version: 66.08
glider: 141
mission: 15
dive: 393
start: 4 13 111 2 16 43
data:
$ID,141
$MISSION,15
$DIVE,393
$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,-38104.418
$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,9.66
$_SM_ANGLEo,-0.3
$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,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,-6.60,0.000,2,0.000,0.000,2901,3681,2965,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.7,-0.0,1,57,0.68,4.38,-17.95,0.000,4,0.105,0.076,2665,1068,3630,0,0,0,0,0,0
$GC,244,-0.54,-146.0,46.0,-17.5,39,251,0.00,2.35,0.00,0.000,6,0.000,0.074,2665,2492,3631,0,0,0,0,0,0
$GC,592,-0.42,-146.0,108.9,-16.4,96,597,0.25,2.35,0.00,0.000,4,0.230,0.087,2730,3900,3632,0,0,0,0,0,0
$GC,667,-0.51,-146.0,117.2,-8.9,102,671,0.00,2.28,0.00,0.000,6,0.000,0.058,2730,2483,3632,0,0,0,0,0,0
$GC,992,-0.58,-146.0,145.8,-9.0,132,997,0.17,2.28,0.00,0.000,4,0.115,0.075,2669,1082,3630,0,0,0,0,0,0
$GC,1069,-0.58,-146.0,155.6,-12.6,138,1077,0.00,2.33,0.00,0.000,6,0.000,0.070,2669,2489,3630,0,0,0,0,0,0
$GC,1396,-0.51,-146.0,199.2,-13.7,169,1400,0.00,2.38,0.00,0.000,4,0.000,0.087,2669,3910,3630,0,0,0,0,0,0
$GC,1492,-0.51,-146.0,211.9,-12.6,177,1496,0.00,2.25,0.00,0.000,6,0.000,0.058,2669,2490,3630,0,0,0,0,0,0
$STATE,1793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1793,begin apogee
$GC,1799,-0.12,0.0,250.0,12.0,205,1930,0.52,0.00,120.80,1.126,6,0.212,0.000,2813,2264,3030,0,0,0,0,0,0
$STATE,1931,end apogee,CONTROL_FINISHED_OK
$STATE,1931,begin climb
$GC,1933,0.62,146.0,255.1,0.0,217,2067,0.82,0.00,125.78,1.064,6,0.158,0.000,3052,2264,2432,0,0,0,0,0,0
$GC,2385,0.67,185.2,224.4,8.2,260,2429,0.00,2.60,34.00,1.018,4,0.000,0.075,3052,3694,2274,0,0,0,0,0,0
$GC,2453,0.64,185.2,218.2,10.0,266,2458,0.00,2.42,0.00,0.000,6,0.000,0.063,3062,2284,2273,0,0,0,0,0,0
$GC,2778,0.65,191.9,186.2,9.7,296,2791,0.00,2.47,6.90,0.850,4,0.000,0.079,3073,865,2247,0,0,0,0,0,0
$GC,2807,0.66,198.1,183.4,9.7,298,2819,0.00,2.35,7.18,0.859,6,0.000,0.063,3072,2282,2222,0,0,0,0,0,0
$GC,3139,0.66,198.1,149.9,10.4,329,3143,0.00,2.33,0.00,0.000,4,0.000,0.079,3072,3691,2220,0,0,0,0,0,0
$GC,3184,0.63,198.1,144.9,10.6,333,3189,0.00,2.33,0.00,0.000,6,0.000,0.064,3082,2266,2220,0,0,0,0,0,0
$GC,3510,0.68,239.0,114.0,8.1,363,3555,0.00,2.38,37.85,0.997,4,0.000,0.079,3092,861,2054,0,0,0,0,0,0
$GC,3568,0.76,279.3,109.5,8.1,368,3612,0.00,2.35,37.53,0.970,6,0.000,0.063,3092,2281,1890,0,0,0,0,0,0
$GC,3945,0.83,295.5,73.7,9.3,426,3965,0.12,2.47,14.43,0.928,4,0.108,0.079,3153,860,1824,0,0,0,0,0,0
$GC,3972,0.83,295.5,70.8,10.5,430,3979,0.00,2.33,0.00,0.000,6,0.000,0.061,3153,2278,1823,0,0,0,0,0,0
$GC,4317,0.80,295.5,24.8,13.3,491,4325,0.12,2.35,0.00,0.000,4,0.205,0.080,3123,3696,1820,0,0,0,0,0,0
$GC,4354,0.80,295.5,20.2,12.3,497,4362,0.00,2.33,0.00,0.000,6,0.000,0.065,3131,2266,1818,0,0,0,0,0,0
$FREEZE,8.99,-1.745,-1.776,2,119,0
$STATE,4452,end climb,FINISH_DEPTH_REACHED
$STATE,4452,begin subsurface finish
$FINISH1,9.0,1.026003,73
$GC,4458,0.09,73.4,9.0,-9.9,514,4500,0.77,2.35,-32.97,0.000,4,0.170,0.091,2898,859,2733,0,0,0,0,0,0
$FINISH2,7.7
$STATE,4501,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4501,begin surface
$RAFOS_CLK,262
$RAFOS_FIX,-29243.300781,-402012.906250,130411,000012,4,107,0.04
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.22
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,16.8
$24V_AH,22.2,52.569
$10V_AH,10.1,26.899
$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,3.475,51.975,384.450,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1215.511,2011.605,410.772,846.290,73.414,0.000,903.950,0.000,847.766,0.000,2.608,0.000
$DEVICE_MAMPS,229.500,91.035,1126.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.207,384.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150532
$DATA_FILE_SIZE,20113,521
$CAP_FILE_SIZE,56448,0
$CFSIZE,260165632,228020224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.1
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5