version: 66.08
glider: 141
mission: 15
dive: 458
start: 4 22 111 0 58 5
data:
$ID,141
$MISSION,15
$DIVE,458
$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,32
$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
$GPS1,220411,003550,6713.764,-5714.300,0,5111.0,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.93
$_SM_ANGLEo,2.7
$GPS2,220411,003550,6713.764,-5714.300,0,5111.0,0,-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,175.3,27534,-17.5,-10.000
$D_GRID,484
$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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.50,0.000,2,0.000,0.000,2887,3680,3141,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.0,-0.0,1,52,0.62,4.15,-12.95,0.000,4,0.113,0.054,2671,1082,3628,0,0,0,0,0,0
$GC,182,-0.58,-146.0,29.2,-15.4,28,189,0.00,2.22,0.00,0.000,6,0.000,0.054,2671,2484,3628,0,0,0,0,0,0
$GC,529,-0.50,-146.0,80.8,-14.4,89,536,0.12,0.00,0.00,0.000,6,0.233,0.000,2699,2484,3628,0,0,0,0,0,0
$GC,865,-0.50,-146.0,118.1,-9.9,134,869,0.00,2.30,0.00,0.000,4,0.000,0.071,2699,3902,3626,0,0,0,0,0,0
$GC,887,-0.53,-146.0,120.3,-9.4,135,894,0.00,2.17,0.00,0.000,6,0.000,0.044,2699,2480,3626,0,0,0,0,0,0
$GC,1213,-0.57,-146.0,148.6,-8.8,166,1217,0.00,2.17,0.00,0.000,4,0.000,0.059,2699,1084,3624,0,0,0,0,0,0
$GC,1230,-0.61,-146.0,150.2,-8.8,167,1238,0.00,2.22,0.00,0.000,6,0.000,0.057,2699,2492,3624,0,0,0,0,0,0
$GC,1556,-0.66,-146.0,179.8,-9.2,198,1561,0.15,2.30,0.00,0.000,4,0.116,0.072,2647,3905,3623,0,0,0,0,0,0
$GC,1571,-0.66,-146.0,181.6,-9.7,199,1579,0.00,2.17,0.00,0.000,6,0.000,0.044,2647,2493,3622,0,0,0,0,0,0
$GC,1899,-0.59,-146.0,224.1,-12.8,230,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2493,3622,0,0,0,0,0,0
$GC,2218,-0.52,-146.0,262.3,-11.6,260,2222,0.17,2.22,0.00,0.000,4,0.205,0.056,2691,1083,3622,0,0,0,0,0,0
$GC,2286,-0.58,-146.0,268.6,-8.0,265,2293,0.00,2.22,0.00,0.000,6,0.000,0.054,2691,2492,3622,0,0,0,0,0,0
$GC,2612,-0.64,-146.0,292.0,-7.6,296,2616,0.00,2.25,0.00,0.000,4,0.000,0.070,2691,3900,3622,0,0,0,0,0,0
$GC,2630,-0.69,-146.0,293.3,-7.0,297,2635,0.15,2.15,0.00,0.000,6,0.116,0.041,2639,2486,3622,0,0,0,0,0,0
$GC,2955,-0.62,-146.0,330.2,-11.3,327,2959,0.00,2.17,0.00,0.000,4,0.000,0.055,2639,1074,3622,0,0,0,0,0,0
$GC,3035,-0.57,-146.0,339.5,-11.8,334,3040,0.15,2.22,0.00,0.000,6,0.207,0.054,2674,2495,3623,0,0,0,0,0,0
$GC,3360,-0.57,-146.0,368.1,-8.6,364,3364,0.00,2.28,0.00,0.000,4,0.000,0.069,2674,3905,3623,0,0,0,0,0,0
$GC,3401,-0.61,-146.0,371.7,-8.7,367,3405,0.00,2.15,0.00,0.000,6,0.000,0.041,2675,2488,3623,0,0,0,0,0,0
$GC,3734,-0.83,-146.0,397.0,-1.3,398,3739,0.22,2.28,0.00,0.000,4,0.100,0.063,2594,3905,3624,0,0,0,0,0,0
$STATE,3863,end dive,NO_VERTICAL_VELOCITY
$STATE,3863,begin apogee
$GC,3871,-0.12,0.0,397.0,0.0,409,3996,0.70,0.00,118.32,1.128,6,0.142,0.000,2814,2264,3030,0,0,0,0,0,0
$STATE,3996,end apogee,CONTROL_FINISHED_OK
$STATE,3996,begin climb
