version: 66.08
glider: 141
mission: 15
dive: 365
start: 4 11 111 12 44 0
data:
$ID,141
$MISSION,15
$DIVE,365
$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,-37366.27
$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,23
$R_STBD_OVSHOOT,24
$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,4.23
$_SM_ANGLEo,-50.3
$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,-146.0,0.0,0.0,0,142,0.00,0.00,-124.90,0.000,2,0.000,0.000,109,2497,3028,0,0,0,0,0,0
$GC,146,-0.62,-146.0,5.2,-4.3,22,184,13.55,2.35,-14.95,0.000,4,0.340,0.097,2653,3899,3630,0,0,0,0,0,0
$GC,237,-0.49,-146.0,27.3,-20.4,37,244,0.20,2.25,0.00,0.000,6,0.214,0.056,2702,2488,3632,0,0,0,0,0,0
$GC,582,-0.42,-146.0,84.2,-15.6,98,588,0.00,2.25,0.00,0.000,4,0.000,0.070,2703,1080,3632,0,0,0,0,0,0
$GC,624,-0.42,-146.0,90.2,-13.8,105,631,0.00,2.30,0.00,0.000,6,0.000,0.068,2702,2485,3632,0,0,0,0,0,0
$GC,959,-0.40,-146.0,135.7,-11.9,142,964,0.12,2.38,0.00,0.000,4,0.233,0.086,2732,3907,3632,0,0,0,0,0,0
$GC,1027,-0.51,-146.0,142.5,-8.4,147,1034,0.00,2.25,0.00,0.000,6,0.000,0.054,2732,2479,3632,0,0,0,0,0,0
$GC,1352,-0.58,-146.0,170.4,-7.9,178,1357,0.17,2.28,0.00,0.000,4,0.116,0.073,2672,1082,3631,0,0,0,0,0,0
$GC,1404,-0.56,-146.0,176.4,-12.1,182,1408,0.00,2.30,0.00,0.000,6,0.000,0.070,2671,2493,3631,0,0,0,0,0,0
$GC,1734,-0.50,-146.0,220.9,-13.1,213,1739,0.12,2.38,0.00,0.000,4,0.232,0.086,2699,3905,3631,0,0,0,0,0,0
$GC,1813,-0.55,-146.0,229.4,-9.9,219,1819,0.00,2.22,0.00,0.000,6,0.000,0.054,2699,2490,3630,0,0,0,0,0,0
$STATE,2029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2029,begin apogee
$GC,2035,-0.12,0.0,250.1,9.1,240,2162,0.40,0.00,121.40,1.121,6,0.198,0.000,2813,2261,3030,0,0,0,0,0,0
$STATE,2163,end apogee,CONTROL_FINISHED_OK
$STATE,2163,begin climb
$GC,2165,0.62,146.0,254.6,0.0,251,2301,0.82,2.60,125.32,1.062,4,0.156,0.076,3064,884,2433,0,0,0,0,0,0
$GC,2308,0.63,195.3,248.5,7.7,264,2363,0.00,2.50,44.97,1.018,6,0.000,0.060,3064,2277,2232,0,0,0,0,0,0
$GC,2681,0.63,195.3,209.9,10.4,299,2685,0.00,2.42,0.00,0.000,4,0.000,0.076,3063,3696,2222,0,0,0,0,0,0
$GC,2730,0.58,195.3,204.2,12.3,303,2737,0.00,2.38,0.00,0.000,6,0.000,0.061,3073,2278,2221,0,0,0,0,0,0
$GC,3055,0.58,195.3,171.2,10.2,334,3059,0.00,2.35,0.00,0.000,4,0.000,0.076,3084,867,2220,0,0,0,0,0,0
$GC,3111,0.58,195.3,165.3,10.2,339,3116,0.12,2.30,0.00,0.000,6,0.191,0.061,3054,2278,2218,0,0,0,0,0,0
$GC,3437,0.70,257.9,138.6,7.1,369,3497,0.10,2.40,54.17,1.008,4,0.122,0.075,3095,3693,1976,0,0,0,0,0,0
$GC,3514,0.67,257.9,130.9,11.4,375,3521,0.00,2.40,0.00,0.000,6,0.000,0.061,3106,2265,1973,0,0,0,0,0,0
$GC,3842,0.67,257.9,96.1,10.2,409,3848,0.00,2.33,0.00,0.000,4,0.000,0.076,3115,864,1968,0,0,0,0,0,0
$GC,3895,0.68,264.9,90.8,9.7,418,3908,0.12,2.30,5.70,0.783,6,0.196,0.062,3086,2279,1950,0,0,0,0,0,0
$GC,4249,0.78,301.4,60.0,8.3,480,4291,0.00,2.38,34.40,0.975,4,0.000,0.076,3086,3696,1800,0,0,0,0,0,0
$GC,4315,0.85,301.4,53.6,10.6,491,4322,0.12,2.35,0.00,0.000,6,0.107,0.061,3141,2266,1798,0,0,0,0,0,0
$GC,4660,0.85,301.4,13.9,11.0,552,4667,0.00,2.30,0.00,0.000,4,0.000,0.076,3152,862,1794,0,0,0,0,0,0
$FREEZE,8.89,-1.742,-1.771,2,91,0
$STATE,4701,end climb,FINISH_DEPTH_REACHED
$STATE,4701,begin subsurface finish
$FINISH1,8.9,1.025934,77
$GC,4710,0.09,76.8,8.9,-12.2,559,4752,0.85,2.42,-35.72,0.000,4,0.177,0.087,2903,854,2719,0,0,0,0,0,0
$FINISH2,6.9
$STATE,4753,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4753,begin surface
$RAFOS_CLK,309
$RAFOS,6,1302526145,12.833333,12.818055,106,58,56,51,51,50,745,199,170,226,213,122
$RAFOS_FIX,42707.164062,-222015.250000,110411,080812,4,116,0.03
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,47.63
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.3
$24V_AH,22.3,49.408
$10V_AH,10.0,25.928
$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,16.725,59.075,385.975,0.000,0.000,99.487,17.378,0.000,0.250,0.000,184.360,1299.948,2175.566,499.133,1223.558,303.620,0.000,1060.676,0.000,918.776,360.000,2.613,0.000
$DEVICE_MAMPS,340.425,97.155,1120.725,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.931,419.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20179,566
$CAP_FILE_SIZE,68921,0
$CFSIZE,260165632,229036032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.7
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5