version: 66.08
glider: 141
mission: 15
dive: 482
start: 4 24 111 8 39 39
data:
$ID,141
$MISSION,15
$DIVE,482
$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,400
$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,-40322.797
$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,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
$GPS1,240411,044301,6708.531,-5651.815,0,3130.3,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.30
$_SM_ANGLEo,-1.5
$GPS2,240411,044301,6708.531,-5651.815,0,3130.3,0,-37.6
$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,202.5,10607,-17.5,-10.000
$D_GRID,411
$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,-6.32,0.000,2,0.000,0.000,2882,2265,3145,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.2,-0.0,1,47,0.60,2.72,-12.60,0.000,4,0.101,0.076,2668,3899,3628,0,0,0,0,0,0
$GC,60,-0.64,-146.0,11.9,-9.4,6,67,0.00,2.17,0.00,0.000,6,0.000,0.039,2668,2475,3630,0,0,0,0,0,0
$GC,405,-0.56,-146.0,62.1,-13.8,67,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2474,3630,0,0,0,0,0,0
$GC,751,-0.50,-146.0,109.9,-14.6,123,756,0.12,2.20,0.00,0.000,4,0.212,0.059,2697,1079,3628,0,0,0,0,0,0
$GC,762,-0.44,-146.0,111.7,-15.0,123,769,0.00,2.22,0.00,0.000,6,0.000,0.056,2697,2486,3628,0,0,0,0,0,0
$GC,1089,-0.48,-146.0,152.7,-12.1,154,1093,0.00,2.30,0.00,0.000,4,0.000,0.072,2697,3899,3626,0,0,0,0,0,0
$GC,1152,-0.55,-146.0,160.1,-11.5,159,1156,0.00,2.17,0.00,0.000,6,0.000,0.043,2697,2488,3625,0,0,0,0,0,0
$GC,1479,-0.61,-146.0,192.8,-9.6,189,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2488,3625,0,0,0,0,0,0
$GC,1798,-0.67,-146.0,220.1,-7.9,219,1804,0.15,0.00,0.00,0.000,6,0.117,0.000,2645,2488,3624,0,0,0,0,0,0
$GC,2124,-0.61,-146.0,252.5,-9.5,250,2128,0.00,2.17,0.00,0.000,4,0.000,0.056,2645,1085,3624,0,0,0,0,0,0
$GC,2168,-0.58,-146.0,257.1,-9.8,253,2175,0.12,2.22,0.00,0.000,6,0.210,0.055,2673,2491,3624,0,0,0,0,0,0
$GC,2493,-0.58,-146.0,284.2,-8.6,284,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2491,3624,0,0,0,0,0,0
$GC,2814,-0.58,-146.0,314.4,-9.8,314,2818,0.00,2.28,0.00,0.000,4,0.000,0.067,2674,3899,3625,0,0,0,0,0,0
$GC,2871,-0.62,-146.0,320.0,-9.8,319,2875,0.00,2.15,0.00,0.000,6,0.000,0.039,2674,2484,3624,0,0,0,0,0,0
$GC,3197,-0.65,-146.0,348.8,-8.7,349,3201,0.00,2.28,0.00,0.000,4,0.000,0.066,2674,3899,3625,0,0,0,0,0,0
$GC,3232,-0.68,-146.0,351.7,-8.4,352,3236,0.00,2.15,0.00,0.000,6,0.000,0.039,2674,2484,3625,0,0,0,0,0,0
$GC,3557,-0.70,-146.0,378.1,-8.1,382,3559,0.12,0.00,0.00,0.000,6,0.124,0.000,2630,2483,3625,0,0,0,0,0,0
$STATE,3852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3852,begin apogee
$GC,3858,-0.12,0.0,411.1,11.4,410,3982,0.68,0.00,118.68,1.129,6,0.196,0.000,2815,2262,3030,0,0,0,0,0,0
$STATE,3983,end apogee,CONTROL_FINISHED_OK
$STATE,3983,begin climb
$GC,3985,0.62,146.0,414.3,0.0,421,4119,0.77,2.40,123.18,1.084,4,0.133,0.058,3065,892,2432,0,0,0,0,0,0
$GC,4166,0.55,146.0,398.7,12.5,437,4170,0.00,2.35,0.00,0.000,6,0.000,0.047,3066,2283,2429,0,0,0,0,0,0
