version: 66.08
glider: 141
mission: 15
dive: 361
start: 4 11 111 7 4 19
data:
$ID,141
$MISSION,15
$DIVE,361
$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,-36996.625
$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,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,7.64
$_SM_ANGLEo,-5.0
$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,-6.82,0.000,2,0.000,0.000,2901,2283,2934,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.8,-0.0,1,58,0.65,2.03,-20.83,0.000,4,0.093,0.086,2667,1078,3629,0,0,0,0,0,0
$GC,76,-0.48,-146.0,14.8,-15.8,9,84,0.15,2.33,0.00,0.000,6,0.232,0.070,2701,2490,3630,0,0,0,0,0,0
$GC,422,-0.41,-146.0,71.1,-16.2,70,429,0.00,2.38,0.00,0.000,4,0.000,0.085,2701,3899,3630,0,0,0,0,0,0
$GC,510,-0.41,-146.0,84.1,-13.3,85,517,0.00,2.25,0.00,0.000,6,0.000,0.054,2701,2476,3630,0,0,0,0,0,0
$GC,842,-0.38,-146.0,130.5,-13.0,125,844,0.15,0.00,0.00,0.000,6,0.227,0.000,2737,2476,3630,0,0,0,0,0,0
$GC,1163,-0.45,-146.0,159.0,-8.8,155,1167,0.00,2.38,0.00,0.000,4,0.000,0.083,2737,3905,3629,0,0,0,0,0,0
$GC,1218,-0.58,-146.0,163.8,-8.0,159,1226,0.17,2.25,0.00,0.000,6,0.115,0.054,2678,2489,3629,0,0,0,0,0,0
$GC,1543,-0.52,-146.0,205.0,-12.3,190,1547,0.00,2.28,0.00,0.000,4,0.000,0.070,2678,1077,3629,0,0,0,0,0,0
$GC,1633,-0.52,-146.0,215.5,-10.8,197,1639,0.00,2.33,0.00,0.000,6,0.000,0.070,2678,2497,3629,0,0,0,0,0,0
$STATE,1936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1936,begin apogee
$GC,1941,-0.12,0.0,250.7,11.4,226,2073,0.50,0.00,120.85,1.118,6,0.205,0.000,2816,2267,3029,0,0,0,0,0,0
$STATE,2074,end apogee,CONTROL_FINISHED_OK
$STATE,2074,begin climb
$GC,2076,0.62,146.0,255.1,0.0,238,2206,0.80,0.00,124.95,1.064,6,0.156,0.000,3048,2267,2434,0,0,0,0,0,0
$GC,2521,0.66,182.1,221.7,8.3,280,2558,0.00,2.45,31.33,1.011,4,0.000,0.078,3058,875,2286,0,0,0,0,0,0
$GC,2588,0.69,188.3,215.8,9.7,286,2601,0.00,2.40,6.95,0.838,6,0.000,0.060,3058,2276,2262,0,0,0,0,0,0
$GC,2918,0.71,203.2,185.2,9.3,317,2942,0.10,2.45,14.40,0.961,4,0.116,0.076,3100,3691,2200,0,0,0,0,0,0
$GC,2947,0.66,203.2,181.8,11.6,319,2955,0.12,2.38,0.00,0.000,6,0.201,0.060,3083,2277,2199,0,0,0,0,0,0
$GC,3273,0.63,204.0,148.4,10.0,350,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2277,2197,0,0,0,0,0,0
$GC,3593,0.68,245.8,119.5,8.1,380,3637,0.00,2.47,38.40,0.998,4,0.000,0.074,3082,3696,2027,0,0,0,0,0,0
$GC,3643,0.74,265.7,114.8,9.1,384,3672,0.00,2.38,19.73,0.946,6,0.000,0.060,3090,2268,1944,0,0,0,0,0,0
$GC,4001,0.79,273.5,81.0,9.6,435,4014,0.00,2.45,7.18,0.839,4,0.000,0.073,3090,3698,1914,0,0,0,0,0,0
$GC,4022,0.84,282.7,79.0,9.6,438,4041,0.10,2.33,10.40,0.888,6,0.122,0.060,3136,2269,1876,0,0,0,0,0,0
$GC,4378,0.84,282.7,35.9,11.4,501,4385,0.00,2.33,0.00,0.000,4,0.000,0.077,3147,863,1872,0,0,0,0,0,0
$GC,4414,0.84,282.7,31.8,11.3,507,4420,0.00,2.30,0.00,0.000,6,0.000,0.063,3147,2283,1871,0,0,0,0,0,0
$STATE,4581,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4581,begin subsurface finish
$FINISH1,12.2,1.025942,76
$GC,4588,0.09,76.4,12.2,-11.9,537,4619,0.82,2.40,-24.35,0.000,4,0.174,0.093,2901,3691,2721,0,0,0,0,0,0
$FINISH2,10.8
$STATE,4619,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4620,begin surface
$RAFOS_CLK,271
$RAFOS,1,1302509345,8.166667,8.151389,123,64,58,58,57,57,674,207,216,133,196,121
$RAFOS,0,1302508867,8.033334,8.018611,60,57,55,53,51,50,214,128,167,226,181,147
$RAFOS_FIX,6705.376953,-78014.476562,110411,040412,4,112,0.01
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.029211
$HUMID,48.11
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,12.0
$24V_AH,22.4,48.939
$10V_AH,10.2,25.774
$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,3.575,44.900,374.175,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1251.766,2100.753,390.809,854.224,77.188,0.000,886.998,0.000,857.460,1080.000,2.605,0.000
$DEVICE_MAMPS,231.795,93.330,1118.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.171,399.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20160,542
$CAP_FILE_SIZE,57758,0
$CFSIZE,260165632,229195776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.3
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5