version: 66.08
glider: 141
mission: 15
dive: 336
start: 4 9 111 21 18 29
data:
$ID,141
$MISSION,15
$DIVE,336
$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,-36257.363
$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,21
$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,9.49
$_SM_ANGLEo,-1.0
$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,-6.75,0.000,2,0.000,0.000,2897,3686,2996,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.6,-0.0,1,52,0.65,4.32,-17.40,0.000,4,0.109,0.073,2671,1075,3628,0,0,0,0,0,0
$GC,233,-0.53,-146.0,42.4,-16.8,37,240,0.00,2.33,0.00,0.000,6,0.000,0.071,2671,2490,3629,0,0,0,0,0,0
$GC,576,-0.39,-146.0,106.4,-18.6,95,581,0.25,2.35,0.00,0.000,4,0.234,0.084,2735,3902,3628,0,0,0,0,0,0
$GC,686,-0.45,-146.0,119.1,-9.6,104,690,0.00,2.25,0.00,0.000,6,0.000,0.056,2735,2483,3629,0,0,0,0,0,0
$GC,1011,-0.53,-146.0,149.1,-8.7,134,1016,0.15,2.38,0.00,0.000,4,0.128,0.083,2685,3899,3629,0,0,0,0,0,0
$GC,1043,-0.53,-146.0,153.0,-12.2,136,1051,0.00,2.28,0.00,0.000,6,0.000,0.056,2684,2495,3629,0,0,0,0,0,0
$GC,1371,-0.49,-146.0,193.9,-12.6,167,1375,0.00,2.28,0.00,0.000,4,0.000,0.073,2684,1080,3628,0,0,0,0,0,0
$GC,1477,-0.49,-146.0,206.3,-10.7,176,1481,0.00,2.30,0.00,0.000,6,0.000,0.070,2684,2494,3628,0,0,0,0,0,0
$GC,1804,-0.46,-146.0,244.0,-11.9,206,1808,0.12,2.38,0.00,0.000,4,0.229,0.086,2712,3902,3628,0,0,0,0,0,0
$STATE,1864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1864,begin apogee
$GC,1871,-0.12,0.0,250.1,8.3,211,2002,0.35,0.00,120.78,1.120,6,0.201,0.000,2813,2274,3030,0,0,0,0,0,0
$STATE,2003,end apogee,CONTROL_FINISHED_OK
$STATE,2003,begin climb
$GC,2005,0.62,146.0,255.8,0.0,223,2141,0.82,2.65,124.85,1.070,4,0.161,0.075,3060,869,2433,0,0,0,0,0,0
$GC,2215,0.64,161.8,246.1,9.3,242,2238,0.00,2.47,14.40,0.967,6,0.000,0.063,3060,2276,2371,0,0,0,0,0,0
$GC,2557,0.65,191.3,215.0,8.6,274,2591,0.00,2.47,27.12,1.016,4,0.000,0.077,3060,3691,2248,0,0,0,0,0,0
$GC,2653,0.60,191.3,205.7,10.4,282,2660,0.00,2.42,0.00,0.000,6,0.000,0.062,3070,2277,2245,0,0,0,0,0,0
$GC,2978,0.62,213.6,176.0,9.0,313,3004,0.00,2.45,20.10,1.001,4,0.000,0.076,3081,862,2158,0,0,0,0,0,0
$GC,3056,0.63,219.1,168.6,9.7,320,3069,0.00,2.35,6.32,0.836,6,0.000,0.063,3081,2275,2136,0,0,0,0,0,0
$GC,3386,0.63,219.1,135.4,10.2,351,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2275,2133,0,0,0,0,0,0
$GC,3707,0.69,267.7,108.0,7.8,381,3762,0.00,2.47,44.20,1.011,4,0.000,0.078,3081,3693,1937,0,0,0,0,0,0
$GC,3821,0.71,267.7,97.3,10.2,393,3828,0.00,2.38,0.00,0.000,6,0.000,0.062,3091,2268,1933,0,0,0,0,0,0
$GC,4166,0.78,290.7,65.7,8.9,454,4196,0.00,2.40,20.98,0.968,4,0.000,0.077,3099,865,1844,0,0,0,0,0,0
$GC,4203,0.87,318.5,62.3,8.7,460,4239,0.12,2.35,26.58,0.958,6,0.118,0.061,3146,2281,1730,0,0,0,0,0,0
$GC,4577,0.87,318.5,15.3,13.1,526,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2281,1721,0,0,0,0,0,0
$FREEZE,8.98,-1.726,-1.786,2,62,0
$STATE,4623,end climb,FINISH_DEPTH_REACHED
$STATE,4623,begin subsurface finish
$FINISH1,9.0,1.026150,66
$GC,4628,0.08,66.2,9.0,-13.2,534,4676,0.85,2.35,-39.58,0.000,4,0.171,0.091,2895,3694,2762,0,0,0,0,0,0
$FINISH2,7.4
$STATE,4677,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4677,begin surface
$RAFOS_CLK,277
$RAFOS_FIX,6655.218262,-6015.372070,090411,202032,5,104,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.027713
$HUMID,47.95
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.5
$24V_AH,22.3,46.030
$10V_AH,10.2,24.895
$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,3.325,52.275,405.325,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1233.453,2089.309,417.515,913.280,79.475,0.000,951.787,0.000,912.075,0.000,3.657,0.000
$DEVICE_MAMPS,234.090,91.035,1119.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.186,398.192,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20099,542
$CAP_FILE_SIZE,59141,0
$CFSIZE,260165632,230109184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.7
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5