version: 66.08
glider: 141
mission: 15
dive: 397
start: 4 13 111 7 50 24
data:
$ID,141
$MISSION,15
$DIVE,397
$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,22
$R_STBD_OVSHOOT,20
$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,7.73
$_SM_ANGLEo,-3.2
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.05,0.000,2,0.000,0.000,2903,2279,2949,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.6,-0.0,1,58,0.65,2.75,-20.95,0.000,4,0.095,0.097,2668,3907,3629,0,0,0,0,0,0
$GC,151,-0.54,-146.0,27.0,-18.0,22,158,0.00,2.25,0.00,0.000,6,0.000,0.057,2669,2489,3630,0,0,0,0,0,0
$GC,496,-0.42,-146.0,90.9,-16.2,83,504,0.22,2.30,0.00,0.000,4,0.216,0.070,2724,1077,3631,0,0,0,0,0,0
$GC,552,-0.50,-146.0,97.9,-10.5,92,559,0.00,2.33,0.00,0.000,6,0.000,0.071,2724,2491,3630,0,0,0,0,0,0
$GC,886,-0.56,-146.0,131.0,-9.7,125,891,0.12,2.38,0.00,0.000,4,0.135,0.088,2682,3904,3629,0,0,0,0,0,0
$GC,959,-0.56,-146.0,140.0,-12.4,131,963,0.00,2.25,0.00,0.000,6,0.000,0.057,2681,2483,3629,0,0,0,0,0,0
$GC,1285,-0.51,-146.0,181.4,-12.6,161,1289,0.00,2.25,0.00,0.000,4,0.000,0.073,2681,1079,3629,0,0,0,0,0,0
$GC,1361,-0.51,-146.0,191.3,-12.2,167,1369,0.00,2.33,0.00,0.000,6,0.000,0.070,2682,2486,3629,0,0,0,0,0,0
$GC,1687,-0.49,-146.0,229.1,-11.1,198,1691,0.00,2.35,0.00,0.000,4,0.000,0.086,2681,3909,3629,0,0,0,0,0,0
$GC,1764,-0.49,-146.0,237.8,-10.4,204,1772,0.00,2.28,0.00,0.000,6,0.000,0.055,2682,2494,3629,0,0,0,0,0,0
$STATE,1886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1886,begin apogee
$GC,1892,-0.12,0.0,250.5,10.3,216,2023,0.47,0.00,120.53,1.121,6,0.206,0.000,2813,2264,3030,0,0,0,0,0,0
$STATE,2024,end apogee,CONTROL_FINISHED_OK
$STATE,2024,begin climb
$GC,2026,0.62,146.0,255.8,0.0,228,2161,0.82,2.67,125.18,1.064,4,0.158,0.075,3051,3694,2434,0,0,0,0,0,0
$GC,2169,0.66,204.8,250.9,7.3,241,2228,0.00,2.53,53.62,1.020,6,0.000,0.061,3062,2290,2195,0,0,0,0,0,0
$GC,2547,0.66,204.8,211.5,10.2,276,2551,0.00,2.47,0.00,0.000,4,0.000,0.079,3073,859,2184,0,0,0,0,0,0
$GC,2581,0.69,204.8,208.0,10.5,279,2585,0.00,2.40,0.00,0.000,6,0.000,0.065,3072,2277,2183,0,0,0,0,0,0
$GC,2906,0.69,207.7,174.9,9.9,309,2910,0.00,2.35,0.00,0.000,4,0.000,0.079,3072,3694,2183,0,0,0,0,0,0
$GC,2928,0.69,207.7,172.4,11.0,311,2933,0.00,2.35,0.00,0.000,6,0.000,0.063,3082,2265,2182,0,0,0,0,0,0
$GC,3259,0.69,207.7,137.8,10.5,342,3263,0.00,2.30,0.00,0.000,4,0.000,0.078,3092,862,2182,0,0,0,0,0,0
$GC,3302,0.69,207.7,133.0,11.3,345,3309,0.00,2.35,0.00,0.000,6,0.000,0.064,3093,2282,2181,0,0,0,0,0,0
$GC,3628,0.73,238.5,101.6,8.6,376,3663,0.00,2.42,28.92,0.994,4,0.000,0.079,3093,3691,2057,0,0,0,0,0,0
$GC,3715,0.69,238.5,92.4,11.9,389,3722,0.00,2.33,0.00,0.000,6,0.000,0.063,3103,2271,2054,0,0,0,0,0,0
$GC,4059,0.73,267.6,60.0,8.7,450,4095,0.00,2.40,26.98,0.970,4,0.000,0.078,3111,869,1937,0,0,0,0,0,0
$GC,4120,0.79,288.6,54.6,9.0,460,4150,0.00,2.33,20.40,0.936,6,0.000,0.063,3111,2285,1852,0,0,0,0,0,0
$GC,4489,0.87,318.7,19.0,8.6,525,4514,0.00,2.38,15.90,0.947,4,0.000,0.078,3111,3675,1728,0,0,0,0,0,0
$GC,4532,0.91,318.7,14.7,10.6,532,4540,0.10,2.33,0.00,0.000,6,0.124,0.064,3156,2274,1726,0,0,0,0,0,0
$FREEZE,8.98,-1.741,-1.774,2,123,0
$STATE,4579,end climb,FINISH_DEPTH_REACHED
$STATE,4580,begin subsurface finish
$FINISH1,9.0,1.025971,75
$GC,4586,0.09,75.0,9.0,-12.7,540,4628,0.88,0.00,-37.00,0.000,6,0.175,0.000,2902,2274,2726,0,0,0,0,0,0
$FINISH2,7.6
$STATE,4629,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4629,begin surface
$RAFOS_CLK,271
$RAFOS,6,1302684543,8.833333,8.817500,67,61,54,52,50,49,209,169,178,109,754,130
$RAFOS,5,1302684068,8.700000,8.685555,87,66,65,60,58,56,946,167,154,177,119,199
$RAFOS,4,1302683585,8.566667,8.551389,74,58,55,55,52,49,806,196,138,162,175,223
$RAFOS,3,1302683104,8.433333,8.417778,62,59,59,58,55,50,122,186,199,217,161,143
$RAFOS,2,1302682624,8.300000,8.284445,70,56,54,52,52,50,212,130,196,160,181,171
$RAFOS,1,1302682147,8.166667,8.151944,69,65,63,58,48,47,211,191,170,116,147,228
$RAFOS,0,1302681663,8.033334,8.017500,65,61,56,51,50,48,215,194,138,121,147,182
$RAFOS_FIX,6720.216309,29946.160156,130411,080828,2,80,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.67
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,22.1,53.032
$10V_AH,10.1,27.051
$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,3.275,57.400,391.525,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1287.129,2043.250,415.884,884.323,86.442,0.000,941.141,0.000,884.432,2520.000,4.326,0.000
$DEVICE_MAMPS,216.495,97.155,1121.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.403,407.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20150,547
$CAP_FILE_SIZE,61636,0
$CFSIZE,260165632,227864576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.0
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5