version: 66.08
glider: 141
mission: 15
dive: 395
start: 4 13 111 5 13 43
data:
$ID,141
$MISSION,15
$DIVE,395
$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,-38474.059
$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,20
$R_STBD_OVSHOOT,27
$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,3.26
$_SM_ANGLEo,-25.2
$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,-146.0,0.0,0.0,0,152,0.00,0.00,-131.65,0.000,2,0.000,0.000,110,2504,3074,0,0,0,0,0,0
$GC,154,-0.62,-146.0,5.3,-4.4,23,186,13.50,0.00,-13.45,0.000,6,0.339,0.000,2650,2504,3629,0,0,0,0,0,0
$GC,525,-0.45,-146.0,89.8,-19.2,88,532,0.25,2.30,0.00,0.000,4,0.225,0.083,2718,3893,3632,0,0,0,0,0,0
$GC,595,-0.51,-146.0,99.3,-10.4,100,601,0.00,2.22,0.00,0.000,6,0.000,0.055,2718,2487,3632,0,0,0,0,0,0
$GC,928,-0.55,-146.0,135.2,-9.4,132,932,0.00,2.28,0.00,0.000,4,0.000,0.073,2718,1073,3632,0,0,0,0,0,0
$GC,1002,-0.62,-146.0,142.1,-9.0,138,1006,0.17,2.30,0.00,0.000,6,0.112,0.070,2656,2484,3631,0,0,0,0,0,0
$GC,1332,-0.52,-146.0,189.9,-15.6,169,1337,0.15,2.38,0.00,0.000,4,0.218,0.086,2690,3905,3631,0,0,0,0,0,0
$GC,1445,-0.54,-146.0,204.2,-11.8,178,1452,0.00,2.25,0.00,0.000,6,0.000,0.056,2690,2481,3632,0,0,0,0,0,0
$GC,1770,-0.54,-146.0,239.3,-9.8,209,1774,0.00,2.25,0.00,0.000,4,0.000,0.073,2690,1081,3631,0,0,0,0,0,0
$GC,1865,-0.57,-146.0,248.9,-10.5,217,1871,0.00,2.30,0.00,0.000,6,0.000,0.070,2690,2497,3631,0,0,0,0,0,0
$STATE,1880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1880,begin apogee
$GC,1885,-0.12,0.0,250.5,9.9,219,2017,0.43,0.00,121.25,1.125,6,0.197,0.000,2812,2268,3030,0,0,0,0,0,0
$STATE,2018,end apogee,CONTROL_FINISHED_OK
$STATE,2018,begin climb
$GC,2020,0.62,146.0,255.3,0.0,231,2156,0.82,2.67,125.62,1.067,4,0.156,0.078,3061,869,2432,0,0,0,0,0,0
$GC,2191,0.63,174.0,247.3,8.7,246,2222,0.00,2.53,26.05,1.004,6,0.000,0.063,3062,2273,2319,0,0,0,0,0,0
$GC,2548,0.64,186.7,213.3,9.4,280,2564,0.00,2.45,11.05,0.935,4,0.000,0.077,3071,872,2268,0,0,0,0,0,0
$GC,2570,0.65,192.8,211.1,9.7,281,2588,0.00,2.40,7.32,0.847,6,0.000,0.063,3071,2285,2242,0,0,0,0,0,0
$GC,2905,0.65,192.8,176.5,10.6,313,2909,0.00,2.35,0.00,0.000,4,0.000,0.078,3071,3691,2240,0,0,0,0,0,0
$GC,2917,0.65,192.8,175.4,10.5,314,2921,0.00,2.33,0.00,0.000,6,0.000,0.062,3082,2277,2240,0,0,0,0,0,0
$GC,3242,0.66,200.1,142.6,9.7,344,3252,0.00,0.00,7.50,0.869,6,0.000,0.000,3082,2277,2214,0,0,0,0,0,0
$GC,3572,0.69,226.6,110.9,8.8,375,3606,0.00,2.40,24.80,0.982,4,0.000,0.078,3092,873,2105,0,0,0,0,0,0
$GC,3634,0.76,257.1,105.3,8.6,380,3667,0.00,2.30,28.45,0.968,6,0.000,0.063,3091,2276,1982,0,0,0,0,0,0
$GC,4006,0.86,303.8,69.8,7.8,441,4055,0.12,2.47,42.35,0.963,4,0.109,0.077,3142,3695,1790,0,0,0,0,0,0
$GC,4068,0.82,303.8,62.6,12.7,451,4075,0.00,2.40,0.00,0.000,6,0.000,0.063,3153,2270,1788,0,0,0,0,0,0
$GC,4413,0.78,303.8,16.4,13.7,512,4420,0.15,2.30,0.00,0.000,4,0.200,0.076,3124,862,1782,0,0,0,0,0,0
$GC,4429,0.76,303.8,14.6,12.2,514,4436,0.00,2.30,0.00,0.000,6,0.000,0.060,3124,2283,1781,0,0,0,0,0,0
$FREEZE,8.94,-1.737,-1.776,2,121,0
$STATE,4486,end climb,FINISH_DEPTH_REACHED
$STATE,4486,begin subsurface finish
$FINISH1,8.9,1.026001,74
$GC,4493,0.09,73.5,8.9,-7.8,524,4534,0.75,0.00,-35.20,0.000,6,0.167,0.000,2900,2283,2733,0,0,0,0,0,0
$FINISH2,7.6
$STATE,4535,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4535,begin surface
$RAFOS_CLK,300
$RAFOS,6,1302670143,4.833333,4.817500,120,64,54,54,53,53,745,220,138,203,114,153
$RAFOS_FIX,6625.774902,-5932.056641,130411,040412,4,94,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026964
$HUMID,47.99
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,22.3,52.806
$10V_AH,10.0,26.984
$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,16.350,47.550,394.400,0.000,0.000,99.471,17.141,0.000,0.250,0.000,184.356,1249.125,2070.228,500.375,1180.710,310.010,0.000,1040.385,0.000,874.008,0.000,2.810,0.000
$DEVICE_MAMPS,338.895,86.445,1124.550,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.188,391.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150436
$DATA_FILE_SIZE,20139,531
$CAP_FILE_SIZE,65911,0
$CFSIZE,260165632,227938304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.1
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5