version: 66.08
glider: 141
mission: 15
dive: 325
start: 4 9 111 6 17 8
data:
$ID,141
$MISSION,15
$DIVE,325
$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,23
$R_STBD_OVSHOOT,18
$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,3.32
$_SM_ANGLEo,-57.5
$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,-146.0,0.0,0.0,0,168,0.00,0.00,-148.12,0.000,2,0.000,0.000,110,2482,3155,0,0,0,0,0,0
$GC,170,-0.62,-146.0,5.5,-7.2,26,202,13.35,2.28,-10.82,0.000,4,0.337,0.082,2650,1079,3627,0,0,0,0,0,0
$GC,304,-0.50,-146.0,38.9,-19.5,49,312,0.20,2.30,0.00,0.000,6,0.220,0.068,2700,2490,3629,0,0,0,0,0,0
$GC,650,-0.42,-146.0,95.4,-15.3,110,657,0.00,2.38,0.00,0.000,4,0.000,0.083,2700,3910,3629,0,0,0,0,0,0
$GC,758,-0.40,-146.0,110.5,-12.9,122,766,0.12,2.28,0.00,0.000,6,0.216,0.054,2729,2480,3630,0,0,0,0,0,0
$GC,1084,-0.45,-146.0,143.0,-9.1,153,1088,0.00,2.38,0.00,0.000,4,0.000,0.083,2729,3900,3629,0,0,0,0,0,0
$GC,1156,-0.54,-146.0,149.5,-9.4,159,1163,0.12,2.22,0.00,0.000,6,0.125,0.054,2687,2489,3629,0,0,0,0,0,0
$GC,1483,-0.50,-146.0,191.2,-12.4,190,1487,0.00,2.28,0.00,0.000,4,0.000,0.072,2687,1074,3629,0,0,0,0,0,0
$GC,1533,-0.50,-146.0,197.7,-11.6,194,1538,0.00,2.30,0.00,0.000,6,0.000,0.069,2687,2489,3628,0,0,0,0,0,0
$GC,1859,-0.47,-146.0,238.2,-12.2,224,1863,0.00,2.38,0.00,0.000,4,0.000,0.086,2687,3899,3629,0,0,0,0,0,0
$GC,1904,-0.47,-146.0,243.8,-11.8,228,1908,0.00,2.25,0.00,0.000,6,0.000,0.055,2687,2480,3628,0,0,0,0,0,0
$STATE,1961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1961,begin apogee
$GC,1967,-0.12,0.0,250.9,12.1,233,2093,0.45,0.00,120.72,1.129,6,0.205,0.000,2810,2270,3030,0,0,0,0,0,0
$STATE,2094,end apogee,CONTROL_FINISHED_OK
$STATE,2094,begin climb
$GC,2096,0.62,146.0,257.3,0.0,244,2229,0.85,2.65,125.20,1.071,4,0.165,0.074,3052,3687,2433,0,0,0,0,0,0
$GC,2238,0.64,207.7,252.8,7.2,258,2304,0.00,2.53,55.60,1.032,6,0.000,0.062,3063,2284,2182,0,0,0,0,0,0
$GC,2622,0.64,210.0,215.8,9.9,294,2626,0.00,2.45,0.00,0.000,4,0.000,0.079,3074,865,2171,0,0,0,0,0,0
$GC,2657,0.65,214.1,212.5,9.8,297,2669,0.00,2.40,5.07,0.746,6,0.000,0.064,3074,2276,2157,0,0,0,0,0,0
$GC,2987,0.65,214.1,177.8,10.3,328,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2275,2155,0,0,0,0,0,0
$GC,3308,0.65,214.1,146.4,10.0,358,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2276,2154,0,0,0,0,0,0
$GC,3625,0.68,235.5,115.9,9.0,388,3652,0.00,2.42,19.95,0.997,4,0.000,0.079,3074,3690,2070,0,0,0,0,0,0
$GC,3716,0.70,256.9,107.6,9.0,396,3742,0.00,2.33,20.75,0.983,6,0.000,0.063,3083,2272,1982,0,0,0,0,0,0
$GC,4079,0.79,291.4,77.0,8.4,453,4122,0.10,2.42,31.98,0.981,4,0.126,0.077,3137,865,1841,0,0,0,0,0,0
$GC,4129,0.76,291.4,71.8,11.1,461,4136,0.00,2.35,0.00,0.000,6,0.000,0.062,3137,2283,1839,0,0,0,0,0,0
$GC,4475,0.76,291.4,32.1,10.5,522,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2283,1834,0,0,0,0,0,0
$FREEZE,8.82,-1.747,-1.782,2,51,0
$STATE,4684,end climb,FINISH_DEPTH_REACHED
$STATE,4684,begin subsurface finish
$FINISH1,8.8,1.026084,69
$GC,4689,0.09,69.4,8.8,-11.1,559,4732,0.80,2.42,-35.78,0.000,4,0.175,0.087,2900,863,2750,0,0,0,0,0,0
$FINISH2,7.0
$STATE,4733,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4733,begin surface
$RAFOS_CLK,309
$RAFOS_FIX,6653.587891,-6017.632324,090411,040432,5,109,0.00
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.026215
$HUMID,48.38
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.4
$24V_AH,22.3,44.757
$10V_AH,10.0,24.504
$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,16.000,45.325,379.275,0.000,0.000,99.332,17.153,0.000,0.250,0.000,183.284,1264.700,2165.145,505.317,1209.024,313.912,0.000,1045.920,0.000,905.240,0.000,2.612,0.000
$DEVICE_MAMPS,337.365,87.210,1129.140,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.031,418.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20078,566
$CAP_FILE_SIZE,64923,0
$CFSIZE,260165632,230510592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.7
$GPS,240813,073118,-200.000,-200.000,181,99.0,181,-37.5