version: 66.08
glider: 141
mission: 15
dive: 456
start: 4 21 111 20 53 52
data:
$ID,141
$MISSION,15
$DIVE,456
$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,-39950.715
$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,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
$GPS1,210411,203013,6713.838,-5712.298,0,3111.7,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.41
$_SM_ANGLEo,-1.7
$GPS2,210411,203013,6713.838,-5712.298,0,3111.7,0,-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,177.7,26660,-17.5,-10.000
$D_GRID,439
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-5.97,0.000,2,0.000,0.000,2882,867,3155,0,0,0,0,0,0
$GC,26,-0.62,-146.0,11.4,-0.0,1,46,0.62,4.90,-11.07,0.000,4,0.121,0.067,2669,3893,3628,0,0,0,0,0,0
$GC,221,-0.57,-146.0,36.5,-13.8,35,228,0.00,2.15,0.00,0.000,6,0.000,0.043,2669,2485,3629,0,0,0,0,0,0
$GC,567,-0.49,-146.0,84.9,-13.4,96,574,0.12,2.30,0.00,0.000,4,0.216,0.069,2697,3897,3627,0,0,0,0,0,0
$GC,599,-0.47,-146.0,89.0,-12.9,101,605,0.00,2.15,0.00,0.000,6,0.000,0.044,2698,2493,3628,0,0,0,0,0,0
$GC,936,-0.47,-146.0,125.4,-10.0,141,940,0.00,2.20,0.00,0.000,4,0.000,0.060,2697,1081,3627,0,0,0,0,0,0
$GC,965,-0.49,-146.0,128.3,-10.4,143,969,0.00,2.25,0.00,0.000,6,0.000,0.057,2697,2495,3627,0,0,0,0,0,0
$GC,1291,-0.52,-146.0,159.6,-9.0,173,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2495,3625,0,0,0,0,0,0
$GC,1611,-0.57,-146.0,185.6,-8.3,203,1615,0.00,2.28,0.00,0.000,4,0.000,0.072,2697,3899,3624,0,0,0,0,0,0
$GC,1627,-0.61,-146.0,187.2,-8.2,204,1634,0.00,2.15,0.00,0.000,6,0.000,0.043,2697,2488,3624,0,0,0,0,0,0
$GC,1954,-0.67,-146.0,217.0,-9.4,235,1959,0.15,2.20,0.00,0.000,4,0.120,0.057,2646,1084,3624,0,0,0,0,0,0
$GC,1965,-0.71,-146.0,218.3,-8.9,235,1971,0.00,2.22,0.00,0.000,6,0.000,0.057,2646,2493,3623,0,0,0,0,0,0
$GC,2291,-0.63,-146.0,258.7,-12.4,266,2295,0.00,2.25,0.00,0.000,4,0.000,0.070,2646,3898,3624,0,0,0,0,0,0
$GC,2370,-0.58,-146.0,268.9,-12.8,272,2377,0.00,2.17,0.00,0.000,6,0.000,0.043,2646,2492,3623,0,0,0,0,0,0
$GC,2696,-0.51,-146.0,311.9,-13.6,303,2700,0.17,2.20,0.00,0.000,4,0.198,0.056,2689,1084,3624,0,0,0,0,0,0
$GC,2740,-0.58,-146.0,317.0,-9.8,306,2747,0.00,2.22,0.00,0.000,6,0.000,0.054,2690,2496,3624,0,0,0,0,0,0
$GC,3066,-0.64,-146.0,344.3,-7.7,337,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2496,3625,0,0,0,0,0,0
$GC,3385,-0.69,-146.0,369.5,-7.6,367,3389,0.15,2.30,0.00,0.000,4,0.109,0.070,2635,3904,3625,0,0,0,0,0,0
$STATE,3398,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3398,begin apogee
$GC,3406,-0.12,0.0,371.3,9.0,368,3532,0.65,0.00,118.40,1.115,6,0.199,0.000,2814,2261,3029,0,0,0,0,0,0
$STATE,3533,end apogee,CONTROL_FINISHED_OK
$STATE,3533,begin climb
$GC,3535,0.62,146.0,375.0,0.0,380,3668,0.77,2.53,122.82,1.070,4,0.134,0.060,3064,869,2433,0,0,0,0,0,0
