version: 66.08
glider: 141
mission: 15
dive: 129
start: 3 10 111 13 54 34
data:
$ID,141
$MISSION,15
$DIVE,129
$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,38
$R_STBD_OVSHOOT,34
$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,1.91
$_SM_ANGLEo,16.8
$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,16,-0.62,-146.0,0.0,0.0,0,109,0.00,0.32,-86.82,0.000,6,0.000,0.132,3068,2514,3625,0,0,0,0,0,0
$GC,113,-0.62,-146.0,2.0,-0.2,16,120,1.45,2.08,0.00,0.000,4,0.230,0.041,2676,3899,3626,0,0,0,0,0,0
$GC,172,-0.57,-146.0,6.4,-10.7,26,179,0.00,2.17,0.00,0.000,6,0.000,0.041,2676,2480,3625,0,0,0,0,0,0
$GC,517,-0.50,-146.0,59.7,-15.3,87,524,0.00,2.20,0.00,0.000,4,0.000,0.064,2676,3867,3624,0,0,0,0,0,0
$GC,570,-0.50,-146.0,67.6,-14.5,96,577,0.00,2.12,0.00,0.000,6,0.000,0.042,2676,2481,3624,0,0,0,0,0,0
$GC,914,-0.46,-146.0,115.6,-12.4,147,918,0.15,2.17,0.00,0.000,4,0.213,0.060,2713,1093,3622,0,0,0,0,0,0
$GC,969,-0.55,-146.0,121.4,-8.7,151,976,0.00,2.12,0.00,0.000,6,0.000,0.052,2713,2470,3621,0,0,0,0,0,0
$GC,1296,-0.62,-146.0,148.9,-8.7,182,1301,0.15,2.28,0.00,0.000,4,0.117,0.066,2662,3895,3621,0,0,0,0,0,0
$GC,1395,-0.62,-146.0,161.2,-12.5,190,1403,0.00,2.17,0.00,0.000,6,0.000,0.040,2662,2484,3620,0,0,0,0,0,0
$GC,1723,-0.57,-146.0,200.2,-11.4,221,1727,0.00,2.22,0.00,0.000,4,0.000,0.064,2662,3893,3620,0,0,0,0,0,0
$GC,1800,-0.57,-146.0,209.3,-10.9,227,1807,0.00,2.15,0.00,0.000,6,0.000,0.040,2661,2483,3620,0,0,0,0,0,0
$STATE,1858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1858,begin apogee
$GC,1864,-0.12,0.0,216.1,11.7,233,1984,0.52,0.00,114.12,1.025,6,0.197,0.000,2812,2251,3030,0,0,0,0,0,0
$STATE,1985,end apogee,CONTROL_FINISHED_OK
$STATE,1985,begin climb
$GC,1987,0.62,146.0,220.5,0.0,244,2115,0.77,2.35,118.07,0.972,4,0.145,0.057,3058,900,2432,0,0,0,0,0,0
$GC,2143,0.56,146.0,209.2,11.5,258,2150,0.00,2.28,0.00,0.000,6,0.000,0.044,3058,2272,2429,0,0,0,0,0,0
$GC,2470,0.47,146.0,172.4,11.9,289,2475,0.15,2.30,0.00,0.000,4,0.189,0.060,3022,3692,2427,0,0,0,0,0,0
$GC,2604,0.42,146.0,157.1,10.4,300,2611,0.00,2.20,0.00,0.000,6,0.000,0.042,3029,2303,2426,0,0,0,0,0,0
$GC,2929,0.51,214.2,129.9,6.9,331,2995,0.00,2.33,56.28,0.913,4,0.000,0.056,3029,3675,2155,0,0,0,0,0,0
$GC,3042,0.51,214.2,119.9,11.1,341,3047,0.00,2.25,0.00,0.000,6,0.000,0.043,3040,2277,2152,0,0,0,0,0,0
$GC,3375,0.57,231.6,84.9,9.2,384,3400,0.00,2.33,14.95,0.837,4,0.000,0.059,3042,867,2083,0,0,0,0,0,0
$GC,3493,0.67,253.6,74.2,9.0,404,3519,0.12,2.22,19.75,0.859,6,0.112,0.042,3092,2279,1996,0,0,0,0,0,0
$GC,3856,0.67,253.6,31.6,10.9,468,3862,0.00,2.25,0.00,0.000,4,0.000,0.057,3092,3692,1991,0,0,0,0,0,0
$GC,3936,0.63,253.6,21.0,13.3,482,3944,0.12,2.22,0.00,0.000,6,0.190,0.042,3073,2267,1990,0,0,0,0,0,0
$FREEZE,8.55,-1.281,-1.828,2,4,0
$FREEZE,7.96,-1.293,-1.828,2,4,0
$FREEZE,7.45,-1.293,-1.827,2,4,0
$FREEZE,6.96,-1.300,-1.827,2,4,0
$FREEZE,6.41,-1.306,-1.826,2,4,0
$FREEZE,5.83,-1.297,-1.826,2,4,0
$FREEZE,5.29,-1.283,-1.825,2,4,0
$FREEZE,4.79,-1.285,-1.825,2,4,0
$FREEZE,4.11,-1.293,-1.824,2,4,0
$FREEZE,3.76,-1.310,-1.824,2,4,0
$FREEZE,3.19,-1.306,-1.824,2,4,0
$FREEZE,2.68,-1.300,-1.823,2,4,0
$STATE,4112,end climb,SURFACE_DEPTH_REACHED
$STATE,4112,begin surface coast
$FREEZE,2.26,-1.323,-1.823,2,4,0
$FREEZE,1.94,-1.073,-1.807,2,4,0
$FREEZE,1.96,-1.284,-1.820,2,4,0
$FREEZE,1.95,-1.342,-1.824,2,4,0
$FREEZE,1.92,-1.337,-1.824,2,4,0
$FREEZE,1.92,-1.326,-1.823,2,4,0
$FINISH,1.9,1.026730
$STATE,4146,end surface coast,CONTROL_FINISHED_OK
$STATE,4146,begin surface
$RAFOS_CLK,233
$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,44.64
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.7,19.259
$10V_AH,10.3,10.627
$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,3.450,45.050,323.175,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1224.740,1796.436,380.698,848.096,75.058,0.000,878.913,0.000,847.653,0.000,2.815,0.000
$DEVICE_MAMPS,230.265,131.580,1025.100,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.357,385.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150556
$DATA_FILE_SIZE,20081,520
$CAP_FILE_SIZE,58100,0
$CFSIZE,260165632,243597312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.2
$GPS,100311,101746,6725.532,-5729.512,14,99.0,33,-38.2