version: 66.08
glider: 141
mission: 15
dive: 363
start: 4 11 111 9 41 43
data:
$ID,141
$MISSION,15
$DIVE,363
$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,21
$R_STBD_OVSHOOT,18
$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,11.95
$_SM_ANGLEo,-0.1
$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,-6.85,0.000,2,0.000,0.000,2904,2278,3003,0,0,0,0,0,0
$GC,27,-0.62,-146.0,13.4,-0.0,1,52,0.68,2.05,-14.38,0.000,4,0.107,0.087,2668,1072,3630,0,0,0,0,0,0
$GC,76,-0.49,-146.0,19.7,-15.9,9,83,0.15,2.33,0.00,0.000,6,0.229,0.070,2701,2490,3632,0,0,0,0,0,0
$GC,422,-0.42,-146.0,75.1,-14.4,70,428,0.00,2.38,0.00,0.000,4,0.000,0.084,2701,3910,3632,0,0,0,0,0,0
$GC,526,-0.42,-146.0,89.1,-13.2,88,533,0.00,2.28,0.00,0.000,6,0.000,0.055,2701,2480,3633,0,0,0,0,0,0
$GC,862,-0.40,-146.0,134.8,-12.7,126,867,0.12,2.30,0.00,0.000,4,0.225,0.072,2730,1071,3631,0,0,0,0,0,0
$GC,914,-0.49,-146.0,140.2,-9.5,130,918,0.00,2.33,0.00,0.000,6,0.000,0.070,2731,2500,3631,0,0,0,0,0,0
$GC,1245,-0.57,-146.0,169.2,-8.3,161,1250,0.15,2.33,0.00,0.000,4,0.121,0.086,2680,3900,3631,0,0,0,0,0,0
$GC,1363,-0.57,-146.0,182.8,-11.6,171,1367,0.00,2.22,0.00,0.000,6,0.000,0.055,2679,2490,3630,0,0,0,0,0,0
$GC,1689,-0.53,-146.0,223.1,-12.6,201,1693,0.00,2.28,0.00,0.000,4,0.000,0.070,2679,1081,3629,0,0,0,0,0,0
$GC,1749,-0.53,-146.0,230.5,-10.9,206,1756,0.00,2.33,0.00,0.000,6,0.000,0.068,2679,2492,3629,0,0,0,0,0,0
$STATE,1935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1935,begin apogee
$GC,1940,-0.12,0.0,250.9,11.0,224,2072,0.47,0.00,121.43,1.117,6,0.205,0.000,2811,2261,3029,0,0,0,0,0,0
$STATE,2073,end apogee,CONTROL_FINISHED_OK
$STATE,2073,begin climb
$GC,2075,0.62,146.0,256.3,0.0,236,2209,0.82,2.62,124.65,1.064,4,0.160,0.076,3059,877,2434,0,0,0,0,0,0
$GC,2233,0.64,192.5,249.4,7.9,250,2281,0.00,2.47,42.40,1.020,6,0.000,0.060,3058,2273,2245,0,0,0,0,0,0
$GC,2601,0.64,192.5,211.7,10.3,284,2605,0.00,2.42,0.00,0.000,4,0.000,0.076,3059,3695,2235,0,0,0,0,0,0
$GC,2657,0.60,192.5,205.2,11.9,289,2662,0.00,2.38,0.00,0.000,6,0.000,0.060,3069,2275,2234,0,0,0,0,0,0
$GC,2982,0.60,192.5,171.8,10.3,319,2986,0.00,2.33,0.00,0.000,4,0.000,0.075,3080,863,2233,0,0,0,0,0,0
$GC,3021,0.62,193.7,167.9,9.9,322,3028,0.00,2.33,0.00,0.000,6,0.000,0.060,3080,2277,2232,0,0,0,0,0,0
$GC,3346,0.66,225.4,138.5,8.5,353,3381,0.00,2.42,28.30,1.004,4,0.000,0.076,3080,3687,2110,0,0,0,0,0,0
$GC,3404,0.66,225.4,133.1,10.3,358,3408,0.00,2.33,0.00,0.000,6,0.000,0.060,3090,2268,2108,0,0,0,0,0,0
$GC,3729,0.68,243.7,103.5,9.2,388,3752,0.00,2.40,17.20,0.967,4,0.000,0.073,3099,861,2035,0,0,0,0,0,0
$GC,3758,0.71,266.1,100.9,9.0,390,3788,0.00,2.33,21.65,0.959,6,0.000,0.058,3099,2281,1944,0,0,0,0,0,0
$GC,4127,0.75,266.1,65.4,10.5,454,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2281,1938,0,0,0,0,0,0
$GC,4473,0.85,307.7,34.4,8.1,515,4510,0.10,2.35,27.70,1.018,4,0.124,0.076,3141,3686,1774,0,0,0,0,0,0
$GC,4528,0.81,307.7,28.2,12.2,524,4535,0.00,2.30,0.00,0.000,6,0.000,0.061,3152,2277,1772,0,0,0,0,0,0
$FREEZE,8.75,-1.743,-1.771,2,89,0
$STATE,4681,end climb,FINISH_DEPTH_REACHED
$STATE,4681,begin subsurface finish
$FINISH1,8.8,1.025931,77
$GC,4687,0.09,76.9,8.8,-12.3,551,4729,0.85,2.40,-35.88,0.000,4,0.176,0.085,2902,854,2719,0,0,0,0,0,0
$FINISH2,7.3
$STATE,4730,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4730,begin surface
$RAFOS_CLK,284
$RAFOS_FIX,42707.164062,-222015.250000,110411,080812,4,116,0.03
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026964
$HUMID,48.34
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.9
$24V_AH,22.2,49.170
$10V_AH,10.1,25.841
$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,3.350,54.250,383.325,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1293.091,2105.098,394.595,916.740,76.162,0.000,927.458,0.000,912.824,0.000,2.614,0.000
$DEVICE_MAMPS,228.735,87.210,1116.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.364,409.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20160,558
$CAP_FILE_SIZE,60601,0
$CFSIZE,260165632,229122048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.2
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5