version: 66.08
glider: 141
mission: 15
dive: 394
start: 4 13 111 3 33 24
data:
$ID,141
$MISSION,15
$DIVE,394
$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,-38104.418
$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,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,9.00
$_SM_ANGLEo,-5.1
$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,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,-6.85,0.000,2,0.000,0.000,2898,859,2967,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.0,-0.0,1,58,0.65,5.18,-18.15,0.000,4,0.099,0.085,2667,3903,3629,0,0,0,0,0,0
$GC,217,-0.54,-146.0,41.8,-17.9,34,224,0.00,2.25,0.00,0.000,6,0.000,0.058,2667,2486,3631,0,0,0,0,0,0
$GC,561,-0.41,-146.0,105.6,-17.5,92,565,0.22,2.30,0.00,0.000,4,0.217,0.074,2722,1068,3631,0,0,0,0,0,0
$GC,601,-0.45,-146.0,111.2,-11.6,95,605,0.00,2.33,0.00,0.000,6,0.000,0.070,2722,2498,3631,0,0,0,0,0,0
$GC,929,-0.51,-146.0,142.4,-9.9,125,933,0.00,2.33,0.00,0.000,4,0.000,0.086,2722,3902,3630,0,0,0,0,0,0
$GC,1002,-0.59,-146.0,149.4,-8.8,131,1007,0.15,2.28,0.00,0.000,6,0.122,0.057,2671,2474,3630,0,0,0,0,0,0
$GC,1333,-0.53,-146.0,192.5,-13.2,162,1337,0.00,2.25,0.00,0.000,4,0.000,0.073,2671,1073,3629,0,0,0,0,0,0
$GC,1383,-0.51,-146.0,199.3,-13.2,166,1387,0.00,2.33,0.00,0.000,6,0.000,0.070,2670,2497,3630,0,0,0,0,0,0
$GC,1714,-0.46,-146.0,241.5,-11.5,197,1719,0.15,2.35,0.00,0.000,4,0.223,0.087,2705,3900,3629,0,0,0,0,0,0
$GC,1782,-0.55,-146.0,247.5,-8.4,203,1786,0.00,2.22,0.00,0.000,6,0.000,0.057,2705,2491,3629,0,0,0,0,0,0
$STATE,1818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1818,begin apogee
$GC,1824,-0.12,0.0,250.8,8.5,206,1955,0.38,0.00,120.97,1.118,6,0.196,0.000,2813,2262,3029,0,0,0,0,0,0
$STATE,1956,end apogee,CONTROL_FINISHED_OK
$STATE,1956,begin climb
$GC,1958,0.62,146.0,255.4,0.0,218,2094,0.82,2.62,125.03,1.058,4,0.158,0.078,3061,878,2433,0,0,0,0,0,0
$GC,2296,0.64,164.5,231.7,9.1,248,2317,0.00,2.42,16.62,0.975,6,0.000,0.063,3061,2282,2359,0,0,0,0,0,0
$GC,2638,0.65,175.8,198.7,9.5,280,2654,0.00,2.42,11.05,0.936,4,0.000,0.076,3071,868,2312,0,0,0,0,0,0
$GC,2750,0.66,178.2,187.9,9.9,289,2757,0.00,2.35,0.00,0.000,6,0.000,0.063,3071,2285,2310,0,0,0,0,0,0
$GC,3076,0.65,189.7,158.9,9.5,320,3099,0.00,2.40,13.57,0.959,4,0.000,0.077,3071,3689,2256,0,0,0,0,0,0
$GC,3157,0.60,189.7,149.5,12.1,327,3161,0.00,2.30,0.00,0.000,6,0.000,0.062,3081,2280,2254,0,0,0,0,0,0
$GC,3486,0.60,206.1,118.6,9.2,357,3509,0.00,2.35,15.68,0.963,4,0.000,0.077,3092,866,2188,0,0,0,0,0,0
$GC,3536,0.62,227.4,113.5,9.0,361,3566,0.00,2.30,20.77,0.967,6,0.000,0.063,3092,2276,2101,0,0,0,0,0,0
