version: 66.08
glider: 141
mission: 15
dive: 250
start: 3 29 111 2 47 56
data:
$ID,141
$MISSION,15
$DIVE,250
$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,33
$R_STBD_OVSHOOT,25
$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,7.64
$_SM_ANGLEo,-0.3
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.65,0.000,2,0.000,0.000,2881,871,3146,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.1,-0.0,1,52,0.60,4.90,-12.85,0.000,4,0.098,0.063,2666,3893,3628,0,0,0,0,0,0
$GC,182,-0.58,-146.0,30.2,-13.8,28,189,0.00,2.17,0.00,0.000,6,0.000,0.039,2665,2478,3629,0,0,0,0,0,0
$GC,529,-0.49,-146.0,78.2,-13.2,89,536,0.15,2.33,0.00,0.000,4,0.216,0.065,2701,3905,3628,0,0,0,0,0,0
$GC,572,-0.53,-146.0,83.2,-9.6,96,579,0.00,2.15,0.00,0.000,6,0.000,0.040,2700,2489,3628,0,0,0,0,0,0
$GC,913,-0.53,-146.0,118.9,-11.0,142,917,0.00,2.17,0.00,0.000,4,0.000,0.057,2700,1087,3627,0,0,0,0,0,0
$GC,941,-0.53,-146.0,122.3,-12.4,144,948,0.00,2.20,0.00,0.000,6,0.000,0.052,2701,2490,3626,0,0,0,0,0,0
$GC,1267,-0.56,-146.0,155.9,-9.9,175,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2490,3625,0,0,0,0,0,0
$GC,1587,-0.60,-146.0,183.8,-9.3,205,1591,0.00,2.30,0.00,0.000,4,0.000,0.070,2701,3902,3623,0,0,0,0,0,0
$GC,1619,-0.66,-146.0,187.2,-10.1,207,1627,0.15,2.17,0.00,0.000,6,0.119,0.040,2651,2485,3623,0,0,0,0,0,0
$GC,1946,-0.59,-146.0,230.1,-13.8,238,1950,0.00,2.17,0.00,0.000,4,0.000,0.057,2651,1080,3622,0,0,0,0,0,0
$GC,1981,-0.53,-146.0,235.2,-13.5,241,1986,0.15,2.22,0.00,0.000,6,0.215,0.054,2686,2490,3623,0,0,0,0,0,0
$GC,2307,-0.53,-146.0,267.9,-9.4,271,2310,0.00,2.28,0.00,0.000,4,0.000,0.067,2686,3900,3623,0,0,0,0,0,0
$GC,2342,-0.56,-146.0,271.1,-9.7,274,2345,0.00,2.15,0.00,0.000,6,0.000,0.039,2686,2475,3622,0,0,0,0,0,0
$GC,2674,-0.59,-146.0,298.2,-7.0,305,2678,0.00,2.30,0.00,0.000,4,0.000,0.064,2686,3908,3623,0,0,0,0,0,0
$STATE,2696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2696,begin apogee
$GC,2703,-0.12,0.0,300.0,7.0,306,2830,0.45,0.00,116.30,1.084,6,0.188,0.000,2817,2265,3029,0,0,0,0,0,0
$STATE,2831,end apogee,CONTROL_FINISHED_OK
$STATE,2831,begin climb
$GC,2833,0.62,146.0,301.6,0.0,318,2966,0.77,2.45,119.78,1.029,4,0.144,0.057,3063,881,2432,0,0,0,0,0,0
$GC,3012,0.56,146.0,285.6,12.2,334,3016,0.00,2.33,0.00,0.000,6,0.000,0.044,3063,2280,2429,0,0,0,0,0,0
$GC,3342,0.48,146.0,249.2,10.8,365,3347,0.15,2.30,0.00,0.000,4,0.180,0.058,3025,3684,2427,0,0,0,0,0,0
$GC,3483,0.44,146.0,234.6,10.1,377,3487,0.00,2.20,0.00,0.000,6,0.000,0.041,3034,2280,2427,0,0,0,0,0,0
$GC,3810,0.44,146.9,204.2,10.0,407,3814,0.00,2.22,0.00,0.000,4,0.000,0.054,3043,871,2427,0,0,0,0,0,0
