version: 66.08
glider: 141
mission: 15
dive: 121
start: 3 10 111 3 45 16
data:
$ID,141
$MISSION,15
$DIVE,121
$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,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,-26106.77
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,100311,032827,6726.755,-5724.053,25,3.0,44,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-45.0
$GPS2,100311,034443,6726.683,-5723.892,57,1.9,63,-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,277.5,154910,-17.5,-10.000
$D_GRID,202
$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,-146.0,0.0,0.0,0,179,0.00,0.00,-158.18,0.000,6,0.000,0.000,108,2511,3626,0,0,0,0,0,0
$GC,182,-0.62,-146.0,2.5,-0.1,28,201,10.93,2.28,0.00,0.000,4,0.282,0.068,2657,3880,3627,0,0,0,0,0,0
$GC,264,-0.45,-146.0,7.1,-13.2,42,271,0.22,2.17,0.00,0.000,6,0.221,0.043,2713,2483,3628,0,0,0,0,0,0
$GC,609,-0.45,-146.0,47.2,-10.8,103,616,0.00,2.30,0.00,0.000,4,0.000,0.070,2714,3886,3628,0,0,0,0,0,0
$GC,664,-0.50,-146.0,53.2,-10.9,112,671,0.00,2.15,0.00,0.000,6,0.000,0.043,2714,2488,3627,0,0,0,0,0,0
$GC,1009,-0.53,-146.0,92.6,-11.0,173,1015,0.00,2.25,0.00,0.000,4,0.000,0.070,2714,3886,3626,0,0,0,0,0,0
$GC,1072,-0.59,-146.0,99.5,-10.6,184,1080,0.12,2.17,0.00,0.000,6,0.123,0.041,2672,2480,3626,0,0,0,0,0,0
$GC,1398,-0.54,-146.0,137.1,-10.2,215,1402,0.00,2.28,0.00,0.000,4,0.000,0.068,2672,3886,3625,0,0,0,0,0,0
$GC,1449,-0.54,-146.0,142.6,-10.5,219,1453,0.00,2.15,0.00,0.000,6,0.000,0.043,2672,2479,3626,0,0,0,0,0,0
$GC,1774,-0.51,-146.0,183.7,-13.9,249,1778,0.00,2.28,0.00,0.000,4,0.000,0.067,2672,3890,3625,0,0,0,0,0,0
$GC,1803,-0.48,-146.0,187.9,-14.6,251,1808,0.12,2.15,0.00,0.000,6,0.202,0.041,2701,2478,3625,0,0,0,0,0,0
$STATE,1935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1935,begin apogee
$GC,1940,-0.12,0.0,202.4,10.0,263,2063,0.38,0.00,116.43,1.037,6,0.184,0.000,2813,2257,3029,0,0,0,0,0,0
$STATE,2063,end apogee,CONTROL_FINISHED_OK
$STATE,2063,begin climb
$GC,2065,0.62,146.0,206.9,0.0,274,2193,0.77,0.00,118.62,0.983,6,0.142,0.000,3051,2256,2434,0,0,0,0,0,0
$GC,2511,0.58,146.0,158.7,10.5,317,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2256,2428,0,0,0,0,0,0
$GC,2832,0.58,179.7,133.7,8.4,347,2866,0.00,2.40,28.17,0.907,4,0.000,0.057,3051,3674,2297,0,0,0,0,0,0
$GC,2928,0.51,179.7,122.1,14.3,355,2936,0.12,2.22,0.00,0.000,6,0.190,0.044,3032,2284,2295,0,0,0,0,0,0
$GC,3261,0.59,218.0,87.6,8.2,397,3297,0.00,0.00,32.67,0.892,6,0.000,0.000,3032,2284,2141,0,0,0,0,0,0
$GC,3637,0.66,221.2,57.3,9.9,463,3644,0.12,2.28,0.00,0.000,4,0.108,0.057,3082,3687,2136,0,0,0,0,0,0
$GC,3713,0.60,221.2,46.9,13.6,476,3721,0.12,2.20,0.00,0.000,6,0.190,0.043,3062,2273,2136,0,0,0,0,0,0
$GC,4060,0.63,230.1,12.5,9.6,537,4073,0.00,2.25,5.30,0.661,4,0.000,0.059,3071,865,2090,0,0,0,0,0,0
$FREEZE,8.55,-0.988,-1.838,2,2,0
$FREEZE,8.08,-1.011,-1.838,2,2,0
$FREEZE,7.35,-0.983,-1.837,2,2,0
$GC,4103,0.67,238.4,8.1,9.6,544,4117,0.00,2.22,3.62,0.517,6,0.000,0.046,3071,2282,2057,0,0,0,0,0,0
$FREEZE,5.64,-1.042,-1.836,2,2,0
$FREEZE,5.19,-1.046,-1.835,2,2,0
$FREEZE,4.75,-1.066,-1.835,2,2,0
$FREEZE,4.31,-1.062,-1.834,2,2,0
$FREEZE,3.74,-1.035,-1.833,2,2,0
$FREEZE,3.27,-1.064,-1.834,2,2,0
$FREEZE,2.61,-1.081,-1.833,2,2,0
$STATE,4153,end climb,SURFACE_DEPTH_REACHED
$STATE,4153,begin surface coast
$FREEZE,2.10,-1.076,-1.832,2,2,0
$FREEZE,1.67,-1.071,-1.832,2,2,0
$FREEZE,1.59,-1.102,-1.750,2,2,0
$FREEZE,1.60,-1.113,-1.801,2,2,0
$FREEZE,1.55,-1.057,-1.816,2,2,0
$FREEZE,1.56,-1.103,-1.820,2,2,0
$FINISH,1.6,1.026689
$STATE,4186,end surface coast,CONTROL_FINISHED_OK
$STATE,4187,begin surface
$SM_CCo,4203,140.30,0.067,0,0,750,559.04
$SM_GC,2.33,0.00,0.00,140.30,0.000,0.000,0.067,106,2507,750,-8.62,0.48,559.04
$RAFOS_CLK,193
$RAFOS,5,1299732062,4.700000,4.683889,91,66,63,60,57,56,721,205,181,193,162,219
$RAFOS,4,1299731586,4.566667,4.551667,55,52,51,50,50,49,170,147,185,115,219,1932
$RAFOS,3,1299731108,4.433333,4.418889,63,58,54,54,53,52,206,197,156,184,170,215
$RAFOS,2,1299730630,4.300000,4.286111,63,62,54,52,51,50,158,203,175,213,185,145
$RAFOS,1,1299730145,4.166667,4.151389,62,61,57,57,55,55,216,145,203,117,132,164
$RAFOS,0,1299729666,4.033333,4.018333,58,55,52,50,49,47,143,190,206,160,120,215
$RAFOS_FIX,6726.198242,-5731.570312,090311,202000,2,126,1.42
$IRIDIUM_FIX,6658.43,-5722.28,100311,030353
$TT8_MAMPS,0.027713
$HUMID,43.22
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$24V_AH,23.6,18.499
$10V_AH,10.3,10.342
$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,21.325,36.375,304.825,140.300,0.000,87.522,143.839,310.434,0.250,0.000,66.600,1287.525,1749.595,576.600,1469.574,257.297,0.000,1072.398,0.000,855.745,2520.000,2.620,0.000
$DEVICE_MAMPS,281.520,70.380,1037.340,66.555,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.376,414.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20127,559
$CAP_FILE_SIZE,69292,0
$CFSIZE,260165632,243793920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$GPS,100311,045858,6726.993,-5725.141,10,3.8,30,-38.2