version: 66.08
glider: 141
mission: 15
dive: 343
start: 4 10 111 6 35 22
data:
$ID,141
$MISSION,15
$DIVE,343
$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,16
$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,7.62
$_SM_ANGLEo,-4.3
$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,-6.72,0.000,2,0.000,0.000,2899,861,2963,0,0,0,0,0,0
$GC,26,-0.62,-146.0,8.9,-0.0,1,57,0.68,5.15,-20.10,0.000,4,0.108,0.086,2665,3902,3629,0,0,0,0,0,0
$GC,182,-0.53,-146.0,33.9,-18.7,28,189,0.00,2.25,0.00,0.000,6,0.000,0.057,2665,2484,3630,0,0,0,0,0,0
$GC,528,-0.38,-146.0,100.7,-17.8,89,530,0.28,0.00,0.00,0.000,6,0.228,0.000,2732,2484,3630,0,0,0,0,0,0
$GC,847,-0.43,-146.0,135.4,-8.9,119,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2484,3630,0,0,0,0,0,0
$GC,1166,-0.51,-146.0,163.8,-8.6,149,1170,0.00,2.38,0.00,0.000,4,0.000,0.083,2731,3906,3629,0,0,0,0,0,0
$GC,1198,-0.60,-146.0,166.8,-8.3,151,1206,0.20,2.25,0.00,0.000,6,0.105,0.054,2663,2481,3629,0,0,0,0,0,0
$GC,1524,-0.52,-146.0,211.2,-13.6,182,1528,0.12,2.28,0.00,0.000,4,0.230,0.074,2691,1083,3628,0,0,0,0,0,0
$GC,1618,-0.54,-146.0,222.1,-10.7,190,1625,0.00,2.30,0.00,0.000,6,0.000,0.070,2690,2499,3628,0,0,0,0,0,0
$STATE,1888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1890,begin apogee
$GC,1895,-0.12,0.0,250.4,10.2,216,2021,0.43,0.00,120.75,1.118,6,0.203,0.000,2811,2272,3030,0,0,0,0,0,0
$STATE,2022,end apogee,CONTROL_FINISHED_OK
$STATE,2022,begin climb
$GC,2024,0.62,146.0,256.3,0.0,227,2158,0.82,2.67,124.90,1.066,4,0.159,0.078,3060,869,2433,0,0,0,0,0,0
$GC,2204,0.69,202.9,250.2,7.4,243,2262,0.00,2.53,51.58,1.027,6,0.000,0.063,3060,2283,2202,0,0,0,0,0,0
$GC,2579,0.70,214.6,215.3,9.5,278,2594,0.00,2.47,10.00,0.912,4,0.000,0.079,3060,3696,2155,0,0,0,0,0,0
$GC,2627,0.70,214.6,210.0,11.0,282,2635,0.00,2.40,0.00,0.000,6,0.000,0.063,3071,2277,2154,0,0,0,0,0,0
$GC,2954,0.70,214.6,176.6,11.2,313,2958,0.00,2.35,0.00,0.000,4,0.000,0.078,3081,865,2152,0,0,0,0,0,0
$GC,2963,0.70,214.6,175.1,11.3,313,2971,0.00,2.38,0.00,0.000,6,0.000,0.062,3081,2277,2150,0,0,0,0,0,0
$GC,3291,0.71,223.5,142.3,9.6,344,3306,0.00,2.40,9.20,0.918,4,0.000,0.080,3081,3687,2118,0,0,0,0,0,0
$GC,3324,0.71,223.5,138.7,10.7,347,3329,0.00,2.33,0.00,0.000,6,0.000,0.064,3091,2267,2117,0,0,0,0,0,0
$GC,3649,0.73,234.3,107.1,9.5,377,3666,0.00,2.38,11.43,0.947,4,0.000,0.076,3091,3693,2072,0,0,0,0,0,0
$GC,3705,0.69,234.3,101.1,10.8,381,3712,0.00,2.35,0.00,0.000,6,0.000,0.063,3102,2264,2071,0,0,0,0,0,0
$GC,4048,0.71,246.5,69.2,9.4,441,4066,0.00,0.00,12.00,0.944,6,0.000,0.000,3102,2263,2024,0,0,0,0,0,0
$GC,4404,0.72,259.5,34.8,9.4,504,4422,0.00,0.00,11.95,0.957,6,0.000,0.000,3101,2264,1971,0,0,0,0,0,0
$FREEZE,8.83,-1.741,-1.784,2,69,0
$STATE,4671,end climb,FINISH_DEPTH_REACHED
$STATE,4671,begin subsurface finish
$FINISH1,8.8,1.026117,68
$GC,4677,0.08,67.8,8.8,-9.9,551,4714,0.68,2.47,-29.15,0.000,4,0.167,0.092,2899,3699,2756,0,0,0,0,0,0
$FINISH2,7.7
$STATE,4715,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4715,begin surface
$RAFOS_CLK,279
$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,48.62
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,22.3,46.845
$10V_AH,10.1,25.132
$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,3.200,43.700,351.800,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1295.763,2145.265,358.338,895.285,74.853,0.000,869.347,0.000,894.462,0.000,4.206,0.000
$DEVICE_MAMPS,230.265,91.800,1117.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.612,410.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20144,557
$CAP_FILE_SIZE,56356,0
$CFSIZE,260165632,229855232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.6
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5