version: 66.08
glider: 141
mission: 15
dive: 349
start: 4 10 111 14 58 48
data:
$ID,141
$MISSION,15
$DIVE,349
$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,-36627.012
$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,23
$R_STBD_OVSHOOT,19
$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,8.38
$_SM_ANGLEo,-1.7
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.10,0.000,2,0.000,0.000,2902,3687,2942,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.5,-0.0,1,57,0.68,4.32,-19.73,0.000,4,0.108,0.073,2668,1075,3629,0,0,0,0,0,0
$GC,245,-0.54,-146.0,45.6,-18.6,39,252,0.00,2.30,0.00,0.000,6,0.000,0.070,2668,2489,3630,0,0,0,0,0,0
$GC,593,-0.40,-146.0,112.1,-17.7,95,598,0.25,2.35,0.00,0.000,4,0.226,0.083,2732,3905,3630,0,0,0,0,0,0
$GC,690,-0.49,-146.0,123.7,-9.8,103,694,0.00,2.25,0.00,0.000,6,0.000,0.053,2733,2477,3630,0,0,0,0,0,0
$GC,1017,-0.56,-146.0,152.9,-8.3,133,1022,0.15,2.28,0.00,0.000,4,0.123,0.072,2681,1083,3629,0,0,0,0,0,0
$GC,1136,-0.56,-146.0,167.5,-12.6,143,1140,0.00,2.30,0.00,0.000,6,0.000,0.070,2681,2493,3629,0,0,0,0,0,0
$GC,1466,-0.52,-146.0,209.0,-12.6,174,1470,0.00,2.35,0.00,0.000,4,0.000,0.085,2681,3905,3629,0,0,0,0,0,0
$GC,1577,-0.52,-146.0,222.3,-11.6,183,1585,0.00,2.28,0.00,0.000,6,0.000,0.053,2681,2484,3628,0,0,0,0,0,0
$STATE,1827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1827,begin apogee
$GC,1834,-0.12,0.0,250.6,11.2,207,1965,0.47,0.00,120.72,1.115,6,0.207,0.000,2813,2257,3030,0,0,0,0,0,0
$STATE,1966,end apogee,CONTROL_FINISHED_OK
$STATE,1966,begin climb
$GC,1968,0.62,146.0,256.0,0.0,219,2103,0.82,2.60,124.95,1.064,4,0.159,0.075,3062,877,2433,0,0,0,0,0,0
$GC,2324,0.65,193.8,232.4,7.8,251,2371,0.00,2.40,42.17,1.018,6,0.000,0.061,3062,2283,2239,0,0,0,0,0,0
$GC,2692,0.67,205.5,198.2,9.5,285,2708,0.00,2.45,10.57,0.920,4,0.000,0.076,3072,868,2192,0,0,0,0,0,0
$GC,2825,0.67,211.2,184.8,9.7,296,2836,0.00,2.38,6.82,0.843,6,0.000,0.061,3072,2284,2168,0,0,0,0,0,0
$GC,3156,0.69,221.2,152.2,9.5,327,3171,0.00,2.35,10.50,0.925,4,0.000,0.076,3072,3694,2128,0,0,0,0,0,0
$GC,3177,0.69,221.4,149.9,10.0,328,3184,0.00,2.33,0.00,0.000,6,0.000,0.058,3082,2277,2127,0,0,0,0,0,0
$GC,3502,0.73,254.9,119.5,8.5,359,3539,0.00,2.40,31.48,0.991,4,0.000,0.076,3091,859,1990,0,0,0,0,0,0
$GC,3647,0.81,288.1,106.3,8.5,372,3684,0.10,2.33,31.27,0.973,6,0.130,0.061,3132,2277,1855,0,0,0,0,0,0
$GC,4019,0.81,288.1,65.1,11.3,433,4026,0.00,2.33,0.00,0.000,4,0.000,0.073,3132,3695,1847,0,0,0,0,0,0
$GC,4044,0.78,288.1,62.0,12.7,437,4051,0.00,2.33,0.00,0.000,6,0.000,0.060,3142,2274,1846,0,0,0,0,0,0
$GC,4390,0.76,288.1,20.0,11.7,498,4397,0.12,2.30,0.00,0.000,4,0.200,0.075,3118,865,1844,0,0,0,0,0,0
$GC,4427,0.84,311.1,16.0,8.9,504,4446,0.00,2.28,10.95,0.909,6,0.000,0.060,3118,2278,1760,0,0,0,0,0,0
$FREEZE,8.49,-1.747,-1.779,2,75,1
$FREEZE,8.05,-1.747,-1.778,2,75,1
$FREEZE,7.38,-1.747,-1.778,2,75,1
$FREEZE,6.89,-1.747,-1.777,2,75,1
$STATE,4519,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4520,begin subsurface finish
$FINISH1,6.9,1.026045,71
$GC,4527,0.09,71.3,6.9,-9.8,520,4580,0.73,2.40,-46.90,0.000,4,0.158,0.090,2896,3690,2741,0,0,0,0,0,0
$FINISH2,5.0
$STATE,4581,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4581,begin surface
$RAFOS_CLK,266
$RAFOS,0,1302451266,16.033333,16.018333,101,71,64,57,50,49,674,211,193,157,140,171
$RAFOS_FIX,42603.042969,-42015.082031,100411,121244,2,98,0.01
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.028462
$HUMID,48.42
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,17.9
$24V_AH,22.4,47.567
$10V_AH,10.1,25.354
$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,3.325,51.625,389.450,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1236.528,1987.483,397.901,934.846,81.037,0.000,937.700,0.000,930.133,720.000,2.613,0.000
$DEVICE_MAMPS,225.675,89.505,1114.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.666,387.582,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20178,529
$CAP_FILE_SIZE,61718,0
$CFSIZE,260165632,229629952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.4
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5