version: 66.08
glider: 141
mission: 15
dive: 446
start: 4 21 111 1 45 1
data:
$ID,141
$MISSION,15
$DIVE,446
$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,-39213.566
$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,38
$R_STBD_OVSHOOT,32
$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
$GPS1,210411,004322,6718.293,-5732.390,0,3131.7,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.84
$_SM_ANGLEo,0.1
$GPS2,210411,004322,6718.293,-5732.390,0,3131.7,0,-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,170.4,42776,-17.5,-10.000
$D_GRID,510
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.03,0.000,2,0.000,0.000,2881,3688,3141,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.0,-0.0,1,46,0.62,4.10,-12.05,0.000,4,0.114,0.051,2667,1074,3627,0,0,0,0,0,0
$GC,122,-0.56,-146.0,20.7,-13.7,17,129,0.00,2.22,0.00,0.000,6,0.000,0.052,2667,2491,3628,0,0,0,0,0,0
$GC,467,-0.47,-146.0,72.3,-14.9,78,475,0.17,2.28,0.00,0.000,4,0.216,0.068,2710,3898,3627,0,0,0,0,0,0
$GC,488,-0.40,-146.0,75.1,-13.4,81,495,0.00,2.15,0.00,0.000,6,0.000,0.040,2710,2484,3627,0,0,0,0,0,0
$GC,830,-0.44,-146.0,104.9,-7.8,136,834,0.00,2.17,0.00,0.000,4,0.000,0.056,2710,1078,3625,0,0,0,0,0,0
$GC,847,-0.48,-146.0,106.3,-7.7,137,854,0.00,2.20,0.00,0.000,6,0.000,0.053,2710,2493,3625,0,0,0,0,0,0
$GC,1173,-0.54,-146.0,131.1,-8.4,168,1177,0.00,2.25,0.00,0.000,4,0.000,0.070,2710,3899,3624,0,0,0,0,0,0
$GC,1202,-0.61,-146.0,133.7,-8.5,170,1207,0.15,2.15,0.00,0.000,6,0.114,0.041,2658,2483,3623,0,0,0,0,0,0
$GC,1528,-0.56,-146.0,174.4,-13.0,200,1532,0.00,2.28,0.00,0.000,4,0.000,0.067,2658,3901,3622,0,0,0,0,0,0
$GC,1539,-0.50,-146.0,176.1,-13.0,200,1546,0.17,2.17,0.00,0.000,6,0.203,0.041,2700,2487,3622,0,0,0,0,0,0
$GC,1865,-0.56,-146.0,206.7,-8.8,231,1868,0.00,2.20,0.00,0.000,4,0.000,0.055,2700,1073,3622,0,0,0,0,0,0
$GC,1882,-0.62,-146.0,208.5,-9.5,232,1889,0.12,2.22,0.00,0.000,6,0.123,0.053,2658,2498,3622,0,0,0,0,0,0
$GC,2207,-0.58,-146.0,244.1,-10.5,263,2211,0.00,2.25,0.00,0.000,4,0.000,0.068,2658,3907,3621,0,0,0,0,0,0
$GC,2219,-0.53,-146.0,245.3,-10.4,263,2226,0.12,2.17,0.00,0.000,6,0.203,0.038,2686,2483,3622,0,0,0,0,0,0
$GC,2544,-0.57,-146.0,273.0,-7.4,294,2548,0.00,2.28,0.00,0.000,4,0.000,0.065,2686,3905,3621,0,0,0,0,0,0
$GC,2578,-0.63,-146.0,275.7,-7.5,296,2585,0.00,2.15,0.00,0.000,6,0.000,0.037,2687,2478,3622,0,0,0,0,0,0
$GC,2906,-0.68,-146.0,299.3,-7.6,327,2907,0.12,0.00,0.00,0.000,6,0.126,0.000,2644,2478,3622,0,0,0,0,0,0
$STATE,3210,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3210,begin apogee
