version: 66.08
glider: 141
mission: 15
dive: 377
start: 4 12 111 4 53 27
data:
$ID,141
$MISSION,15
$DIVE,377
$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,-37735.848
$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,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,8.78
$_SM_ANGLEo,-2.3
$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,-7.05,0.000,2,0.000,0.000,2900,2283,2977,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.6,-0.0,1,58,0.65,2.80,-18.90,0.000,4,0.096,0.097,2668,3909,3629,0,0,0,0,0,0
$GC,133,-0.53,-146.0,24.2,-16.7,19,140,0.00,2.30,0.00,0.000,6,0.000,0.057,2668,2481,3631,0,0,0,0,0,0
$GC,479,-0.39,-146.0,88.6,-18.4,80,487,0.25,2.28,0.00,0.000,4,0.222,0.074,2733,1081,3631,0,0,0,0,0,0
$GC,563,-0.48,-146.0,98.8,-10.3,94,570,0.00,2.33,0.00,0.000,6,0.000,0.071,2733,2494,3631,0,0,0,0,0,0
$GC,896,-0.54,-146.0,131.1,-8.7,126,901,0.15,2.38,0.00,0.000,4,0.122,0.088,2681,3905,3631,0,0,0,0,0,0
$GC,1008,-0.54,-146.0,144.9,-12.8,136,1012,0.00,2.25,0.00,0.000,6,0.000,0.057,2681,2485,3630,0,0,0,0,0,0
$GC,1335,-0.50,-146.0,186.0,-12.5,166,1339,0.00,2.28,0.00,0.000,4,0.000,0.075,2681,1081,3630,0,0,0,0,0,0
$GC,1396,-0.50,-146.0,193.8,-12.2,171,1400,0.00,2.33,0.00,0.000,6,0.000,0.072,2681,2496,3630,0,0,0,0,0,0
$GC,1723,-0.47,-146.0,233.3,-12.1,201,1728,0.12,2.35,0.00,0.000,4,0.222,0.088,2709,3905,3629,0,0,0,0,0,0
$GC,1820,-0.55,-146.0,243.0,-9.1,209,1825,0.00,2.28,0.00,0.000,6,0.000,0.057,2710,2478,3629,0,0,0,0,0,0
$STATE,1899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1899,begin apogee
$GC,1905,-0.12,0.0,250.3,8.8,216,2036,0.35,0.00,120.90,1.126,6,0.194,0.000,2811,2269,3030,0,0,0,0,0,0
$STATE,2037,end apogee,CONTROL_FINISHED_OK
$STATE,2037,begin climb
$GC,2039,0.62,146.0,255.7,0.0,228,2171,0.82,0.00,125.20,1.069,6,0.161,0.000,3049,2268,2434,0,0,0,0,0,0
$GC,2489,0.67,191.3,227.7,7.9,270,2534,0.00,2.60,39.45,1.029,4,0.000,0.076,3048,3685,2249,0,0,0,0,0,0
$GC,2569,0.67,191.3,220.2,10.5,277,2574,0.00,2.42,0.00,0.000,6,0.000,0.063,3058,2282,2247,0,0,0,0,0,0
$GC,2896,0.69,205.4,189.7,9.4,307,2919,0.00,2.50,13.12,0.962,4,0.000,0.080,3067,859,2190,0,0,0,0,0,0
$GC,2932,0.73,222.4,186.4,9.2,310,2955,0.00,2.38,16.80,0.975,6,0.000,0.065,3067,2279,2123,0,0,0,0,0,0
$GC,3274,0.77,226.5,153.6,9.8,342,3287,0.12,2.38,4.65,0.723,4,0.106,0.079,3121,3695,2106,0,0,0,0,0,0
$GC,3292,0.77,226.5,151.1,11.1,343,3299,0.00,2.35,0.00,0.000,6,0.000,0.063,3132,2275,2105,0,0,0,0,0,0
$GC,3617,0.70,226.5,109.9,12.4,374,3622,0.15,2.38,0.00,0.000,4,0.190,0.076,3094,3687,2104,0,0,0,0,0,0
$GC,3658,0.67,226.5,105.5,10.6,377,3662,0.00,2.33,0.00,0.000,6,0.000,0.063,3102,2268,2103,0,0,0,0,0,0
$GC,3999,0.68,230.9,72.8,9.8,432,4012,0.00,2.38,5.32,0.779,4,0.000,0.077,3102,3697,2087,0,0,0,0,0,0
$GC,4019,0.68,230.9,70.8,10.0,435,4026,0.00,2.30,0.00,0.000,6,0.000,0.063,3112,2276,2087,0,0,0,0,0,0
$GC,4365,0.66,238.8,36.4,9.6,496,4379,0.12,2.40,8.10,0.901,4,0.204,0.080,3089,861,2055,0,0,0,0,0,0
$GC,4409,0.78,281.5,32.8,8.0,503,4445,0.00,2.33,27.65,1.031,6,0.000,0.064,3090,2279,1880,0,0,0,0,0,0
$FREEZE,8.98,-1.749,-1.779,2,103,0
$STATE,4708,end climb,FINISH_DEPTH_REACHED
$STATE,4708,begin subsurface finish
$FINISH1,9.0,1.026046,71
$GC,4715,0.09,71.3,9.0,-8.8,556,4752,0.62,2.42,-30.95,0.000,4,0.155,0.095,2897,3693,2742,0,0,0,0,0,0
$FINISH2,8.0
$STATE,4753,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4753,begin surface
$RAFOS_CLK,281
$RAFOS,6,1302583742,4.833333,4.817222,134,63,60,57,56,53,763,177,191,216,137,116
$RAFOS_FIX,6709.554688,-222019.468750,120411,040444,4,96,0.02
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.46
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,22.2,50.768
$10V_AH,10.2,26.349
$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,3.375,55.025,361.200,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1392.760,2110.435,382.546,914.359,81.789,0.000,908.157,0.000,912.775,0.000,2.811,0.000
$DEVICE_MAMPS,221.850,97.155,1126.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.900,413.214,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20083,562
$CAP_FILE_SIZE,61558,0
$CFSIZE,260165632,228597760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.8
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5