$GC,3999,0.62,146.0,397.0,0.0,420,4134,0.77,2.53,123.38,1.081,4,0.140,0.060,3052,3680,2433,0,0,0,0,0,0
$GC,4169,0.51,146.0,384.2,14.3,436,4174,0.15,2.38,0.00,0.000,6,0.182,0.044,3029,2282,2430,0,0,0,0,0,0
$GC,4495,0.52,157.2,351.3,9.5,466,4510,0.00,2.33,10.00,0.919,4,0.000,0.058,3029,3692,2389,0,0,0,0,0,0
$GC,4556,0.47,157.2,344.6,11.9,471,4560,0.00,2.25,0.00,0.000,6,0.000,0.045,3037,2268,2388,0,0,0,0,0,0
$GC,4886,0.45,157.2,310.7,10.2,502,4890,0.00,2.25,0.00,0.000,4,0.000,0.060,3046,858,2387,0,0,0,0,0,0
$GC,4964,0.45,157.2,302.4,10.3,508,4972,0.12,2.25,0.00,0.000,6,0.189,0.047,3016,2273,2386,0,0,0,0,0,0
$GC,5290,0.51,181.6,274.1,8.9,539,5316,0.00,2.28,21.58,0.994,4,0.000,0.060,3016,3690,2289,0,0,0,0,0,0
$GC,5401,0.51,181.6,262.6,11.1,548,5408,0.00,2.22,0.00,0.000,6,0.000,0.044,3024,2265,2288,0,0,0,0,0,0
$GC,5727,0.55,196.6,231.5,9.3,579,5750,0.00,2.28,14.05,0.940,4,0.000,0.060,3033,866,2227,0,0,0,0,0,0
$GC,5835,0.62,205.2,221.0,9.6,588,5853,0.00,2.22,8.73,0.872,6,0.000,0.048,3032,2276,2193,0,0,0,0,0,0
$GC,6171,0.65,205.2,186.7,10.7,620,6176,0.12,2.28,0.00,0.000,4,0.099,0.061,3092,3691,2191,0,0,0,0,0,0
$GC,6256,0.52,205.2,173.2,17.7,627,6263,0.25,2.22,0.00,0.000,6,0.190,0.044,3036,2268,2191,0,0,0,0,0,0
$GC,6581,0.55,205.2,136.1,10.3,658,6585,0.00,2.22,0.00,0.000,4,0.000,0.060,3042,863,2191,0,0,0,0,0,0
$GC,6671,0.61,213.4,126.9,9.6,665,6685,0.00,2.17,8.40,0.819,6,0.000,0.047,3042,2277,2159,0,0,0,0,0,0
$GC,7007,0.66,216.0,95.5,9.9,700,7021,0.10,2.28,4.00,0.588,4,0.114,0.061,3091,3681,2149,0,0,0,0,0,0
$GC,7108,0.56,216.0,82.0,14.3,717,7116,0.20,2.17,0.00,0.000,6,0.181,0.044,3049,2270,2149,0,0,0,0,0,0
$GC,7456,0.65,246.5,52.7,8.6,778,7492,0.00,2.28,27.85,0.900,4,0.000,0.060,3055,842,2024,0,0,0,0,0,0
$GC,7534,0.80,278.3,46.0,8.5,791,7570,0.20,2.25,28.35,0.887,6,0.086,0.046,3137,2278,1894,0,0,0,0,0,0
$FREEZE,8.71,-1.708,-1.835,3,59,0
$STATE,7791,end climb,FINISH_DEPTH_REACHED
$STATE,7791,begin subsurface finish
$FINISH1,8.7,1.026849,32
$GC,7798,0.04,31.9,8.7,-14.8,836,7840,0.85,2.25,-34.83,0.000,4,0.173,0.074,2886,3680,2901,0,0,0,0,0,0
$FINISH2,6.2
$STATE,7841,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7841,begin surface
$RAFOS_CLK,413
$RAFOS_FIX,6713.764160,-5714.300293,220411,000050,5,111,0.10
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,44.72
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.7
$24V_AH,22.6,60.857
$10V_AH,10.2,31.152
$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,5.075,85.325,364.650,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2022.385,3922.676,424.925,1380.579,145.529,0.000,1177.433,0.000,1374.830,0.000,8.805,0.000
$DEVICE_MAMPS,233.325,74.205,1128.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.482,635.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33469,843
$CAP_FILE_SIZE,94673,0
$CFSIZE,260165632,223858688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$GPS,220411,003550,6713.764,-5714.300,0,5111.0,0,-38.9