version: 66.08
glider: 141
mission: 15
dive: 464
start: 4 22 111 13 30 51
data:
$ID,141
$MISSION,15
$DIVE,464
$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,34
$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
$GPS1,220411,123616,6712.719,-5703.551,0,4099.5,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.78
$_SM_ANGLEo,0.9
$GPS2,220411,123616,6712.719,-5703.551,0,4099.5,0,-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,186.9,21215,-17.5,-10.000
$D_GRID,361
$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,-6.40,0.000,2,0.000,0.000,2881,3678,3154,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.0,-0.0,1,47,0.62,4.10,-11.93,0.000,4,0.118,0.054,2668,1072,3627,0,0,0,0,0,0
$GC,163,-0.58,-146.0,26.0,-13.1,24,170,0.00,2.22,0.00,0.000,6,0.000,0.054,2668,2488,3628,0,0,0,0,0,0
$GC,511,-0.50,-146.0,77.5,-13.6,85,518,0.12,2.30,0.00,0.000,4,0.225,0.070,2696,3905,3628,0,0,0,0,0,0
$GC,526,-0.43,-146.0,80.0,-14.3,87,533,0.00,2.17,0.00,0.000,6,0.000,0.042,2696,2485,3627,0,0,0,0,0,0
$GC,862,-0.43,-146.0,116.8,-10.9,134,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2486,3626,0,0,0,0,0,0
$GC,1182,-0.46,-146.0,148.7,-9.0,164,1186,0.00,2.20,0.00,0.000,4,0.000,0.060,2696,1079,3624,0,0,0,0,0,0
$GC,1193,-0.50,-146.0,150.0,-9.4,164,1199,0.00,2.22,0.00,0.000,6,0.000,0.055,2696,2497,3624,0,0,0,0,0,0
$GC,1518,-0.55,-146.0,179.7,-8.3,195,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2497,3622,0,0,0,0,0,0
$GC,1839,-0.60,-146.0,203.1,-6.7,225,1843,0.00,2.25,0.00,0.000,4,0.000,0.070,2696,3897,3622,0,0,0,0,0,0
$GC,1879,-0.68,-146.0,206.0,-7.1,228,1884,0.15,2.15,0.00,0.000,6,0.114,0.042,2645,2490,3622,0,0,0,0,0,0
$GC,2207,-0.61,-146.0,243.3,-11.3,258,2211,0.00,2.20,0.00,0.000,4,0.000,0.056,2645,1087,3621,0,0,0,0,0,0
$GC,2262,-0.57,-146.0,250.0,-11.2,262,2270,0.12,2.20,0.00,0.000,6,0.213,0.055,2673,2490,3621,0,0,0,0,0,0
$GC,2589,-0.57,-146.0,277.5,-7.8,293,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2490,3622,0,0,0,0,0,0
$GC,2907,-0.57,-146.0,305.0,-9.3,323,2911,0.00,2.28,0.00,0.000,4,0.000,0.069,2673,3899,3623,0,0,0,0,0,0
$GC,2948,-0.60,-146.0,308.6,-9.3,326,2952,0.00,2.15,0.00,0.000,6,0.000,0.040,2673,2480,3622,0,0,0,0,0,0
$GC,3274,-0.60,-146.0,336.0,-8.6,356,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2481,3623,0,0,0,0,0,0
$STATE,3561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3561,begin apogee
$GC,3567,-0.12,0.0,361.2,8.8,383,3690,0.47,0.00,117.88,1.108,6,0.184,0.000,2812,2258,3029,0,0,0,0,0,0
$STATE,3691,end apogee,CONTROL_FINISHED_OK
$STATE,3691,begin climb
$GC,3693,0.62,146.0,364.6,0.0,394,3824,0.77,2.42,122.22,1.059,4,0.136,0.059,3063,888,2433,0,0,0,0,0,0
$GC,3883,0.56,146.0,349.0,12.0,411,3887,0.00,2.33,0.00,0.000,6,0.000,0.046,3063,2277,2429,0,0,0,0,0,0
$GC,4208,0.48,146.0,308.5,12.2,441,4213,0.15,2.30,0.00,0.000,4,0.181,0.061,3024,3696,2428,0,0,0,0,0,0
