version: 66.08
glider: 141
mission: 15
dive: 383
start: 4 12 111 12 44 55
data:
$ID,141
$MISSION,15
$DIVE,383
$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,-37735.848
$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,20
$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,8.51
$_SM_ANGLEo,-2.0
$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,-6.75,0.000,2,0.000,0.000,2903,3690,2951,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.4,-0.0,1,58,0.68,4.35,-19.73,0.000,4,0.109,0.077,2669,1073,3630,0,0,0,0,0,0
$GC,254,-0.55,-146.0,45.1,-16.4,40,261,0.00,2.33,0.00,0.000,6,0.000,0.073,2669,2490,3631,0,0,0,0,0,0
$GC,601,-0.41,-146.0,110.1,-18.8,97,606,0.22,2.35,0.00,0.000,4,0.225,0.086,2722,3899,3631,0,0,0,0,0,0
$GC,710,-0.48,-146.0,123.2,-10.8,106,714,0.00,2.25,0.00,0.000,6,0.000,0.058,2723,2484,3631,0,0,0,0,0,0
$GC,1035,-0.53,-146.0,155.4,-9.5,136,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2484,3631,0,0,0,0,0,0
$GC,1355,-0.60,-146.0,183.4,-8.1,166,1360,0.17,2.38,0.00,0.000,4,0.122,0.085,2664,3902,3630,0,0,0,0,0,0
$GC,1388,-0.56,-146.0,187.3,-12.1,168,1395,0.00,2.25,0.00,0.000,6,0.000,0.058,2664,2484,3630,0,0,0,0,0,0
$GC,1715,-0.49,-146.0,230.2,-13.3,199,1720,0.15,2.30,0.00,0.000,4,0.231,0.074,2698,1077,3629,0,0,0,0,0,0
$GC,1801,-0.54,-146.0,239.1,-9.7,206,1805,0.00,2.33,0.00,0.000,6,0.000,0.072,2698,2492,3629,0,0,0,0,0,0
$STATE,1922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1922,begin apogee
$GC,1927,-0.12,0.0,250.3,9.0,217,2059,0.40,0.00,121.15,1.127,6,0.204,0.000,2812,2266,3029,0,0,0,0,0,0
$STATE,2060,end apogee,CONTROL_FINISHED_OK
$STATE,2060,begin climb
$GC,2062,0.62,146.0,255.0,0.0,229,2197,0.82,2.65,125.25,1.069,4,0.161,0.078,3059,873,2433,0,0,0,0,0,0
$GC,2253,0.65,172.1,245.3,8.8,246,2284,0.00,2.50,24.05,1.005,6,0.000,0.063,3059,2283,2328,0,0,0,0,0,0
$GC,2601,0.69,202.9,214.2,8.6,279,2635,0.00,2.53,27.77,1.008,4,0.000,0.079,3059,3686,2201,0,0,0,0,0,0
$GC,2663,0.66,202.9,208.0,11.1,284,2670,0.00,2.42,0.00,0.000,6,0.000,0.063,3070,2281,2198,0,0,0,0,0,0
$GC,2990,0.68,217.0,175.9,9.4,315,3013,0.00,2.45,13.30,0.958,4,0.000,0.079,3080,865,2144,0,0,0,0,0,0
$GC,3037,0.72,225.7,171.3,9.6,319,3052,0.00,2.35,9.45,0.910,6,0.000,0.064,3080,2279,2109,0,0,0,0,0,0
$GC,3378,0.72,229.2,137.3,9.8,351,3390,0.00,2.38,4.22,0.679,4,0.000,0.079,3080,3690,2095,0,0,0,0,0,0
$GC,3436,0.72,229.2,130.9,11.1,356,3440,0.00,2.33,0.00,0.000,6,0.000,0.065,3090,2271,2094,0,0,0,0,0,0
$GC,3766,0.74,247.3,99.8,9.2,387,3790,0.00,2.35,18.20,0.972,4,0.000,0.077,3099,859,2020,0,0,0,0,0,0
$GC,3837,0.80,264.1,93.4,9.2,399,3861,0.00,2.33,16.40,0.954,6,0.000,0.063,3099,2280,1952,0,0,0,0,0,0
$GC,4201,0.85,273.6,59.0,9.6,463,4220,0.10,2.38,9.82,0.902,4,0.122,0.079,3141,3680,1913,0,0,0,0,0,0
$GC,4233,0.81,273.6,55.2,11.7,468,4240,0.00,2.30,0.00,0.000,6,0.000,0.064,3151,2276,1912,0,0,0,0,0,0
$GC,4578,0.76,273.6,12.5,11.7,529,4585,0.15,0.00,0.00,0.000,6,0.200,0.000,3115,2276,1910,0,0,0,0,0,0
$FREEZE,8.63,-1.748,-1.774,2,109,0
$STATE,4613,end climb,FINISH_DEPTH_REACHED
$STATE,4613,begin subsurface finish
$FINISH1,8.6,1.025979,75
$GC,4619,0.09,74.6,8.6,-9.4,535,4656,0.70,2.42,-30.30,0.000,4,0.167,0.092,2900,3687,2727,0,0,0,0,0,0
$FINISH2,7.6
$STATE,4656,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4657,begin surface
$RAFOS_CLK,277
$RAFOS,6,1302612544,12.833333,12.817778,81,60,58,56,55,54,751,212,1312,156,197,140
$RAFOS,5,1302612065,12.700000,12.684722,60,58,58,58,52,49,167,139,181,214,198,115
$RAFOS_FIX,6709.554688,-222019.468750,120411,040444,4,96,0.02
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.89
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.2,51.452
$10V_AH,10.1,26.548
$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,3.400,52.275,369.625,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1288.467,2104.162,387.095,888.937,78.180,0.000,906.752,0.000,888.086,360.000,2.811,0.000
$DEVICE_MAMPS,231.030,91.800,1126.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.316,395.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20105,541
$CAP_FILE_SIZE,60409,0
$CFSIZE,260165632,228384768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.1
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5