version: 66.08
glider: 141
mission: 15
dive: 113
start: 3 9 111 17 21 43
data:
$ID,141
$MISSION,15
$DIVE,113
$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,400
$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,-26100.58
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,090311,124800,6726.591,-5735.958,0,2092.5,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,2.2
$GPS2,090311,124800,6726.591,-5735.958,0,2092.5,0,-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,179.8,55752,-17.5,-10.000
$D_GRID,216
$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,15,-0.62,-146.0,0.0,0.0,0,132,0.00,0.38,-112.53,0.000,6,0.000,0.153,3086,2505,3626,0,0,0,0,0,0
$GC,136,-0.62,-146.0,3.5,-7.1,20,143,1.20,0.00,0.00,0.000,6,0.099,0.000,2667,2505,3626,0,0,0,0,0,0
$GC,480,-0.53,-146.0,52.6,-16.4,81,487,0.00,2.25,0.00,0.000,4,0.000,0.072,2667,3896,3626,0,0,0,0,0,0
$GC,562,-0.49,-146.0,65.2,-14.7,95,569,0.15,2.20,0.00,0.000,6,0.208,0.047,2702,2487,3627,0,0,0,0,0,0
$GC,905,-0.49,-146.0,103.6,-10.3,153,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2487,3626,0,0,0,0,0,0
$GC,1226,-0.52,-146.0,135.1,-9.7,183,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2486,3625,0,0,0,0,0,0
$GC,1544,-0.56,-146.0,165.2,-8.4,213,1549,0.00,2.30,0.00,0.000,4,0.000,0.072,2702,3894,3624,0,0,0,0,0,0
$GC,1585,-0.63,-146.0,168.9,-8.9,216,1590,0.12,2.17,0.00,0.000,6,0.122,0.047,2660,2488,3624,0,0,0,0,0,0
$GC,1910,-0.58,-146.0,208.2,-11.8,246,1914,0.00,2.28,0.00,0.000,4,0.000,0.070,2660,3890,3624,0,0,0,0,0,0
$STATE,1968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1968,begin apogee
$GC,1976,-0.12,0.0,216.2,12.5,251,2101,0.55,0.00,115.28,1.032,6,0.200,0.000,2814,2262,3030,0,0,0,0,0,0
$STATE,2102,end apogee,CONTROL_FINISHED_OK
$STATE,2102,begin climb
$GC,2104,0.62,146.0,221.2,0.0,263,2236,0.80,2.47,118.47,0.979,4,0.144,0.066,3066,876,2433,0,0,0,0,0,0
$GC,2282,0.55,146.0,207.0,12.1,279,2286,0.00,2.35,0.00,0.000,6,0.000,0.049,3066,2274,2429,0,0,0,0,0,0
$GC,2613,0.48,146.0,165.6,12.4,310,2618,0.17,2.33,0.00,0.000,4,0.175,0.063,3021,3687,2427,0,0,0,0,0,0
$GC,2758,0.45,146.0,148.6,11.0,322,2765,0.00,2.25,0.00,0.000,6,0.000,0.048,3029,2277,2426,0,0,0,0,0,0
$GC,3083,0.48,176.0,119.2,8.6,353,3117,0.00,2.38,24.67,0.892,4,0.000,0.060,3030,3691,2311,0,0,0,0,0,0
$GC,3179,0.45,176.0,110.1,10.0,361,3187,0.12,2.30,0.00,0.000,6,0.189,0.048,3011,2268,2309,0,0,0,0,0,0
$GC,3515,0.55,202.2,81.4,8.8,410,3546,0.00,2.33,22.48,0.877,4,0.000,0.063,3015,859,2204,0,0,0,0,0,0
$GC,3623,0.73,257.9,73.1,7.4,428,3677,0.25,2.30,47.83,0.883,6,0.083,0.048,3111,2289,1978,0,0,0,0,0,0
$GC,4015,0.70,257.9,20.9,13.0,497,4022,0.00,2.28,0.00,0.000,4,0.000,0.062,3111,3694,1969,0,0,0,0,0,0
$GC,4091,0.61,257.9,9.4,15.9,510,4098,0.22,2.28,0.00,0.000,6,0.182,0.047,3062,2270,1967,0,0,0,0,0,0
$FREEZE,7.31,-1.151,-1.835,2,9,0
$FREEZE,6.73,-1.152,-1.834,2,9,0
$FREEZE,6.30,-1.141,-1.834,2,9,0
$FREEZE,5.62,-1.134,-1.833,2,9,0
$FREEZE,5.11,-1.141,-1.833,2,9,0
$FREEZE,4.46,-1.148,-1.832,2,9,0
$FREEZE,4.08,-1.161,-1.832,2,9,0
$FREEZE,3.57,-1.165,-1.831,2,9,0
$FREEZE,2.98,-1.153,-1.831,2,9,0
$STATE,4144,end climb,SURFACE_DEPTH_REACHED
$STATE,4146,begin surface coast
$FREEZE,2.27,-1.178,-1.831,2,9,0
$FREEZE,1.93,-1.190,-1.830,2,9,0
$FREEZE,1.35,-1.191,-1.829,2,9,0
$FREEZE,1.42,-3.081,-1.064,2,9,0
$FREEZE,1.38,-3.089,-1.036,2,9,0
$FINISH,1.4,1.015237
$STATE,4173,end surface coast,CONTROL_FINISHED_OK
$STATE,4173,begin surface
$SM_CCo,4189,62.20,0.063,0,0,1398,400.08
$SM_GC,2.28,0.00,0.00,62.20,0.000,0.000,0.063,116,2508,1398,-8.59,0.51,400.08
$RAFOS_CLK,232
$RAFOS_FIX,6726.590820,-5735.957520,090311,121200,2,92,0.18
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026215
$HUMID,42.40
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.5,17.673
$10V_AH,10.3,10.044
$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,12.075,37.775,328.725,62.200,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1198.139,1739.935,455.060,849.098,71.583,0.000,949.495,0.000,848.339,0.000,2.814,0.000
$DEVICE_MAMPS,208.080,153.000,1031.985,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.716,387.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,20162,525
$CAP_FILE_SIZE,57360,0
$CFSIZE,260165632,244125696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.5
$GPS,090311,183406,6728.187,-5719.600,35,1.3,47,-38.2