version: 66.08
glider: 141
mission: 15
dive: 127
start: 3 10 111 11 30 31
data:
$ID,141
$MISSION,15
$DIVE,127
$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,-26477.854
$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,32
$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
$GPS1,100311,101746,6725.532,-5729.512,14,99.0,33,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,1.6
$GPS2,100311,101746,6725.532,-5729.512,14,99.0,33,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,midTARGET
$TGT_LATLONG,6656.000,-5813.000
$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,248.2,63144,-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,-146.0,0.0,0.0,0,127,0.00,0.35,-105.00,0.000,6,0.000,0.161,3062,2500,3627,0,0,0,0,0,0
$GC,131,-0.62,-146.0,3.8,-6.7,19,138,1.15,2.22,0.00,0.000,4,0.119,0.052,2671,1074,3627,0,0,0,0,0,0
$GC,324,-0.58,-146.0,29.3,-14.9,53,331,0.00,2.22,0.00,0.000,6,0.000,0.054,2671,2480,3628,0,0,0,0,0,0
$GC,669,-0.50,-146.0,84.2,-15.5,114,676,0.12,2.30,0.00,0.000,4,0.238,0.069,2698,3897,3627,0,0,0,0,0,0
$GC,762,-0.52,-146.0,96.1,-11.3,130,769,0.00,2.17,0.00,0.000,6,0.000,0.041,2698,2484,3627,0,0,0,0,0,0
$GC,1095,-0.52,-146.0,134.6,-11.5,164,1099,0.00,2.17,0.00,0.000,4,0.000,0.059,2698,1083,3625,0,0,0,0,0,0
$GC,1113,-0.52,-146.0,136.6,-11.3,165,1117,0.00,2.22,0.00,0.000,6,0.000,0.054,2698,2490,3625,0,0,0,0,0,0
$GC,1438,-0.55,-146.0,171.5,-10.1,195,1442,0.00,2.28,0.00,0.000,4,0.000,0.070,2698,3906,3623,0,0,0,0,0,0
$GC,1455,-0.58,-146.0,173.4,-10.7,196,1459,0.00,2.17,0.00,0.000,6,0.000,0.041,2698,2486,3623,0,0,0,0,0,0
$GC,1781,-0.63,-146.0,204.8,-9.0,226,1786,0.12,2.28,0.00,0.000,4,0.134,0.067,2656,3900,3623,0,0,0,0,0,0
$GC,1832,-0.59,-146.0,210.3,-11.0,230,1837,0.00,2.15,0.00,0.000,6,0.000,0.040,2656,2486,3623,0,0,0,0,0,0
$STATE,1884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1885,begin apogee
$GC,1890,-0.12,0.0,216.8,11.6,235,2010,0.55,0.00,115.62,1.042,6,0.205,0.000,2812,2261,3030,0,0,0,0,0,0
$STATE,2011,end apogee,CONTROL_FINISHED_OK
$STATE,2011,begin climb
$GC,2013,0.62,146.0,220.9,0.0,246,2141,0.80,0.00,118.10,0.985,6,0.151,0.000,3052,2260,2434,0,0,0,0,0,0
$GC,2458,0.56,146.0,177.0,10.8,288,2463,0.00,2.35,0.00,0.000,4,0.000,0.058,3052,3688,2428,0,0,0,0,0,0
$GC,2570,0.45,146.0,162.5,12.6,297,2578,0.20,2.22,0.00,0.000,6,0.193,0.045,3012,2295,2428,0,0,0,0,0,0
$GC,2896,0.53,183.0,136.6,8.3,328,2932,0.00,2.38,30.65,0.914,4,0.000,0.060,3015,872,2284,0,0,0,0,0,0
$GC,2966,0.64,192.2,130.1,9.6,334,2985,0.15,2.28,9.48,0.819,6,0.101,0.044,3076,2285,2245,0,0,0,0,0,0
$GC,3307,0.61,192.2,87.2,12.4,375,3314,0.00,2.25,0.00,0.000,4,0.000,0.058,3076,3692,2242,0,0,0,0,0,0
$GC,3360,0.52,192.2,80.1,12.9,384,3367,0.20,2.25,0.00,0.000,6,0.184,0.043,3034,2262,2242,0,0,0,0,0,0
$GC,3707,0.64,236.2,50.6,8.0,445,3749,0.10,0.00,37.85,0.882,6,0.125,0.000,3076,2262,2067,0,0,0,0,0,0
$GC,4086,0.64,236.2,11.3,10.3,512,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2262,2060,0,0,0,0,0,0
$FREEZE,8.92,-1.090,-1.827,2,2,0
$FREEZE,8.45,-1.092,-1.827,2,2,0
$FREEZE,7.92,-1.094,-1.826,2,2,0
$FREEZE,7.45,-1.094,-1.826,2,2,0
$FREEZE,7.02,-1.093,-1.825,2,2,0
$STATE,4129,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4129,begin subsurface finish
$FINISH1,7.0,1.026707,39
$GC,4135,0.05,38.8,7.0,-9.2,520,4172,0.62,2.38,-29.45,0.000,4,0.161,0.074,2884,3693,2874,0,0,0,0,0,0
$FINISH2,5.7
$STATE,4173,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4173,begin surface
$RAFOS_CLK,235
$RAFOS,4,1299760385,12.566667,12.551389,80,55,52,51,50,48,201,187,220,166,117,132
$RAFOS,3,1299759903,12.433333,12.417500,60,56,55,54,51,51,184,118,147,223,199,165
$RAFOS,2,1299759430,12.300000,12.286111,58,57,56,55,51,50,137,171,162,209,223,114
$RAFOS,1,1299758948,12.166667,12.152223,66,61,60,59,51,49,203,153,184,216,163,579
$RAFOS,0,1299758467,12.033333,12.018611,65,57,54,53,52,50,209,192,161,174,136,219
$RAFOS_FIX,6725.381348,-5734.985352,100311,040456,2,108,0.00
$IRIDIUM_FIX,6658.43,-5734.74,100311,101042
$TT8_MAMPS,0.026215
$HUMID,44.68
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.4
$24V_AH,23.6,19.095
$10V_AH,10.3,10.564
$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,4.025,38.950,311.700,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1196.299,1743.189,392.670,829.993,67.117,0.000,878.966,0.000,831.712,1800.000,2.614,0.000
$DEVICE_MAMPS,237.915,160.650,1041.930,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.023,389.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150508
$DATA_FILE_SIZE,20068,526
$CAP_FILE_SIZE,55426,0
$CFSIZE,260165632,243666944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.5
$GPS,100311,101746,6725.532,-5729.512,14,99.0,33,-38.2