version: 66.08
glider: 141
mission: 15
dive: 376
start: 4 12 111 3 32 39
data:
$ID,141
$MISSION,15
$DIVE,376
$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,21
$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,9.39
$_SM_ANGLEo,-1.9
$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,-6.75,0.000,2,0.000,0.000,2899,3682,2990,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.5,-0.0,1,52,0.68,4.30,-17.48,0.000,4,0.109,0.074,2666,1078,3628,0,0,0,0,0,0
$GC,193,-0.53,-146.0,37.0,-17.7,30,200,0.00,2.33,0.00,0.000,6,0.000,0.073,2665,2498,3629,0,0,0,0,0,0
$GC,543,-0.40,-146.0,104.6,-18.1,90,548,0.25,2.35,0.00,0.000,4,0.226,0.086,2731,3907,3629,0,0,0,0,0,0
$GC,622,-0.48,-146.0,113.2,-9.2,96,629,0.00,2.25,0.00,0.000,6,0.000,0.057,2731,2485,3630,0,0,0,0,0,0
$GC,947,-0.56,-146.0,142.5,-8.9,127,952,0.15,2.30,0.00,0.000,4,0.128,0.074,2680,1071,3629,0,0,0,0,0,0
$GC,1003,-0.56,-146.0,149.0,-12.0,132,1008,0.00,2.33,0.00,0.000,6,0.000,0.072,2680,2499,3629,0,0,0,0,0,0
$GC,1329,-0.51,-146.0,189.4,-12.8,162,1333,0.00,2.33,0.00,0.000,4,0.000,0.087,2680,3902,3628,0,0,0,0,0,0
$GC,1378,-0.51,-146.0,195.7,-11.6,166,1386,0.00,2.28,0.00,0.000,6,0.000,0.057,2681,2489,3628,0,0,0,0,0,0
$GC,1704,-0.48,-146.0,234.1,-11.1,197,1710,0.00,2.28,0.00,0.000,4,0.000,0.073,2680,1079,3628,0,0,0,0,0,0
$GC,1731,-0.48,-146.0,237.6,-11.9,199,1739,0.00,2.35,0.00,0.000,6,0.000,0.071,2680,2496,3628,0,0,0,0,0,0
$STATE,1842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1843,begin apogee
$GC,1848,-0.12,0.0,250.1,11.3,210,1979,0.47,0.00,120.95,1.118,6,0.207,0.000,2811,2267,3029,0,0,0,0,0,0
$STATE,1980,end apogee,CONTROL_FINISHED_OK
$STATE,1980,begin climb
$GC,1982,0.62,146.0,255.4,0.0,222,2115,0.85,2.55,125.15,1.067,4,0.162,0.076,3065,869,2432,0,0,0,0,0,0
$GC,2173,0.59,146.0,244.9,10.1,239,2177,0.00,2.53,0.00,0.000,6,0.000,0.063,3065,2282,2427,0,0,0,0,0,0
$GC,2499,0.55,153.5,213.0,9.7,269,2512,0.00,2.40,6.30,0.822,4,0.000,0.077,3065,3688,2403,0,0,0,0,0,0
$GC,2569,0.46,153.5,205.5,11.3,275,2574,0.22,2.35,0.00,0.000,6,0.188,0.063,3019,2282,2402,0,0,0,0,0,0
$GC,2894,0.62,231.4,183.4,6.4,305,2966,0.12,0.00,69.55,1.030,6,0.112,0.000,3073,2282,2086,0,0,0,0,0,0
$GC,3283,0.65,238.9,145.8,9.7,342,3296,0.00,2.45,6.53,0.828,4,0.000,0.079,3084,863,2055,0,0,0,0,0,0
$GC,3331,0.68,238.9,140.9,10.8,346,3335,0.00,2.33,0.00,0.000,6,0.000,0.063,3084,2277,2054,0,0,0,0,0,0
$GC,3657,0.71,242.9,109.0,9.8,376,3669,0.00,2.35,4.90,0.744,4,0.000,0.078,3084,3694,2039,0,0,0,0,0,0
$GC,3704,0.71,242.9,104.2,10.4,380,3708,0.00,2.35,0.00,0.000,6,0.000,0.063,3094,2262,2038,0,0,0,0,0,0
$GC,4045,0.78,282.2,74.2,8.2,436,4087,0.00,2.50,36.85,0.990,4,0.000,0.076,3094,3697,1878,0,0,0,0,0,0
$GC,4107,0.82,289.2,68.5,9.7,446,4120,0.00,2.38,7.95,0.855,6,0.000,0.064,3104,2274,1849,0,0,0,0,0,0
$GC,4460,0.89,306.7,32.4,9.2,508,4480,0.12,2.35,11.93,0.994,4,0.114,0.077,3164,858,1777,0,0,0,0,0,0
$GC,4566,0.85,306.7,18.5,14.0,526,4573,0.00,2.35,0.00,0.000,6,0.000,0.065,3164,2282,1774,0,0,0,0,0,0
$FREEZE,8.70,-1.747,-1.781,2,102,0
$STATE,4634,end climb,FINISH_DEPTH_REACHED
$STATE,4634,begin subsurface finish
$FINISH1,8.7,1.026071,70
$GC,4641,0.09,70.1,8.7,-14.2,538,4687,0.90,0.00,-38.25,0.000,6,0.182,0.000,2900,2283,2746,0,0,0,0,0,0
$FINISH2,7.2
$STATE,4688,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4688,begin surface
$RAFOS_CLK,278
$RAFOS,5,1302583262,4.700000,4.683889,96,70,58,56,54,52,975,158,188,146,200,297
$RAFOS,4,1302582781,4.566667,4.550278,89,55,55,52,50,50,797,210,195,149,116,139
$RAFOS,3,1302582301,4.433333,4.416945,72,58,56,55,55,50,205,182,115,194,172,154
$RAFOS,2,1302581827,4.300000,4.285278,61,59,58,54,54,53,803,210,155,171,197,138
$RAFOS,1,1302581347,4.166667,4.151945,137,60,56,56,54,54,687,210,144,199,226,188
$RAFOS,0,1302580867,4.033333,4.018611,62,61,58,58,56,53,170,220,183,241,152,206
$RAFOS_FIX,6709.554688,-222019.468750,120411,040444,4,96,0.02
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.030709
$HUMID,47.71
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.2
$24V_AH,22.2,50.660
$10V_AH,10.1,26.314
$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,3.775,54.325,390.100,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1327.754,2095.303,408.042,889.636,81.003,0.000,926.877,0.000,886.806,2520.000,2.612,0.000
$DEVICE_MAMPS,225.675,87.210,1118.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.204,403.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20168,546
$CAP_FILE_SIZE,61979,0
$CFSIZE,260165632,228630528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.2
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5