version: 66.08
glider: 141
mission: 15
dive: 342
start: 4 10 111 5 17 35
data:
$ID,141
$MISSION,15
$DIVE,342
$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,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,-200.000,181,99.0,181,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.67
$_SM_ANGLEo,-4.7
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.00,0.000,2,0.000,0.000,2889,863,3099,0,0,0,0,0,0
$GC,27,-0.62,-146.0,17.2,-0.0,1,47,0.62,5.10,-10.62,0.000,4,0.106,0.080,2669,3904,3630,0,0,0,0,0,0
$GC,111,-0.51,-146.0,28.6,-18.5,15,118,0.12,2.28,0.00,0.000,6,0.228,0.057,2695,2479,3632,0,0,0,0,0,0
$GC,457,-0.42,-146.0,86.4,-15.9,76,464,0.12,0.00,0.00,0.000,6,0.237,0.000,2723,2479,3632,0,0,0,0,0,0
$GC,794,-0.42,-146.0,127.5,-10.7,116,798,0.00,2.28,0.00,0.000,4,0.000,0.074,2724,1071,3631,0,0,0,0,0,0
$GC,829,-0.46,-146.0,131.1,-10.3,119,833,0.00,2.33,0.00,0.000,6,0.000,0.070,2724,2495,3632,0,0,0,0,0,0
$GC,1160,-0.52,-146.0,162.9,-9.3,150,1164,0.00,2.33,0.00,0.000,4,0.000,0.085,2724,3903,3631,0,0,0,0,0,0
$GC,1245,-0.60,-146.0,170.5,-8.9,157,1250,0.17,2.22,0.00,0.000,6,0.117,0.054,2665,2489,3631,0,0,0,0,0,0
$GC,1570,-0.52,-146.0,215.6,-13.1,187,1574,0.00,2.28,0.00,0.000,4,0.000,0.073,2666,1070,3631,0,0,0,0,0,0
$GC,1615,-0.48,-146.0,221.9,-13.3,191,1620,0.15,2.30,0.00,0.000,6,0.220,0.070,2699,2489,3630,0,0,0,0,0,0
$STATE,1897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1897,begin apogee
$GC,1903,-0.12,0.0,250.4,9.6,217,2035,0.40,0.00,121.10,1.125,6,0.204,0.000,2813,2260,3030,0,0,0,0,0,0
$STATE,2035,end apogee,CONTROL_FINISHED_OK
$STATE,2035,begin climb
$GC,2037,0.62,146.0,256.5,0.0,229,2171,0.82,2.65,124.90,1.069,4,0.160,0.076,3062,865,2433,0,0,0,0,0,0
$GC,2222,0.64,187.8,249.7,8.1,245,2266,0.00,2.50,37.58,1.022,6,0.000,0.062,3062,2279,2265,0,0,0,0,0,0
$GC,2592,0.64,187.8,214.7,10.2,280,2597,0.00,2.42,0.00,0.000,4,0.000,0.077,3061,3698,2256,0,0,0,0,0,0
$GC,2610,0.64,188.0,212.8,10.0,281,2614,0.00,2.40,0.00,0.000,6,0.000,0.062,3071,2282,2255,0,0,0,0,0,0
$GC,2937,0.62,192.1,180.0,9.8,311,2941,0.00,2.35,0.00,0.000,4,0.000,0.075,3071,3691,2255,0,0,0,0,0,0
$GC,2948,0.60,192.1,178.4,10.2,311,2955,0.00,2.35,0.00,0.000,6,0.000,0.060,3081,2267,2255,0,0,0,0,0,0
$GC,3275,0.58,201.9,144.9,9.5,342,3298,0.12,2.45,12.23,0.955,4,0.193,0.076,3050,3690,2206,0,0,0,0,0,0
$GC,3334,0.63,228.6,139.6,8.8,347,3367,0.00,2.33,25.40,0.992,6,0.000,0.062,3058,2265,2097,0,0,0,0,0,0
$GC,3686,0.80,305.6,113.4,6.4,380,3764,0.17,2.40,69.32,0.995,4,0.099,0.076,3136,868,1783,0,0,0,0,0,0
$GC,3792,0.80,305.6,101.5,12.7,389,3800,0.00,2.42,0.00,0.000,6,0.000,0.062,3136,2280,1778,0,0,0,0,0,0
$GC,4135,0.80,305.6,58.3,11.7,449,4141,0.00,2.35,0.00,0.000,4,0.000,0.076,3136,3691,1772,0,0,0,0,0,0
$GC,4154,0.80,305.6,55.9,12.7,452,4161,0.00,2.35,0.00,0.000,6,0.000,0.063,3146,2266,1770,0,0,0,0,0,0
$GC,4500,0.76,305.6,9.7,13.8,513,4506,0.15,0.00,0.00,0.000,6,0.203,0.000,3110,2266,1769,0,0,0,0,0,0
$FREEZE,7.43,-1.738,-1.782,2,68,0
$STATE,4512,end climb,FINISH_DEPTH_REACHED
$STATE,4512,begin subsurface finish
$FINISH1,7.4,1.026106,68
$GC,4519,0.08,68.3,7.4,-14.6,515,4567,0.68,2.38,-41.80,0.000,4,0.157,0.088,2899,861,2754,0,0,0,0,0,0
$FINISH2,6.4
$STATE,4568,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4568,begin surface
$RAFOS_CLK,273
$RAFOS_FIX,-29301.927734,-1230014.625000,100411,040454,3,87,0.13
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.18
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,15.2
$24V_AH,22.4,46.740
$10V_AH,10.0,25.099
$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,3.550,52.825,390.525,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1223.529,2059.015,400.348,864.344,75.455,0.000,911.858,0.000,861.726,0.000,2.610,0.000
$DEVICE_MAMPS,237.150,87.975,1125.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.454,384.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20048,523
$CAP_FILE_SIZE,58451,0
$CFSIZE,260165632,229888000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.8
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5