version: 66.08
glider: 141
mission: 15
dive: 115
start: 3 9 111 20 3 33
data:
$ID,141
$MISSION,15
$DIVE,115
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,090311,185720,6728.121,-5719.307,13,1.5,13,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.01
$_SM_ANGLEo,2.6
$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,13,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,-6.38,0.000,2,0.000,0.000,2882,3687,3077,0,0,0,0,0,0
$GC,26,-0.62,-146.0,5.5,-0.0,1,56,0.60,4.22,-19.00,0.000,4,0.105,0.060,2671,1077,3629,0,0,0,0,0,0
$GC,225,-0.56,-146.0,31.4,-14.4,36,232,0.00,2.22,0.00,0.000,6,0.000,0.055,2670,2489,3629,0,0,0,0,0,0
$GC,570,-0.49,-146.0,82.2,-15.8,97,577,0.12,2.30,0.00,0.000,4,0.233,0.071,2698,3896,3628,0,0,0,0,0,0
$GC,623,-0.54,-146.0,89.5,-11.6,106,630,0.00,2.17,0.00,0.000,6,0.000,0.044,2699,2483,3628,0,0,0,0,0,0
$GC,959,-0.54,-146.0,128.6,-11.2,145,963,0.00,2.28,0.00,0.000,4,0.000,0.069,2698,3897,3627,0,0,0,0,0,0
$GC,998,-0.58,-146.0,132.9,-11.5,148,1002,0.00,2.17,0.00,0.000,6,0.000,0.044,2698,2478,3626,0,0,0,0,0,0
$GC,1323,-0.62,-146.0,165.7,-10.2,178,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2478,3626,0,0,0,0,0,0
$GC,1644,-0.65,-146.0,196.3,-9.1,208,1649,0.15,2.30,0.00,0.000,4,0.123,0.067,2650,3898,3625,0,0,0,0,0,0
$STATE,1673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1673,begin apogee
$GC,1681,-0.12,0.0,200.2,11.5,210,1802,0.60,0.00,115.32,1.026,6,0.213,0.000,2815,2268,3030,0,0,0,0,0,0
$STATE,1802,end apogee,CONTROL_FINISHED_OK
$STATE,1802,begin climb
$GC,1805,0.62,146.0,204.7,0.0,221,1928,0.80,0.00,118.00,0.971,6,0.148,0.000,3055,2267,2434,0,0,0,0,0,0
$GC,2246,0.57,148.8,162.6,9.9,262,2251,0.00,2.30,0.00,0.000,4,0.000,0.059,3055,3682,2427,0,0,0,0,0,0
$GC,2284,0.48,148.8,157.6,12.4,265,2292,0.17,2.25,0.00,0.000,6,0.185,0.047,3022,2277,2426,0,0,0,0,0,0
$GC,2610,0.49,163.6,127.9,9.3,296,2633,0.00,2.35,14.57,0.864,4,0.000,0.059,3021,3688,2361,0,0,0,0,0,0
$GC,2657,0.49,163.6,123.1,10.7,300,2661,0.00,2.28,0.00,0.000,6,0.000,0.047,3029,2272,2361,0,0,0,0,0,0
$GC,2985,0.52,182.2,92.0,9.1,337,3003,0.00,0.00,16.40,0.866,6,0.000,0.000,3029,2271,2287,0,0,0,0,0,0
$GC,3342,0.59,198.3,59.6,9.3,400,3367,0.00,2.33,14.98,0.846,4,0.000,0.060,3029,861,2220,0,0,0,0,0,0
$GC,3413,0.73,229.1,53.4,8.6,412,3449,0.20,2.25,27.30,0.869,6,0.089,0.046,3109,2283,2094,0,0,0,0,0,0
$FREEZE,8.37,-1.143,-1.835,2,2,0
$FREEZE,7.79,-1.144,-1.835,2,2,0
$FREEZE,7.01,-1.143,-1.834,2,2,0
$FREEZE,6.27,-1.144,-1.834,2,2,0
$FREEZE,5.61,-1.145,-1.833,2,2,0
$FREEZE,4.73,-1.145,-1.833,2,2,0
$FREEZE,4.01,-1.145,-1.832,2,2,0
$GC,3784,0.64,229.1,4.0,14.5,478,3791,0.15,2.25,0.00,0.000,4,0.195,0.057,3073,3690,2088,0,0,0,0,0,0
$FREEZE,2.02,-1.175,-1.831,2,2,0
$STATE,3797,end climb,SURFACE_DEPTH_REACHED
$STATE,3797,begin surface coast
$FREEZE,1.32,-1.155,-1.830,2,2,0
$FREEZE,1.30,-1.295,-0.918,2,2,0
$FINISH,1.3,1.013531
$STATE,3809,end surface coast,FINISH_DEPTH_REACHED
$STATE,3809,begin surface
$SM_CCo,3828,75.47,0.067,0,0,1398,400.08
$SM_GC,3.39,0.00,0.00,75.47,0.000,0.000,0.067,115,2457,1398,-8.59,-0.93,400.08
$RAFOS_CLK,214
$RAFOS,6,1299703748,20.833334,20.818890,92,58,56,55,53,51,724,215,167,179,135,145
$RAFOS,5,1299703263,20.700001,20.684166,159,60,57,55,54,53,723,169,155,220,206,121
$RAFOS,4,1299702785,20.566668,20.551390,58,57,57,56,56,54,136,199,210,162,183,220
$RAFOS,3,1299702302,20.433332,20.417223,58,58,56,53,53,51,184,202,151,132,174,233
$RAFOS,2,1299701821,20.299999,20.283611,64,62,56,55,55,53,219,144,207,132,170,183
$RAFOS,1,1299701345,20.166666,20.151388,65,58,55,53,52,52,227,194,214,135,173,149
$RAFOS,0,1299700863,20.033333,20.017500,64,64,55,55,53,49,172,197,160,215,188,145
$RAFOS_FIX,6726.198242,-5731.570312,090311,202000,2,126,1.42
$IRIDIUM_FIX,6703.95,-5716.22,090311,181844
$TT8_MAMPS,0.026215
$HUMID,42.08
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.7
$24V_AH,23.6,17.895
$10V_AH,10.3,10.120
$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,11.325,38.150,306.575,75.475,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1144.456,1625.171,382.662,754.070,70.144,0.000,815.952,0.000,756.386,2160.000,2.620,0.000
$DEVICE_MAMPS,232.560,71.145,1025.865,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.684,361.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,16765,482
$CAP_FILE_SIZE,53343,0
$CFSIZE,260165632,244080640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,090311,204800,6726.198,-5731.570,0,2125.5,0,-38.2