version: 66.08
glider: 141
mission: 15
dive: 102
start: 3 8 111 7 8 8
data:
$ID,141
$MISSION,15
$DIVE,102
$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,100
$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,9
$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,-25362.174
$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,36
$R_STBD_OVSHOOT,42
$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
$GPS1,080311,004240,6721.486,-5753.011,181,99.0,181,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-25.4
$GPS2,080311,004240,6721.486,-5753.011,181,99.0,181,-38.2
$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,164.3,58104,-17.5,-10.000
$D_GRID,643
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,180,0.00,0.00,-159.45,0.000,2,0.000,0.000,105,2507,3435,0,0,0,0,0,0
$GC,182,-0.62,-146.0,6.2,-12.3,28,208,12.12,2.30,-3.97,0.000,4,0.322,0.070,2657,1082,3629,0,0,0,0,0,0
$GC,343,-0.52,-146.0,44.1,-16.4,56,351,0.15,2.22,0.00,0.000,6,0.226,0.054,2693,2484,3631,0,0,0,0,0,0
$GC,689,-0.47,-146.0,93.1,-13.4,117,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2484,3630,0,0,0,0,0,0
$GC,1019,-0.44,-146.0,138.6,-13.4,152,1024,0.10,2.28,0.00,0.000,4,0.227,0.070,2716,3903,3628,0,0,0,0,0,0
$GC,1059,-0.52,-146.0,143.4,-11.1,155,1063,0.00,2.15,0.00,0.000,6,0.000,0.041,2717,2488,3628,0,0,0,0,0,0
$GC,1390,-0.56,-146.0,176.6,-9.3,186,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2487,3628,0,0,0,0,0,0
$GC,1712,-0.62,-146.0,203.6,-8.1,216,1716,0.15,2.20,0.00,0.000,4,0.113,0.057,2664,1086,3628,0,0,0,0,0,0
$GC,1732,-0.62,-146.0,206.3,-10.6,217,1740,0.00,2.22,0.00,0.000,6,0.000,0.052,2664,2491,3628,0,0,0,0,0,0
$GC,2060,-0.55,-146.0,247.7,-12.7,248,2064,0.00,2.22,0.00,0.000,4,0.000,0.065,2664,3907,3629,0,0,0,0,0,0
$GC,2100,-0.51,-146.0,253.1,-12.6,251,2104,0.12,2.15,0.00,0.000,6,0.210,0.038,2693,2479,3629,0,0,0,0,0,0
$GC,2425,-0.51,-146.0,287.4,-9.8,281,2429,0.00,2.25,0.00,0.000,4,0.000,0.063,2693,3906,3630,0,0,0,0,0,0
$GC,2435,-0.51,-146.0,288.5,-9.4,281,2442,0.00,2.12,0.00,0.000,6,0.000,0.035,2693,2483,3630,0,0,0,0,0,0
$GC,2760,-0.51,-146.0,322.3,-9.6,312,2765,0.00,2.25,0.00,0.000,4,0.000,0.063,2693,3900,3632,0,0,0,0,0,0
$GC,2818,-0.57,-146.0,328.0,-9.3,317,2822,0.00,2.12,0.00,0.000,6,0.000,0.038,2693,2485,3632,0,0,0,0,0,0
$STATE,3136,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3136,begin apogee
$GC,3141,-0.12,0.0,362.3,11.1,347,3264,0.40,0.00,116.78,1.100,6,0.181,0.000,2814,2254,3032,0,0,0,0,0,0
$STATE,3265,end apogee,CONTROL_FINISHED_OK
$STATE,3265,begin climb
$GC,3267,0.62,146.0,367.5,0.0,358,3395,0.77,2.35,119.05,1.060,4,0.142,0.057,3062,900,2433,0,0,0,0,0,0
$GC,3441,0.55,146.0,355.0,12.0,374,3448,0.00,2.28,0.00,0.000,6,0.000,0.046,3062,2280,2429,0,0,0,0,0,0
$GC,3767,0.44,146.0,317.0,10.4,405,3771,0.20,2.28,0.00,0.000,4,0.182,0.057,3010,3693,2426,0,0,0,0,0,0
$GC,3844,0.43,161.5,309.8,9.3,411,3862,0.00,2.20,13.15,0.935,6,0.000,0.041,3018,2290,2371,0,0,0,0,0,0
$GC,4180,0.46,185.6,280.3,8.9,443,4203,0.00,0.00,21.15,0.978,6,0.000,0.000,3018,2290,2273,0,0,0,0,0,0
$GC,4520,0.46,186.7,245.9,9.9,475,4524,0.00,2.22,0.00,0.000,4,0.000,0.056,3018,3689,2269,0,0,0,0,0,0
$GC,4559,0.46,186.7,241.4,11.6,478,4563,0.00,2.20,0.00,0.000,6,0.000,0.041,3028,2272,2269,0,0,0,0,0,0
