version: 66.08
glider: 141
mission: 15
dive: 323
start: 4 9 111 3 18 45
data:
$ID,141
$MISSION,15
$DIVE,323
$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,-35520.223
$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,19
$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,-200.000,0,4125.5,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.39
$_SM_ANGLEo,-2.1
$GPS2,240813,073118,-200.000,-200.000,0,4125.5,0,-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,-7.00,0.000,2,0.000,0.000,2895,3693,2992,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.9,-0.0,1,58,0.65,4.38,-18.17,0.000,4,0.110,0.070,2671,1069,3629,0,0,0,0,0,0
$GC,200,-0.54,-146.0,36.2,-16.9,31,207,0.00,2.35,0.00,0.000,6,0.000,0.068,2671,2495,3629,0,0,0,0,0,0
$GC,545,-0.40,-146.0,100.2,-18.8,92,550,0.25,2.35,0.00,0.000,4,0.232,0.081,2730,3907,3630,0,0,0,0,0,0
$GC,612,-0.48,-146.0,108.5,-10.0,97,619,0.00,2.25,0.00,0.000,6,0.000,0.053,2731,2484,3629,0,0,0,0,0,0
$GC,938,-0.53,-146.0,139.9,-9.5,128,939,0.12,0.00,0.00,0.000,6,0.131,0.000,2689,2484,3629,0,0,0,0,0,0
$GC,1257,-0.49,-146.0,180.6,-13.1,158,1261,0.00,2.28,0.00,0.000,4,0.000,0.071,2689,1075,3629,0,0,0,0,0,0
$GC,1297,-0.49,-146.0,185.9,-13.1,161,1304,0.00,2.33,0.00,0.000,6,0.000,0.068,2689,2495,3629,0,0,0,0,0,0
$GC,1622,-0.46,-146.0,225.8,-11.9,192,1626,0.00,2.33,0.00,0.000,4,0.000,0.083,2689,3905,3629,0,0,0,0,0,0
$GC,1696,-0.46,-146.0,234.2,-10.9,198,1700,0.00,2.22,0.00,0.000,6,0.000,0.053,2689,2490,3629,0,0,0,0,0,0
$STATE,1839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1839,begin apogee
$GC,1844,-0.12,0.0,250.3,11.1,211,1970,0.45,0.00,120.53,1.119,6,0.209,0.000,2813,2262,3030,0,0,0,0,0,0
$STATE,1971,end apogee,CONTROL_FINISHED_OK
$STATE,1971,begin climb
$GC,1973,0.62,146.0,255.7,0.0,222,2107,0.82,2.65,124.55,1.064,4,0.161,0.073,3051,3687,2433,0,0,0,0,0,0
$GC,2114,0.66,208.5,251.0,7.1,235,2180,0.00,2.50,56.80,1.021,6,0.000,0.058,3061,2286,2178,0,0,0,0,0,0
$GC,2498,0.66,208.5,212.7,10.2,271,2502,0.00,2.45,0.00,0.000,4,0.000,0.076,3072,863,2169,0,0,0,0,0,0
$GC,2509,0.66,208.5,211.6,10.3,272,2514,0.00,2.38,0.00,0.000,6,0.000,0.060,3072,2272,2167,0,0,0,0,0,0
$GC,2834,0.66,208.5,177.3,10.2,302,2838,0.00,2.38,0.00,0.000,4,0.000,0.076,3072,3698,2166,0,0,0,0,0,0
$GC,2843,0.66,208.5,176.2,10.3,302,2851,0.00,2.38,0.00,0.000,6,0.000,0.058,3082,2273,2167,0,0,0,0,0,0
$GC,3170,0.65,214.1,143.6,9.7,333,3174,0.00,2.33,0.00,0.000,4,0.000,0.076,3093,859,2165,0,0,0,0,0,0
$GC,3187,0.66,227.4,141.9,9.4,334,3210,0.00,2.30,15.35,0.975,6,0.000,0.062,3093,2278,2103,0,0,0,0,0,0
$GC,3527,0.66,227.4,107.8,10.3,366,3532,0.00,2.33,0.00,0.000,4,0.000,0.076,3092,3697,2100,0,0,0,0,0,0
$GC,3636,0.62,227.4,96.0,10.9,378,3643,0.15,2.30,0.00,0.000,6,0.191,0.061,3066,2274,2099,0,0,0,0,0,0
$GC,3985,0.77,299.4,70.6,6.7,439,4060,0.15,2.45,65.45,0.996,4,0.100,0.075,3136,865,1808,0,0,0,0,0,0
$GC,4068,0.77,299.4,61.2,12.3,453,4075,0.00,2.35,0.00,0.000,6,0.000,0.060,3136,2274,1806,0,0,0,0,0,0
$GC,4412,0.77,299.4,19.2,11.8,514,4419,0.00,2.35,0.00,0.000,4,0.000,0.076,3136,3686,1798,0,0,0,0,0,0
$GC,4448,0.72,299.4,14.5,13.5,520,4455,0.17,2.30,0.00,0.000,6,0.200,0.062,3103,2274,1798,0,0,0,0,0,0
$FREEZE,8.62,-1.745,-1.784,2,49,0
$STATE,4500,end climb,FINISH_DEPTH_REACHED
$STATE,4500,begin subsurface finish
$FINISH1,8.6,1.026120,68
$GC,4506,0.08,67.6,8.6,-9.3,529,4547,0.68,0.00,-36.05,0.000,6,0.158,0.000,2896,2274,2757,0,0,0,0,0,0
$FINISH2,7.6
$STATE,4548,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4548,begin surface
$RAFOS_CLK,269
$RAFOS,3,1302323103,4.433333,4.417500,67,56,56,55,53,52,200,162,135,123,146,219
$RAFOS,2,1302322629,4.300000,4.285833,72,58,57,55,53,52,686,154,190,222,207,132
$RAFOS,1,1302322143,4.166667,4.150833,111,61,58,55,54,53,606,157,214,203,167,226
$RAFOS,0,1302321670,4.033333,4.019444,171,64,64,60,56,51,611,218,205,115,175,149
$RAFOS_FIX,6652.485352,-6022.034668,090411,040444,3,118,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.029211
$HUMID,47.63
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$24V_AH,22.4,44.516
$10V_AH,10.1,24.419
$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,3.450,54.250,382.675,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1265.849,2018.312,402.222,861.606,81.003,0.000,912.023,0.000,864.912,1800.000,2.614,0.000
$DEVICE_MAMPS,231.795,82.620,1119.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.790,396.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20159,536
$CAP_FILE_SIZE,59086,0
$CFSIZE,260165632,230584320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.2
$GPS,240813,073118,-200.000,-200.000,0,4125.5,0,-37.5