version: 66.08
glider: 141
mission: 15
dive: 7
start: 2 20 111 10 34 2
data:
$ID,141
$MISSION,15
$DIVE,7
$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,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$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,-22022.932
$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,2910
$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,2300
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,25
$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,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,200211,044800,6709.970,-5651.878,0,2075.5,0,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.75
$_SM_ANGLEo,12.1
$GPS2,200211,044800,6709.970,-5651.878,0,2075.5,0,-37.4
$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,290.3,163861,-17.5,-10.000
$D_GRID,365
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.82,0.000,2,0.000,0.000,2934,3563,3218,0,0,0,0,0,0
$GC,26,-0.62,-146.0,13.4,-0.0,1,46,0.68,4.30,-8.02,0.000,4,0.151,0.060,2720,899,3630,0,0,0,0,0,0
$GC,104,-0.66,-146.0,19.6,-9.2,14,110,0.00,2.25,0.00,0.000,6,0.000,0.056,2720,2309,3630,0,0,0,0,0,0
$GC,449,-0.70,-146.0,55.5,-9.7,75,456,0.10,2.30,0.00,0.000,4,0.142,0.064,2686,885,3629,0,0,0,0,0,0
$GC,709,-0.70,-146.0,90.2,-12.1,121,716,0.00,2.28,0.00,0.000,6,0.000,0.060,2686,2306,3629,0,0,0,0,0,0
$GC,1044,-0.70,-146.0,132.1,-11.8,159,1049,0.00,2.25,0.00,0.000,4,0.000,0.076,2686,3711,3627,0,0,0,0,0,0
$GC,1111,-0.76,-146.0,139.9,-11.3,164,1118,0.00,2.17,0.00,0.000,6,0.000,0.050,2686,2299,3627,0,0,0,0,0,0
$GC,1436,-0.76,-146.0,174.4,-10.5,195,1440,0.00,2.30,0.00,0.000,4,0.000,0.075,2686,3713,3626,0,0,0,0,0,0
$GC,1537,-0.81,-146.0,185.4,-10.1,203,1544,0.12,2.20,0.00,0.000,6,0.139,0.050,2645,2298,3626,0,0,0,0,0,0
$GC,1862,-0.75,-146.0,230.9,-14.5,234,1866,0.00,2.28,0.00,0.000,4,0.000,0.073,2644,3719,3625,0,0,0,0,0,0
$GC,1951,-0.70,-146.0,243.2,-13.3,241,1959,0.15,2.20,0.00,0.000,6,0.210,0.050,2680,2297,3625,0,0,0,0,0,0
$GC,2279,-0.73,-146.0,276.6,-9.8,272,2283,0.00,2.28,0.00,0.000,4,0.000,0.073,2680,3720,3625,0,0,0,0,0,0
$GC,2368,-0.78,-146.0,285.4,-9.3,279,2375,0.00,2.17,0.00,0.000,6,0.000,0.047,2681,2294,3625,0,0,0,0,0,0
$GC,2695,-0.81,-146.0,314.9,-8.9,310,2699,0.00,2.25,0.00,0.000,4,0.000,0.072,2680,3705,3626,0,0,0,0,0,0
$GC,2780,-0.86,-146.0,322.4,-8.0,317,2785,0.15,2.15,0.00,0.000,6,0.125,0.047,2631,2293,3626,0,0,0,0,0,0
$GC,3105,-0.77,-146.0,362.0,-12.7,347,3110,0.12,2.28,0.00,0.000,4,0.228,0.072,2659,3708,3626,0,0,0,0,0,0
$STATE,3132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3132,begin apogee
$GC,3139,-0.12,0.0,365.3,12.2,349,3260,0.68,0.00,114.05,1.025,6,0.186,0.000,2862,2147,3030,0,0,0,0,0,0
$STATE,3261,end apogee,CONTROL_FINISHED_OK
$STATE,3261,begin climb
$GC,3263,0.62,146.0,368.1,0.0,360,3395,0.70,2.47,118.12,1.024,4,0.090,0.068,3112,750,2432,0,0,0,0,0,0
$GC,3441,0.45,146.0,349.8,17.1,376,3446,0.22,2.35,0.00,0.000,6,0.198,0.055,3057,2158,2428,0,0,0,0,0,0
$GC,3766,0.37,146.0,307.4,13.1,406,3770,0.00,2.28,0.00,0.000,4,0.000,0.069,3057,3561,2425,0,0,0,0,0,0
$GC,3978,0.25,146.0,275.9,14.4,424,3986,0.28,2.25,0.00,0.000,6,0.184,0.052,2992,2153,2425,0,0,0,0,0,0
$GC,4304,0.35,197.8,249.1,7.6,455,4351,0.00,2.38,41.97,0.923,4,0.000,0.066,2992,3567,2223,0,0,0,0,0,0
$GC,4459,0.44,217.6,236.1,9.1,469,4483,0.15,2.28,17.42,0.880,6,0.101,0.050,3052,2151,2143,0,0,0,0,0,0
$GC,4799,0.44,217.6,196.3,11.9,501,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2152,2137,0,0,0,0,0,0
$GC,5121,0.44,217.6,157.6,12.3,531,5125,0.00,2.28,0.00,0.000,4,0.000,0.065,3052,3561,2136,0,0,0,0,0,0
$GC,5209,0.42,217.6,144.5,14.8,538,5216,0.00,2.22,0.00,0.000,6,0.000,0.050,3059,2148,2136,0,0,0,0,0,0
$GC,5534,0.42,217.6,103.4,12.2,569,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2149,2136,0,0,0,0,0,0
$GC,5869,0.44,217.6,67.5,11.2,626,5876,0.00,2.25,0.00,0.000,4,0.000,0.066,3060,3567,2136,0,0,0,0,0,0
$GC,5923,0.41,217.6,61.1,12.4,635,5930,0.00,2.22,0.00,0.000,6,0.000,0.050,3070,2149,2136,0,0,0,0,0,0
$GC,6268,0.41,217.6,22.3,13.0,696,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2149,2136,0,0,0,0,0,0
$STATE,6317,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,6317,begin subsurface finish
$FINISH1,16.5,1.026736,37
$GC,6323,0.05,37.4,16.5,-10.9,705,6343,0.45,2.33,-14.12,0.000,4,0.161,0.080,2929,3569,2881,0,0,0,0,0,0
$FINISH2,14.4
$STATE,6344,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6344,begin surface
$RAFOS_CLK,331
$RAFOS,1,1298203747,12.166667,12.151944,63,56,55,52,50,48,211,186,162,151,115,133
$RAFOS,0,1298203266,12.033333,12.018333,59,56,55,53,52,51,224,208,188,198,153,133
$RAFOS_FIX,6709.970215,-5651.877930,200211,040400,2,76,2.25
$IRIDIUM_FIX,6631.12,-5641.49,200211,020209
$TT8_MAMPS,0.029211
$HUMID,45.23
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,8.0
$24V_AH,23.7,4.398
$10V_AH,10.4,1.686
$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,3.800,63.400,291.575,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1703.802,3090.704,320.300,1191.894,93.963,0.000,961.227,0.000,1189.871,1080.000,7.126,0.000
$DEVICE_MAMPS,227.970,79.560,1025.100,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.005,530.255,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150844
$DATA_FILE_SIZE,26803,708
$CAP_FILE_SIZE,75718,0
$CFSIZE,260165632,251813888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.3
$GPS,200211,044800,6709.970,-5651.878,0,2075.5,0,-37.4