$GC,4885,0.46,186.7,204.0,11.3,508,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2272,2268,0,0,0,0,0,0
$GC,5202,0.46,186.7,168.7,10.6,538,5206,0.00,2.17,0.00,0.000,4,0.000,0.057,3038,869,2268,0,0,0,0,0,0
$GC,5246,0.49,186.7,163.9,10.5,541,5254,0.00,2.20,0.00,0.000,6,0.000,0.043,3038,2288,2267,0,0,0,0,0,0
$GC,5573,0.49,186.7,129.5,10.2,572,5578,0.00,2.15,0.00,0.000,4,0.000,0.057,3038,3691,2267,0,0,0,0,0,0
$GC,5634,0.44,186.7,122.1,12.1,577,5642,0.15,2.15,0.00,0.000,6,0.186,0.040,3009,2269,2268,0,0,0,0,0,0
$GC,5963,0.54,216.5,94.8,8.6,613,5999,0.00,2.25,26.35,0.903,4,0.000,0.056,3015,877,2145,0,0,0,0,0,0
$GC,6034,0.69,247.2,88.9,8.6,625,6067,0.20,2.20,26.90,0.895,6,0.089,0.042,3096,2284,2022,0,0,0,0,0,0
$GC,6404,0.66,247.2,38.0,13.2,690,6411,0.00,2.20,0.00,0.000,4,0.000,0.056,3096,3680,2016,0,0,0,0,0,0
$GC,6562,0.60,247.2,14.7,14.2,718,6570,0.17,2.15,0.00,0.000,6,0.180,0.041,3060,2276,2015,0,0,0,0,0,0
$FREEZE,8.87,-1.297,-1.828,3,4,0
$FREEZE,8.16,-1.297,-1.828,3,4,0
$FREEZE,7.77,-1.299,-1.827,3,4,0
$FREEZE,7.31,-1.302,-1.827,3,4,0
$FREEZE,6.80,-1.301,-1.827,3,4,0
$FREEZE,6.36,-1.303,-1.826,3,4,0
$FREEZE,5.97,-1.332,-1.826,3,4,0
$FREEZE,5.50,-1.319,-1.825,3,4,0
$FREEZE,5.03,-1.311,-1.825,3,4,0
$FREEZE,4.36,-1.314,-1.825,3,4,0
$FREEZE,3.86,-1.325,-1.824,3,4,0
$FREEZE,3.37,-1.327,-1.824,3,4,0
$FREEZE,2.95,-1.334,-1.824,3,4,0
$STATE,6679,end climb,SURFACE_DEPTH_REACHED
$STATE,6679,begin surface coast
$FREEZE,2.28,-1.337,-1.823,3,4,0
$FREEZE,1.78,-1.342,-1.822,3,4,0
$FREEZE,1.58,-1.369,-1.823,3,4,0
$FREEZE,1.54,-1.369,-1.823,3,4,0
$FREEZE,1.59,-1.370,-1.823,3,4,0
$FREEZE,1.59,-1.359,-1.822,3,4,0
$FINISH,1.6,1.026727
$STATE,6712,end surface coast,CONTROL_FINISHED_OK
$STATE,6712,begin surface
$SM_CCo,6728,135.20,0.064,0,0,751,559.04
$SM_GC,2.88,0.00,0.00,135.20,0.000,0.000,0.064,107,2508,751,-8.62,0.51,559.04
$RAFOS_CLK,391
$RAFOS,6,1299574145,8.833333,8.818055,130,61,59,56,54,52,683,209,223,124,199,137
$RAFOS,5,1299573665,8.700000,8.684722,100,64,61,56,55,52,675,199,121,225,160,131
$RAFOS,4,1299573182,8.566667,8.550555,56,55,54,53,53,51,188,208,162,130,231,218
$RAFOS,3,1299572704,8.433333,8.417778,61,60,59,58,55,53,157,170,212,137,191,222
$RAFOS,2,1299572223,8.300000,8.284166,66,62,55,52,52,51,209,200,113,160,227,170
$RAFOS,1,1299571746,8.166667,8.151667,62,57,56,53,52,50,216,139,173,191,157,231
$RAFOS,0,1299571265,8.033334,8.018056,60,60,57,55,54,53,155,185,174,165,219,138
$RAFOS_FIX,6720.882324,-5750.747559,080311,080856,2,115,0.07
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026215
$HUMID,42.79
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.7
$ALTIM_BOTTOM_PING,350.6,26.0
$24V_AH,23.7,17.242
$10V_AH,10.3,9.033
$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,22.900,58.150,323.375,135.200,0.000,98.808,17.132,0.000,1.250,0.000,183.288,1749.308,3430.587,585.926,1486.876,320.040,0.000,1255.484,0.000,1176.113,2520.000,11.794,0.000
$DEVICE_MAMPS,322.065,69.615,1100.070,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.672,562.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150628
$DATA_FILE_SIZE,30078,745
$CAP_FILE_SIZE,90049,0
$CFSIZE,260165632,244817920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$GPS,080311,084656,6720.882,-5750.748,0,2115.0,0,-38.2