version: 66.08
glider: 141
mission: 15
dive: 324
start: 4 9 111 4 36 39
data:
$ID,141
$MISSION,15
$DIVE,324
$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,21
$R_STBD_OVSHOOT,20
$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,9.70
$_SM_ANGLEo,-3.0
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.32,0.000,2,0.000,0.000,2895,2274,2982,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.7,-0.0,1,51,0.65,2.72,-17.40,0.000,4,0.099,0.088,2665,3898,3628,0,0,0,0,0,0
$GC,80,-0.48,-146.0,17.7,-16.9,10,88,0.17,2.25,0.00,0.000,6,0.230,0.054,2704,2481,3631,0,0,0,0,0,0
$GC,425,-0.41,-146.0,73.2,-15.9,71,432,0.00,2.25,0.00,0.000,4,0.000,0.070,2704,1082,3630,0,0,0,0,0,0
$GC,473,-0.41,-146.0,80.7,-14.0,79,480,0.00,2.33,0.00,0.000,6,0.000,0.069,2705,2497,3630,0,0,0,0,0,0
$GC,807,-0.38,-146.0,127.5,-12.6,121,812,0.12,2.35,0.00,0.000,4,0.234,0.085,2733,3899,3630,0,0,0,0,0,0
$GC,903,-0.47,-146.0,137.3,-9.4,129,907,0.00,2.22,0.00,0.000,6,0.000,0.053,2733,2490,3630,0,0,0,0,0,0
$GC,1234,-0.53,-146.0,167.5,-8.5,160,1239,0.12,2.28,0.00,0.000,4,0.136,0.070,2692,1081,3629,0,0,0,0,0,0
$GC,1308,-0.53,-146.0,175.4,-10.4,166,1312,0.00,2.30,0.00,0.000,6,0.000,0.067,2692,2490,3629,0,0,0,0,0,0
$GC,1633,-0.51,-146.0,214.0,-11.4,196,1637,0.00,2.30,0.00,0.000,4,0.000,0.070,2692,1080,3629,0,0,0,0,0,0
$GC,1661,-0.51,-146.0,217.4,-12.0,198,1665,0.00,2.30,0.00,0.000,6,0.000,0.068,2692,2497,3629,0,0,0,0,0,0
$STATE,1964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1965,begin apogee
$GC,1970,-0.12,0.0,251.1,11.3,226,2095,0.45,0.00,120.47,1.119,6,0.204,0.000,2815,2265,3030,0,0,0,0,0,0
$STATE,2096,end apogee,CONTROL_FINISHED_OK
$STATE,2096,begin climb
$GC,2098,0.62,146.0,256.6,0.0,237,2233,0.82,2.62,124.43,1.064,4,0.158,0.075,3065,878,2432,0,0,0,0,0,0
$GC,2279,0.62,177.1,248.6,8.6,253,2314,0.00,2.47,28.05,1.007,6,0.000,0.060,3065,2278,2307,0,0,0,0,0,0
$GC,2631,0.61,187.6,214.9,9.5,286,2646,0.00,2.47,9.70,0.920,4,0.000,0.076,3065,3681,2265,0,0,0,0,0,0
$GC,2654,0.58,187.6,212.6,10.0,288,2659,0.00,2.40,0.00,0.000,6,0.000,0.060,3075,2277,2264,0,0,0,0,0,0
$GC,2980,0.56,197.8,181.0,9.5,318,2995,0.00,2.38,10.48,0.939,4,0.000,0.075,3085,864,2222,0,0,0,0,0,0
$GC,3028,0.57,206.6,176.0,9.6,322,3048,0.15,2.33,9.50,0.922,6,0.192,0.060,3049,2276,2185,0,0,0,0,0,0
$GC,3365,0.65,236.1,147.2,8.6,354,3399,0.00,2.38,27.52,1.004,4,0.000,0.074,3049,3691,2066,0,0,0,0,0,0
$GC,3424,0.70,236.1,141.5,10.2,359,3428,0.00,2.38,0.00,0.000,6,0.000,0.060,3056,2265,2065,0,0,0,0,0,0
$GC,3749,0.79,261.7,112.0,8.8,389,3784,0.17,2.47,23.50,0.986,4,0.096,0.073,3125,3693,1962,0,0,0,0,0,0
$GC,3836,0.70,261.7,101.4,13.6,396,3843,0.17,2.35,0.00,0.000,6,0.210,0.060,3095,2274,1959,0,0,0,0,0,0
$GC,4179,0.75,284.1,69.1,9.0,456,4210,0.00,2.40,21.50,0.961,4,0.000,0.075,3103,865,1870,0,0,0,0,0,0
$GC,4217,0.84,322.1,65.9,8.3,462,4258,0.00,2.33,35.35,0.956,6,0.000,0.060,3103,2283,1717,0,0,0,0,0,0
$GC,4598,0.90,329.8,30.2,9.6,529,4612,0.15,2.40,3.38,0.666,4,0.103,0.076,3161,3691,1684,0,0,0,0,0,0
$FREEZE,8.60,-1.747,-1.782,2,50,2
$FREEZE,7.77,-1.747,-1.782,2,50,2
$FREEZE,7.07,-1.750,-1.782,2,50,2
$FREEZE,6.36,-1.751,-1.781,2,50,2
$FREEZE,5.44,-1.752,-1.780,2,50,2
$FREEZE,4.62,-1.753,-1.780,2,50,2
$FREEZE,3.76,-1.752,-1.779,2,50,2
$FREEZE,2.96,-1.752,-1.778,2,50,2
$STATE,4770,end climb,SURFACE_DEPTH_REACHED
$STATE,4770,begin surface coast
$FREEZE,2.29,-1.748,-1.778,2,50,2
$FREEZE,2.20,-1.752,-1.778,2,50,2
$FREEZE,2.14,-1.746,-1.777,2,50,2
$FINISH,2.1,1.026094
$STATE,4787,end surface coast,CONTROL_FINISHED_OK
$STATE,4787,begin surface
$SM_CCo,4927,102.95,0.076,0,0,752,559.04
$SM_GC,3.34,0.00,0.00,102.95,0.000,0.000,0.076,110,2482,752,-8.61,-0.23,559.04
$RAFOS_CLK,299
$RAFOS,6,1302324550,4.833333,4.819445,89,74,64,61,56,55,759,196,154,213,118,222
$RAFOS,5,1302324065,4.700000,4.684722,66,61,60,59,53,51,203,161,191,221,175,151
$RAFOS,4,1302323585,4.566667,4.551389,101,63,62,53,52,52,738,196,214,121,163,149
$RAFOS_FIX,6653.587891,-6017.632324,090411,040432,5,109,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,46.69
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,16.2
$24V_AH,22.5,44.639
$10V_AH,10.1,24.455
$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,11.825,57.050,413.875,102.950,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1384.915,2233.916,501.447,923.047,85.190,0.000,1050.517,0.000,921.930,720.000,2.611,0.000
$DEVICE_MAMPS,234.090,87.975,1119.195,75.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.683,415.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20109,563
$CAP_FILE_SIZE,67845,0
$CFSIZE,260165632,230539264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.2
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5