version: 66.08
glider: 141
mission: 15
dive: 318
start: 4 8 111 20 40 52
data:
$ID,141
$MISSION,15
$DIVE,318
$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,-2
$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,-35520.223
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,240813,073118,-200.000,-200.000,0,4125.5,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.94
$_SM_ANGLEo,-4.8
$GPS2,240813,073118,-200.000,-200.000,0,4125.5,0,-37.5
$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,20.3,8031828,-17.5,-10.000
$D_GRID,250
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.60,0.000,2,0.000,0.000,2898,864,3017,0,0,0,0,0,0
$GC,28,-0.62,-146.0,11.2,-0.0,1,54,0.65,5.12,-16.05,0.000,4,0.103,0.083,2668,3900,3630,0,0,0,0,0,0
$GC,61,-0.55,-146.0,14.5,-10.8,6,68,0.00,2.25,0.00,0.000,6,0.000,0.052,2668,2480,3631,0,0,0,0,0,0
$GC,407,-0.41,-146.0,83.6,-18.7,67,414,0.22,2.38,0.00,0.000,4,0.219,0.079,2722,3899,3632,0,0,0,0,0,0
$GC,623,-0.45,-146.0,110.3,-11.8,97,627,0.00,2.22,0.00,0.000,6,0.000,0.052,2722,2488,3631,0,0,0,0,0,0
$GC,948,-0.48,-146.0,144.6,-10.1,127,952,0.00,2.25,0.00,0.000,4,0.000,0.069,2722,1083,3630,0,0,0,0,0,0
$GC,989,-0.54,-146.0,148.5,-9.6,130,993,0.00,2.30,0.00,0.000,6,0.000,0.065,2722,2490,3630,0,0,0,0,0,0
$GC,1316,-0.58,-146.0,179.9,-9.5,160,1321,0.15,2.35,0.00,0.000,4,0.123,0.082,2670,3903,3630,0,0,0,0,0,0
$GC,1400,-0.54,-146.0,190.5,-13.1,167,1404,0.00,2.22,0.00,0.000,6,0.000,0.051,2670,2486,3630,0,0,0,0,0,0
$GC,1725,-0.47,-146.0,232.5,-13.0,197,1730,0.15,2.28,0.00,0.000,4,0.217,0.069,2705,1072,3630,0,0,0,0,0,0
$GC,1810,-0.52,-146.0,241.2,-9.1,204,1815,0.00,2.30,0.00,0.000,6,0.000,0.066,2705,2497,3630,0,0,0,0,0,0
$STATE,1910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1910,begin apogee
$GC,1916,-0.12,0.0,250.7,9.5,213,2047,0.38,0.00,120.68,1.118,6,0.197,0.000,2813,2266,3030,0,0,0,0,0,0
$STATE,2048,end apogee,CONTROL_FINISHED_OK
$STATE,2048,begin climb
$GC,2050,0.62,146.0,255.9,0.0,225,2183,0.82,2.62,123.93,1.065,4,0.156,0.072,3064,870,2433,0,0,0,0,0,0
$GC,2245,0.62,178.4,246.3,8.5,242,2279,0.00,2.47,29.10,1.010,6,0.000,0.058,3064,2277,2302,0,0,0,0,0,0
$GC,2598,0.63,180.1,211.6,9.9,275,2602,0.00,2.40,0.00,0.000,4,0.000,0.073,3064,3690,2295,0,0,0,0,0,0
$GC,2627,0.58,180.1,208.5,11.1,277,2631,0.00,2.35,0.00,0.000,6,0.000,0.057,3075,2280,2295,0,0,0,0,0,0
$GC,2954,0.56,188.1,175.7,9.6,307,2968,0.12,2.35,8.65,0.909,4,0.187,0.072,3050,863,2262,0,0,0,0,0,0
$GC,2973,0.58,204.2,173.7,9.3,308,2994,0.00,2.33,15.68,0.972,6,0.000,0.058,3051,2284,2197,0,0,0,0,0,0
$GC,3320,0.66,246.4,144.5,8.0,341,3365,0.00,2.45,38.38,1.014,4,0.000,0.074,3051,3692,2024,0,0,0,0,0,0
$GC,3394,0.72,257.9,138.1,9.5,347,3413,0.10,2.35,11.60,0.924,6,0.121,0.057,3097,2274,1977,0,0,0,0,0,0
$GC,3730,0.72,257.9,102.5,10.2,379,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2274,1971,0,0,0,0,0,0
$GC,4065,0.74,275.5,70.6,9.2,436,4083,0.00,0.00,16.35,0.957,6,0.000,0.000,3097,2274,1905,0,0,0,0,0,0
$GC,4422,0.80,297.5,37.8,9.0,499,4447,0.00,2.40,19.65,0.965,4,0.000,0.072,3108,862,1817,0,0,0,0,0,0
$GC,4471,0.88,319.4,33.3,9.0,507,4496,0.12,2.33,15.82,1.024,6,0.119,0.057,3154,2286,1726,0,0,0,0,0,0
$FREEZE,8.39,-1.721,-1.782,2,44,0
$STATE,4665,end climb,FINISH_DEPTH_REACHED
$STATE,4665,begin subsurface finish
$FINISH1,8.4,1.026089,69
$GC,4671,0.09,69.2,8.4,-13.5,541,4725,0.88,2.38,-41.70,0.000,4,0.175,0.089,2898,3684,2751,0,0,0,0,0,0
$FINISH2,6.9
$STATE,4725,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4726,begin surface
$RAFOS_CLK,285
$RAFOS,6,1302295745,20.833334,20.818056,91,60,58,51,50,50,800,195,213,137,224,156
$RAFOS,5,1302295285,20.700001,20.690277,94,63,62,60,58,57,849,145,215,192,121,170
$RAFOS,4,1302294782,20.566668,20.550556,123,65,56,55,54,52,746,206,145,171,191,160
$RAFOS_FIX,6650.645508,-78017.921875,080411,202022,6,110,0.01
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026964
$HUMID,48.11
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,16.8
$24V_AH,22.5,43.952
$10V_AH,10.1,24.252
$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,3.600,52.475,399.825,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1347.932,2128.539,398.446,913.941,77.737,0.000,932.094,0.000,910.165,720.000,2.611,0.000
$DEVICE_MAMPS,218.790,88.740,1117.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.535,406.908,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,20098,550
$CAP_FILE_SIZE,64303,0
$CFSIZE,260165632,230764544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.3
$GPS,240813,073118,-200.000,-200.000,0,4125.5,0,-37.5