$GC,4329,0.44,146.0,294.1,12.0,451,4333,0.00,2.20,0.00,0.000,6,0.000,0.044,3032,2283,2427,0,0,0,0,0,0
$GC,4655,0.44,146.0,260.2,10.6,481,4659,0.00,2.22,0.00,0.000,4,0.000,0.059,3042,870,2427,0,0,0,0,0,0
$GC,4696,0.44,146.0,255.6,11.0,484,4701,0.12,2.22,0.00,0.000,6,0.183,0.047,3012,2284,2426,0,0,0,0,0,0
$GC,5021,0.52,176.9,227.7,8.6,514,5055,0.00,2.30,25.80,0.974,4,0.000,0.061,3012,3700,2309,0,0,0,0,0,0
$GC,5113,0.52,176.9,218.7,10.9,522,5117,0.00,2.25,0.00,0.000,6,0.000,0.043,3020,2267,2308,0,0,0,0,0,0
$GC,5439,0.58,198.0,187.6,9.0,552,5465,0.00,2.30,19.05,0.942,4,0.000,0.057,3028,866,2221,0,0,0,0,0,0
$GC,5522,0.65,198.0,179.3,10.0,559,5530,0.12,2.22,0.00,0.000,6,0.106,0.044,3086,2286,2219,0,0,0,0,0,0
$GC,5847,0.57,198.0,130.9,14.1,590,5852,0.15,2.25,0.00,0.000,4,0.177,0.060,3047,3694,2219,0,0,0,0,0,0
$GC,5971,0.57,198.0,114.9,12.9,601,5976,0.00,2.20,0.00,0.000,6,0.000,0.042,3055,2274,2218,0,0,0,0,0,0
$GC,6307,0.60,219.9,80.9,9.0,648,6331,0.00,0.00,19.48,0.890,6,0.000,0.000,3055,2274,2133,0,0,0,0,0,0
$GC,6671,0.71,264.7,52.0,7.9,712,6719,0.10,2.25,39.83,0.894,4,0.117,0.057,3114,869,1949,0,0,0,0,0,0
$GC,6775,0.71,264.7,40.1,12.2,730,6782,0.00,2.22,0.00,0.000,6,0.000,0.045,3115,2285,1944,0,0,0,0,0,0
$FREEZE,8.43,-1.667,-1.836,2,65,1
$FREEZE,7.76,-1.664,-1.836,2,65,1
$FREEZE,7.10,-1.660,-1.835,2,65,1
$FREEZE,6.55,-1.657,-1.835,2,65,1
$FREEZE,5.79,-1.657,-1.834,2,65,1
$FREEZE,5.23,-1.650,-1.834,2,65,1
$FREEZE,4.67,-1.641,-1.833,2,65,1
$FREEZE,4.10,-1.639,-1.833,2,65,1
$FREEZE,3.44,-1.637,-1.832,2,65,1
$FREEZE,2.70,-1.631,-1.832,2,65,1
$STATE,7065,end climb,SURFACE_DEPTH_REACHED
$STATE,7065,begin surface coast
$FREEZE,2.03,-1.620,-1.831,2,65,1
$FREEZE,1.27,-1.599,-1.830,2,65,1
$FREEZE,1.26,-2.645,-1.260,2,65,1
$FREEZE,1.32,-4.051,-0.984,2,65,1
$FINISH,1.3,1.014398
$STATE,7087,end surface coast,CONTROL_FINISHED_OK
$STATE,7087,begin surface
$SM_CCo,7106,127.15,0.064,0,0,750,559.04
$SM_GC,2.14,0.00,0.00,127.15,0.000,0.000,0.064,114,2510,750,-8.60,0.57,559.04
$RAFOS_CLK,380
$RAFOS_FIX,6712.718750,-5703.551270,220411,121216,4,100,0.30
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,43.93
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.3
$ALTIM_BOTTOM_PING,350.8,63.0
$24V_AH,22.5,61.469
$10V_AH,10.2,31.450
$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,11.525,60.775,344.250,127.150,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1878.403,3539.705,469.780,1269.497,136.545,0.000,1151.110,0.000,1261.573,0.000,13.821,0.000
$DEVICE_MAMPS,224.910,70.380,1108.485,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.481,589.670,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30115,786
$CAP_FILE_SIZE,84505,0
$CFSIZE,260165632,223592448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.3
$GPS,220411,153237,6707.764,-5649.178,25,1.5,25,-37.6