version: 66.08
glider: 141
mission: 15
dive: 327
start: 4 9 111 8 58 28
data:
$ID,141
$MISSION,15
$DIVE,327
$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,-35888.793
$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,22
$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,9.11
$_SM_ANGLEo,-3.6
$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,-6.30,0.000,2,0.000,0.000,2896,2279,2965,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.5,-0.0,1,52,0.65,2.80,-18.05,0.000,4,0.093,0.095,2663,3905,3628,0,0,0,0,0,0
$GC,139,-0.52,-146.0,28.0,-18.8,20,146,0.12,2.25,0.00,0.000,6,0.229,0.056,2689,2489,3631,0,0,0,0,0,0
$GC,485,-0.42,-146.0,88.6,-17.2,81,492,0.15,2.30,0.00,0.000,4,0.243,0.071,2724,1073,3631,0,0,0,0,0,0
$GC,545,-0.47,-146.0,96.6,-10.8,91,551,0.00,2.30,0.00,0.000,6,0.000,0.068,2725,2488,3631,0,0,0,0,0,0
$GC,879,-0.51,-146.0,132.4,-10.2,125,883,0.00,2.38,0.00,0.000,4,0.000,0.085,2724,3901,3631,0,0,0,0,0,0
$GC,998,-0.59,-146.0,144.4,-9.3,135,1003,0.17,2.25,0.00,0.000,6,0.117,0.056,2666,2483,3631,0,0,0,0,0,0
$GC,1323,-0.50,-146.0,191.6,-14.4,165,1328,0.15,2.28,0.00,0.000,4,0.223,0.071,2700,1078,3630,0,0,0,0,0,0
$GC,1396,-0.53,-146.0,200.0,-10.6,171,1400,0.00,2.30,0.00,0.000,6,0.000,0.068,2700,2497,3629,0,0,0,0,0,0
$GC,1721,-0.53,-146.0,233.8,-10.4,201,1725,0.00,2.35,0.00,0.000,4,0.000,0.085,2700,3908,3630,0,0,0,0,0,0
$GC,1800,-0.58,-146.0,242.1,-10.8,208,1804,0.00,2.25,0.00,0.000,6,0.000,0.054,2700,2489,3629,0,0,0,0,0,0
$STATE,1884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1884,begin apogee
$GC,1890,-0.12,0.0,250.8,10.1,216,2021,0.40,0.00,120.82,1.119,6,0.207,0.000,2813,2259,3030,0,0,0,0,0,0
$STATE,2022,end apogee,CONTROL_FINISHED_OK
$STATE,2022,begin climb
$GC,2024,0.62,146.0,256.6,0.0,228,2155,0.82,0.00,124.80,1.071,6,0.162,0.000,3050,2259,2433,0,0,0,0,0,0
$GC,2473,0.67,191.0,227.1,7.9,271,2518,0.00,2.62,39.30,1.033,4,0.000,0.073,3050,3694,2250,0,0,0,0,0,0
$GC,2598,0.64,193.9,215.8,9.9,282,2603,0.00,2.42,0.00,0.000,6,0.000,0.061,3060,2278,2247,0,0,0,0,0,0
$GC,2925,0.67,216.3,186.7,9.0,312,2958,0.00,2.45,22.90,1.010,4,0.000,0.076,3071,859,2146,0,0,0,0,0,0
$GC,3116,0.74,248.1,169.5,8.5,329,3152,0.00,2.35,29.45,1.011,6,0.000,0.061,3071,2283,2017,0,0,0,0,0,0
$GC,3479,0.80,267.4,134.0,9.1,363,3503,0.15,2.47,18.12,0.976,4,0.099,0.076,3142,865,1938,0,0,0,0,0,0
$GC,3588,0.73,267.4,119.7,13.1,372,3596,0.15,2.35,0.00,0.000,6,0.212,0.060,3108,2281,1933,0,0,0,0,0,0
$GC,3921,0.75,276.4,85.6,9.6,416,3934,0.00,2.40,8.60,0.893,4,0.000,0.075,3108,3691,1903,0,0,0,0,0,0
$GC,3981,0.72,276.4,79.2,11.1,426,3988,0.00,2.30,0.00,0.000,6,0.000,0.061,3115,2274,1901,0,0,0,0,0,0
$GC,4328,0.75,300.7,47.7,8.9,487,4358,0.00,2.35,23.33,0.972,4,0.000,0.074,3124,862,1804,0,0,0,0,0,0
$GC,4371,0.78,309.0,43.4,9.6,494,4385,0.00,2.35,9.20,0.874,6,0.000,0.060,3124,2287,1769,0,0,0,0,0,0
$FREEZE,8.76,-1.748,-1.781,2,53,0
$STATE,4655,end climb,FINISH_DEPTH_REACHED
$STATE,4655,begin subsurface finish
$FINISH1,8.8,1.026069,70
$GC,4661,0.09,70.2,8.8,-11.8,544,4703,0.75,0.00,-37.83,0.000,6,0.165,0.000,2898,2287,2746,0,0,0,0,0,0
$FINISH2,7.3
$STATE,4704,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4704,begin surface
$RAFOS_CLK,276
$RAFOS_FIX,6654.114258,29942.980469,090411,080834,3,96,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,22.5,44.991
$10V_AH,10.1,24.572
$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,3.525,47.875,396.525,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1280.390,2068.156,407.373,924.504,78.281,0.000,935.567,0.000,921.320,0.000,2.613,0.000
$DEVICE_MAMPS,242.505,94.860,1119.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.009,403.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20129,551
$CAP_FILE_SIZE,60146,0
$CFSIZE,260165632,230440960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.9
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5