version: 66.08
glider: 141
mission: 15
dive: 460
start: 4 22 111 5 24 7
data:
$ID,141
$MISSION,15
$DIVE,460
$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,-40320.289
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,220411,043420,6713.250,-5710.810,0,5096.0,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-46.8
$GPS2,220411,043420,6713.250,-5710.810,181,99.0,181,-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,177.9,25132,-17.5,-10.000
$D_GRID,434
$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,15,-0.62,-146.0,0.0,0.0,0,169,0.00,0.00,-148.88,0.000,2,0.000,0.000,106,2485,3385,0,0,0,0,0,0
$GC,171,-0.62,-146.0,5.5,-10.7,26,198,13.15,2.35,-5.25,0.000,4,0.325,0.086,2649,3896,3628,0,0,0,0,0,0
$GC,406,-0.54,-146.0,50.5,-14.8,67,414,0.12,2.20,0.00,0.000,6,0.207,0.046,2680,2494,3630,0,0,0,0,0,0
$GC,752,-0.50,-146.0,96.5,-12.5,128,759,0.00,2.28,0.00,0.000,4,0.000,0.065,2680,1075,3629,0,0,0,0,0,0
$GC,815,-0.50,-146.0,104.8,-12.0,136,822,0.00,2.28,0.00,0.000,6,0.000,0.061,2680,2500,3629,0,0,0,0,0,0
$GC,1141,-0.50,-146.0,144.3,-11.6,167,1145,0.00,2.30,0.00,0.000,4,0.000,0.076,2680,3899,3628,0,0,0,0,0,0
$GC,1190,-0.53,-146.0,150.1,-11.0,171,1197,0.00,2.20,0.00,0.000,6,0.000,0.047,2680,2481,3628,0,0,0,0,0,0
$GC,1516,-0.53,-146.0,183.2,-10.0,202,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2481,3627,0,0,0,0,0,0
$GC,1835,-0.53,-146.0,216.1,-10.6,232,1839,0.00,2.22,0.00,0.000,4,0.000,0.063,2680,1077,3626,0,0,0,0,0,0
$GC,1875,-0.56,-146.0,220.6,-11.2,235,1882,0.00,2.28,0.00,0.000,6,0.000,0.060,2680,2493,3627,0,0,0,0,0,0
$GC,2201,-0.58,-146.0,254.1,-9.5,266,2205,0.00,2.30,0.00,0.000,4,0.000,0.073,2680,3899,3628,0,0,0,0,0,0
$GC,2276,-0.62,-146.0,261.4,-9.7,272,2280,0.00,2.17,0.00,0.000,6,0.000,0.043,2680,2482,3628,0,0,0,0,0,0
$GC,2601,-0.64,-146.0,291.2,-8.9,302,2606,0.00,2.30,0.00,0.000,4,0.000,0.068,2680,3904,3629,0,0,0,0,0,0
$GC,2613,-0.67,-146.0,292.2,-8.8,302,2619,0.00,2.17,0.00,0.000,6,0.000,0.041,2680,2478,3629,0,0,0,0,0,0
$GC,2938,-0.70,-146.0,320.6,-9.4,333,2943,0.12,2.33,0.00,0.000,4,0.131,0.067,2637,3904,3630,0,0,0,0,0,0
$GC,2971,-0.65,-146.0,324.7,-12.8,335,2978,0.00,2.17,0.00,0.000,6,0.000,0.042,2637,2483,3630,0,0,0,0,0,0
$STATE,3190,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3190,begin apogee
$GC,3196,-0.12,0.0,352.4,12.2,356,3322,0.62,0.00,119.78,1.108,6,0.190,0.000,2814,2251,3030,0,0,0,0,0,0
$STATE,3322,end apogee,CONTROL_FINISHED_OK
$STATE,3323,begin climb
$GC,3325,0.62,146.0,357.4,0.0,367,3452,0.77,0.00,122.95,1.065,6,0.131,0.000,3055,2251,2434,0,0,0,0,0,0