$GC,4497,0.48,146.0,358.4,12.3,468,4501,0.17,2.30,0.00,0.000,4,0.176,0.062,3019,3698,2427,0,0,0,0,0,0
$GC,4638,0.45,146.0,342.4,11.4,480,4643,0.00,2.22,0.00,0.000,6,0.000,0.044,3028,2283,2426,0,0,0,0,0,0
$GC,4965,0.45,146.0,308.6,10.7,510,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2283,2426,0,0,0,0,0,0
$GC,5283,0.45,146.0,272.3,12.1,540,5287,0.00,2.28,0.00,0.000,4,0.000,0.060,3028,3699,2426,0,0,0,0,0,0
$GC,5335,0.40,146.0,265.4,13.7,544,5340,0.17,2.22,0.00,0.000,6,0.180,0.042,2994,2266,2426,0,0,0,0,0,0
$GC,5660,0.50,177.9,234.8,8.5,574,5694,0.00,2.22,26.73,0.978,4,0.000,0.057,3001,869,2303,0,0,0,0,0,0
$GC,5722,0.68,221.1,229.6,8.0,579,5767,0.22,2.22,38.28,0.978,6,0.078,0.047,3097,2285,2128,0,0,0,0,0,0
$GC,6086,0.59,221.1,179.5,12.4,613,6091,0.17,2.22,0.00,0.000,4,0.181,0.060,3051,3687,2120,0,0,0,0,0,0
$GC,6181,0.59,227.4,169.7,9.7,621,6191,0.00,2.20,5.62,0.727,6,0.000,0.043,3059,2275,2103,0,0,0,0,0,0
$GC,6517,0.60,228.6,136.7,9.9,653,6521,0.00,2.25,0.00,0.000,4,0.000,0.057,3070,863,2101,0,0,0,0,0,0
$GC,6550,0.60,232.9,133.3,9.8,655,6560,0.00,2.20,5.95,0.734,6,0.000,0.047,3070,2283,2080,0,0,0,0,0,0
$GC,6883,0.60,232.9,91.6,12.8,691,6890,0.00,2.20,0.00,0.000,4,0.000,0.060,3070,3684,2079,0,0,0,0,0,0
$GC,6943,0.56,232.9,83.4,14.8,701,6950,0.12,2.20,0.00,0.000,6,0.181,0.043,3048,2265,2079,0,0,0,0,0,0
$GC,7290,0.67,253.7,48.0,9.0,762,7315,0.00,2.28,19.88,0.882,4,0.000,0.058,3055,869,1995,0,0,0,0,0,0
$GC,7386,0.82,275.9,39.5,9.0,778,7411,0.20,2.20,15.82,0.963,6,0.084,0.047,3138,2279,1903,0,0,0,0,0,0
$FREEZE,8.85,-1.746,-1.837,3,17,0
$STATE,7591,end climb,FINISH_DEPTH_REACHED
$STATE,7591,begin subsurface finish
$FINISH1,8.8,1.026867,31
$GC,7597,0.04,31.0,8.8,-16.2,814,7640,0.85,2.28,-33.05,0.000,4,0.171,0.076,2885,3682,2906,0,0,0,0,0,0
$FINISH2,6.6
$STATE,7640,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7641,begin surface
$RAFOS_CLK,393
$RAFOS,6,1303634946,8.833333,8.818334,133,61,58,54,52,50,835,190,144,222,213,128
$RAFOS,5,1303634461,8.700000,8.683611,132,64,58,56,54,54,689,201,216,124,159,145
$RAFOS,4,1303633983,8.566667,8.550834,63,62,56,55,53,51,169,213,203,225,126,903
$RAFOS_FIX,6707.496094,-5651.645020,240411,080856,2,132,0.13
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.025466
$HUMID,44.92
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,16.9
$24V_AH,22.6,63.352
$10V_AH,10.2,32.438
$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,4.500,65.600,354.125,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1949.614,3919.163,371.842,1318.452,143.512,0.000,1093.844,0.000,1317.283,720.000,7.924,0.000
$DEVICE_MAMPS,211.905,76.500,1129.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.003,621.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,30065,821
$CAP_FILE_SIZE,90310,0
$CFSIZE,260165632,222654464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.5
$GPS,240411,084656,6707.496,-5651.645,0,2132.5,0,-37.6