version: 66.08
glider: 141
mission: 15
dive: 132
start: 3 10 111 17 30 40
data:
$ID,141
$MISSION,15
$DIVE,132
$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,36
$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
$GPS1,100311,163928,6723.453,-5744.534,0,2137.5,0,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,8.3
$GPS2,100311,163928,6723.453,-5744.534,0,2137.5,0,-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,240.3,54878,-17.5,-10.000
$D_GRID,467
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,109,0.00,0.35,-89.38,0.000,6,0.000,0.157,3084,2510,3626,0,0,0,0,0,0
$GC,113,-0.62,-146.0,4.0,-6.0,16,120,1.15,2.22,0.00,0.000,4,0.088,0.049,2669,1078,3627,0,0,0,0,0,0
$GC,133,-0.95,-146.0,5.6,-6.5,19,141,0.32,2.22,0.00,0.000,6,0.109,0.050,2558,2490,3626,0,0,0,0,0,0
$GC,479,-0.66,-146.0,92.6,-26.0,80,486,0.32,2.22,0.00,0.000,4,0.255,0.063,2640,3896,3626,0,0,0,0,0,0
$GC,576,-0.57,-146.0,110.6,-15.6,91,584,0.15,2.17,0.00,0.000,6,0.217,0.041,2677,2479,3625,0,0,0,0,0,0
$GC,903,-0.54,-146.0,152.0,-12.5,122,907,0.00,2.25,0.00,0.000,4,0.000,0.065,2677,3893,3623,0,0,0,0,0,0
$GC,976,-0.54,-146.0,160.9,-11.7,128,980,0.00,2.15,0.00,0.000,6,0.000,0.040,2677,2483,3623,0,0,0,0,0,0
$GC,1306,-0.54,-146.0,197.5,-10.9,159,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2483,3623,0,0,0,0,0,0
$GC,1625,-0.54,-146.0,231.0,-10.2,189,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2483,3622,0,0,0,0,0,0
$GC,1944,-0.54,-146.0,263.9,-10.9,219,1948,0.00,2.22,0.00,0.000,4,0.000,0.063,2677,3894,3622,0,0,0,0,0,0
$STATE,2117,end dive,NO_VERTICAL_VELOCITY
$STATE,2118,begin apogee
$GC,2125,-0.12,0.0,266.8,0.0,234,2246,0.43,0.00,114.70,1.043,6,0.140,0.000,2817,2267,3030,0,0,0,0,0,0
$STATE,2246,end apogee,CONTROL_FINISHED_OK
$STATE,2247,begin climb
$GC,2248,0.62,146.0,266.9,0.0,245,2375,0.77,2.35,117.80,0.994,4,0.142,0.054,3065,874,2433,0,0,0,0,0,0
$GC,2433,0.55,146.0,254.6,12.2,261,2437,0.00,2.30,0.00,0.000,6,0.000,0.043,3065,2277,2428,0,0,0,0,0,0
$GC,2758,0.47,146.0,211.7,12.5,291,2763,0.17,2.25,0.00,0.000,4,0.174,0.057,3019,3681,2427,0,0,0,0,0,0
$GC,2899,0.44,146.0,195.3,11.6,303,2903,0.00,2.20,0.00,0.000,6,0.000,0.041,3027,2275,2427,0,0,0,0,0,0
$GC,3229,0.45,161.3,163.2,9.3,334,3252,0.00,2.30,12.80,0.863,4,0.000,0.057,3036,871,2372,0,0,0,0,0,0
$GC,3313,0.47,170.6,155.0,9.6,341,3331,0.00,2.22,9.57,0.832,6,0.000,0.043,3036,2285,2333,0,0,0,0,0,0
$GC,3649,0.48,178.9,122.6,9.6,373,3662,0.00,2.28,8.27,0.791,4,0.000,0.055,3036,3682,2300,0,0,0,0,0,0
$GC,3720,0.44,178.9,115.5,10.4,379,3724,0.15,2.20,0.00,0.000,6,0.187,0.040,3008,2269,2300,0,0,0,0,0,0
$GC,4051,0.58,233.3,89.4,7.5,420,4104,0.12,0.00,46.85,0.896,6,0.106,0.000,3059,2269,2078,0,0,0,0,0,0
$GC,4442,0.65,256.9,51.3,8.9,489,4467,0.00,2.33,20.27,0.845,4,0.000,0.058,3060,865,1981,0,0,0,0,0,0
$GC,4525,0.75,270.7,43.9,9.4,503,4545,0.12,2.22,12.82,0.815,6,0.105,0.041,3111,2279,1926,0,0,0,0,0,0
$FREEZE,8.28,-1.383,-1.828,3,7,0
$FREEZE,7.69,-1.392,-1.827,3,7,0
$FREEZE,6.89,-1.380,-1.827,3,7,0
$FREEZE,6.22,-1.382,-1.826,3,7,0
$FREEZE,5.50,-1.392,-1.826,3,7,0
$FREEZE,4.59,-1.393,-1.825,3,7,0
$FREEZE,3.92,-1.400,-1.824,3,7,0
$FREEZE,3.18,-1.408,-1.824,3,7,0
$FREEZE,2.54,-1.405,-1.823,3,7,0
$STATE,4845,end climb,SURFACE_DEPTH_REACHED
$STATE,4845,begin surface coast
$FREEZE,2.03,-1.408,-1.822,3,7,0
$FREEZE,2.00,-1.414,-1.810,3,7,0
$FREEZE,2.06,-1.390,-1.810,3,7,0
$FREEZE,2.06,-1.328,-1.808,3,7,0
$FINISH,2.1,1.026516
$STATE,4868,end surface coast,CONTROL_FINISHED_OK
$STATE,4868,begin surface
$SM_CCo,4909,57.38,0.064,0,0,1398,400.08
$SM_GC,2.53,0.00,0.00,57.38,0.000,0.000,0.064,112,2503,1398,-8.60,0.37,400.08
$RAFOS_CLK,267
$RAFOS_FIX,6723.452637,-5744.534180,100311,161628,2,138,0.50
$IRIDIUM_FIX,6658.43,-5734.74,100311,101042
$TT8_MAMPS,0.026215
$HUMID,43.77
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.9
$24V_AH,23.6,19.527
$10V_AH,10.3,10.725
$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,12.275,41.300,343.100,57.375,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1314.290,2254.193,436.049,941.029,83.210,0.000,972.679,0.000,942.040,0.000,2.617,0.000
$DEVICE_MAMPS,254.745,156.825,1042.695,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.531,419.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150556
$DATA_FILE_SIZE,20164,564
$CAP_FILE_SIZE,62849,0
$CFSIZE,260165632,243494912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.7
$GPS,100311,163928,6723.453,-5744.534,181,99.0,181,-38.2