version: 66.08
glider: 141
mission: 15
dive: 251
start: 3 29 111 4 41 59
data:
$ID,141
$MISSION,15
$DIVE,251
$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,-32012.605
$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,37
$R_STBD_OVSHOOT,47
$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
$GPS1,280311,214808,6714.500,-5702.074,181,99.0,181,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-27.5
$GPS2,280311,214808,6714.500,-5702.074,181,99.0,181,-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,16,-0.62,-146.0,0.0,0.0,0,219,0.00,0.00,-199.00,0.000,6,0.000,0.000,111,2520,3626,0,0,0,0,0,0
$GC,222,-0.62,-146.0,2.9,-0.2,35,241,12.23,2.28,0.00,0.000,4,0.314,0.052,2651,1080,3629,0,0,0,0,0,0
$GC,455,-0.53,-146.0,36.0,-15.4,76,462,0.15,2.20,0.00,0.000,6,0.213,0.054,2689,2476,3629,0,0,0,0,0,0
$GC,800,-0.48,-146.0,82.6,-13.3,137,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2477,3629,0,0,0,0,0,0
$GC,1134,-0.46,-146.0,124.7,-13.2,180,1138,0.00,2.28,0.00,0.000,4,0.000,0.070,2688,3897,3628,0,0,0,0,0,0
$GC,1196,-0.48,-146.0,132.1,-11.2,185,1200,0.00,2.17,0.00,0.000,6,0.000,0.042,2689,2483,3627,0,0,0,0,0,0
$GC,1526,-0.48,-146.0,170.7,-10.9,216,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2482,3627,0,0,0,0,0,0
$GC,1846,-0.48,-146.0,205.1,-10.9,246,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2482,3626,0,0,0,0,0,0
$GC,2165,-0.48,-146.0,238.9,-10.3,276,2168,0.00,2.17,0.00,0.000,4,0.000,0.057,2689,1078,3626,0,0,0,0,0,0
$GC,2188,-0.48,-146.0,241.4,-10.1,278,2192,0.00,2.22,0.00,0.000,6,0.000,0.053,2689,2500,3626,0,0,0,0,0,0
$GC,2514,-0.51,-146.0,269.5,-8.4,308,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2500,3627,0,0,0,0,0,0
$GC,2835,-0.54,-146.0,295.6,-8.7,338,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2500,3628,0,0,0,0,0,0
$STATE,2883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2883,begin apogee
$GC,2889,-0.12,0.0,300.2,9.0,343,3013,0.43,0.00,117.55,1.086,6,0.181,0.000,2815,2262,3029,0,0,0,0,0,0
$STATE,3013,end apogee,CONTROL_FINISHED_OK
$STATE,3014,begin climb
$GC,3015,0.62,146.0,304.2,0.0,354,3140,0.77,0.00,120.50,1.034,6,0.139,0.000,3053,2262,2434,0,0,0,0,0,0
$GC,3457,0.56,146.0,263.2,10.3,396,3461,0.00,2.35,0.00,0.000,4,0.000,0.057,3054,3689,2428,0,0,0,0,0,0
$GC,3514,0.46,146.0,256.3,12.3,401,3519,0.20,2.22,0.00,0.000,6,0.179,0.042,3014,2287,2427,0,0,0,0,0,0
$GC,3840,0.53,182.7,229.0,8.3,431,3872,0.00,0.00,30.55,0.969,6,0.000,0.000,3014,2287,2285,0,0,0,0,0,0
$GC,4188,0.61,213.3,198.4,8.6,464,4219,0.15,0.00,26.95,0.948,6,0.094,0.000,3079,2286,2159,0,0,0,0,0,0
