version: 66.08
glider: 141
mission: 15
dive: 447
start: 4 21 111 3 33 5
data:
$ID,141
$MISSION,15
$DIVE,447
$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,-3
$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,-39213.566
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,210411,004322,6718.293,-5732.390,0,3131.7,0,-38.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.95
$_SM_ANGLEo,0.8
$GPS2,210411,004322,6718.293,-5732.390,0,3131.7,0,-38.9
$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,170.4,42776,-17.5,-10.000
$D_GRID,510
$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,-6.55,0.000,2,0.000,0.000,2884,3689,3128,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.0,-0.0,1,53,0.62,4.12,-14.15,0.000,4,0.111,0.051,2668,1075,3628,0,0,0,0,0,0
$GC,66,-0.57,-146.0,11.1,-9.9,7,73,0.00,2.20,0.00,0.000,6,0.000,0.050,2668,2485,3628,0,0,0,0,0,0
$GC,411,-0.47,-146.0,62.4,-15.4,68,419,0.15,2.20,0.00,0.000,4,0.220,0.054,2704,1081,3628,0,0,0,0,0,0
$GC,500,-0.49,-146.0,72.9,-10.5,83,507,0.00,2.20,0.00,0.000,6,0.000,0.053,2704,2487,3628,0,0,0,0,0,0
$GC,841,-0.49,-146.0,107.8,-10.4,137,845,0.00,2.28,0.00,0.000,4,0.000,0.070,2704,3897,3626,0,0,0,0,0,0
$GC,864,-0.52,-146.0,110.3,-10.8,139,868,0.00,2.15,0.00,0.000,6,0.000,0.041,2704,2484,3626,0,0,0,0,0,0
$GC,1196,-0.56,-146.0,143.2,-10.0,170,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2484,3625,0,0,0,0,0,0
$GC,1514,-0.63,-146.0,172.9,-8.6,200,1519,0.12,2.30,0.00,0.000,4,0.128,0.065,2661,3897,3623,0,0,0,0,0,0
$GC,1534,-0.66,-146.0,174.7,-9.4,201,1538,0.00,2.15,0.00,0.000,6,0.000,0.041,2661,2484,3623,0,0,0,0,0,0
$GC,1865,-0.61,-146.0,214.3,-11.4,232,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2484,3623,0,0,0,0,0,0
$GC,2183,-0.57,-146.0,249.8,-11.0,262,2187,0.00,2.28,0.00,0.000,4,0.000,0.063,2661,3900,3622,0,0,0,0,0,0
$GC,2234,-0.57,-146.0,255.3,-10.6,266,2239,0.00,2.15,0.00,0.000,6,0.000,0.038,2660,2482,3622,0,0,0,0,0,0
$GC,2561,-0.54,-146.0,290.3,-11.0,296,2565,0.00,2.30,0.00,0.000,4,0.000,0.064,2661,3899,3622,0,0,0,0,0,0
$GC,2579,-0.51,-146.0,292.4,-10.9,297,2584,0.15,2.15,0.00,0.000,6,0.192,0.037,2697,2488,3622,0,0,0,0,0,0
$STATE,2671,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2671,begin apogee
$GC,2678,-0.12,0.0,300.7,8.8,305,2800,0.40,0.00,116.93,1.079,6,0.177,0.000,2817,2262,3030,0,0,0,0,0,0
$STATE,2801,end apogee,CONTROL_FINISHED_OK
$STATE,2801,begin climb
$GC,2803,0.62,146.0,306.3,0.0,316,2933,0.75,2.40,121.43,1.028,4,0.135,0.058,3061,892,2433,0,0,0,0,0,0
$GC,3014,0.57,146.0,290.8,10.9,335,3018,0.00,2.33,0.00,0.000,6,0.000,0.044,3061,2279,2428,0,0,0,0,0,0
