version: 66.08
glider: 141
mission: 15
dive: 341
start: 4 10 111 3 57 58
data:
$ID,141
$MISSION,15
$DIVE,341
$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,22
$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,7.89
$_SM_ANGLEo,-2.5
$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,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,-6.90,0.000,2,0.000,0.000,2898,3693,2975,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.1,-0.0,1,58,0.65,4.30,-19.50,0.000,4,0.107,0.071,2671,1068,3630,0,0,0,0,0,0
$GC,155,-0.54,-146.0,28.8,-17.1,23,162,0.00,2.33,0.00,0.000,6,0.000,0.070,2671,2490,3631,0,0,0,0,0,0
$GC,500,-0.40,-146.0,92.9,-19.2,84,507,0.22,2.38,0.00,0.000,4,0.236,0.083,2725,3907,3631,0,0,0,0,0,0
$GC,597,-0.45,-146.0,105.9,-11.3,96,604,0.00,2.25,0.00,0.000,6,0.000,0.055,2725,2484,3631,0,0,0,0,0,0
$GC,924,-0.49,-146.0,140.8,-9.6,127,928,0.00,2.25,0.00,0.000,4,0.000,0.072,2725,1081,3631,0,0,0,0,0,0
$GC,1009,-0.58,-146.0,148.9,-8.5,134,1014,0.15,2.30,0.00,0.000,6,0.123,0.068,2673,2491,3630,0,0,0,0,0,0
$GC,1334,-0.51,-146.0,190.1,-12.4,164,1338,0.00,2.33,0.00,0.000,4,0.000,0.083,2673,3903,3630,0,0,0,0,0,0
$GC,1469,-0.49,-146.0,207.0,-12.0,175,1477,0.12,2.25,0.00,0.000,6,0.216,0.054,2701,2481,3630,0,0,0,0,0,0
$GC,1795,-0.51,-146.0,238.4,-9.4,206,1799,0.00,2.25,0.00,0.000,4,0.000,0.071,2701,1072,3630,0,0,0,0,0,0
$GC,1869,-0.57,-146.0,245.3,-9.6,212,1873,0.00,2.30,0.00,0.000,6,0.000,0.069,2701,2494,3629,0,0,0,0,0,0
$STATE,1926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1926,begin apogee
$GC,1932,-0.12,0.0,250.7,8.9,217,2063,0.40,0.00,121.18,1.119,6,0.203,0.000,2815,2264,3029,0,0,0,0,0,0
$STATE,2064,end apogee,CONTROL_FINISHED_OK
$STATE,2064,begin climb
$GC,2066,0.62,146.0,254.7,0.0,229,2200,0.82,2.65,124.82,1.065,4,0.161,0.076,3062,870,2433,0,0,0,0,0,0
$GC,2252,0.61,166.9,245.6,9.0,245,2280,0.00,2.47,19.55,0.988,6,0.000,0.061,3062,2273,2348,0,0,0,0,0,0
$GC,2599,0.61,185.0,213.9,9.2,278,2622,0.00,2.45,16.40,0.983,4,0.000,0.076,3062,3691,2274,0,0,0,0,0,0
$GC,2646,0.58,185.0,209.1,10.3,282,2650,0.00,2.40,0.00,0.000,6,0.000,0.061,3072,2274,2273,0,0,0,0,0,0
$GC,2971,0.57,198.9,177.1,9.4,312,2994,0.00,2.47,12.98,0.967,4,0.000,0.075,3072,3691,2219,0,0,0,0,0,0
$GC,3030,0.51,198.9,170.9,11.5,317,3035,0.20,2.38,0.00,0.000,6,0.184,0.060,3032,2264,2218,0,0,0,0,0,0
$GC,3356,0.67,258.5,146.9,7.3,347,3421,0.15,2.53,54.12,1.019,4,0.100,0.073,3095,3690,1974,0,0,0,0,0,0
$GC,3427,0.64,258.5,139.3,11.7,353,3435,0.12,2.40,0.00,0.000,6,0.198,0.060,3077,2269,1972,0,0,0,0,0,0
$GC,3753,0.74,285.5,109.0,8.8,384,3787,0.00,2.42,24.38,0.975,4,0.000,0.076,3084,862,1865,0,0,0,0,0,0
$GC,3839,0.89,323.7,101.6,8.2,391,3880,0.20,2.35,35.45,0.972,6,0.093,0.061,3158,2278,1710,0,0,0,0,0,0
$GC,4219,0.86,323.7,51.7,13.2,456,4226,0.00,2.35,0.00,0.000,4,0.000,0.075,3158,3692,1700,0,0,0,0,0,0
$GC,4255,0.79,323.7,46.3,15.8,462,4263,0.20,2.35,0.00,0.000,6,0.213,0.063,3120,2266,1699,0,0,0,0,0,0
$STATE,4576,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4576,begin subsurface finish
$FINISH1,9.8,1.026104,68
$GC,4582,0.08,68.4,9.8,-10.6,519,4624,0.65,2.33,-33.33,0.000,4,0.099,0.090,2889,864,2755,0,0,0,0,0,0
$FINISH2,9.5
$STATE,4625,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4625,begin surface
$RAFOS_CLK,278
$RAFOS,6,1302410944,4.833333,4.817778,68,63,58,57,53,52,779,203,237,180,213,138
$RAFOS,5,1302410463,4.700000,4.684166,103,56,56,53,53,52,962,219,201,166,144,119
$RAFOS,4,1302409987,4.566667,4.551944,66,55,53,52,50,49,212,186,201,1463,167,117
$RAFOS,3,1302409511,4.433333,4.419722,63,58,56,56,55,51,198,173,142,152,117,130
$RAFOS,2,1302409029,4.300000,4.285833,60,58,57,54,53,53,172,204,134,223,214,189
$RAFOS,1,1302408543,4.166667,4.150833,90,60,57,55,54,53,632,202,218,119,137,190
$RAFOS,0,1302408061,4.033333,4.016944,60,58,56,54,51,51,206,153,132,190,170,224
$RAFOS_FIX,-29301.927734,-1230014.625000,100411,040454,3,87,0.13
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026964
$HUMID,47.91
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,14.7
$24V_AH,22.4,46.624
$10V_AH,10.1,25.066
$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,3.900,56.850,408.875,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1278.417,2048.659,426.487,897.496,81.902,0.000,958.865,0.000,895.582,2520.000,2.608,0.000
$DEVICE_MAMPS,235.620,89.505,1119.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.743,388.734,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20098,526
$CAP_FILE_SIZE,65102,0
$CFSIZE,260165632,229916672
$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