version: 66.08
glider: 141
mission: 15
dive: 340
start: 4 10 111 2 35 37
data:
$ID,141
$MISSION,15
$DIVE,340
$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,1.98
$_SM_ANGLEo,8.6
$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,-146.0,0.0,0.0,0,162,0.00,0.00,-142.05,0.000,2,0.000,0.000,3124,2262,3544,0,0,0,0,0,0
$GC,165,-0.62,-146.0,5.0,-7.7,25,179,1.40,2.75,-3.72,0.000,4,0.136,0.090,2671,3902,3627,0,0,0,0,0,0
$GC,320,-0.53,-146.0,28.0,-17.3,52,327,0.00,2.28,0.00,0.000,6,0.000,0.055,2671,2483,3629,0,0,0,0,0,0
$GC,665,-0.39,-146.0,93.9,-17.7,113,672,0.25,0.00,0.00,0.000,6,0.228,0.000,2735,2483,3629,0,0,0,0,0,0
$GC,1000,-0.44,-146.0,130.6,-10.0,148,1004,0.00,2.25,0.00,0.000,4,0.000,0.070,2736,1077,3629,0,0,0,0,0,0
$GC,1077,-0.56,-146.0,137.8,-8.5,154,1085,0.17,2.30,0.00,0.000,6,0.112,0.069,2674,2492,3628,0,0,0,0,0,0
$GC,1404,-0.51,-146.0,180.2,-11.9,185,1408,0.00,2.35,0.00,0.000,4,0.000,0.084,2674,3903,3628,0,0,0,0,0,0
$GC,1478,-0.48,-146.0,189.2,-11.6,191,1482,0.12,2.22,0.00,0.000,6,0.215,0.054,2701,2489,3628,0,0,0,0,0,0
$GC,1807,-0.48,-146.0,224.9,-10.6,222,1811,0.00,2.25,0.00,0.000,4,0.000,0.068,2702,1075,3628,0,0,0,0,0,0
$GC,1893,-0.53,-146.0,233.5,-9.5,229,1897,0.00,2.30,0.00,0.000,6,0.000,0.067,2702,2500,3628,0,0,0,0,0,0
$STATE,2078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2078,begin apogee
$GC,2084,-0.12,0.0,250.4,9.5,246,2210,0.40,0.00,120.50,1.122,6,0.204,0.000,2814,2267,3030,0,0,0,0,0,0
$STATE,2210,end apogee,CONTROL_FINISHED_OK
$STATE,2211,begin climb
$GC,2212,0.62,146.0,255.3,0.0,257,2347,0.82,2.62,124.80,1.068,4,0.160,0.073,3062,878,2433,0,0,0,0,0,0
$GC,2371,0.64,194.7,249.0,7.8,271,2425,0.00,2.50,44.10,1.024,6,0.000,0.060,3062,2282,2235,0,0,0,0,0,0
$GC,2743,0.65,203.5,213.4,9.6,306,2754,0.00,0.00,7.65,0.861,6,0.000,0.000,3062,2282,2200,0,0,0,0,0,0
$GC,3073,0.69,232.2,181.8,8.7,337,3107,0.00,2.40,26.77,1.006,4,0.000,0.075,3062,3690,2083,0,0,0,0,0,0
$GC,3135,0.69,232.2,175.6,10.1,342,3142,0.00,2.38,0.00,0.000,6,0.000,0.060,3073,2288,2081,0,0,0,0,0,0
$GC,3462,0.69,232.2,143.4,10.4,373,3466,0.00,2.33,0.00,0.000,4,0.000,0.073,3073,3694,2078,0,0,0,0,0,0
$GC,3471,0.69,232.2,142.0,10.0,373,3478,0.00,2.35,0.00,0.000,6,0.000,0.058,3083,2272,2078,0,0,0,0,0,0
$GC,3799,0.72,262.2,110.9,8.6,404,3833,0.00,2.35,27.52,0.993,4,0.000,0.074,3092,864,1960,0,0,0,0,0,0
$GC,3868,0.79,270.5,104.5,9.6,410,3883,0.00,2.33,9.05,0.896,6,0.000,0.060,3092,2283,1926,0,0,0,0,0,0
$GC,4221,0.86,288.6,72.5,9.2,468,4246,0.15,2.33,17.75,0.957,4,0.099,0.073,3151,3689,1851,0,0,0,0,0,0
$GC,4253,0.82,288.6,68.8,11.8,473,4261,0.15,2.33,0.00,0.000,6,0.214,0.060,3128,2267,1850,0,0,0,0,0,0
$GC,4599,0.82,288.6,29.6,11.6,534,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2267,1846,0,0,0,0,0,0
$FREEZE,8.50,-1.754,-1.784,2,66,0
$STATE,4784,end climb,FINISH_DEPTH_REACHED
$STATE,4784,begin subsurface finish
$FINISH1,8.5,1.026122,68
$GC,4790,0.08,67.5,8.5,-13.0,567,4838,0.77,2.42,-37.03,0.000,4,0.181,0.090,2899,3693,2758,0,0,0,0,0,0
$FINISH2,6.8
$STATE,4839,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4839,begin surface
$RAFOS_CLK,281
$RAFOS_FIX,6655.218262,-6015.372070,090411,202032,5,104,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026964
$HUMID,48.30
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,22.3,46.504
$10V_AH,10.1,25.032
$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,4.250,45.400,378.150,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1290.624,2104.763,485.021,933.714,81.451,0.000,1040.258,0.000,932.068,0.000,2.810,0.000
$DEVICE_MAMPS,227.970,90.270,1122.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.757,421.726,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20080,575
$CAP_FILE_SIZE,61900,0
$CFSIZE,260165632,229957632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1441.7
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5