$GC,4537,0.57,213.3,147.6,13.5,497,4541,0.12,2.28,0.00,0.000,4,0.180,0.055,3048,3692,2156,0,0,0,0,0,0
$GC,4604,0.57,213.3,138.7,12.4,503,4608,0.00,2.20,0.00,0.000,6,0.000,0.041,3056,2273,2155,0,0,0,0,0,0
$GC,4931,0.60,239.3,107.3,8.8,533,4958,0.00,2.25,22.77,0.901,4,0.000,0.055,3065,862,2054,0,0,0,0,0,0
$GC,5023,0.65,239.3,98.5,10.3,541,5030,0.00,2.25,0.00,0.000,6,0.000,0.043,3065,2289,2051,0,0,0,0,0,0
$GC,5368,0.70,239.3,64.8,10.1,602,5375,0.00,2.20,0.00,0.000,4,0.000,0.058,3065,3687,2050,0,0,0,0,0,0
$GC,5443,0.70,239.3,56.0,12.0,615,5450,0.00,2.20,0.00,0.000,6,0.000,0.043,3075,2263,2050,0,0,0,0,0,0
$GC,5790,0.72,239.3,18.2,10.9,676,5796,0.00,2.20,0.00,0.000,4,0.000,0.058,3083,870,2050,0,0,0,0,0,0
$GC,5854,0.75,239.3,11.4,10.3,687,5861,0.00,2.17,0.00,0.000,6,0.000,0.045,3083,2277,2048,0,0,0,0,0,0
$FREEZE,8.62,-1.566,-1.837,2,15,0
$FREEZE,8.00,-1.569,-1.837,2,15,0
$FREEZE,7.47,-1.578,-1.836,2,15,0
$FREEZE,6.98,-1.574,-1.836,2,15,0
$FREEZE,6.62,-1.575,-1.836,2,15,0
$FREEZE,6.15,-1.577,-1.835,2,15,0
$FREEZE,5.85,-1.577,-1.835,2,15,0
$FREEZE,5.33,-1.577,-1.834,2,15,0
$FREEZE,4.83,-1.581,-1.834,2,15,0
$FREEZE,4.20,-1.584,-1.834,2,15,0
$FREEZE,3.82,-1.588,-1.833,2,15,0
$FREEZE,3.16,-1.593,-1.833,2,15,0
$FREEZE,2.70,-1.592,-1.832,2,15,0
$STATE,5945,end climb,SURFACE_DEPTH_REACHED
$STATE,5945,begin surface coast
$FREEZE,2.18,-1.599,-1.832,2,15,0
$FREEZE,2.01,-1.600,-1.832,2,15,0
$FREEZE,1.90,-1.607,-1.832,2,15,0
$FREEZE,1.80,-1.606,-1.832,2,15,0
$FREEZE,1.86,-1.614,-1.832,2,15,0
$FINISH,1.9,1.026879
$STATE,5973,end surface coast,CONTROL_FINISHED_OK
$STATE,5973,begin surface
$SM_CCo,5990,140.98,0.067,0,0,750,559.04
$SM_GC,2.36,0.00,0.00,140.98,0.000,0.000,0.067,113,2515,750,-8.60,0.74,559.04
$RAFOS_CLK,361
$RAFOS,6,1301374144,4.833333,4.817778,59,59,57,56,51,48,140,215,165,197,178,75
$RAFOS_FIX,6716.300293,-5730.807617,280311,040400,2,122,0.66
$IRIDIUM_FIX,6647.44,-5700.20,280311,212157
$TT8_MAMPS,0.026215
$HUMID,44.44
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.1
$24V_AH,23.1,35.203
$10V_AH,10.2,19.218
$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,22.400,36.325,318.325,140.975,0.000,99.770,17.372,0.000,0.500,0.000,183.287,1629.343,2898.560,607.557,1393.097,318.980,0.000,1217.449,0.000,1088.697,360.000,4.381,0.000
$DEVICE_MAMPS,314.415,69.615,1085.535,67.320,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.435,528.498,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150448
$DATA_FILE_SIZE,26758,709
$CAP_FILE_SIZE,76967,0
$CFSIZE,260165632,235425792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.9
$GPS,290311,062654,6709.562,-5658.088,116,1.2,116,-37.7