version: 66.08
glider: 141
mission: 15
dive: 452
start: 4 21 111 14 6 35
data:
$ID,141
$MISSION,15
$DIVE,452
$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,37
$R_STBD_OVSHOOT,31
$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
$GPS1,210411,124344,6716.753,-5724.643,0,3123.0,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.10
$_SM_ANGLEo,1.2
$GPS2,210411,124344,6716.753,-5724.643,0,3123.0,0,-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,172.8,36728,-17.5,-10.000
$D_GRID,495
$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,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.15,0.000,2,0.000,0.000,2883,3689,3150,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.3,-0.0,1,46,0.62,4.07,-11.85,0.000,4,0.108,0.050,2666,1084,3627,0,0,0,0,0,0
$GC,54,-0.76,-146.0,12.1,-5.8,5,61,0.15,2.22,0.00,0.000,6,0.123,0.054,2616,2485,3629,0,0,0,0,0,0
$GC,402,-0.55,-146.0,79.2,-19.4,66,409,0.25,2.20,0.00,0.000,4,0.231,0.052,2679,1078,3628,0,0,0,0,0,0
$GC,547,-0.55,-146.0,97.6,-11.0,91,554,0.00,2.22,0.00,0.000,6,0.000,0.054,2679,2497,3627,0,0,0,0,0,0
$GC,880,-0.53,-146.0,136.5,-11.3,124,884,0.00,2.25,0.00,0.000,4,0.000,0.070,2679,3899,3626,0,0,0,0,0,0
$GC,921,-0.53,-146.0,140.8,-10.5,127,925,0.00,2.17,0.00,0.000,6,0.000,0.041,2680,2487,3625,0,0,0,0,0,0
$GC,1246,-0.53,-146.0,175.0,-10.7,157,1250,0.00,2.17,0.00,0.000,4,0.000,0.056,2679,1081,3623,0,0,0,0,0,0
$GC,1256,-0.53,-146.0,176.3,-11.2,157,1263,0.00,2.25,0.00,0.000,6,0.000,0.054,2680,2498,3623,0,0,0,0,0,0
$GC,1582,-0.53,-146.0,207.6,-8.6,188,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2498,3622,0,0,0,0,0,0
$GC,1903,-0.55,-146.0,235.2,-8.5,218,1907,0.00,2.28,0.00,0.000,4,0.000,0.069,2680,3906,3622,0,0,0,0,0,0
$GC,1932,-0.59,-146.0,237.9,-9.2,220,1936,0.00,2.15,0.00,0.000,6,0.000,0.039,2680,2487,3622,0,0,0,0,0,0
$GC,2259,-0.61,-146.0,267.2,-9.2,250,2263,0.00,2.28,0.00,0.000,4,0.000,0.064,2680,3900,3622,0,0,0,0,0,0
$GC,2282,-0.64,-146.0,269.5,-9.1,252,2286,0.00,2.15,0.00,0.000,6,0.000,0.038,2680,2488,3622,0,0,0,0,0,0
$GC,2609,-0.66,-146.0,298.5,-8.2,282,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2489,3623,0,0,0,0,0,0
$GC,2926,-0.70,-146.0,324.8,-7.8,312,2928,0.12,0.00,0.00,0.000,6,0.130,0.000,2636,2488,3623,0,0,0,0,0,0
$STATE,3072,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3072,begin apogee
$GC,3078,-0.12,0.0,341.4,11.6,326,3203,0.65,0.00,117.32,1.097,6,0.197,0.000,2815,2242,3029,0,0,0,0,0,0
$STATE,3203,end apogee,CONTROL_FINISHED_OK
$STATE,3203,begin climb
$GC,3206,0.62,146.0,345.6,0.0,337,3337,0.75,0.00,122.00,1.054,6,0.135,0.000,3048,2242,2433,0,0,0,0,0,0
$GC,3656,0.58,146.0,302.1,11.2,380,3660,0.00,2.35,0.00,0.000,4,0.000,0.057,3048,3692,2427,0,0,0,0,0,0
$GC,3724,0.48,146.0,293.4,13.5,386,3729,0.15,2.17,0.00,0.000,6,0.189,0.042,3022,2300,2427,0,0,0,0,0,0
$GC,4049,0.52,177.4,263.8,8.5,416,4080,0.00,0.00,26.70,0.983,6,0.000,0.000,3022,2300,2305,0,0,0,0,0,0
$GC,4400,0.56,187.9,231.7,9.5,449,4411,0.00,0.00,9.57,0.879,6,0.000,0.000,3022,2300,2264,0,0,0,0,0,0
$GC,4727,0.60,187.9,198.9,10.5,480,4732,0.10,2.22,0.00,0.000,4,0.116,0.057,3071,3691,2262,0,0,0,0,0,0
$GC,4812,0.50,187.9,186.1,15.6,487,4817,0.20,2.20,0.00,0.000,6,0.189,0.042,3030,2264,2261,0,0,0,0,0,0
$GC,5138,0.53,187.9,151.2,10.4,517,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2264,2262,0,0,0,0,0,0
$GC,5458,0.58,187.9,118.4,10.4,547,5462,0.00,2.17,0.00,0.000,4,0.000,0.057,3038,868,2261,0,0,0,0,0,0
$GC,5519,0.66,211.1,112.4,8.9,552,5548,0.12,2.17,21.08,0.913,6,0.108,0.044,3094,2285,2169,0,0,0,0,0,0
$GC,5881,0.63,211.1,64.3,13.8,608,5887,0.00,2.20,0.00,0.000,4,0.000,0.057,3095,3693,2166,0,0,0,0,0,0
$GC,5945,0.54,211.1,54.8,14.8,619,5952,0.22,2.17,0.00,0.000,6,0.178,0.041,3045,2274,2166,0,0,0,0,0,0
$GC,6292,0.70,280.2,26.8,6.8,680,6340,0.12,2.25,39.78,0.931,4,0.102,0.055,3112,869,1884,0,0,0,0,0,0
$GC,6394,0.70,280.2,17.2,10.4,697,6401,0.00,2.20,0.00,0.000,6,0.000,0.044,3113,2280,1879,0,0,0,0,0,0
$FREEZE,8.29,-1.689,-1.836,3,53,0
$STATE,6463,end climb,FINISH_DEPTH_REACHED
$STATE,6463,begin subsurface finish
$FINISH1,8.3,1.026860,31
$GC,6469,0.04,31.4,8.3,-14.0,709,6512,0.75,2.22,-34.78,0.000,4,0.164,0.071,2886,3682,2903,0,0,0,0,0,0
$FINISH2,6.3
$STATE,6512,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6512,begin surface
$RAFOS_CLK,347
$RAFOS_FIX,6716.753418,-5724.643066,210411,121244,3,123,0.24
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,17.9
$ALTIM_BOTTOM_PING,300.3,55.6
$24V_AH,22.7,60.261
$10V_AH,10.2,30.874
$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,4.225,53.100,336.450,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1674.244,3303.211,366.722,1109.444,115.032,0.000,973.507,0.000,1107.953,0.000,9.155,0.000
$DEVICE_MAMPS,231.030,71.145,1097.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,501.627,537.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26730,716
$CAP_FILE_SIZE,73690,0
$CFSIZE,260165632,224161792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.4
$GPS,210411,124344,6716.753,-5724.643,0,3123.0,0,-38.9