version: 66.08
glider: 141
mission: 15
dive: 122
start: 3 10 111 5 8 39
data:
$ID,141
$MISSION,15
$DIVE,122
$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,-26108.023
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,100311,045858,6726.993,-5725.141,10,3.8,30,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-42.3
$GPS2,100311,050806,6726.938,-5725.054,9,1.4,25,-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,277.2,154423,-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,-146.0,0.0,0.0,0,224,0.00,0.00,-205.45,0.000,6,0.000,0.000,106,2508,3625,0,0,0,0,0,0
$GC,227,-0.62,-146.0,2.1,-0.7,36,246,10.32,2.28,0.00,0.000,4,0.259,0.063,2657,3883,3627,0,0,0,0,0,0
$GC,276,-0.50,-146.0,4.2,-8.8,44,283,0.17,2.17,0.00,0.000,6,0.226,0.041,2699,2489,3627,0,0,0,0,0,0
$GC,621,-0.50,-146.0,49.0,-12.3,105,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2488,3628,0,0,0,0,0,0
$GC,967,-0.50,-146.0,88.4,-11.2,166,973,0.00,2.25,0.00,0.000,4,0.000,0.068,2699,3884,3626,0,0,0,0,0,0
$GC,1074,-0.50,-146.0,100.7,-10.6,184,1081,0.00,2.17,0.00,0.000,6,0.000,0.041,2699,2490,3626,0,0,0,0,0,0
$GC,1399,-0.50,-146.0,137.9,-11.4,215,1403,0.00,2.28,0.00,0.000,4,0.000,0.067,2699,3884,3625,0,0,0,0,0,0
$GC,1454,-0.55,-146.0,144.1,-10.2,219,1461,0.00,2.15,0.00,0.000,6,0.000,0.040,2699,2486,3625,0,0,0,0,0,0
$GC,1779,-0.57,-146.0,177.7,-10.9,250,1783,0.00,2.17,0.00,0.000,4,0.000,0.057,2699,1082,3625,0,0,0,0,0,0
$GC,1837,-0.62,-146.0,184.1,-11.0,255,1841,0.12,2.20,0.00,0.000,6,0.129,0.052,2658,2489,3625,0,0,0,0,0,0
$STATE,1974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1974,begin apogee
$GC,1979,-0.12,0.0,203.0,14.4,268,2101,0.55,0.00,116.25,1.040,6,0.197,0.000,2813,2260,3030,0,0,0,0,0,0
$STATE,2102,end apogee,CONTROL_FINISHED_OK
$STATE,2102,begin climb
$GC,2103,0.62,146.0,209.4,0.0,279,2235,0.77,2.42,118.20,0.984,4,0.143,0.063,3060,893,2433,0,0,0,0,0,0
$GC,2293,0.56,146.0,197.0,10.9,296,2297,0.00,2.28,0.00,0.000,6,0.000,0.045,3060,2274,2429,0,0,0,0,0,0
$GC,2618,0.50,146.0,157.8,12.1,326,2623,0.12,2.30,0.00,0.000,4,0.184,0.061,3037,891,2427,0,0,0,0,0,0
$GC,2649,0.50,146.0,154.2,10.5,328,2657,0.00,2.22,0.00,0.000,6,0.000,0.044,3037,2271,2427,0,0,0,0,0,0
$GC,2977,0.52,155.8,121.6,9.5,359,2992,0.00,2.33,8.50,0.787,4,0.000,0.059,3037,3684,2394,0,0,0,0,0,0
$GC,3059,0.46,155.8,112.1,11.9,366,3067,0.12,2.20,0.00,0.000,6,0.197,0.044,3018,2286,2394,0,0,0,0,0,0
$GC,3394,0.59,232.4,86.3,6.5,413,3466,0.12,2.40,64.70,0.908,4,0.109,0.057,3071,3692,2081,0,0,0,0,0,0
$GC,3506,0.55,232.4,74.2,13.1,432,3513,0.15,2.28,0.00,0.000,6,0.175,0.044,3043,2269,2077,0,0,0,0,0,0
$GC,3853,0.67,269.5,45.8,8.3,493,3891,0.12,2.35,30.88,0.871,4,0.109,0.060,3102,871,1930,0,0,0,0,0,0
$GC,3949,0.67,269.5,34.9,12.5,509,3956,0.00,2.25,0.00,0.000,6,0.000,0.045,3102,2276,1926,0,0,0,0,0,0
$FREEZE,8.50,-0.957,-1.838,2,1,0
$FREEZE,7.63,-0.946,-1.838,2,1,0
$FREEZE,7.04,-0.956,-1.837,2,1,0
$STATE,4163,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4163,begin subsurface finish
$FINISH1,7.0,1.026870,31
$GC,4169,0.04,30.9,7.0,-13.9,547,4212,0.73,2.33,-36.75,0.000,4,0.163,0.076,2882,3682,2906,0,0,0,0,0,0
$FINISH2,5.2
$STATE,4213,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4213,begin surface
$RAFOS_CLK,183
$RAFOS,6,1299732543,4.833333,4.817500,125,58,57,56,56,54,739,206,124,193,1500,164
$RAFOS_FIX,6725.381348,-5734.985352,100311,040456,2,108,0.00
$IRIDIUM_FIX,6658.43,-5725.29,100311,030313
$TT8_MAMPS,0.026215
$HUMID,44.72
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.4
$24V_AH,23.6,18.618
$10V_AH,10.2,10.383
$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,13.325,43.350,338.525,0.000,0.000,31.074,16.878,379.694,0.250,0.000,27.562,1224.819,1613.885,503.005,1304.545,138.379,0.000,1036.119,0.000,878.135,0.000,2.621,0.000
$DEVICE_MAMPS,259.335,75.735,1040.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.802,409.146,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20092,554
$CAP_FILE_SIZE,65884,0
$CFSIZE,260165632,243826688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.0
$GPS,100311,050806,6726.938,-5725.054,9,1.4,25,-38.2