC,3961,-0.72,-146.0,413.8,-8.6,420,3965,0.00,2.15,0.00,0.000,6,0.000,0.038,2626,2486,3625,0,0,0,0,0,0
$GC,4293,-0.62,-146.0,455.5,-13.1,451,4295,0.15,0.00,0.00,0.000,6,0.213,0.000,2661,2486,3626,0,0,0,0,0,0
$STATE,4428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4428,begin apogee
$GC,4433,-0.12,0.0,470.1,10.5,464,4559,0.52,0.00,119.38,1.170,6,0.180,0.000,2815,2257,3030,0,0,0,0,0,0
$STATE,4560,end apogee,CONTROL_FINISHED_OK
$STATE,4560,begin climb
$GC,4562,0.62,146.0,474.6,0.0,475,4695,0.77,2.45,123.90,1.123,4,0.131,0.057,3066,897,2434,0,0,0,0,0,0
$GC,4757,0.55,146.0,459.1,11.6,492,4764,0.00,2.30,0.00,0.000,6,0.000,0.044,3066,2279,2430,0,0,0,0,0,0
$GC,5083,0.48,146.0,417.9,13.6,523,5087,0.17,2.28,0.00,0.000,4,0.174,0.059,3020,3689,2428,0,0,0,0,0,0
$GC,5241,0.44,146.0,397.9,12.6,537,5245,0.00,2.15,0.00,0.000,6,0.000,0.041,3028,2299,2427,0,0,0,0,0,0
$GC,5572,0.45,152.3,363.5,9.7,568,5582,0.00,0.00,5.60,0.796,6,0.000,0.000,3028,2299,2409,0,0,0,0,0,0
$GC,5902,0.48,183.6,334.0,8.6,599,5932,0.00,0.00,27.92,1.042,6,0.000,0.000,3028,2299,2281,0,0,0,0,0,0
$GC,6248,0.48,183.6,300.4,10.7,632,6252,0.00,2.20,0.00,0.000,4,0.000,0.057,3027,3690,2278,0,0,0,0,0,0
$GC,6292,0.48,183.6,294.9,12.6,635,6299,0.00,2.22,0.00,0.000,6,0.000,0.041,3038,2273,2277,0,0,0,0,0,0
$GC,6619,0.48,183.6,255.0,12.8,666,6623,0.00,2.20,0.00,0.000,4,0.000,0.055,3048,865,2277,0,0,0,0,0,0
$GC,6684,0.48,183.6,247.1,12.5,671,6688,0.00,2.17,0.00,0.000,6,0.000,0.043,3048,2287,2275,0,0,0,0,0,0
$GC,7009,0.48,183.6,207.2,11.9,701,7013,0.00,2.17,0.00,0.000,4,0.000,0.058,3048,3685,2276,0,0,0,0,0,0
$GC,7094,0.44,183.6,196.2,12.9,708,7099,0.17,2.17,0.00,0.000,6,0.176,0.042,3012,2262,2275,0,0,0,0,0,0
$GC,7420,0.60,256.5,171.0,6.6,738,7486,0.15,0.00,62.53,0.967,6,0.091,0.000,3080,2262,1983,0,0,0,0,0,0
$GC,7804,0.58,256.5,122.1,12.6,774,7808,0.00,2.25,0.00,0.000,4,0.000,0.055,3080,3681,1975,0,0,0,0,0,0
$GC,7844,0.55,256.5,116.3,15.0,777,7848,0.17,2.20,0.00,0.000,6,0.177,0.041,3044,2271,1973,0,0,0,0,0,0
$GC,8177,0.63,256.5,83.5,10.1,822,8184,0.00,2.20,0.00,0.000,4,0.000,0.057,3044,871,1972,0,0,0,0,0,0
$GC,8260,0.81,285.9,76.2,8.6,836,8291,0.22,2.15,25.38,0.891,6,0.083,0.042,3136,2278,1864,0,0,0,0,0,0
$GC,8630,0.75,285.9,19.4,14.7,901,8637,0.12,2.25,0.00,0.000,4,0.186,0.058,3105,3686,1858,0,0,0,0,0,0
$FREEZE,8.92,-1.731,-1.838,3,6,0
$STATE,8700,end climb,FINISH_DEPTH_REACHED
$STATE,8700,begin subsurface finish
$FINISH1,8.9,1.026883,30
$GC,8709,0.04,30.2,8.9,-14.3,913,8750,0.77,0.00,-34.78,0.000,6,0.168,0.000,2880,2268,2909,0,0,0,0,0,0
$FINISH2,6.4
$STATE,8751,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8751,begin surface
$RAFOS_CLK,448
$RAFOS,4,1303547582,8.566667,8.550555,73,65,63,60,60,55,901,209,218,169,135,194
$RAFOS,3,1303547110,8.433333,8.419444,58,57,56,53,51,50,193,128,220,180,137,162
$RAFOS,2,1303546631,8.300000,8.286389,64,61,60,56,54,50,182,213,200,126,145,115
$RAFOS,1,1303546148,8.166667,8.152223,59,58,57,56,56,53,226,170,136,208,153,192
$RAFOS,0,1303545662,8.033334,8.017222,71,61,60,55,54,52,228,172,203,130,155,185
$RAFOS_FIX,6707.620117,-5657.720703,230411,040444,3,121,0.04
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.029211
$HUMID,44.48
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.9
$24V_AH,22.5,62.265
$10V_AH,10.2,31.851
$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,4.825,82.000,364.700,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2199.772,4566.911,411.158,1468.872,160.471,0.000,1210.384,0.000,1464.835,2160.000,9.691,0.000
$DEVICE_MAMPS,233.325,68.850,1170.450,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.004,695.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36700,920
$CAP_FILE_SIZE,101189,0
$CFSIZE,260165632,223211520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.6
$GPS,230411,044344,6707.620,-5657.721,0,3121.0,0,-37.6