version: 66.08
glider: 141
mission: 15
dive: 105
start: 3 8 111 13 53 17
data:
$ID,141
$MISSION,15
$DIVE,105
$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,-3
$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,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-26100.58
$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,40
$R_STBD_OVSHOOT,43
$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
$GPS1,080311,133824,6723.491,-5739.756,24,1.6,42,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-25.2
$GPS2,080311,135246,6723.627,-5739.871,16,99.0,35,-38.2
$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,173.8,53502,-17.5,-10.000
$D_GRID,344
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,244,0.00,0.00,-218.73,0.000,6,0.000,0.000,108,2500,3626,0,0,0,0,0,0
$GC,247,-0.62,-146.0,1.8,-0.2,44,259,8.82,0.00,0.00,0.000,6,0.194,0.000,2659,2501,3627,0,0,0,0,0,0
$GC,597,-0.81,-146.0,1.7,-0.2,106,604,0.17,2.25,0.00,0.000,4,0.101,0.068,2597,3881,3628,0,0,0,0,0,0
$GC,672,-0.99,-146.0,1.6,-0.2,119,680,0.15,2.12,0.00,0.000,6,0.109,0.033,2544,2473,3627,0,0,0,0,0,0
$GC,1018,-1.18,-146.0,1.6,-0.1,180,1025,0.17,2.33,0.00,0.000,4,0.099,0.070,2478,3891,3627,0,0,0,0,0,0
$GC,1032,-1.36,-146.0,1.6,0.0,182,1039,0.15,2.10,0.00,0.000,6,0.116,0.035,2423,2491,3627,0,0,0,0,0,0
$GC,1379,-1.53,-146.0,1.6,0.0,243,1385,0.15,2.25,0.00,0.000,4,0.112,0.066,2367,3882,3627,0,0,0,0,0,0
$GC,1415,-1.70,-146.0,1.7,-0.3,249,1422,0.15,2.10,0.00,0.000,6,0.112,0.036,2312,2480,3626,0,0,0,0,0,0
$GC,1761,-1.87,-146.0,1.7,-0.1,310,1768,0.12,2.30,0.00,0.000,4,0.118,0.071,2263,3886,3626,0,0,0,0,0,0
$GC,1775,-2.03,-146.0,1.7,-0.1,312,1782,0.15,2.10,0.00,0.000,6,0.114,0.037,2208,2489,3626,0,0,0,0,0,0
$GC,2121,-2.18,-146.0,1.6,-0.0,373,2128,0.12,2.25,0.00,0.000,4,0.126,0.070,2163,3880,3625,0,0,0,0,0,0
$GC,2135,-2.33,-146.0,1.6,0.3,375,2142,0.15,2.12,0.00,0.000,6,0.119,0.037,2110,2480,3625,0,0,0,0,0,0
$GC,2480,-2.47,-146.0,1.8,0.0,436,2487,0.12,2.30,0.00,0.000,4,0.127,0.070,2064,3890,3625,0,0,0,0,0,0
$GC,2522,-2.60,-146.0,1.7,0.0,443,2529,0.00,2.10,0.00,0.000,6,0.000,0.037,2064,2487,3625,0,0,0,0,0,0
$GC,2867,-2.73,-146.0,1.7,1.7,504,2874,0.22,2.25,0.00,0.000,4,0.107,0.073,1984,3880,3624,0,0,0,0,0,0
$GC,3006,-2.73,-146.0,1.8,-0.0,528,3012,0.00,2.08,0.00,0.000,6,0.000,0.037,1984,2492,3624,0,0,0,0,0,0
$GC,3351,-2.84,-146.0,1.8,-0.1,589,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2492,3624,0,0,0,0,0,0
$GC,3694,-2.95,-146.0,1.8,-1.3,650,3701,0.20,2.28,0.00,0.000,4,0.113,0.075,1914,3881,3623,0,0,0,0,0,0
$GC,3708,-3.06,-146.0,1.7,0.3,652,3715,0.00,2.10,0.00,0.000,6,0.000,0.037,1915,2478,3623,0,0,0,0,0,0
$GC,4053,-3.06,-146.0,1.7,-0.1,713,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2478,3623,0,0,0,0,0,0
$GC,4396,-3.06,-146.0,1.8,0.2,774,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3623,0,0,0,0,0,0
$GC,4740,-3.06,-146.0,1.7,-0.0,835,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2478,3622,0,0,0,0,0,0
$GC,5084,-3.06,-146.0,1.8,0.0,896,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3622,0,0,0,0,0,0
$GC,5427,-3.06,-146.0,1.8,-0.2,957,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3621,0,0,0,0,0,0
$GC,5772,-3.06,-146.0,1.8,-0.0,1018,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3621,0,0,0,0,0,0
$GC,6115,-3.06,-146.0,1.8,0.0,1079,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3621,0,0,0,0,0,0
$GC,6460,-3.06,-146.0,1.9,-0.0,1140,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3621,0,0,0,0,0,0
$GC,6803,-3.06,-146.0,1.8,-0.0,1201,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3621,0,0,0,0,0,0
