version: 66.08
glider: 141
mission: 15
dive: 381
start: 4 12 111 10 9 11
data:
$ID,141
$MISSION,15
$DIVE,381
$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,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,9.93
$_SM_ANGLEo,-2.8
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.12,0.000,2,0.000,0.000,2896,3693,2962,0,0,0,0,0,0
$GC,26,-0.62,-146.0,11.1,-0.0,1,57,0.65,4.35,-17.80,0.000,4,0.104,0.077,2667,1076,3629,0,0,0,0,0,0
$GC,216,-0.54,-146.0,40.0,-16.1,34,222,0.00,2.35,0.00,0.000,6,0.000,0.075,2667,2489,3630,0,0,0,0,0,0
$GC,560,-0.40,-146.0,104.9,-18.2,93,565,0.25,2.38,0.00,0.000,4,0.223,0.087,2732,3906,3630,0,0,0,0,0,0
$GC,673,-0.48,-146.0,118.1,-10.6,102,680,0.00,2.25,0.00,0.000,6,0.000,0.060,2733,2487,3630,0,0,0,0,0,0
$GC,1000,-0.55,-146.0,147.8,-8.7,133,1005,0.15,2.33,0.00,0.000,4,0.125,0.075,2682,1070,3630,0,0,0,0,0,0
$GC,1054,-0.55,-146.0,154.8,-12.8,137,1062,0.00,2.38,0.00,0.000,6,0.000,0.073,2681,2496,3629,0,0,0,0,0,0
$GC,1382,-0.51,-146.0,196.0,-12.0,168,1386,0.00,2.35,0.00,0.000,4,0.000,0.089,2681,3900,3629,0,0,0,0,0,0
$GC,1500,-0.51,-146.0,210.1,-11.8,178,1504,0.00,2.25,0.00,0.000,6,0.000,0.059,2682,2487,3629,0,0,0,0,0,0
$GC,1830,-0.48,-146.0,249.3,-11.7,209,1834,0.00,2.25,0.00,0.000,4,0.000,0.073,2681,1079,3629,0,0,0,0,0,0
$STATE,1839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1839,begin apogee
$GC,1845,-0.12,0.0,250.6,11.6,209,1973,0.47,0.00,120.80,1.128,6,0.208,0.000,2812,2276,3030,0,0,0,0,0,0
$STATE,1974,end apogee,CONTROL_FINISHED_OK
$STATE,1974,begin climb
$GC,1976,0.62,146.0,256.0,0.0,221,2113,0.82,2.65,125.57,1.068,4,0.161,0.080,3048,3694,2433,0,0,0,0,0,0
$GC,2141,0.57,164.5,248.9,9.1,236,2164,0.00,2.55,17.58,0.983,6,0.000,0.065,3058,2269,2359,0,0,0,0,0,0
$GC,2483,0.59,180.0,217.1,9.3,268,2506,0.00,2.53,14.00,0.970,4,0.000,0.077,3059,3678,2295,0,0,0,0,0,0
$GC,2512,0.60,189.1,214.2,9.6,270,2530,0.00,2.42,9.30,0.910,6,0.000,0.065,3069,2270,2261,0,0,0,0,0,0
$GC,2848,0.61,198.5,181.0,9.6,302,2863,0.00,2.42,10.02,0.930,4,0.000,0.077,3069,3687,2220,0,0,0,0,0,0
$GC,2882,0.58,198.5,177.4,10.6,305,2886,0.00,2.38,0.00,0.000,6,0.000,0.066,3079,2263,2219,0,0,0,0,0,0
$GC,3207,0.58,198.5,146.0,10.1,335,3211,0.00,2.38,0.00,0.000,4,0.000,0.077,3079,3693,2218,0,0,0,0,0,0
$GC,3217,0.59,200.0,144.9,9.9,335,3224,0.12,2.33,0.00,0.000,6,0.198,0.065,3058,2268,2218,0,0,0,0,0,0
$GC,3543,0.71,268.5,120.3,6.8,366,3612,0.10,2.45,63.42,1.014,4,0.123,0.080,3110,859,1934,0,0,0,0,0,0
$GC,3621,0.73,282.3,113.8,9.4,373,3644,0.00,2.42,13.77,0.921,6,0.000,0.066,3110,2282,1879,0,0,0,0,0,0
$GC,3973,0.75,282.3,77.2,10.0,424,3980,0.00,2.35,0.00,0.000,4,0.000,0.081,3110,3696,1870,0,0,0,0,0,0
$GC,3986,0.75,282.3,75.8,10.5,426,3993,0.00,2.38,0.00,0.000,6,0.000,0.067,3120,2266,1870,0,0,0,0,0,0
$GC,4331,0.75,282.3,37.4,11.5,487,4338,0.00,2.33,0.00,0.000,4,0.000,0.082,3129,858,1868,0,0,0,0,0,0
$GC,4367,0.75,282.3,33.5,11.3,493,4373,0.00,2.33,0.00,0.000,6,0.000,0.068,3129,2282,1867,0,0,0,0,0,0
$FREEZE,8.54,-1.753,-1.775,2,107,0
$STATE,4587,end climb,FINISH_DEPTH_REACHED
$STATE,4587,begin subsurface finish
$FINISH1,8.5,1.025992,74
$GC,4592,0.09,73.9,8.5,-11.0,532,4634,0.77,2.35,-32.83,0.000,4,0.173,0.099,2898,3686,2731,0,0,0,0,0,0
$FINISH2,7.5
$STATE,4635,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4635,begin surface
$RAFOS_CLK,274
$RAFOS_FIX,6709.554688,-222019.468750,120411,040444,4,96,0.02
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.025466
$HUMID,48.22
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,16.1
$24V_AH,22.2,51.227
$10V_AH,10.0,26.481
$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,3.350,61.125,374.475,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1251.467,2068.045,400.093,887.919,82.460,0.000,920.484,0.000,887.559,0.000,2.611,0.000
$DEVICE_MAMPS,223.380,99.450,1128.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.831,397.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20113,539
$CAP_FILE_SIZE,59817,0
$CFSIZE,260165632,228458496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.5
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5