version: 66.08
glider: 141
mission: 15
dive: 337
start: 4 9 111 22 38 6
data:
$ID,141
$MISSION,15
$DIVE,337
$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,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,9.47
$_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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.28,0.000,2,0.000,0.000,2894,3694,2984,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.7,-0.0,1,57,0.65,4.35,-17.58,0.000,4,0.108,0.073,2669,1071,3629,0,0,0,0,0,0
$GC,204,-0.54,-146.0,37.8,-16.0,32,210,0.00,2.35,0.00,0.000,6,0.000,0.070,2668,2494,3630,0,0,0,0,0,0
$GC,554,-0.39,-146.0,102.6,-19.4,93,559,0.25,2.35,0.00,0.000,4,0.225,0.084,2733,3905,3630,0,0,0,0,0,0
$GC,663,-0.45,-146.0,115.1,-10.0,102,667,0.00,2.25,0.00,0.000,6,0.000,0.055,2734,2484,3630,0,0,0,0,0,0
$GC,989,-0.52,-146.0,147.4,-9.4,132,994,0.12,2.38,0.00,0.000,4,0.138,0.082,2692,3902,3629,0,0,0,0,0,0
$GC,1017,-0.52,-146.0,150.6,-11.9,134,1021,0.00,2.25,0.00,0.000,6,0.000,0.055,2692,2481,3629,0,0,0,0,0,0
$GC,1342,-0.50,-146.0,188.1,-10.9,164,1346,0.00,2.25,0.00,0.000,4,0.000,0.073,2692,1078,3629,0,0,0,0,0,0
$GC,1420,-0.50,-146.0,197.0,-12.0,171,1424,0.00,2.30,0.00,0.000,6,0.000,0.070,2692,2490,3629,0,0,0,0,0,0
$GC,1750,-0.50,-146.0,235.6,-11.0,202,1754,0.00,2.38,0.00,0.000,4,0.000,0.086,2692,3900,3629,0,0,0,0,0,0
$GC,1857,-0.53,-146.0,246.9,-9.7,211,1861,0.00,2.22,0.00,0.000,6,0.000,0.055,2692,2489,3629,0,0,0,0,0,0
$STATE,1893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1893,begin apogee
$GC,1899,-0.12,0.0,250.7,9.8,214,2030,0.43,0.00,120.65,1.123,6,0.203,0.000,2811,2261,3030,0,0,0,0,0,0
$STATE,2031,end apogee,CONTROL_FINISHED_OK
$STATE,2031,begin climb
$GC,2033,0.62,146.0,255.9,0.0,226,2172,0.85,2.72,124.97,1.069,4,0.164,0.073,3053,3683,2433,0,0,0,0,0,0
$GC,2189,0.57,171.1,249.2,8.8,240,2218,0.00,2.53,23.30,1.003,6,0.000,0.062,3064,2280,2332,0,0,0,0,0,0
$GC,2536,0.57,195.1,217.8,8.9,273,2562,0.00,2.47,21.38,1.004,4,0.000,0.075,3064,3686,2233,0,0,0,0,0,0
$GC,2586,0.54,195.9,212.9,10.0,277,2591,0.15,2.45,0.00,0.000,6,0.186,0.063,3039,2270,2232,0,0,0,0,0,0
$GC,2912,0.61,217.6,184.3,9.0,307,2938,0.00,2.42,20.75,0.999,4,0.000,0.079,3042,856,2142,0,0,0,0,0,0
$GC,2965,0.74,249.8,179.5,8.5,311,3006,0.17,2.40,30.50,1.000,6,0.099,0.063,3109,2278,2009,0,0,0,0,0,0
$GC,3323,0.71,249.8,136.6,12.0,345,3327,0.00,2.40,0.00,0.000,4,0.000,0.076,3119,857,2003,0,0,0,0,0,0
$GC,3369,0.68,249.8,131.3,12.0,349,3374,0.12,2.35,0.00,0.000,6,0.207,0.063,3090,2283,2001,0,0,0,0,0,0
$GC,3694,0.71,276.1,100.1,8.8,379,3724,0.00,2.45,23.70,0.981,4,0.000,0.078,3090,3696,1903,0,0,0,0,0,0
$GC,3754,0.73,276.1,94.5,10.8,388,3760,0.00,2.35,0.00,0.000,6,0.000,0.063,3097,2273,1900,0,0,0,0,0,0
$GC,4099,0.80,302.5,62.2,8.8,449,4129,0.00,2.42,24.38,0.970,4,0.000,0.078,3107,865,1796,0,0,0,0,0,0
$GC,4142,0.88,327.0,58.3,8.9,456,4172,0.12,2.35,23.77,0.949,6,0.118,0.062,3153,2276,1695,0,0,0,0,0,0
$GC,4510,0.84,327.0,11.7,13.1,521,4516,0.00,2.35,0.00,0.000,4,0.000,0.076,3153,3690,1686,0,0,0,0,0,0
$GC,4523,0.79,327.0,9.6,14.4,523,4531,0.17,2.33,0.00,0.000,6,0.201,0.063,3121,2264,1685,0,0,0,0,0,0
$FREEZE,7.46,-1.726,-1.785,2,63,0
$STATE,4536,end climb,FINISH_DEPTH_REACHED
$STATE,4536,begin subsurface finish
$FINISH1,7.5,1.026151,66
$GC,4543,0.08,66.1,7.5,-15.8,525,4596,0.73,2.38,-46.88,0.000,4,0.168,0.086,2901,862,2763,0,0,0,0,0,0
$FINISH2,6.2
$STATE,4597,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4597,begin surface
$RAFOS_CLK,271
$RAFOS_FIX,6655.218262,-6015.372070,090411,202032,5,104,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.14
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.6
$24V_AH,22.3,46.152
$10V_AH,10.0,24.929
$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,3.775,61.800,413.400,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1217.133,2037.161,433.516,885.074,82.308,0.000,958.643,0.000,883.994,0.000,2.612,0.000
$DEVICE_MAMPS,224.910,86.445,1123.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.853,391.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20069,534
$CAP_FILE_SIZE,64682,0
$CFSIZE,260165632,230068224
$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