version: 66.08
glider: 141
mission: 15
dive: 354
start: 4 10 111 21 35 14
data:
$ID,141
$MISSION,15
$DIVE,354
$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,-36627.012
$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,21
$R_STBD_OVSHOOT,18
$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,11.82
$_SM_ANGLEo,-3.4
$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,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,-6.78,0.000,2,0.000,0.000,2902,855,3012,0,0,0,0,0,0
$GC,27,-0.62,-146.0,13.1,-0.0,1,47,0.68,0.40,-14.52,0.000,4,0.109,0.145,2667,1101,3628,0,0,0,0,0,0
$GC,239,-0.54,-146.0,47.3,-17.0,38,246,0.00,2.28,0.00,0.000,6,0.000,0.073,2668,2498,3631,0,0,0,0,0,0
$GC,581,-0.40,-146.0,112.1,-18.2,93,586,0.25,2.33,0.00,0.000,4,0.226,0.084,2733,3899,3631,0,0,0,0,0,0
$GC,648,-0.49,-146.0,120.5,-9.4,98,655,0.00,2.28,0.00,0.000,6,0.000,0.056,2733,2477,3631,0,0,0,0,0,0
$GC,974,-0.57,-146.0,149.4,-8.1,129,979,0.17,2.40,0.00,0.000,4,0.119,0.083,2674,3910,3630,0,0,0,0,0,0
$GC,1047,-0.53,-146.0,158.5,-12.8,135,1051,0.00,2.28,0.00,0.000,6,0.000,0.056,2673,2488,3630,0,0,0,0,0,0
$GC,1373,-0.46,-146.0,202.4,-14.0,165,1378,0.15,2.30,0.00,0.000,4,0.224,0.075,2708,1076,3630,0,0,0,0,0,0
$GC,1418,-0.52,-146.0,207.8,-10.7,169,1423,0.00,2.30,0.00,0.000,6,0.000,0.072,2708,2490,3630,0,0,0,0,0,0
$GC,1744,-0.57,-146.0,238.8,-9.2,199,1748,0.00,2.35,0.00,0.000,4,0.000,0.087,2708,3899,3630,0,0,0,0,0,0
$GC,1833,-0.64,-146.0,247.0,-9.1,206,1840,0.15,2.22,0.00,0.000,6,0.125,0.057,2658,2484,3630,0,0,0,0,0,0
$STATE,1869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1869,begin apogee
$GC,1875,-0.12,0.0,251.0,10.6,210,2006,0.57,0.00,120.80,1.119,6,0.220,0.000,2813,2261,3029,0,0,0,0,0,0
$STATE,2007,end apogee,CONTROL_FINISHED_OK
$STATE,2007,begin climb
$GC,2009,0.62,146.0,256.7,0.0,222,2145,0.82,2.58,124.75,1.065,4,0.161,0.079,3061,877,2434,0,0,0,0,0,0
$GC,2150,0.66,199.5,251.0,7.5,235,2205,0.00,2.55,49.12,1.022,6,0.000,0.063,3061,2274,2216,0,0,0,0,0,0
$GC,2524,0.68,217.6,212.8,9.2,270,2547,0.00,2.50,16.05,0.968,4,0.000,0.077,3061,3697,2142,0,0,0,0,0,0
$GC,2594,0.66,217.6,205.6,11.5,276,2598,0.00,2.42,0.00,0.000,6,0.000,0.063,3071,2276,2140,0,0,0,0,0,0
$GC,2924,0.66,217.6,171.2,10.3,307,2928,0.00,2.38,0.00,0.000,4,0.000,0.079,3082,863,2137,0,0,0,0,0,0
$GC,2941,0.66,217.6,169.5,10.2,308,2945,0.00,2.35,0.00,0.000,6,0.000,0.063,3082,2290,2136,0,0,0,0,0,0
$GC,3265,0.66,217.6,135.6,10.3,338,3269,0.00,2.33,0.00,0.000,4,0.000,0.077,3081,3690,2136,0,0,0,0,0,0
$GC,3294,0.63,217.6,132.5,11.3,340,3298,0.00,2.33,0.00,0.000,6,0.000,0.063,3092,2261,2135,0,0,0,0,0,0
$GC,3619,0.67,243.0,101.5,8.8,370,3648,0.00,2.47,23.20,0.983,4,0.000,0.074,3092,3692,2038,0,0,0,0,0,0
$GC,3677,0.67,243.0,95.8,10.3,378,3684,0.00,2.35,0.00,0.000,6,0.000,0.062,3102,2270,2036,0,0,0,0,0,0
$GC,4022,0.70,270.3,65.5,8.7,439,4052,0.00,2.42,25.40,0.972,4,0.000,0.077,3111,864,1928,0,0,0,0,0,0
$GC,4071,0.75,292.6,61.1,9.0,447,4101,0.00,2.33,21.92,0.946,6,0.000,0.064,3111,2274,1837,0,0,0,0,0,0
$GC,4441,0.79,292.6,24.9,10.3,512,4447,0.00,2.35,0.00,0.000,4,0.000,0.079,3111,3686,1829,0,0,0,0,0,0
$GC,4465,0.81,292.6,22.0,10.5,516,4472,0.00,2.33,0.00,0.000,6,0.000,0.064,3121,2275,1827,0,0,0,0,0,0
$FREEZE,8.67,-1.745,-1.775,2,80,2
$FREEZE,8.09,-1.745,-1.775,2,80,2
$FREEZE,7.61,-1.745,-1.775,2,80,2
$FREEZE,7.13,-1.745,-1.774,2,80,2
$FREEZE,6.58,-1.745,-1.774,2,80,2
$FREEZE,5.95,-1.745,-1.773,2,80,2
$FREEZE,5.46,-1.745,-1.773,2,80,2
$FREEZE,4.97,-1.744,-1.773,2,80,2
$FREEZE,4.47,-1.745,-1.772,2,80,2
$FREEZE,3.81,-1.745,-1.772,2,80,2
$FREEZE,3.28,-1.745,-1.771,2,80,2
$FREEZE,2.85,-1.745,-1.771,2,80,2
$STATE,4651,end climb,SURFACE_DEPTH_REACHED
$STATE,4651,begin surface coast
$FREEZE,2.33,-1.745,-1.771,2,80,2
$FREEZE,2.24,-1.746,-1.761,2,80,2
$FREEZE,2.31,-1.728,-1.760,2,80,2
$FREEZE,2.28,-1.715,-1.759,2,80,2
$FREEZE,2.29,-1.731,-1.760,2,80,2
$FINISH,2.3,1.025847
$STATE,4678,end surface coast,CONTROL_FINISHED_OK
$STATE,4678,begin surface
$SM_CCo,4816,118.40,0.076,0,0,751,559.04
$SM_GC,3.69,0.00,0.00,118.40,0.000,0.000,0.076,109,2498,751,-8.61,0.23,559.04
$RAFOS_CLK,290
$RAFOS_FIX,42629.566406,66000.671875,100411,161656,4,122,0.01
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.32
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,22.3,48.136
$10V_AH,10.1,25.525
$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,11.500,55.525,381.250,118.400,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1321.684,2195.134,491.217,903.852,84.468,0.000,1021.471,0.000,902.910,0.000,2.611,0.000
$DEVICE_MAMPS,226.440,145.350,1119.195,76.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.348,410.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20116,555
$CAP_FILE_SIZE,66101,0
$CFSIZE,260165632,229437440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.3
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5