version: 66.08
glider: 141
mission: 15
dive: 339
start: 4 10 111 1 15 2
data:
$ID,141
$MISSION,15
$DIVE,339
$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,-2
$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,-36257.363
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,240813,073118,-200.000,-200.000,181,99.0,181,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.55
$_SM_ANGLEo,-1.9
$GPS2,240813,073118,-200.000,-200.000,181,99.0,181,-37.5
$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,20.3,8031828,-17.5,-10.000
$D_GRID,250
$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,-6.75,0.000,2,0.000,0.000,2896,3691,3004,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.8,-0.0,1,52,0.65,4.28,-16.67,0.000,4,0.107,0.072,2670,1081,3629,0,0,0,0,0,0
$GC,177,-0.54,-146.0,33.7,-17.0,27,183,0.00,2.30,0.00,0.000,6,0.000,0.070,2669,2488,3629,0,0,0,0,0,0
$GC,522,-0.39,-146.0,99.4,-20.3,88,530,0.25,2.35,0.00,0.000,4,0.229,0.083,2733,3901,3630,0,0,0,0,0,0
$GC,627,-0.46,-146.0,112.1,-9.8,98,631,0.00,2.25,0.00,0.000,6,0.000,0.054,2734,2479,3630,0,0,0,0,0,0
$GC,953,-0.53,-146.0,142.2,-8.9,128,958,0.12,2.28,0.00,0.000,4,0.138,0.070,2692,1083,3629,0,0,0,0,0,0
$GC,1060,-0.53,-146.0,154.7,-11.8,137,1064,0.00,2.30,0.00,0.000,6,0.000,0.070,2692,2497,3629,0,0,0,0,0,0
$GC,1385,-0.50,-146.0,193.3,-11.3,167,1389,0.00,2.33,0.00,0.000,4,0.000,0.086,2692,3905,3629,0,0,0,0,0,0
$GC,1435,-0.50,-146.0,199.0,-10.5,171,1439,0.00,2.25,0.00,0.000,6,0.000,0.055,2692,2489,3629,0,0,0,0,0,0
$GC,1765,-0.50,-146.0,235.3,-10.9,202,1769,0.00,2.25,0.00,0.000,4,0.000,0.070,2692,1080,3629,0,0,0,0,0,0
$GC,1842,-0.54,-146.0,244.1,-10.6,208,1849,0.00,2.30,0.00,0.000,6,0.000,0.068,2692,2493,3628,0,0,0,0,0,0
$STATE,1900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1900,begin apogee
$GC,1906,-0.12,0.0,250.3,10.7,214,2032,0.43,0.00,120.60,1.120,6,0.204,0.000,2810,2261,3030,0,0,0,0,0,0
$STATE,2033,end apogee,CONTROL_FINISHED_OK
$STATE,2033,begin climb
$GC,2035,0.62,146.0,255.9,0.0,225,2169,0.85,2.65,125.07,1.066,4,0.164,0.076,3064,867,2434,0,0,0,0,0,0
$GC,2220,0.61,157.1,246.3,9.5,241,2238,0.00,2.47,10.75,0.929,6,0.000,0.061,3064,2273,2389,0,0,0,0,0,0
$GC,2556,0.59,169.7,214.0,9.4,273,2573,0.00,2.45,11.98,0.946,4,0.000,0.075,3064,3694,2338,0,0,0,0,0,0
$GC,2586,0.54,169.7,211.2,10.1,275,2591,0.12,2.40,0.00,0.000,6,0.197,0.061,3045,2277,2336,0,0,0,0,0,0
$GC,2911,0.61,207.0,183.4,8.3,305,2953,0.00,2.45,33.50,1.017,4,0.000,0.076,3054,868,2184,0,0,0,0,0,0
$GC,2959,0.69,234.4,179.2,8.7,309,2991,0.00,2.38,26.27,0.988,6,0.000,0.060,3054,2286,2073,0,0,0,0,0,0
$GC,3318,0.79,258.5,146.7,8.9,343,3345,0.17,2.38,21.67,0.982,4,0.093,0.073,3125,3688,1975,0,0,0,0,0,0
$GC,3381,0.69,258.5,138.5,14.6,348,3386,0.17,2.38,0.00,0.000,6,0.207,0.061,3094,2272,1972,0,0,0,0,0,0
$GC,3706,0.70,264.3,104.6,9.7,378,3718,0.00,2.33,5.88,0.799,4,0.000,0.074,3103,864,1951,0,0,0,0,0,0
$GC,3747,0.75,269.0,100.5,9.8,381,3760,0.00,2.33,6.05,0.809,6,0.000,0.061,3103,2275,1933,0,0,0,0,0,0
$GC,4100,0.81,301.0,66.1,8.5,443,4137,0.00,2.45,30.42,0.978,4,0.000,0.075,3111,865,1801,0,0,0,0,0,0
$GC,4144,0.90,340.9,62.3,8.2,450,4187,0.12,2.33,37.08,0.953,6,0.119,0.060,3157,2275,1640,0,0,0,0,0,0
$GC,4525,0.85,340.9,10.0,15.5,517,4532,0.00,2.35,0.00,0.000,4,0.000,0.076,3157,3688,1628,0,0,0,0,0,0
$FREEZE,7.93,-1.731,-1.786,2,65,1
$FREEZE,7.11,-1.731,-1.785,2,65,1
$FREEZE,6.28,-1.731,-1.784,2,65,1
$FREEZE,5.54,-1.731,-1.784,2,65,1
$FREEZE,4.77,-1.731,-1.783,2,65,1
$FREEZE,3.85,-1.731,-1.783,2,65,1
$FREEZE,3.11,-1.732,-1.782,2,65,1
$GC,4571,0.80,340.9,3.1,15.4,525,4578,0.15,2.35,0.00,0.000,6,0.173,0.063,3125,2262,1626,0,0,0,0,0,0
$FREEZE,1.94,-1.730,-1.658,2,65,1
$STATE,4584,end climb,SURFACE_DEPTH_REACHED
$STATE,4584,begin surface coast
$FREEZE,2.05,-1.731,-1.659,2,65,1
$FREEZE,1.98,-1.732,-1.660,2,65,1
$FREEZE,2.04,-1.731,-1.660,2,65,1
$FREEZE,1.99,-1.732,-1.660,2,65,1
$FREEZE,2.01,-1.731,-1.661,2,65,1
$FINISH,2.0,1.024422
$STATE,4610,end surface coast,CONTROL_FINISHED_OK
$STATE,4610,begin surface
$RAFOS_CLK,279
$RAFOS_FIX,6655.218262,-6015.372070,090411,202032,5,104,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.54
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,22.3,46.391
$10V_AH,10.0,24.996
$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,3.050,58.925,429.275,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1284.256,2134.764,400.064,889.269,83.761,0.000,935.701,0.000,890.774,0.000,2.613,0.000
$DEVICE_MAMPS,228.735,85.680,1119.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.672,393.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150532
$DATA_FILE_SIZE,20128,532
$CAP_FILE_SIZE,65795,0
$CFSIZE,260165632,229986304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.7
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5