version: 66.08
glider: 141
mission: 15
dive: 344
start: 4 10 111 7 55 34
data:
$ID,141
$MISSION,15
$DIVE,344
$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,20
$R_STBD_OVSHOOT,14
$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,9.87
$_SM_ANGLEo,-1.2
$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,-6.47,0.000,2,0.000,0.000,2899,3700,2988,0,0,0,0,0,0
$GC,26,-0.62,-146.0,11.0,-0.0,1,52,0.65,4.30,-17.05,0.000,4,0.107,0.073,2672,1078,3629,0,0,0,0,0,0
$GC,193,-0.55,-146.0,37.0,-17.4,30,200,0.00,2.33,0.00,0.000,6,0.000,0.072,2672,2494,3630,0,0,0,0,0,0
$GC,538,-0.44,-146.0,99.8,-18.2,91,546,0.20,2.35,0.00,0.000,4,0.232,0.085,2718,3905,3630,0,0,0,0,0,0
$GC,637,-0.47,-146.0,112.6,-10.7,100,644,0.00,2.25,0.00,0.000,6,0.000,0.054,2719,2474,3630,0,0,0,0,0,0
$GC,964,-0.51,-146.0,148.9,-10.3,131,968,0.00,2.38,0.00,0.000,4,0.000,0.082,2719,3903,3629,0,0,0,0,0,0
$GC,1007,-0.57,-146.0,153.7,-10.7,134,1015,0.12,2.22,0.00,0.000,6,0.129,0.054,2678,2489,3629,0,0,0,0,0,0
$GC,1333,-0.51,-146.0,195.9,-12.9,165,1337,0.00,2.28,0.00,0.000,4,0.000,0.073,2678,1073,3628,0,0,0,0,0,0
$GC,1431,-0.51,-146.0,208.6,-12.2,173,1439,0.00,2.35,0.00,0.000,6,0.000,0.070,2677,2488,3629,0,0,0,0,0,0
$GC,1759,-0.47,-146.0,249.5,-12.5,204,1764,0.12,2.08,0.00,0.000,3,0.230,0.086,2705,3742,3629,0,0,0,0,0,0
$STATE,1765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1765,begin apogee
$GC,1772,-0.12,0.0,250.6,12.5,204,1900,0.40,0.00,120.72,1.124,6,0.207,0.000,2816,2274,3030,0,0,0,0,0,0
$STATE,1901,end apogee,CONTROL_FINISHED_OK
$STATE,1901,begin climb
$GC,1903,0.62,146.0,257.3,0.0,216,2037,0.82,2.62,125.28,1.069,4,0.161,0.076,3064,868,2433,0,0,0,0,0,0
$GC,2084,0.62,170.6,249.9,8.9,232,2113,0.00,2.50,22.77,0.999,6,0.000,0.063,3064,2272,2333,0,0,0,0,0,0
$GC,2431,0.61,178.5,213.4,9.6,265,2444,0.00,2.53,7.18,0.854,4,0.000,0.078,3064,3693,2302,0,0,0,0,0,0
$GC,2461,0.57,179.0,210.3,10.0,267,2468,0.00,2.40,0.00,0.000,6,0.000,0.063,3074,2273,2301,0,0,0,0,0,0
$GC,2787,0.55,191.6,178.1,9.4,298,2807,0.12,0.00,12.98,0.964,6,0.188,0.000,3044,2273,2248,0,0,0,0,0,0
$GC,3127,0.68,257.1,151.5,7.0,330,3194,0.12,2.47,59.62,1.014,4,0.110,0.078,3105,865,1980,0,0,0,0,0,0
$GC,3379,0.68,257.1,123.9,11.8,353,3384,0.00,2.33,0.00,0.000,6,0.000,0.061,3105,2279,1972,0,0,0,0,0,0
$GC,3710,0.69,264.0,89.5,9.7,392,3723,0.00,2.38,5.85,0.793,4,0.000,0.076,3112,859,1953,0,0,0,0,0,0
$GC,3864,0.72,289.3,74.9,8.8,419,3894,0.00,2.30,24.75,0.966,6,0.000,0.061,3112,2277,1849,0,0,0,0,0,0
$GC,4234,0.75,289.3,37.0,10.7,484,4241,0.00,2.33,0.00,0.000,4,0.000,0.076,3112,3695,1842,0,0,0,0,0,0
$GC,4249,0.77,289.3,35.3,10.6,486,4256,0.00,2.30,0.00,0.000,6,0.000,0.062,3122,2273,1842,0,0,0,0,0,0
