version: 66.08
glider: 141
mission: 15
dive: 479
start: 4 24 111 1 21 37
data:
$ID,141
$MISSION,15
$DIVE,479
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,240411,003928,6701.102,-5650.159,0,4097.2,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.81
$_SM_ANGLEo,0.1
$GPS2,240411,003928,6701.102,-5650.159,0,4097.2,0,-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,61.5,3847,-17.5,-10.000
$D_GRID,575
$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,-6.47,0.000,2,0.000,0.000,2882,859,3158,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.8,-0.0,1,47,0.62,0.32,-11.80,0.000,4,0.129,0.135,2673,1096,3627,0,0,0,0,0,0
$GC,82,-0.57,-146.0,15.2,-12.0,10,89,0.00,2.15,0.00,0.000,6,0.000,0.054,2673,2485,3627,0,0,0,0,0,0
$GC,427,-0.50,-146.0,66.6,-14.4,71,434,0.00,2.30,0.00,0.000,4,0.000,0.069,2673,3905,3627,0,0,0,0,0,0
$GC,517,-0.50,-146.0,78.9,-13.1,86,524,0.00,2.17,0.00,0.000,6,0.000,0.041,2673,2473,3626,0,0,0,0,0,0
$GC,852,-0.45,-146.0,125.1,-14.5,130,857,0.15,2.35,0.00,0.000,4,0.213,0.069,2708,3898,3626,0,0,0,0,0,0
$GC,893,-0.53,-146.0,129.9,-10.9,133,896,0.00,2.15,0.00,0.000,6,0.000,0.041,2708,2487,3625,0,0,0,0,0,0
$GC,1226,-0.60,-146.0,161.7,-8.0,164,1230,0.12,2.20,0.00,0.000,4,0.132,0.057,2665,1083,3623,0,0,0,0,0,0
$GC,1315,-0.60,-146.0,171.8,-10.9,171,1322,0.00,2.22,0.00,0.000,6,0.000,0.055,2665,2494,3623,0,0,0,0,0,0
$GC,1641,-0.57,-146.0,207.9,-10.9,202,1645,0.00,2.28,0.00,0.000,4,0.000,0.070,2665,3906,3622,0,0,0,0,0,0
$GC,1713,-0.57,-146.0,215.3,-9.9,208,1720,0.00,2.17,0.00,0.000,6,0.000,0.040,2665,2482,3622,0,0,0,0,0,0
$GC,2040,-0.57,-146.0,248.2,-10.1,239,2043,0.00,2.15,0.00,0.000,4,0.000,0.054,2665,1087,3621,0,0,0,0,0,0
$GC,2075,-0.57,-146.0,252.0,-10.9,242,2079,0.00,2.20,0.00,0.000,6,0.000,0.053,2664,2490,3621,0,0,0,0,0,0
$GC,2400,-0.57,-146.0,285.6,-10.1,272,2404,0.00,2.28,0.00,0.000,4,0.000,0.067,2665,3900,3621,0,0,0,0,0,0
$GC,2477,-0.57,-146.0,293.4,-10.1,278,2484,0.00,2.15,0.00,0.000,6,0.000,0.038,2665,2480,3621,0,0,0,0,0,0
$GC,2802,-0.57,-146.0,325.1,-10.1,309,2806,0.00,2.15,0.00,0.000,4,0.000,0.054,2664,1086,3622,0,0,0,0,0,0
$GC,2831,-0.57,-146.0,328.1,-10.7,311,2838,0.00,2.20,0.00,0.000,6,0.000,0.053,2664,2491,3622,0,0,0,0,0,0
$GC,3156,-0.57,-146.0,361.5,-10.7,342,3160,0.00,2.25,0.00,0.000,4,0.000,0.067,2665,3899,3622,0,0,0,0,0,0
$GC,3242,-0.57,-146.0,370.9,-11.1,349,3246,0.00,2.15,0.00,0.000,6,0.000,0.039,2665,2479,3622,0,0,0,0,0,0
$GC,3572,-0.57,-146.0,407.1,-10.5,380,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2479,3623,0,0,0,0,0,0
$GC,3893,-0.57,-146.0,438.9,-10.0,410,3897,0.00,2.15,0.00,0.000,4,0.000,0.051,2665,1078,3624,0,0,0,0,0,0
$GC,3939,-0.57,-146.0,443.7,-10.0,414,3943,0.00,2.22,0.00,0.000,6,0.000,0.050,2665,2496,3624,0,0,0,0,0,0
$GC,4270,-0.57,-146.0,475.3,-9.6,445,4274,0.00,2.22,0.00,0.000,4,0.000,0.066,2665,3898,3625,0,0,0,0,0,0
$GC,4344,-0.59,-146.0,482.1,-9.3,451,4348,0.00,2.15,0.00,0.000,6,0.000,0.037,2664,2489,3624,0,0,0,0,0,0
$GC,4676,-0.90,-146.0,499.7,-0.0,482,4680,0.25,2.28,0.00,0.000,4,0.102,0.062,2569,3899,3625,0,0,0,0,0,0
$STATE,4697,end dive,NO_VERTICAL_VELOCITY
$STATE,4697,begin apogee
$GC,4705,-0.12,0.0,499.7,0.0,484,4830,0.77,0.00,119.50,1.186,6,0.132,0.000,2817,2268,3030,0,0,0,0,0,0
$STATE,4831,end apogee,CONTROL_FINISHED_OK
$STATE,4831,begin climb
