version: 66.08
glider: 141
mission: 15
dive: 454
start: 4 21 111 17 34 24
data:
$ID,141
$MISSION,15
$DIVE,454
$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,-3
$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,-39582.141
$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,36
$R_STBD_OVSHOOT,30
$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
$GPS1,210411,163242,6721.145,-5723.581,0,3122.0,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.16
$_SM_ANGLEo,2.1
$GPS2,210411,163242,6721.145,-5723.581,0,3122.0,0,-38.9
$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,181.5,42302,-17.5,-10.000
$D_GRID,272
$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,-6.70,0.000,2,0.000,0.000,2885,3684,3146,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.8,-0.0,1,47,0.62,0.38,-13.07,0.000,4,0.112,0.168,2670,3906,3627,0,0,0,0,0,0
$GC,217,-0.57,-146.0,32.0,-13.9,34,224,0.00,2.20,0.00,0.000,6,0.000,0.042,2670,2484,3630,0,0,0,0,0,0
$GC,562,-0.51,-146.0,82.6,-13.7,95,570,0.12,2.20,0.00,0.000,4,0.215,0.057,2698,1083,3629,0,0,0,0,0,0
$GC,594,-0.51,-146.0,86.7,-12.0,100,601,0.00,2.22,0.00,0.000,6,0.000,0.055,2698,2496,3628,0,0,0,0,0,0
$GC,933,-0.53,-146.0,122.4,-10.1,142,937,0.00,2.25,0.00,0.000,4,0.000,0.072,2698,3897,3627,0,0,0,0,0,0
$GC,984,-0.60,-146.0,127.6,-9.7,146,988,0.00,2.17,0.00,0.000,6,0.000,0.044,2698,2482,3626,0,0,0,0,0,0
$GC,1316,-0.64,-146.0,159.5,-9.3,177,1318,0.12,0.00,0.00,0.000,6,0.131,0.000,2656,2482,3625,0,0,0,0,0,0
$GC,1634,-0.59,-146.0,199.1,-12.0,207,1638,0.00,2.20,0.00,0.000,4,0.000,0.057,2656,1077,3624,0,0,0,0,0,0
$GC,1652,-0.53,-146.0,201.2,-11.9,208,1657,0.12,2.22,0.00,0.000,6,0.203,0.057,2685,2488,3624,0,0,0,0,0,0
$GC,1978,-0.56,-146.0,232.2,-9.1,238,1982,0.00,2.30,0.00,0.000,4,0.000,0.071,2685,3905,3623,0,0,0,0,0,0
$GC,2075,-0.62,-146.0,240.6,-8.3,246,2079,0.00,2.17,0.00,0.000,6,0.000,0.042,2684,2480,3623,0,0,0,0,0,0
$GC,2406,-0.66,-146.0,267.9,-8.2,277,2408,0.10,0.00,0.00,0.000,6,0.148,0.000,2652,2480,3623,0,0,0,0,0,0
$STATE,2446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2446,begin apogee
$GC,2452,-0.12,0.0,272.5,10.7,281,2575,0.57,0.00,117.28,1.073,6,0.194,0.000,2813,2257,3029,0,0,0,0,0,0
$STATE,2576,end apogee,CONTROL_FINISHED_OK
$STATE,2576,begin climb
$GC,2578,0.62,146.0,277.7,0.0,292,2708,0.77,2.42,121.22,1.017,4,0.138,0.061,3064,888,2433,0,0,0,0,0,0
$GC,2766,0.56,146.0,263.9,10.9,309,2770,0.00,2.35,0.00,0.000,6,0.000,0.047,3063,2275,2430,0,0,0,0,0,0
$GC,3091,0.50,146.0,226.9,10.2,339,3096,0.15,2.33,0.00,0.000,4,0.181,0.062,3024,3694,2427,0,0,0,0,0,0
