version: 66.08
glider: 141
mission: 15
dive: 126
start: 3 10 111 10 18 19
data:
$ID,141
$MISSION,15
$DIVE,126
$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,-26477.854
$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,32
$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
$GPS1,100311,095956,6725.758,-5729.787,24,2.2,44,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-57.4
$GPS2,100311,101746,6725.532,-5729.512,14,99.0,33,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,midTARGET
$TGT_LATLONG,6656.000,-5813.000
$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,248.2,63144,-17.5,-10.000
$D_GRID,216
$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,-146.0,0.0,0.0,0,196,0.00,0.00,-177.75,0.000,2,0.000,0.000,115,2506,3594,0,0,0,0,0,0
$GC,198,-0.62,-146.0,6.6,-15.7,31,218,12.73,2.28,-0.70,0.000,4,0.331,0.076,2652,3899,3631,0,0,0,0,0,0
$GC,371,-0.52,-146.0,49.3,-16.6,61,378,0.15,2.22,0.00,0.000,6,0.209,0.041,2688,2483,3631,0,0,0,0,0,0
$GC,717,-0.47,-146.0,94.2,-11.9,122,723,0.00,2.28,0.00,0.000,4,0.000,0.068,2689,3886,3632,0,0,0,0,0,0
$GC,775,-0.47,-146.0,101.4,-12.1,131,779,0.00,2.17,0.00,0.000,6,0.000,0.041,2689,2488,3632,0,0,0,0,0,0
$GC,1102,-0.45,-146.0,142.0,-13.2,161,1106,0.00,2.25,0.00,0.000,4,0.000,0.069,2689,3886,3631,0,0,0,0,0,0
$GC,1123,-0.43,-146.0,145.3,-13.4,162,1130,0.12,2.15,0.00,0.000,6,0.205,0.041,2720,2489,3631,0,0,0,0,0,0
$GC,1450,-0.50,-146.0,174.4,-8.5,193,1454,0.00,2.20,0.00,0.000,4,0.000,0.058,2720,1089,3629,0,0,0,0,0,0
$GC,1479,-0.59,-146.0,177.2,-9.4,195,1484,0.15,2.20,0.00,0.000,6,0.116,0.053,2667,2491,3630,0,0,0,0,0,0
$STATE,1807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1807,begin apogee
$GC,1813,-0.12,0.0,217.0,11.8,226,1936,0.50,0.00,117.53,1.055,6,0.191,0.000,2813,2252,3030,0,0,0,0,0,0
$STATE,1937,end apogee,CONTROL_FINISHED_OK
$STATE,1937,begin climb
$GC,1939,0.62,146.0,220.5,0.0,237,2068,0.77,2.42,118.82,0.995,4,0.141,0.063,3061,884,2432,0,0,0,0,0,0
$GC,2118,0.56,146.0,205.6,13.6,253,2125,0.00,2.33,0.00,0.000,6,0.000,0.044,3061,2280,2428,0,0,0,0,0,0
$GC,2443,0.49,146.0,166.1,11.0,284,2448,0.15,2.30,0.00,0.000,4,0.182,0.060,3023,3697,2426,0,0,0,0,0,0
$GC,2555,0.44,146.0,153.8,10.1,293,2562,0.00,2.25,0.00,0.000,6,0.000,0.043,3031,2283,2426,0,0,0,0,0,0
$GC,2880,0.47,169.2,123.2,8.9,324,2902,0.00,0.00,19.23,0.892,6,0.000,0.000,3031,2283,2340,0,0,0,0,0,0
$GC,3224,0.55,212.8,93.4,8.0,363,3266,0.00,2.38,37.60,0.900,4,0.000,0.059,3039,870,2161,0,0,0,0,0,0
$GC,3314,0.66,238.0,85.8,8.8,378,3345,0.12,2.28,22.58,0.874,6,0.111,0.044,3089,2287,2058,0,0,0,0,0,0
$GC,3682,0.66,238.0,43.5,12.1,443,3689,0.00,2.25,0.00,0.000,4,0.000,0.058,3089,3696,2052,0,0,0,0,0,0
$GC,3775,0.61,238.0,31.4,13.4,459,3783,0.15,2.25,0.00,0.000,6,0.191,0.044,3062,2272,2051,0,0,0,0,0,0
$FREEZE,8.60,-0.860,-1.831,2,1,0
$FREEZE,8.06,-0.861,-1.830,2,1,0
$FREEZE,7.69,-0.863,-1.830,2,1,0
$FREEZE,7.30,-0.868,-1.830,2,1,0
$FREEZE,6.83,-0.866,-1.829,2,1,0
$FREEZE,6.46,-0.893,-1.829,2,1,0
$FREEZE,6.01,-0.900,-1.829,2,1,0
$FREEZE,5.56,-0.896,-1.828,2,1,0
$FREEZE,5.05,-0.895,-1.828,2,1,0
$FREEZE,4.60,-0.912,-1.828,2,1,0
$FREEZE,4.17,-0.901,-1.827,2,1,0
$FREEZE,3.70,-0.924,-1.827,2,1,0
$FREEZE,3.26,-0.947,-1.826,2,1,0
$FREEZE,2.76,-0.956,-1.826,2,1,0
$STATE,4075,end climb,SURFACE_DEPTH_REACHED
$STATE,4076,begin surface coast
$FREEZE,2.64,-0.977,-1.825,2,1,0
$FREEZE,2.58,-0.978,-1.825,2,1,0
$FREEZE,2.44,-0.953,-1.824,2,1,0
$FREEZE,2.42,-0.955,-1.825,2,1,0
$FREEZE,2.57,-0.948,-1.824,2,1,0
$FREEZE,2.46,-0.940,-1.824,2,1,0
$FINISH,2.5,1.026728
$STATE,4107,end surface coast,CONTROL_FINISHED_OK
$STATE,4107,begin surface
$RAFOS_CLK,185
$RAFOS_FIX,6725.381348,-5734.985352,100311,040456,2,108,0.00
$IRIDIUM_FIX,6658.43,-5734.74,100311,101042
$TT8_MAMPS,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,24.2
$24V_AH,23.5,19.009
$10V_AH,10.2,10.532
$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,14.850,36.550,315.750,0.000,0.000,53.609,71.806,608.076,0.250,0.000,36.706,1198.976,1856.563,423.851,1560.083,277.955,0.000,921.917,0.000,820.273,0.000,3.720,0.000
$DEVICE_MAMPS,331.245,75.735,1054.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.277,385.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150360
$DATA_FILE_SIZE,20102,519
$CAP_FILE_SIZE,69437,0
$CFSIZE,260165632,243691520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.9
$GPS,100311,101746,6725.532,-5729.512,14,99.0,33,-38.2