version: 66.08
glider: 141
mission: 15
dive: 396
start: 4 13 111 6 31 52
data:
$ID,141
$MISSION,15
$DIVE,396
$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,-38474.059
$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,18
$R_STBD_OVSHOOT,19
$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,11.34
$_SM_ANGLEo,-2.5
$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,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.75,0.000,2,0.000,0.000,2900,2283,3011,0,0,0,0,0,0
$GC,27,-0.62,-146.0,13.2,-0.0,1,47,0.65,2.05,-14.25,0.000,4,0.106,0.089,2671,1075,3629,0,0,0,0,0,0
$GC,66,-0.53,-146.0,17.5,-13.2,7,72,0.00,2.35,0.00,0.000,6,0.000,0.073,2671,2493,3632,0,0,0,0,0,0
$GC,411,-0.40,-146.0,82.1,-18.0,68,418,0.22,2.35,0.00,0.000,4,0.231,0.085,2725,3900,3632,0,0,0,0,0,0
$GC,510,-0.47,-146.0,94.1,-11.3,85,517,0.00,2.25,0.00,0.000,6,0.000,0.056,2725,2484,3632,0,0,0,0,0,0
$GC,845,-0.52,-146.0,127.1,-8.5,121,849,0.00,2.28,0.00,0.000,4,0.000,0.073,2725,1081,3631,0,0,0,0,0,0
$GC,902,-0.61,-146.0,132.6,-9.5,125,909,0.17,2.28,0.00,0.000,6,0.122,0.069,2667,2488,3631,0,0,0,0,0,0
$GC,1228,-0.53,-146.0,176.5,-13.2,156,1232,0.00,2.35,0.00,0.000,4,0.000,0.086,2667,3900,3631,0,0,0,0,0,0
$GC,1338,-0.53,-146.0,191.1,-12.8,165,1346,0.00,2.28,0.00,0.000,6,0.000,0.056,2667,2490,3631,0,0,0,0,0,0
$GC,1665,-0.48,-146.0,233.3,-12.5,196,1669,0.15,2.30,0.00,0.000,4,0.217,0.072,2702,1070,3630,0,0,0,0,0,0
$GC,1744,-0.54,-146.0,241.0,-9.4,203,1748,0.00,2.33,0.00,0.000,6,0.000,0.069,2702,2498,3630,0,0,0,0,0,0
$STATE,1850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1850,begin apogee
$GC,1856,-0.12,0.0,250.3,8.8,213,1987,0.40,0.00,120.82,1.119,6,0.199,0.000,2816,2267,3029,0,0,0,0,0,0
$STATE,1988,end apogee,CONTROL_FINISHED_OK
$STATE,1988,begin climb
$GC,1990,0.62,146.0,255.7,0.0,225,2126,0.82,2.62,125.30,1.063,4,0.158,0.076,3064,882,2433,0,0,0,0,0,0
$GC,2189,0.62,170.7,247.1,8.9,243,2217,0.00,2.47,22.60,0.996,6,0.000,0.062,3064,2275,2333,0,0,0,0,0,0
$GC,2536,0.63,181.4,214.1,9.5,275,2551,0.00,2.45,9.98,0.916,4,0.000,0.077,3074,867,2290,0,0,0,0,0,0
$GC,2562,0.62,191.1,211.4,9.6,277,2581,0.00,2.38,10.15,0.919,6,0.000,0.063,3074,2276,2251,0,0,0,0,0,0
$GC,2899,0.60,191.1,177.2,10.3,309,2903,0.00,2.38,0.00,0.000,4,0.000,0.078,3074,3689,2247,0,0,0,0,0,0
$GC,2948,0.54,191.1,171.0,11.8,313,2956,0.17,2.30,0.00,0.000,6,0.192,0.063,3041,2282,2247,0,0,0,0,0,0
$GC,3274,0.66,242.5,145.2,7.6,344,3330,0.12,2.45,46.33,1.006,4,0.112,0.077,3106,869,2040,0,0,0,0,0,0
$GC,3337,0.63,242.5,138.5,11.7,349,3344,0.15,2.35,0.00,0.000,6,0.197,0.063,3071,2280,2038,0,0,0,0,0,0
$GC,3662,0.71,267.8,108.4,8.8,380,3690,0.00,2.35,22.75,0.971,4,0.000,0.076,3071,3686,1937,0,0,0,0,0,0
$GC,3715,0.77,280.5,103.6,9.4,384,3738,0.10,2.33,13.52,0.921,6,0.119,0.063,3120,2274,1884,0,0,0,0,0,0
$GC,4075,0.77,280.5,61.7,11.2,445,4082,0.00,2.33,0.00,0.000,4,0.000,0.078,3128,860,1878,0,0,0,0,0,0
$GC,4144,0.77,280.5,54.3,10.4,457,4151,0.00,2.30,0.00,0.000,6,0.000,0.063,3128,2279,1877,0,0,0,0,0,0
$GC,4490,0.78,282.7,17.9,9.9,518,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2279,1876,0,0,0,0,0,0
$FREEZE,8.96,-1.738,-1.776,2,122,0
$STATE,4569,end climb,FINISH_DEPTH_REACHED
$STATE,4569,begin subsurface finish
$FINISH1,9.0,1.026000,74
$GC,4575,0.09,73.5,9.0,-10.7,532,4612,0.75,0.00,-32.47,0.000,6,0.172,0.000,2903,2279,2732,0,0,0,0,0,0
$FINISH2,7.0
$STATE,4612,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4612,begin surface
$RAFOS_CLK,273
$RAFOS_FIX,6625.774902,-5932.056641,130411,040412,4,94,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026964
$HUMID,49.05
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,22.3,52.916
$10V_AH,10.1,27.017
$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,3.725,51.875,371.450,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1264.761,2039.377,386.857,895.074,80.737,0.000,909.846,0.000,891.101,0.000,2.613,0.000
$DEVICE_MAMPS,231.030,88.740,1119.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.798,397.299,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20120,538
$CAP_FILE_SIZE,61117,0
$CFSIZE,260165632,227909632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.3
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5