version: 66.08
glider: 141
mission: 15
dive: 379
start: 4 12 111 7 36 35
data:
$ID,141
$MISSION,15
$DIVE,379
$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,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,9.27
$_SM_ANGLEo,-4.4
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.80,0.000,2,0.000,0.000,2900,861,2981,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.6,-0.0,1,58,0.68,5.12,-17.52,0.000,4,0.106,0.086,2666,3899,3628,0,0,0,0,0,0
$GC,245,-0.55,-146.0,46.0,-15.9,39,252,0.00,2.28,0.00,0.000,6,0.000,0.057,2666,2485,3630,0,0,0,0,0,0
$GC,589,-0.41,-146.0,107.8,-17.9,96,593,0.22,2.30,0.00,0.000,4,0.223,0.073,2721,1080,3630,0,0,0,0,0,0
$GC,633,-0.48,-146.0,114.8,-12.7,99,640,0.00,2.30,0.00,0.000,6,0.000,0.070,2721,2490,3630,0,0,0,0,0,0
$GC,962,-0.52,-146.0,149.0,-10.7,130,966,0.00,2.38,0.00,0.000,4,0.000,0.087,2721,3907,3629,0,0,0,0,0,0
$GC,1050,-0.59,-146.0,158.7,-10.3,137,1058,0.15,2.25,0.00,0.000,6,0.126,0.055,2670,2479,3629,0,0,0,0,0,0
$GC,1376,-0.53,-146.0,202.7,-13.1,168,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2480,3629,0,0,0,0,0,0
$GC,1695,-0.48,-146.0,244.1,-12.1,198,1697,0.15,0.00,0.00,0.000,6,0.221,0.000,2705,2479,3629,0,0,0,0,0,0
$STATE,1755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1755,begin apogee
$GC,1761,-0.12,0.0,250.4,8.9,204,1892,0.38,0.00,120.90,1.127,6,0.201,0.000,2812,2265,3029,0,0,0,0,0,0
$STATE,1893,end apogee,CONTROL_FINISHED_OK
$STATE,1893,begin climb
$GC,1895,0.62,146.0,255.4,0.0,216,2030,0.82,2.65,125.07,1.073,4,0.161,0.077,3058,877,2432,0,0,0,0,0,0
$GC,2042,0.71,223.5,250.5,6.4,229,2120,0.10,2.53,70.65,1.032,6,0.118,0.063,3093,2278,2118,0,0,0,0,0,0
$GC,2440,0.69,223.5,205.0,12.0,266,2444,0.00,2.42,0.00,0.000,4,0.000,0.076,3093,3697,2106,0,0,0,0,0,0
$GC,2461,0.65,223.5,201.9,12.0,267,2469,0.12,2.40,0.00,0.000,6,0.200,0.063,3077,2287,2105,0,0,0,0,0,0
$GC,2786,0.65,225.0,167.5,9.9,298,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2287,2104,0,0,0,0,0,0
$GC,3107,0.68,247.0,137.5,9.0,328,3133,0.00,2.42,19.48,0.993,4,0.000,0.080,3085,869,2023,0,0,0,0,0,0
$GC,3163,0.74,261.4,132.2,9.3,333,3186,0.00,2.33,14.57,0.956,6,0.000,0.064,3085,2286,1963,0,0,0,0,0,0
$GC,3504,0.83,296.5,100.6,8.4,365,3545,0.12,2.35,32.90,0.986,4,0.109,0.076,3137,3684,1820,0,0,0,0,0,0
$GC,3564,0.78,296.5,93.6,12.8,374,3571,0.12,2.35,0.00,0.000,6,0.210,0.064,3121,2267,1817,0,0,0,0,0,0
$GC,3908,0.78,296.5,54.5,10.2,435,3915,0.00,2.33,0.00,0.000,4,0.000,0.080,3127,863,1813,0,0,0,0,0,0
$GC,3944,0.80,296.5,50.7,10.5,441,3951,0.00,2.33,0.00,0.000,6,0.000,0.063,3128,2282,1813,0,0,0,0,0,0
$GC,4291,0.80,296.5,13.2,11.2,502,4297,0.00,2.30,0.00,0.000,4,0.000,0.079,3128,3692,1812,0,0,0,0,0,0
$STATE,4302,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4302,begin subsurface finish
$FINISH1,11.4,1.026054,71
$GC,4311,0.09,70.9,11.4,-11.8,504,4348,0.80,2.45,-29.12,0.000,4,0.179,0.093,2902,3697,2744,0,0,0,0,0,0
$FINISH2,9.9
$STATE,4348,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4349,begin surface
$RAFOS_CLK,261
$RAFOS,5,1302597662,8.700000,8.683888,99,65,60,55,55,54,988,196,209,184,126,151
$RAFOS,4,1302597191,8.566667,8.553056,63,61,60,51,51,48,153,220,177,201,139,114
$RAFOS,3,1302596706,8.433333,8.418333,62,58,53,51,50,49,166,180,191,748,127,114
$RAFOS,2,1302596229,8.300000,8.285833,67,63,62,62,55,55,195,225,208,169,137,159
$RAFOS,1,1302595743,8.166667,8.150833,58,56,55,52,51,47,214,153,192,118,166,78
$RAFOS,0,1302595264,8.033334,8.017777,61,54,51,51,50,49,210,141,181,163,221,130
$RAFOS_FIX,6709.554688,-222019.468750,120411,040444,4,96,0.02
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.22
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,12.4
$24V_AH,22.1,50.999
$10V_AH,10.1,26.414
$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,3.675,48.150,383.575,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1178.635,1940.490,392.014,820.049,74.348,0.000,880.186,0.000,820.349,2160.000,2.606,0.000
$DEVICE_MAMPS,222.615,93.330,1126.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.331,374.412,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20131,510
$CAP_FILE_SIZE,56157,0
$CFSIZE,260165632,228532224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.5
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5