$GC,7147,-3.06,-146.0,1.7,0.3,1262,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2478,3621,0,0,0,0,0,0
$GC,7491,-3.06,-146.0,1.8,0.8,1323,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2478,3621,0,0,0,0,0,0
$GC,7835,-3.06,-146.0,1.9,-0.1,1384,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2478,3620,0,0,0,0,0,0
$GC,8178,-3.06,-146.0,1.8,-0.2,1445,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3620,0,0,0,0,0,0
$GC,8524,-3.06,-146.0,1.8,-0.1,1506,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3620,0,0,0,0,0,0
$GC,8867,-3.06,-146.0,1.8,-0.0,1567,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3620,0,0,0,0,0,0
$GC,9211,-3.06,-146.0,1.8,-0.1,1628,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2478,3620,0,0,0,0,0,0
$GC,9554,-3.06,-146.0,1.8,-0.1,1689,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3620,0,0,0,0,0,0
$GC,9898,-3.06,-146.0,1.8,0.1,1750,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2478,3620,0,0,0,0,0,0
$GC,10244,-3.06,-146.0,1.8,0.1,1811,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3620,0,0,0,0,0,0
$GC,10590,-3.06,-146.0,1.8,-0.1,1872,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3620,0,0,0,0,0,0
$GC,10934,-3.06,-146.0,1.9,-0.0,1933,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2478,3620,0,0,0,0,0,0
$GC,11278,-3.06,-146.0,1.8,-0.1,1994,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3620,0,0,0,0,0,0
$GC,11624,-3.06,-146.0,1.9,-0.5,2055,11630,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2478,3620,0,0,0,0,0,0
$GC,11969,-3.06,-146.0,1.9,-0.1,2116,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2478,3620,0,0,0,0,0,0
$STATE,12007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12007,begin apogee
$FREEZE,1.90,0.000,0.000,3,1,0
$GC,12012,-0.12,0.0,2.0,0.0,2123,12023,2.90,0.00,5.65,0.076,2,0.179,0.000,2815,2265,3564,0,0,0,0,0,0
$STATE,12024,end apogee,FINISH_DEPTH_REACHED
$STATE,12025,begin subsurface finish
$FINISH1,1.9,1.027500,0
$GC,12030,0.00,0.0,1.9,0.0,2124,12089,0.15,0.00,53.78,0.072,6,0.203,0.000,2856,2264,3029,0,0,0,0,0,0
$FINISH2,1.9
$STATE,12089,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12090,begin surface
$RAFOS_CLK,595
$RAFOS,6,1299602942,16.833334,16.817223,118,64,61,59,56,53,705,185,216,152,162,131
$RAFOS,5,1299602462,16.700001,16.683889,63,60,59,59,54,49,714,211,155,191,145,90
$RAFOS,4,1299601984,16.566668,16.551111,63,60,56,55,54,50,209,198,119,170,142,185
$RAFOS,3,1299601504,16.433332,16.417778,60,59,58,57,51,51,197,142,181,208,131,222
$RAFOS,2,1299601021,16.299999,16.283611,66,61,61,56,52,49,213,181,123,192,147,166
$RAFOS,1,1299600545,16.166666,16.151388,62,53,50,50,49,46,213,194,130,1241,171,139
$RAFOS,0,1299600061,16.033333,16.016945,69,66,58,58,54,50,187,149,167,219,158,244
$RAFOS_FIX,6723.067871,-5749.549805,080311,161656,2,90,0.67
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026964
$HUMID,48.46
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,25.7,17.476
$10V_AH,10.4,9.272
$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,13.925,35.325,59.425,0.000,0.000,27.100,19.398,543.452,0.250,0.000,38.239,4544.893,4003.382,367.098,3651.131,404.207,0.000,1820.652,0.000,3033.233,2520.000,2.811,0.000
$DEVICE_MAMPS,203.490,74.970,75.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1548.842,1592.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,79861,2134
$CAP_FILE_SIZE,165193,0
$CFSIZE,260165632,244572160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,080311,164656,6723.068,-5749.550,0,2090.5,0,-38.2