$GC,3770,0.55,146.0,314.9,11.4,409,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2251,2429,0,0,0,0,0,0
$GC,4096,0.51,146.0,280.1,10.2,440,4101,0.00,2.35,0.00,0.000,4,0.000,0.061,3055,3699,2428,0,0,0,0,0,0
$GC,4216,0.41,146.0,265.3,13.0,450,4221,0.25,2.20,0.00,0.000,6,0.189,0.046,3002,2287,2428,0,0,0,0,0,0
$GC,4542,0.53,200.7,240.2,7.5,480,4596,0.10,2.33,46.08,1.001,4,0.116,0.063,3062,862,2210,0,0,0,0,0,0
$GC,4632,0.53,200.7,230.7,11.7,488,4636,0.00,2.25,0.00,0.000,6,0.000,0.048,3062,2279,2207,0,0,0,0,0,0
$GC,4959,0.50,200.7,189.0,13.2,518,4964,0.12,2.25,0.00,0.000,4,0.183,0.063,3030,3682,2205,0,0,0,0,0,0
$GC,5021,0.50,200.7,180.9,13.0,523,5025,0.00,2.22,0.00,0.000,6,0.000,0.047,3038,2267,2204,0,0,0,0,0,0
$GC,5348,0.53,204.1,145.9,9.8,553,5352,0.00,2.22,0.00,0.000,4,0.000,0.063,3043,872,2204,0,0,0,0,0,0
$GC,5392,0.59,209.3,141.4,9.8,556,5409,0.00,2.22,7.57,0.805,6,0.000,0.050,3043,2282,2175,0,0,0,0,0,0
$GC,5727,0.65,220.6,108.7,9.5,588,5744,0.00,2.25,11.48,0.868,4,0.000,0.061,3043,3696,2129,0,0,0,0,0,0
$GC,5818,0.65,220.6,99.2,10.9,596,5825,0.00,2.25,0.00,0.000,6,0.000,0.046,3053,2263,2129,0,0,0,0,0,0
$GC,6164,0.75,251.6,69.6,8.6,657,6200,0.15,2.28,27.85,0.901,4,0.090,0.063,3131,862,2003,0,0,0,0,0,0
$GC,6281,0.70,251.6,54.9,14.0,677,6288,0.15,2.22,0.00,0.000,6,0.192,0.049,3093,2279,2000,0,0,0,0,0,0
$GC,6628,0.70,251.6,17.1,10.6,738,6635,0.00,2.25,0.00,0.000,4,0.000,0.063,3093,3681,1998,0,0,0,0,0,0
$GC,6693,0.67,251.6,9.1,12.8,749,6699,0.00,2.22,0.00,0.000,6,0.000,0.047,3101,2264,1998,0,0,0,0,0,0
$FREEZE,7.60,-1.704,-1.835,3,61,0
$STATE,6707,end climb,FINISH_DEPTH_REACHED
$STATE,6707,begin subsurface finish
$FINISH1,7.6,1.026864,31
$GC,6713,0.04,31.2,7.6,-12.0,751,6756,0.73,2.22,-33.65,0.000,4,0.167,0.074,2883,864,2904,0,0,0,0,0,0
$FINISH2,5.6
$STATE,6757,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6757,begin surface
$RAFOS_CLK,393
$RAFOS_FIX,6713.249512,-5710.810059,220411,040420,5,96,0.19
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,351.0,16.2
$24V_AH,22.6,61.060
$10V_AH,10.1,31.259
$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,16.300,65.625,335.700,0.000,0.000,98.360,17.127,0.000,1.000,0.000,183.287,1754.902,3362.463,499.335,1519.169,392.570,0.000,1179.254,0.000,1205.139,0.000,9.057,0.000
$DEVICE_MAMPS,325.125,85.680,1107.720,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.196,563.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30043,758
$CAP_FILE_SIZE,86490,0
$CFSIZE,260165632,223776768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.2
$GPS,220411,043420,6713.250,-5710.810,181,99.0,181,-38.9