version: 66.08
glider: 141
mission: 15
dive: 130
start: 3 10 111 15 7 23
data:
$ID,141
$MISSION,15
$DIVE,130
$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,37
$R_STBD_OVSHOOT,33
$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,1.77
$_SM_ANGLEo,13.0
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,120,0.00,0.35,-99.32,0.000,6,0.000,0.159,3073,2498,3626,0,0,0,0,0,0
$GC,124,-0.62,-146.0,3.6,-7.3,18,131,1.23,2.20,0.00,0.000,4,0.131,0.051,2667,1083,3627,0,0,0,0,0,0
$GC,183,-0.54,-146.0,10.0,-13.2,28,190,0.00,2.22,0.00,0.000,6,0.000,0.053,2667,2488,3627,0,0,0,0,0,0
$GC,528,-0.45,-146.0,62.1,-14.8,89,535,0.20,2.28,0.00,0.000,4,0.217,0.065,2716,3905,3626,0,0,0,0,0,0
$GC,632,-0.49,-146.0,73.6,-10.0,107,639,0.00,2.17,0.00,0.000,6,0.000,0.040,2716,2489,3626,0,0,0,0,0,0
$GC,980,-0.54,-146.0,105.0,-8.6,164,984,0.00,2.20,0.00,0.000,4,0.000,0.060,2716,1090,3624,0,0,0,0,0,0
$GC,1001,-0.59,-146.0,107.2,-9.7,165,1009,0.12,2.20,0.00,0.000,6,0.128,0.054,2675,2498,3623,0,0,0,0,0,0
$GC,1326,-0.57,-146.0,147.8,-11.8,196,1330,0.00,2.25,0.00,0.000,4,0.000,0.068,2675,3905,3622,0,0,0,0,0,0
$GC,1426,-0.57,-146.0,159.5,-11.4,204,1433,0.00,2.17,0.00,0.000,6,0.000,0.041,2675,2481,3621,0,0,0,0,0,0
$GC,1752,-0.57,-146.0,195.2,-11.2,235,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2481,3621,0,0,0,0,0,0
$STATE,1962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1962,begin apogee
$GC,1968,-0.12,0.0,216.4,10.2,255,2089,0.47,0.00,114.53,1.030,6,0.197,0.000,2813,2251,3031,0,0,0,0,0,0
$STATE,2090,end apogee,CONTROL_FINISHED_OK
$STATE,2090,begin climb
$GC,2092,0.62,146.0,220.3,0.0,266,2223,0.80,2.38,118.03,0.976,4,0.144,0.058,3066,893,2432,0,0,0,0,0,0
$GC,2303,0.54,146.0,201.3,11.3,285,2307,0.00,2.28,0.00,0.000,6,0.000,0.044,3066,2278,2428,0,0,0,0,0,0
$GC,2630,0.48,146.0,162.0,12.6,315,2635,0.17,2.28,0.00,0.000,4,0.174,0.057,3020,3690,2427,0,0,0,0,0,0
$GC,2730,0.44,146.0,150.2,11.1,323,2737,0.00,2.20,0.00,0.000,6,0.000,0.041,3028,2294,2427,0,0,0,0,0,0
$GC,3057,0.51,204.1,121.7,7.3,354,3112,0.00,2.30,48.05,0.913,4,0.000,0.054,3028,3693,2196,0,0,0,0,0,0
$GC,3161,0.54,204.1,111.3,11.7,363,3165,0.00,2.28,0.00,0.000,6,0.000,0.041,3037,2270,2193,0,0,0,0,0,0
$GC,3500,0.61,231.3,78.0,8.7,414,3530,0.00,2.25,22.85,0.866,4,0.000,0.056,3042,873,2086,0,0,0,0,0,0
$GC,3590,0.73,256.8,70.0,8.8,429,3621,0.17,2.22,23.10,0.861,6,0.096,0.042,3111,2279,1983,0,0,0,0,0,0
$GC,3958,0.70,256.8,21.5,13.4,494,3965,0.00,2.25,0.00,0.000,4,0.000,0.057,3111,3691,1977,0,0,0,0,0,0
$GC,4011,0.62,256.8,13.9,15.0,503,4018,0.20,2.22,0.00,0.000,6,0.187,0.042,3069,2272,1976,0,0,0,0,0,0
$FREEZE,8.85,-1.352,-1.828,2,5,0
$FREEZE,8.36,-1.351,-1.828,2,5,0
$FREEZE,7.86,-1.354,-1.828,2,5,0
$FREEZE,7.31,-1.355,-1.827,2,5,0
$FREEZE,6.81,-1.355,-1.827,2,5,0
$STATE,4073,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4073,begin subsurface finish
$FINISH1,6.8,1.026735,37
$GC,4080,0.05,37.5,6.8,-10.2,514,4122,0.57,2.22,-33.00,0.000,4,0.154,0.069,2888,869,2880,0,0,0,0,0,0
$FINISH2,5.4
$STATE,4123,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4123,begin surface
$RAFOS_CLK,225
$RAFOS,1,1299773342,16.166666,16.150555,64,62,58,54,49,48,193,171,218,150,114,90
$RAFOS,0,1299772861,16.033333,16.016945,69,56,55,53,52,51,174,144,209,160,219,132
$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,44.25
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.6
$24V_AH,23.7,19.348
$10V_AH,10.4,10.659
$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,3.950,43.225,326.550,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1176.842,1677.074,405.504,846.756,72.165,0.000,902.722,0.000,844.613,720.000,2.618,0.000
$DEVICE_MAMPS,217.260,159.120,1029.690,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.387,383.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20081,521
$CAP_FILE_SIZE,55523,0
$CFSIZE,260165632,243568640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.9
$GPS,100311,101746,6725.532,-5729.512,14,99.0,33,-38.2