version: 66.08
glider: 141
mission: 15
dive: 350
start: 4 10 111 16 16 51
data:
$ID,141
$MISSION,15
$DIVE,350
$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,22
$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,7.34
$_SM_ANGLEo,-2.4
$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,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,-6.60,0.000,2,0.000,0.000,2896,3690,2946,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.7,-0.0,1,59,0.65,4.30,-20.73,0.000,4,0.115,0.073,2673,1078,3629,0,0,0,0,0,0
$GC,178,-0.55,-146.0,31.7,-15.8,27,184,0.00,2.30,0.00,0.000,6,0.000,0.069,2673,2488,3630,0,0,0,0,0,0
$GC,522,-0.41,-146.0,96.9,-18.5,88,530,0.22,2.35,0.00,0.000,4,0.236,0.083,2726,3905,3630,0,0,0,0,0,0
$GC,616,-0.46,-146.0,109.2,-10.4,98,620,0.00,2.25,0.00,0.000,6,0.000,0.054,2725,2484,3630,0,0,0,0,0,0
$GC,946,-0.51,-146.0,142.8,-10.1,129,950,0.00,2.25,0.00,0.000,4,0.000,0.073,2726,1083,3630,0,0,0,0,0,0
$GC,1008,-0.58,-146.0,148.9,-9.6,134,1013,0.15,2.30,0.00,0.000,6,0.128,0.070,2677,2499,3629,0,0,0,0,0,0
$GC,1333,-0.53,-146.0,192.3,-12.9,164,1337,0.00,2.35,0.00,0.000,4,0.000,0.085,2677,3909,3629,0,0,0,0,0,0
$GC,1437,-0.53,-146.0,205.6,-12.3,173,1444,0.00,2.28,0.00,0.000,6,0.000,0.054,2677,2495,3629,0,0,0,0,0,0
$GC,1763,-0.49,-146.0,245.3,-12.1,204,1767,0.00,2.28,0.00,0.000,4,0.000,0.073,2677,1075,3629,0,0,0,0,0,0
$STATE,1801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1801,begin apogee
$GC,1807,-0.12,0.0,250.1,11.5,207,1940,0.50,0.00,120.62,1.119,6,0.207,0.000,2814,2275,3030,0,0,0,0,0,0
$STATE,1941,end apogee,CONTROL_FINISHED_OK
$STATE,1941,begin climb
$GC,1943,0.62,146.0,255.2,0.0,219,2078,0.82,2.67,125.10,1.062,4,0.161,0.076,3062,868,2433,0,0,0,0,0,0
$GC,2130,0.63,174.1,246.9,8.7,236,2164,0.00,2.50,25.65,1.000,6,0.000,0.063,3062,2278,2320,0,0,0,0,0,0
$GC,2482,0.64,187.0,212.9,9.4,269,2499,0.00,2.47,11.73,0.933,4,0.000,0.077,3062,3694,2267,0,0,0,0,0,0
$GC,2549,0.58,187.0,205.4,11.7,274,2556,0.00,2.40,0.00,0.000,6,0.000,0.063,3072,2271,2266,0,0,0,0,0,0
$GC,2874,0.56,187.0,171.9,10.0,305,2878,0.00,2.40,0.00,0.000,4,0.000,0.074,3072,3692,2264,0,0,0,0,0,0
$GC,2896,0.51,187.0,169.5,10.4,306,2904,0.20,2.35,0.00,0.000,6,0.186,0.061,3031,2271,2264,0,0,0,0,0,0
$GC,3222,0.65,247.5,146.6,7.2,337,3287,0.12,2.47,54.40,1.011,4,0.111,0.077,3096,863,2019,0,0,0,0,0,0
$GC,3348,0.65,247.5,133.2,10.9,348,3355,0.00,2.40,0.00,0.000,6,0.000,0.063,3096,2273,2014,0,0,0,0,0,0
$GC,3674,0.68,269.5,100.0,9.0,379,3703,0.00,2.42,19.88,0.965,4,0.000,0.078,3097,3684,1930,0,0,0,0,0,0
$GC,3721,0.68,274.7,95.6,9.8,386,3734,0.00,2.35,6.22,0.793,6,0.000,0.064,3107,2277,1909,0,0,0,0,0,0
$GC,4073,0.70,274.7,60.1,10.3,448,4080,0.00,2.35,0.00,0.000,4,0.000,0.079,3114,862,1906,0,0,0,0,0,0
$GC,4104,0.74,274.7,56.8,10.6,453,4111,0.00,2.30,0.00,0.000,6,0.000,0.063,3114,2278,1905,0,0,0,0,0,0
$GC,4449,0.75,288.8,22.5,9.3,514,4462,0.00,2.40,7.25,0.884,4,0.000,0.080,3114,3686,1851,0,0,0,0,0,0
$GC,4469,0.75,288.8,20.5,10.2,517,4477,0.00,2.30,0.00,0.000,6,0.000,0.064,3124,2273,1850,0,0,0,0,0,0
$FREEZE,8.46,-1.747,-1.779,2,76,0
$STATE,4584,end climb,FINISH_DEPTH_REACHED
$STATE,4585,begin subsurface finish
$FINISH1,8.5,1.026043,71
$GC,4591,0.09,71.4,8.5,-10.3,537,4633,0.75,2.45,-34.90,0.000,4,0.166,0.094,2898,3690,2741,0,0,0,0,0,0
$FINISH2,7.0
$STATE,4634,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4634,begin surface
$RAFOS_CLK,275
$RAFOS,6,1302454146,16.833334,16.818333,67,59,56,52,51,49,217,188,144,133,200,165
$RAFOS,5,1302453663,16.700001,16.684166,110,71,59,57,55,53,965,166,209,188,139,220
$RAFOS,4,1302453183,16.566668,16.550833,163,59,58,56,54,53,755,195,217,172,182,144
$RAFOS,3,1302452703,16.433332,16.417500,65,62,57,54,53,49,186,196,207,168,146,126
$RAFOS,2,1302452243,16.299999,16.289722,64,61,56,54,54,52,181,649,121,204,162,193
$RAFOS,1,1302451746,16.166666,16.151667,112,61,60,60,59,56,623,200,215,162,153,187
$RAFOS_FIX,42629.566406,66000.671875,100411,161656,4,122,0.01
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.75
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.3
$24V_AH,22.4,47.676
$10V_AH,10.1,25.388
$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,3.425,60.900,370.850,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1281.936,2042.480,400.708,909.798,84.339,0.000,938.748,0.000,904.947,1800.000,2.610,0.000
$DEVICE_MAMPS,236.385,94.095,1119.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.913,400.602,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20073,544
$CAP_FILE_SIZE,63999,0
$CFSIZE,260165632,229588992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.3
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5