version: 66.08
glider: 141
mission: 15
dive: 131
start: 3 10 111 16 17 45
data:
$ID,141
$MISSION,15
$DIVE,131
$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,36
$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,6.73
$_SM_ANGLEo,-1.1
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.93,0.000,2,0.000,0.000,2887,869,3115,0,0,0,0,0,0
$GC,26,-0.62,-146.0,7.6,-0.0,1,51,0.62,4.88,-14.55,0.000,4,0.106,0.062,2667,3896,3628,0,0,0,0,0,0
$GC,226,-0.57,-146.0,35.1,-14.3,36,233,0.00,2.17,0.00,0.000,6,0.000,0.039,2667,2487,3630,0,0,0,0,0,0
$GC,571,-0.48,-146.0,88.7,-14.1,97,578,0.15,2.22,0.00,0.000,4,0.213,0.057,2702,1085,3629,0,0,0,0,0,0
$GC,602,-0.48,-146.0,92.9,-12.9,102,608,0.00,2.22,0.00,0.000,6,0.000,0.051,2703,2493,3629,0,0,0,0,0,0
$GC,937,-0.48,-146.0,126.7,-9.9,139,941,0.00,2.25,0.00,0.000,4,0.000,0.068,2703,3906,3627,0,0,0,0,0,0
$GC,970,-0.52,-146.0,129.9,-9.3,141,977,0.00,2.17,0.00,0.000,6,0.000,0.040,2702,2486,3627,0,0,0,0,0,0
$GC,1297,-0.56,-146.0,160.6,-9.5,172,1301,0.00,2.25,0.00,0.000,4,0.000,0.066,2703,3899,3626,0,0,0,0,0,0
$GC,1337,-0.63,-146.0,164.3,-8.7,175,1342,0.12,2.17,0.00,0.000,6,0.120,0.040,2660,2478,3626,0,0,0,0,0,0
$GC,1662,-0.57,-146.0,202.1,-11.9,205,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2478,3625,0,0,0,0,0,0
$STATE,1787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1787,begin apogee
$GC,1792,-0.12,0.0,216.9,11.3,217,1914,0.55,0.00,115.40,1.025,6,0.199,0.000,2817,2247,3030,0,0,0,0,0,0
$STATE,1915,end apogee,CONTROL_FINISHED_OK
$STATE,1915,begin climb
$GC,1917,0.62,146.0,220.3,0.0,228,2044,0.77,0.00,118.47,0.971,6,0.143,0.000,3052,2246,2432,0,0,0,0,0,0
$GC,2362,0.58,146.0,176.5,10.8,271,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2246,2427,0,0,0,0,0,0
$GC,2683,0.53,146.0,142.8,10.4,301,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2246,2427,0,0,0,0,0,0
$GC,3010,0.49,146.0,107.5,10.8,332,3014,0.00,2.28,0.00,0.000,4,0.000,0.057,3052,3689,2426,0,0,0,0,0,0
$GC,3123,0.39,146.0,93.8,11.7,346,3130,0.25,2.17,0.00,0.000,6,0.184,0.041,2996,2285,2426,0,0,0,0,0,0
$GC,3470,0.60,241.8,71.2,5.6,407,3558,0.17,2.35,78.97,0.893,4,0.089,0.059,3075,873,2043,0,0,0,0,0,0
$GC,3617,0.63,241.8,56.4,10.7,432,3624,0.00,2.28,0.00,0.000,6,0.000,0.044,3076,2287,2037,0,0,0,0,0,0
$GC,3961,0.66,241.8,19.4,11.1,493,3968,0.00,2.22,0.00,0.000,4,0.000,0.057,3075,3684,2033,0,0,0,0,0,0
$GC,4008,0.66,241.8,14.1,12.0,501,4015,0.00,2.20,0.00,0.000,6,0.000,0.042,3084,2281,2033,0,0,0,0,0,0
$FREEZE,8.86,-1.360,-1.828,2,6,0
$FREEZE,8.28,-1.363,-1.828,2,6,0
$FREEZE,7.65,-1.363,-1.827,2,6,0
$FREEZE,7.13,-1.361,-1.827,2,6,0
$FREEZE,6.69,-1.365,-1.826,2,6,0
$FREEZE,6.08,-1.369,-1.826,2,6,0
$FREEZE,5.60,-1.371,-1.826,2,6,0
$FREEZE,4.99,-1.376,-1.825,2,6,0
$FREEZE,4.55,-1.389,-1.825,2,6,0
$FREEZE,4.01,-1.381,-1.824,2,6,0
$FREEZE,3.32,-1.384,-1.824,2,6,0
$FREEZE,2.81,-1.396,-1.824,2,6,0
$STATE,4111,end climb,SURFACE_DEPTH_REACHED
$STATE,4111,begin surface coast
$FREEZE,2.31,-1.413,-1.823,2,6,0
$FREEZE,2.28,-1.422,-1.823,2,6,0
$FREEZE,2.20,-1.408,-1.822,2,6,0
$FREEZE,2.12,-1.395,-1.820,2,6,0
$FREEZE,2.13,-1.426,-1.822,2,6,0
$FINISH,2.1,1.026724
$STATE,4139,end surface coast,CONTROL_FINISHED_OK
$STATE,4139,begin surface
$RAFOS_CLK,234
$RAFOS,6,1299775742,16.833334,16.817223,65,56,55,55,51,49,201,164,178,123,219,554
$RAFOS,5,1299775270,16.700001,16.686111,142,61,61,56,55,53,663,219,176,167,137,200
$RAFOS,4,1299774789,16.566668,16.552500,133,61,58,55,52,50,809,193,177,153,206,118
$RAFOS,3,1299774304,16.433332,16.417778,66,59,58,55,52,48,167,198,216,115,184,142
$RAFOS_FIX,6723.452637,-5744.534180,100311,161628,2,138,0.50
$IRIDIUM_FIX,6658.43,-5734.74,100311,101042
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.0
$24V_AH,23.7,19.433
$10V_AH,10.3,10.690
$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,2.650,34.150,312.850,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1244.765,1903.186,318.218,791.959,70.422,0.000,770.087,0.000,796.634,1440.000,2.624,0.000
$DEVICE_MAMPS,212.670,68.085,1025.100,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.430,393.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20087,525
$CAP_FILE_SIZE,53703,0
$CFSIZE,260165632,243535872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.7
$GPS,100311,163928,6723.453,-5744.534,0,2137.5,0,-38.2