version: 66.08
glider: 141
mission: 15
dive: 347
start: 4 10 111 12 18 44
data:
$ID,141
$MISSION,15
$DIVE,347
$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,23
$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,9.53
$_SM_ANGLEo,-2.3
$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,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,-6.85,0.000,2,0.000,0.000,2896,3691,2984,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.7,-0.0,1,53,0.65,4.28,-17.40,0.000,4,0.107,0.070,2669,1081,3628,0,0,0,0,0,0
$GC,206,-0.54,-146.0,39.3,-16.7,32,213,0.00,2.33,0.00,0.000,6,0.000,0.070,2668,2492,3629,0,0,0,0,0,0
$GC,551,-0.40,-146.0,104.7,-18.8,91,556,0.25,2.35,0.00,0.000,4,0.226,0.083,2733,3906,3629,0,0,0,0,0,0
$GC,637,-0.49,-146.0,115.0,-9.4,98,641,0.00,2.25,0.00,0.000,6,0.000,0.054,2734,2479,3629,0,0,0,0,0,0
$GC,962,-0.56,-146.0,145.3,-8.7,128,967,0.15,2.25,0.00,0.000,4,0.129,0.070,2682,1081,3629,0,0,0,0,0,0
$GC,1125,-0.53,-146.0,165.3,-12.5,142,1129,0.00,2.28,0.00,0.000,6,0.000,0.067,2682,2492,3629,0,0,0,0,0,0
$GC,1450,-0.49,-146.0,205.6,-11.5,172,1454,0.00,2.33,0.00,0.000,4,0.000,0.084,2682,3905,3628,0,0,0,0,0,0
$GC,1527,-0.49,-146.0,214.5,-10.5,178,1534,0.00,2.28,0.00,0.000,6,0.000,0.053,2682,2484,3628,0,0,0,0,0,0
$STATE,1851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1851,begin apogee
$GC,1856,-0.12,0.0,250.9,11.6,209,1987,0.47,0.00,120.82,1.118,6,0.212,0.000,2812,2255,3030,0,0,0,0,0,0
$STATE,1988,end apogee,CONTROL_FINISHED_OK
$STATE,1988,begin climb
$GC,1990,0.62,146.0,256.5,0.0,221,2129,0.82,2.75,125.20,1.064,4,0.162,0.073,3049,3693,2432,0,0,0,0,0,0
$GC,2336,0.54,146.0,231.3,10.3,252,2343,0.00,2.42,0.00,0.000,6,0.000,0.059,3060,2283,2426,0,0,0,0,0,0
$GC,2663,0.53,170.5,201.4,8.9,283,2689,0.00,2.42,20.83,1.002,4,0.000,0.073,3071,864,2335,0,0,0,0,0,0
$GC,2697,0.53,191.2,198.2,9.0,286,2723,0.15,2.38,19.75,0.983,6,0.184,0.061,3035,2285,2249,0,0,0,0,0,0
$GC,3049,0.66,249.4,171.3,7.3,319,3108,0.12,2.50,52.10,1.013,4,0.106,0.075,3096,862,2012,0,0,0,0,0,0
$GC,3226,0.66,249.4,152.5,11.0,335,3230,0.00,2.35,0.00,0.000,6,0.000,0.060,3096,2278,2005,0,0,0,0,0,0
$GC,3552,0.66,249.4,116.6,10.8,365,3556,0.00,2.38,0.00,0.000,4,0.000,0.076,3106,863,2003,0,0,0,0,0,0
$GC,3619,0.66,252.1,109.4,9.9,370,3626,0.00,2.30,0.00,0.000,6,0.000,0.061,3106,2280,2000,0,0,0,0,0,0
$GC,3958,0.67,260.3,76.9,9.6,422,3977,0.00,2.40,9.30,0.903,4,0.000,0.076,3106,3700,1966,0,0,0,0,0,0
$GC,4006,0.65,260.3,71.3,12.0,430,4014,0.15,2.33,0.00,0.000,6,0.195,0.061,3080,2265,1966,0,0,0,0,0,0
$GC,4353,0.79,319.8,42.7,7.3,491,4412,0.12,2.45,52.90,0.977,4,0.111,0.077,3140,861,1726,0,0,0,0,0,0
$GC,4437,0.79,319.8,33.5,11.7,505,4444,0.00,2.35,0.00,0.000,6,0.000,0.060,3140,2281,1722,0,0,0,0,0,0
$FREEZE,8.75,-1.741,-1.779,2,73,0
$STATE,4641,end climb,FINISH_DEPTH_REACHED
$STATE,4641,begin subsurface finish
$FINISH1,8.7,1.026050,71
$GC,4647,0.09,71.1,8.7,-11.6,541,4694,0.80,2.35,-38.80,0.000,4,0.168,0.090,2900,3692,2742,0,0,0,0,0,0
$FINISH2,7.5
$STATE,4695,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4695,begin surface
$RAFOS_CLK,279
$RAFOS,6,1302439743,12.833333,12.817500,66,54,51,51,50,50,208,151,161,113,171,1839
$RAFOS,5,1302439266,12.700000,12.685000,84,67,64,58,57,54,948,200,183,144,214,158
$RAFOS,4,1302438788,12.566667,12.552222,72,63,61,56,56,54,199,729,166,220,148,131
$RAFOS,3,1302438304,12.433333,12.417778,65,61,56,53,51,51,147,166,210,118,189,222
$RAFOS_FIX,42603.042969,-42015.082031,100411,121244,2,98,0.01
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026964
$HUMID,47.71
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.1
$24V_AH,22.3,47.341
$10V_AH,10.1,25.286
$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,3.700,52.050,400.900,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1305.697,2043.185,412.917,944.215,79.546,0.000,953.705,0.000,940.203,1440.000,2.611,0.000
$DEVICE_MAMPS,225.675,90.270,1117.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.311,402.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20112,549
$CAP_FILE_SIZE,62581,0
$CFSIZE,260165632,229703680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.2
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5