version: 66.08
glider: 141
mission: 15
dive: 378
start: 4 12 111 6 15 36
data:
$ID,141
$MISSION,15
$DIVE,378
$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,11.15
$_SM_ANGLEo,-1.5
$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,-6.55,0.000,2,0.000,0.000,2897,3693,2998,0,0,0,0,0,0
$GC,26,-0.62,-146.0,12.4,-0.0,1,52,0.65,4.35,-15.43,0.000,4,0.113,0.076,2674,1069,3629,0,0,0,0,0,0
$GC,250,-0.56,-146.0,46.6,-15.0,40,257,0.00,2.33,0.00,0.000,6,0.000,0.073,2674,2489,3631,0,0,0,0,0,0
$GC,593,-0.45,-146.0,105.7,-15.9,98,598,0.17,2.38,0.00,0.000,4,0.233,0.086,2713,3908,3631,0,0,0,0,0,0
$GC,694,-0.49,-146.0,118.4,-11.0,106,701,0.00,2.25,0.00,0.000,6,0.000,0.057,2714,2486,3631,0,0,0,0,0,0
$GC,1021,-0.52,-146.0,153.6,-9.8,137,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2486,3631,0,0,0,0,0,0
$GC,1339,-0.57,-146.0,183.9,-9.4,167,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2486,3630,0,0,0,0,0,0
$GC,1657,-0.62,-146.0,213.4,-9.0,197,1662,0.15,2.30,0.00,0.000,4,0.131,0.076,2665,1072,3629,0,0,0,0,0,0
$GC,1690,-0.59,-146.0,217.6,-12.5,199,1697,0.00,2.33,0.00,0.000,6,0.000,0.073,2665,2499,3629,0,0,0,0,0,0
$STATE,1939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1939,begin apogee
$GC,1945,-0.12,0.0,250.7,13.0,223,2076,0.55,0.00,121.22,1.123,6,0.217,0.000,2813,2270,3029,0,0,0,0,0,0
$STATE,2077,end apogee,CONTROL_FINISHED_OK
$STATE,2077,begin climb
$GC,2080,0.62,146.0,256.6,0.0,235,2215,0.82,2.65,125.47,1.068,4,0.161,0.078,3060,874,2433,0,0,0,0,0,0
$GC,2261,0.66,179.3,248.4,8.5,251,2301,0.00,2.53,30.33,1.017,6,0.000,0.064,3060,2278,2298,0,0,0,0,0,0
$GC,2619,0.68,199.8,215.4,9.1,285,2643,0.00,2.53,18.48,0.992,4,0.000,0.080,3060,3687,2214,0,0,0,0,0,0
$GC,2656,0.70,216.5,212.1,9.2,288,2679,0.00,2.40,16.75,0.978,6,0.000,0.063,3070,2282,2147,0,0,0,0,0,0
$GC,2996,0.71,220.2,177.4,9.8,320,3000,0.00,2.40,0.00,0.000,4,0.000,0.081,3081,861,2141,0,0,0,0,0,0
$GC,3031,0.73,220.2,174.0,10.2,323,3036,0.00,2.38,0.00,0.000,6,0.000,0.065,3081,2285,2139,0,0,0,0,0,0
$GC,3362,0.74,228.3,140.4,9.6,354,3377,0.00,2.35,10.70,0.942,4,0.000,0.080,3081,3687,2099,0,0,0,0,0,0
$GC,3384,0.74,228.3,138.1,10.5,356,3389,0.00,2.33,0.00,0.000,6,0.000,0.063,3091,2268,2099,0,0,0,0,0,0
$GC,3710,0.77,252.4,107.3,8.9,386,3743,0.00,2.47,23.12,0.992,4,0.000,0.077,3091,3695,1999,0,0,0,0,0,0
$GC,3771,0.77,252.4,101.1,11.5,391,3777,0.00,2.35,0.00,0.000,6,0.000,0.064,3101,2275,1998,0,0,0,0,0,0
$GC,4113,0.78,255.6,66.8,9.9,451,4120,0.00,2.33,0.00,0.000,4,0.000,0.079,3111,859,1996,0,0,0,0,0,0
$GC,4155,0.81,264.1,62.8,9.6,458,4174,0.00,2.30,11.52,0.933,6,0.000,0.066,3111,2275,1953,0,0,0,0,0,0
$GC,4514,0.90,317.7,31.4,7.5,521,4557,0.12,2.40,33.50,1.027,4,0.111,0.080,3161,3688,1732,0,0,0,0,0,0
$GC,4581,0.84,317.7,23.5,14.0,532,4588,0.15,2.38,0.00,0.000,6,0.215,0.067,3137,2270,1728,0,0,0,0,0,0
$FREEZE,8.67,-1.750,-1.780,2,104,0
$STATE,4702,end climb,FINISH_DEPTH_REACHED
$STATE,4702,begin subsurface finish
$FINISH1,8.7,1.026055,71
$GC,4708,0.09,70.8,8.7,-11.9,553,4756,0.80,2.33,-39.65,0.000,4,0.175,0.087,2900,861,2743,0,0,0,0,0,0
$FINISH2,7.2
$STATE,4757,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4757,begin surface
$RAFOS_CLK,284
$RAFOS_FIX,6709.554688,-222019.468750,120411,040444,4,96,0.02
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,17.5
$24V_AH,22.2,50.884
$10V_AH,10.1,26.382
$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,3.425,52.400,391.100,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1292.497,2132.067,407.046,901.229,80.359,0.000,936.313,0.000,902.147,0.000,2.613,0.000
$DEVICE_MAMPS,232.560,87.210,1123.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.803,412.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20114,561
$CAP_FILE_SIZE,59639,0
$CFSIZE,260165632,228564992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.6
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5