version: 66.08
glider: 141
mission: 15
dive: 375
start: 4 12 111 2 12 27
data:
$ID,141
$MISSION,15
$DIVE,375
$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,21
$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,3.74
$_SM_ANGLEo,-69.0
$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,15,-0.62,-146.0,0.0,0.0,0,155,0.00,0.00,-137.20,0.000,2,0.000,0.000,104,2501,3083,0,0,0,0,0,0
$GC,159,-0.62,-146.0,5.0,-10.1,24,196,13.30,2.38,-13.75,0.000,4,0.335,0.086,2652,1085,3631,0,0,0,0,0,0
$GC,366,-0.51,-146.0,49.2,-18.1,60,374,0.17,2.33,0.00,0.000,6,0.219,0.073,2694,2490,3632,0,0,0,0,0,0
$GC,711,-0.45,-146.0,103.2,-14.5,119,715,0.00,2.40,0.00,0.000,4,0.000,0.088,2695,3910,3632,0,0,0,0,0,0
$GC,816,-0.45,-146.0,117.0,-12.1,128,823,0.00,2.30,0.00,0.000,6,0.000,0.057,2695,2488,3632,0,0,0,0,0,0
$GC,1143,-0.45,-146.0,158.5,-11.4,159,1147,0.00,2.30,0.00,0.000,4,0.000,0.075,2695,1072,3632,0,0,0,0,0,0
$GC,1209,-0.48,-146.0,166.6,-11.5,164,1217,0.00,2.33,0.00,0.000,6,0.000,0.071,2695,2491,3631,0,0,0,0,0,0
$GC,1534,-0.48,-146.0,201.8,-10.4,195,1538,0.00,2.35,0.00,0.000,4,0.000,0.088,2695,3899,3631,0,0,0,0,0,0
$GC,1623,-0.51,-146.0,210.8,-10.3,202,1630,0.00,2.25,0.00,0.000,6,0.000,0.057,2695,2476,3631,0,0,0,0,0,0
$GC,1950,-0.51,-146.0,245.2,-10.4,233,1954,0.00,2.38,0.00,0.000,4,0.000,0.084,2695,3906,3631,0,0,0,0,0,0
$GC,1979,-0.54,-146.0,248.2,-10.3,235,1983,0.00,2.25,0.00,0.000,6,0.000,0.057,2695,2488,3631,0,0,0,0,0,0
$STATE,2000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2000,begin apogee
$GC,2005,-0.12,0.0,250.6,10.0,237,2132,0.43,0.00,121.38,1.123,6,0.196,0.000,2817,2262,3030,0,0,0,0,0,0
$STATE,2133,end apogee,CONTROL_FINISHED_OK
$STATE,2133,begin climb
$GC,2135,0.62,146.0,255.7,0.0,248,2271,0.80,2.62,125.25,1.067,4,0.155,0.080,3059,881,2433,0,0,0,0,0,0
$GC,2484,0.65,175.2,233.0,8.7,279,2516,0.00,2.40,25.92,1.010,6,0.000,0.065,3059,2276,2314,0,0,0,0,0,0
$GC,2842,0.67,190.3,199.3,9.3,313,2865,0.00,2.47,13.75,0.971,4,0.000,0.079,3069,880,2252,0,0,0,0,0,0
$GC,2990,0.69,203.3,185.2,9.4,326,3008,0.00,2.33,12.70,0.964,6,0.000,0.064,3069,2278,2201,0,0,0,0,0,0
$GC,3327,0.69,207.1,152.1,9.8,357,3337,0.00,0.00,4.68,0.729,6,0.000,0.000,3069,2278,2184,0,0,0,0,0,0
$GC,3657,0.73,239.5,122.9,8.5,388,3694,0.00,2.42,30.30,1.004,4,0.000,0.079,3069,3684,2052,0,0,0,0,0,0
$GC,3706,0.81,280.1,118.6,8.1,392,3749,0.12,2.33,37.83,0.982,6,0.108,0.063,3128,2274,1888,0,0,0,0,0,0
$GC,4082,0.79,280.1,73.7,11.5,445,4089,0.00,2.33,0.00,0.000,4,0.000,0.078,3139,865,1878,0,0,0,0,0,0
$GC,4096,0.76,280.1,72.1,11.4,447,4102,0.00,2.33,0.00,0.000,6,0.000,0.061,3139,2279,1878,0,0,0,0,0,0
$GC,4442,0.74,280.1,30.6,11.4,508,4449,0.12,0.00,0.00,0.000,6,0.201,0.000,3109,2279,1877,0,0,0,0,0,0
$FREEZE,9.00,-1.749,-1.783,2,101,0
$STATE,4662,end climb,FINISH_DEPTH_REACHED
$STATE,4662,begin subsurface finish
$FINISH1,9.0,1.026105,68
$GC,4668,0.08,68.4,9.0,-9.8,547,4711,0.68,2.38,-31.52,0.000,4,0.164,0.095,2899,3682,2755,0,0,0,0,0,0
$FINISH2,7.9
$STATE,4711,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4712,begin surface
$RAFOS_CLK,310
$RAFOS_FIX,6709.945801,-6013.312500,120411,000040,4,112,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.22
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$24V_AH,22.2,50.545
$10V_AH,10.0,26.279
$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,15.625,45.200,371.800,0.000,0.000,98.438,17.399,0.000,0.250,0.000,183.290,1264.470,2122.302,484.163,1252.901,286.380,0.000,1047.638,0.000,944.094,0.000,2.613,0.000
$DEVICE_MAMPS,335.070,94.860,1123.020,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,395.036,407.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20111,554
$CAP_FILE_SIZE,64585,0
$CFSIZE,260165632,228671488
$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