version: 66.08
glider: 141
mission: 15
dive: 248
start: 3 28 111 23 25 25
data:
$ID,141
$MISSION,15
$DIVE,248
$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,32
$R_STBD_OVSHOOT,32
$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,-5702.074,13,1.4,13,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.28
$_SM_ANGLEo,0.7
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.80,0.000,2,0.000,0.000,2872,3694,3126,0,0,0,0,0,0
$GC,26,-0.62,-146.0,7.4,-0.0,1,51,0.57,4.10,-14.62,0.000,4,0.113,0.049,2674,1074,3628,0,0,0,0,0,0
$GC,86,-0.48,-146.0,15.3,-18.0,11,94,0.12,2.20,0.00,0.000,6,0.237,0.050,2700,2486,3629,0,0,0,0,0,0
$GC,431,-0.48,-146.0,61.4,-12.3,72,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2487,3628,0,0,0,0,0,0
$GC,773,-0.48,-146.0,104.0,-12.0,130,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2487,3628,0,0,0,0,0,0
$GC,1093,-0.50,-146.0,138.6,-10.0,160,1097,0.00,2.28,0.00,0.000,4,0.000,0.067,2700,3901,3626,0,0,0,0,0,0
$GC,1150,-0.56,-146.0,144.6,-9.7,164,1157,0.00,2.17,0.00,0.000,6,0.000,0.041,2700,2476,3625,0,0,0,0,0,0
$GC,1476,-0.60,-146.0,176.0,-9.3,195,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2476,3624,0,0,0,0,0,0
$GC,1796,-0.65,-146.0,205.4,-9.4,225,1798,0.15,0.00,0.00,0.000,6,0.121,0.000,2651,2475,3624,0,0,0,0,0,0
$GC,2113,-0.59,-146.0,244.2,-12.0,255,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2476,3624,0,0,0,0,0,0
$GC,2433,-0.53,-146.0,284.5,-13.3,285,2438,0.15,2.15,0.00,0.000,4,0.213,0.053,2686,1088,3624,0,0,0,0,0,0
$GC,2465,-0.53,-146.0,288.7,-11.8,287,2472,0.00,2.22,0.00,0.000,6,0.000,0.051,2686,2489,3624,0,0,0,0,0,0
$STATE,2600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2600,begin apogee
$GC,2605,-0.12,0.0,300.0,6.3,300,2728,0.40,0.00,116.05,1.075,6,0.140,0.000,2817,2266,3029,0,0,0,0,0,0
$STATE,2729,end apogee,CONTROL_FINISHED_OK
$STATE,2729,begin climb
$GC,2731,0.62,146.0,300.0,0.0,311,2860,0.77,2.45,119.25,1.024,4,0.147,0.060,3064,886,2433,0,0,0,0,0,0
$GC,3012,0.55,146.0,273.9,11.7,337,3017,0.00,2.30,0.00,0.000,6,0.000,0.045,3063,2279,2427,0,0,0,0,0,0
$GC,3337,0.47,146.0,231.9,12.3,367,3342,0.17,2.28,0.00,0.000,4,0.182,0.060,3017,3686,2428,0,0,0,0,0,0
$GC,3392,0.44,146.0,225.1,12.1,371,3399,0.00,2.22,0.00,0.000,6,0.000,0.041,3025,2277,2427,0,0,0,0,0,0
$GC,3718,0.46,163.9,192.7,9.2,402,3738,0.00,0.00,15.02,0.911,6,0.000,0.000,3025,2277,2362,0,0,0,0,0,0
$GC,4057,0.52,193.2,163.4,8.6,434,4091,0.00,2.30,25.70,0.933,4,0.000,0.057,3025,3692,2242,0,0,0,0,0,0
$GC,4164,0.52,194.2,152.8,10.0,443,4171,0.00,2.22,0.00,0.000,6,0.000,0.041,3035,2268,2240,0,0,0,0,0,0