$GC,4833,0.62,146.0,499.7,0.0,495,4967,0.77,2.50,124.55,1.142,4,0.136,0.058,3065,885,2433,0,0,0,0,0,0
$GC,4985,0.54,146.0,488.3,11.3,508,4991,0.00,2.35,0.00,0.000,6,0.000,0.044,3065,2275,2430,0,0,0,0,0,0
$GC,5310,0.42,146.0,444.0,13.5,539,5314,0.22,2.30,0.00,0.000,4,0.181,0.058,3006,3685,2427,0,0,0,0,0,0
$GC,5378,0.42,146.0,436.3,10.8,545,5382,0.00,2.22,0.00,0.000,6,0.000,0.043,3014,2280,2426,0,0,0,0,0,0
$GC,5705,0.47,167.6,405.7,9.0,575,5726,0.00,0.00,18.52,1.040,6,0.000,0.000,3014,2279,2346,0,0,0,0,0,0
$GC,6044,0.50,167.6,372.7,10.4,607,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2279,2344,0,0,0,0,0,0
$GC,6362,0.54,167.6,338.4,11.5,637,6366,0.00,2.25,0.00,0.000,4,0.000,0.058,3014,3698,2343,0,0,0,0,0,0
$GC,6372,0.57,167.6,336.9,11.5,637,6379,0.00,2.20,0.00,0.000,6,0.000,0.041,3024,2264,2343,0,0,0,0,0,0
$GC,6699,0.57,167.6,298.0,12.1,668,6703,0.00,2.25,0.00,0.000,4,0.000,0.057,3025,3690,2343,0,0,0,0,0,0
$GC,6708,0.57,167.6,296.5,11.8,668,6715,0.00,2.20,0.00,0.000,6,0.000,0.041,3034,2278,2343,0,0,0,0,0,0
$GC,7035,0.57,167.6,256.6,12.1,699,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2278,2343,0,0,0,0,0,0
$GC,7354,0.57,167.6,218.2,11.1,729,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2278,2342,0,0,0,0,0,0
$GC,7672,0.57,167.6,185.6,10.1,759,7676,0.00,2.20,0.00,0.000,4,0.000,0.057,3043,863,2342,0,0,0,0,0,0
$GC,7715,0.57,167.6,180.9,10.4,762,7723,0.00,2.22,0.00,0.000,6,0.000,0.044,3043,2284,2342,0,0,0,0,0,0
$GC,8043,0.57,167.6,147.1,10.3,793,8046,0.00,2.17,0.00,0.000,4,0.000,0.058,3044,3683,2342,0,0,0,0,0,0
$GC,8104,0.52,167.6,139.3,13.0,798,8111,0.00,2.15,0.00,0.000,6,0.000,0.042,3053,2268,2342,0,0,0,0,0,0
$GC,8430,0.52,167.6,103.4,10.2,829,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2267,2342,0,0,0,0,0,0
$GC,8764,0.52,171.0,70.2,9.8,885,8777,0.00,2.30,4.18,0.600,4,0.000,0.057,3053,3682,2332,0,0,0,0,0,0
$GC,8784,0.55,195.7,68.4,8.9,888,8815,0.00,2.15,22.33,0.894,6,0.000,0.041,3064,2273,2231,0,0,0,0,0,0
$GC,9155,0.56,201.0,34.4,9.8,953,9168,0.00,2.25,4.75,0.692,4,0.000,0.057,3073,875,2209,0,0,0,0,0,0
$GC,9210,0.61,206.7,29.2,9.7,962,9218,0.00,2.20,3.10,0.543,6,0.000,0.044,3073,2286,2187,0,0,0,0,0,0
$FREEZE,8.90,-1.736,-1.837,3,14,0
$STATE,9425,end climb,FINISH_DEPTH_REACHED
$STATE,9425,begin subsurface finish
$FINISH1,8.9,1.026876,31
$GC,9431,0.04,30.6,8.9,-9.3,1000,9462,0.62,2.25,-21.73,0.000,4,0.158,0.076,2881,3691,2908,0,0,0,0,0,0
$FINISH2,7.5
$STATE,9463,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9463,begin surface
$RAFOS_CLK,486
$RAFOS_FIX,6701.101562,-5650.159180,240411,000028,4,97,0.60
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.90
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.6
$24V_AH,22.4,63.057
$10V_AH,10.2,32.283
$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,3.550,89.575,296.925,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2418.328,4976.882,355.768,1597.805,169.394,0.000,1203.566,0.000,1592.002,0.000,9.694,0.000
$DEVICE_MAMPS,213.435,134.640,1185.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.822,758.033,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40040,1005
$CAP_FILE_SIZE,101915,0
$CFSIZE,260165632,222801920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.8
$GPS,240411,003928,6701.102,-5650.159,0,4097.2,0,-37.6