version: 66.08
glider: 141
mission: 15
dive: 450
start: 4 21 111 9 17 25
data:
$ID,141
$MISSION,15
$DIVE,450
$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,559.0387
$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,-39582.141
$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,27
$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
$GPS1,210411,084322,6717.889,-5728.600,0,3095.7,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-43.4
$GPS2,210411,084322,6717.889,-5728.600,181,99.0,181,-38.9
$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,172.1,40248,-17.5,-10.000
$D_GRID,496
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,185,0.00,0.00,-166.32,0.000,2,0.000,0.000,112,2493,3381,0,0,0,0,0,0
$GC,188,-0.62,-146.0,5.3,-6.8,29,214,13.20,2.28,-5.53,0.000,4,0.327,0.068,2652,1071,3628,0,0,0,0,0,0
$GC,361,-0.55,-146.0,42.1,-14.7,59,369,0.12,2.28,0.00,0.000,6,0.210,0.057,2682,2497,3630,0,0,0,0,0,0
$GC,708,-0.51,-146.0,89.7,-13.9,120,715,0.00,2.30,0.00,0.000,4,0.000,0.073,2683,3900,3629,0,0,0,0,0,0
$GC,750,-0.51,-146.0,95.3,-12.8,127,757,0.00,2.17,0.00,0.000,6,0.000,0.044,2683,2486,3629,0,0,0,0,0,0
$GC,1078,-0.51,-146.0,139.3,-12.9,161,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2486,3629,0,0,0,0,0,0
$GC,1398,-0.51,-146.0,176.5,-11.4,191,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2485,3628,0,0,0,0,0,0
$GC,1718,-0.51,-146.0,211.6,-11.1,221,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2485,3628,0,0,0,0,0,0
$GC,2036,-0.51,-146.0,244.7,-10.1,251,2040,0.00,2.30,0.00,0.000,4,0.000,0.067,2683,3905,3628,0,0,0,0,0,0
$GC,2046,-0.51,-146.0,246.0,-9.6,251,2053,0.00,2.17,0.00,0.000,6,0.000,0.040,2683,2479,3627,0,0,0,0,0,0
$GC,2372,-0.54,-146.0,277.2,-8.2,282,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2478,3628,0,0,0,0,0,0
$GC,2693,-0.57,-146.0,303.4,-8.3,312,2697,0.00,2.17,0.00,0.000,4,0.000,0.055,2683,1089,3629,0,0,0,0,0,0
$GC,2705,-0.60,-146.0,304.6,-8.2,313,2709,0.00,2.22,0.00,0.000,6,0.000,0.053,2682,2500,3629,0,0,0,0,0,0
$GC,3031,-0.63,-146.0,330.7,-7.7,343,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2501,3630,0,0,0,0,0,0
$GC,3351,-0.67,-146.0,355.4,-7.7,373,3356,0.12,2.25,0.00,0.000,4,0.125,0.053,2639,1081,3631,0,0,0,0,0,0
$GC,3373,-0.67,-146.0,357.6,-8.9,374,3380,0.00,2.22,0.00,0.000,6,0.000,0.052,2639,2499,3631,0,0,0,0,0,0
$GC,3698,-0.60,-146.0,392.3,-10.5,405,3703,0.12,2.22,0.00,0.000,4,0.216,0.052,2667,1079,3631,0,0,0,0,0,0
$GC,3728,-0.60,-146.0,395.0,-9.2,407,3732,0.00,2.22,0.00,0.000,6,0.000,0.052,2667,2503,3633,0,0,0,0,0,0
$GC,4053,-0.60,-146.0,421.0,-7.8,437,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2503,3633,0,0,0,0,0,0
$GC,4375,-0.60,-146.0,447.2,-8.2,467,4379,0.00,2.22,0.00,0.000,4,0.000,0.066,2667,3899,3634,0,0,0,0,0,0
$GC,4409,-0.60,-146.0,450.4,-9.0,469,4416,0.00,2.12,0.00,0.000,6,0.000,0.034,2667,2475,3634,0,0,0,0,0,0
$STATE,4626,end dive,NO_VERTICAL_VELOCITY
$STATE,4626,begin apogee
$GC,4632,-0.12,0.0,454.7,0.0,490,4764,0.45,0.00,121.18,1.161,6,0.132,0.000,2815,2247,3030,0,0,0,0,0,0
$STATE,4765,end apogee,CONTROL_FINISHED_OK
$STATE,4765,begin climb
