version: 66.08
glider: 141
mission: 15
dive: 357
start: 4 11 111 1 54 32
data:
$ID,141
$MISSION,15
$DIVE,357
$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,21
$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,9.33
$_SM_ANGLEo,-2.1
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.40,0.000,2,0.000,0.000,2902,3693,2953,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.2,-0.0,1,57,0.68,4.35,-18.58,0.000,4,0.110,0.074,2668,1084,3630,0,0,0,0,0,0
$GC,238,-0.53,-146.0,44.9,-18.2,38,245,0.00,2.30,0.00,0.000,6,0.000,0.070,2668,2494,3630,0,0,0,0,0,0
$GC,586,-0.39,-146.0,110.2,-17.4,95,591,0.25,2.35,0.00,0.000,4,0.226,0.084,2733,3905,3630,0,0,0,0,0,0
$GC,683,-0.49,-146.0,121.7,-9.7,103,688,0.00,2.28,0.00,0.000,6,0.000,0.055,2733,2481,3630,0,0,0,0,0,0
$GC,1014,-0.57,-146.0,152.2,-8.4,134,1019,0.17,2.28,0.00,0.000,4,0.118,0.073,2673,1077,3629,0,0,0,0,0,0
$GC,1091,-0.57,-146.0,162.4,-13.1,140,1098,0.00,2.35,0.00,0.000,6,0.000,0.071,2673,2521,3629,0,0,0,0,0,0
$GC,1417,-0.50,-146.0,205.3,-13.6,171,1421,0.00,2.30,0.00,0.000,4,0.000,0.086,2673,3901,3629,0,0,0,0,0,0
$GC,1511,-0.50,-146.0,217.3,-12.3,179,1518,0.00,2.28,0.00,0.000,6,0.000,0.055,2673,2492,3629,0,0,0,0,0,0
$STATE,1794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1794,begin apogee
$GC,1799,-0.12,0.0,250.9,11.2,206,1925,0.50,0.00,120.47,1.121,6,0.207,0.000,2810,2262,3030,0,0,0,0,0,0
$STATE,1926,end apogee,CONTROL_FINISHED_OK
$STATE,1926,begin climb
$GC,1928,0.62,146.0,256.0,0.0,217,2063,0.85,2.62,124.97,1.063,4,0.163,0.077,3065,876,2433,0,0,0,0,0,0
$GC,2287,0.63,178.3,229.7,8.5,250,2321,0.00,2.40,28.15,1.011,6,0.000,0.061,3065,2279,2303,0,0,0,0,0,0
$GC,2641,0.62,186.2,197.1,9.6,283,2654,0.00,2.47,7.68,0.864,4,0.000,0.076,3074,877,2270,0,0,0,0,0,0
$GC,2734,0.63,199.5,187.9,9.4,291,2757,0.00,2.35,13.60,0.959,6,0.000,0.062,3074,2276,2215,0,0,0,0,0,0
$GC,3077,0.64,206.5,154.4,9.7,323,3090,0.00,2.42,7.32,0.863,4,0.000,0.076,3074,3690,2187,0,0,0,0,0,0
$GC,3118,0.60,206.5,149.8,10.9,326,3125,0.00,2.30,0.00,0.000,6,0.000,0.060,3084,2280,2186,0,0,0,0,0,0
$GC,3445,0.64,236.6,118.5,8.6,357,3479,0.00,2.45,28.08,0.991,4,0.000,0.076,3095,859,2064,0,0,0,0,0,0
$GC,3514,0.67,263.1,112.2,8.8,363,3548,0.00,2.33,24.65,0.968,6,0.000,0.061,3095,2278,1958,0,0,0,0,0,0
$GC,3880,0.72,276.2,77.6,9.4,417,3900,0.00,2.42,13.02,0.929,4,0.000,0.076,3095,3692,1902,0,0,0,0,0,0
$GC,3929,0.72,276.2,72.6,10.9,425,3935,0.00,2.35,0.00,0.000,6,0.000,0.061,3106,2268,1901,0,0,0,0,0,0
$GC,4274,0.79,297.3,40.7,9.0,486,4299,0.00,2.42,19.67,0.949,4,0.000,0.078,3112,858,1816,0,0,0,0,0,0
$GC,4346,0.89,323.6,34.3,8.8,498,4372,0.12,2.33,18.15,1.013,6,0.119,0.062,3159,2279,1709,0,0,0,0,0,0
$FREEZE,8.95,-1.751,-1.775,2,83,0
$STATE,4547,end climb,FINISH_DEPTH_REACHED
$STATE,4547,begin subsurface finish
$FINISH1,9.0,1.025985,74
$GC,4554,0.09,74.3,9.0,-12.8,533,4601,0.88,0.00,-39.58,0.000,6,0.174,0.000,2902,2279,2727,0,0,0,0,0,0
$FINISH2,7.1
$STATE,4602,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4602,begin surface
$RAFOS_CLK,271
$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,48.70
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,22.3,48.484
$10V_AH,10.0,25.642
$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,3.450,49.700,405.775,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1259.141,1980.703,428.269,906.952,81.497,0.000,948.586,0.000,909.112,0.000,2.614,0.000
$DEVICE_MAMPS,226.440,85.680,1121.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.446,401.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20142,541
$CAP_FILE_SIZE,58611,0
$CFSIZE,260165632,229339136
$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