version: 66.08
glider: 141
mission: 15
dive: 142
start: 3 12 111 0 10 46
data:
$ID,141
$MISSION,15
$DIVE,142
$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,9
$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,-27951.119
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,110311,204344,6718.051,-5814.040,0,3123.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.63
$_SM_ANGLEo,0.7
$GPS2,110311,204344,6718.051,-5814.040,0,3123.0,0,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,midTARGET
$TGT_LATLONG,6656.000,-5813.000
$TGT_RADIUS,10000.000
$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,217.1,40846,-17.5,-10.000
$D_GRID,1064
$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
$STATE,12,begin dive
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$GC,5916,-0.66,-146.0,618.4,-8.4,592,5920,0.00,2.28,0.00,0.000,4,0.000,0.072,2684,3897,3629,0,0,0,0,0,0
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$GC,8765,-0.58,-146.0,848.1,-6.6,685,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2492,3629,0,0,0,0,0,0
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$GC,9682,-0.61,-146.0,924.6,-10.3,715,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2492,3629,0,0,0,0,0,0
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$STATE,10445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10445,begin apogee
$GC,10450,-0.12,0.0,991.9,8.2,739,10580,0.45,0.00,125.65,1.551,6,0.177,0.000,2817,2268,3030,0,0,0,0,0,0
$STATE,10581,end apogee,CONTROL_FINISHED_OK
$STATE,10581,begin climb
$GC,10583,0.62,146.0,995.7,0.0,743,10723,0.77,2.58,131.18,1.512,4,0.138,0.070,3063,873,2433,0,0,0,0,0,0
$GC,10807,0.62,146.0,974.6,38830.0,750,10812,0.00,2.42,0.00,0.000,6,0.000,0.054,3063,2276,2427,0,0,0,0,0,0
$GC,11137,0.62,146.0,930.5,38830.0,761,11142,0.00,2.38,0.00,0.000,4,0.000,0.070,3063,3695,2423,0,0,0,0,0,0
$GC,11263,0.62,146.0,911.9,38830.0,764,11270,0.00,2.33,0.00,0.000,6,0.000,0.054,3074,2281,2424,0,0,0,0,0,0
$GC,11576,0.62,146.0,868.1,38830.0,775,11580,0.00,2.33,0.00,0.000,4,0.000,0.066,3074,3690,2422,0,0,0,0,0,0
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$GC,13540,0.62,146.0,600.0,38830.0,839,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2268,2420,0,0,0,0,0,0
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$GC,14178,0.62,146.0,521.2,38830.0,899,14182,0.00,2.28,0.00,0.000,4,0.000,0.066,3067,3695,2420,0,0,0,0,0,0
$GC,14251,0.62,146.0,510.7,38830.0,905,14255,0.00,2.25,0.00,0.000,6,0.000,0.053,3076,2271,2420,0,0,0,0,0,0
$GC,14576,0.62,146.0,469.1,38830.0,935,14580,0.00,2.28,0.00,0.000,4,0.000,0.066,3076,3687,2420,0,0,0,0,0,0
$GC,14650,0.62,146.0,458.4,38830.0,941,14654,0.00,2.22,0.00,0.000,6,0.000,0.052,3086,2276,2420,0,0,0,0,0,0
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$GC,15294,0.62,146.0,368.4,38830.0,1001,15298,0.00,2.25,0.00,0.000,4,0.000,0.064,3086,3697,2420,0,0,0,0,0,0
$GC,15361,0.62,146.0,358.0,38830.0,1006,15368,0.12,2.25,0.00,0.000,6,0.216,0.051,3068,2265,2420,0,0,0,0,0,0
$GC,15686,0.62,146.0,317.2,38830.0,1037,15690,0.00,2.22,0.00,0.000,4,0.000,0.066,3077,865,2420,0,0,0,0,0,0
$GC,15752,0.62,146.0,309.1,38830.0,1042,15759,0.00,2.22,0.00,0.000,6,0.000,0.054,3077,2279,2420,0,0,0,0,0,0
$GC,16078,0.62,146.0,269.9,38830.0,1073,16082,0.00,2.22,0.00,0.000,4,0.000,0.066,3077,3685,2420,0,0,0,0,0,0
$GC,16186,0.62,146.0,255.2,38830.0,1082,16190,0.00,2.22,0.00,0.000,6,0.000,0.050,3087,2265,2420,0,0,0,0,0,0
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$GC,16566,0.62,146.0,207.6,38830.0,1116,16573,0.12,2.22,0.00,0.000,6,0.213,0.053,3069,2277,2420,0,0,0,0,0,0
$GC,16891,0.62,146.0,170.9,38830.0,1147,16895,0.00,2.22,0.00,0.000,4,0.000,0.067,3069,3689,2420,0,0,0,0,0,0
$STATE,16923,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,16923,begin subsurface finish
$FINISH1,166.7,1.027213,14
$GC,16932,0.02,14.1,166.7,-38830.0,1150,16944,0.68,2.33,-2.83,0.000,4,0.191,0.078,2879,3691,2986,0,0,0,0,0,0
$FINISH2,164.2
$STATE,16945,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16945,begin surface
$RAFOS_CLK,922
$RAFOS,5,1299904868,4.700000,4.685555,152,63,63,54,52,51,651,205,177,219,124,191
$RAFOS,4,1299904381,4.566667,4.550278,96,58,57,57,52,50,758,146,209,177,228,219
$RAFOS,65,973554114,-756820600603556291952152546377728.000000,428962921900267692318022172672.000000,112,96,65,190,224,113,18518,16745,18778,181,138,127
$RAFOS,2,1299903428,4.300000,4.285555,59,58,57,54,53,51,168,195,142,236,177,224
$RAFOS,1,1299902944,4.166667,4.151111,58,57,57,56,54,49,193,118,214,134,168,154
$RAFOS,0,1299902470,4.033333,4.019444,60,58,55,53,52,50,220,135,199,208,118,181
$RAFOS,6,1299890942,0.833333,0.817222,120,64,60,59,50,49,618,224,212,185,121,175
$RAFOS,5,1299890465,0.700000,0.684722,99,71,56,52,50,49,662,213,155,192,204,166
$RAFOS,4,1299889982,0.566667,0.550556,99,60,57,56,55,55,763,208,178,158,148,188
$RAFOS,3,1299889508,0.433333,0.418889,64,60,59,58,56,55,925,224,169,181,193,127
$RAFOS,2,1299889026,0.300000,0.285000,65,58,58,56,52,50,174,142,218,191,122,831
$RAFOS_FIX,6716.456055,-5815.114746,120311,000056,4,96,0.22
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.029211
$HUMID,47.83
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,21.2,21.4
$ALTIM_BOTTOM_PING,168.1,21.9
$24V_AH,22.4,20.685
$10V_AH,10.2,11.431
$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,4.000,111.625,256.825,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,2986.146,11546.429,307.240,2002.074,177.350,0.000,1362.238,0.000,1977.105,4320.000,25.736,0.000
$DEVICE_MAMPS,223.380,78.030,1551.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.428,891.048,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,43315,1151
$CAP_FILE_SIZE,149077,0
$CFSIZE,260165632,242765824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.8
$GPS,120311,003856,6716.456,-5815.115,0,4095.5,0,-38.2