version: 66.08
glider: 141
mission: 15
dive: 392
start: 4 13 111 0 59 17
data:
$ID,141
$MISSION,15
$DIVE,392
$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,10.24
$_SM_ANGLEo,-1.8
$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,-7.03,0.000,2,0.000,0.000,2898,3683,2991,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.2,-0.0,1,53,0.65,4.32,-16.45,0.000,4,0.107,0.076,2671,1080,3629,0,0,0,0,0,0
$GC,256,-0.55,-146.0,47.8,-17.0,41,263,0.00,2.35,0.00,0.000,6,0.000,0.073,2671,2497,3630,0,0,0,0,0,0
$GC,604,-0.43,-146.0,109.9,-17.1,98,609,0.20,2.35,0.00,0.000,4,0.227,0.086,2718,3904,3630,0,0,0,0,0,0
$GC,648,-0.49,-146.0,116.0,-10.8,101,655,0.00,2.25,0.00,0.000,6,0.000,0.057,2718,2483,3630,0,0,0,0,0,0
$GC,976,-0.54,-146.0,148.3,-8.9,132,980,0.00,2.28,0.00,0.000,4,0.000,0.075,2719,1074,3630,0,0,0,0,0,0
$GC,1038,-0.62,-146.0,154.3,-9.4,137,1043,0.17,2.35,0.00,0.000,6,0.116,0.072,2658,2499,3629,0,0,0,0,0,0
$GC,1366,-0.53,-146.0,199.9,-14.4,167,1371,0.12,2.35,0.00,0.000,4,0.229,0.088,2685,3903,3629,0,0,0,0,0,0
$GC,1474,-0.55,-146.0,212.7,-11.1,176,1478,0.00,2.25,0.00,0.000,6,0.000,0.058,2685,2485,3629,0,0,0,0,0,0
$GC,1801,-0.55,-146.0,248.7,-11.3,206,1805,0.00,2.25,0.00,0.000,4,0.000,0.075,2685,1081,3628,0,0,0,0,0,0
$STATE,1809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1809,begin apogee
$GC,1815,-0.12,0.0,250.2,11.3,206,1944,0.45,0.00,120.72,1.123,6,0.208,0.000,2810,2276,3030,0,0,0,0,0,0
$STATE,1944,end apogee,CONTROL_FINISHED_OK
$STATE,1944,begin climb
$GC,1946,0.62,146.0,255.2,0.0,218,2082,0.85,2.70,125.07,1.065,4,0.165,0.076,3062,871,2432,0,0,0,0,0,0
$GC,2101,0.63,182.0,248.4,8.3,232,2140,0.00,2.55,33.03,1.016,6,0.000,0.065,3062,2273,2288,0,0,0,0,0,0
$GC,2459,0.63,183.2,212.9,9.9,265,2463,0.00,2.45,0.00,0.000,4,0.000,0.080,3062,3692,2279,0,0,0,0,0,0
$GC,2505,0.57,183.2,207.9,11.4,269,2510,0.00,2.42,0.00,0.000,6,0.000,0.065,3073,2270,2278,0,0,0,0,0,0
$GC,2831,0.55,186.5,174.7,9.9,299,2836,0.12,2.35,0.00,0.000,4,0.187,0.078,3050,865,2277,0,0,0,0,0,0
$GC,2841,0.56,191.9,173.4,9.8,299,2860,0.00,2.35,8.52,0.907,6,0.000,0.064,3050,2286,2247,0,0,0,0,0,0
$GC,3178,0.65,231.1,146.0,8.2,331,3223,0.00,2.40,36.22,1.013,4,0.000,0.080,3050,3687,2086,0,0,0,0,0,0
$GC,3247,0.71,241.9,140.2,9.5,337,3264,0.10,2.38,11.10,0.920,6,0.121,0.065,3098,2274,2043,0,0,0,0,0,0
$GC,3583,0.73,255.5,105.1,9.4,368,3606,0.00,2.42,12.62,0.935,4,0.000,0.079,3109,863,1986,0,0,0,0,0,0
$GC,3630,0.76,257.9,100.4,9.9,372,3634,0.00,2.33,0.00,0.000,6,0.000,0.065,3109,2276,1985,0,0,0,0,0,0
$GC,3972,0.76,257.9,65.3,10.3,432,3979,0.00,2.35,0.00,0.000,4,0.000,0.078,3109,3692,1983,0,0,0,0,0,0
$GC,3991,0.76,257.9,63.2,11.0,435,3998,0.00,2.33,0.00,0.000,6,0.000,0.065,3119,2263,1981,0,0,0,0,0,0
$GC,4336,0.76,257.9,28.0,10.6,496,4343,0.00,2.30,0.00,0.000,4,0.000,0.078,3127,865,1982,0,0,0,0,0,0
$GC,4361,0.76,257.9,25.6,10.2,500,4368,0.00,2.33,0.00,0.000,6,0.000,0.065,3127,2285,1981,0,0,0,0,0,0
$STATE,4503,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4503,begin subsurface finish
$FINISH1,9.7,1.025998,74
$GC,4509,0.09,73.6,9.7,-11.4,525,4545,0.75,2.38,-26.30,0.000,4,0.171,0.096,2901,3681,2732,0,0,0,0,0,0
$FINISH2,7.7
$STATE,4546,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4546,begin surface
$RAFOS_CLK,269
$RAFOS_FIX,-29243.300781,-402012.906250,130411,000012,4,107,0.04
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.14
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,14.8
$24V_AH,22.2,52.455
$10V_AH,10.2,26.867
$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,3.425,60.775,347.300,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1264.021,2014.769,365.973,875.556,80.325,0.000,876.906,0.000,874.612,0.000,2.611,0.000
$DEVICE_MAMPS,228.735,96.390,1123.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.137,391.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20128,531
$CAP_FILE_SIZE,60025,0
$CFSIZE,260165632,228052992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.7
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5