version: 66.08
glider: 141
mission: 15
dive: 359
start: 4 11 111 4 31 48
data:
$ID,141
$MISSION,15
$DIVE,359
$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,-36996.625
$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,21
$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,8.74
$_SM_ANGLEo,-2.9
$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,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,-7.57,0.000,2,0.000,0.000,2900,3691,2976,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.9,-0.0,1,59,0.68,4.38,-18.23,0.000,4,0.109,0.074,2667,1075,3629,0,0,0,0,0,0
$GC,205,-0.53,-146.0,39.0,-18.2,32,212,0.00,2.33,0.00,0.000,6,0.000,0.071,2667,2495,3630,0,0,0,0,0,0
$GC,555,-0.40,-146.0,106.0,-17.4,91,561,0.25,2.33,0.00,0.000,4,0.222,0.084,2733,3897,3630,0,0,0,0,0,0
$GC,624,-0.49,-146.0,114.7,-10.3,97,628,0.00,2.25,0.00,0.000,6,0.000,0.055,2733,2479,3630,0,0,0,0,0,0
$GC,950,-0.55,-146.0,146.1,-9.1,127,954,0.15,2.28,0.00,0.000,4,0.125,0.072,2682,1078,3630,0,0,0,0,0,0
$GC,998,-0.55,-146.0,152.2,-13.0,131,1006,0.00,2.35,0.00,0.000,6,0.000,0.070,2681,2490,3629,0,0,0,0,0,0
$GC,1324,-0.51,-146.0,193.9,-12.9,162,1328,0.00,2.40,0.00,0.000,4,0.000,0.085,2682,3912,3629,0,0,0,0,0,0
$GC,1442,-0.51,-146.0,208.5,-11.8,172,1446,0.00,2.25,0.00,0.000,6,0.000,0.055,2681,2486,3629,0,0,0,0,0,0
$GC,1766,-0.51,-146.0,246.6,-10.9,202,1770,0.00,2.28,0.00,0.000,4,0.000,0.070,2681,1073,3628,0,0,0,0,0,0
$STATE,1797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1797,begin apogee
$GC,1804,-0.12,0.0,250.4,10.6,204,1932,0.47,0.00,120.75,1.119,6,0.198,0.000,2814,2277,3029,0,0,0,0,0,0
$STATE,1933,end apogee,CONTROL_FINISHED_OK
$STATE,1933,begin climb
$GC,1935,0.62,146.0,255.2,0.0,216,2068,0.82,2.70,124.62,1.064,4,0.155,0.073,3065,864,2433,0,0,0,0,0,0
$GC,2085,0.64,188.4,248.7,8.0,229,2130,0.00,2.55,38.70,1.015,6,0.000,0.062,3064,2271,2261,0,0,0,0,0,0
$GC,2449,0.65,198.1,212.3,9.6,263,2464,0.00,2.53,8.45,0.873,4,0.000,0.077,3064,3691,2222,0,0,0,0,0,0
$GC,2495,0.61,198.1,207.5,11.3,267,2499,0.00,2.42,0.00,0.000,6,0.000,0.062,3074,2270,2222,0,0,0,0,0,0
$GC,2822,0.62,202.5,174.3,9.8,297,2830,0.00,0.00,5.40,0.772,6,0.000,0.000,3073,2270,2203,0,0,0,0,0,0
$GC,3150,0.64,224.4,143.3,9.0,328,3173,0.00,0.00,20.80,0.985,6,0.000,0.000,3074,2269,2115,0,0,0,0,0,0
$GC,3489,0.72,257.5,113.8,8.5,360,3523,0.00,0.00,30.55,0.988,6,0.000,0.000,3073,2270,1980,0,0,0,0,0,0
$GC,3851,0.83,297.7,83.6,8.1,410,3893,0.17,0.00,37.20,0.975,6,0.093,0.000,3141,2270,1815,0,0,0,0,0,0
$GC,4230,0.83,297.7,36.2,12.7,477,4237,0.00,2.33,0.00,0.000,4,0.000,0.076,3152,858,1808,0,0,0,0,0,0
$GC,4277,0.83,297.7,30.7,11.5,485,4284,0.00,2.33,0.00,0.000,6,0.000,0.063,3152,2286,1807,0,0,0,0,0,0
$FREEZE,8.77,-1.744,-1.772,2,85,1
$FREEZE,8.29,-1.744,-1.772,2,85,1
$FREEZE,7.59,-1.744,-1.771,2,85,1
$FREEZE,7.01,-1.744,-1.771,2,85,1
$STATE,4473,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4473,begin subsurface finish
$FINISH1,7.0,1.025948,76
$GC,4479,0.09,76.1,7.0,-12.0,520,4527,0.85,2.40,-40.92,0.000,4,0.175,0.093,2900,3692,2721,0,0,0,0,0,0
$FINISH2,5.9
$STATE,4528,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4528,begin surface
$RAFOS_CLK,271
$RAFOS,6,1302497343,4.833333,4.817500,134,70,64,61,55,52,754,205,157,219,187,168
$RAFOS,5,1302496867,4.700000,4.685278,101,59,57,57,56,55,945,204,122,181,217,161
$RAFOS,4,1302496383,4.566667,4.550833,91,59,56,55,54,52,761,188,217,179,161,140
$RAFOS,3,1302495901,4.433333,4.416945,60,57,56,56,53,50,186,205,151,221,177,121
$RAFOS_FIX,6705.376953,-78014.476562,110411,040412,4,112,0.01
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.74
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.2
$24V_AH,22.3,48.710
$10V_AH,10.1,25.709
$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,3.400,42.075,386.475,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1273.854,2044.050,388.136,858.492,73.573,0.000,884.726,0.000,855.870,1080.000,2.612,0.000
$DEVICE_MAMPS,221.850,92.565,1119.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.035,387.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20148,528
$CAP_FILE_SIZE,56968,0
$CFSIZE,260165632,229269504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.5
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5