$FREEZE,8.89,-1.750,-1.783,2,70,2
$FREEZE,8.20,-1.750,-1.783,2,70,2
$FREEZE,7.70,-1.751,-1.783,2,70,2
$FREEZE,7.15,-1.752,-1.782,2,70,2
$FREEZE,6.63,-1.752,-1.782,2,70,2
$FREEZE,6.01,-1.751,-1.781,2,70,2
$FREEZE,5.93,-1.743,-1.749,2,70,2
$FREEZE,5.78,-1.747,-1.752,2,70,2
$FREEZE,5.79,-1.751,-1.752,2,70,2
$FREEZE,5.80,-1.749,-1.752,2,70,2
$FREEZE,5.83,-1.752,-1.752,2,70,2
$FREEZE,5.76,-1.752,-1.752,2,70,2
$FREEZE,5.81,-1.751,-1.752,2,70,2
$FREEZE,5.89,-1.752,-1.752,2,70,2
$FREEZE,5.79,-1.752,-1.752,2,70,2
$FREEZE,5.81,-1.752,-1.752,2,70,2
$FREEZE,5.85,-1.752,-1.752,2,70,2
$FREEZE,5.81,-1.752,-1.752,2,70,2
$FREEZE,5.83,-1.752,-1.752,2,70,2
$FREEZE,5.86,-1.752,-1.752,2,70,2
$FREEZE,5.80,-1.753,-1.753,2,70,2
$FREEZE,5.78,-1.753,-1.753,2,70,2
$FREEZE,5.84,-1.752,-1.753,2,70,2
$FREEZE,5.73,-1.752,-1.753,2,70,2
$FREEZE,5.88,-1.752,-1.753,2,70,2
$FREEZE,5.87,-1.752,-1.753,2,70,2
$FREEZE,5.80,-1.750,-1.752,2,70,2
$FREEZE,5.79,-1.751,-1.752,2,70,2
$FREEZE,5.86,-1.752,-1.753,2,70,2
$GC,4590,0.92,510.0,5.8,-0.2,547,4689,0.10,0.00,94.30,0.909,2,0.132,0.000,3158,2273,1070,0,0,0,0,0,0
$FREEZE,5.86,-1.752,-1.753,2,70,2
$STATE,4691,end climb,NO_VERTICAL_VELOCITY
$STATE,4691,begin surface
$SM_CCo,4693,37.83,0.853,0,0,750,559.04
$SM_GC,7.06,9.40,0.00,0.00,0.117,0.000,0.000,115,2496,732,-8.56,0.17,563.70
$RAFOS_CLK,300
$RAFOS,6,1302425344,8.833333,8.817778,114,58,53,53,53,52,777,214,175,127,165,1864
$RAFOS,5,1302424866,8.700000,8.685000,61,60,59,58,57,54,166,215,186,198,952,124
$RAFOS,4,1302424382,8.566667,8.550555,120,61,58,57,55,54,764,122,142,211,185,231
$RAFOS,3,1302423911,8.433333,8.419723,62,60,60,55,54,51,194,179,214,117,151,137
$RAFOS,2,1302423422,8.300000,8.283889,59,59,58,51,51,49,152,184,230,201,110,163
$RAFOS,1,1302422945,8.166667,8.151389,97,59,55,55,55,51,631,165,131,220,140,196
$RAFOS,0,1302422462,8.033334,8.017222,98,57,53,50,50,50,698,205,186,122,153,175
$RAFOS_FIX,-65324.015625,936571.250000,100411,080832,4,107,0.10
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.34
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.3,46.990
$10V_AH,10.0,25.169
$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,12.075,49.425,473.450,37.825,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1394.793,2316.284,492.120,919.034,90.725,0.000,1037.619,0.000,919.608,2520.000,3.863,0.000
$DEVICE_MAMPS,231.795,85.680,1123.785,852.975,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.132,415.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20102,560
$CAP_FILE_SIZE,65922,0
$CFSIZE,260165632,229806080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.4
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5