version: 66.08
glider: 141
mission: 15
dive: 459
start: 4 22 111 3 10 33
data:
$ID,141
$MISSION,15
$DIVE,459
$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,34
$R_STBD_OVSHOOT,30
$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,7.36
$_SM_ANGLEo,1.4
$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,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,-6.50,0.000,2,0.000,0.000,2887,3680,3128,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.3,-0.0,1,53,0.62,4.18,-13.88,0.000,4,0.117,0.054,2674,1075,3628,0,0,0,0,0,0
$GC,66,-0.59,-146.0,11.4,-9.5,7,73,0.00,2.25,0.00,0.000,6,0.000,0.055,2673,2488,3629,0,0,0,0,0,0
$GC,411,-0.51,-146.0,60.6,-13.6,68,418,0.00,2.20,0.00,0.000,4,0.000,0.057,2673,1084,3628,0,0,0,0,0,0
$GC,516,-0.49,-146.0,74.3,-13.0,86,524,0.12,2.25,0.00,0.000,6,0.219,0.057,2701,2490,3628,0,0,0,0,0,0
$GC,861,-0.51,-146.0,115.0,-11.6,136,865,0.00,2.30,0.00,0.000,4,0.000,0.073,2701,3899,3627,0,0,0,0,0,0
$GC,878,-0.54,-146.0,117.0,-11.2,137,882,0.00,2.17,0.00,0.000,6,0.000,0.043,2701,2479,3627,0,0,0,0,0,0
$GC,1205,-0.59,-146.0,149.6,-8.6,167,1208,0.00,2.17,0.00,0.000,4,0.000,0.059,2701,1084,3625,0,0,0,0,0,0
$GC,1219,-0.64,-146.0,150.8,-8.6,168,1224,0.15,2.22,0.00,0.000,6,0.118,0.057,2651,2494,3625,0,0,0,0,0,0
$GC,1545,-0.57,-146.0,189.3,-11.7,198,1549,0.00,2.20,0.00,0.000,4,0.000,0.057,2651,1087,3623,0,0,0,0,0,0
$GC,1563,-0.50,-146.0,191.5,-11.9,199,1568,0.17,2.25,0.00,0.000,6,0.207,0.058,2695,2495,3623,0,0,0,0,0,0
$GC,1889,-0.54,-146.0,218.6,-7.9,229,1893,0.00,2.25,0.00,0.000,4,0.000,0.071,2694,3899,3623,0,0,0,0,0,0
$GC,1922,-0.62,-146.0,221.7,-9.2,231,1929,0.00,2.15,0.00,0.000,6,0.000,0.042,2695,2490,3623,0,0,0,0,0,0
$GC,2250,-0.68,-146.0,249.1,-8.7,262,2252,0.15,0.00,0.00,0.000,6,0.118,0.000,2642,2490,3623,0,0,0,0,0,0
$GC,2567,-0.60,-146.0,286.5,-11.5,292,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2490,3623,0,0,0,0,0,0
$GC,2887,-0.53,-146.0,322.6,-11.0,322,2894,0.17,0.00,0.00,0.000,6,0.197,0.000,2686,2490,3623,0,0,0,0,0,0
$GC,3213,-0.57,-146.0,348.6,-7.9,353,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2490,3624,0,0,0,0,0,0
$STATE,3306,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3306,begin apogee
$GC,3313,-0.12,0.0,356.1,7.9,362,3436,0.43,0.00,117.62,1.106,6,0.181,0.000,2812,2249,3029,0,0,0,0,0,0
$STATE,3437,end apogee,CONTROL_FINISHED_OK
$STATE,3437,begin climb
$GC,3439,0.62,146.0,359.6,0.0,373,3572,0.77,2.42,122.12,1.056,4,0.136,0.061,3063,900,2433,0,0,0,0,0,0
$GC,3601,0.56,146.0,347.5,11.9,388,3605,0.00,2.33,0.00,0.000,6,0.000,0.047,3063,2275,2430,0,0,0,0,0,0
$GC,3926,0.50,146.0,306.7,12.0,418,3931,0.15,2.30,0.00,0.000,4,0.182,0.063,3024,3686,2428,0,0,0,0,0,0
$GC,4051,0.46,146.0,292.0,12.0,428,4058,0.00,2.17,0.00,0.000,6,0.000,0.045,3032,2298,2427,0,0,0,0,0,0
$GC,4376,0.47,154.1,258.9,9.6,459,4386,0.00,0.00,7.15,0.822,6,0.000,0.000,3032,2298,2401,0,0,0,0,0,0
$GC,4704,0.48,164.6,227.6,9.5,490,4720,0.00,2.25,10.57,0.897,4,0.000,0.061,3032,3696,2358,0,0,0,0,0,0
