version: 66.08
glider: 141
mission: 15
dive: 373
start: 4 11 111 23 11 53
data:
$ID,141
$MISSION,15
$DIVE,373
$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,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,9.45
$_SM_ANGLEo,-2.0
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.80,0.000,2,0.000,0.000,2898,3694,2993,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.9,-0.0,1,52,0.65,4.32,-16.75,0.000,4,0.106,0.075,2669,1077,3628,0,0,0,0,0,0
$GC,204,-0.54,-146.0,39.6,-17.5,32,211,0.00,2.33,0.00,0.000,6,0.000,0.073,2669,2498,3629,0,0,0,0,0,0
$GC,554,-0.41,-146.0,104.5,-17.1,92,559,0.22,2.35,0.00,0.000,4,0.230,0.086,2722,3909,3629,0,0,0,0,0,0
$GC,628,-0.48,-146.0,113.7,-10.1,98,632,0.00,2.28,0.00,0.000,6,0.000,0.057,2722,2476,3629,0,0,0,0,0,0
$GC,954,-0.54,-146.0,145.9,-9.5,128,958,0.00,2.25,0.00,0.000,4,0.000,0.075,2722,1080,3630,0,0,0,0,0,0
$GC,1022,-0.62,-146.0,152.7,-9.6,134,1027,0.17,2.30,0.00,0.000,6,0.120,0.073,2664,2493,3628,0,0,0,0,0,0
$GC,1347,-0.53,-146.0,198.4,-14.3,164,1351,0.00,2.35,0.00,0.000,4,0.000,0.089,2663,3900,3628,0,0,0,0,0,0
$GC,1464,-0.50,-146.0,214.5,-12.8,174,1472,0.15,2.22,0.00,0.000,6,0.215,0.057,2698,2489,3628,0,0,0,0,0,0
$GC,1792,-0.52,-146.0,246.7,-9.7,205,1796,0.00,2.38,0.00,0.000,4,0.000,0.084,2698,3906,3628,0,0,0,0,0,0
$STATE,1822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1822,begin apogee
$GC,1829,-0.12,0.0,250.1,9.7,207,1957,0.40,0.00,120.70,1.121,6,0.201,0.000,2812,2276,3029,0,0,0,0,0,0
$STATE,1957,end apogee,CONTROL_FINISHED_OK
$STATE,1957,begin climb
$GC,1959,0.62,146.0,254.5,0.0,219,2093,0.82,0.00,125.22,1.064,6,0.160,0.000,3050,2276,2433,0,0,0,0,0,0
$GC,2408,0.65,170.6,221.5,8.9,262,2435,0.00,2.50,21.83,1.008,4,0.000,0.077,3051,3694,2333,0,0,0,0,0,0
$GC,2506,0.61,170.6,211.5,11.3,270,2510,0.00,2.42,0.00,0.000,6,0.000,0.063,3060,2269,2330,0,0,0,0,0,0
$GC,2832,0.65,196.1,181.1,8.8,300,2865,0.00,2.40,22.98,1.005,4,0.000,0.078,3072,865,2228,0,0,0,0,0,0
$GC,2871,0.70,237.7,177.6,8.1,303,2914,0.00,2.38,38.40,1.004,6,0.000,0.065,3072,2283,2060,0,0,0,0,0,0
$GC,3234,0.74,245.5,141.8,9.6,337,3247,0.00,2.45,7.00,0.842,4,0.000,0.080,3072,3696,2029,0,0,0,0,0,0
$GC,3271,0.74,245.5,138.0,10.7,340,3275,0.00,2.38,0.00,0.000,6,0.000,0.064,3082,2274,2027,0,0,0,0,0,0
$GC,3596,0.79,259.1,107.1,9.4,370,3620,0.10,2.40,13.57,0.945,4,0.125,0.080,3135,865,1973,0,0,0,0,0,0
$GC,3659,0.75,259.1,99.5,12.0,375,3665,0.00,2.33,0.00,0.000,6,0.000,0.064,3134,2275,1971,0,0,0,0,0,0
$GC,4003,0.70,259.1,59.1,11.3,436,4010,0.17,2.35,0.00,0.000,4,0.194,0.080,3089,3696,1969,0,0,0,0,0,0
$GC,4022,0.70,259.1,56.9,11.0,439,4029,0.00,2.33,0.00,0.000,6,0.000,0.064,3096,2264,1968,0,0,0,0,0,0
$GC,4367,0.78,289.0,26.2,8.6,500,4394,0.00,2.42,18.70,0.988,4,0.000,0.076,3097,3680,1850,0,0,0,0,0,0
$GC,4401,0.85,308.2,23.2,9.1,505,4419,0.00,2.30,10.48,0.920,6,0.000,0.064,3106,2270,1772,0,0,0,0,0,0
$FREEZE,8.89,-1.752,-1.782,2,99,0
$STATE,4554,end climb,FINISH_DEPTH_REACHED
$STATE,4554,begin subsurface finish
$FINISH1,8.9,1.026094,69
$GC,4559,0.08,68.9,8.9,-9.2,532,4601,0.68,2.40,-35.62,0.000,4,0.161,0.090,2901,861,2751,0,0,0,0,0,0
$FINISH2,7.9
$STATE,4602,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4602,begin surface
$RAFOS_CLK,273
$RAFOS,2,1302567424,0.300000,0.284444,64,62,62,59,58,52,125,143,194,181,218,205
$RAFOS,1,1302566947,0.166667,0.151944,93,56,56,56,54,52,676,178,214,160,194,227
$RAFOS,0,1302566468,0.033333,0.018889,61,58,54,53,51,49,185,204,213,723,167,158
$RAFOS_FIX,6709.058105,-6014.530762,110411,202044,4,107,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.029211
$HUMID,47.75
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,22.3,50.312
$10V_AH,10.2,26.194
$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,3.375,56.475,378.875,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1247.147,2051.160,397.268,886.864,76.164,0.000,909.520,0.000,885.640,1440.000,2.614,0.000
$DEVICE_MAMPS,230.265,89.505,1120.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.693,396.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20163,539
$CAP_FILE_SIZE,60470,0
$CFSIZE,260165632,228749312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.5
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5