version: 66.08
glider: 141
mission: 15
dive: 484
start: 4 24 111 13 12 3
data:
$ID,141
$MISSION,15
$DIVE,484
$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,32
$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
$GPS1,240411,124344,6705.746,-5646.890,0,3109.0,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.85
$_SM_ANGLEo,0.1
$GPS2,240411,124344,6705.746,-5646.890,0,3109.0,0,-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,226.6,5149,-17.5,-10.000
$D_GRID,427
$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,-6.40,0.000,2,0.000,0.000,2886,866,3135,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.7,-0.0,1,52,0.65,4.93,-13.48,0.000,4,0.124,0.064,2667,3899,3628,0,0,0,0,0,0
$GC,195,-0.58,-146.0,29.3,-14.0,30,202,0.00,2.17,0.00,0.000,6,0.000,0.039,2667,2481,3630,0,0,0,0,0,0
$GC,540,-0.50,-146.0,81.2,-14.2,91,547,0.12,0.00,0.00,0.000,6,0.214,0.000,2695,2480,3628,0,0,0,0,0,0
$GC,875,-0.50,-146.0,121.5,-11.4,135,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2480,3628,0,0,0,0,0,0
$GC,1196,-0.53,-146.0,157.5,-11.1,165,1200,0.00,2.28,0.00,0.000,4,0.000,0.067,2695,3894,3625,0,0,0,0,0,0
$GC,1239,-0.60,-146.0,162.4,-10.3,168,1246,0.00,2.15,0.00,0.000,6,0.000,0.040,2696,2486,3624,0,0,0,0,0,0
$GC,1565,-0.66,-146.0,191.4,-8.3,199,1567,0.12,0.00,0.00,0.000,6,0.128,0.000,2652,2486,3624,0,0,0,0,0,0
$GC,1883,-0.60,-146.0,226.9,-10.9,229,1887,0.00,2.28,0.00,0.000,4,0.000,0.065,2652,3893,3623,0,0,0,0,0,0
$GC,1895,-0.55,-146.0,228.2,-11.0,229,1902,0.12,2.15,0.00,0.000,6,0.199,0.038,2680,2488,3623,0,0,0,0,0,0
$GC,2221,-0.58,-146.0,255.8,-8.5,260,2225,0.00,2.28,0.00,0.000,4,0.000,0.064,2680,3893,3623,0,0,0,0,0,0
$GC,2243,-0.61,-146.0,257.9,-8.8,261,2250,0.00,2.15,0.00,0.000,6,0.000,0.037,2681,2487,3623,0,0,0,0,0,0
$GC,2569,-0.65,-146.0,286.7,-9.0,292,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2487,3624,0,0,0,0,0,0
$GC,2890,-0.68,-146.0,314.6,-8.7,322,2895,0.12,2.30,0.00,0.000,4,0.129,0.063,2638,3900,3624,0,0,0,0,0,0
$GC,2919,-0.65,-146.0,317.9,-11.3,324,2923,0.00,2.17,0.00,0.000,6,0.000,0.038,2637,2482,3624,0,0,0,0,0,0
$GC,3244,-0.58,-146.0,355.9,-11.3,354,3246,0.15,0.00,0.00,0.000,6,0.207,0.000,2673,2482,3625,0,0,0,0,0,0
$GC,3565,-0.60,-146.0,381.5,-7.9,384,3569,0.00,2.28,0.00,0.000,4,0.000,0.063,2673,3893,3625,0,0,0,0,0,0
$GC,3606,-0.64,-146.0,385.3,-8.6,387,3610,0.00,2.15,0.00,0.000,6,0.000,0.037,2673,2483,3625,0,0,0,0,0,0
$GC,3933,-0.67,-146.0,412.8,-8.0,417,3937,0.00,2.28,0.00,0.000,4,0.000,0.063,2674,3894,3626,0,0,0,0,0,0
$GC,3944,-0.69,-146.0,413.7,-7.9,417,3950,0.00,2.15,0.00,0.000,6,0.000,0.036,2674,2484,3626,0,0,0,0,0,0
$STATE,4107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4107,begin apogee
$GC,4113,-0.12,0.0,427.3,8.2,433,4238,0.47,0.00,119.05,1.135,6,0.179,0.000,2814,2254,3030,0,0,0,0,0,0
$STATE,4239,end apogee,CONTROL_FINISHED_OK
$STATE,4239,begin climb
