version: 66.08
glider: 141
mission: 15
dive: 480
start: 4 24 111 4 1 9
data:
$ID,141
$MISSION,15
$DIVE,480
$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,37
$R_STBD_OVSHOOT,30
$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,8.24
$_SM_ANGLEo,1.2
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,26,0.00,0.00,-7.18,0.000,2,0.000,0.000,2881,3691,3176,0,0,0,0,0,0
$GC,29,-0.62,-146.0,9.2,-0.0,1,49,0.60,4.12,-11.82,0.000,4,0.119,0.051,2677,1084,3628,0,0,0,0,0,0
$GC,164,-0.62,-146.0,24.3,-13.0,24,171,0.00,2.22,0.00,0.000,6,0.000,0.054,2677,2486,3628,0,0,0,0,0,0
$GC,509,-0.55,-146.0,68.0,-12.6,85,516,0.00,2.30,0.00,0.000,4,0.000,0.070,2677,3897,3627,0,0,0,0,0,0
$GC,542,-0.52,-146.0,72.1,-12.9,90,548,0.00,2.15,0.00,0.000,6,0.000,0.041,2676,2490,3627,0,0,0,0,0,0
$GC,880,-0.49,-146.0,113.7,-11.8,140,884,0.00,2.17,0.00,0.000,4,0.000,0.057,2677,1087,3625,0,0,0,0,0,0
$GC,937,-0.49,-146.0,120.6,-11.9,145,941,0.00,2.22,0.00,0.000,6,0.000,0.056,2677,2490,3625,0,0,0,0,0,0
$GC,1268,-0.49,-146.0,158.9,-11.1,176,1272,0.00,2.30,0.00,0.000,4,0.000,0.071,2677,3899,3624,0,0,0,0,0,0
$GC,1347,-0.49,-146.0,166.8,-9.5,183,1351,0.00,2.17,0.00,0.000,6,0.000,0.042,2677,2487,3623,0,0,0,0,0,0
$GC,1679,-0.49,-146.0,198.2,-9.3,214,1683,0.00,2.20,0.00,0.000,4,0.000,0.057,2677,1083,3623,0,0,0,0,0,0
$GC,1734,-0.52,-146.0,203.6,-9.0,218,1741,0.00,2.22,0.00,0.000,6,0.000,0.054,2677,2499,3622,0,0,0,0,0,0
$GC,2061,-0.52,-146.0,232.6,-9.5,249,2065,0.00,2.28,0.00,0.000,4,0.000,0.070,2677,3904,3622,0,0,0,0,0,0
$GC,2105,-0.56,-146.0,237.0,-9.1,252,2112,0.00,2.17,0.00,0.000,6,0.000,0.041,2677,2491,3621,0,0,0,0,0,0
$GC,2431,-0.56,-146.0,266.9,-9.4,283,2435,0.00,2.17,0.00,0.000,4,0.000,0.055,2677,1087,3622,0,0,0,0,0,0
$GC,2498,-0.59,-146.0,273.7,-9.3,288,2505,0.00,2.20,0.00,0.000,6,0.000,0.053,2677,2491,3621,0,0,0,0,0,0
$GC,2824,-0.61,-146.0,304.0,-9.2,319,2828,0.00,2.25,0.00,0.000,4,0.000,0.069,2677,3900,3622,0,0,0,0,0,0
$GC,2897,-0.66,-146.0,310.5,-8.5,325,2901,0.00,2.17,0.00,0.000,6,0.000,0.040,2677,2484,3622,0,0,0,0,0,0
$GC,3223,-0.69,-146.0,338.5,-8.5,355,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2484,3622,0,0,0,0,0,0
$GC,3541,-0.71,-146.0,365.1,-8.2,385,3543,0.12,0.00,0.00,0.000,6,0.124,0.000,2632,2484,3624,0,0,0,0,0,0
$GC,3861,-0.62,-146.0,401.0,-11.7,415,3865,0.12,2.33,0.00,0.000,4,0.215,0.065,2660,3903,3624,0,0,0,0,0,0
$GC,3901,-0.62,-146.0,405.3,-9.9,418,3904,0.00,2.17,0.00,0.000,6,0.000,0.038,2661,2481,3624,0,0,0,0,0,0
$GC,4232,-0.62,-146.0,437.0,-9.8,449,4235,0.00,2.15,0.00,0.000,4,0.000,0.054,2661,1088,3624,0,0,0,0,0,0
$GC,4277,-0.62,-146.0,441.6,-10.1,453,4281,0.00,2.20,0.00,0.000,6,0.000,0.051,2660,2498,3625,0,0,0,0,0,0
$STATE,4369,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4369,begin apogee
$GC,4376,-0.12,0.0,450.0,9.6,461,4500,0.52,0.00,118.85,1.154,6,0.188,0.000,2812,2258,3030,0,0,0,0,0,0
$STATE,4501,end apogee,CONTROL_FINISHED_OK
$STATE,4501,begin climb
$GC,4504,0.62,146.0,453.7,0.0,472,4637,0.77,2.47,123.75,1.108,4,0.132,0.060,3063,890,2433,0,0,0,0,0,0
$GC,4665,0.55,146.0,440.8,12.0,486,4672,0.00,2.38,0.00,0.000,6,0.000,0.045,3063,2281,2430,0,0,0,0,0,0
$GC,4992,0.48,146.0,399.8,12.0,517,4996,0.15,2.30,0.00,0.000,4,0.181,0.063,3023,3693,2427,0,0,0,0,0,0
$GC,5043,0.44,146.0,393.8,11.5,521,5047,0.00,2.22,0.00,0.000,6,0.000,0.044,3032,2288,2427,0,0,0,0,0,0
$GC,5369,0.42,149.2,361.1,9.9,551,5373,0.12,2.28,0.00,0.000,4,0.186,0.059,3002,3698,2427,0,0,0,0,0,0
