version: 66.08
glider: 141
mission: 15
dive: 125
start: 3 10 111 8 48 35
data:
$ID,141
$MISSION,15
$DIVE,125
$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,-26476.596
$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,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
$GPS1,100311,050806,6726.938,-5725.054,181,99.0,181,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-34.6
$GPS2,100311,050806,6726.938,-5725.054,181,99.0,181,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,128,0.00,0.00,-108.47,0.000,2,0.000,0.000,106,2513,3257,0,0,0,0,0,0
$GC,131,-0.62,-146.0,5.4,-6.6,19,162,12.40,2.25,-9.07,0.000,4,0.327,0.082,2654,3877,3629,0,0,0,0,0,0
$GC,275,-0.53,-146.0,33.1,-16.1,44,282,0.12,2.15,0.00,0.000,6,0.213,0.041,2685,2490,3630,0,0,0,0,0,0
$GC,620,-0.47,-146.0,81.6,-14.0,105,626,0.00,2.28,0.00,0.000,4,0.000,0.069,2685,3889,3629,0,0,0,0,0,0
$GC,662,-0.45,-146.0,87.6,-14.2,112,669,0.12,2.17,0.00,0.000,6,0.205,0.041,2716,2479,3629,0,0,0,0,0,0
$GC,995,-0.49,-146.0,122.0,-8.4,152,999,0.00,2.28,0.00,0.000,4,0.000,0.067,2716,3893,3628,0,0,0,0,0,0
$GC,1022,-0.53,-146.0,124.6,-9.4,154,1029,0.00,2.15,0.00,0.000,6,0.000,0.041,2716,2481,3628,0,0,0,0,0,0
$GC,1349,-0.59,-146.0,155.4,-8.9,185,1354,0.12,2.17,0.00,0.000,4,0.118,0.060,2673,1093,3628,0,0,0,0,0,0
$GC,1370,-0.59,-146.0,158.1,-10.8,186,1378,0.00,2.20,0.00,0.000,6,0.000,0.055,2673,2474,3627,0,0,0,0,0,0
$GC,1696,-0.56,-146.0,193.7,-10.6,217,1700,0.00,2.30,0.00,0.000,4,0.000,0.070,2673,3905,3627,0,0,0,0,0,0
$GC,1735,-0.56,-146.0,198.0,-10.8,220,1739,0.00,2.17,0.00,0.000,6,0.000,0.041,2673,2488,3627,0,0,0,0,0,0
$STATE,1782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1782,begin apogee
$GC,1787,-0.12,0.0,203.2,10.9,224,1911,0.50,0.00,116.35,1.044,6,0.193,0.000,2817,2249,3031,0,0,0,0,0,0
$STATE,1912,end apogee,CONTROL_FINISHED_OK
$STATE,1912,begin climb
$GC,1914,0.62,146.0,207.2,0.0,235,2041,0.77,0.00,118.97,0.985,6,0.146,0.000,3052,2249,2433,0,0,0,0,0,0
$GC,2359,0.57,146.0,163.6,11.2,278,2363,0.00,2.20,0.00,0.000,4,0.000,0.059,3062,890,2428,0,0,0,0,0,0
$GC,2375,0.52,146.0,161.6,11.3,279,2383,0.12,2.22,0.00,0.000,6,0.190,0.046,3033,2285,2426,0,0,0,0,0,0
$GC,2702,0.53,160.3,130.3,9.3,310,2724,0.00,2.33,12.20,0.850,4,0.000,0.060,3033,3687,2376,0,0,0,0,0,0
$GC,2752,0.50,160.3,124.9,11.0,314,2759,0.00,2.22,0.00,0.000,6,0.000,0.044,3041,2282,2376,0,0,0,0,0,0
$GC,3080,0.55,197.6,95.1,8.3,350,3116,0.00,0.00,32.12,0.902,6,0.000,0.000,3041,2282,2224,0,0,0,0,0,0
$GC,3455,0.64,226.1,62.3,8.7,416,3486,0.00,2.38,25.02,0.875,4,0.000,0.059,3041,3691,2108,0,0,0,0,0,0
$GC,3532,0.67,226.1,54.8,10.7,429,3540,0.10,2.25,0.00,0.000,6,0.119,0.044,3085,2279,2106,0,0,0,0,0,0
$GC,3878,0.67,226.1,17.5,10.5,490,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2280,2103,0,0,0,0,0,0
$FREEZE,8.88,-0.695,-1.833,2,4,0
$FREEZE,8.30,-0.701,-1.833,2,4,0
$FREEZE,7.68,-0.693,-1.832,2,4,0
$FREEZE,7.18,-0.704,-1.832,2,4,0
$FREEZE,6.49,-0.702,-1.831,2,4,0
$FREEZE,5.96,-0.716,-1.831,2,4,0
$FREEZE,5.49,-0.713,-1.830,2,4,0
$FREEZE,4.92,-0.722,-1.830,2,4,0
$FREEZE,4.35,-0.716,-1.829,2,4,0
$FREEZE,3.73,-0.747,-1.829,2,4,0
$FREEZE,3.09,-0.743,-1.829,2,4,0
$FREEZE,2.52,-0.720,-1.828,2,4,0
$STATE,4014,end climb,SURFACE_DEPTH_REACHED
$STATE,4014,begin surface coast
$FREEZE,1.84,-0.755,-1.827,2,4,0
$FREEZE,1.51,-0.869,-0.968,2,4,0
$FINISH,1.5,1.014285
$STATE,4027,end surface coast,FINISH_DEPTH_REACHED
$STATE,4027,begin surface
$SM_CCo,4043,145.27,0.067,0,0,750,559.04
$SM_GC,2.52,0.00,0.00,145.27,0.000,0.000,0.067,115,2506,750,-8.59,0.45,559.04
$RAFOS_CLK,263
$RAFOS,6,1299746944,8.833333,8.817778,80,56,55,54,54,52,730,181,203,212,151,172
$RAFOS_FIX,6725.381348,-5734.985352,100311,040456,2,108,0.00
$IRIDIUM_FIX,6658.43,-5727.00,100311,050532
$TT8_MAMPS,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$24V_AH,23.6,18.878
$10V_AH,10.3,10.488
$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,22.775,36.400,304.675,145.275,0.000,98.921,17.417,0.000,0.250,0.000,183.286,1185.188,1775.511,552.620,1094.928,287.670,0.000,1014.502,0.000,790.861,360.000,2.616,0.000
$DEVICE_MAMPS,327.420,81.855,1044.225,67.320,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.883,384.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150440
$DATA_FILE_SIZE,20121,517
$CAP_FILE_SIZE,62808,0
$CFSIZE,260165632,243728384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.4
$GPS,100311,095956,6725.758,-5729.787,24,2.2,44,-38.2