$GC,3189,0.48,168.5,218.1,9.0,347,3215,0.00,2.20,19.25,0.937,6,0.000,0.044,3032,2287,2342,0,0,0,0,0,0
$GC,3541,0.51,193.4,188.1,8.8,380,3568,0.00,2.30,22.23,0.936,4,0.000,0.058,3031,3700,2241,0,0,0,0,0,0
$GC,3607,0.51,193.4,181.3,11.4,385,3614,0.00,2.22,0.00,0.000,6,0.000,0.043,3042,2277,2239,0,0,0,0,0,0
$GC,3934,0.51,193.4,146.8,10.9,416,3938,0.00,2.22,0.00,0.000,4,0.000,0.058,3051,866,2238,0,0,0,0,0,0
$GC,4034,0.54,193.4,136.0,10.4,424,4041,0.00,2.20,0.00,0.000,6,0.000,0.045,3051,2288,2236,0,0,0,0,0,0
$GC,4361,0.54,198.4,103.8,9.8,455,4373,0.00,2.20,5.10,0.684,4,0.000,0.058,3051,3686,2221,0,0,0,0,0,0
$GC,4443,0.52,198.4,94.5,11.1,466,4450,0.00,2.17,0.00,0.000,6,0.000,0.044,3061,2271,2221,0,0,0,0,0,0
$GC,4789,0.57,221.4,60.5,8.9,527,4819,0.00,2.25,21.52,0.890,4,0.000,0.058,3071,878,2126,0,0,0,0,0,0
$GC,4933,0.66,247.5,47.9,8.8,552,4963,0.00,2.20,23.52,0.877,6,0.000,0.047,3070,2276,2021,0,0,0,0,0,0
$GC,5302,0.74,267.5,14.6,9.1,617,5321,0.00,2.30,9.88,0.811,4,0.000,0.063,3070,3680,1937,0,0,0,0,0,0
$FREEZE,8.99,-1.713,-1.835,3,55,1
$FREEZE,8.38,-1.714,-1.834,3,55,1
$FREEZE,7.78,-1.713,-1.834,3,55,1
$FREEZE,7.27,-1.713,-1.834,3,55,1
$FREEZE,6.63,-1.713,-1.833,3,55,1
$FREEZE,6.13,-1.714,-1.833,3,55,1
$FREEZE,5.59,-1.713,-1.832,3,55,1
$GC,5389,0.78,267.5,5.6,11.1,632,5396,0.10,2.20,0.00,0.000,6,0.116,0.046,3123,2268,1934,0,0,0,0,0,0
$FREEZE,3.61,-1.713,-1.831,3,55,1
$FREEZE,2.91,-1.714,-1.830,3,55,1
$STATE,5407,end climb,SURFACE_DEPTH_REACHED
$STATE,5407,begin surface coast
$FREEZE,2.25,-1.714,-1.830,3,55,1
$FREEZE,1.73,-1.719,-1.829,3,55,1
$FREEZE,1.70,-1.722,-1.830,3,55,1
$FREEZE,1.70,-1.723,-1.829,3,55,1
$FREEZE,1.72,-1.719,-1.829,3,55,1
$FINISH,1.7,1.026839
$STATE,5435,end surface coast,CONTROL_FINISHED_OK
$STATE,5436,begin surface
$SM_CCo,5453,127.85,0.066,0,0,750,559.04
$SM_GC,2.29,0.00,0.00,127.85,0.000,0.000,0.066,112,2500,750,-8.60,0.28,559.04
$RAFOS_CLK,295
$RAFOS_FIX,6721.145020,-5723.580566,210411,161642,3,122,0.59
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.74
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,22.7,60.447
$10V_AH,10.3,30.953
$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,11.275,52.550,340.000,127.850,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1519.306,2506.522,467.194,1040.468,107.790,0.000,1043.343,0.000,1036.013,0.000,2.620,0.000
$DEVICE_MAMPS,214.965,167.535,1072.530,65.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.251,474.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23488,640
$CAP_FILE_SIZE,72226,0
$CFSIZE,260165632,224075776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.1
$GPS,210411,163242,6721.145,-5723.581,181,99.0,181,-38.9