version: 66.08
glider: 141
mission: 15
dive: 334
start: 4 9 111 18 16 11
data:
$ID,141
$MISSION,15
$DIVE,334
$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,-35888.793
$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,20
$R_STBD_OVSHOOT,19
$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,8.62
$_SM_ANGLEo,-4.4
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.32,0.000,2,0.000,0.000,2899,858,2954,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.4,-0.0,1,57,0.65,5.12,-19.88,0.000,4,0.106,0.085,2670,3900,3629,0,0,0,0,0,0
$GC,244,-0.54,-146.0,42.9,-16.2,39,250,0.00,2.25,0.00,0.000,6,0.000,0.057,2671,2486,3631,0,0,0,0,0,0
$GC,586,-0.40,-146.0,108.4,-18.3,96,591,0.22,2.28,0.00,0.000,4,0.226,0.070,2725,1075,3631,0,0,0,0,0,0
$GC,608,-0.33,-146.0,112.4,-16.6,97,616,0.12,2.33,0.00,0.000,6,0.239,0.069,2753,2497,3631,0,0,0,0,0,0
$GC,934,-0.44,-146.0,139.7,-7.6,128,938,0.00,2.33,0.00,0.000,4,0.000,0.086,2753,3902,3630,0,0,0,0,0,0
$GC,996,-0.59,-146.0,144.1,-6.9,133,1001,0.25,2.22,0.00,0.000,6,0.101,0.054,2667,2489,3631,0,0,0,0,0,0
$GC,1321,-0.51,-146.0,192.4,-14.9,163,1326,0.12,2.30,0.00,0.000,4,0.226,0.069,2694,1073,3629,0,0,0,0,0,0
$GC,1429,-0.54,-146.0,205.6,-11.6,172,1434,0.00,2.30,0.00,0.000,6,0.000,0.068,2694,2495,3630,0,0,0,0,0,0
$GC,1754,-0.54,-146.0,241.6,-10.8,202,1758,0.00,2.33,0.00,0.000,4,0.000,0.085,2694,3903,3629,0,0,0,0,0,0
$GC,1816,-0.59,-146.0,248.0,-10.7,207,1820,0.00,2.22,0.00,0.000,6,0.000,0.056,2695,2489,3629,0,0,0,0,0,0
$STATE,1842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1842,begin apogee
$GC,1847,-0.12,0.0,250.9,10.2,209,1978,0.43,0.00,120.82,1.123,6,0.203,0.000,2814,2259,3030,0,0,0,0,0,0
$STATE,1979,end apogee,CONTROL_FINISHED_OK
$STATE,1979,begin climb
$GC,1981,0.62,146.0,256.3,0.0,221,2119,0.82,2.60,124.55,1.068,4,0.160,0.076,3063,882,2433,0,0,0,0,0,0
$GC,2125,0.69,208.8,251.8,7.1,234,2189,0.00,2.53,57.22,1.030,6,0.000,0.061,3062,2279,2178,0,0,0,0,0,0
$GC,2515,0.70,212.7,214.2,9.8,271,2519,0.00,2.42,0.00,0.000,4,0.000,0.076,3062,3694,2167,0,0,0,0,0,0
$GC,2543,0.70,212.7,211.0,11.3,273,2548,0.00,2.38,0.00,0.000,6,0.000,0.062,3071,2286,2166,0,0,0,0,0,0
$GC,2868,0.70,212.7,176.4,10.2,303,2872,0.00,2.35,0.00,0.000,4,0.000,0.075,3082,865,2165,0,0,0,0,0,0
$GC,2879,0.70,212.7,175.3,10.2,303,2886,0.00,2.33,0.00,0.000,6,0.000,0.060,3082,2287,2164,0,0,0,0,0,0
$GC,3203,0.70,212.7,142.9,10.1,334,3208,0.00,2.30,0.00,0.000,4,0.000,0.076,3082,3684,2164,0,0,0,0,0,0
$GC,3247,0.64,212.7,137.9,10.9,337,3254,0.00,2.30,0.00,0.000,6,0.000,0.063,3092,2274,2164,0,0,0,0,0,0
$GC,3574,0.68,240.5,106.7,8.7,368,3608,0.00,2.38,26.85,0.997,4,0.000,0.073,3092,3688,2049,0,0,0,0,0,0
$GC,3624,0.68,241.3,101.8,10.0,372,3632,0.00,2.33,0.00,0.000,6,0.000,0.061,3102,2270,2048,0,0,0,0,0,0
$GC,3967,0.69,254.3,69.3,9.4,431,3986,0.00,2.45,13.25,0.949,4,0.000,0.074,3102,3694,1992,0,0,0,0,0,0
$GC,3992,0.71,265.7,66.9,9.5,435,4011,0.00,2.35,12.23,0.920,6,0.000,0.061,3112,2268,1946,0,0,0,0,0,0
$GC,4349,0.71,265.7,30.6,10.1,498,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2268,1941,0,0,0,0,0,0
$FREEZE,8.62,-1.722,-1.784,2,60,2
$FREEZE,8.09,-1.722,-1.784,2,60,2
$FREEZE,7.48,-1.721,-1.783,2,60,2
$FREEZE,7.05,-1.721,-1.783,2,60,2
$FREEZE,6.60,-1.721,-1.783,2,60,2
$FREEZE,6.07,-1.721,-1.782,2,60,2
$FREEZE,5.57,-1.722,-1.782,2,60,2
$FREEZE,5.07,-1.722,-1.782,2,60,2
$FREEZE,4.41,-1.723,-1.781,2,60,2
$FREEZE,3.95,-1.722,-1.781,2,60,2
$FREEZE,3.39,-1.721,-1.780,2,60,2
$FREEZE,2.91,-1.720,-1.780,2,60,2
$STATE,4630,end climb,SURFACE_DEPTH_REACHED
$STATE,4630,begin surface coast
$FREEZE,2.41,-1.719,-1.780,2,60,2
$FREEZE,2.00,-1.708,-1.675,2,60,2
$FREEZE,2.13,-1.719,-1.676,2,60,2
$FREEZE,2.12,-1.716,-1.677,2,60,2
$FREEZE,2.09,-1.713,-1.677,2,60,2
$FINISH,2.1,1.024652
$STATE,4658,end surface coast,CONTROL_FINISHED_OK
$STATE,4658,begin surface
$SM_CCo,4795,131.98,0.076,0,0,750,559.04
$SM_GC,3.00,0.00,0.00,131.98,0.000,0.000,0.076,110,2495,750,-8.61,0.11,559.04
$RAFOS_CLK,290
$RAFOS_FIX,42653.910156,-222016.296875,090411,161643,5,129,0.03
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,46.73
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,22.3,45.791
$10V_AH,10.1,24.810
$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,11.125,55.100,354.925,131.975,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1326.833,2182.081,489.108,908.052,83.765,0.000,1022.583,0.000,907.194,0.000,2.616,0.000
$DEVICE_MAMPS,238.680,85.680,1123.020,76.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.491,406.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20077,554
$CAP_FILE_SIZE,64390,0
$CFSIZE,260165632,230174720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.4
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5