version: 66.08
glider: 141
mission: 15
dive: 371
start: 4 11 111 20 37 28
data:
$ID,141
$MISSION,15
$DIVE,371
$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,19
$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,10.00
$_SM_ANGLEo,-4.4
$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,-6.85,0.000,2,0.000,0.000,2899,861,2989,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.3,-0.0,1,52,0.65,5.10,-16.45,0.000,4,0.109,0.086,2671,3898,3626,0,0,0,0,0,0
$GC,249,-0.55,-146.0,47.0,-16.7,40,256,0.00,2.25,0.00,0.000,6,0.000,0.060,2671,2487,3629,0,0,0,0,0,0
$GC,599,-0.42,-146.0,109.2,-17.0,97,603,0.20,2.30,0.00,0.000,4,0.226,0.073,2718,1079,3628,0,0,0,0,0,0
$GC,661,-0.49,-146.0,117.4,-10.7,102,666,0.00,2.30,0.00,0.000,6,0.000,0.070,2719,2492,3628,0,0,0,0,0,0
$GC,987,-0.54,-146.0,151.0,-10.2,132,991,0.00,2.35,0.00,0.000,4,0.000,0.088,2719,3908,3627,0,0,0,0,0,0
$GC,1053,-0.61,-146.0,157.4,-9.4,137,1061,0.17,2.25,0.00,0.000,6,0.114,0.057,2659,2488,3627,0,0,0,0,0,0
$GC,1379,-0.51,-146.0,204.4,-14.4,168,1383,0.15,2.30,0.00,0.000,4,0.223,0.073,2693,1080,3627,0,0,0,0,0,0
$GC,1445,-0.54,-146.0,212.2,-10.5,173,1452,0.00,2.30,0.00,0.000,6,0.000,0.070,2693,2500,3627,0,0,0,0,0,0
$GC,1770,-0.54,-146.0,245.3,-10.2,204,1774,0.00,2.33,0.00,0.000,4,0.000,0.088,2693,3902,3627,0,0,0,0,0,0
$STATE,1813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1813,begin apogee
$GC,1820,-0.12,0.0,250.0,10.1,208,1952,0.43,0.00,120.62,1.124,6,0.200,0.000,2814,2274,3029,0,0,0,0,0,0
$STATE,1952,end apogee,CONTROL_FINISHED_OK
$STATE,1953,begin climb
$GC,1954,0.62,146.0,255.8,0.0,220,2090,0.82,2.65,124.72,1.070,4,0.158,0.076,3062,874,2433,0,0,0,0,0,0
$GC,2112,0.64,184.1,250.0,8.2,234,2152,0.00,2.50,34.90,1.017,6,0.000,0.063,3062,2273,2279,0,0,0,0,0,0
$GC,2470,0.64,184.7,213.8,10.0,268,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2273,2270,0,0,0,0,0,0
$GC,2791,0.67,208.7,183.9,8.9,298,2817,0.00,2.45,21.23,0.997,4,0.000,0.080,3062,3698,2179,0,0,0,0,0,0
$GC,2852,0.67,208.7,177.5,10.3,303,2856,0.00,2.38,0.00,0.000,6,0.000,0.063,3072,2267,2177,0,0,0,0,0,0
$GC,3178,0.67,208.7,144.6,10.1,333,3182,0.00,2.33,0.00,0.000,4,0.000,0.077,3082,864,2175,0,0,0,0,0,0
$GC,3219,0.69,208.7,140.5,10.1,336,3223,0.00,2.30,0.00,0.000,6,0.000,0.063,3082,2279,2174,0,0,0,0,0,0
$GC,3544,0.73,238.6,111.0,8.6,366,3578,0.00,2.35,27.52,0.998,4,0.000,0.077,3082,3685,2056,0,0,0,0,0,0
$GC,3584,0.77,269.6,107.5,8.6,369,3623,0.00,2.33,29.27,0.973,6,0.000,0.063,3093,2274,1929,0,0,0,0,0,0
$GC,3958,0.82,283.4,71.2,9.4,429,3977,0.10,2.35,12.45,0.925,4,0.125,0.075,3146,859,1875,0,0,0,0,0,0
$GC,4019,0.79,283.4,63.8,12.7,439,4025,0.00,2.33,0.00,0.000,6,0.000,0.064,3146,2279,1873,0,0,0,0,0,0
$GC,4366,0.77,283.4,20.0,13.0,500,4373,0.12,2.35,0.00,0.000,4,0.201,0.077,3115,3692,1871,0,0,0,0,0,0
$GC,4385,0.77,283.4,17.2,12.3,503,4392,0.00,2.30,0.00,0.000,6,0.000,0.063,3123,2271,1870,0,0,0,0,0,0
$FREEZE,8.91,-1.745,-1.779,2,97,0
$STATE,4460,end climb,FINISH_DEPTH_REACHED
$STATE,4460,begin subsurface finish
$FINISH1,8.9,1.026045,71
$GC,4466,0.09,71.3,8.9,-10.4,516,4508,0.75,2.38,-31.80,0.000,4,0.170,0.090,2899,858,2743,0,0,0,0,0,0
$FINISH2,7.8
$STATE,4509,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4509,begin surface
$RAFOS_CLK,273
$RAFOS,6,1302554945,20.833334,20.818056,125,67,60,57,51,50,739,147,221,192,129,171
$RAFOS,5,1302554467,20.700001,20.685278,91,63,59,58,53,53,946,197,140,213,226,181
$RAFOS,4,1302553985,20.566668,20.551390,126,60,60,54,54,54,760,195,170,117,211,183
$RAFOS_FIX,6709.058105,-6014.530762,110411,202044,4,107,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.38
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,16.4
$24V_AH,22.2,50.090
$10V_AH,10.1,26.128
$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,3.400,57.100,370.725,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1257.681,2031.332,381.040,861.129,80.658,0.000,888.650,0.000,862.257,720.000,2.611,0.000
$DEVICE_MAMPS,226.440,90.270,1123.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.898,388.059,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20145,523
$CAP_FILE_SIZE,60865,0
$CFSIZE,260165632,228823040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.6
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5