version: 66.08
glider: 141
mission: 15
dive: 326
start: 4 9 111 7 37 42
data:
$ID,141
$MISSION,15
$DIVE,326
$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,-35888.793
$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,20
$R_STBD_OVSHOOT,18
$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,-200.000,181,99.0,181,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.94
$_SM_ANGLEo,-4.1
$GPS2,240813,073118,-200.000,-200.000,181,99.0,181,-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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.30,0.000,2,0.000,0.000,2899,863,2963,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.2,-0.0,1,57,0.65,5.18,-18.55,0.000,4,0.104,0.086,2671,3897,3628,0,0,0,0,0,0
$GC,221,-0.54,-146.0,40.8,-17.3,35,228,0.00,2.28,0.00,0.000,6,0.000,0.057,2671,2488,3630,0,0,0,0,0,0
$GC,565,-0.40,-146.0,104.7,-18.1,94,570,0.22,2.38,0.00,0.000,4,0.226,0.082,2725,3906,3630,0,0,0,0,0,0
$GC,605,-0.40,-146.0,110.7,-12.4,97,609,0.00,2.25,0.00,0.000,6,0.000,0.055,2725,2486,3631,0,0,0,0,0,0
$GC,931,-0.44,-146.0,144.5,-9.5,127,935,0.00,2.38,0.00,0.000,4,0.000,0.083,2725,3904,3630,0,0,0,0,0,0
$GC,970,-0.51,-146.0,148.3,-9.4,130,976,0.00,2.22,0.00,0.000,6,0.000,0.055,2725,2490,3630,0,0,0,0,0,0
$GC,1296,-0.57,-146.0,178.3,-9.3,161,1298,0.15,0.00,0.00,0.000,6,0.127,0.000,2675,2490,3629,0,0,0,0,0,0
$GC,1614,-0.51,-146.0,220.0,-13.3,191,1618,0.00,2.30,0.00,0.000,4,0.000,0.073,2676,1072,3629,0,0,0,0,0,0
$GC,1658,-0.51,-146.0,225.8,-12.6,194,1665,0.00,2.30,0.00,0.000,6,0.000,0.069,2675,2497,3629,0,0,0,0,0,0
$STATE,1864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1864,begin apogee
$GC,1869,-0.12,0.0,250.9,12.5,214,2001,0.50,0.00,120.90,1.118,6,0.212,0.000,2812,2267,3029,0,0,0,0,0,0
$STATE,2002,end apogee,CONTROL_FINISHED_OK
$STATE,2002,begin climb
$GC,2004,0.62,146.0,256.1,0.0,226,2138,0.82,2.62,124.47,1.067,4,0.161,0.076,3059,878,2433,0,0,0,0,0,0
$GC,2161,0.63,175.1,248.7,8.7,240,2193,0.00,2.53,26.75,1.012,6,0.000,0.061,3059,2282,2316,0,0,0,0,0,0
$GC,2513,0.63,181.4,213.3,9.7,273,2526,0.00,2.42,5.72,0.790,4,0.000,0.077,3059,3688,2289,0,0,0,0,0,0
$GC,2554,0.59,181.4,208.8,11.2,276,2561,0.00,2.38,0.00,0.000,6,0.000,0.062,3070,2282,2289,0,0,0,0,0,0
$GC,2880,0.58,191.1,176.8,9.6,307,2892,0.00,0.00,10.15,0.937,6,0.000,0.000,3070,2282,2250,0,0,0,0,0,0
$GC,3209,0.59,205.0,146.2,9.4,338,3224,0.00,0.00,13.35,0.967,6,0.000,0.000,3070,2282,2194,0,0,0,0,0,0
$GC,3539,0.62,225.4,117.0,9.1,369,3565,0.00,2.42,19.38,0.989,4,0.000,0.076,3070,3691,2111,0,0,0,0,0,0
$GC,3587,0.62,228.4,112.6,9.9,373,3598,0.00,2.33,4.12,0.663,6,0.000,0.061,3080,2271,2100,0,0,0,0,0,0
$GC,3928,0.71,271.7,84.8,8.0,421,3975,0.00,2.42,40.03,0.993,4,0.000,0.073,3080,3695,1922,0,0,0,0,0,0
$GC,4011,0.74,271.7,77.5,10.7,435,4018,0.00,2.35,0.00,0.000,6,0.000,0.060,3089,2273,1919,0,0,0,0,0,0
$GC,4358,0.84,308.2,47.3,8.3,496,4400,0.12,2.38,32.92,0.968,4,0.114,0.077,3149,866,1772,0,0,0,0,0,0
$GC,4407,0.81,308.2,41.8,11.9,504,4414,0.00,2.33,0.00,0.000,6,0.000,0.060,3148,2279,1770,0,0,0,0,0,0
$FREEZE,8.49,-1.747,-1.781,2,52,0
$STATE,4665,end climb,FINISH_DEPTH_REACHED
$STATE,4666,begin subsurface finish
$FINISH1,8.5,1.026074,70
$GC,4671,0.09,69.9,8.5,-13.6,550,4718,0.85,0.00,-38.58,0.000,6,0.171,0.000,2897,2279,2747,0,0,0,0,0,0
$FINISH2,7.1
$STATE,4719,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4719,begin surface
$RAFOS_CLK,281
$RAFOS,6,1302338943,8.833333,8.817500,94,63,61,59,56,55,795,220,195,157,142,210
$RAFOS,5,1302338465,8.700000,8.684722,55,54,52,52,52,51,127,217,137,190,118,178
$RAFOS,4,1302337986,8.566667,8.551666,113,63,61,58,57,55,722,206,164,220,185,139
$RAFOS,3,1302337507,8.433333,8.418612,59,58,56,52,52,49,219,162,186,143,236,128
$RAFOS,2,1302337024,8.300000,8.284445,71,64,58,57,54,52,214,202,180,161,232,146
$RAFOS,1,1302336546,8.166667,8.151667,63,60,59,53,49,49,218,119,193,91,143,170
$RAFOS,0,1302336071,8.033334,8.019722,80,60,59,56,56,55,605,186,212,152,120,175
$RAFOS_FIX,6654.114258,29942.980469,090411,080834,3,96,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.30
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.0
$24V_AH,22.4,44.873
$10V_AH,10.1,24.538
$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,3.325,45.825,397.800,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1297.486,2133.750,405.706,880.093,82.013,0.000,925.500,0.000,883.511,2520.000,2.614,0.000
$DEVICE_MAMPS,225.675,85.680,1117.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.730,415.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20112,558
$CAP_FILE_SIZE,59752,0
$CFSIZE,260165632,230473728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.8
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5