version: 66.08
glider: 141
mission: 15
dive: 118
start: 3 9 111 23 30 14
data:
$ID,141
$MISSION,15
$DIVE,118
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,090311,204800,6726.198,-5731.570,0,2125.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.34
$_SM_ANGLEo,-0.7
$GPS2,090311,204800,6726.198,-5731.570,0,2125.5,0,-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,276.7,149636,-17.5,-10.000
$D_GRID,212
$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,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-7.12,0.000,2,0.000,0.000,2878,3683,3159,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.6,-0.0,1,52,0.60,4.15,-12.43,0.000,4,0.109,0.053,2670,1086,3629,0,0,0,0,0,0
$GC,205,-0.59,-146.0,32.2,-13.9,32,212,0.00,2.22,0.00,0.000,6,0.000,0.053,2669,2486,3629,0,0,0,0,0,0
$GC,550,-0.51,-146.0,82.4,-14.2,93,556,0.00,2.28,0.00,0.000,4,0.000,0.070,2669,3896,3629,0,0,0,0,0,0
$GC,586,-0.46,-146.0,87.6,-13.9,99,593,0.17,2.17,0.00,0.000,6,0.202,0.041,2713,2487,3629,0,0,0,0,0,0
$GC,926,-0.51,-146.0,117.8,-8.2,141,930,0.00,2.20,0.00,0.000,4,0.000,0.058,2713,1086,3627,0,0,0,0,0,0
$GC,947,-0.56,-146.0,119.9,-8.7,142,954,0.00,2.22,0.00,0.000,6,0.000,0.053,2714,2498,3627,0,0,0,0,0,0
$GC,1273,-0.63,-146.0,150.7,-8.8,173,1278,0.15,2.25,0.00,0.000,4,0.116,0.068,2663,3901,3626,0,0,0,0,0,0
$GC,1363,-0.60,-146.0,161.1,-12.4,181,1367,0.00,2.17,0.00,0.000,6,0.000,0.040,2663,2478,3625,0,0,0,0,0,0
$GC,1688,-0.56,-146.0,200.6,-13.4,211,1692,0.00,2.25,0.00,0.000,4,0.000,0.065,2663,3897,3625,0,0,0,0,0,0
$GC,1762,-0.56,-146.0,210.0,-12.5,217,1766,0.00,2.15,0.00,0.000,6,0.000,0.040,2663,2487,3625,0,0,0,0,0,0
$STATE,1789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1789,begin apogee
$GC,1794,-0.12,0.0,213.2,11.8,219,1916,0.52,0.00,115.18,1.036,6,0.200,0.000,2813,2255,3029,0,0,0,0,0,0
$STATE,1917,end apogee,CONTROL_FINISHED_OK
$STATE,1917,begin climb
$GC,1919,0.62,146.0,217.9,0.0,230,2042,0.80,0.00,118.18,0.977,6,0.145,0.000,3055,2253,2434,0,0,0,0,0,0
$GC,2360,0.55,146.0,173.4,11.6,272,2364,0.00,2.35,0.00,0.000,4,0.000,0.058,3055,3687,2427,0,0,0,0,0,0
$GC,2434,0.44,146.0,163.8,13.8,278,2439,0.20,2.20,0.00,0.000,6,0.183,0.044,3013,2292,2426,0,0,0,0,0,0
$GC,2759,0.52,189.6,136.8,8.0,308,2804,0.00,2.35,35.88,0.916,4,0.000,0.057,3013,3692,2255,0,0,0,0,0,0
$GC,2844,0.55,189.8,129.1,10.0,315,2851,0.00,2.25,0.00,0.000,6,0.000,0.044,3016,2279,2254,0,0,0,0,0,0
$GC,3170,0.69,244.6,104.4,7.5,346,3228,0.20,2.38,46.53,0.901,4,0.091,0.059,3104,864,2031,0,0,0,0,0,0
$GC,3273,0.69,244.6,91.0,14.4,360,3280,0.00,2.28,0.00,0.000,6,0.000,0.044,3104,2279,2027,0,0,0,0,0,0
$GC,3618,0.66,244.6,45.5,13.2,421,3624,0.00,2.25,0.00,0.000,4,0.000,0.057,3104,3692,2024,0,0,0,0,0,0
$GC,3648,0.60,244.6,41.3,14.4,426,3656,0.20,2.22,0.00,0.000,6,0.187,0.044,3062,2264,2024,0,0,0,0,0,0
$FREEZE,8.94,-0.880,-1.838,2,5,0
$FREEZE,8.48,-0.887,-1.838,2,5,0
$FREEZE,8.12,-0.887,-1.838,2,5,0
$FREEZE,7.56,-0.897,-1.837,2,5,0
$FREEZE,7.27,-0.894,-1.837,2,5,0
$FREEZE,6.62,-0.898,-1.836,2,5,0
$FREEZE,6.06,-0.898,-1.836,2,5,0
$FREEZE,5.68,-0.903,-1.835,2,5,0
$GC,3993,0.64,245.0,5.7,10.0,487,4000,0.00,2.28,0.00,0.000,4,0.000,0.056,3061,3692,2023,0,0,0,0,0,0
$FREEZE,4.21,-0.914,-1.834,2,5,0
$FREEZE,3.64,-0.906,-1.834,2,5,0
$FREEZE,3.15,-0.926,-1.833,2,5,0
$FREEZE,2.58,-0.916,-1.833,2,5,0
$STATE,4020,end climb,SURFACE_DEPTH_REACHED
$STATE,4021,begin surface coast
$FREEZE,2.10,-0.954,-1.832,2,5,0
$FREEZE,1.76,-0.905,-1.827,2,5,0
$FREEZE,1.58,-0.983,-1.831,2,5,0
$FREEZE,1.43,-1.074,-1.832,2,5,0
$FREEZE,1.55,-1.080,-1.835,2,5,0
$FINISH,1.6,1.026908
$STATE,4049,end surface coast,CONTROL_FINISHED_OK
$STATE,4049,begin surface
$SM_CCo,4067,68.20,0.064,0,0,1398,400.08
$SM_GC,2.04,0.00,0.00,68.20,0.000,0.000,0.064,107,2463,1398,-8.62,-0.76,400.08
$RAFOS_CLK,223
$RAFOS,3,1299716704,0.433333,0.417778,64,63,60,58,57,57,191,228,177,125,200,161
$RAFOS,2,1299716222,0.300000,0.283889,74,65,63,51,51,51,161,215,183,138,123,224
$RAFOS,1,1299715750,0.166667,0.152778,65,65,51,51,50,48,188,205,126,220,152,162
$RAFOS,0,1299715261,0.033333,0.016944,61,58,57,56,56,54,213,147,223,181,195,124
$RAFOS_FIX,6726.198242,-5731.570312,090311,202000,2,126,1.42
$IRIDIUM_FIX,6703.95,-5716.22,090311,181844
$TT8_MAMPS,0.027713
$HUMID,43.10
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,23.7,18.146
$10V_AH,10.3,10.213
$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,11.300,46.825,315.750,68.200,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1191.302,1734.492,402.631,792.270,75.639,0.000,853.286,0.000,794.686,1800.000,2.624,0.000
$DEVICE_MAMPS,201.960,69.615,1035.810,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.133,373.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20124,497
$CAP_FILE_SIZE,57618,0
$CFSIZE,260165632,243974144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.6
$GPS,100311,004036,6726.432,-5722.222,39,1.3,40,-38.2