$GC,4491,0.56,204.5,123.0,9.5,474,4506,0.00,2.30,10.55,0.852,4,0.000,0.057,3035,3687,2196,0,0,0,0,0,0
$GC,4563,0.56,204.5,114.7,12.1,480,4570,0.00,2.22,0.00,0.000,6,0.000,0.042,3042,2283,2196,0,0,0,0,0,0
$GC,4900,0.63,215.2,77.9,9.5,529,4919,0.00,2.30,10.85,0.845,4,0.000,0.057,3046,865,2151,0,0,0,0,0,0
$GC,4961,0.75,237.9,72.2,9.0,539,4987,0.17,2.20,20.73,0.880,6,0.090,0.043,3119,2282,2060,0,0,0,0,0,0
$GC,5324,0.66,237.9,23.7,15.1,603,5331,0.15,2.25,0.00,0.000,4,0.177,0.058,3080,3680,2057,0,0,0,0,0,0
$FREEZE,8.83,-1.528,-1.837,2,12,0
$FREEZE,7.97,-1.526,-1.837,2,12,0
$GC,5440,0.64,237.9,8.0,13.9,623,5447,0.00,2.22,0.00,0.000,6,0.000,0.045,3088,2265,2055,0,0,0,0,0,0
$FREEZE,5.98,-1.533,-1.835,2,12,0
$FREEZE,5.36,-1.529,-1.835,2,12,0
$FREEZE,4.62,-1.530,-1.834,2,12,0
$FREEZE,4.10,-1.530,-1.834,2,12,0
$FREEZE,3.56,-1.531,-1.833,2,12,0
$FREEZE,2.94,-1.532,-1.833,2,12,0
$STATE,5477,end climb,SURFACE_DEPTH_REACHED
$STATE,5477,begin surface coast
$FREEZE,2.25,-1.544,-1.832,2,12,0
$FREEZE,1.78,-1.569,-1.832,2,12,0
$FREEZE,1.56,-1.562,-1.831,2,12,0
$FREEZE,1.46,-1.572,-1.832,2,12,0
$FREEZE,1.49,-1.519,-1.829,2,12,0
$FINISH,1.5,1.026827
$STATE,5506,end surface coast,CONTROL_FINISHED_OK
$STATE,5506,begin surface
$SM_CCo,5524,140.48,0.067,0,0,750,559.04
$SM_GC,2.71,0.00,0.00,140.48,0.000,0.000,0.067,110,2494,750,-8.61,0.11,559.04
$RAFOS_CLK,307
$RAFOS,6,1301359745,0.833333,0.818056,63,59,57,55,54,54,219,209,196,786,154,187
$RAFOS,5,1301359264,0.700000,0.684444,95,61,58,57,56,49,656,213,157,231,177,132
$RAFOS,4,1301358786,0.566667,0.551667,61,59,57,55,53,53,212,160,176,139,198,188
$RAFOS,3,1301358302,0.433333,0.417222,65,58,58,58,54,49,158,168,186,208,222,145
$RAFOS,2,1301357826,0.300000,0.285000,66,63,55,53,50,50,202,215,144,672,230,124
$RAFOS,1,1301357345,0.166667,0.151389,59,57,55,54,52,51,153,189,140,208,112,164
$RAFOS,0,1301356867,0.033333,0.018611,63,60,59,52,52,51,198,222,173,150,113,134
$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,44.60
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.2
$24V_AH,23.2,34.913
$10V_AH,10.2,19.071
$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,11.450,43.075,318.150,140.475,0.000,0.000,0.000,0.000,0.500,0.000,0.000,1512.519,2634.610,466.966,1010.185,104.111,0.000,1024.139,0.000,1014.778,2520.000,4.388,0.000
$DEVICE_MAMPS,237.150,66.555,1074.825,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.129,484.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150476
$DATA_FILE_SIZE,23448,635
$CAP_FILE_SIZE,69435,0
$CFSIZE,260165632,235528192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,280311,214808,6714.500,-5702.074,181,99.0,181,-37.8