version: 66.08
glider: 141
mission: 15
dive: 321
start: 4 9 111 0 45 2
data:
$ID,141
$MISSION,15
$DIVE,321
$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,-35520.223
$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,23
$R_STBD_OVSHOOT,19
$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,-200.000,0,4125.5,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.82
$_SM_ANGLEo,-3.0
$GPS2,240813,073118,-200.000,-200.000,0,4125.5,0,-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,-6.70,0.000,2,0.000,0.000,2897,3690,2981,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.8,-0.0,1,58,0.65,4.32,-18.75,0.000,4,0.109,0.071,2671,1084,3629,0,0,0,0,0,0
$GC,198,-0.54,-146.0,35.2,-17.2,31,205,0.00,2.30,0.00,0.000,6,0.000,0.068,2671,2494,3630,0,0,0,0,0,0
$GC,543,-0.41,-146.0,99.9,-18.3,92,551,0.22,2.35,0.00,0.000,4,0.227,0.083,2725,3904,3630,0,0,0,0,0,0
$GC,620,-0.47,-146.0,108.9,-9.8,99,626,0.00,2.22,0.00,0.000,6,0.000,0.052,2725,2487,3630,0,0,0,0,0,0
$GC,945,-0.51,-146.0,141.1,-9.9,130,949,0.00,2.25,0.00,0.000,4,0.000,0.069,2725,1082,3629,0,0,0,0,0,0
$GC,1007,-0.59,-146.0,147.6,-10.1,135,1012,0.15,2.28,0.00,0.000,6,0.127,0.066,2677,2490,3629,0,0,0,0,0,0
$GC,1332,-0.52,-146.0,193.0,-13.0,165,1336,0.00,2.38,0.00,0.000,4,0.000,0.083,2677,3903,3629,0,0,0,0,0,0
$GC,1464,-0.49,-146.0,209.7,-13.3,176,1468,0.00,2.22,0.00,0.000,6,0.000,0.052,2677,2487,3629,0,0,0,0,0,0
$STATE,1776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1776,begin apogee
$GC,1781,-0.12,0.0,250.5,12.3,205,1907,0.50,0.00,120.47,1.122,6,0.214,0.000,2812,2257,3030,0,0,0,0,0,0
$STATE,1908,end apogee,CONTROL_FINISHED_OK
$STATE,1908,begin climb
$GC,1910,0.62,146.0,256.0,0.0,216,2044,0.82,2.60,124.25,1.069,4,0.161,0.073,3060,878,2433,0,0,0,0,0,0
$GC,2049,0.69,204.0,250.7,7.3,228,2111,0.00,2.50,52.65,1.027,6,0.000,0.059,3060,2273,2196,0,0,0,0,0,0
$GC,2428,0.69,205.4,212.9,9.9,264,2433,0.00,2.42,0.00,0.000,4,0.000,0.075,3061,3690,2186,0,0,0,0,0,0
$GC,2456,0.69,205.4,209.8,11.1,266,2463,0.00,2.35,0.00,0.000,6,0.000,0.058,3071,2285,2186,0,0,0,0,0,0
$GC,2782,0.70,213.4,177.2,9.6,297,2795,0.00,2.45,7.32,0.874,4,0.000,0.073,3081,856,2160,0,0,0,0,0,0
$GC,2800,0.70,213.4,175.0,10.1,298,2808,0.00,2.33,0.00,0.000,6,0.000,0.060,3081,2278,2159,0,0,0,0,0,0
$GC,3126,0.71,224.6,142.8,9.5,329,3143,0.00,2.38,11.82,0.958,4,0.000,0.074,3082,3695,2113,0,0,0,0,0,0
$GC,3166,0.68,224.6,138.7,10.7,332,3171,0.00,2.33,0.00,0.000,6,0.000,0.060,3092,2270,2112,0,0,0,0,0,0
$GC,3491,0.68,224.6,104.7,10.2,362,3495,0.00,2.30,0.00,0.000,4,0.000,0.073,3102,858,2111,0,0,0,0,0,0
$GC,3514,0.68,226.6,102.5,9.9,364,3518,0.00,2.33,0.00,0.000,6,0.000,0.060,3102,2281,2109,0,0,0,0,0,0
$GC,3857,0.71,244.8,69.4,9.2,422,3882,0.00,2.40,18.95,0.981,4,0.000,0.076,3102,3687,2031,0,0,0,0,0,0
$GC,3889,0.73,264.4,66.2,9.1,427,3914,0.00,2.30,19.38,0.950,6,0.000,0.059,3113,2272,1951,0,0,0,0,0,0
$GC,4253,0.75,280.6,28.6,9.3,491,4266,0.00,0.00,9.02,0.955,6,0.000,0.000,3112,2272,1884,0,0,0,0,0,0
$FREEZE,8.41,-1.743,-1.786,2,47,0
$STATE,4441,end climb,FINISH_DEPTH_REACHED
$STATE,4441,begin subsurface finish
$FINISH1,8.4,1.026151,66
$GC,4447,0.08,66.1,8.4,-10.0,524,4489,0.73,2.30,-34.30,0.000,4,0.167,0.083,2894,865,2761,0,0,0,0,0,0
$FINISH2,7.1
$STATE,4490,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4490,begin surface
$RAFOS_CLK,266
$RAFOS,6,1302310146,0.833333,0.818333,113,63,60,59,55,53,781,189,152,227,203,215
$RAFOS,5,1302309664,0.700000,0.684444,64,63,57,54,54,53,208,960,196,219,176,123
$RAFOS_FIX,6642.760742,-5751.305176,090411,000040,2,105,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.77
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.4
$24V_AH,22.4,44.284
$10V_AH,10.1,24.353
$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,3.075,51.650,363.875,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1254.323,1988.170,373.669,868.645,75.175,0.000,874.750,0.000,865.309,360.000,2.612,0.000
$DEVICE_MAMPS,227.205,83.385,1122.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.424,390.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20101,531
$CAP_FILE_SIZE,58972,0
$CFSIZE,260165632,230658048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.1
$GPS,240813,073118,-200.000,-200.000,0,4125.5,0,-37.5