version: 66.08
glider: 141
mission: 15
dive: 374
start: 4 12 111 0 30 17
data:
$ID,141
$MISSION,15
$DIVE,374
$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,-37366.27
$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,9.70
$_SM_ANGLEo,-3.8
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-6.47,0.000,2,0.000,0.000,2901,861,2984,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.8,-0.0,1,57,0.68,5.15,-17.10,0.000,4,0.109,0.086,2667,3903,3627,0,0,0,0,0,0
$GC,64,-0.46,-146.0,14.9,-12.9,7,71,0.17,2.28,0.00,0.000,6,0.233,0.058,2706,2489,3629,0,0,0,0,0,0
$GC,409,-0.41,-146.0,68.2,-14.4,68,416,0.00,2.38,0.00,0.000,4,0.000,0.085,2705,3899,3629,0,0,0,0,0,0
$GC,590,-0.41,-146.0,91.5,-12.9,100,597,0.00,2.25,0.00,0.000,6,0.000,0.057,2706,2481,3629,0,0,0,0,0,0
$GC,925,-0.41,-146.0,133.5,-12.2,137,929,0.00,2.25,0.00,0.000,4,0.000,0.075,2706,1083,3629,0,0,0,0,0,0
$GC,1010,-0.46,-146.0,142.8,-10.4,144,1014,0.00,2.33,0.00,0.000,6,0.000,0.071,2706,2498,3628,0,0,0,0,0,0
$GC,1335,-0.49,-146.0,176.1,-9.8,174,1339,0.00,2.35,0.00,0.000,4,0.000,0.088,2706,3903,3628,0,0,0,0,0,0
$GC,1455,-0.55,-146.0,187.6,-9.3,184,1459,0.00,2.22,0.00,0.000,6,0.000,0.056,2706,2491,3627,0,0,0,0,0,0
$GC,1780,-0.59,-146.0,218.4,-9.3,214,1784,0.00,2.28,0.00,0.000,4,0.000,0.074,2706,1073,3628,0,0,0,0,0,0
$GC,1843,-0.65,-146.0,224.5,-9.8,219,1848,0.15,2.30,0.00,0.000,6,0.125,0.070,2656,2492,3628,0,0,0,0,0,0
$STATE,2039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2039,begin apogee
$GC,2045,-0.12,0.0,250.3,13.0,237,2171,0.60,0.00,120.88,1.118,6,0.218,0.000,2817,2263,3030,0,0,0,0,0,0
$STATE,2172,end apogee,CONTROL_FINISHED_OK
$STATE,2172,begin climb
$GC,2174,0.62,146.0,255.7,0.0,248,2309,0.80,2.65,125.07,1.065,4,0.159,0.078,3057,875,2433,0,0,0,0,0,0
$GC,2393,0.64,161.7,243.7,9.3,267,2414,0.00,2.45,14.88,0.974,6,0.000,0.063,3058,2273,2368,0,0,0,0,0,0
$GC,2740,0.66,182.8,212.2,9.0,300,2764,0.00,2.53,18.92,1.000,4,0.000,0.078,3058,3694,2284,0,0,0,0,0,0
$GC,2857,0.62,182.8,200.8,10.8,310,2861,0.00,2.38,0.00,0.000,6,0.000,0.063,3068,2282,2282,0,0,0,0,0,0
$GC,3187,0.64,200.4,170.0,9.2,341,3211,0.00,2.38,16.45,0.986,4,0.000,0.077,3079,865,2213,0,0,0,0,0,0
$GC,3216,0.66,213.0,167.0,9.4,343,3235,0.00,2.38,13.25,0.952,6,0.000,0.063,3079,2288,2160,0,0,0,0,0,0
$GC,3553,0.68,227.7,134.9,9.3,375,3576,0.00,2.40,13.90,0.969,4,0.000,0.079,3079,3690,2100,0,0,0,0,0,0
$GC,3588,0.68,227.7,131.2,10.2,378,3592,0.00,2.35,0.00,0.000,6,0.000,0.063,3089,2271,2099,0,0,0,0,0,0
$GC,3913,0.70,248.3,100.3,9.0,408,3938,0.00,2.42,19.62,0.978,4,0.000,0.077,3098,859,2016,0,0,0,0,0,0
$GC,3968,0.74,252.5,95.1,9.8,416,3981,0.00,2.35,5.18,0.753,6,0.000,0.064,3098,2276,2000,0,0,0,0,0,0
$GC,4321,0.79,269.6,61.0,9.2,478,4346,0.00,2.35,16.90,0.955,4,0.000,0.079,3098,3686,1929,0,0,0,0,0,0
$GC,4364,0.81,292.4,57.1,8.9,485,4394,0.00,2.35,22.38,0.950,6,0.000,0.063,3108,2265,1837,0,0,0,0,0,0
$GC,4733,0.86,292.4,21.1,10.1,550,4740,0.00,2.30,0.00,0.000,4,0.000,0.080,3112,865,1830,0,0,0,0,0,0
$GC,4760,0.93,305.4,18.6,9.4,554,4773,0.15,2.30,6.45,0.842,6,0.111,0.063,3169,2282,1783,0,0,0,0,0,0
$FREEZE,8.56,-1.748,-1.783,2,100,2
$FREEZE,7.79,-1.749,-1.782,2,100,2
$FREEZE,7.08,-1.749,-1.782,2,100,2
$FREEZE,6.47,-1.749,-1.781,2,100,2
$FREEZE,5.68,-1.749,-1.781,2,100,2
$FREEZE,4.80,-1.749,-1.780,2,100,2
$FREEZE,4.18,-1.749,-1.780,2,100,2
$FREEZE,3.44,-1.749,-1.779,2,100,2
$FREEZE,2.70,-1.749,-1.778,2,100,2
$STATE,4878,end climb,SURFACE_DEPTH_REACHED
$STATE,4879,begin surface coast
$FREEZE,2.32,-1.746,-1.748,2,100,2
$FREEZE,2.35,-1.742,-1.748,2,100,2
$FREEZE,2.30,-1.749,-1.749,2,100,2
$FREEZE,2.37,-1.751,-1.749,2,100,2
$FINISH,2.4,1.025686
$STATE,4901,end surface coast,CONTROL_FINISHED_OK
$STATE,4901,begin surface
$SM_CCo,5039,113.18,0.077,0,0,750,559.04
$SM_GC,3.66,0.00,0.00,113.18,0.000,0.000,0.077,104,2501,750,-8.63,0.31,559.04
$RAFOS_CLK,302
$RAFOS,6,1302569348,0.833333,0.818889,124,59,56,56,54,53,722,230,127,181,210,197
$RAFOS,5,1302568864,0.700000,0.684444,128,62,60,56,56,52,963,197,212,174,138,150
$RAFOS,4,1302568383,0.566667,0.550833,104,65,62,58,52,51,762,219,147,189,134,198
$RAFOS,3,1302567903,0.433333,0.417500,61,61,57,57,53,52,145,186,200,213,175,227
$RAFOS_FIX,6709.945801,-6013.312500,120411,000040,4,112,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.24
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.6
$24V_AH,22.2,50.430
$10V_AH,10.1,26.231
$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,11.475,60.075,393.875,113.175,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1434.519,2269.761,501.833,957.685,87.667,0.000,1060.241,0.000,951.866,1080.000,2.613,0.000
$DEVICE_MAMPS,233.325,87.975,1118.430,77.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.469,426.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20137,579
$CAP_FILE_SIZE,69174,0
$CFSIZE,260165632,228700160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.0
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5