$GC,5418,0.43,156.3,356.3,9.7,555,5436,0.00,2.20,9.20,0.923,6,0.000,0.043,3009,2272,2391,0,0,0,0,0,0
$GC,5755,0.49,173.1,326.4,9.2,587,5778,0.00,2.28,15.62,0.989,4,0.000,0.060,3009,3688,2324,0,0,0,0,0,0
$GC,5794,0.52,173.1,322.3,10.0,590,5801,0.00,2.22,0.00,0.000,6,0.000,0.043,3019,2267,2324,0,0,0,0,0,0
$GC,6120,0.55,173.1,288.0,10.9,621,6124,0.00,2.28,0.00,0.000,4,0.000,0.060,3019,3698,2321,0,0,0,0,0,0
$GC,6135,0.57,173.1,286.1,10.7,622,6142,0.00,2.20,0.00,0.000,6,0.000,0.042,3029,2272,2321,0,0,0,0,0,0
$GC,6462,0.57,173.1,251.9,10.2,653,6466,0.00,2.25,0.00,0.000,4,0.000,0.059,3029,3693,2321,0,0,0,0,0,0
$GC,6490,0.57,173.1,248.7,11.0,655,6494,0.00,2.20,0.00,0.000,6,0.000,0.042,3040,2274,2321,0,0,0,0,0,0
$GC,6820,0.57,173.1,214.2,10.5,686,6824,0.00,2.20,0.00,0.000,4,0.000,0.057,3048,862,2321,0,0,0,0,0,0
$GC,6848,0.57,173.1,211.3,10.3,688,6852,0.00,2.20,0.00,0.000,6,0.000,0.046,3049,2290,2320,0,0,0,0,0,0
$GC,7173,0.57,173.1,177.7,10.5,718,7177,0.00,2.17,0.00,0.000,4,0.000,0.060,3048,3681,2321,0,0,0,0,0,0
$GC,7314,0.51,173.1,160.2,12.9,730,7321,0.00,2.17,0.00,0.000,6,0.000,0.044,3058,2265,2321,0,0,0,0,0,0
$GC,7639,0.51,173.1,123.3,11.8,761,7643,0.00,2.22,0.00,0.000,4,0.000,0.057,3058,3683,2320,0,0,0,0,0,0
$GC,7649,0.49,173.1,121.9,11.8,761,7656,0.17,2.17,0.00,0.000,6,0.177,0.042,3022,2273,2320,0,0,0,0,0,0
$GC,7982,0.55,173.1,85.9,10.1,803,7989,0.00,2.17,0.00,0.000,4,0.000,0.058,3028,871,2321,0,0,0,0,0,0
$GC,8020,0.66,195.5,82.4,9.0,809,8045,0.15,2.17,20.23,0.889,6,0.097,0.047,3093,2279,2232,0,0,0,0,0,0
$GC,8384,0.63,195.5,39.6,11.7,873,8390,0.00,2.22,0.00,0.000,4,0.000,0.060,3093,3682,2229,0,0,0,0,0,0
$GC,8460,0.54,195.5,30.3,12.6,886,8467,0.22,2.20,0.00,0.000,6,0.181,0.045,3043,2264,2230,0,0,0,0,0,0
$FREEZE,9.00,-1.749,-1.837,3,15,0
$STATE,8731,end climb,FINISH_DEPTH_REACHED
$STATE,8731,begin subsurface finish
$FINISH1,9.0,1.026871,31
$GC,8737,0.04,30.8,9.0,-7.5,934,8762,0.52,0.00,-19.85,0.000,6,0.155,0.000,2880,2263,2906,0,0,0,0,0,0
$FINISH2,7.8
$STATE,8763,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8763,begin surface
$RAFOS_CLK,454
$RAFOS,6,1303620541,4.833333,4.816945,179,64,59,59,58,57,851,160,206,190,170,116
$RAFOS,5,1303620065,4.700000,4.684722,122,66,62,58,53,51,670,191,145,204,122,171
$RAFOS,4,1303619588,4.566667,4.552222,90,65,63,57,57,56,880,158,206,133,115,215
$RAFOS,3,1303619111,4.433333,4.419722,61,61,58,57,56,52,168,194,207,116,962,153
$RAFOS,2,1303618626,4.300000,4.285000,64,57,57,56,54,53,145,195,213,223,121,176
$RAFOS,1,1303618141,4.166667,4.150278,64,61,60,54,53,50,141,215,189,160,177,124
$RAFOS,0,1303617691,4.033333,4.025278,65,60,58,53,50,49,213,151,182,135,192,232
$RAFOS_FIX,6708.530762,-5651.815430,240411,040401,3,130,0.95
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,450.0,13.3
$24V_AH,22.4,63.146
$10V_AH,10.1,32.339
$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,3.500,95.750,287.650,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2274.230,4529.709,342.897,1522.271,160.607,0.000,1157.178,0.000,1511.007,2520.000,12.391,0.000
$DEVICE_MAMPS,214.965,71.145,1154.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,659.070,705.942,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36682,938
$CAP_FILE_SIZE,102645,0
$CFSIZE,260165632,222744576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.7
$GPS,240411,044301,6708.531,-5651.815,0,3130.3,0,-37.6