$GC,3215,-0.12,0.0,333.7,11.9,356,3340,0.60,0.00,117.35,1.089,6,0.195,0.000,2811,2250,3029,0,0,0,0,0,0
$STATE,3341,end apogee,CONTROL_FINISHED_OK
$STATE,3341,begin climb
$GC,3343,0.62,146.0,338.6,0.0,367,3474,0.77,2.38,121.72,1.042,4,0.139,0.058,3061,897,2433,0,0,0,0,0,0
$GC,3549,0.56,146.0,321.9,11.7,386,3553,0.00,2.30,0.00,0.000,6,0.000,0.044,3060,2284,2429,0,0,0,0,0,0
$GC,3876,0.50,146.0,282.3,12.0,416,3881,0.12,2.28,0.00,0.000,4,0.185,0.060,3030,3694,2427,0,0,0,0,0,0
$GC,4011,0.45,146.0,266.1,11.5,427,4018,0.00,2.20,0.00,0.000,6,0.000,0.042,3038,2291,2427,0,0,0,0,0,0
$GC,4337,0.43,155.4,230.5,9.6,458,4350,0.12,2.30,8.18,0.847,4,0.187,0.056,3008,3691,2396,0,0,0,0,0,0
$GC,4431,0.44,159.0,220.9,9.8,466,4444,0.00,2.17,4.90,0.703,6,0.000,0.041,3015,2277,2381,0,0,0,0,0,0
$GC,4762,0.51,190.1,193.1,8.6,497,4796,0.00,2.22,27.52,0.955,4,0.000,0.055,3019,868,2253,0,0,0,0,0,0
$GC,4856,0.63,220.1,185.3,8.6,505,4890,0.15,2.20,26.90,0.941,6,0.096,0.042,3086,2282,2132,0,0,0,0,0,0
$GC,5207,0.57,220.1,133.9,14.4,538,5212,0.15,2.25,0.00,0.000,4,0.177,0.057,3047,3695,2125,0,0,0,0,0,0
$GC,5302,0.57,220.1,121.9,11.9,546,5309,0.00,2.17,0.00,0.000,6,0.000,0.041,3055,2274,2125,0,0,0,0,0,0
$GC,5633,0.61,220.1,88.0,10.2,587,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2274,2124,0,0,0,0,0,0
$GC,5978,0.68,236.5,55.2,9.2,648,5998,0.00,2.28,14.40,0.859,4,0.000,0.057,3064,866,2065,0,0,0,0,0,0
$GC,6040,0.80,263.5,49.9,8.8,658,6071,0.17,2.20,24.90,0.877,6,0.087,0.042,3138,2283,1955,0,0,0,0,0,0
$FREEZE,8.52,-1.714,-1.836,3,47,0
$STATE,6331,end climb,FINISH_DEPTH_REACHED
$STATE,6331,begin subsurface finish
$FINISH1,8.5,1.026861,31
$GC,6337,0.04,31.3,8.5,-13.9,709,6379,0.85,2.28,-32.70,0.000,4,0.168,0.074,2884,3688,2904,0,0,0,0,0,0
$FINISH2,6.1
$STATE,6380,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6380,begin surface
$RAFOS_CLK,343
$RAFOS_FIX,6718.292969,-5732.389648,210411,000022,3,132,0.24
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,16.8
$ALTIM_BOTTOM_PING,300.2,48.4
$24V_AH,22.7,59.647
$10V_AH,10.2,30.577
$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,4.450,66.775,345.875,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1706.771,3073.142,378.519,1160.228,117.245,0.000,1021.889,0.000,1156.548,0.000,7.175,0.000
$DEVICE_MAMPS,216.495,74.205,1089.360,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.218,535.778,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26717,716
$CAP_FILE_SIZE,79115,0
$CFSIZE,260165632,224444416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.1
$GPS,210411,004322,6718.293,-5732.390,0,3131.7,0,-38.9