version: 66.08
glider: 141
mission: 15
dive: 124
start: 3 10 111 7 27 14
data:
$ID,141
$MISSION,15
$DIVE,124
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,100311,050806,6726.938,-5725.054,9,1.4,25,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.94
$_SM_ANGLEo,2.6
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.75,0.000,2,0.000,0.000,2885,3680,3139,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.1,-0.0,1,51,0.62,4.15,-13.57,0.000,4,0.107,0.054,2667,1076,3629,0,0,0,0,0,0
$GC,260,-0.56,-146.0,40.8,-15.2,42,267,0.00,2.25,0.00,0.000,6,0.000,0.053,2667,2497,3630,0,0,0,0,0,0
$GC,605,-0.49,-146.0,92.4,-15.0,103,613,0.15,2.28,0.00,0.000,4,0.221,0.069,2702,3899,3629,0,0,0,0,0,0
$GC,680,-0.53,-146.0,101.8,-11.1,115,687,0.00,2.15,0.00,0.000,6,0.000,0.041,2702,2484,3629,0,0,0,0,0,0
$GC,1007,-0.55,-146.0,139.1,-11.7,146,1011,0.00,2.17,0.00,0.000,4,0.000,0.058,2703,1083,3627,0,0,0,0,0,0
$GC,1053,-0.60,-146.0,144.8,-11.8,150,1057,0.00,2.20,0.00,0.000,6,0.000,0.053,2702,2492,3627,0,0,0,0,0,0
$GC,1378,-0.65,-146.0,178.8,-10.5,180,1383,0.15,2.25,0.00,0.000,4,0.116,0.068,2651,3897,3626,0,0,0,0,0,0
$GC,1444,-0.61,-146.0,188.1,-13.6,185,1451,0.00,2.15,0.00,0.000,6,0.000,0.041,2651,2490,3625,0,0,0,0,0,0
$STATE,1555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1555,begin apogee
$GC,1560,-0.12,0.0,203.5,14.0,196,1682,0.57,0.00,115.88,1.034,6,0.203,0.000,2814,2250,3030,0,0,0,0,0,0
$STATE,1682,end apogee,CONTROL_FINISHED_OK
$STATE,1683,begin climb
$GC,1684,0.62,146.0,208.8,0.0,207,1812,0.80,0.00,118.88,0.977,6,0.145,0.000,3056,2249,2433,0,0,0,0,0,0
$GC,2130,0.55,146.0,164.7,12.9,250,2134,0.00,2.22,0.00,0.000,4,0.000,0.058,3066,882,2427,0,0,0,0,0,0
$GC,2185,0.48,146.0,158.1,11.3,254,2192,0.17,2.25,0.00,0.000,6,0.186,0.047,3021,2285,2426,0,0,0,0,0,0
$GC,2510,0.56,186.0,130.3,8.2,285,2549,0.00,2.30,33.10,0.912,4,0.000,0.057,3021,3687,2270,0,0,0,0,0,0
$GC,2607,0.56,186.0,121.3,11.1,293,2611,0.00,2.22,0.00,0.000,6,0.000,0.044,3029,2294,2267,0,0,0,0,0,0
$GC,2937,0.63,209.1,90.6,8.9,332,2963,0.12,2.38,20.02,0.872,4,0.109,0.058,3089,864,2177,0,0,0,0,0,0
$GC,2976,0.59,209.1,86.3,11.2,338,2983,0.12,2.28,0.00,0.000,6,0.185,0.046,3060,2285,2174,0,0,0,0,0,0
$GC,3322,0.65,237.8,53.7,8.7,399,3353,0.00,2.33,25.17,0.870,4,0.000,0.059,3059,3682,2060,0,0,0,0,0,0
$GC,3448,0.65,237.8,40.6,11.2,421,3455,0.00,2.22,0.00,0.000,6,0.000,0.044,3066,2266,2056,0,0,0,0,0,0
$FREEZE,8.78,-0.514,-1.835,2,3,0
$FREEZE,8.41,-0.514,-1.835,2,3,0
$FREEZE,7.90,-0.509,-1.834,2,3,0
$FREEZE,7.38,-0.513,-1.834,2,3,0
$GC,3794,0.68,237.8,7.4,10.1,482,3801,0.00,2.20,0.00,0.000,4,0.000,0.061,3072,872,2054,0,0,0,0,0,0
$FREEZE,5.81,-0.528,-1.832,2,3,0
$FREEZE,5.31,-0.525,-1.832,2,3,0
$FREEZE,4.74,-0.596,-1.832,2,3,0
$GC,3814,0.75,257.3,5.3,9.1,485,3829,0.00,2.22,8.95,0.772,6,0.000,0.047,3072,2286,1980,0,0,0,0,0,0
$FREEZE,2.98,-0.630,-1.830,2,3,0
$STATE,3834,end climb,SURFACE_DEPTH_REACHED
$STATE,3834,begin surface coast
$FREEZE,2.43,-0.634,-1.830,2,3,0
$FREEZE,1.86,-0.670,-1.829,2,3,0
$FREEZE,1.58,-0.699,-1.828,2,3,0
$FREEZE,1.61,-0.701,-1.827,2,3,0
$FREEZE,1.63,-0.632,-1.823,2,3,0
$FINISH,1.6,1.026713
$STATE,3865,end surface coast,CONTROL_FINISHED_OK
$STATE,3865,begin surface
$SM_CCo,3882,63.42,0.066,0,0,1399,400.08
$SM_GC,2.75,0.00,0.00,63.42,0.000,0.000,0.066,106,2512,1399,-8.62,0.62,400.08
$RAFOS_CLK,216
$RAFOS,3,1299745505,8.433333,8.418056,63,54,53,53,52,51,185,138,169,202,213,224
$RAFOS,2,1299745022,8.300000,8.283889,70,59,58,56,50,48,229,160,195,206,175,126
$RAFOS,1,1299744548,8.166667,8.152223,64,60,59,57,57,54,188,198,207,166,142,128
$RAFOS,0,1299744066,8.033334,8.018333,67,63,59,58,56,54,218,180,198,158,124,141
$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,45.15
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$24V_AH,23.7,18.787
$10V_AH,10.3,10.443
$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,11.225,42.875,322.000,63.425,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1176.907,1593.447,400.145,770.778,68.521,0.000,836.521,0.000,773.625,1440.000,2.616,0.000
$DEVICE_MAMPS,221.085,68.850,1034.280,65.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.891,366.059,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16833,493
$CAP_FILE_SIZE,55293,0
$CFSIZE,260165632,243765248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.9
$GPS,100311,050806,6726.938,-5725.054,181,99.0,181,-38.2