version: 66.08
glider: 141
mission: 15
dive: 245
start: 3 28 111 18 6 3
data:
$ID,141
$MISSION,15
$DIVE,245
$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,-31274.113
$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,31
$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
$GPS1,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,4.5
$GPS2,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,166.5,39527,-17.5,-10.000
$D_GRID,586
$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,16,-0.62,-146.0,0.0,0.0,0,115,0.00,1.90,-94.00,0.000,6,0.000,0.057,3133,2474,3627,0,0,0,0,0,0
$GC,119,-0.62,-146.0,4.9,-8.6,17,127,1.55,2.28,0.00,0.000,4,0.181,0.054,2673,3900,3627,0,0,0,0,0,0
$GC,185,-0.59,-146.0,10.5,-11.0,28,191,0.00,2.17,0.00,0.000,6,0.000,0.038,2673,2489,3627,0,0,0,0,0,0
$GC,531,-0.52,-146.0,59.5,-14.4,89,538,0.00,2.17,0.00,0.000,4,0.000,0.055,2673,1086,3625,0,0,0,0,0,0
$GC,558,-0.46,-146.0,63.8,-15.9,93,566,0.15,2.20,0.00,0.000,6,0.210,0.052,2709,2493,3626,0,0,0,0,0,0
$GC,903,-0.48,-146.0,102.8,-10.7,152,907,0.00,2.20,0.00,0.000,4,0.000,0.057,2709,1090,3624,0,0,0,0,0,0
$GC,913,-0.50,-146.0,104.0,-10.5,152,920,0.00,2.20,0.00,0.000,6,0.000,0.053,2709,2500,3624,0,0,0,0,0,0
$GC,1238,-0.55,-146.0,137.3,-10.4,183,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2500,3622,0,0,0,0,0,0
$GC,1558,-0.60,-146.0,167.9,-8.7,213,1563,0.12,2.22,0.00,0.000,4,0.127,0.055,2665,1085,3620,0,0,0,0,0,0
$GC,1587,-0.60,-146.0,171.2,-11.7,215,1591,0.00,2.20,0.00,0.000,6,0.000,0.053,2665,2490,3620,0,0,0,0,0,0
$GC,1912,-0.56,-146.0,210.7,-11.9,245,1916,0.00,2.30,0.00,0.000,4,0.000,0.067,2665,3907,3620,0,0,0,0,0,0
$GC,1941,-0.53,-146.0,214.0,-11.7,247,1945,0.00,2.15,0.00,0.000,6,0.000,0.038,2665,2487,3620,0,0,0,0,0,0
$GC,2266,-0.50,-146.0,249.8,-10.0,277,2271,0.15,2.20,0.00,0.000,4,0.204,0.053,2701,1081,3620,0,0,0,0,0,0
$GC,2318,-0.57,-146.0,253.9,-7.3,281,2322,0.00,2.20,0.00,0.000,6,0.000,0.050,2702,2497,3621,0,0,0,0,0,0
$GC,2648,-0.63,-146.0,276.4,-6.4,312,2650,0.12,0.00,0.00,0.000,6,0.119,0.000,2657,2497,3621,0,0,0,0,0,0
$GC,2967,-0.59,-146.0,311.5,-11.1,342,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2498,3621,0,0,0,0,0,0
$STATE,3018,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3018,begin apogee
$GC,3023,-0.12,0.0,317.3,10.9,347,3146,0.55,0.00,115.68,1.085,6,0.194,0.000,2813,2249,3030,0,0,0,0,0,0
$STATE,3147,end apogee,CONTROL_FINISHED_OK
$STATE,3147,begin climb
$GC,3149,0.62,146.0,320.7,0.0,358,3279,0.77,2.38,119.47,1.032,4,0.137,0.057,3065,898,2433,0,0,0,0,0,0
$GC,3312,0.55,146.0,307.1,12.4,373,3319,0.00,2.30,0.00,0.000,6,0.000,0.041,3065,2276,2429,0,0,0,0,0,0
$GC,3640,0.47,146.0,265.0,12.8,404,3644,0.17,2.33,0.00,0.000,4,0.177,0.058,3020,3694,2428,0,0,0,0,0,0
$GC,3747,0.42,146.0,251.6,13.0,413,3751,0.00,2.20,0.00,0.000,6,0.000,0.041,3028,2289,2427,0,0,0,0,0,0
$GC,4074,0.44,164.9,219.6,9.1,443,4094,0.00,2.33,15.95,0.926,4,0.000,0.055,3038,870,2357,0,0,0,0,0,0
$GC,4141,0.45,172.5,213.2,9.7,449,4153,0.00,2.22,8.07,0.840,6,0.000,0.043,3038,2280,2326,0,0,0,0,0,0
$GC,4471,0.47,188.9,181.3,9.2,480,4493,0.00,2.30,14.75,0.904,4,0.000,0.059,3038,3687,2260,0,0,0,0,0,0
$GC,4578,0.45,188.9,169.7,11.5,489,4586,0.15,2.20,0.00,0.000,6,0.177,0.041,3010,2270,2259,0,0,0,0,0,0
$GC,4904,0.55,216.9,142.0,8.7,520,4937,0.00,2.28,25.17,0.920,4,0.000,0.055,3015,875,2144,0,0,0,0,0,0
$GC,4984,0.73,269.5,135.5,7.6,527,5040,0.22,2.20,46.03,0.922,6,0.082,0.042,3108,2286,1929,0,0,0,0,0,0
$GC,5365,0.69,269.5,79.3,14.4,574,5372,0.00,2.22,0.00,0.000,4,0.000,0.056,3108,3684,1921,0,0,0,0,0,0
$GC,5492,0.63,269.5,59.6,15.5,596,5499,0.17,2.20,0.00,0.000,6,0.184,0.042,3073,2277,1919,0,0,0,0,0,0
$GC,5840,0.68,269.5,22.6,10.7,657,5847,0.00,2.22,0.00,0.000,4,0.000,0.057,3073,867,1919,0,0,0,0,0,0
$GC,5932,0.76,280.4,13.1,9.5,673,5946,0.10,2.17,4.45,0.662,6,0.124,0.041,3115,2287,1886,0,0,0,0,0,0
$FREEZE,8.72,-1.538,-1.836,3,9,0
$FREEZE,7.69,-1.529,-1.835,3,9,0
$FREEZE,6.96,-1.530,-1.835,3,9,0
$STATE,5979,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,5979,begin subsurface finish
$FINISH1,7.0,1.026853,32
$GC,5985,0.04,31.7,7.0,-15.2,681,6032,0.77,0.00,-41.25,0.000,6,0.168,0.000,2881,2288,2902,0,0,0,0,0,0
$FINISH2,4.8
$STATE,6033,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6033,begin surface
$RAFOS_CLK,319
$RAFOS_FIX,6716.300293,-5730.807617,280311,040400,2,122,0.66
$IRIDIUM_FIX,6647.44,-5718.90,280311,010136
$TT8_MAMPS,0.026215
$HUMID,44.56
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.5
$ALTIM_BOTTOM_PING,300.9,30.5
$24V_AH,23.2,34.603
$10V_AH,10.2,18.939
$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,5.025,60.300,349.575,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1584.827,2851.537,439.853,1115.920,96.602,0.000,1074.385,0.000,1107.764,0.000,7.123,0.000
$DEVICE_MAMPS,209.610,67.320,1084.770,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.465,509.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150572
$DATA_FILE_SIZE,26739,689
$CAP_FILE_SIZE,75881,0
$CFSIZE,260165632,235704320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.0
$GPS,280311,044800,6716.300,-5730.808,0,2122.0,0,-38.0