version: 66.08
glider: 141
mission: 15
dive: 368
start: 4 11 111 16 43 32
data:
$ID,141
$MISSION,15
$DIVE,368
$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,22
$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,11.11
$_SM_ANGLEo,-4.0
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,23,0.00,0.00,-6.32,0.000,2,0.000,0.000,2901,862,2971,0,0,0,0,0,0
$GC,26,-0.62,-146.0,12.5,-0.0,1,51,0.68,5.12,-15.90,0.000,4,0.105,0.084,2664,3900,3630,0,0,0,0,0,0
$GC,58,-0.56,-146.0,15.8,-11.3,6,65,0.00,2.25,0.00,0.000,6,0.000,0.056,2664,2482,3631,0,0,0,0,0,0
$GC,406,-0.41,-146.0,84.3,-19.2,67,413,0.25,2.28,0.00,0.000,4,0.232,0.072,2729,1079,3632,0,0,0,0,0,0
$GC,582,-0.49,-146.0,105.3,-9.9,93,589,0.00,2.30,0.00,0.000,6,0.000,0.070,2729,2495,3631,0,0,0,0,0,0
$GC,908,-0.55,-146.0,137.3,-9.9,124,912,0.15,2.38,0.00,0.000,4,0.124,0.085,2678,3906,3631,0,0,0,0,0,0
$GC,951,-0.52,-146.0,143.0,-13.4,127,958,0.00,2.25,0.00,0.000,6,0.000,0.055,2678,2482,3631,0,0,0,0,0,0
$GC,1278,-0.47,-146.0,186.4,-13.1,158,1283,0.12,2.28,0.00,0.000,4,0.227,0.074,2706,1080,3631,0,0,0,0,0,0
$GC,1341,-0.53,-146.0,193.7,-10.4,163,1345,0.00,2.30,0.00,0.000,6,0.000,0.070,2706,2498,3631,0,0,0,0,0,0
$GC,1668,-0.58,-146.0,225.6,-9.6,193,1672,0.00,2.33,0.00,0.000,4,0.000,0.086,2706,3903,3630,0,0,0,0,0,0
$GC,1779,-0.67,-146.0,236.1,-9.1,202,1787,0.17,2.25,0.00,0.000,6,0.113,0.054,2646,2488,3629,0,0,0,0,0,0
$STATE,1890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1890,begin apogee
$GC,1896,-0.12,0.0,250.8,14.3,213,2027,0.62,0.00,120.97,1.118,6,0.218,0.000,2813,2262,3029,0,0,0,0,0,0
$STATE,2028,end apogee,CONTROL_FINISHED_OK
$STATE,2028,begin climb
$GC,2030,0.62,146.0,256.3,0.0,225,2164,0.82,2.72,124.93,1.065,4,0.157,0.073,3052,3686,2433,0,0,0,0,0,0
$GC,2170,0.63,200.4,250.4,7.5,238,2230,0.00,2.53,49.47,1.020,6,0.000,0.060,3062,2277,2211,0,0,0,0,0,0
$GC,2547,0.65,215.7,213.3,9.3,274,2570,0.00,2.53,13.35,0.949,4,0.000,0.074,3062,3693,2150,0,0,0,0,0,0
$GC,2576,0.66,227.2,210.5,9.5,276,2594,0.00,2.42,12.23,0.933,6,0.000,0.061,3073,2272,2102,0,0,0,0,0,0
$GC,2911,0.66,227.2,175.7,10.3,308,2915,0.00,2.38,0.00,0.000,4,0.000,0.076,3083,855,2097,0,0,0,0,0,0
$GC,2934,0.66,227.2,173.5,10.0,310,2939,0.00,2.35,0.00,0.000,6,0.000,0.063,3083,2276,2095,0,0,0,0,0,0
$GC,3261,0.66,227.2,138.7,10.3,340,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2276,2095,0,0,0,0,0,0
$GC,3580,0.71,249.1,108.2,9.0,370,3606,0.00,2.42,19.98,0.978,4,0.000,0.076,3093,863,2013,0,0,0,0,0,0
$GC,3618,0.79,282.7,104.7,8.5,373,3657,0.00,2.33,31.92,0.975,6,0.000,0.063,3093,2282,1877,0,0,0,0,0,0
$GC,3994,0.88,303.7,70.3,9.0,435,4019,0.15,2.47,19.00,0.952,4,0.101,0.076,3163,855,1791,0,0,0,0,0,0
$GC,4026,0.85,303.7,66.2,12.1,440,4033,0.00,2.35,0.00,0.000,6,0.000,0.062,3162,2287,1790,0,0,0,0,0,0
$GC,4373,0.82,303.7,21.4,12.5,501,4380,0.12,2.38,0.00,0.000,4,0.214,0.076,3141,860,1786,0,0,0,0,0,0
$GC,4404,0.82,303.7,17.5,12.3,506,4411,0.00,2.33,0.00,0.000,6,0.000,0.063,3140,2277,1785,0,0,0,0,0,0
$FREEZE,8.43,-1.741,-1.772,2,94,0
$STATE,4478,end climb,FINISH_DEPTH_REACHED
$STATE,4478,begin subsurface finish
$FINISH1,8.4,1.025948,76
$GC,4484,0.09,76.1,8.4,-12.2,519,4525,0.80,0.00,-35.70,0.000,6,0.168,0.000,2900,2278,2722,0,0,0,0,0,0
$FINISH2,7.1
$STATE,4526,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4526,begin surface
$RAFOS_CLK,269
$RAFOS,6,1302540541,16.833334,16.816944,139,65,63,62,58,51,772,193,174,205,157,144
$RAFOS,5,1302540066,16.700001,16.684999,62,62,61,55,53,52,213,938,133,180,112,146
$RAFOS_FIX,-29327.466797,606031.937500,110411,161642,3,141,0.06
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026964
$HUMID,48.03
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.4
$24V_AH,22.2,49.748
$10V_AH,10.1,26.028
$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,3.900,55.275,391.850,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1251.618,2018.762,416.670,852.099,80.707,0.000,918.252,0.000,852.540,360.000,2.612,0.000
$DEVICE_MAMPS,231.795,85.680,1117.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.751,390.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20145,526
$CAP_FILE_SIZE,59857,0
$CFSIZE,260165632,228933632
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.1
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5