$GC,3895,0.66,258.8,78.8,8.6,413,3930,0.00,2.38,28.50,0.972,4,0.000,0.076,3092,3691,1974,0,0,0,0,0,0
$GC,3959,0.66,258.8,72.7,10.7,424,3966,0.00,2.35,0.00,0.000,6,0.000,0.063,3102,2265,1972,0,0,0,0,0,0
$GC,4304,0.73,287.9,40.3,8.7,485,4334,0.00,0.00,26.12,0.960,6,0.000,0.000,3102,2265,1856,0,0,0,0,0,0
$FREEZE,8.87,-1.734,-1.776,2,120,2
$FREEZE,8.48,-1.734,-1.776,2,120,2
$FREEZE,7.93,-1.734,-1.775,2,120,2
$FREEZE,7.46,-1.735,-1.775,2,120,2
$FREEZE,7.03,-1.736,-1.775,2,120,2
$FREEZE,6.40,-1.736,-1.774,2,120,2
$FREEZE,5.69,-1.734,-1.774,2,120,2
$GC,4670,0.82,312.1,7.0,8.9,550,4692,0.00,2.40,11.80,0.876,4,0.000,0.078,3111,860,1755,0,0,0,0,0,0
$FREEZE,4.20,-1.737,-1.773,2,120,2
$FREEZE,3.71,-1.737,-1.772,2,120,2
$GC,4706,0.89,318.5,3.7,9.7,555,4714,0.12,2.33,2.88,0.428,6,0.119,0.064,3158,2281,1730,0,0,0,0,0,0
$FREEZE,2.72,-1.726,-1.699,2,120,2
$STATE,4719,end climb,SURFACE_DEPTH_REACHED
$STATE,4720,begin surface coast
$FREEZE,2.64,-1.716,-1.699,2,120,2
$FREEZE,2.72,-1.699,-1.699,2,120,2
$FREEZE,2.68,-1.698,-1.699,2,120,2
$FREEZE,2.67,-1.684,-1.699,2,120,2
$FREEZE,2.66,-1.689,-1.699,2,120,2
$FREEZE,2.65,-1.729,-1.702,2,120,2
$FREEZE,2.66,-1.735,-1.702,2,120,2
$FINISH,2.7,1.025015
$STATE,4759,end surface coast,CONTROL_FINISHED_OK
$STATE,4759,begin surface
$SM_CCo,4896,108.60,0.077,0,0,750,559.04
$SM_GC,3.31,0.00,0.00,108.60,0.000,0.000,0.077,110,2504,750,-8.61,0.40,559.04
$RAFOS_CLK,298
$RAFOS,5,1302669664,4.700000,4.684444,98,61,59,57,57,54,963,217,188,170,205,126
$RAFOS,4,1302669188,4.566667,4.552222,99,58,58,57,57,54,776,215,161,147,203,135
$RAFOS,3,1302668707,4.433333,4.418611,67,61,59,57,52,52,214,203,181,149,192,223
$RAFOS,2,1302668229,4.300000,4.285833,61,57,56,55,53,50,192,211,138,163,223,173
$RAFOS,1,1302667741,4.166667,4.150278,61,60,55,55,53,52,750,206,163,177,122,132
$RAFOS,0,1302667263,4.033333,4.017500,60,58,55,55,50,49,193,216,147,157,229,167
$RAFOS_FIX,42616.777344,102019.695312,130411,040413,3,86,0.02
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.028462
$HUMID,46.92
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,17.8
$24V_AH,22.2,52.686
$10V_AH,10.0,26.936
$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,11.250,55.125,393.000,108.600,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1418.580,2160.022,493.691,955.335,89.937,0.000,1051.866,0.000,952.399,2520.000,2.612,0.000
$DEVICE_MAMPS,222.615,87.210,1117.665,77.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.448,416.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20146,564
$CAP_FILE_SIZE,68966,0
$CFSIZE,260165632,227971072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.9
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5