version: 66.08
glider: 141
mission: 15
dive: 119
start: 3 10 111 0 54 20
data:
$ID,141
$MISSION,15
$DIVE,119
$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,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,-26103.086
$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,52
$R_STBD_OVSHOOT,31
$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
$GPS1,100311,004036,6726.432,-5722.222,39,1.3,40,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-75.3
$GPS2,100311,005349,6726.330,-5722.108,9,1.0,14,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,278.0,155704,-17.5,-10.000
$D_GRID,203
$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,-146.0,0.0,0.0,0,144,0.00,0.00,-126.75,0.000,2,0.000,0.000,107,2463,3444,0,0,0,0,0,0
$GC,148,-0.62,-146.0,5.5,-10.2,22,174,12.75,2.40,-3.95,0.000,4,0.327,0.083,2655,3882,3630,0,0,0,0,0,0
$GC,281,-0.54,-146.0,36.7,-15.6,45,289,0.12,2.15,0.00,0.000,6,0.213,0.041,2683,2497,3632,0,0,0,0,0,0
$GC,627,-0.48,-146.0,82.5,-12.9,106,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2497,3631,0,0,0,0,0,0
$GC,965,-0.45,-146.0,126.6,-12.3,149,970,0.12,2.28,0.00,0.000,4,0.223,0.067,2714,3897,3629,0,0,0,0,0,0
$GC,998,-0.50,-146.0,130.1,-9.5,151,1005,0.00,2.17,0.00,0.000,6,0.000,0.041,2714,2489,3629,0,0,0,0,0,0
$GC,1325,-0.56,-146.0,156.3,-8.3,182,1329,0.00,2.25,0.00,0.000,4,0.000,0.067,2714,3893,3628,0,0,0,0,0,0
$GC,1400,-0.64,-146.0,162.8,-8.8,188,1405,0.17,2.15,0.00,0.000,6,0.108,0.040,2654,2480,3628,0,0,0,0,0,0
$STATE,1696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1696,begin apogee
$GC,1702,-0.12,0.0,203.4,13.7,216,1826,0.55,0.00,116.60,1.040,6,0.200,0.000,2811,2255,3030,0,0,0,0,0,0
$STATE,1826,end apogee,CONTROL_FINISHED_OK
$STATE,1826,begin climb
$GC,1828,0.62,146.0,208.9,0.0,227,1955,0.80,0.00,118.10,0.981,6,0.148,0.000,3053,2254,2433,0,0,0,0,0,0
$GC,2272,0.57,146.0,168.6,11.0,269,2276,0.00,2.33,0.00,0.000,4,0.000,0.057,3053,3679,2427,0,0,0,0,0,0
$GC,2299,0.49,146.0,165.1,12.3,271,2306,0.15,2.20,0.00,0.000,6,0.190,0.043,3027,2287,2427,0,0,0,0,0,0
$GC,2624,0.53,175.6,134.3,8.6,302,2658,0.00,2.33,24.67,0.899,4,0.000,0.057,3027,3677,2313,0,0,0,0,0,0
$GC,2726,0.53,175.6,123.9,11.0,311,2730,0.00,2.22,0.00,0.000,6,0.000,0.044,3033,2271,2312,0,0,0,0,0,0
$GC,3055,0.58,194.1,93.2,9.1,347,3080,0.00,2.30,16.42,0.864,4,0.000,0.059,3042,873,2237,0,0,0,0,0,0
$GC,3116,0.66,216.5,87.7,9.0,357,3141,0.10,2.22,20.23,0.873,6,0.125,0.045,3084,2278,2147,0,0,0,0,0,0
$GC,3478,0.66,216.5,45.5,11.2,421,3485,0.00,2.22,0.00,0.000,4,0.000,0.058,3084,3688,2143,0,0,0,0,0,0
$GC,3520,0.60,216.5,40.2,12.9,428,3527,0.15,2.22,0.00,0.000,6,0.182,0.044,3057,2270,2143,0,0,0,0,0,0
$FREEZE,8.62,-0.932,-1.838,2,1,0
$FREEZE,8.04,-0.932,-1.838,2,1,0
$FREEZE,7.56,-0.933,-1.837,2,1,0
$GC,3867,0.61,222.6,7.6,9.7,489,3875,0.00,2.33,2.38,0.267,4,0.000,0.057,3057,3690,2121,0,0,0,0,0,0
$FREEZE,6.17,-0.958,-1.836,2,1,0
$FREEZE,5.78,-0.960,-1.836,2,1,0
$FREEZE,5.21,-0.969,-1.835,2,1,0
$FREEZE,4.67,-0.943,-1.834,2,1,0
$FREEZE,4.03,-0.921,-1.834,2,1,0
$FREEZE,3.44,-0.910,-1.834,2,1,0
$GC,3908,0.61,222.6,3.4,11.2,496,3915,0.00,2.17,0.00,0.000,6,0.000,0.040,3064,2266,2121,0,0,0,0,0,0
$FREEZE,1.66,-0.977,-1.832,2,1,0
$STATE,3921,end climb,SURFACE_DEPTH_REACHED
$STATE,3921,begin surface coast
$FREEZE,1.67,-0.990,-1.830,2,1,0
$FREEZE,1.65,-1.018,-1.817,2,1,0
$FREEZE,1.76,-0.977,-1.822,2,1,0
$FREEZE,1.74,-0.958,-1.814,2,1,0
$FINISH,1.7,1.026603
$STATE,3943,end surface coast,CONTROL_FINISHED_OK
$STATE,3943,begin surface
$SM_CCo,3965,78.55,0.063,0,0,1399,400.08
$SM_GC,1.94,0.00,0.00,78.55,0.000,0.000,0.063,112,2499,1399,-8.60,0.25,400.08
$RAFOS_CLK,173
$RAFOS,4,1299717188,0.566667,0.552222,60,60,60,55,52,51,155,176,218,228,192,109
$RAFOS_FIX,6726.198242,-5731.570312,090311,202000,2,126,1.42
$IRIDIUM_FIX,6658.43,-5722.28,090311,181841
$TT8_MAMPS,0.025466
$HUMID,44.01
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,23.6,18.264
$10V_AH,10.3,10.254
$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,23.225,36.600,298.400,78.550,0.000,27.872,40.438,492.935,0.250,0.000,16.851,1175.035,1610.327,472.756,1335.402,262.902,0.000,942.722,0.000,794.532,0.000,2.622,0.000
$DEVICE_MAMPS,327.420,82.620,1040.400,63.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.587,373.379,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,20124,502
$CAP_FILE_SIZE,66248,0
$CFSIZE,260165632,243937280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.9
$GPS,100311,020238,6726.494,-5723.193,10,1.6,10,-38.2