version: 66.08
glider: 141
mission: 15
dive: 345
start: 4 10 111 9 37 15
data:
$ID,141
$MISSION,15
$DIVE,345
$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,-36627.012
$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,23
$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,7.01
$_SM_ANGLEo,-70.9
$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,15,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-7.47,0.000,2,0.000,0.000,114,2496,918,0,0,0,0,0,0
$GC,27,-0.62,-146.0,7.1,-0.0,1,157,12.98,2.35,-106.78,0.000,4,0.330,0.086,2651,1068,3627,0,0,0,0,0,0
$GC,198,-0.48,-146.0,16.6,-19.2,30,205,0.22,2.33,0.00,0.000,6,0.218,0.069,2706,2489,3628,0,0,0,0,0,0
$GC,544,-0.41,-146.0,71.4,-14.5,91,551,0.00,2.38,0.00,0.000,4,0.000,0.085,2706,3906,3629,0,0,0,0,0,0
$GC,637,-0.41,-146.0,84.8,-13.2,107,644,0.00,2.25,0.00,0.000,6,0.000,0.054,2706,2481,3629,0,0,0,0,0,0
$GC,974,-0.41,-146.0,131.1,-12.8,147,978,0.00,2.38,0.00,0.000,4,0.000,0.081,2707,3900,3628,0,0,0,0,0,0
$GC,1018,-0.45,-146.0,136.5,-11.3,150,1025,0.00,2.22,0.00,0.000,6,0.000,0.054,2706,2490,3628,0,0,0,0,0,0
$GC,1344,-0.45,-146.0,173.7,-10.5,181,1348,0.00,2.30,0.00,0.000,4,0.000,0.073,2707,1074,3628,0,0,0,0,0,0
$GC,1396,-0.49,-146.0,178.7,-9.4,185,1400,0.00,2.33,0.00,0.000,6,0.000,0.068,2707,2495,3628,0,0,0,0,0,0
$GC,1721,-0.51,-146.0,211.1,-10.0,215,1725,0.00,2.33,0.00,0.000,4,0.000,0.084,2707,3901,3628,0,0,0,0,0,0
$GC,1783,-0.57,-146.0,217.3,-9.3,220,1790,0.00,2.25,0.00,0.000,6,0.000,0.054,2706,2485,3628,0,0,0,0,0,0
$GC,2110,-0.60,-146.0,247.2,-9.2,251,2115,0.12,2.30,0.00,0.000,4,0.138,0.073,2665,1075,3628,0,0,0,0,0,0
$STATE,2138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2138,begin apogee
$GC,2145,-0.12,0.0,250.4,11.5,253,2276,0.52,0.00,120.82,1.124,6,0.205,0.000,2810,2282,3029,0,0,0,0,0,0
$STATE,2277,end apogee,CONTROL_FINISHED_OK
$STATE,2277,begin climb
$GC,2279,0.62,146.0,255.5,0.0,265,2415,0.85,2.67,125.25,1.069,4,0.164,0.075,3063,874,2433,0,0,0,0,0,0
$GC,2426,0.61,172.5,248.4,8.8,278,2458,0.00,2.55,24.73,1.004,6,0.000,0.063,3063,2281,2326,0,0,0,0,0,0
$GC,2784,0.62,180.4,213.8,9.6,312,2797,0.00,2.50,6.85,0.841,4,0.000,0.077,3063,3691,2294,0,0,0,0,0,0
$GC,2821,0.57,180.4,210.1,10.7,315,2825,0.00,2.40,0.00,0.000,6,0.000,0.061,3074,2269,2293,0,0,0,0,0,0
$GC,3146,0.56,195.1,177.8,9.3,345,3170,0.12,2.42,14.35,0.975,4,0.187,0.077,3048,860,2232,0,0,0,0,0,0
$GC,3194,0.68,249.0,174.0,7.5,349,3250,0.10,2.35,49.25,1.014,6,0.129,0.061,3087,2282,2013,0,0,0,0,0,0
$GC,3566,0.68,249.0,135.2,10.5,384,3570,0.00,2.35,0.00,0.000,4,0.000,0.076,3087,3696,2004,0,0,0,0,0,0
$GC,3590,0.68,249.0,132.8,10.2,386,3594,0.00,2.38,0.00,0.000,6,0.000,0.061,3097,2264,2003,0,0,0,0,0,0
$GC,3916,0.71,268.4,100.5,9.1,416,3939,0.00,0.00,16.88,0.968,6,0.000,0.000,3097,2264,1934,0,0,0,0,0,0
$GC,4279,0.76,287.7,66.8,9.1,479,4304,0.00,2.33,18.62,0.965,4,0.000,0.076,3107,863,1856,0,0,0,0,0,0
$GC,4323,0.84,315.6,62.7,8.7,486,4359,0.00,2.33,26.38,0.959,6,0.000,0.060,3107,2278,1742,0,0,0,0,0,0
$GC,4697,0.90,315.6,26.7,10.2,552,4704,0.12,0.00,0.00,0.000,6,0.106,0.000,3157,2278,1734,0,0,0,0,0,0
$FREEZE,8.73,-1.753,-1.782,2,71,0
$STATE,4834,end climb,FINISH_DEPTH_REACHED
$STATE,4834,begin subsurface finish
$FINISH1,8.7,1.026084,69
$GC,4839,0.09,69.4,8.7,-13.6,576,4893,0.88,2.40,-42.12,0.000,4,0.181,0.093,2900,3685,2749,0,0,0,0,0,0
$FINISH2,6.8
$STATE,4894,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4894,begin surface
$RAFOS_CLK,319
$RAFOS_FIX,-65324.015625,936571.250000,100411,080832,4,107,0.10
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.95
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.0
$24V_AH,22.3,47.114
$10V_AH,10.1,25.218
$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,15.925,54.075,403.125,0.000,0.000,99.621,17.402,0.000,0.250,0.000,184.365,1315.065,2241.780,499.615,1246.059,304.447,0.000,1068.065,0.000,939.408,0.000,2.612,0.000
$DEVICE_MAMPS,330.480,92.565,1123.785,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.943,430.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150436
$DATA_FILE_SIZE,20127,585
$CAP_FILE_SIZE,71139,0
$CFSIZE,260165632,229769216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.1
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5