version: 66.08
glider: 141
mission: 15
dive: 134
start: 3 10 111 21 1 16
data:
$ID,141
$MISSION,15
$DIVE,134
$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,-27213.982
$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,41
$R_STBD_OVSHOOT,40
$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,2.06
$_SM_ANGLEo,-20.7
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,161,0.00,0.00,-141.62,0.000,2,0.000,0.000,113,2513,3195,0,0,0,0,0,0
$GC,163,-0.62,-146.0,5.8,-11.5,25,194,12.45,2.25,-9.85,0.000,4,0.330,0.081,2654,3884,3629,0,0,0,0,0,0
$GC,248,-0.53,-146.0,25.1,-16.8,39,255,0.12,2.15,0.00,0.000,6,0.219,0.041,2684,2497,3630,0,0,0,0,0,0
$GC,593,-0.47,-146.0,75.3,-13.9,100,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2497,3631,0,0,0,0,0,0
$GC,934,-0.45,-146.0,121.4,-12.4,147,938,0.12,2.25,0.00,0.000,4,0.222,0.067,2715,3890,3628,0,0,0,0,0,0
$GC,1018,-0.52,-146.0,129.8,-9.3,154,1024,0.00,2.17,0.00,0.000,6,0.000,0.043,2715,2480,3628,0,0,0,0,0,0
$GC,1343,-0.58,-146.0,158.7,-8.6,185,1345,0.12,0.00,0.00,0.000,6,0.123,0.000,2673,2480,3627,0,0,0,0,0,0
$GC,1661,-0.55,-146.0,197.1,-11.7,215,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2480,3627,0,0,0,0,0,0
$GC,1982,-0.52,-146.0,232.3,-10.8,245,1986,0.00,2.22,0.00,0.000,4,0.000,0.066,2672,3884,3629,0,0,0,0,0,0
$GC,2039,-0.52,-146.0,238.8,-10.7,250,2043,0.00,2.15,0.00,0.000,6,0.000,0.041,2673,2480,3629,0,0,0,0,0,0
$GC,2364,-0.49,-146.0,274.8,-10.6,280,2369,0.12,2.25,0.00,0.000,4,0.210,0.065,2702,3889,3629,0,0,0,0,0,0
$GC,2385,-0.49,-146.0,277.1,-9.7,281,2392,0.00,2.12,0.00,0.000,6,0.000,0.039,2702,2489,3629,0,0,0,0,0,0
$GC,2711,-0.55,-146.0,303.8,-7.7,312,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2489,3631,0,0,0,0,0,0
$GC,3031,-0.61,-146.0,331.2,-8.9,342,3036,0.12,2.22,0.00,0.000,4,0.122,0.063,2658,3892,3632,0,0,0,0,0,0
$GC,3075,-0.58,-146.0,336.2,-10.9,345,3082,0.00,2.12,0.00,0.000,6,0.000,0.038,2659,2489,3632,0,0,0,0,0,0
$STATE,3122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3122,begin apogee
$GC,3128,-0.12,0.0,341.7,11.3,350,3251,0.52,0.00,117.53,1.082,6,0.194,0.000,2811,2240,3030,0,0,0,0,0,0
$STATE,3251,end apogee,CONTROL_FINISHED_OK
$STATE,3251,begin climb
$GC,3254,0.62,146.0,345.7,0.0,361,3379,0.80,0.00,118.93,1.043,6,0.144,0.000,3055,2238,2433,0,0,0,0,0,0
$GC,3697,0.55,146.0,298.6,11.8,403,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2238,2427,0,0,0,0,0,0
$GC,4017,0.49,146.0,260.9,11.4,433,4022,0.12,2.33,0.00,0.000,4,0.197,0.056,3026,3681,2427,0,0,0,0,0,0
$GC,4102,0.44,146.0,250.9,11.8,440,4107,0.00,2.17,0.00,0.000,6,0.000,0.043,3034,2298,2426,0,0,0,0,0,0
