version: 66.08
glider: 141
mission: 15
dive: 123
start: 3 10 111 6 20 43
data:
$ID,141
$MISSION,15
$DIVE,123
$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,-26108.023
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,100311,050806,6726.938,-5725.054,9,1.4,25,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.38
$_SM_ANGLEo,-2.5
$GPS2,100311,050806,6726.938,-5725.054,9,1.4,25,-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,277.2,154423,-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,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.95,0.000,2,0.000,0.000,2882,3682,3123,0,0,0,0,0,0
$GC,26,-0.62,-146.0,6.8,-0.0,1,52,0.62,4.15,-15.43,0.000,4,0.108,0.055,2665,1086,3629,0,0,0,0,0,0
$GC,150,-0.58,-146.0,23.0,-15.5,22,157,0.00,2.25,0.00,0.000,6,0.000,0.051,2665,2498,3629,0,0,0,0,0,0
$GC,494,-0.49,-146.0,75.9,-14.8,83,501,0.15,0.00,0.00,0.000,6,0.227,0.000,2699,2498,3629,0,0,0,0,0,0
$GC,831,-0.49,-146.0,116.4,-11.6,131,835,0.00,2.28,0.00,0.000,4,0.000,0.070,2700,3906,3628,0,0,0,0,0,0
$GC,942,-0.53,-146.0,128.9,-10.7,140,949,0.00,2.20,0.00,0.000,6,0.000,0.040,2700,2480,3627,0,0,0,0,0,0
$GC,1269,-0.57,-146.0,162.8,-9.0,171,1273,0.00,2.30,0.00,0.000,4,0.000,0.066,2700,3904,3626,0,0,0,0,0,0
$GC,1303,-0.62,-146.0,166.0,-9.2,173,1311,0.12,2.17,0.00,0.000,6,0.125,0.039,2658,2487,3626,0,0,0,0,0,0
$STATE,1626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1626,begin apogee
$GC,1631,-0.12,0.0,203.7,11.9,204,1753,0.55,0.00,115.75,1.026,6,0.202,0.000,2813,2260,3030,0,0,0,0,0,0
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1755,0.62,146.0,207.7,0.0,215,1883,0.80,2.45,117.75,0.972,4,0.144,0.057,3056,3684,2434,0,0,0,0,0,0
$GC,1907,0.51,146.0,196.7,12.6,229,1912,0.15,2.30,0.00,0.000,6,0.186,0.044,3032,2292,2431,0,0,0,0,0,0
$GC,2232,0.54,170.0,165.6,8.9,259,2258,0.00,2.40,20.25,0.896,4,0.000,0.060,3041,868,2337,0,0,0,0,0,0
$GC,2338,0.56,183.8,155.6,9.4,268,2356,0.00,2.25,12.80,0.858,6,0.000,0.045,3041,2279,2280,0,0,0,0,0,0
$GC,2674,0.56,184.1,122.6,10.0,300,2678,0.00,2.25,0.00,0.000,4,0.000,0.058,3041,3689,2278,0,0,0,0,0,0
$GC,2700,0.56,184.1,119.6,10.5,302,2708,0.00,2.25,0.00,0.000,6,0.000,0.043,3050,2275,2277,0,0,0,0,0,0
$GC,3032,0.57,194.2,87.2,9.5,345,3051,0.00,2.30,9.90,0.801,4,0.000,0.057,3050,3679,2238,0,0,0,0,0,0
$GC,3092,0.55,194.2,80.6,11.8,355,3099,0.00,2.20,0.00,0.000,6,0.000,0.042,3059,2264,2237,0,0,0,0,0,0
$GC,3436,0.58,194.2,45.0,10.5,416,3443,0.00,2.22,0.00,0.000,4,0.000,0.060,3059,863,2237,0,0,0,0,0,0
$GC,3501,0.65,213.9,39.1,9.1,427,3526,0.00,2.22,17.27,0.868,6,0.000,0.044,3060,2287,2156,0,0,0,0,0,0
$FREEZE,8.53,-1.039,-1.838,2,2,0
$FREEZE,8.08,-1.041,-1.838,2,2,0
$FREEZE,7.38,-1.044,-1.837,2,2,0
$FREEZE,6.93,-1.043,-1.837,2,2,0
$STATE,3850,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3850,begin subsurface finish
$FINISH1,6.9,1.026869,31
$GC,3856,0.04,30.9,6.9,-9.8,489,3892,0.55,2.25,-26.85,0.000,4,0.148,0.075,2885,3680,2906,0,0,0,0,0,0
$FINISH2,5.8
$STATE,3893,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3893,begin surface
$RAFOS_CLK,216
$RAFOS_FIX,6725.381348,-5734.985352,100311,040456,2,108,0.00
$IRIDIUM_FIX,6658.43,-5725.29,100311,030313
$TT8_MAMPS,0.026215
$HUMID,44.56
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.3
$24V_AH,23.6,18.698
$10V_AH,10.3,10.412
$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,2.950,40.750,293.725,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1159.025,1619.996,315.411,791.309,64.380,0.000,767.231,0.000,795.451,0.000,2.618,0.000
$DEVICE_MAMPS,227.205,74.970,1025.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.688,369.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,16838,495
$CAP_FILE_SIZE,50330,0
$CFSIZE,260165632,243806208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.4
$GPS,100311,050806,6726.938,-5725.054,9,1.4,25,-38.2