version: 66.08
glider: 141
mission: 15
dive: 133
start: 3 10 111 19 8 41
data:
$ID,141
$MISSION,15
$DIVE,133
$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,-26845.42
$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,39
$R_STBD_OVSHOOT,38
$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,-5744.534,181,99.0,181,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-46.9
$GPS2,100311,163928,6723.453,-5744.534,181,99.0,181,-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,-146.0,0.0,0.0,0,132,0.00,0.00,-114.28,0.000,2,0.000,0.000,112,2503,3358,0,0,0,0,0,0
$GC,136,-0.62,-146.0,5.6,-8.2,20,162,12.45,2.22,-5.82,0.000,4,0.330,0.077,2654,3887,3628,0,0,0,0,0,0
$GC,208,-0.51,-146.0,26.6,-19.3,32,216,0.15,2.17,0.00,0.000,6,0.209,0.041,2691,2488,3629,0,0,0,0,0,0
$GC,555,-0.47,-146.0,74.9,-13.8,93,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2488,3630,0,0,0,0,0,0
$GC,891,-0.47,-146.0,117.9,-12.5,141,895,0.00,2.25,0.00,0.000,4,0.000,0.068,2691,3892,3628,0,0,0,0,0,0
$GC,956,-0.47,-146.0,125.5,-10.5,146,964,0.00,2.17,0.00,0.000,6,0.000,0.041,2691,2493,3627,0,0,0,0,0,0
$GC,1282,-0.47,-146.0,160.7,-10.4,177,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2492,3626,0,0,0,0,0,0
$GC,1604,-0.47,-146.0,195.6,-10.8,207,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2492,3626,0,0,0,0,0,0
$GC,1930,-0.47,-146.0,228.5,-9.6,238,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2493,3627,0,0,0,0,0,0
$GC,2250,-0.49,-146.0,260.3,-9.8,268,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2491,3628,0,0,0,0,0,0
$GC,2568,-0.52,-146.0,292.8,-9.4,298,2572,0.00,2.22,0.00,0.000,4,0.000,0.063,2691,3892,3629,0,0,0,0,0,0
$STATE,2744,end dive,NO_VERTICAL_VELOCITY
$STATE,2745,begin apogee
$GC,2752,-0.12,0.0,294.8,0.0,313,2878,0.38,0.00,116.68,1.053,6,0.125,0.000,2819,2255,3029,0,0,0,0,0,0
$STATE,2879,end apogee,CONTROL_FINISHED_OK
$STATE,2879,begin climb
$GC,2881,0.62,146.0,294.8,0.0,325,3012,0.75,2.40,117.82,1.009,4,0.135,0.056,3063,877,2432,0,0,0,0,0,0
$GC,3153,0.55,146.0,269.1,11.6,349,3160,0.00,2.28,0.00,0.000,6,0.000,0.044,3063,2277,2428,0,0,0,0,0,0
$GC,3478,0.48,146.0,231.2,11.3,380,3483,0.17,2.28,0.00,0.000,4,0.175,0.057,3017,3684,2428,0,0,0,0,0,0
$GC,3581,0.44,146.0,219.8,11.7,388,3587,0.00,2.20,0.00,0.000,6,0.000,0.041,3026,2282,2428,0,0,0,0,0,0
$GC,3907,0.46,158.6,188.9,9.4,419,3923,0.00,2.22,10.80,0.853,4,0.000,0.055,3034,874,2382,0,0,0,0,0,0
$GC,3969,0.46,164.2,182.7,9.7,424,3981,0.00,2.20,6.35,0.760,6,0.000,0.043,3034,2282,2360,0,0,0,0,0,0
$GC,4299,0.47,167.5,149.8,9.8,455,4311,0.00,2.22,4.43,0.627,4,0.000,0.056,3034,3682,2347,0,0,0,0,0,0
$GC,4335,0.43,167.5,145.9,11.2,458,4340,0.15,2.20,0.00,0.000,6,0.190,0.041,3006,2266,2346,0,0,0,0,0,0
$GC,4660,0.53,199.5,117.7,8.5,488,4694,0.00,2.30,27.88,0.904,4,0.000,0.057,3014,870,2216,0,0,0,0,0,0
$GC,4730,0.66,219.7,111.7,9.1,494,4754,0.17,2.22,18.42,0.872,6,0.093,0.041,3085,2285,2134,0,0,0,0,0,0
$GC,5084,0.64,219.7,64.7,11.6,549,5091,0.00,2.20,0.00,0.000,4,0.000,0.055,3085,3692,2129,0,0,0,0,0,0
$GC,5177,0.58,219.7,52.0,13.5,565,5184,0.17,2.20,0.00,0.000,6,0.176,0.040,3049,2273,2129,0,0,0,0,0,0
$GC,5524,0.67,246.1,20.2,8.8,626,5545,0.00,2.25,14.90,0.858,4,0.000,0.057,3051,866,2025,0,0,0,0,0,0
$GC,5615,0.85,295.5,12.6,7.7,641,5646,0.25,2.20,23.95,0.831,6,0.084,0.044,3147,2271,1825,0,0,0,0,0,0
$FREEZE,7.86,-1.346,-1.827,3,8,0
$FREEZE,6.82,-1.349,-1.826,3,8,0
$FREEZE,6.02,-1.355,-1.826,3,8,0
$FREEZE,5.20,-1.357,-1.825,3,8,0
$FREEZE,4.41,-1.356,-1.824,3,8,0
$FREEZE,3.65,-1.360,-1.824,3,8,0
$FREEZE,2.62,-1.367,-1.823,3,8,0
$STATE,5683,end climb,SURFACE_DEPTH_REACHED
$STATE,5684,begin surface coast
$FREEZE,1.87,-1.370,-1.822,3,8,0
$FREEZE,1.44,-1.393,-1.754,3,8,0
$FREEZE,1.36,-1.411,-1.737,3,8,0
$FINISH,1.4,1.025518
$STATE,5701,end surface coast,CONTROL_FINISHED_OK
$STATE,5701,begin surface
$SM_CCo,5718,114.45,0.064,0,0,750,559.04
$SM_GC,2.71,0.00,0.00,114.45,0.000,0.000,0.064,113,2512,750,-8.60,0.62,559.04
$RAFOS_CLK,335
$RAFOS,4,1299789185,20.566668,20.551390,78,64,64,56,55,54,167,128,818,191,209,153
$RAFOS,3,1299788704,20.433332,20.417778,63,62,62,55,55,52,195,219,236,137,126,168
$RAFOS,2,1299788227,20.299999,20.285278,60,57,56,53,50,49,205,215,193,151,139,124
$RAFOS,1,1299787748,20.166666,20.152222,60,56,56,55,54,54,126,141,209,152,168,220
$RAFOS,0,1299787267,20.033333,20.018612,76,60,59,55,54,52,208,138,118,171,148,157
$RAFOS_FIX,6723.452637,-5744.534180,100311,161628,2,138,0.50
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.029211
$HUMID,42.63
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.5
$24V_AH,23.7,19.627
$10V_AH,10.3,10.779
$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,23.375,45.275,341.225,114.450,0.000,98.842,17.384,0.000,0.250,0.000,182.280,1520.572,2785.391,543.660,1380.373,289.124,0.000,1149.842,0.000,1071.506,2160.000,2.620,0.000
$DEVICE_MAMPS,329.715,77.265,1052.640,64.260,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.902,488.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150408
$DATA_FILE_SIZE,23431,656
$CAP_FILE_SIZE,78511,0
$CFSIZE,260165632,243429376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.2
$GPS,100311,163928,6723.453,-5744.534,181,99.0,181,-38.2