version: 66.08
glider: 141
mission: 15
dive: 114
start: 3 9 111 18 57 52
data:
$ID,141
$MISSION,15
$DIVE,114
$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,-26101.834
$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,31
$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
$GPS1,090311,183406,6728.187,-5719.600,35,1.3,47,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-70.1
$GPS2,090311,185720,6728.121,-5719.307,13,1.5,13,-38.2
$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,277.3,159155,-17.5,-10.000
$D_GRID,200
$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,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,148,0.00,0.00,-129.43,0.000,2,0.000,0.000,116,2508,3442,0,0,0,0,0,0
$GC,152,-0.62,-146.0,6.0,-11.6,23,177,13.02,2.33,-3.88,0.000,4,0.332,0.088,2650,3893,3630,0,0,0,0,0,0
$GC,212,-0.47,-146.0,25.5,-21.2,33,220,0.22,2.22,0.00,0.000,6,0.203,0.047,2707,2495,3631,0,0,0,0,0,0
$GC,557,-0.47,-146.0,69.8,-12.2,94,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2495,3630,0,0,0,0,0,0
$GC,897,-0.50,-146.0,109.0,-12.0,148,901,0.00,2.28,0.00,0.000,4,0.000,0.072,2707,3889,3629,0,0,0,0,0,0
$GC,974,-0.55,-146.0,117.6,-10.4,154,981,0.00,2.17,0.00,0.000,6,0.000,0.046,2707,2486,3629,0,0,0,0,0,0
$GC,1300,-0.59,-146.0,149.9,-8.7,185,1304,0.00,2.22,0.00,0.000,4,0.000,0.063,2707,1081,3628,0,0,0,0,0,0
$GC,1327,-0.63,-146.0,152.6,-9.1,187,1334,0.15,2.22,0.00,0.000,6,0.120,0.057,2657,2487,3628,0,0,0,0,0,0
$GC,1652,-0.56,-146.0,193.7,-13.2,218,1656,0.00,2.28,0.00,0.000,4,0.000,0.073,2657,3899,3628,0,0,0,0,0,0
$STATE,1699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1699,begin apogee
$GC,1706,-0.12,0.0,200.3,12.7,222,1833,0.55,0.00,116.68,1.039,6,0.200,0.000,2812,2261,3029,0,0,0,0,0,0
$STATE,1833,end apogee,CONTROL_FINISHED_OK
$STATE,1833,begin climb
$GC,1835,0.62,146.0,205.5,0.0,234,1959,0.80,0.00,118.78,0.982,6,0.142,0.000,3054,2260,2434,0,0,0,0,0,0
$GC,2277,0.57,146.0,163.3,11.1,276,2281,0.00,2.38,0.00,0.000,4,0.000,0.060,3054,3697,2427,0,0,0,0,0,0
$GC,2317,0.47,146.0,158.3,12.7,279,2325,0.17,2.30,0.00,0.000,6,0.183,0.048,3022,2271,2427,0,0,0,0,0,0
$GC,2642,0.51,171.9,127.5,8.8,310,2669,0.00,2.30,21.38,0.898,4,0.000,0.060,3028,863,2329,0,0,0,0,0,0
$GC,2787,0.56,188.0,114.5,9.3,322,2808,0.00,2.28,14.75,0.873,6,0.000,0.047,3028,2280,2262,0,0,0,0,0,0
$GC,3139,0.63,208.7,83.2,9.0,371,3163,0.12,0.00,18.38,0.871,6,0.107,0.000,3080,2281,2179,0,0,0,0,0,0
$GC,3502,0.63,208.7,40.1,11.8,435,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2281,2176,0,0,0,0,0,0
$FREEZE,8.78,-1.133,-1.839,2,1,0
$FREEZE,8.18,-1.114,-1.839,2,1,0
$FREEZE,7.55,-1.131,-1.837,2,1,0
$FREEZE,7.04,-1.139,-1.837,2,1,0
$FREEZE,6.38,-1.085,-1.835,2,1,0
$STATE,3798,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3799,begin subsurface finish
$FINISH1,6.4,1.026853,32
$GC,3805,0.04,31.7,6.4,-11.4,488,3841,0.65,2.30,-29.00,0.000,4,0.164,0.076,2882,3686,2903,0,0,0,0,0,0
$FINISH2,4.6
$STATE,3842,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3842,begin surface
$RAFOS_CLK,162
$RAFOS_FIX,6726.590820,-5735.957520,090311,121200,2,92,0.18
$IRIDIUM_FIX,6703.95,-5716.22,090311,181844
$TT8_MAMPS,0.029211
$HUMID,43.14
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.5
$24V_AH,23.5,17.811
$10V_AH,10.3,10.090
$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,15.700,29.875,289.950,0.000,0.000,88.106,106.591,790.506,0.250,0.000,15.567,1113.656,1669.973,403.735,1784.614,279.087,0.000,863.292,0.000,788.457,360.000,3.941,0.000
$DEVICE_MAMPS,332.010,87.975,1038.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.227,363.882,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,16795,494
$CAP_FILE_SIZE,65552,0
$CFSIZE,260165632,244105216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.8
$GPS,090311,185720,6728.121,-5719.307,13,1.5,13,-38.2