$GC,3906,0.44,146.9,194.1,10.6,415,3910,0.12,2.20,0.00,0.000,6,0.180,0.044,3012,2288,2427,0,0,0,0,0,0
$GC,4231,0.52,181.3,166.7,8.4,445,4266,0.00,2.30,29.38,0.943,4,0.000,0.057,3011,3681,2289,0,0,0,0,0,0
$GC,4383,0.55,183.2,152.1,9.9,458,4391,0.00,2.22,0.00,0.000,6,0.000,0.041,3019,2265,2287,0,0,0,0,0,0
$GC,4710,0.68,248.7,127.2,7.0,489,4777,0.17,2.30,57.03,0.929,4,0.091,0.055,3099,866,2015,0,0,0,0,0,0
$GC,4802,0.68,248.7,116.2,12.8,497,4806,0.00,2.25,0.00,0.000,6,0.000,0.043,3099,2281,2012,0,0,0,0,0,0
$GC,5138,0.68,248.7,69.9,14.0,546,5145,0.00,2.22,0.00,0.000,4,0.000,0.059,3099,3682,2007,0,0,0,0,0,0
$GC,5220,0.62,248.7,57.6,15.8,560,5228,0.17,2.20,0.00,0.000,6,0.181,0.042,3064,2276,2006,0,0,0,0,0,0
$GC,5567,0.68,248.7,20.6,10.2,621,5574,0.00,2.20,0.00,0.000,4,0.000,0.056,3071,867,2006,0,0,0,0,0,0
$GC,5655,0.77,276.5,12.3,8.7,636,5674,0.12,2.20,12.90,0.827,6,0.109,0.042,3123,2283,1901,0,0,0,0,0,0
$FREEZE,8.67,-1.648,-1.837,2,14,0
$FREEZE,7.93,-1.645,-1.837,2,14,0
$FREEZE,7.10,-1.643,-1.836,2,14,0
$FREEZE,6.20,-1.636,-1.835,2,14,0
$FREEZE,5.28,-1.644,-1.835,2,14,0
$FREEZE,4.57,-1.639,-1.834,2,14,0
$FREEZE,3.99,-1.640,-1.834,2,14,0
$FREEZE,3.03,-1.648,-1.833,2,14,0
$FREEZE,2.25,-1.656,-1.832,2,14,0
$STATE,5729,end climb,SURFACE_DEPTH_REACHED
$STATE,5729,begin surface coast
$FREEZE,1.80,-1.676,-1.833,2,14,0
$FREEZE,1.50,-1.695,-1.833,2,14,0
$FREEZE,1.41,-1.562,-1.825,2,14,0
$FREEZE,1.47,-1.680,-1.833,2,14,0
$FINISH,1.5,1.026893
$STATE,5750,end surface coast,CONTROL_FINISHED_OK
$STATE,5751,begin surface
$SM_CCo,5769,123.97,0.065,0,0,751,559.04
$SM_GC,2.65,0.00,0.00,123.97,0.000,0.000,0.065,111,2519,751,-8.60,0.79,559.04
$RAFOS_CLK,315
$RAFOS,2,1301372226,4.300000,4.285000,60,58,56,54,53,52,177,218,209,191,121,152
$RAFOS,1,1301371746,4.166667,4.151667,66,65,59,53,51,51,182,204,140,169,158,224
$RAFOS,0,1301371264,4.033333,4.017778,72,65,62,56,55,53,209,181,191,156,168,200
$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,44.88
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.2
$24V_AH,23.2,35.104
$10V_AH,10.2,19.162
$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,12.600,66.000,335.375,123.975,0.000,0.000,0.000,0.000,0.500,0.000,0.000,1591.389,2709.689,475.440,1078.360,99.447,0.000,1074.403,0.000,1072.703,1080.000,4.386,0.000
$DEVICE_MAMPS,215.730,69.615,1084.005,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.732,485.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150500
$DATA_FILE_SIZE,23498,653
$CAP_FILE_SIZE,75713,0
$CFSIZE,260165632,235466752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.5
$GPS,280311,214808,6714.500,-5702.074,181,99.0,181,-37.8