version: 66.08
glider: 141
mission: 15
dive: 369
start: 4 11 111 18 1 17
data:
$ID,141
$MISSION,15
$DIVE,369
$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,18
$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,8.88
$_SM_ANGLEo,-3.6
$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,-6.95,0.000,2,0.000,0.000,2900,2278,2952,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.6,-0.0,1,58,0.65,2.80,-19.30,0.000,4,0.093,0.096,2665,3918,3629,0,0,0,0,0,0
$GC,134,-0.56,-146.0,24.9,-15.3,19,141,0.00,2.30,0.00,0.000,6,0.000,0.057,2665,2483,3631,0,0,0,0,0,0
$GC,479,-0.40,-146.0,92.2,-18.9,80,486,0.25,2.28,0.00,0.000,4,0.230,0.071,2730,1075,3631,0,0,0,0,0,0
$GC,562,-0.47,-146.0,102.2,-9.3,92,566,0.00,2.33,0.00,0.000,6,0.000,0.069,2730,2492,3631,0,0,0,0,0,0
$GC,889,-0.53,-146.0,133.8,-10.0,122,894,0.12,2.35,0.00,0.000,4,0.129,0.085,2688,3904,3630,0,0,0,0,0,0
$GC,928,-0.53,-146.0,138.8,-13.3,125,932,0.00,2.25,0.00,0.000,6,0.000,0.057,2688,2483,3630,0,0,0,0,0,0
$GC,1254,-0.50,-146.0,179.3,-11.9,155,1258,0.00,2.25,0.00,0.000,4,0.000,0.073,2687,1081,3630,0,0,0,0,0,0
$GC,1297,-0.50,-146.0,185.0,-11.7,158,1304,0.00,2.33,0.00,0.000,6,0.000,0.071,2687,2484,3630,0,0,0,0,0,0
$GC,1624,-0.50,-146.0,222.8,-11.4,189,1628,0.00,2.38,0.00,0.000,4,0.000,0.086,2688,3904,3629,0,0,0,0,0,0
$GC,1733,-0.53,-146.0,234.5,-10.1,198,1737,0.00,2.22,0.00,0.000,6,0.000,0.055,2687,2489,3629,0,0,0,0,0,0
$STATE,1875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1875,begin apogee
$GC,1880,-0.12,0.0,250.1,11.0,211,2012,0.45,0.00,120.90,1.121,6,0.206,0.000,2812,2260,3029,0,0,0,0,0,0
$STATE,2013,end apogee,CONTROL_FINISHED_OK
$STATE,2013,begin climb
$GC,2015,0.62,146.0,255.5,0.0,223,2152,0.82,2.72,124.88,1.066,4,0.158,0.075,3051,3690,2433,0,0,0,0,0,0
$GC,2158,0.64,203.6,250.1,7.3,236,2220,0.00,2.53,52.25,1.023,6,0.000,0.061,3061,2288,2199,0,0,0,0,0,0
$GC,2537,0.64,203.6,211.0,10.4,272,2541,0.00,2.45,0.00,0.000,4,0.000,0.078,3072,865,2190,0,0,0,0,0,0
$GC,2548,0.64,203.6,209.8,10.3,273,2552,0.00,2.40,0.00,0.000,6,0.000,0.063,3072,2283,2188,0,0,0,0,0,0
$GC,2873,0.65,212.2,176.7,9.6,303,2886,0.00,2.42,6.80,0.845,4,0.000,0.078,3072,3687,2165,0,0,0,0,0,0
$GC,2891,0.66,220.5,174.7,9.6,304,2909,0.00,2.33,9.52,0.908,6,0.000,0.063,3082,2274,2130,0,0,0,0,0,0
$GC,3227,0.67,232.4,141.3,9.5,336,3249,0.00,2.42,12.12,0.951,4,0.000,0.076,3092,858,2080,0,0,0,0,0,0
$GC,3266,0.69,246.2,137.7,9.4,339,3284,0.00,2.35,13.88,0.950,6,0.000,0.064,3092,2275,2026,0,0,0,0,0,0
$GC,3602,0.71,247.6,102.1,9.9,371,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2275,2021,0,0,0,0,0,0
$GC,3938,0.77,277.2,71.6,8.6,429,3974,0.00,2.38,29.20,0.980,4,0.000,0.077,3092,3692,1898,0,0,0,0,0,0
$GC,3982,0.84,304.0,67.8,8.8,436,4012,0.00,2.35,25.40,0.949,6,0.000,0.063,3102,2264,1790,0,0,0,0,0,0
$GC,4352,0.93,328.0,32.0,8.9,501,4377,0.17,2.38,15.45,0.988,4,0.099,0.076,3181,870,1691,0,0,0,0,0,0
$GC,4462,0.88,328.0,16.6,14.5,520,4469,0.12,2.33,0.00,0.000,6,0.218,0.063,3154,2280,1687,0,0,0,0,0,0
$FREEZE,8.50,-1.744,-1.774,2,95,1
$FREEZE,7.77,-1.745,-1.773,2,95,1
$FREEZE,7.13,-1.745,-1.773,2,95,1
$STATE,4530,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4530,begin subsurface finish
$FINISH1,7.1,1.025972,75
$GC,4536,0.09,74.9,7.1,-13.0,532,4590,0.85,2.42,-46.22,0.000,4,0.174,0.088,2900,863,2727,0,0,0,0,0,0
$FINISH2,5.7
$STATE,4590,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4591,begin surface
$RAFOS_CLK,268
$RAFOS_FIX,-29327.466797,606031.937500,110411,161642,3,141,0.06
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.07
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.3
$24V_AH,22.3,49.869
$10V_AH,10.2,26.061
$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,3.450,55.300,410.400,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1223.422,2036.557,442.091,864.844,81.437,0.000,952.900,0.000,863.897,0.000,2.613,0.000
$DEVICE_MAMPS,229.500,95.625,1121.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.647,397.443,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20136,541
$CAP_FILE_SIZE,61622,0
$CFSIZE,260165632,228892672
$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