version: 66.08
glider: 141
mission: 15
dive: 389
start: 4 12 111 21 1 1
data:
$ID,141
$MISSION,15
$DIVE,389
$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,21
$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,10.55
$_SM_ANGLEo,-1.1
$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,-6.72,0.000,2,0.000,0.000,2903,3686,2981,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.7,-0.0,1,52,0.68,4.30,-16.33,0.000,4,0.113,0.073,2671,1074,3630,0,0,0,0,0,0
$GC,250,-0.55,-146.0,47.0,-16.9,40,257,0.00,2.33,0.00,0.000,6,0.000,0.072,2671,2496,3631,0,0,0,0,0,0
$GC,593,-0.43,-146.0,107.7,-16.3,97,598,0.20,2.35,0.00,0.000,4,0.230,0.086,2718,3905,3630,0,0,0,0,0,0
$GC,678,-0.49,-146.0,117.8,-10.0,104,683,0.00,2.25,0.00,0.000,6,0.000,0.057,2718,2485,3630,0,0,0,0,0,0
$GC,1005,-0.53,-146.0,151.1,-10.2,134,1009,0.00,2.28,0.00,0.000,4,0.000,0.075,2718,1073,3629,0,0,0,0,0,0
$GC,1060,-0.61,-146.0,156.9,-9.5,138,1068,0.17,2.33,0.00,0.000,6,0.116,0.071,2658,2488,3630,0,0,0,0,0,0
$GC,1385,-0.52,-146.0,202.4,-13.8,169,1390,0.12,2.38,0.00,0.000,4,0.229,0.086,2687,3905,3629,0,0,0,0,0,0
$GC,1480,-0.55,-146.0,213.1,-10.7,177,1487,0.00,2.25,0.00,0.000,6,0.000,0.056,2686,2481,3629,0,0,0,0,0,0
$GC,1805,-0.55,-146.0,248.8,-10.4,208,1809,0.00,2.28,0.00,0.000,4,0.000,0.074,2687,1077,3628,0,0,0,0,0,0
$STATE,1814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1814,begin apogee
$GC,1821,-0.12,0.0,250.1,10.8,209,1953,0.45,0.00,120.88,1.116,6,0.210,0.000,2812,2276,3030,0,0,0,0,0,0
$STATE,1954,end apogee,CONTROL_FINISHED_OK
$STATE,1954,begin climb
$GC,1956,0.62,146.0,255.4,0.0,221,2090,0.82,2.67,125.18,1.063,4,0.161,0.076,3060,875,2433,0,0,0,0,0,0
$GC,2098,0.64,201.0,249.9,7.5,234,2156,0.00,2.53,50.22,1.019,6,0.000,0.063,3060,2273,2210,0,0,0,0,0,0
$GC,2482,0.65,208.4,211.8,9.7,270,2495,0.00,2.53,6.50,0.815,4,0.000,0.077,3060,3695,2180,0,0,0,0,0,0
$GC,2511,0.65,208.4,208.5,10.2,272,2519,0.00,2.42,0.00,0.000,6,0.000,0.064,3070,2274,2179,0,0,0,0,0,0
$GC,2837,0.66,213.2,175.2,9.8,303,2847,0.00,0.00,5.88,0.798,6,0.000,0.000,3070,2274,2159,0,0,0,0,0,0
$GC,3167,0.68,231.0,143.2,9.2,334,3190,0.00,2.42,17.27,0.976,4,0.000,0.077,3080,861,2087,0,0,0,0,0,0
$GC,3206,0.70,243.2,139.3,9.4,337,3225,0.00,2.33,12.55,0.936,6,0.000,0.062,3081,2282,2038,0,0,0,0,0,0
$GC,3543,0.75,252.6,107.6,9.6,369,3558,0.00,2.38,9.25,0.904,4,0.000,0.078,3081,3686,2000,0,0,0,0,0,0
$GC,3588,0.75,252.6,103.1,10.8,373,3592,0.00,2.30,0.00,0.000,6,0.000,0.063,3091,2273,1998,0,0,0,0,0,0
$GC,3929,0.82,286.9,71.2,8.4,430,3971,0.10,2.38,32.90,0.979,4,0.127,0.079,3144,862,1859,0,0,0,0,0,0
$GC,4006,0.82,286.9,62.6,12.2,443,4013,0.00,2.33,0.00,0.000,6,0.000,0.062,3144,2278,1856,0,0,0,0,0,0
$GC,4351,0.82,286.9,22.6,11.3,504,4357,0.00,2.33,0.00,0.000,4,0.000,0.077,3144,3687,1852,0,0,0,0,0,0
$GC,4392,0.77,286.9,17.4,12.6,511,4399,0.15,2.33,0.00,0.000,6,0.215,0.063,3118,2266,1851,0,0,0,0,0,0
$FREEZE,8.84,-1.724,-1.773,2,115,1
$FREEZE,8.41,-1.724,-1.773,2,115,1
$FREEZE,7.86,-1.724,-1.773,2,115,1
$FREEZE,7.37,-1.724,-1.772,2,115,1
$FREEZE,6.86,-1.724,-1.772,2,115,1
$STATE,4492,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4494,begin subsurface finish
$FINISH1,6.9,1.025963,75
$GC,4500,0.09,75.3,6.9,-9.3,529,4547,0.73,2.30,-39.00,0.000,4,0.167,0.088,2897,861,2723,0,0,0,0,0,0
$FINISH2,5.9
$STATE,4548,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4548,begin surface
$RAFOS_CLK,271
$RAFOS_FIX,6714.806152,-42012.679688,120411,202012,3,97,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.14
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.4
$24V_AH,22.2,52.123
$10V_AH,10.1,26.765
$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,3.425,55.950,380.625,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1226.803,2021.224,399.307,871.781,83.061,0.000,913.033,0.000,873.783,0.000,2.613,0.000
$DEVICE_MAMPS,229.500,87.975,1116.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.400,399.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20077,537
$CAP_FILE_SIZE,58881,0
$CFSIZE,260165632,228163584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.8
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5