version: 66.08
glider: 141
mission: 15
dive: 330
start: 4 9 111 12 57 56
data:
$ID,141
$MISSION,15
$DIVE,330
$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,18
$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,2.23
$_SM_ANGLEo,8.0
$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,-146.0,0.0,0.0,0,137,0.00,0.00,-119.62,0.000,2,0.000,0.000,3113,3690,3456,0,0,0,0,0,0
$GC,141,-0.62,-146.0,5.1,-8.1,21,161,1.48,4.35,-6.85,0.000,4,0.173,0.071,2673,1072,3628,0,0,0,0,0,0
$GC,280,-0.56,-146.0,24.9,-15.9,45,287,0.00,2.30,0.00,0.000,6,0.000,0.067,2673,2490,3628,0,0,0,0,0,0
$GC,624,-0.42,-146.0,89.2,-18.6,106,632,0.20,2.38,0.00,0.000,4,0.233,0.082,2720,3906,3628,0,0,0,0,0,0
$GC,706,-0.44,-146.0,100.6,-12.2,120,711,0.00,2.28,0.00,0.000,6,0.000,0.054,2720,2475,3629,0,0,0,0,0,0
$GC,1033,-0.47,-146.0,138.6,-10.5,150,1037,0.00,2.22,0.00,0.000,4,0.000,0.070,2720,1083,3628,0,0,0,0,0,0
$GC,1118,-0.53,-146.0,148.3,-11.6,157,1122,0.00,2.30,0.00,0.000,6,0.000,0.067,2720,2491,3628,0,0,0,0,0,0
$GC,1443,-0.58,-146.0,179.9,-9.6,187,1448,0.12,2.35,0.00,0.000,4,0.132,0.084,2678,3905,3628,0,0,0,0,0,0
$GC,1516,-0.58,-146.0,188.8,-12.4,193,1520,0.00,2.25,0.00,0.000,6,0.000,0.054,2678,2487,3628,0,0,0,0,0,0
$GC,1842,-0.53,-146.0,230.4,-11.8,223,1846,0.00,2.25,0.00,0.000,4,0.000,0.069,2677,1083,3627,0,0,0,0,0,0
$GC,1926,-0.53,-146.0,240.6,-11.8,230,1933,0.00,2.28,0.00,0.000,6,0.000,0.066,2678,2496,3627,0,0,0,0,0,0
$STATE,2015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2015,begin apogee
$GC,2021,-0.12,0.0,250.8,11.6,239,2147,0.50,0.00,120.32,1.121,6,0.213,0.000,2813,2263,3029,0,0,0,0,0,0
$STATE,2148,end apogee,CONTROL_FINISHED_OK
$STATE,2148,begin climb
$GC,2150,0.62,146.0,256.1,0.0,250,2283,0.82,2.62,124.35,1.069,4,0.159,0.076,3061,877,2433,0,0,0,0,0,0
$GC,2311,0.64,194.0,249.5,7.8,264,2362,0.00,2.47,43.75,1.030,6,0.000,0.060,3061,2273,2237,0,0,0,0,0,0
$GC,2679,0.67,219.2,216.5,8.8,299,2707,0.00,2.47,22.30,1.002,4,0.000,0.075,3061,3693,2135,0,0,0,0,0,0
$GC,2735,0.65,219.2,210.9,10.9,303,2742,0.00,2.42,0.00,0.000,6,0.000,0.061,3071,2284,2133,0,0,0,0,0,0
$GC,3061,0.65,219.7,177.6,10.0,334,3066,0.00,2.40,0.00,0.000,4,0.000,0.076,3081,861,2130,0,0,0,0,0,0
$GC,3102,0.68,219.7,173.2,10.4,337,3106,0.00,2.33,0.00,0.000,6,0.000,0.060,3082,2278,2129,0,0,0,0,0,0
$GC,3427,0.69,228.1,139.7,9.6,367,3440,0.00,2.40,8.25,0.900,4,0.000,0.075,3082,3687,2099,0,0,0,0,0,0
$GC,3510,0.65,228.1,130.4,12.5,374,3514,0.00,2.33,0.00,0.000,6,0.000,0.061,3092,2274,2099,0,0,0,0,0,0
$GC,3835,0.67,242.1,97.8,9.4,406,3855,0.00,2.40,14.20,0.970,4,0.000,0.074,3101,862,2042,0,0,0,0,0,0
$GC,3914,0.70,249.8,90.5,9.6,419,3927,0.00,2.33,8.52,0.898,6,0.000,0.060,3101,2281,2011,0,0,0,0,0,0
$GC,4266,0.74,277.4,57.7,8.7,481,4301,0.00,2.40,26.55,0.977,4,0.000,0.076,3101,3690,1897,0,0,0,0,0,0
$GC,4308,0.76,293.4,53.6,9.3,488,4333,0.00,2.33,16.15,0.927,6,0.000,0.060,3111,2270,1832,0,0,0,0,0,0
$GC,4670,0.79,293.4,16.3,10.9,552,4677,0.00,2.30,0.00,0.000,4,0.000,0.075,3121,865,1825,0,0,0,0,0,0
$GC,4684,0.82,293.4,15.0,10.3,554,4691,0.00,2.28,0.00,0.000,6,0.000,0.058,3121,2278,1824,0,0,0,0,0,0
$FREEZE,8.62,-1.741,-1.780,2,56,0
$STATE,4742,end climb,FINISH_DEPTH_REACHED
$STATE,4742,begin subsurface finish
$FINISH1,8.6,1.026060,71
$GC,4748,0.09,70.6,8.6,-10.9,564,4789,0.75,0.00,-34.95,0.000,6,0.166,0.000,2896,2279,2744,0,0,0,0,0,0
$FINISH2,7.4
$STATE,4790,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4790,begin surface
$RAFOS_CLK,285
$RAFOS,6,1302353342,12.833333,12.817223,112,56,55,54,54,53,809,207,190,223,142,121
$RAFOS_FIX,150652.875000,-4987135.000000,090411,121212,4,105,0.17
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.18
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.9
$24V_AH,22.5,45.337
$10V_AH,10.0,24.675
$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,3.875,58.800,384.400,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1341.853,2080.726,472.717,935.807,81.058,0.000,1032.084,0.000,932.424,0.000,2.612,0.000
$DEVICE_MAMPS,233.325,84.150,1121.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.611,418.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20144,571
$CAP_FILE_SIZE,63500,0
$CFSIZE,260165632,230326272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.3
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5