version: 66.08
glider: 141
mission: 15
dive: 387
start: 4 12 111 18 19 57
data:
$ID,141
$MISSION,15
$DIVE,387
$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,-38104.418
$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,9.20
$_SM_ANGLEo,-3.9
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.38,0.000,2,0.000,0.000,2901,2285,2944,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.2,-0.0,1,52,0.65,2.78,-18.85,0.000,4,0.098,0.098,2668,3899,3629,0,0,0,0,0,0
$GC,110,-0.53,-146.0,22.0,-17.9,15,116,0.00,2.28,0.00,0.000,6,0.000,0.057,2668,2482,3631,0,0,0,0,0,0
$GC,456,-0.39,-146.0,88.9,-18.2,76,463,0.25,2.38,0.00,0.000,4,0.218,0.083,2733,3900,3631,0,0,0,0,0,0
$GC,483,-0.35,-146.0,93.3,-15.8,80,489,0.00,2.25,0.00,0.000,6,0.000,0.056,2734,2480,3631,0,0,0,0,0,0
$GC,818,-0.42,-146.0,126.8,-9.2,117,822,0.00,2.28,0.00,0.000,4,0.000,0.075,2733,1081,3631,0,0,0,0,0,0
$GC,882,-0.53,-146.0,132.5,-9.0,122,887,0.12,2.33,0.00,0.000,6,0.136,0.072,2692,2493,3630,0,0,0,0,0,0
$GC,1207,-0.51,-146.0,171.0,-11.7,152,1211,0.00,2.33,0.00,0.000,4,0.000,0.087,2692,3898,3630,0,0,0,0,0,0
$GC,1296,-0.51,-146.0,180.8,-10.6,159,1304,0.00,2.22,0.00,0.000,6,0.000,0.056,2692,2489,3630,0,0,0,0,0,0
$GC,1621,-0.51,-146.0,216.4,-10.9,190,1625,0.00,2.28,0.00,0.000,4,0.000,0.073,2692,1071,3629,0,0,0,0,0,0
$GC,1654,-0.51,-146.0,220.3,-11.5,192,1661,0.00,2.30,0.00,0.000,6,0.000,0.070,2692,2494,3629,0,0,0,0,0,0
$STATE,1957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1957,begin apogee
$GC,1963,-0.12,0.0,250.6,10.1,221,2095,0.45,0.00,121.07,1.121,6,0.201,0.000,2816,2265,3030,0,0,0,0,0,0
$STATE,2095,end apogee,CONTROL_FINISHED_OK
$STATE,2095,begin climb
$GC,2097,0.62,146.0,255.8,0.0,233,2232,0.80,2.65,125.03,1.066,4,0.158,0.078,3057,876,2434,0,0,0,0,0,0
$GC,2301,0.66,177.9,246.7,8.5,251,2335,0.00,2.47,29.12,1.011,6,0.000,0.063,3058,2278,2303,0,0,0,0,0,0
$GC,2652,0.66,182.1,212.6,9.8,284,2662,0.00,0.00,4.28,0.665,6,0.000,0.000,3058,2278,2286,0,0,0,0,0,0
$GC,2982,0.70,216.4,182.0,8.4,315,3020,0.10,2.42,31.77,1.006,4,0.116,0.077,3102,3690,2146,0,0,0,0,0,0
$GC,3079,0.61,216.4,170.1,14.6,323,3084,0.20,2.35,0.00,0.000,6,0.210,0.063,3065,2277,2143,0,0,0,0,0,0
$GC,3405,0.66,233.9,138.4,9.2,353,3428,0.00,2.38,16.15,0.966,4,0.000,0.077,3073,856,2075,0,0,0,0,0,0
$GC,3478,0.72,238.7,131.3,9.8,359,3489,0.00,2.35,5.57,0.783,6,0.000,0.063,3073,2288,2057,0,0,0,0,0,0
$GC,3810,0.80,266.0,101.9,8.7,390,3843,0.15,0.00,25.95,0.980,6,0.100,0.000,3135,2288,1945,0,0,0,0,0,0
$GC,4183,0.77,266.0,57.6,11.8,454,4190,0.00,2.33,0.00,0.000,4,0.000,0.077,3135,3694,1939,0,0,0,0,0,0
$GC,4214,0.71,266.0,53.6,12.2,459,4221,0.20,2.33,0.00,0.000,6,0.199,0.062,3096,2269,1938,0,0,0,0,0,0
$GC,4561,0.82,304.6,24.0,8.2,520,4591,0.00,2.35,23.38,0.989,4,0.000,0.077,3098,859,1786,0,0,0,0,0,0
$GC,4621,0.95,326.8,18.7,9.0,530,4640,0.20,2.33,11.57,0.909,6,0.097,0.060,3173,2276,1696,0,0,0,0,0,0
$FREEZE,8.55,-1.734,-1.774,2,113,0
$STATE,4697,end climb,FINISH_DEPTH_REACHED
$STATE,4697,begin subsurface finish
$FINISH1,8.6,1.025977,75
$GC,4704,0.09,74.7,8.6,-14.5,543,4751,0.93,0.00,-40.70,0.000,6,0.174,0.000,2902,2276,2727,0,0,0,0,0,0
$FINISH2,7.1
$STATE,4752,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4752,begin surface
$RAFOS_CLK,283
$RAFOS_FIX,6628.038086,-5939.303711,120411,161612,4,110,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.67
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.7
$24V_AH,22.2,51.903
$10V_AH,10.1,26.698
$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,4.050,47.725,393.900,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1259.253,2151.170,408.973,899.041,88.925,0.000,934.612,0.000,898.968,0.000,2.613,0.000
$DEVICE_MAMPS,218.025,97.920,1121.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.887,407.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20106,551
$CAP_FILE_SIZE,60557,0
$CFSIZE,260165632,228237312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.1
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5