$GC,4766,0.44,164.6,220.6,11.9,495,4773,0.12,2.22,0.00,0.000,6,0.190,0.044,3012,2276,2357,0,0,0,0,0,0
$GC,5091,0.52,195.7,192.1,8.6,526,5121,0.00,0.00,27.35,0.965,6,0.000,0.000,3012,2276,2232,0,0,0,0,0,0
$GC,5443,0.67,250.8,163.8,7.5,559,5499,0.20,2.30,48.12,0.952,4,0.080,0.058,3108,867,2006,0,0,0,0,0,0
$GC,5567,0.63,250.8,146.5,14.5,570,5572,0.15,2.22,0.00,0.000,6,0.185,0.047,3071,2280,2000,0,0,0,0,0,0
$GC,5892,0.63,250.8,103.7,12.4,600,5896,0.00,2.22,0.00,0.000,4,0.000,0.061,3070,3688,1997,0,0,0,0,0,0
$GC,5983,0.63,250.8,91.6,13.5,613,5989,0.00,2.22,0.00,0.000,6,0.000,0.044,3079,2265,1996,0,0,0,0,0,0
$GC,6328,0.66,250.8,53.2,10.9,674,6335,0.00,2.20,0.00,0.000,4,0.000,0.060,3087,862,1996,0,0,0,0,0,0
$GC,6410,0.69,250.8,45.1,10.4,688,6417,0.00,2.20,0.00,0.000,6,0.000,0.047,3087,2276,1995,0,0,0,0,0,0
$GC,6756,0.72,250.8,9.0,10.0,749,6763,0.00,2.25,0.00,0.000,4,0.000,0.063,3087,3690,1994,0,0,0,0,0,0
$FREEZE,7.46,-1.683,-1.835,3,60,2
$FREEZE,6.89,-1.686,-1.835,3,60,2
$FREEZE,6.41,-1.687,-1.834,3,60,2
$FREEZE,5.74,-1.685,-1.834,3,60,2
$FREEZE,5.13,-1.682,-1.833,3,60,2
$FREEZE,4.50,-1.681,-1.833,3,60,2
$FREEZE,3.92,-1.685,-1.832,3,60,2
$FREEZE,3.31,-1.683,-1.832,3,60,2
$FREEZE,2.60,-1.680,-1.831,3,60,2
$STATE,6809,end climb,SURFACE_DEPTH_REACHED
$STATE,6809,begin surface coast
$FREEZE,1.97,-1.686,-1.831,3,60,2
$FREEZE,1.81,-1.652,-1.828,3,60,2
$FINISH,1.8,1.026823
$STATE,6823,end surface coast,CONTROL_FINISHED_OK
$STATE,6823,begin surface
$SM_CCo,6843,133.85,0.064,0,0,750,559.04
$SM_GC,2.84,0.00,0.00,133.85,0.000,0.000,0.064,106,2485,750,-8.62,-0.14,559.04
$RAFOS_CLK,369
$RAFOS,6,1303447745,4.833333,4.818056,153,67,59,59,55,51,774,215,120,139,201,151
$RAFOS,5,1303447270,4.700000,4.686111,97,63,58,58,56,56,620,192,219,206,163,174
$RAFOS,4,1303446783,4.566667,4.550833,78,70,58,56,54,52,879,213,169,190,159,246
$RAFOS,3,1303446301,4.433333,4.416945,82,61,60,58,55,54,1024,200,224,170,123,183
$RAFOS,2,1303445824,4.300000,4.284444,57,57,53,51,49,48,177,209,195,153,132,164
$RAFOS,1,1303445342,4.166667,4.150556,70,60,58,58,54,53,1054,122,218,196,166,140
$RAFOS,0,1303444863,4.033333,4.017500,72,56,53,52,51,51,221,188,150,119,167,740
$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,44.68
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.5
$ALTIM_BOTTOM_PING,350.2,20.7
$24V_AH,22.6,60.957
$10V_AH,10.2,31.199
$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,11.800,60.150,332.950,133.850,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1852.894,3392.292,482.608,1197.520,129.906,0.000,1135.562,0.000,1195.292,2520.000,8.867,0.000
$DEVICE_MAMPS,218.790,72.675,1106.190,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.687,575.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,30103,761
$CAP_FILE_SIZE,83516,0
$CFSIZE,260165632,223825920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.8
$GPS,220411,043420,6713.250,-5710.810,0,5096.0,0,-38.9