version: 66.08
glider: 141
mission: 15
dive: 352
start: 4 10 111 18 55 7
data:
$ID,141
$MISSION,15
$DIVE,352
$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,-36627.012
$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,8.52
$_SM_ANGLEo,-3.8
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.78,0.000,2,0.000,0.000,2898,2263,2962,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.7,-0.0,1,57,0.65,2.85,-18.95,0.000,4,0.096,0.096,2666,3900,3629,0,0,0,0,0,0
$GC,92,-0.49,-146.0,18.7,-18.9,12,99,0.15,2.30,0.00,0.000,6,0.228,0.059,2699,2477,3632,0,0,0,0,0,0
$GC,437,-0.41,-146.0,76.5,-16.1,73,445,0.10,2.42,0.00,0.000,4,0.249,0.084,2720,3900,3631,0,0,0,0,0,0
$GC,464,-0.37,-146.0,80.6,-15.5,77,471,0.00,2.28,0.00,0.000,6,0.000,0.058,2721,2489,3631,0,0,0,0,0,0
$GC,799,-0.40,-146.0,120.9,-10.5,121,803,0.00,2.28,0.00,0.000,4,0.000,0.073,2721,1078,3631,0,0,0,0,0,0
$GC,866,-0.47,-146.0,128.0,-9.5,126,873,0.00,2.33,0.00,0.000,6,0.000,0.073,2721,2497,3630,0,0,0,0,0,0
$GC,1192,-0.51,-146.0,158.3,-9.7,157,1196,0.00,2.35,0.00,0.000,4,0.000,0.090,2721,3904,3630,0,0,0,0,0,0
$GC,1249,-0.61,-146.0,164.0,-9.6,162,1254,0.17,2.25,0.00,0.000,6,0.118,0.059,2661,2489,3629,0,0,0,0,0,0
$GC,1575,-0.52,-146.0,211.2,-14.3,192,1579,0.12,2.30,0.00,0.000,4,0.224,0.074,2689,1072,3629,0,0,0,0,0,0
$GC,1694,-0.55,-146.0,224.7,-10.7,202,1698,0.00,2.35,0.00,0.000,6,0.000,0.072,2689,2499,3630,0,0,0,0,0,0
$STATE,1943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1945,begin apogee
$GC,1950,-0.12,0.0,250.9,10.2,225,2081,0.45,0.00,120.85,1.116,6,0.207,0.000,2814,2270,3030,0,0,0,0,0,0
$STATE,2081,end apogee,CONTROL_FINISHED_OK
$STATE,2082,begin climb
$GC,2083,0.62,146.0,256.3,0.0,237,2217,0.82,2.60,124.75,1.066,4,0.161,0.079,3062,876,2433,0,0,0,0,0,0
$GC,2275,0.62,170.2,246.5,8.9,254,2302,0.00,2.47,22.17,0.999,6,0.000,0.064,3062,2275,2336,0,0,0,0,0,0
$GC,2622,0.60,170.2,210.9,10.1,286,2626,0.00,2.45,0.00,0.000,4,0.000,0.079,3062,3691,2330,0,0,0,0,0,0
$GC,2656,0.54,170.2,207.0,11.6,289,2661,0.12,2.40,0.00,0.000,6,0.197,0.064,3045,2273,2329,0,0,0,0,0,0
$GC,2981,0.62,215.9,178.6,7.9,319,3023,0.00,0.00,40.00,1.015,6,0.000,0.000,3045,2272,2150,0,0,0,0,0,0
$GC,3342,0.74,260.2,149.4,8.0,353,3390,0.17,2.47,39.92,1.000,4,0.093,0.080,3128,865,1969,0,0,0,0,0,0
$GC,3424,0.71,260.2,139.2,13.8,360,3431,0.15,2.38,0.00,0.000,6,0.210,0.063,3094,2279,1965,0,0,0,0,0,0
$GC,3749,0.72,269.8,105.2,9.6,391,3764,0.00,2.40,9.15,0.886,4,0.000,0.079,3094,3687,1929,0,0,0,0,0,0
$GC,3797,0.72,269.8,99.8,10.9,395,3804,0.00,2.38,0.00,0.000,6,0.000,0.065,3102,2267,1927,0,0,0,0,0,0
$GC,4142,0.79,297.3,66.5,8.7,456,4177,0.00,2.40,26.00,0.965,4,0.000,0.080,3111,865,1817,0,0,0,0,0,0
$GC,4196,0.85,309.1,61.6,9.5,465,4215,0.00,2.33,12.25,0.905,6,0.000,0.064,3111,2276,1769,0,0,0,0,0,0
$GC,4555,0.92,322.7,26.6,9.4,528,4569,0.15,2.42,7.05,0.891,4,0.096,0.079,3171,3692,1713,0,0,0,0,0,0
$GC,4582,0.90,322.7,23.0,12.3,532,4589,0.00,2.33,0.00,0.000,6,0.000,0.064,3182,2272,1712,0,0,0,0,0,0
$FREEZE,8.98,-1.751,-1.777,2,78,0
$STATE,4672,end climb,FINISH_DEPTH_REACHED
$STATE,4673,begin subsurface finish
$FINISH1,9.0,1.026011,73
$GC,4679,0.09,73.0,9.0,-14.6,548,4726,0.98,2.40,-39.83,0.000,4,0.184,0.089,2899,858,2735,0,0,0,0,0,0
$FINISH2,7.1
$STATE,4727,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4727,begin surface
$RAFOS_CLK,276
$RAFOS,0,1302465661,20.033333,20.016945,111,70,62,60,57,48,712,158,212,171,192,140
$RAFOS_FIX,42629.566406,66000.671875,100411,161656,4,122,0.01
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.028462
$HUMID,48.62
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,16.1
$24V_AH,22.3,47.910
$10V_AH,10.1,25.456
$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,4.050,55.500,402.150,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1275.406,2097.144,419.360,912.002,82.034,0.000,955.622,0.000,910.334,720.000,2.611,0.000
$DEVICE_MAMPS,249.390,96.390,1116.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.473,409.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20136,556
$CAP_FILE_SIZE,65045,0
$CFSIZE,260165632,229519360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.4
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5