$GC,3339,0.51,146.0,253.9,11.3,365,3344,0.12,2.28,0.00,0.000,4,0.187,0.060,3030,3686,2427,0,0,0,0,0,0
$GC,3448,0.44,146.0,241.7,11.2,374,3452,0.12,2.17,0.00,0.000,6,0.194,0.043,3009,2288,2426,0,0,0,0,0,0
$GC,3778,0.54,188.0,213.8,8.1,405,3818,0.00,0.00,35.08,0.969,6,0.000,0.000,3009,2287,2262,0,0,0,0,0,0
$GC,4137,0.65,215.1,183.7,8.7,439,4167,0.17,0.00,24.08,0.937,6,0.085,0.000,3086,2287,2152,0,0,0,0,0,0
$GC,4486,0.58,215.1,133.5,14.0,472,4488,0.12,0.00,0.00,0.000,6,0.187,0.000,3056,2287,2148,0,0,0,0,0,0
$GC,4804,0.64,244.2,101.9,8.7,502,4838,0.00,2.30,25.62,0.903,4,0.000,0.059,3056,3685,2033,0,0,0,0,0,0
$GC,4885,0.64,244.2,93.8,11.5,514,4892,0.00,2.20,0.00,0.000,6,0.000,0.043,3064,2275,2031,0,0,0,0,0,0
$GC,5233,0.71,259.2,62.0,9.3,575,5252,0.00,2.30,13.93,0.860,4,0.000,0.058,3071,866,1973,0,0,0,0,0,0
$GC,5328,0.82,270.8,52.8,9.5,591,5347,0.15,2.22,11.75,0.831,6,0.096,0.044,3136,2287,1925,0,0,0,0,0,0
$FREEZE,8.93,-1.701,-1.837,3,48,0
$STATE,5642,end climb,FINISH_DEPTH_REACHED
$STATE,5642,begin subsurface finish
$FINISH1,8.9,1.026871,31
$GC,5648,0.04,30.8,8.9,-13.8,646,5690,0.82,2.28,-32.45,0.000,4,0.166,0.075,2886,3680,2907,0,0,0,0,0,0
$FINISH2,6.5
$STATE,5691,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5691,begin surface
$RAFOS_CLK,304
$RAFOS,6,1303361342,4.833333,4.817222,161,66,61,61,58,52,744,158,214,175,191,116
$RAFOS,5,1303360866,4.700000,4.685000,116,76,57,55,54,53,656,213,173,112,135,186
$RAFOS,4,1303360391,4.566667,4.553056,141,70,61,56,55,54,813,179,195,144,158,124
$RAFOS,3,1303359909,4.433333,4.419167,84,74,61,58,57,55,992,201,191,154,174,224
$RAFOS,2,1303359422,4.300000,4.283889,62,59,59,58,57,54,167,206,217,191,135,148
$RAFOS,1,1303358945,4.166667,4.151389,65,59,58,52,52,51,1002,187,157,223,177,145
$RAFOS,0,1303358467,4.033333,4.018611,65,60,60,57,56,51,216,203,194,170,156,118
$RAFOS_FIX,6718.862793,-5729.479980,210411,040429,5,113,0.17
$IRIDIUM_FIX,6652.93,-6021.53,130411,111123
$TT8_MAMPS,0.026215
$HUMID,45.35
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.7
$ALTIM_BOTTOM_PING,300.7,13.7
$24V_AH,22.8,59.746
$10V_AH,10.3,30.616
$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,3.725,49.250,348.800,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1559.940,2710.779,363.351,1028.172,101.361,0.000,935.388,0.000,1025.565,2520.000,7.084,0.000
$DEVICE_MAMPS,220.320,74.970,1079.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.091,487.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150520
$DATA_FILE_SIZE,23430,653
$CAP_FILE_SIZE,71354,0
$CFSIZE,260165632,224411648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.0
$GPS,210411,043329,6718.863,-5729.480,0,5113.4,0,-38.9