version: 66.08
glider: 141
mission: 15
dive: 367
start: 4 11 111 15 23 21
data:
$ID,141
$MISSION,15
$DIVE,367
$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,-37366.27
$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,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,8.80
$_SM_ANGLEo,-1.7
$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,-6.45,0.000,2,0.000,0.000,2902,3686,2935,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.7,-0.0,1,57,0.68,4.35,-19.67,0.000,4,0.104,0.074,2667,1071,3630,0,0,0,0,0,0
$GC,260,-0.53,-146.0,49.9,-17.6,42,267,0.00,2.33,0.00,0.000,6,0.000,0.070,2667,2492,3630,0,0,0,0,0,0
$GC,606,-0.41,-146.0,115.8,-18.6,96,611,0.25,2.35,0.00,0.000,4,0.221,0.084,2733,3903,3631,0,0,0,0,0,0
$GC,680,-0.51,-146.0,124.3,-8.9,102,684,0.00,2.25,0.00,0.000,6,0.000,0.055,2733,2483,3631,0,0,0,0,0,0
$GC,1006,-0.58,-146.0,151.2,-7.9,132,1011,0.17,2.30,0.00,0.000,4,0.116,0.073,2673,1077,3630,0,0,0,0,0,0
$GC,1090,-0.58,-146.0,161.5,-12.3,139,1094,0.00,2.30,0.00,0.000,6,0.000,0.070,2673,2492,3630,0,0,0,0,0,0
$GC,1417,-0.53,-146.0,204.5,-12.5,169,1421,0.00,2.33,0.00,0.000,4,0.000,0.085,2672,3901,3629,0,0,0,0,0,0
$GC,1449,-0.48,-146.0,209.2,-13.6,171,1457,0.12,2.25,0.00,0.000,6,0.213,0.055,2701,2489,3629,0,0,0,0,0,0
$GC,1775,-0.52,-146.0,242.0,-9.7,202,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2489,3629,0,0,0,0,0,0
$STATE,1857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1857,begin apogee
$GC,1863,-0.12,0.0,250.2,9.5,210,1994,0.40,0.00,121.07,1.112,6,0.197,0.000,2815,2261,3029,0,0,0,0,0,0
$STATE,1995,end apogee,CONTROL_FINISHED_OK
$STATE,1995,begin climb
$GC,1997,0.62,146.0,255.8,0.0,222,2133,0.80,2.60,124.78,1.061,4,0.155,0.075,3058,882,2433,0,0,0,0,0,0
$GC,2163,0.65,195.5,250.4,7.7,237,2218,0.00,2.47,44.72,1.020,6,0.000,0.060,3058,2277,2232,0,0,0,0,0,0
$GC,2536,0.66,204.4,215.2,9.6,272,2549,0.00,2.50,7.97,0.873,4,0.000,0.075,3058,3692,2196,0,0,0,0,0,0
$GC,2588,0.63,204.4,209.6,11.8,276,2595,0.00,2.38,0.00,0.000,6,0.000,0.060,3069,2285,2195,0,0,0,0,0,0
$GC,2913,0.63,206.1,176.3,9.9,307,2917,0.00,2.35,0.00,0.000,4,0.000,0.075,3080,863,2193,0,0,0,0,0,0
$GC,2945,0.63,206.1,172.8,10.5,309,2953,0.00,2.35,0.00,0.000,6,0.000,0.060,3080,2274,2192,0,0,0,0,0,0
$GC,3272,0.63,209.5,139.6,9.8,340,3284,0.00,2.33,5.75,0.806,4,0.000,0.075,3079,3687,2174,0,0,0,0,0,0
$GC,3290,0.65,219.6,137.7,9.5,341,3308,0.00,2.33,10.82,0.929,6,0.000,0.060,3089,2264,2134,0,0,0,0,0,0
$GC,3626,0.68,243.3,105.6,8.9,373,3654,0.00,2.33,22.55,0.978,4,0.000,0.073,3099,864,2036,0,0,0,0,0,0
$GC,3695,0.73,264.9,99.4,9.0,379,3721,0.00,2.35,20.35,0.960,6,0.000,0.062,3099,2284,1950,0,0,0,0,0,0
$GC,4060,0.76,268.6,64.9,9.8,443,4067,0.00,0.00,4.20,0.663,6,0.000,0.000,3098,2284,1934,0,0,0,0,0,0
$GC,4405,0.82,277.5,33.4,9.6,504,4419,0.00,2.38,7.57,0.917,4,0.000,0.076,3098,3687,1897,0,0,0,0,0,0
$GC,4427,0.88,290.2,31.4,9.4,507,4440,0.10,2.30,7.28,0.899,6,0.123,0.060,3147,2263,1847,0,0,0,0,0,0
$FREEZE,8.58,-1.738,-1.772,2,93,0
$STATE,4625,end climb,FINISH_DEPTH_REACHED
$STATE,4626,begin subsurface finish
$FINISH1,8.6,1.025942,76
$GC,4631,0.09,76.4,8.6,-12.0,542,4675,0.82,2.35,-32.95,0.000,4,0.171,0.086,2901,862,2720,0,0,0,0,0,0
$FINISH2,7.4
$STATE,4675,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4676,begin surface
$RAFOS_CLK,280
$RAFOS,4,1302539584,16.566668,16.551111,117,67,56,55,51,48,757,193,217,276,157,145
$RAFOS,3,1302539101,16.433332,16.416945,73,62,55,52,52,51,202,168,117,187,156,138
$RAFOS,2,1302538628,16.299999,16.285555,66,60,56,53,53,50,214,145,175,163,229,185
$RAFOS,1,1302538142,16.166666,16.150555,167,70,65,58,54,53,689,205,217,166,123,190
$RAFOS,0,1302537669,16.033333,16.019167,75,59,56,55,52,52,208,185,218,170,119,136
$RAFOS_FIX,78625.000000,-2129954.000000,110411,161628,2,142,0.23
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.029211
$HUMID,47.87
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.3
$24V_AH,22.3,49.633
$10V_AH,10.2,25.996
$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,3.350,51.800,377.075,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1306.908,2094.998,389.473,896.998,79.816,0.000,912.661,0.000,895.470,2160.000,3.634,0.000
$DEVICE_MAMPS,221.085,86.445,1112.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.929,406.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20116,549
$CAP_FILE_SIZE,63258,0
$CFSIZE,260165632,228962304
$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