$GC,4428,0.42,146.5,216.5,10.0,470,4430,0.12,0.00,0.00,0.000,6,0.187,0.000,3003,2298,2426,0,0,0,0,0,0
$GC,4746,0.49,174.6,190.6,8.7,500,4780,0.00,2.30,23.55,0.942,4,0.000,0.057,3003,3681,2318,0,0,0,0,0,0
$GC,4815,0.52,174.6,184.2,10.9,506,4819,0.00,2.20,0.00,0.000,6,0.000,0.041,3009,2268,2316,0,0,0,0,0,0
$GC,5142,0.61,199.8,156.2,8.8,536,5170,0.15,2.25,22.23,0.917,4,0.098,0.057,3080,867,2213,0,0,0,0,0,0
$GC,5205,0.57,199.8,148.4,13.6,541,5210,0.12,2.22,0.00,0.000,6,0.183,0.043,3050,2277,2211,0,0,0,0,0,0
$GC,5530,0.57,199.8,111.3,11.2,571,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2277,2210,0,0,0,0,0,0
$GC,5861,0.60,207.3,77.0,9.7,620,5874,0.00,2.22,6.88,0.737,4,0.000,0.056,3049,3692,2185,0,0,0,0,0,0
$GC,5915,0.60,207.3,71.6,10.9,629,5922,0.00,2.20,0.00,0.000,6,0.000,0.041,3057,2270,2186,0,0,0,0,0,0
$GC,6260,0.67,238.8,40.4,8.5,690,6296,0.00,2.28,27.00,0.884,4,0.000,0.057,3059,877,2055,0,0,0,0,0,0
$GC,6326,0.76,256.2,34.7,9.2,701,6345,0.15,2.22,10.00,0.901,6,0.099,0.044,3120,2287,1984,0,0,0,0,0,0
$FREEZE,8.59,-1.338,-1.827,3,9,0
$FREEZE,8.05,-1.346,-1.827,3,9,0
$FREEZE,7.38,-1.353,-1.826,3,9,0
$FREEZE,6.56,-1.352,-1.826,3,9,0
$FREEZE,5.88,-1.356,-1.825,3,9,0
$FREEZE,5.20,-1.352,-1.825,3,9,0
$FREEZE,4.36,-1.341,-1.824,3,9,0
$FREEZE,3.65,-1.361,-1.823,3,9,0
$FREEZE,2.86,-1.367,-1.823,3,9,0
$STATE,6566,end climb,SURFACE_DEPTH_REACHED
$STATE,6566,begin surface coast
$FREEZE,1.93,-1.375,-1.822,3,9,0
$FREEZE,1.72,-1.381,-1.822,3,9,0
$FREEZE,1.73,-1.377,-1.822,3,9,0
$FREEZE,1.51,-1.370,-1.821,3,9,0
$FINISH,1.5,1.026715
$STATE,6590,end surface coast,CONTROL_FINISHED_OK
$STATE,6590,begin surface
$SM_CCo,6607,132.18,0.065,0,0,750,559.04
$SM_GC,2.46,0.00,0.00,132.18,0.000,0.000,0.065,105,2505,750,-8.62,0.42,559.04
$RAFOS_CLK,385
$RAFOS,5,1299789662,20.700001,20.683889,81,66,64,62,61,58,691,167,213,223,196,141
$RAFOS_FIX,6723.452637,-5744.534180,100311,161628,2,138,0.50
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,43.73
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.3
$ALTIM_BOTTOM_PING,300.5,55.3
$24V_AH,23.6,19.728
$10V_AH,10.3,10.838
$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,23.775,44.950,326.100,132.175,0.000,99.289,16.942,0.000,0.750,0.000,183.281,1708.850,3364.392,567.068,1475.711,311.768,0.000,1221.545,0.000,1169.675,0.000,8.293,0.000
$DEVICE_MAMPS,329.715,81.090,1082.475,65.025,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,523.945,562.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150416
$DATA_FILE_SIZE,26817,748
$CAP_FILE_SIZE,86097,0
$CFSIZE,260165632,243372032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.5
$GPS,100311,163928,6723.453,-5744.534,181,99.0,181,-38.2