version: 66.08
glider: 141
mission: 15
dive: 356
start: 4 11 111 0 34 41
data:
$ID,141
$MISSION,15
$DIVE,356
$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,-36996.625
$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,8.98
$_SM_ANGLEo,-4.4
$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,-7.03,0.000,2,0.000,0.000,2897,2276,2967,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.8,-0.0,1,53,0.65,2.80,-18.65,0.000,4,0.095,0.096,2664,3905,3628,0,0,0,0,0,0
$GC,123,-0.52,-146.0,24.0,-18.5,17,131,0.12,2.25,0.00,0.000,6,0.235,0.055,2690,2488,3631,0,0,0,0,0,0
$GC,469,-0.42,-146.0,83.3,-16.2,78,475,0.15,0.00,0.00,0.000,6,0.241,0.000,2725,2488,3631,0,0,0,0,0,0
$GC,802,-0.44,-146.0,124.1,-11.4,120,807,0.00,2.30,0.00,0.000,4,0.000,0.072,2725,1069,3630,0,0,0,0,0,0
$GC,858,-0.52,-146.0,130.6,-11.1,124,866,0.00,2.33,0.00,0.000,6,0.000,0.070,2725,2491,3630,0,0,0,0,0,0
$GC,1185,-0.58,-146.0,161.2,-8.7,155,1190,0.15,2.35,0.00,0.000,4,0.127,0.084,2675,3903,3629,0,0,0,0,0,0
$GC,1275,-0.56,-146.0,172.5,-13.2,162,1282,0.00,2.25,0.00,0.000,6,0.000,0.054,2675,2488,3629,0,0,0,0,0,0
$GC,1600,-0.50,-146.0,215.0,-12.7,193,1604,0.00,2.25,0.00,0.000,4,0.000,0.070,2675,1081,3629,0,0,0,0,0,0
$GC,1641,-0.48,-146.0,220.0,-12.8,196,1648,0.12,2.28,0.00,0.000,6,0.219,0.068,2703,2490,3629,0,0,0,0,0,0
$STATE,1953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1953,begin apogee
$GC,1958,-0.12,0.0,250.4,8.9,226,2085,0.40,0.00,120.70,1.115,6,0.198,0.000,2817,2259,3029,0,0,0,0,0,0
$STATE,2086,end apogee,CONTROL_FINISHED_OK
$STATE,2086,begin climb
$GC,2088,0.62,146.0,255.2,0.0,237,2223,0.80,2.65,124.60,1.061,4,0.156,0.077,3060,868,2433,0,0,0,0,0,0
$GC,2273,0.62,166.7,246.5,9.0,253,2302,0.00,2.50,19.02,0.985,6,0.000,0.062,3060,2283,2349,0,0,0,0,0,0
$GC,2621,0.61,176.4,213.0,9.6,286,2636,0.00,2.47,9.20,0.908,4,0.000,0.076,3060,3686,2310,0,0,0,0,0,0
$GC,2688,0.54,176.4,205.6,11.4,292,2693,0.12,2.38,0.00,0.000,6,0.194,0.061,3042,2274,2309,0,0,0,0,0,0
$GC,3014,0.63,216.7,177.6,8.1,322,3058,0.00,2.42,36.22,1.013,4,0.000,0.072,3042,3687,2146,0,0,0,0,0,0
$GC,3063,0.72,249.0,173.3,8.5,326,3104,0.15,2.35,30.60,0.986,6,0.103,0.059,3106,2274,2013,0,0,0,0,0,0
$GC,3421,0.72,249.0,130.9,11.1,360,3425,0.00,2.35,0.00,0.000,4,0.000,0.076,3116,865,2005,0,0,0,0,0,0
$GC,3447,0.72,249.0,127.4,12.1,362,3455,0.00,2.35,0.00,0.000,6,0.000,0.062,3116,2299,2003,0,0,0,0,0,0
$GC,3778,0.69,249.0,90.3,10.9,400,3784,0.00,2.38,0.00,0.000,4,0.000,0.076,3124,863,2003,0,0,0,0,0,0
$GC,3791,0.67,249.0,88.8,11.2,402,3799,0.15,2.30,0.00,0.000,6,0.195,0.061,3087,2286,2001,0,0,0,0,0,0
$GC,4139,0.77,288.7,59.7,8.2,463,4181,0.00,2.35,35.20,0.976,4,0.000,0.076,3087,3687,1850,0,0,0,0,0,0
$GC,4224,0.83,294.3,52.2,9.7,477,4238,0.10,2.33,6.07,0.793,6,0.120,0.062,3134,2273,1829,0,0,0,0,0,0
$GC,4575,0.83,294.3,13.0,11.6,539,4582,0.00,2.33,0.00,0.000,4,0.000,0.077,3145,857,1825,0,0,0,0,0,0
$FREEZE,8.91,-1.751,-1.775,2,82,0
$STATE,4610,end climb,FINISH_DEPTH_REACHED
$STATE,4611,begin subsurface finish
$FINISH1,8.9,1.025990,74
$GC,4619,0.09,74.0,8.9,-11.4,545,4662,0.82,2.38,-34.72,0.000,4,0.177,0.092,2902,3693,2730,0,0,0,0,0,0
$FINISH2,7.2
$STATE,4662,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4663,begin surface
$RAFOS_CLK,273
$RAFOS,6,1302482944,0.833333,0.817778,137,63,54,53,53,50,756,204,156,214,184,122
$RAFOS,5,1302482463,0.700000,0.684167,99,55,54,52,52,51,959,182,145,210,198,115
$RAFOS_FIX,6701.091797,-6012.901367,110411,000042,3,114,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.48
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,17.3
$24V_AH,22.3,48.366
$10V_AH,10.1,25.609
$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,3.750,55.050,381.625,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1310.759,2051.148,405.757,892.884,86.324,0.000,929.799,0.000,893.039,720.000,2.613,0.000
$DEVICE_MAMPS,240.975,96.390,1115.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.635,408.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20062,552
$CAP_FILE_SIZE,63022,0
$CFSIZE,260165632,229371904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.6
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5