version: 66.08
glider: 141
mission: 15
dive: 386
start: 4 12 111 17 2 4
data:
$ID,141
$MISSION,15
$DIVE,386
$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,19
$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,11.19
$_SM_ANGLEo,-4.6
$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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.28,0.000,2,0.000,0.000,2901,862,2973,0,0,0,0,0,0
$GC,26,-0.62,-146.0,12.6,-0.0,1,51,0.68,0.38,-15.77,0.000,4,0.105,0.155,2664,1086,3629,0,0,0,0,0,0
$GC,215,-0.55,-146.0,43.5,-17.4,34,222,0.00,2.33,0.00,0.000,6,0.000,0.075,2665,2499,3631,0,0,0,0,0,0
$GC,563,-0.41,-146.0,108.0,-18.6,92,568,0.25,2.35,0.00,0.000,4,0.234,0.085,2729,3905,3630,0,0,0,0,0,0
$GC,637,-0.49,-146.0,116.3,-9.3,98,641,0.00,2.28,0.00,0.000,6,0.000,0.056,2729,2477,3631,0,0,0,0,0,0
$GC,968,-0.56,-146.0,146.8,-8.4,129,973,0.15,2.28,0.00,0.000,4,0.127,0.075,2679,1077,3631,0,0,0,0,0,0
$GC,1034,-0.56,-146.0,154.7,-11.9,134,1041,0.00,2.33,0.00,0.000,6,0.000,0.073,2679,2490,3630,0,0,0,0,0,0
$GC,1359,-0.51,-146.0,195.6,-12.5,165,1364,0.00,2.35,0.00,0.000,4,0.000,0.087,2679,3900,3630,0,0,0,0,0,0
$GC,1425,-0.51,-146.0,203.9,-11.6,170,1432,0.00,2.28,0.00,0.000,6,0.000,0.056,2679,2491,3630,0,0,0,0,0,0
$GC,1751,-0.49,-146.0,241.7,-11.3,201,1755,0.00,2.28,0.00,0.000,4,0.000,0.073,2679,1081,3629,0,0,0,0,0,0
$GC,1822,-0.49,-146.0,249.8,-10.5,207,1829,0.00,2.33,0.00,0.000,6,0.000,0.070,2679,2506,3629,0,0,0,0,0,0
$STATE,1838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1838,begin apogee
$GC,1843,-0.12,0.0,251.5,10.9,209,1975,0.47,0.00,120.93,1.124,6,0.203,0.000,2811,2261,3029,0,0,0,0,0,0
$STATE,1976,end apogee,CONTROL_FINISHED_OK
$STATE,1976,begin climb
$GC,1978,0.62,146.0,256.8,0.0,221,2114,0.85,2.62,125.20,1.068,4,0.163,0.078,3064,879,2433,0,0,0,0,0,0
$GC,2155,0.63,176.5,248.8,8.6,237,2189,0.00,2.50,27.83,1.011,6,0.000,0.063,3064,2274,2309,0,0,0,0,0,0
$GC,2506,0.63,180.5,215.4,9.8,270,2518,0.00,2.50,3.67,0.579,4,0.000,0.079,3064,3693,2294,0,0,0,0,0,0
$GC,2524,0.61,181.4,213.6,10.0,271,2531,0.00,2.38,0.00,0.000,6,0.000,0.062,3074,2283,2293,0,0,0,0,0,0
$GC,2849,0.58,181.4,180.1,10.2,302,2854,0.00,2.38,0.00,0.000,4,0.000,0.080,3085,859,2293,0,0,0,0,0,0
$GC,2860,0.55,181.4,178.9,10.6,302,2868,0.15,2.33,0.00,0.000,6,0.191,0.064,3047,2279,2292,0,0,0,0,0,0
$GC,3186,0.64,227.8,153.0,7.9,333,3234,0.00,2.40,43.00,1.017,4,0.000,0.078,3047,3692,2100,0,0,0,0,0,0
$GC,3260,0.74,256.6,147.3,8.7,339,3294,0.12,2.35,26.85,0.988,6,0.109,0.063,3105,2275,1983,0,0,0,0,0,0
$GC,3611,0.74,256.6,106.8,11.4,372,3615,0.00,2.35,0.00,0.000,4,0.000,0.079,3112,860,1974,0,0,0,0,0,0
$GC,3701,0.74,256.6,96.9,11.0,382,3708,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2282,1973,0,0,0,0,0,0
$GC,4046,0.74,263.6,60.2,9.7,443,4059,0.00,2.33,5.80,0.797,4,0.000,0.079,3113,3688,1954,0,0,0,0,0,0
$GC,4088,0.74,263.6,55.6,12.0,450,4095,0.00,2.30,0.00,0.000,6,0.000,0.063,3123,2268,1953,0,0,0,0,0,0
$GC,4433,0.74,263.6,19.1,10.5,511,4439,0.00,2.33,0.00,0.000,4,0.000,0.079,3133,859,1953,0,0,0,0,0,0
$GC,4446,0.74,263.6,17.7,10.1,513,4453,0.00,2.33,0.00,0.000,6,0.000,0.063,3133,2284,1953,0,0,0,0,0,0
$FREEZE,8.90,-1.736,-1.774,2,112,0
$STATE,4531,end climb,FINISH_DEPTH_REACHED
$STATE,4531,begin subsurface finish
$FINISH1,8.9,1.025973,75
$GC,4537,0.09,74.9,8.9,-10.7,528,4573,0.77,0.00,-28.05,0.000,6,0.171,0.000,2901,2285,2723,0,0,0,0,0,0
$FINISH2,7.7
$STATE,4573,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4574,begin surface
$RAFOS_CLK,265
$RAFOS_FIX,6628.038086,-5939.303711,120411,161612,4,110,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.46
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.4
$24V_AH,22.2,51.788
$10V_AH,10.1,26.664
$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,3.450,54.950,353.275,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1240.369,2043.539,375.498,886.243,84.064,0.000,897.076,0.000,886.810,0.000,2.613,0.000
$DEVICE_MAMPS,234.090,155.295,1123.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.853,395.364,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20113,534
$CAP_FILE_SIZE,60531,0
$CFSIZE,260165632,228274176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.0
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5