version: 66.08
glider: 141
mission: 15
dive: 399
start: 4 13 111 10 29 50
data:
$ID,141
$MISSION,15
$DIVE,399
$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,-38474.059
$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,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,8.53
$_SM_ANGLEo,-4.5
$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,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.72,0.000,2,0.000,0.000,2900,841,2951,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.7,-0.0,1,57,0.68,5.18,-19.15,0.000,4,0.112,0.086,2667,3899,3629,0,0,0,0,0,0
$GC,244,-0.53,-146.0,45.4,-17.6,39,251,0.00,2.25,0.00,0.000,6,0.000,0.058,2667,2489,3631,0,0,0,0,0,0
$GC,587,-0.42,-146.0,105.4,-16.1,97,592,0.22,2.30,0.00,0.000,4,0.212,0.072,2723,1078,3631,0,0,0,0,0,0
$GC,654,-0.49,-146.0,113.7,-10.7,102,661,0.00,2.30,0.00,0.000,6,0.000,0.068,2723,2494,3630,0,0,0,0,0,0
$GC,982,-0.55,-146.0,143.9,-9.0,133,986,0.12,2.35,0.00,0.000,4,0.134,0.086,2681,3902,3630,0,0,0,0,0,0
$GC,1064,-0.55,-146.0,153.7,-11.8,140,1072,0.00,2.25,0.00,0.000,6,0.000,0.056,2681,2476,3630,0,0,0,0,0,0
$GC,1390,-0.51,-146.0,193.5,-12.5,171,1394,0.00,2.28,0.00,0.000,4,0.000,0.074,2681,1075,3630,0,0,0,0,0,0
$GC,1453,-0.51,-146.0,201.2,-11.6,176,1457,0.00,2.33,0.00,0.000,6,0.000,0.070,2681,2494,3629,0,0,0,0,0,0
$GC,1777,-0.51,-146.0,238.8,-11.2,206,1781,0.00,2.35,0.00,0.000,4,0.000,0.086,2681,3904,3628,0,0,0,0,0,0
$STATE,1883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1883,begin apogee
$GC,1890,-0.12,0.0,250.3,10.0,215,2022,0.47,0.00,120.68,1.112,6,0.200,0.000,2814,2270,3030,0,0,0,0,0,0
$STATE,2023,end apogee,CONTROL_FINISHED_OK
$STATE,2023,begin climb
$GC,2025,0.62,146.0,255.6,0.0,227,2160,0.82,2.62,125.32,1.059,4,0.157,0.074,3063,878,2433,0,0,0,0,0,0
$GC,2167,0.65,199.1,250.0,7.5,240,2224,0.00,2.53,48.45,1.014,6,0.000,0.062,3063,2278,2217,0,0,0,0,0,0
$GC,2542,0.66,207.1,212.7,9.6,275,2555,0.00,2.50,7.12,0.837,4,0.000,0.077,3063,3690,2184,0,0,0,0,0,0
$GC,2594,0.62,207.1,207.1,11.3,279,2601,0.00,2.38,0.00,0.000,6,0.000,0.063,3073,2278,2184,0,0,0,0,0,0
$GC,2921,0.62,207.1,174.0,10.0,310,2925,0.00,2.35,0.00,0.000,4,0.000,0.076,3083,858,2182,0,0,0,0,0,0
$GC,2930,0.62,207.1,172.6,10.6,310,2937,0.00,2.35,0.00,0.000,6,0.000,0.061,3083,2270,2181,0,0,0,0,0,0
$GC,3257,0.62,207.1,138.4,10.6,341,3261,0.00,2.33,0.00,0.000,4,0.000,0.076,3093,862,2181,0,0,0,0,0,0
$GC,3267,0.62,207.1,137.1,10.3,341,3274,0.00,2.33,0.00,0.000,6,0.000,0.062,3093,2287,2180,0,0,0,0,0,0
$GC,3594,0.62,208.1,102.9,10.0,372,3598,0.00,2.33,0.00,0.000,4,0.000,0.079,3093,3697,2181,0,0,0,0,0,0
$GC,3623,0.57,208.1,99.8,11.2,374,3630,0.20,2.33,0.00,0.000,6,0.194,0.063,3052,2266,2181,0,0,0,0,0,0
$GC,3969,0.76,292.2,75.5,6.1,435,4057,0.17,2.47,76.65,0.981,4,0.091,0.077,3136,859,1836,0,0,0,0,0,0
$GC,4104,0.76,292.2,60.8,11.8,458,4111,0.00,2.35,0.00,0.000,6,0.000,0.063,3136,2273,1832,0,0,0,0,0,0
$GC,4451,0.76,292.2,21.5,11.2,519,4457,0.00,2.35,0.00,0.000,4,0.000,0.079,3136,3699,1827,0,0,0,0,0,0
$GC,4465,0.76,292.2,19.6,12.1,521,4472,0.15,2.35,0.00,0.000,6,0.196,0.063,3109,2267,1825,0,0,0,0,0,0
$FREEZE,8.51,-1.735,-1.774,2,125,1
$FREEZE,7.92,-1.737,-1.774,2,125,1
$FREEZE,7.39,-1.731,-1.773,2,125,1
$FREEZE,6.83,-1.735,-1.773,2,125,1
$FREEZE,6.15,-1.730,-1.772,2,125,1
$FREEZE,5.54,-1.738,-1.772,2,125,1
$FREEZE,4.94,-1.728,-1.771,2,125,1
$FREEZE,4.48,-1.748,-1.771,2,125,1
$FREEZE,4.05,-1.755,-1.771,2,125,1
$FREEZE,3.60,-1.753,-1.771,2,125,1
$FREEZE,3.18,-1.766,-1.770,2,125,1
$FREEZE,2.70,-1.753,-1.770,2,125,1
$STATE,4636,end climb,SURFACE_DEPTH_REACHED
$STATE,4636,begin surface coast
$FREEZE,2.15,-1.749,-1.769,2,125,1
$FREEZE,1.63,-1.752,-1.768,2,125,1
$FREEZE,1.74,-2.551,-1.296,2,125,1
$FREEZE,1.68,-2.330,-0.976,2,125,1
$FREEZE,1.56,-2.101,-0.309,2,125,1
$FREEZE,1.64,-1.963,-0.155,2,125,1
$FINISH,1.6,1.001972
$STATE,4669,end surface coast,CONTROL_FINISHED_OK
$STATE,4669,begin surface
$SM_CCo,4687,118.80,0.075,0,0,750,559.04
$SM_GC,2.52,0.00,0.00,118.80,0.000,0.000,0.075,114,2506,750,-8.60,0.45,559.04
$RAFOS_CLK,278
$RAFOS_FIX,6720.216309,29946.160156,130411,080828,2,80,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.027713
$HUMID,46.92
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,22.2,53.261
$10V_AH,10.1,27.120
$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,11.400,60.175,378.225,118.800,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1313.686,2049.900,506.033,911.728,85.537,0.000,1032.995,0.000,911.174,0.000,2.613,0.000
$DEVICE_MAMPS,211.905,86.445,1111.545,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.671,414.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20090,558
$CAP_FILE_SIZE,63052,0
$CFSIZE,260165632,227790848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.1
$GPS,130411,115113,6721.619,-6020.562,25,1.9,31,-38.9