version: 66.08
glider: 141
mission: 15
dive: 332
start: 4 9 111 15 41 4
data:
$ID,141
$MISSION,15
$DIVE,332
$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,21
$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,9.14
$_SM_ANGLEo,-2.6
$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,-6.75,0.000,2,0.000,0.000,2895,3697,2974,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.1,-0.0,1,57,0.65,4.35,-18.42,0.000,4,0.106,0.073,2668,1082,3630,0,0,0,0,0,0
$GC,187,-0.53,-146.0,36.8,-17.8,29,194,0.00,2.30,0.00,0.000,6,0.000,0.069,2668,2492,3631,0,0,0,0,0,0
$GC,533,-0.39,-146.0,104.2,-19.6,88,538,0.25,2.35,0.00,0.000,4,0.222,0.084,2733,3904,3631,0,0,0,0,0,0
$GC,584,-0.48,-146.0,111.5,-10.6,92,589,0.00,2.28,0.00,0.000,6,0.000,0.054,2733,2478,3631,0,0,0,0,0,0
$GC,912,-0.54,-146.0,143.6,-9.3,122,917,0.15,2.28,0.00,0.000,4,0.126,0.072,2682,1072,3630,0,0,0,0,0,0
$GC,944,-0.54,-146.0,147.9,-12.7,124,951,0.00,2.33,0.00,0.000,6,0.000,0.070,2682,2491,3630,0,0,0,0,0,0
$GC,1272,-0.49,-146.0,190.4,-12.7,155,1276,0.00,2.33,0.00,0.000,4,0.000,0.085,2682,3901,3630,0,0,0,0,0,0
$GC,1390,-0.49,-146.0,204.8,-11.4,165,1394,0.00,2.25,0.00,0.000,6,0.000,0.055,2682,2484,3630,0,0,0,0,0,0
$GC,1721,-0.46,-146.0,245.7,-12.5,196,1725,0.12,2.30,0.00,0.000,4,0.216,0.071,2710,1073,3630,0,0,0,0,0,0
$STATE,1758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1758,begin apogee
$GC,1765,-0.12,0.0,250.1,9.5,199,1896,0.35,0.00,120.82,1.119,6,0.196,0.000,2812,2276,3029,0,0,0,0,0,0
$STATE,1897,end apogee,CONTROL_FINISHED_OK
$STATE,1897,begin climb
$GC,1899,0.62,146.0,256.1,0.0,211,2030,0.82,0.00,124.65,1.066,6,0.160,0.000,3050,2276,2433,0,0,0,0,0,0
$GC,2346,0.66,177.3,225.8,8.6,253,2380,0.00,2.47,27.45,1.018,4,0.000,0.076,3050,3686,2306,0,0,0,0,0,0
$GC,2396,0.65,194.3,221.2,9.2,257,2418,0.00,2.42,16.42,0.975,6,0.000,0.061,3060,2271,2238,0,0,0,0,0,0
$GC,2738,0.68,221.4,189.2,8.7,289,2771,0.00,2.47,25.00,1.001,4,0.000,0.076,3071,863,2125,0,0,0,0,0,0
$GC,2777,0.72,247.3,185.7,8.8,292,2808,0.00,2.42,25.10,0.988,6,0.000,0.061,3071,2282,2021,0,0,0,0,0,0
$GC,3136,0.76,248.6,150.0,9.9,326,3141,0.10,2.38,0.00,0.000,4,0.118,0.076,3115,3687,2012,0,0,0,0,0,0
$GC,3199,0.66,248.6,141.8,13.8,331,3204,0.17,2.35,0.00,0.000,6,0.207,0.062,3085,2265,2011,0,0,0,0,0,0
$GC,3524,0.70,255.6,109.2,9.7,361,3537,0.00,2.40,7.00,0.856,4,0.000,0.076,3093,860,1987,0,0,0,0,0,0
$GC,3588,0.75,266.1,103.2,9.5,366,3608,0.00,2.33,11.25,0.939,6,0.000,0.062,3093,2285,1944,0,0,0,0,0,0
$GC,3944,0.81,290.4,72.4,8.9,426,3975,0.00,2.40,23.83,0.975,4,0.000,0.076,3093,3688,1845,0,0,0,0,0,0
$GC,3982,0.88,316.0,69.0,8.8,432,4013,0.12,2.33,24.60,0.952,6,0.111,0.061,3148,2273,1740,0,0,0,0,0,0
$GC,4350,0.88,316.0,22.2,12.8,497,4357,0.00,2.35,0.00,0.000,4,0.000,0.078,3158,863,1732,0,0,0,0,0,0
$GC,4370,0.86,316.0,19.8,12.3,500,4377,0.00,2.30,0.00,0.000,6,0.000,0.060,3158,2283,1732,0,0,0,0,0,0
$FREEZE,8.73,-1.732,-1.781,2,58,0
$STATE,4453,end climb,FINISH_DEPTH_REACHED
$STATE,4453,begin subsurface finish
$FINISH1,8.7,1.026075,70
$GC,4459,0.09,69.9,8.7,-14.0,514,4507,0.88,2.40,-41.40,0.000,4,0.175,0.093,2900,3683,2747,0,0,0,0,0,0
$FINISH2,6.7
$STATE,4508,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4508,begin surface
$RAFOS_CLK,268
$RAFOS,6,1302367744,16.833334,16.817778,156,60,58,54,53,52,784,218,206,179,194,165
$RAFOS,5,1302367268,16.700001,16.685556,133,59,58,57,49,49,933,218,174,196,120,152
$RAFOS,4,1302366786,16.566668,16.551666,166,56,53,52,51,49,730,171,184,145,224,204
$RAFOS,3,1302366304,16.433332,16.417778,65,60,55,52,49,47,208,185,162,217,231,118
$RAFOS,2,1302365827,16.299999,16.285278,68,67,65,62,56,53,699,190,178,151,204,218
$RAFOS,1,1302365350,16.166666,16.152779,65,57,52,49,48,47,147,216,199,156,568,169
$RAFOS,0,1302364868,16.033333,16.018888,120,57,55,54,53,52,631,188,170,179,197,213
$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,48.34
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,22.4,45.568
$10V_AH,10.2,24.743
$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,3.625,55.775,406.125,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1277.208,1993.705,414.892,867.776,80.623,0.000,929.225,0.000,864.771,2520.000,2.612,0.000
$DEVICE_MAMPS,221.850,92.565,1119.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.092,383.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20079,522
$CAP_FILE_SIZE,62906,0
$CFSIZE,260165632,230248448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.0
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5