version: 66.08
glider: 141
mission: 15
dive: 338
start: 4 9 111 23 56 23
data:
$ID,141
$MISSION,15
$DIVE,338
$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,-36257.363
$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,8.65
$_SM_ANGLEo,-3.4
$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,-6.68,0.000,2,0.000,0.000,2901,862,2987,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.0,-0.0,1,57,0.68,5.18,-18.00,0.000,4,0.108,0.085,2667,3897,3629,0,0,0,0,0,0
$GC,221,-0.53,-146.0,41.1,-17.9,35,228,0.00,2.25,0.00,0.000,6,0.000,0.057,2667,2489,3631,0,0,0,0,0,0
$GC,563,-0.38,-146.0,108.5,-20.2,92,568,0.25,2.30,0.00,0.000,4,0.219,0.071,2733,1068,3630,0,0,0,0,0,0
$GC,626,-0.47,-146.0,116.9,-10.7,97,630,0.00,2.33,0.00,0.000,6,0.000,0.070,2733,2492,3631,0,0,0,0,0,0
$GC,958,-0.54,-146.0,149.3,-9.3,128,963,0.12,2.35,0.00,0.000,4,0.132,0.086,2691,3899,3630,0,0,0,0,0,0
$GC,1089,-0.54,-146.0,164.4,-11.5,139,1093,0.00,2.25,0.00,0.000,6,0.000,0.055,2690,2476,3629,0,0,0,0,0,0
$GC,1413,-0.54,-146.0,201.8,-11.3,169,1417,0.00,2.22,0.00,0.000,4,0.000,0.072,2691,1082,3629,0,0,0,0,0,0
$GC,1469,-0.56,-146.0,208.3,-11.2,173,1475,0.00,2.30,0.00,0.000,6,0.000,0.070,2690,2491,3630,0,0,0,0,0,0
$GC,1795,-0.56,-146.0,243.8,-10.7,204,1799,0.00,2.35,0.00,0.000,4,0.000,0.085,2690,3903,3630,0,0,0,0,0,0
$STATE,1855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1855,begin apogee
$GC,1863,-0.12,0.0,250.3,9.9,209,1994,0.45,0.00,120.68,1.121,6,0.207,0.000,2815,2269,3030,0,0,0,0,0,0
$STATE,1995,end apogee,CONTROL_FINISHED_OK
$STATE,1995,begin climb
$GC,1997,0.62,146.0,255.3,0.0,221,2132,0.82,2.62,124.72,1.064,4,0.162,0.074,3062,871,2433,0,0,0,0,0,0
$GC,2139,0.63,200.5,249.6,7.5,234,2195,0.00,2.55,49.45,1.021,6,0.000,0.062,3062,2273,2212,0,0,0,0,0,0
$GC,2513,0.65,210.3,213.1,9.5,269,2528,0.00,2.50,8.50,0.884,4,0.000,0.077,3062,3683,2172,0,0,0,0,0,0
$GC,2550,0.65,210.3,209.0,10.6,272,2558,0.00,2.42,0.00,0.000,6,0.000,0.063,3072,2281,2171,0,0,0,0,0,0
$GC,2876,0.65,210.3,175.7,10.2,303,2880,0.00,2.38,0.00,0.000,4,0.000,0.076,3082,856,2169,0,0,0,0,0,0
$GC,2916,0.65,215.1,171.8,9.8,306,2929,0.00,2.35,5.35,0.776,6,0.000,0.063,3083,2284,2153,0,0,0,0,0,0
$GC,3246,0.68,236.2,139.1,9.0,337,3272,0.00,2.35,20.38,0.987,4,0.000,0.077,3082,3684,2067,0,0,0,0,0,0
$GC,3279,0.69,247.4,135.9,9.5,340,3296,0.00,2.35,11.80,0.924,6,0.000,0.062,3092,2268,2021,0,0,0,0,0,0
$GC,3615,0.70,257.9,103.0,9.5,371,3630,0.00,2.33,10.18,0.920,4,0.000,0.076,3103,867,1978,0,0,0,0,0,0
$GC,3637,0.74,287.0,101.1,8.7,373,3672,0.00,2.30,28.38,0.970,6,0.000,0.061,3103,2276,1859,0,0,0,0,0,0
$GC,4011,0.78,288.3,64.7,9.9,438,4018,0.00,2.35,0.00,0.000,4,0.000,0.076,3111,861,1852,0,0,0,0,0,0
$GC,4027,0.83,296.2,63.3,9.6,440,4041,0.00,2.33,8.73,0.878,6,0.000,0.061,3111,2279,1822,0,0,0,0,0,0
$GC,4381,0.87,296.2,28.5,10.1,502,4388,0.10,2.35,0.00,0.000,4,0.122,0.077,3150,3685,1818,0,0,0,0,0,0
$GC,4397,0.90,297.2,26.9,10.0,504,4404,0.00,2.30,0.00,0.000,6,0.000,0.063,3161,2269,1817,0,0,0,0,0,0
$FREEZE,8.59,-1.716,-1.786,2,64,0
$STATE,4529,end climb,FINISH_DEPTH_REACHED
$STATE,4529,begin subsurface finish
$FINISH1,8.6,1.026152,66
$GC,4535,0.08,66.1,8.6,-13.4,527,4583,0.90,2.38,-38.83,0.000,4,0.179,0.093,2896,3691,2763,0,0,0,0,0,0
$FINISH2,7.0
$STATE,4584,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4584,begin surface
$RAFOS_CLK,273
$RAFOS,6,1302396542,0.833333,0.817222,59,54,51,50,49,48,213,193,115,179,157,231
$RAFOS,5,1302396066,0.700000,0.685000,63,58,57,55,49,49,157,195,210,222,122,133
$RAFOS,4,1302395585,0.566667,0.551389,74,63,61,58,56,55,731,170,197,119,213,184
$RAFOS,3,1302395111,0.433333,0.419722,57,54,54,53,50,50,202,190,222,143,161,129
$RAFOS,2,1302394624,0.300000,0.284444,58,53,52,51,50,50,191,209,133,143,166,219
$RAFOS,1,1302394146,0.166667,0.151667,89,66,61,60,53,51,586,195,209,131,170,144
$RAFOS,0,1302393666,0.033333,0.018333,67,59,57,55,55,53,191,154,418,214,163,136
$RAFOS_FIX,6655.218262,-6015.372070,090411,202032,5,104,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.42
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.4
$24V_AH,22.3,46.266
$10V_AH,10.2,24.963
$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,3.325,62.025,388.150,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1285.840,2010.867,404.559,887.381,83.630,0.000,929.616,0.000,885.535,2520.000,2.612,0.000
$DEVICE_MAMPS,218.790,92.565,1121.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.191,395.138,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20133,535
$CAP_FILE_SIZE,63635,0
$CFSIZE,260165632,230027264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.8
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5