version: 66.08
glider: 141
mission: 15
dive: 382
start: 4 12 111 11 28 8
data:
$ID,141
$MISSION,15
$DIVE,382
$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,-37735.848
$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,19
$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,9.29
$_SM_ANGLEo,-3.2
$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,-6.72,0.000,2,0.000,0.000,2898,3686,2964,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.3,-0.0,1,57,0.65,4.38,-18.33,0.000,4,0.106,0.079,2668,1075,3630,0,0,0,0,0,0
$GC,204,-0.55,-146.0,38.3,-16.5,32,211,0.00,2.33,0.00,0.000,6,0.000,0.075,2668,2489,3631,0,0,0,0,0,0
$GC,550,-0.41,-146.0,101.0,-19.4,93,554,0.22,2.38,0.00,0.000,4,0.225,0.088,2722,3909,3631,0,0,0,0,0,0
$GC,652,-0.47,-146.0,114.1,-10.9,101,658,0.00,2.28,0.00,0.000,6,0.000,0.060,2722,2477,3632,0,0,0,0,0,0
$GC,977,-0.51,-146.0,147.3,-10.0,132,981,0.00,2.25,0.00,0.000,4,0.000,0.075,2722,1080,3630,0,0,0,0,0,0
$GC,1010,-0.58,-146.0,150.7,-9.9,134,1017,0.15,2.33,0.00,0.000,6,0.125,0.072,2672,2494,3630,0,0,0,0,0,0
$GC,1335,-0.52,-146.0,196.1,-13.6,165,1339,0.00,2.35,0.00,0.000,4,0.000,0.090,2672,3899,3630,0,0,0,0,0,0
$GC,1462,-0.52,-146.0,212.4,-12.7,176,1469,0.00,2.28,0.00,0.000,6,0.000,0.060,2672,2479,3630,0,0,0,0,0,0
$STATE,1766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1766,begin apogee
$GC,1771,-0.12,0.0,250.6,12.1,205,1903,0.52,0.00,121.43,1.121,6,0.207,0.000,2815,2267,3029,0,0,0,0,0,0
$STATE,1904,end apogee,CONTROL_FINISHED_OK
$STATE,1904,begin climb
$GC,1906,0.62,146.0,256.9,0.0,217,2041,0.82,2.65,125.55,1.069,4,0.162,0.080,3061,877,2433,0,0,0,0,0,0
$GC,2048,0.67,205.0,251.9,7.3,230,2108,0.00,2.55,53.92,1.027,6,0.000,0.065,3061,2270,2194,0,0,0,0,0,0
$GC,2427,0.67,207.1,213.9,9.9,265,2431,0.00,2.45,0.00,0.000,4,0.000,0.080,3061,3693,2183,0,0,0,0,0,0
$GC,2465,0.65,207.1,209.7,11.5,268,2472,0.00,2.40,0.00,0.000,6,0.000,0.066,3071,2277,2182,0,0,0,0,0,0
$GC,2789,0.65,207.1,175.7,10.4,299,2794,0.00,2.35,0.00,0.000,4,0.000,0.080,3082,865,2181,0,0,0,0,0,0
$GC,2799,0.65,207.1,174.5,10.1,299,2807,0.00,2.35,0.00,0.000,6,0.000,0.065,3082,2283,2180,0,0,0,0,0,0
$GC,3125,0.66,216.0,142.0,9.6,330,3140,0.00,2.38,8.85,0.913,4,0.000,0.080,3082,3683,2148,0,0,0,0,0,0
$GC,3182,0.62,216.0,135.8,11.9,335,3186,0.00,2.33,0.00,0.000,6,0.000,0.065,3092,2269,2148,0,0,0,0,0,0
$GC,3512,0.65,244.0,103.5,8.7,366,3546,0.00,2.35,26.58,0.998,4,0.000,0.077,3101,862,2033,0,0,0,0,0,0
$GC,3552,0.69,278.2,100.0,8.4,369,3593,0.00,2.35,32.58,0.976,6,0.000,0.063,3101,2279,1894,0,0,0,0,0,0
$GC,3930,0.75,290.8,63.5,9.4,436,3947,0.00,0.00,11.25,0.915,6,0.000,0.000,3101,2279,1844,0,0,0,0,0,0
$GC,4288,0.81,298.9,29.0,9.6,499,4301,0.00,2.40,4.22,0.769,4,0.000,0.079,3111,872,1810,0,0,0,0,0,0
$GC,4308,0.89,307.6,26.8,9.6,502,4322,0.12,2.30,4.93,0.791,6,0.122,0.064,3158,2278,1774,0,0,0,0,0,0
$FREEZE,8.79,-1.744,-1.775,2,108,0
$STATE,4451,end climb,FINISH_DEPTH_REACHED
$STATE,4451,begin subsurface finish
$FINISH1,8.8,1.025989,74
$GC,4456,0.09,74.1,8.8,-11.7,527,4504,0.85,2.38,-37.35,0.000,4,0.169,0.097,2903,3690,2731,0,0,0,0,0,0
$FINISH2,7.2
$STATE,4504,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4505,begin surface
$RAFOS_CLK,265
$RAFOS,4,1302611582,12.566667,12.550555,73,62,54,54,54,53,799,196,121,209,150,165
$RAFOS,3,1302611102,12.433333,12.417222,63,62,62,59,53,51,207,186,134,165,218,78
$RAFOS,2,1302610630,12.300000,12.286111,66,66,64,59,59,59,187,226,172,161,204,145
$RAFOS,1,1302610146,12.166667,12.151667,63,62,60,56,52,52,143,162,190,199,217,712
$RAFOS,0,1302609663,12.033333,12.017500,69,61,60,53,52,52,209,116,173,188,142,132
$RAFOS_FIX,6709.554688,-222019.468750,120411,040444,4,96,0.02
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.029211
$HUMID,48.34
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,21.3
$24V_AH,22.1,51.342
$10V_AH,10.1,26.514
$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,3.350,52.100,389.300,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1228.014,1968.225,406.431,881.303,79.271,0.000,925.601,0.000,878.143,2160.000,2.618,0.000
$DEVICE_MAMPS,224.910,97.155,1121.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.260,389.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20104,535
$CAP_FILE_SIZE,60998,0
$CFSIZE,260165632,228421632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.6
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5