version: 66.08
glider: 141
mission: 15
dive: 247
start: 3 28 111 21 48 40
data:
$ID,141
$MISSION,15
$DIVE,247
$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,1
$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,-31275.463
$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,44
$R_STBD_OVSHOOT,33
$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
$GPS1,280311,212738,6714.658,-5702.062,28,1.4,29,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-52.5
$GPS2,280311,214808,6714.500,-5702.074,13,1.4,13,-37.8
$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,192.3,23598,-17.5,-10.000
$D_GRID,300
$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,-146.0,0.0,0.0,0,161,0.00,0.00,-141.35,0.000,2,0.000,0.000,116,2476,3420,0,0,0,0,0,0
$GC,163,-0.62,-146.0,5.1,-11.5,25,189,12.82,2.22,-4.65,0.000,4,0.326,0.067,2651,1086,3629,0,0,0,0,0,0
$GC,364,-0.53,-146.0,47.6,-15.0,60,371,0.15,2.25,0.00,0.000,6,0.209,0.054,2688,2484,3630,0,0,0,0,0,0
$GC,710,-0.49,-146.0,92.2,-12.4,121,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2484,3630,0,0,0,0,0,0
$GC,1038,-0.49,-146.0,131.6,-11.5,157,1043,0.00,2.30,0.00,0.000,4,0.000,0.070,2688,3900,3628,0,0,0,0,0,0
$GC,1094,-0.51,-146.0,137.8,-10.9,161,1102,0.00,2.15,0.00,0.000,6,0.000,0.041,2688,2500,3628,0,0,0,0,0,0
$GC,1419,-0.51,-146.0,173.1,-10.7,192,1423,0.00,2.20,0.00,0.000,4,0.000,0.058,2689,1087,3627,0,0,0,0,0,0
$GC,1459,-0.54,-146.0,177.4,-10.7,195,1463,0.00,2.22,0.00,0.000,6,0.000,0.053,2688,2489,3627,0,0,0,0,0,0
$GC,1786,-0.54,-146.0,209.2,-9.9,225,1790,0.00,2.20,0.00,0.000,4,0.000,0.057,2688,1087,3627,0,0,0,0,0,0
$GC,1803,-0.54,-146.0,211.0,-9.7,226,1807,0.00,2.20,0.00,0.000,6,0.000,0.054,2688,2491,3628,0,0,0,0,0,0
$GC,2130,-0.54,-146.0,243.5,-9.7,256,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2491,3628,0,0,0,0,0,0
$GC,2449,-0.56,-146.0,273.1,-9.3,286,2453,0.00,2.28,0.00,0.000,4,0.000,0.068,2688,3907,3630,0,0,0,0,0,0
$GC,2523,-0.63,-146.0,280.1,-9.3,292,2527,0.00,2.15,0.00,0.000,6,0.000,0.038,2688,2486,3630,0,0,0,0,0,0
$STATE,2729,end dive,NO_VERTICAL_VELOCITY
$STATE,2729,begin apogee
$GC,2735,-0.12,0.0,283.8,0.0,311,2858,0.35,0.00,117.53,1.067,6,0.105,0.000,2819,2265,3030,0,0,0,0,0,0
$STATE,2859,end apogee,CONTROL_FINISHED_OK
$STATE,2859,begin climb
$GC,2861,0.62,146.0,283.8,0.0,322,2989,0.73,2.55,119.30,1.017,4,0.121,0.057,3050,3684,2433,0,0,0,0,0,0
$GC,3095,0.52,146.0,262.1,12.8,343,3102,0.00,2.30,0.00,0.000,6,0.000,0.042,3061,2283,2429,0,0,0,0,0,0
$GC,3421,0.46,146.0,223.3,12.2,374,3423,0.17,0.00,0.00,0.000,6,0.178,0.000,3016,2282,2428,0,0,0,0,0,0
$GC,3741,0.50,163.6,194.6,9.2,404,3764,0.00,2.33,15.02,0.914,4,0.000,0.059,3016,3699,2363,0,0,0,0,0,0
$GC,3810,0.50,163.6,187.1,11.7,410,3814,0.00,2.25,0.00,0.000,6,0.000,0.041,3024,2263,2363,0,0,0,0,0,0
$GC,4140,0.51,168.3,153.8,9.8,441,4150,0.00,0.00,5.62,0.734,6,0.000,0.000,3024,2262,2343,0,0,0,0,0,0
$GC,4471,0.58,191.4,123.1,8.9,472,4501,0.00,2.38,20.48,0.914,4,0.000,0.056,3024,3692,2249,0,0,0,0,0,0
$GC,4551,0.58,191.4,114.5,11.0,479,4558,0.00,2.22,0.00,0.000,6,0.000,0.040,3033,2273,2248,0,0,0,0,0,0
$GC,4886,0.69,249.2,86.3,7.3,525,4945,0.15,2.33,49.70,0.907,4,0.097,0.056,3096,3691,2012,0,0,0,0,0,0
$GC,4981,0.63,249.2,74.7,13.8,541,4989,0.15,2.28,0.00,0.000,6,0.187,0.041,3070,2266,2009,0,0,0,0,0,0
$GC,5328,0.67,249.2,38.6,10.5,602,5335,0.00,2.22,0.00,0.000,4,0.000,0.057,3073,865,2006,0,0,0,0,0,0
$GC,5393,0.75,263.3,32.2,9.4,613,5412,0.00,2.20,9.18,0.865,6,0.000,0.042,3073,2287,1955,0,0,0,0,0,0
$FREEZE,8.71,-1.422,-1.839,2,11,0
$FREEZE,8.41,-1.424,-1.838,2,11,0
$FREEZE,8.08,-1.423,-1.838,2,11,0
$FREEZE,7.74,-1.425,-1.838,2,11,0
$FREEZE,7.20,-1.427,-1.837,2,11,0
$STATE,5654,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,5654,begin subsurface finish
$FINISH1,7.2,1.026888,30
$GC,5660,0.04,30.0,7.2,-7.1,659,5702,0.55,2.22,-34.22,0.000,4,0.091,0.070,2872,3694,2909,0,0,0,0,0,0
$FINISH2,5.5
$STATE,5702,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5702,begin surface
$RAFOS_CLK,259
$RAFOS_FIX,6716.300293,-5730.807617,280311,040400,2,122,0.66
$IRIDIUM_FIX,6647.44,-5707.88,280311,212115
$TT8_MAMPS,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.3
$24V_AH,23.1,34.821
$10V_AH,10.2,19.032
$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,15.075,47.750,336.825,0.000,0.000,86.375,95.344,561.642,0.250,0.000,15.936,1496.207,2787.939,462.073,1865.122,332.701,0.000,1071.709,0.000,1057.817,0.000,2.622,0.000
$DEVICE_MAMPS,325.890,70.380,1067.175,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.277,497.168,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150356
$DATA_FILE_SIZE,26731,666
$CAP_FILE_SIZE,82400,0
$CFSIZE,260165632,235552768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.0
$GPS,280311,214808,6714.500,-5702.074,13,1.4,13,-37.8