version: 66.08
glider: 141
mission: 15
dive: 346
start: 4 10 111 11 0 31
data:
$ID,141
$MISSION,15
$DIVE,346
$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,-36627.012
$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,20
$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,8.26
$_SM_ANGLEo,-1.9
$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,-6.75,0.000,2,0.000,0.000,2900,3685,2968,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.4,-0.0,1,57,0.68,4.30,-19.38,0.000,4,0.107,0.073,2667,1077,3629,0,0,0,0,0,0
$GC,215,-0.54,-146.0,40.5,-17.3,34,222,0.00,2.33,0.00,0.000,6,0.000,0.068,2667,2489,3630,0,0,0,0,0,0
$GC,559,-0.39,-146.0,106.2,-18.8,92,564,0.25,2.35,0.00,0.000,4,0.230,0.082,2731,3905,3630,0,0,0,0,0,0
$GC,656,-0.46,-146.0,117.9,-9.7,100,660,0.00,2.25,0.00,0.000,6,0.000,0.053,2731,2480,3631,0,0,0,0,0,0
$GC,986,-0.52,-146.0,149.7,-9.5,131,991,0.12,2.25,0.00,0.000,4,0.137,0.070,2690,1083,3630,0,0,0,0,0,0
$GC,1109,-0.52,-146.0,164.6,-12.5,141,1116,0.00,2.30,0.00,0.000,6,0.000,0.067,2690,2490,3630,0,0,0,0,0,0
$GC,1434,-0.50,-146.0,204.2,-11.7,172,1438,0.00,2.35,0.00,0.000,4,0.000,0.083,2690,3903,3630,0,0,0,0,0,0
$GC,1491,-0.50,-146.0,210.7,-11.2,177,1495,0.00,2.22,0.00,0.000,6,0.000,0.052,2690,2484,3629,0,0,0,0,0,0
$GC,1816,-0.50,-146.0,246.9,-10.9,207,1820,0.00,2.25,0.00,0.000,4,0.000,0.069,2690,1074,3629,0,0,0,0,0,0
$STATE,1840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1840,begin apogee
$GC,1847,-0.12,0.0,250.1,11.7,209,1975,0.45,0.00,120.90,1.119,6,0.205,0.000,2814,2281,3030,0,0,0,0,0,0
$STATE,1976,end apogee,CONTROL_FINISHED_OK
$STATE,1976,begin climb
$GC,1978,0.62,146.0,255.6,0.0,221,2113,0.82,2.67,124.90,1.068,4,0.161,0.072,3060,873,2433,0,0,0,0,0,0
$GC,2136,0.66,199.7,249.9,7.5,235,2190,0.00,2.53,48.60,1.025,6,0.000,0.061,3060,2275,2215,0,0,0,0,0,0
$GC,2511,0.66,200.9,213.0,9.9,270,2515,0.00,2.45,0.00,0.000,4,0.000,0.075,3060,3690,2205,0,0,0,0,0,0
$GC,2523,0.67,210.6,211.7,9.6,271,2538,0.00,2.40,9.60,0.907,6,0.000,0.060,3071,2276,2171,0,0,0,0,0,0
$GC,2863,0.68,220.4,177.4,9.5,303,2875,0.00,0.00,9.93,0.926,6,0.000,0.000,3071,2276,2131,0,0,0,0,0,0
$GC,3195,0.72,238.3,146.7,9.2,334,3219,0.00,2.45,17.17,0.984,4,0.000,0.073,3071,3692,2057,0,0,0,0,0,0
$GC,3224,0.74,252.8,143.8,9.3,336,3245,0.00,2.33,14.85,0.947,6,0.000,0.059,3081,2265,1998,0,0,0,0,0,0
$GC,3571,0.82,274.4,110.7,9.0,369,3598,0.12,2.38,20.33,0.972,4,0.109,0.073,3143,869,1911,0,0,0,0,0,0
$GC,3609,0.76,274.4,106.2,11.9,372,3617,0.12,2.33,0.00,0.000,6,0.207,0.060,3115,2284,1909,0,0,0,0,0,0
$GC,3950,0.76,274.4,69.5,11.3,428,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2284,1905,0,0,0,0,0,0
$GC,4295,0.77,277.8,35.5,9.8,489,4302,0.00,2.33,0.00,0.000,4,0.000,0.076,3115,3696,1903,0,0,0,0,0,0
$GC,4314,0.77,277.8,33.3,10.8,492,4320,0.00,2.30,0.00,0.000,6,0.000,0.060,3123,2276,1902,0,0,0,0,0,0
$FREEZE,8.67,-1.741,-1.779,2,72,0
$STATE,4543,end climb,FINISH_DEPTH_REACHED
$STATE,4544,begin subsurface finish
$FINISH1,8.7,1.026052,71
$GC,4550,0.09,71.0,8.7,-10.5,533,4592,0.75,2.40,-31.38,0.000,4,0.168,0.089,2896,3691,2743,0,0,0,0,0,0
$FINISH2,7.8
$STATE,4593,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4593,begin surface
$RAFOS_CLK,270
$RAFOS,1,1302437343,12.166667,12.150833,113,74,73,57,52,51,638,197,212,131,146,157
$RAFOS,0,1302436866,12.033333,12.018333,60,59,58,54,54,51,208,174,225,165,194,151
$RAFOS_FIX,-65324.015625,936571.250000,100411,080832,4,107,0.10
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.025466
$HUMID,48.18
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.5
$24V_AH,22.3,47.223
$10V_AH,10.0,25.251
$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,3.325,51.150,366.275,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1257.529,2052.754,372.556,886.862,77.458,0.000,888.198,0.000,886.810,720.000,2.612,0.000
$DEVICE_MAMPS,230.265,88.740,1119.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.761,399.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20117,540
$CAP_FILE_SIZE,57910,0
$CFSIZE,260165632,229744640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.9
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5