version: 66.08
glider: 141
mission: 15
dive: 448
start: 4 21 111 5 9 59
data:
$ID,141
$MISSION,15
$DIVE,448
$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,-3
$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,-39213.566
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,210411,043329,6718.863,-5729.480,0,5113.4,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.03
$_SM_ANGLEo,1.9
$GPS2,210411,043329,6718.863,-5729.480,0,5113.4,0,-38.9
$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,173.3,41956,-17.5,-10.000
$D_GRID,458
$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,-6.47,0.000,2,0.000,0.000,2887,3680,3146,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.2,-0.0,1,53,0.62,4.15,-12.75,0.000,4,0.116,0.054,2672,1084,3628,0,0,0,0,0,0
$GC,151,-0.58,-146.0,22.8,-13.3,22,158,0.00,2.20,0.00,0.000,6,0.000,0.054,2672,2488,3629,0,0,0,0,0,0
$GC,498,-0.49,-146.0,73.1,-13.1,83,505,0.12,0.00,0.00,0.000,6,0.230,0.000,2700,2488,3628,0,0,0,0,0,0
$GC,842,-0.49,-146.0,111.9,-10.9,135,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2488,3627,0,0,0,0,0,0
$GC,1163,-0.52,-146.0,147.6,-10.7,165,1167,0.00,2.28,0.00,0.000,4,0.000,0.072,2700,3902,3625,0,0,0,0,0,0
$GC,1218,-0.58,-146.0,153.8,-10.3,169,1226,0.00,2.17,0.00,0.000,6,0.000,0.042,2700,2480,3625,0,0,0,0,0,0
$GC,1544,-0.63,-146.0,186.3,-9.9,200,1549,0.12,2.22,0.00,0.000,4,0.129,0.058,2658,1077,3623,0,0,0,0,0,0
$GC,1572,-0.63,-146.0,189.8,-13.0,202,1576,0.00,2.22,0.00,0.000,6,0.000,0.056,2658,2491,3624,0,0,0,0,0,0
$GC,1898,-0.58,-146.0,231.2,-11.9,232,1902,0.00,2.28,0.00,0.000,4,0.000,0.071,2658,3899,3622,0,0,0,0,0,0
$GC,1955,-0.56,-146.0,238.0,-11.9,237,1958,0.00,2.15,0.00,0.000,6,0.000,0.042,2658,2487,3622,0,0,0,0,0,0
$GC,2286,-0.52,-146.0,276.1,-11.4,268,2290,0.15,2.30,0.00,0.000,4,0.203,0.067,2693,3904,3623,0,0,0,0,0,0
$GC,2324,-0.59,-146.0,279.8,-8.3,271,2331,0.00,2.17,0.00,0.000,6,0.000,0.038,2694,2479,3622,0,0,0,0,0,0
$GC,2650,-0.66,-146.0,306.9,-9.5,302,2655,0.12,2.30,0.00,0.000,4,0.132,0.063,2651,3903,3622,0,0,0,0,0,0
$GC,2722,-0.66,-146.0,316.2,-13.2,308,2729,0.00,2.17,0.00,0.000,6,0.000,0.039,2651,2495,3622,0,0,0,0,0,0
$STATE,3035,end dive,NO_VERTICAL_VELOCITY
$STATE,3035,begin apogee
$GC,3040,-0.12,0.0,333.5,0.0,338,3164,0.50,0.00,117.25,1.093,6,0.135,0.000,2815,2268,3031,0,0,0,0,0,0
$STATE,3165,end apogee,CONTROL_FINISHED_OK
$STATE,3165,begin climb
$GC,3167,0.62,146.0,332.9,0.0,349,3299,0.75,2.50,122.15,1.044,4,0.129,0.053,3053,3682,2434,0,0,0,0,0,0
$GC,3551,0.50,146.0,296.1,12.8,383,3559,0.15,2.25,0.00,0.000,6,0.186,0.043,3028,2274,2427,0,0,0,0,0,0
$GC,3877,0.56,198.4,267.9,7.6,414,3926,0.00,2.33,43.62,0.996,4,0.000,0.056,3027,3693,2221,0,0,0,0,0,0
$GC,3961,0.56,198.4,260.4,10.3,421,3965,0.00,2.25,0.00,0.000,6,0.000,0.043,3035,2270,2220,0,0,0,0,0,0
$GC,4288,0.60,225.6,230.4,8.7,451,4314,0.00,0.00,24.08,0.957,6,0.000,0.000,3035,2270,2110,0,0,0,0,0,0
$GC,4634,0.63,230.2,196.1,9.8,483,4644,0.00,0.00,4.90,0.682,6,0.000,0.000,3035,2270,2091,0,0,0,0,0,0
$GC,4964,0.67,230.2,160.8,10.4,514,4966,0.12,0.00,0.00,0.000,6,0.098,0.000,3094,2269,2090,0,0,0,0,0,0
$GC,5281,0.59,230.2,113.5,14.7,544,5282,0.15,0.00,0.00,0.000,6,0.189,0.000,3056,2270,2089,0,0,0,0,0,0
$GC,5610,0.65,257.0,79.4,8.8,593,5642,0.00,2.28,24.62,0.902,4,0.000,0.056,3056,3690,1981,0,0,0,0,0,0
$GC,5694,0.69,257.0,71.5,10.3,607,5701,0.00,2.20,0.00,0.000,6,0.000,0.042,3064,2272,1980,0,0,0,0,0,0
$GC,6041,0.78,283.5,42.3,8.8,668,6072,0.15,2.22,23.10,0.905,4,0.093,0.057,3138,869,1873,0,0,0,0,0,0
$GC,6137,0.73,283.5,29.5,14.6,684,6144,0.15,2.20,0.00,0.000,6,0.191,0.044,3101,2280,1869,0,0,0,0,0,0
$FREEZE,8.89,-1.635,-1.837,3,49,0
$FREEZE,8.21,-1.630,-1.836,3,49,0
$FREEZE,7.63,-1.632,-1.836,3,49,0
$FREEZE,7.05,-1.636,-1.835,3,49,0
$STATE,6317,end climb,FINISH_DEPTH_REACHED
$STATE,6318,begin subsurface finish
$FINISH1,7.0,1.026865,31
$GC,6324,0.04,31.1,7.0,-12.0,716,6372,0.70,2.25,-39.62,0.000,4,0.158,0.073,2884,3692,2905,0,0,0,0,0,0
$FINISH2,5.4
$STATE,6373,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6373,begin surface
$RAFOS_CLK,333
$RAFOS_FIX,6718.862793,-5729.479980,210411,040429,5,113,0.17
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.47
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.3
$24V_AH,22.7,59.849
$10V_AH,10.2,30.659
$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,3.825,49.425,359.725,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1698.914,3075.735,378.223,1168.641,106.805,0.000,1016.634,0.000,1160.410,0.000,6.980,0.000
$DEVICE_MAMPS,230.265,73.440,1093.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.104,537.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26770,724
$CAP_FILE_SIZE,75235,0
$CFSIZE,260165632,224362496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.8
$GPS,210411,043329,6718.863,-5729.480,0,5113.4,0,-38.9