version: 66.08
glider: 141
mission: 15
dive: 328
start: 4 9 111 10 18 30
data:
$ID,141
$MISSION,15
$DIVE,328
$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,-35888.793
$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,21
$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,7.81
$_SM_ANGLEo,-3.2
$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,-6.75,0.000,2,0.000,0.000,2898,2287,2952,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.7,-0.0,1,57,0.65,2.75,-20.58,0.000,4,0.095,0.093,2666,3900,3629,0,0,0,0,0,0
$GC,127,-0.53,-146.0,23.3,-17.7,18,134,0.00,2.25,0.00,0.000,6,0.000,0.054,2666,2487,3631,0,0,0,0,0,0
$GC,472,-0.37,-146.0,91.9,-20.3,79,479,0.25,2.28,0.00,0.000,4,0.228,0.069,2731,1080,3631,0,0,0,0,0,0
$GC,527,-0.43,-146.0,100.0,-11.8,88,534,0.00,2.33,0.00,0.000,6,0.000,0.067,2731,2498,3630,0,0,0,0,0,0
$GC,852,-0.48,-146.0,135.2,-10.3,119,856,0.00,2.35,0.00,0.000,4,0.000,0.084,2731,3905,3630,0,0,0,0,0,0
$GC,953,-0.59,-146.0,144.6,-8.7,127,960,0.17,2.25,0.00,0.000,6,0.113,0.054,2670,2488,3630,0,0,0,0,0,0
$GC,1278,-0.51,-146.0,188.5,-13.6,158,1283,0.12,2.28,0.00,0.000,4,0.224,0.070,2698,1078,3629,0,0,0,0,0,0
$GC,1340,-0.55,-146.0,195.5,-10.2,163,1345,0.00,2.30,0.00,0.000,6,0.000,0.067,2698,2497,3629,0,0,0,0,0,0
$GC,1665,-0.55,-146.0,229.7,-10.3,193,1669,0.00,2.33,0.00,0.000,4,0.000,0.084,2698,3904,3629,0,0,0,0,0,0
$GC,1743,-0.58,-146.0,238.1,-11.0,199,1750,0.00,2.25,0.00,0.000,6,0.000,0.054,2698,2487,3629,0,0,0,0,0,0
$STATE,1864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1865,begin apogee
$GC,1870,-0.12,0.0,250.4,10.4,211,1996,0.40,0.00,120.60,1.126,6,0.205,0.000,2812,2258,3030,0,0,0,0,0,0
$STATE,1997,end apogee,CONTROL_FINISHED_OK
$STATE,1997,begin climb
$GC,1999,0.62,146.0,255.5,0.0,222,2135,0.82,0.00,124.47,1.069,6,0.162,0.000,3048,2258,2433,0,0,0,0,0,0
$GC,2452,0.65,172.6,225.5,8.8,265,2485,0.00,2.60,23.33,1.011,4,0.000,0.074,3048,3694,2325,0,0,0,0,0,0
$GC,2571,0.61,174.6,213.8,9.9,275,2578,0.00,2.42,0.00,0.000,6,0.000,0.060,3058,2277,2322,0,0,0,0,0,0
$GC,2896,0.65,202.4,185.7,8.7,306,2930,0.00,2.42,26.73,1.017,4,0.000,0.072,3058,3694,2204,0,0,0,0,0,0
$GC,2958,0.65,205.3,179.8,9.9,311,2968,0.00,2.38,4.07,0.656,6,0.000,0.060,3069,2265,2192,0,0,0,0,0,0
$GC,3294,0.67,219.5,148.5,9.3,343,3317,0.00,2.40,13.77,0.971,4,0.000,0.076,3079,866,2133,0,0,0,0,0,0
$GC,3323,0.69,236.8,145.7,9.2,345,3345,0.00,2.33,17.20,0.969,6,0.000,0.060,3079,2285,2064,0,0,0,0,0,0
$GC,3665,0.75,262.6,113.6,8.8,377,3699,0.00,2.47,23.75,0.988,4,0.000,0.076,3085,865,1957,0,0,0,0,0,0
$GC,3841,0.88,310.2,98.7,7.8,393,3894,0.17,2.30,44.05,0.989,6,0.102,0.060,3152,2276,1763,0,0,0,0,0,0
$GC,4233,0.84,310.2,47.2,12.5,462,4239,0.00,2.38,0.00,0.000,4,0.000,0.076,3162,863,1754,0,0,0,0,0,0
$GC,4336,0.79,310.2,33.5,13.9,480,4344,0.17,2.30,0.00,0.000,6,0.207,0.060,3120,2282,1753,0,0,0,0,0,0
$FREEZE,8.44,-1.746,-1.780,2,54,0
$STATE,4568,end climb,FINISH_DEPTH_REACHED
$STATE,4568,begin subsurface finish
$FINISH1,8.4,1.026059,71
$GC,4574,0.09,70.6,8.4,-10.9,521,4623,0.73,2.33,-38.97,0.000,4,0.166,0.092,2899,3687,2745,0,0,0,0,0,0
$FINISH2,7.0
$STATE,4623,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4624,begin surface
$RAFOS_CLK,273
$RAFOS_FIX,6654.114258,29942.980469,090411,080834,3,96,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.03
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.5
$24V_AH,22.3,45.108
$10V_AH,10.2,24.605
$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,3.500,50.025,397.975,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1209.987,2078.037,426.594,885.457,79.120,0.000,943.230,0.000,883.878,0.000,2.612,0.000
$DEVICE_MAMPS,227.970,92.565,1126.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.448,389.126,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20100,529
$CAP_FILE_SIZE,60844,0
$CFSIZE,260165632,230404096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.9
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5