version: 66.08
glider: 141
mission: 15
dive: 388
start: 4 12 111 19 40 48
data:
$ID,141
$MISSION,15
$DIVE,388
$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,8.92
$_SM_ANGLEo,-3.6
$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,-6.80,0.000,2,0.000,0.000,2902,2276,2962,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.2,-0.0,1,53,0.68,2.80,-18.35,0.000,4,0.104,0.096,2667,3900,3629,0,0,0,0,0,0
$GC,99,-0.50,-146.0,19.9,-17.8,13,107,0.12,2.25,0.00,0.000,6,0.226,0.054,2693,2490,3631,0,0,0,0,0,0
$GC,446,-0.42,-146.0,78.4,-16.7,74,453,0.12,2.30,0.00,0.000,4,0.233,0.073,2722,1073,3630,0,0,0,0,0,0
$GC,495,-0.47,-146.0,84.9,-11.6,82,502,0.00,2.30,0.00,0.000,6,0.000,0.069,2722,2496,3631,0,0,0,0,0,0
$GC,829,-0.51,-146.0,121.7,-10.6,124,833,0.00,2.33,0.00,0.000,4,0.000,0.086,2722,3900,3630,0,0,0,0,0,0
$GC,906,-0.59,-146.0,130.0,-10.2,130,914,0.15,2.22,0.00,0.000,6,0.123,0.054,2671,2488,3630,0,0,0,0,0,0
$GC,1232,-0.51,-146.0,174.3,-13.3,161,1236,0.00,2.25,0.00,0.000,4,0.000,0.071,2671,1081,3630,0,0,0,0,0,0
$GC,1294,-0.51,-146.0,182.7,-12.3,166,1298,0.00,2.30,0.00,0.000,6,0.000,0.069,2671,2488,3630,0,0,0,0,0,0
$GC,1621,-0.46,-146.0,225.3,-13.1,196,1626,0.17,2.35,0.00,0.000,4,0.218,0.085,2713,3902,3630,0,0,0,0,0,0
$GC,1700,-0.55,-146.0,233.3,-8.6,202,1706,0.00,2.25,0.00,0.000,6,0.000,0.054,2713,2486,3629,0,0,0,0,0,0
$STATE,1906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1906,begin apogee
$GC,1911,-0.12,0.0,250.5,8.4,222,2042,0.35,0.00,120.90,1.117,6,0.198,0.000,2813,2257,3029,0,0,0,0,0,0
$STATE,2043,end apogee,CONTROL_FINISHED_OK
$STATE,2043,begin climb
$GC,2045,0.62,146.0,255.5,0.0,234,2180,0.82,2.50,124.82,1.063,4,0.158,0.077,3062,881,2433,0,0,0,0,0,0
$GC,2193,0.69,203.4,250.7,7.3,247,2251,0.00,2.50,52.28,1.020,6,0.000,0.062,3062,2273,2200,0,0,0,0,0,0
$GC,2572,0.69,206.4,213.1,9.9,282,2576,0.00,2.42,0.00,0.000,4,0.000,0.076,3062,3694,2190,0,0,0,0,0,0
$GC,2584,0.70,211.4,211.9,9.8,283,2596,0.00,2.38,6.65,0.825,6,0.000,0.060,3072,2281,2168,0,0,0,0,0,0
$GC,2913,0.70,211.4,178.1,10.1,314,2917,0.00,2.35,0.00,0.000,4,0.000,0.078,3083,865,2165,0,0,0,0,0,0
$GC,2925,0.70,211.4,176.9,10.2,315,2929,0.00,2.33,0.00,0.000,6,0.000,0.061,3083,2285,2164,0,0,0,0,0,0
$GC,3250,0.72,226.2,144.0,9.3,345,3273,0.00,2.38,14.60,0.966,4,0.000,0.076,3083,3681,2106,0,0,0,0,0,0
$GC,3278,0.73,234.1,141.2,9.6,347,3296,0.00,2.33,8.82,0.885,6,0.000,0.061,3093,2264,2074,0,0,0,0,0,0
$GC,3614,0.73,234.1,107.5,10.1,379,3619,0.00,2.30,0.00,0.000,4,0.000,0.076,3104,865,2070,0,0,0,0,0,0
$GC,3641,0.73,234.1,104.7,10.0,381,3648,0.00,2.33,0.00,0.000,6,0.000,0.062,3103,2274,2069,0,0,0,0,0,0
$GC,3982,0.76,259.0,72.0,8.9,438,4012,0.00,2.35,23.00,0.973,4,0.000,0.077,3103,3686,1973,0,0,0,0,0,0
$GC,4019,0.77,266.6,68.4,9.6,444,4033,0.00,2.33,8.60,0.858,6,0.000,0.062,3112,2274,1943,0,0,0,0,0,0
$GC,4370,0.77,271.5,33.4,9.8,506,4383,0.00,2.38,4.47,0.756,4,0.000,0.076,3123,866,1923,0,0,0,0,0,0
$GC,4436,0.80,274.7,26.9,9.8,517,4444,0.00,2.30,1.67,0.151,6,0.000,0.063,3123,2276,1910,0,0,0,0,0,0
$FREEZE,8.55,-1.720,-1.773,2,114,0
$STATE,4617,end climb,FINISH_DEPTH_REACHED
$STATE,4617,begin subsurface finish
$FINISH1,8.6,1.025959,76
$GC,4624,0.09,75.5,8.6,-9.8,549,4665,0.73,2.40,-30.50,0.000,4,0.166,0.093,2903,3686,2725,0,0,0,0,0,0
$FINISH2,7.5
$STATE,4666,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4666,begin surface
$RAFOS_CLK,279
$RAFOS,6,1302641341,20.833334,20.816944,128,68,59,58,57,52,760,220,193,176,206,160
$RAFOS,5,1302640866,20.700001,20.684999,85,61,59,57,54,54,957,212,192,222,151,163
$RAFOS,4,1302640390,20.566668,20.552778,60,57,54,48,48,46,205,193,117,137,160,147
$RAFOS,3,1302639905,20.433332,20.418056,69,65,47,46,46,45,216,173,127,73,147,580
$RAFOS,2,1302639422,20.299999,20.283890,61,59,57,53,50,48,201,191,178,133,153,218
$RAFOS,1,1302638945,20.166666,20.151388,78,63,60,60,53,51,731,183,198,115,218,208
$RAFOS,0,1302638467,20.033333,20.018612,67,58,58,58,57,55,180,166,149,208,125,224
$RAFOS_FIX,6714.806152,-42012.679688,120411,202012,3,97,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$24V_AH,22.2,52.011
$10V_AH,10.2,26.733
$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,3.150,59.250,365.825,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1328.740,2068.820,387.239,900.168,83.006,0.000,914.892,0.000,895.569,2520.000,2.611,0.000
$DEVICE_MAMPS,233.325,95.625,1116.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.302,412.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20117,556
$CAP_FILE_SIZE,64517,0
$CFSIZE,260165632,228192256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.7
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5