$GC,4241,0.62,146.0,429.7,0.0,444,4374,0.77,2.45,123.40,1.092,4,0.132,0.059,3064,899,2433,0,0,0,0,0,0
$GC,4421,0.55,146.0,414.6,12.4,460,4425,0.00,2.30,0.00,0.000,6,0.000,0.045,3064,2268,2429,0,0,0,0,0,0
$GC,4751,0.49,146.0,373.9,11.9,491,4756,0.15,2.30,0.00,0.000,4,0.177,0.060,3026,3693,2427,0,0,0,0,0,0
$GC,4864,0.44,146.0,360.6,11.6,500,4871,0.00,2.20,0.00,0.000,6,0.000,0.041,3034,2288,2426,0,0,0,0,0,0
$GC,5189,0.44,146.0,327.2,10.1,531,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2287,2426,0,0,0,0,0,0
$GC,5509,0.45,160.4,296.9,9.3,561,5531,0.00,2.33,12.25,0.948,4,0.000,0.059,3034,3699,2375,0,0,0,0,0,0
$GC,5589,0.40,160.4,288.0,12.3,568,5594,0.17,2.22,0.00,0.000,6,0.181,0.042,2999,2268,2375,0,0,0,0,0,0
$GC,5915,0.51,193.8,260.8,8.5,598,5950,0.00,2.30,29.40,1.000,4,0.000,0.058,3002,870,2240,0,0,0,0,0,0
$GC,5986,0.67,226.9,254.9,8.5,604,6023,0.22,2.22,30.38,0.987,6,0.079,0.044,3097,2281,2103,0,0,0,0,0,0
$GC,6350,0.58,226.9,195.9,16.7,638,6355,0.17,2.22,0.00,0.000,4,0.177,0.060,3051,3684,2096,0,0,0,0,0,0
$GC,6446,0.58,226.9,181.3,14.3,646,6450,0.00,2.20,0.00,0.000,6,0.000,0.043,3059,2273,2095,0,0,0,0,0,0
$GC,6772,0.58,226.9,139.4,12.8,676,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2272,2095,0,0,0,0,0,0
$GC,7091,0.58,226.9,103.4,10.6,706,7095,0.00,2.25,0.00,0.000,4,0.000,0.057,3059,3687,2094,0,0,0,0,0,0
$GC,7131,0.58,226.9,98.5,12.5,710,7138,0.00,2.20,0.00,0.000,6,0.000,0.041,3070,2263,2094,0,0,0,0,0,0
$GC,7476,0.60,226.9,61.4,10.2,771,7482,0.00,2.20,0.00,0.000,4,0.000,0.057,3079,860,2094,0,0,0,0,0,0
$GC,7540,0.64,226.9,54.7,10.3,782,7547,0.00,2.17,0.00,0.000,6,0.000,0.044,3079,2280,2093,0,0,0,0,0,0
$GC,7886,0.66,226.9,20.1,10.1,843,7894,0.00,2.20,0.00,0.000,4,0.000,0.060,3079,3686,2093,0,0,0,0,0,0
$GC,7968,0.64,226.9,10.7,11.4,857,7975,0.00,2.20,0.00,0.000,6,0.000,0.044,3089,2266,2093,0,0,0,0,0,0
$FREEZE,8.47,-1.726,-1.838,3,19,0
$STATE,7986,end climb,FINISH_DEPTH_REACHED
$STATE,7986,begin subsurface finish
$FINISH1,8.5,1.026888,30
$GC,7993,0.04,30.0,8.5,-11.8,860,8030,0.68,2.28,-25.90,0.000,4,0.159,0.070,2882,865,2910,0,0,0,0,0,0
$FINISH2,6.9
$STATE,8031,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8031,begin surface
$RAFOS_CLK,416
$RAFOS_FIX,6705.746094,-5646.889648,240411,121244,3,109,0.33
$IRIDIUM_FIX,6641.98,-5653.92,220411,151557
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,22.6,63.549
$10V_AH,10.2,32.543
$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,3.950,72.250,314.475,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,2050.089,4150.396,357.148,1374.540,152.848,0.000,1101.586,0.000,1372.591,0.000,8.109,0.000
$DEVICE_MAMPS,214.200,70.380,1135.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.954,651.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33408,866
$CAP_FILE_SIZE,91268,0
$CFSIZE,260165632,222552064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$GPS,240411,124344,6705.746,-5646.890,0,3109.0,0,-37.6