$GC,4767,0.62,146.0,454.4,0.0,502,4901,0.75,2.45,123.88,1.115,4,0.119,0.060,3065,901,2434,0,0,0,0,0,0
$GC,4951,0.54,146.0,437.5,12.8,518,4958,0.00,2.33,0.00,0.000,6,0.000,0.046,3065,2278,2429,0,0,0,0,0,0
$GC,5276,0.45,146.0,393.1,13.8,549,5281,0.20,2.28,0.00,0.000,4,0.179,0.059,3012,3685,2427,0,0,0,0,0,0
$GC,5400,0.42,146.0,378.0,11.6,559,5407,0.00,2.15,0.00,0.000,6,0.000,0.044,3020,2311,2427,0,0,0,0,0,0
$GC,5726,0.43,151.5,345.9,9.7,590,5738,0.00,2.30,5.12,0.750,4,0.000,0.058,3029,868,2412,0,0,0,0,0,0
$GC,5811,0.43,151.5,337.1,10.2,597,5818,0.00,2.20,0.00,0.000,6,0.000,0.046,3030,2285,2411,0,0,0,0,0,0
$GC,6138,0.43,151.5,303.1,10.2,628,6142,0.00,2.22,0.00,0.000,4,0.000,0.060,3030,3683,2411,0,0,0,0,0,0
$GC,6246,0.37,151.5,289.7,13.2,637,6251,0.20,2.17,0.00,0.000,6,0.176,0.043,2989,2270,2411,0,0,0,0,0,0
$GC,6572,0.53,204.7,262.8,7.5,667,6629,0.12,2.33,45.85,1.021,4,0.102,0.058,3056,867,2193,0,0,0,0,0,0
$GC,6686,0.53,204.7,250.3,11.8,677,6690,0.00,2.22,0.00,0.000,6,0.000,0.045,3056,2283,2190,0,0,0,0,0,0
$GC,7011,0.49,204.7,210.0,12.6,707,7016,0.12,2.22,0.00,0.000,4,0.184,0.060,3025,3684,2188,0,0,0,0,0,0
$GC,7078,0.51,204.7,202.0,11.8,712,7085,0.00,2.17,0.00,0.000,6,0.000,0.042,3032,2275,2187,0,0,0,0,0,0
$GC,7404,0.54,204.7,168.9,10.2,743,7408,0.00,2.20,0.00,0.000,4,0.000,0.056,3041,860,2187,0,0,0,0,0,0
$GC,7466,0.59,204.7,161.8,11.7,748,7471,0.00,2.20,0.00,0.000,6,0.000,0.044,3042,2288,2186,0,0,0,0,0,0
$GC,7793,0.64,217.3,126.0,9.4,778,7808,0.00,2.20,11.05,0.871,4,0.000,0.058,3042,3685,2143,0,0,0,0,0,0
$GC,7866,0.64,217.3,118.1,11.3,784,7870,0.00,2.20,0.00,0.000,6,0.000,0.041,3051,2267,2143,0,0,0,0,0,0
$GC,8199,0.70,235.1,87.2,9.2,826,8224,0.10,2.22,16.88,0.890,4,0.116,0.057,3111,865,2069,0,0,0,0,0,0
$GC,8294,0.65,235.1,75.2,13.6,842,8301,0.15,2.17,0.00,0.000,6,0.190,0.044,3074,2277,2067,0,0,0,0,0,0
$GC,8642,0.68,237.2,40.4,9.9,903,8649,0.00,2.22,0.00,0.000,4,0.000,0.060,3075,3687,2066,0,0,0,0,0,0
$GC,8679,0.68,237.2,36.2,11.3,909,8685,0.00,2.17,0.00,0.000,6,0.000,0.044,3082,2274,2066,0,0,0,0,0,0
$FREEZE,8.94,-1.731,-1.835,3,51,0
$STATE,8939,end climb,FINISH_DEPTH_REACHED
$STATE,8939,begin subsurface finish
$FINISH1,8.9,1.026850,32
$GC,8945,0.04,31.9,8.9,-9.8,955,8982,0.65,2.25,-25.92,0.000,4,0.162,0.071,2884,875,2904,0,0,0,0,0,0
$FINISH2,7.5
$STATE,8983,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8984,begin surface
$RAFOS_CLK,503
$RAFOS_FIX,6717.888672,-5728.600098,210411,080822,3,96,0.13
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.5
$24V_AH,22.4,60.061
$10V_AH,10.1,30.780
$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,16.325,78.350,323.950,0.000,0.000,98.856,16.914,0.000,1.500,0.000,183.287,2229.646,4747.415,498.099,1840.084,442.630,0.000,1347.576,0.000,1528.842,0.000,10.945,0.000
$DEVICE_MAMPS,327.420,72.675,1160.505,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.416,724.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150464
$DATA_FILE_SIZE,36744,961
$CAP_FILE_SIZE,106730,0
$CFSIZE,260165632,224223232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.8
$GPS,210411,084322,6717.889,-5728.600,181,99.0,181,-38.9