version: 66.08
glider: 141
mission: 15
dive: 120
start: 3 10 111 2 15 37
data:
$ID,141
$MISSION,15
$DIVE,120
$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,-26104.34
$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,42
$R_STBD_OVSHOOT,42
$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
$GPS1,100311,020238,6726.494,-5723.193,10,1.6,10,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-39.3
$GPS2,100311,021506,6726.407,-5723.033,8,1.3,24,-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,277.8,155191,-17.5,-10.000
$D_GRID,203
$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,-146.0,0.0,0.0,0,191,0.00,0.00,-170.73,0.000,6,0.000,0.000,112,2500,3626,0,0,0,0,0,0
$GC,193,-0.62,-146.0,2.2,-0.2,30,213,10.65,2.33,0.00,0.000,4,0.270,0.070,2658,3884,3627,0,0,0,0,0,0
$GC,237,-0.50,-146.0,3.6,-7.4,37,244,0.15,2.17,0.00,0.000,6,0.246,0.041,2691,2494,3628,0,0,0,0,0,0
$GC,582,-0.46,-146.0,50.5,-12.8,98,589,0.00,2.28,0.00,0.000,4,0.000,0.069,2691,3882,3627,0,0,0,0,0,0
$GC,637,-0.46,-146.0,57.2,-12.2,107,644,0.00,2.17,0.00,0.000,6,0.000,0.043,2691,2487,3627,0,0,0,0,0,0
$GC,982,-0.43,-146.0,99.5,-11.6,168,989,0.12,2.28,0.00,0.000,4,0.213,0.070,2722,3882,3626,0,0,0,0,0,0
$GC,1045,-0.52,-146.0,105.7,-7.9,174,1052,0.00,2.17,0.00,0.000,6,0.000,0.043,2723,2481,3626,0,0,0,0,0,0
$GC,1371,-0.59,-146.0,133.0,-8.2,205,1376,0.15,2.17,0.00,0.000,4,0.115,0.057,2670,1089,3626,0,0,0,0,0,0
$GC,1399,-0.59,-146.0,135.9,-11.3,207,1403,0.00,2.20,0.00,0.000,6,0.000,0.055,2670,2480,3625,0,0,0,0,0,0
$GC,1731,-0.55,-146.0,177.5,-13.4,238,1735,0.00,2.25,0.00,0.000,4,0.000,0.070,2670,3896,3625,0,0,0,0,0,0
$GC,1905,-0.55,-146.0,199.2,-12.1,253,1909,0.00,2.17,0.00,0.000,6,0.000,0.041,2670,2478,3625,0,0,0,0,0,0
$STATE,1937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1937,begin apogee
$GC,1943,-0.12,0.0,203.2,12.0,256,2064,0.50,0.00,115.55,1.043,6,0.191,0.000,2814,2253,3030,0,0,0,0,0,0
$STATE,2065,end apogee,CONTROL_FINISHED_OK
$STATE,2065,begin climb
$GC,2067,0.62,146.0,208.6,0.0,267,2190,0.77,0.00,118.60,0.982,6,0.144,0.000,3049,2252,2434,0,0,0,0,0,0
$GC,2508,0.57,146.0,169.9,10.0,309,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2252,2427,0,0,0,0,0,0
$GC,2829,0.53,146.0,135.1,11.4,339,2833,0.00,2.33,0.00,0.000,4,0.000,0.058,3049,3685,2427,0,0,0,0,0,0
$GC,2907,0.44,146.0,124.5,13.5,345,2914,0.20,2.20,0.00,0.000,6,0.190,0.044,3009,2287,2428,0,0,0,0,0,0
$GC,3235,0.58,213.9,96.2,6.9,380,3300,0.12,2.35,56.05,0.910,4,0.105,0.058,3070,857,2156,0,0,0,0,0,0
$GC,3309,0.56,213.9,89.2,11.0,392,3315,0.00,2.33,0.00,0.000,6,0.000,0.046,3070,2284,2154,0,0,0,0,0,0
$GC,3655,0.57,224.1,53.1,9.5,453,3669,0.00,2.33,9.05,0.775,4,0.000,0.059,3070,3692,2116,0,0,0,0,0,0
$GC,3767,0.53,224.1,40.3,11.8,472,3774,0.15,2.25,0.00,0.000,6,0.177,0.043,3041,2266,2115,0,0,0,0,0,0
$FREEZE,8.88,-0.996,-1.838,2,1,0
$GC,4114,0.66,275.0,11.3,7.7,533,4147,0.10,2.30,24.95,0.848,4,0.122,0.054,3083,3693,1906,0,0,0,0,0,0
$FREEZE,6.83,-1.003,-1.836,2,1,0
$FREEZE,6.12,-1.025,-1.836,2,1,0
$GC,4160,0.66,275.0,6.1,12.1,540,4167,0.00,2.28,0.00,0.000,6,0.000,0.044,3093,2269,1903,0,0,0,0,0,0
$FREEZE,4.24,-1.038,-1.834,2,1,0
$FREEZE,3.48,-1.062,-1.833,2,1,0
$FREEZE,2.83,-1.054,-1.832,2,1,0
$STATE,4183,end climb,SURFACE_DEPTH_REACHED
$STATE,4183,begin surface coast
$FREEZE,2.06,-1.074,-1.832,2,1,0
$FREEZE,1.37,-1.081,-1.831,2,1,0
$FREEZE,1.32,-4.417,-1.101,2,1,0
$FREEZE,1.43,-6.640,-1.134,2,1,0
$FINISH,1.4,1.016432
$STATE,4207,end surface coast,CONTROL_FINISHED_OK
$STATE,4207,begin surface
$SM_CCo,4224,55.30,0.064,0,0,1398,400.08
$SM_GC,2.33,0.00,0.00,55.30,0.000,0.000,0.064,108,2509,1398,-8.61,0.54,400.08
$RAFOS_CLK,185
$RAFOS_FIX,6726.198242,-5731.570312,090311,202000,2,126,1.42
$IRIDIUM_FIX,6658.43,-5727.00,100311,000008
$TT8_MAMPS,0.026215
$HUMID,44.05
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.3
$24V_AH,23.6,18.384
$10V_AH,10.3,10.296
$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,21.550,41.225,324.200,55.300,0.000,25.873,37.760,449.256,0.250,0.000,26.252,1255.448,1653.515,516.491,1363.592,258.397,0.000,1016.420,0.000,857.799,0.000,2.621,0.000
$DEVICE_MAMPS,270.045,69.615,1043.460,64.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.707,403.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20144,548
$CAP_FILE_SIZE,69577,0
$CFSIZE,260165632,243900416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.9
$GPS,100311,032827,6726.755,-5724.053,25,3.0,44,-38.2