version: 66.08
glider: 141
mission: 15
dive: 384
start: 4 12 111 14 4 49
data:
$ID,141
$MISSION,15
$DIVE,384
$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,-37735.848
$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,19
$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,10.12
$_SM_ANGLEo,-1.5
$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,-6.62,0.000,2,0.000,0.000,2900,3687,2975,0,0,0,0,0,0
$GC,26,-0.62,-146.0,11.4,-0.0,1,52,0.68,4.32,-16.77,0.000,4,0.110,0.074,2666,1068,3629,0,0,0,0,0,0
$GC,204,-0.53,-146.0,40.6,-17.5,32,211,0.00,2.33,0.00,0.000,6,0.000,0.072,2665,2491,3631,0,0,0,0,0,0
$GC,548,-0.39,-146.0,105.0,-19.0,91,553,0.25,2.35,0.00,0.000,4,0.233,0.086,2730,3903,3630,0,0,0,0,0,0
$GC,638,-0.46,-146.0,115.9,-9.9,98,645,0.00,2.25,0.00,0.000,6,0.000,0.055,2730,2476,3631,0,0,0,0,0,0
$GC,965,-0.53,-146.0,147.0,-9.5,129,970,0.12,2.28,0.00,0.000,4,0.129,0.073,2688,1074,3630,0,0,0,0,0,0
$GC,1019,-0.53,-146.0,153.7,-12.2,133,1027,0.00,2.35,0.00,0.000,6,0.000,0.072,2688,2488,3630,0,0,0,0,0,0
$GC,1347,-0.50,-146.0,193.4,-12.9,164,1351,0.00,2.35,0.00,0.000,4,0.000,0.087,2688,3905,3629,0,0,0,0,0,0
$GC,1457,-0.53,-146.0,206.7,-11.2,173,1464,0.00,2.22,0.00,0.000,6,0.000,0.057,2688,2491,3630,0,0,0,0,0,0
$GC,1784,-0.53,-146.0,243.6,-11.2,204,1788,0.00,2.28,0.00,0.000,4,0.000,0.073,2688,1082,3629,0,0,0,0,0,0
$GC,1839,-0.57,-146.0,249.9,-10.7,208,1846,0.00,2.33,0.00,0.000,6,0.000,0.072,2688,2500,3628,0,0,0,0,0,0
$STATE,1854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1854,begin apogee
$GC,1860,-0.12,0.0,251.5,10.5,210,1991,0.45,0.00,121.18,1.119,6,0.205,0.000,2813,2273,3030,0,0,0,0,0,0
$STATE,1992,end apogee,CONTROL_FINISHED_OK
$STATE,1992,begin climb
$GC,1994,0.62,146.0,256.9,0.0,222,2130,0.82,2.65,125.35,1.068,4,0.161,0.078,3060,877,2433,0,0,0,0,0,0
$GC,2170,0.64,168.4,248.4,9.0,238,2197,0.00,2.50,20.98,0.998,6,0.000,0.064,3060,2273,2343,0,0,0,0,0,0
$GC,2517,0.66,180.0,214.8,9.5,270,2532,0.00,2.50,10.55,0.926,4,0.000,0.079,3060,3700,2296,0,0,0,0,0,0
$GC,2567,0.61,180.0,209.4,11.5,274,2572,0.00,2.42,0.00,0.000,6,0.000,0.064,3070,2281,2295,0,0,0,0,0,0
$GC,2894,0.61,196.7,177.0,9.2,304,2918,0.00,2.40,16.05,0.979,4,0.000,0.079,3081,860,2227,0,0,0,0,0,0
$GC,2952,0.61,196.7,171.2,10.2,309,2956,0.00,2.38,0.00,0.000,6,0.000,0.065,3081,2279,2225,0,0,0,0,0,0
$GC,3279,0.62,206.1,139.4,9.6,339,3294,0.00,2.40,9.50,0.920,4,0.000,0.080,3081,3686,2189,0,0,0,0,0,0
$GC,3306,0.61,217.3,136.6,9.5,341,3325,0.12,2.33,11.62,0.930,6,0.203,0.064,3062,2264,2144,0,0,0,0,0,0
$GC,3642,0.73,271.1,109.6,7.5,373,3698,0.12,2.45,49.67,0.995,4,0.108,0.080,3124,865,1923,0,0,0,0,0,0
$GC,3723,0.73,271.1,101.7,10.5,380,3728,0.00,2.38,0.00,0.000,6,0.000,0.065,3125,2274,1920,0,0,0,0,0,0
$GC,4066,0.73,271.1,62.9,11.3,439,4073,0.00,2.35,0.00,0.000,4,0.000,0.080,3124,3698,1914,0,0,0,0,0,0
$GC,4079,0.73,271.1,61.5,10.7,441,4087,0.12,2.33,0.00,0.000,6,0.205,0.064,3106,2274,1914,0,0,0,0,0,0
$GC,4426,0.80,298.1,28.2,8.8,502,4450,0.00,2.35,16.48,0.992,4,0.000,0.080,3111,864,1813,0,0,0,0,0,0
$GC,4458,0.89,326.5,25.3,8.7,507,4483,0.12,2.33,15.98,0.955,6,0.119,0.063,3158,2285,1697,0,0,0,0,0,0
$FREEZE,8.36,-1.739,-1.773,2,110,2
$FREEZE,7.60,-1.740,-1.772,2,110,2
$FREEZE,7.05,-1.740,-1.772,2,110,2
$FREEZE,6.51,-1.739,-1.771,2,110,2
$FREEZE,5.71,-1.740,-1.771,2,110,2
$FREEZE,5.03,-1.740,-1.770,2,110,2
$FREEZE,4.39,-1.739,-1.770,2,110,2
$FREEZE,3.72,-1.740,-1.769,2,110,2
$FREEZE,2.98,-1.739,-1.769,2,110,2
$STATE,4635,end climb,SURFACE_DEPTH_REACHED
$STATE,4635,begin surface coast
$FREEZE,2.39,-1.739,-1.768,2,110,2
$FREEZE,2.15,-1.724,-1.723,2,110,2
$FREEZE,2.13,-1.739,-1.724,2,110,2
$FREEZE,2.16,-1.739,-1.724,2,110,2
$FINISH,2.2,1.025337
$STATE,4657,end surface coast,CONTROL_FINISHED_OK
$STATE,4659,begin surface
$SM_CCo,4797,103.95,0.077,0,0,750,559.04
$SM_GC,3.50,0.00,0.00,103.95,0.000,0.000,0.077,112,2506,750,-8.60,0.45,559.04
$RAFOS_CLK,292
$RAFOS_FIX,6709.554688,-222019.468750,120411,040444,4,96,0.02
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.51
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.5
$24V_AH,22.2,51.571
$10V_AH,10.1,26.583
$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,11.600,59.525,397.350,103.950,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1311.864,2159.370,495.980,909.761,87.770,0.000,1039.030,0.000,909.980,0.000,2.613,0.000
$DEVICE_MAMPS,232.560,87.210,1119.195,77.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.049,398.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20106,543
$CAP_FILE_SIZE,67016,0
$CFSIZE,260165632,228335616
$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