$GC,3719,0.56,146.0,360.1,12.0,396,3726,0.00,2.38,0.00,0.000,6,0.000,0.047,3064,2275,2429,0,0,0,0,0,0
$GC,4044,0.49,146.0,320.9,11.7,427,4049,0.15,2.33,0.00,0.000,4,0.178,0.063,3025,3683,2427,0,0,0,0,0,0
$GC,4133,0.44,146.0,310.6,11.7,434,4140,0.00,2.22,0.00,0.000,6,0.000,0.046,3033,2273,2427,0,0,0,0,0,0
$GC,4459,0.47,172.6,279.5,8.8,465,4487,0.00,2.28,22.65,0.986,4,0.000,0.060,3042,872,2325,0,0,0,0,0,0
$GC,4544,0.50,192.1,271.7,9.1,472,4568,0.00,2.25,17.62,0.962,6,0.000,0.047,3042,2286,2247,0,0,0,0,0,0
$GC,4885,0.53,216.2,240.5,8.9,504,4912,0.00,2.25,21.75,0.962,4,0.000,0.061,3042,3682,2148,0,0,0,0,0,0
$GC,4950,0.50,216.2,233.3,11.7,509,4957,0.00,2.20,0.00,0.000,6,0.000,0.044,3052,2272,2147,0,0,0,0,0,0
$GC,5277,0.50,216.2,190.6,13.6,540,5281,0.00,2.22,0.00,0.000,4,0.000,0.058,3062,865,2144,0,0,0,0,0,0
$GC,5356,0.52,216.2,179.8,13.7,546,5363,0.00,2.20,0.00,0.000,6,0.000,0.045,3062,2287,2143,0,0,0,0,0,0
$GC,5681,0.52,216.2,134.9,12.3,577,5685,0.00,2.22,0.00,0.000,4,0.000,0.060,3062,3692,2143,0,0,0,0,0,0
$GC,5758,0.49,216.2,124.7,12.5,583,5765,0.17,2.17,0.00,0.000,6,0.172,0.043,3025,2274,2142,0,0,0,0,0,0
$GC,6086,0.64,269.5,97.3,7.5,617,6139,0.15,2.28,46.20,0.919,4,0.094,0.056,3103,865,1931,0,0,0,0,0,0
$GC,6202,0.64,269.5,84.0,12.1,637,6210,0.12,2.22,0.00,0.000,6,0.183,0.045,3073,2280,1926,0,0,0,0,0,0
$GC,6549,0.68,269.5,47.2,10.6,698,6556,0.00,2.22,0.00,0.000,4,0.000,0.058,3073,3685,1923,0,0,0,0,0,0
$GC,6624,0.68,269.5,37.5,12.4,711,6631,0.00,2.17,0.00,0.000,6,0.000,0.042,3080,2269,1922,0,0,0,0,0,0
$FREEZE,8.46,-1.686,-1.836,3,57,0
$STATE,6917,end climb,FINISH_DEPTH_REACHED
$STATE,6917,begin subsurface finish
$FINISH1,8.5,1.026862,31
$GC,6924,0.04,31.3,8.5,-9.5,763,6966,0.62,2.28,-31.02,0.000,4,0.154,0.070,2885,867,2906,0,0,0,0,0,0
$FINISH2,7.2
$STATE,6967,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6967,begin surface
$RAFOS_CLK,367
$RAFOS,6,1303418944,20.833334,20.817778,104,64,60,57,54,54,771,148,212,158,225,191
$RAFOS_FIX,6715.720215,-5716.518555,210411,202044,4,110,13.94
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026964
$HUMID,45.23
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,350.3,35.8
$24V_AH,22.5,60.651
$10V_AH,10.1,31.052
$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,3.875,76.950,349.450,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1804.733,3468.381,390.978,1246.776,125.881,0.000,1076.552,0.000,1238.096,0.000,8.906,0.000
$DEVICE_MAMPS,216.495,71.910,1115.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.516,574.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,30069,770
$CAP_FILE_SIZE,85554,0
$CFSIZE,260165632,223969280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.1
$GPS,210411,203013,6713.838,-5712.298,0,3111.7,0,-38.9