version: 66.08
glider: 141
mission: 15
dive: 249
start: 3 29 111 1 13 54
data:
$ID,141
$MISSION,15
$DIVE,249
$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,-31644.033
$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,34
$R_STBD_OVSHOOT,35
$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,2.92
$_SM_ANGLEo,-48.5
$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,15,-0.62,-146.0,0.0,0.0,0,168,0.00,0.00,-148.20,0.000,2,0.000,0.000,110,2494,3323,0,0,0,0,0,0
$GC,170,-0.62,-146.0,5.3,-11.0,26,196,12.82,2.33,-6.95,0.000,4,0.329,0.080,2653,3890,3629,0,0,0,0,0,0
$GC,427,-0.54,-146.0,53.3,-15.3,71,435,0.12,2.17,0.00,0.000,6,0.204,0.044,2684,2484,3630,0,0,0,0,0,0
$GC,773,-0.50,-146.0,101.6,-14.1,131,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2484,3630,0,0,0,0,0,0
$GC,1092,-0.47,-146.0,143.7,-12.9,161,1096,0.00,2.30,0.00,0.000,4,0.000,0.069,2684,3893,3629,0,0,0,0,0,0
$GC,1131,-0.47,-146.0,148.9,-12.3,164,1135,0.00,2.17,0.00,0.000,6,0.000,0.044,2684,2486,3629,0,0,0,0,0,0
$GC,1461,-0.47,-146.0,190.3,-12.8,195,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2486,3628,0,0,0,0,0,0
$GC,1783,-0.47,-146.0,228.9,-11.6,225,1786,0.00,2.20,0.00,0.000,4,0.000,0.059,2683,1074,3627,0,0,0,0,0,0
$GC,1795,-0.47,-146.0,230.5,-11.2,226,1799,0.00,2.22,0.00,0.000,6,0.000,0.054,2684,2481,3628,0,0,0,0,0,0
$GC,2121,-0.47,-146.0,267.2,-11.1,256,2125,0.00,2.30,0.00,0.000,4,0.000,0.070,2684,3903,3628,0,0,0,0,0,0
$GC,2138,-0.47,-146.0,269.1,-10.8,257,2142,0.00,2.17,0.00,0.000,6,0.000,0.041,2684,2478,3628,0,0,0,0,0,0
$STATE,2439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2439,begin apogee
$GC,2444,-0.12,0.0,300.1,9.8,285,2569,0.45,0.00,117.85,1.092,6,0.185,0.000,2815,2263,3030,0,0,0,0,0,0
$STATE,2569,end apogee,CONTROL_FINISHED_OK
$STATE,2569,begin climb
$GC,2571,0.62,146.0,304.6,0.0,296,2700,0.77,0.00,120.60,1.037,6,0.144,0.000,3052,2263,2433,0,0,0,0,0,0
$GC,3018,0.59,153.4,265.3,9.7,339,3031,0.00,2.42,6.70,0.799,4,0.000,0.058,3052,3683,2403,0,0,0,0,0,0
$GC,3122,0.50,153.4,253.4,12.0,348,3127,0.15,2.22,0.00,0.000,6,0.184,0.044,3027,2285,2403,0,0,0,0,0,0
$GC,3453,0.52,173.8,224.5,9.1,379,3474,0.00,0.00,18.75,0.949,6,0.000,0.000,3027,2284,2320,0,0,0,0,0,0
$GC,3793,0.54,184.9,191.4,9.5,411,3806,0.00,0.00,10.50,0.887,6,0.000,0.000,3027,2284,2276,0,0,0,0,0,0
$GC,4123,0.57,192.3,158.4,9.7,442,4135,0.00,2.33,7.97,0.827,4,0.000,0.058,3026,3687,2245,0,0,0,0,0,0
$GC,4182,0.57,192.3,152.0,10.7,447,4186,0.00,2.20,0.00,0.000,6,0.000,0.042,3034,2274,2244,0,0,0,0,0,0
$GC,4512,0.63,192.3,118.5,10.1,478,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2274,2244,0,0,0,0,0,0
$GC,4838,0.70,214.3,87.8,9.0,520,4863,0.15,0.00,20.17,0.897,6,0.096,0.000,3099,2274,2156,0,0,0,0,0,0
$GC,5202,0.67,214.3,42.1,13.0,584,5209,0.00,2.28,0.00,0.000,4,0.000,0.058,3099,3690,2153,0,0,0,0,0,0
$GC,5306,0.59,214.3,26.1,15.2,602,5313,0.20,2.22,0.00,0.000,6,0.187,0.043,3057,2266,2153,0,0,0,0,0,0
$FREEZE,8.82,-1.625,-1.837,2,13,0
$FREEZE,8.31,-1.627,-1.836,2,13,0
$FREEZE,7.86,-1.628,-1.836,2,13,0
$FREEZE,7.33,-1.623,-1.836,2,13,0
$FREEZE,6.65,-1.624,-1.835,2,13,0
$STATE,5490,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,5490,begin subsurface finish
$FINISH1,6.7,1.026868,31
$GC,5496,0.04,31.0,6.7,-10.8,635,5539,0.57,2.25,-31.77,0.000,4,0.165,0.070,2881,872,2905,0,0,0,0,0,0
$FINISH2,4.3
$STATE,5539,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5540,begin surface
$RAFOS_CLK,327
$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,45.94
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.8
$ALTIM_BOTTOM_PING,300.1,40.0
$24V_AH,23.1,35.005
$10V_AH,10.2,19.121
$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,15.250,34.100,302.550,0.000,0.000,98.382,18.290,0.000,0.750,0.000,183.285,1469.177,2754.602,433.061,1285.521,198.442,0.000,981.579,0.000,980.595,0.000,7.146,0.000
$DEVICE_MAMPS,328.950,80.325,1092.420,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.707,478.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23447,642
$CAP_FILE_SIZE,64804,0
$CFSIZE,260165632,235524096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$GPS,280311,214808,6714.500,-5702.074,181,99.0,181,-37.8