version: 66.08
glider: 141
mission: 15
dive: 319
start: 4 8 111 22 2 42
data:
$ID,141
$MISSION,15
$DIVE,319
$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,-35520.223
$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,22
$R_STBD_OVSHOOT,22
$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,-200.000,0,4125.5,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.28
$_SM_ANGLEo,-0.3
$GPS2,240813,073118,-200.000,-200.000,0,4125.5,0,-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,-6.53,0.000,2,0.000,0.000,2898,3684,3010,0,0,0,0,0,0
$GC,26,-0.62,-146.0,12.7,-0.0,1,51,0.68,4.30,-15.00,0.000,4,0.110,0.067,2667,1070,3630,0,0,0,0,0,0
$GC,232,-0.52,-146.0,46.0,-18.1,37,239,0.00,2.33,0.00,0.000,6,0.000,0.067,2666,2486,3631,0,0,0,0,0,0
$GC,574,-0.40,-146.0,110.0,-17.9,93,579,0.25,2.35,0.00,0.000,4,0.225,0.080,2732,3903,3631,0,0,0,0,0,0
$GC,695,-0.48,-146.0,123.0,-9.3,103,699,0.00,2.22,0.00,0.000,6,0.000,0.051,2731,2485,3632,0,0,0,0,0,0
$GC,1020,-0.54,-146.0,153.7,-9.3,133,1025,0.12,2.28,0.00,0.000,4,0.129,0.070,2690,1083,3631,0,0,0,0,0,0
$GC,1058,-0.54,-146.0,158.3,-12.0,136,1065,0.00,2.28,0.00,0.000,6,0.000,0.067,2690,2490,3630,0,0,0,0,0,0
$GC,1385,-0.51,-146.0,199.1,-12.3,167,1389,0.00,2.35,0.00,0.000,4,0.000,0.083,2690,3899,3630,0,0,0,0,0,0
$GC,1462,-0.51,-146.0,208.0,-10.4,173,1469,0.00,2.25,0.00,0.000,6,0.000,0.051,2689,2491,3630,0,0,0,0,0,0
$GC,1789,-0.48,-146.0,245.1,-11.7,204,1794,0.00,2.25,0.00,0.000,4,0.000,0.068,2690,1082,3630,0,0,0,0,0,0
$STATE,1827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1828,begin apogee
$GC,1834,-0.12,0.0,250.2,11.3,207,1966,0.45,0.00,120.78,1.121,6,0.203,0.000,2814,2276,3029,0,0,0,0,0,0
$STATE,1967,end apogee,CONTROL_FINISHED_OK
$STATE,1967,begin climb
$GC,1969,0.62,146.0,255.9,0.0,219,2101,0.82,2.67,123.88,1.069,4,0.161,0.070,3062,865,2433,0,0,0,0,0,0
$GC,2118,0.66,205.5,250.6,7.3,232,2180,0.00,2.53,53.65,1.026,6,0.000,0.060,3062,2270,2191,0,0,0,0,0,0
$GC,2498,0.67,208.8,214.4,9.8,268,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2271,2181,0,0,0,0,0,0
$GC,2818,0.68,219.4,184.0,9.5,298,2835,0.00,2.38,11.85,0.957,4,0.000,0.073,3062,3692,2134,0,0,0,0,0,0
$GC,2862,0.68,219.4,179.3,10.4,301,2870,0.00,2.35,0.00,0.000,6,0.000,0.057,3073,2284,2132,0,0,0,0,0,0
$GC,3189,0.68,219.4,147.3,10.2,332,3193,0.00,2.33,0.00,0.000,4,0.000,0.071,3083,860,2131,0,0,0,0,0,0
$GC,3207,0.69,227.9,145.4,9.6,333,3222,0.00,2.33,8.62,0.912,6,0.000,0.059,3083,2280,2100,0,0,0,0,0,0
$GC,3548,0.69,231.9,110.9,9.8,365,3560,0.00,2.33,5.22,0.780,4,0.000,0.072,3083,3697,2083,0,0,0,0,0,0
$GC,3576,0.69,231.9,107.7,11.2,367,3583,0.00,2.35,0.00,0.000,6,0.000,0.058,3093,2270,2083,0,0,0,0,0,0
$GC,3916,0.73,259.1,75.5,8.7,421,3951,0.00,2.38,26.00,0.988,4,0.000,0.072,3104,867,1971,0,0,0,0,0,0
$GC,3958,0.75,281.6,71.7,9.0,428,3988,0.00,2.33,22.17,0.952,6,0.000,0.059,3104,2279,1880,0,0,0,0,0,0
$GC,4328,0.82,302.3,36.7,9.0,493,4353,0.00,2.35,17.70,0.949,4,0.000,0.074,3104,3691,1797,0,0,0,0,0,0
$GC,4371,0.84,302.3,32.3,10.3,500,4378,0.00,2.33,0.00,0.000,6,0.000,0.060,3111,2270,1795,0,0,0,0,0,0
$FREEZE,8.77,-1.753,-1.783,2,45,1
$FREEZE,8.11,-1.753,-1.783,2,45,1
$FREEZE,7.65,-1.752,-1.782,2,45,1
$FREEZE,7.16,-1.752,-1.782,2,45,1
$FREEZE,6.60,-1.752,-1.781,2,45,1
$FREEZE,6.18,-1.752,-1.781,2,45,1
$FREEZE,5.60,-1.751,-1.780,2,45,1
$FREEZE,5.06,-1.751,-1.780,2,45,1
$FREEZE,4.57,-1.751,-1.779,2,45,1
$FREEZE,4.10,-1.751,-1.779,2,45,1
$FREEZE,3.62,-1.753,-1.778,2,45,1
$FREEZE,3.05,-1.753,-1.778,2,45,1
$FREEZE,2.45,-1.752,-1.777,2,45,1
$STATE,4659,end climb,SURFACE_DEPTH_REACHED
$STATE,4659,begin surface coast
$FREEZE,2.39,-1.757,-1.735,2,45,1
$FREEZE,2.33,-1.757,-1.736,2,45,1
$FREEZE,2.42,-1.756,-1.736,2,45,1
$FREEZE,2.40,-1.756,-1.737,2,45,1
$FREEZE,2.38,-1.755,-1.737,2,45,1
$FREEZE,2.37,-1.755,-1.737,2,45,1
$FINISH,2.4,1.025516
$STATE,4693,end surface coast,CONTROL_FINISHED_OK
$STATE,4693,begin surface
$RAFOS_CLK,284
$RAFOS_FIX,6650.645508,-78017.921875,080411,202022,6,110,0.01
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.54
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.4,44.067
$10V_AH,10.1,24.286
$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,2.325,53.200,389.875,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1311.620,2198.199,373.283,907.039,83.540,0.000,905.237,0.000,906.851,0.000,2.809,0.000
$DEVICE_MAMPS,224.910,83.385,1120.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.740,412.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150532
$DATA_FILE_SIZE,20125,558
$CAP_FILE_SIZE,61833,0
$CFSIZE,260165632,230723584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.1
$GPS,240813,073118,-200.000,-200.000,0,4125.5,0,-37.5