version: 66.08
glider: 141
mission: 15
dive: 108
start: 3 9 111 0 2 45
data:
$ID,141
$MISSION,15
$DIVE,108
$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,37
$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
$GPS1,080311,204656,6724.262,-5748.069,0,2118.0,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-8.8
$GPS2,080311,204656,6724.262,-5748.069,0,2118.0,0,-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,170.4,58586,-17.5,-10.000
$D_GRID,420
$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,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,47,0.00,0.38,-27.95,0.000,6,0.000,0.166,2856,2491,3626,0,0,0,0,0,0
$GC,49,-0.62,-146.0,1.9,-0.0,5,56,0.50,0.00,0.00,0.000,6,0.080,0.000,2666,2491,3626,0,0,0,0,0,0
$GC,393,-0.79,-146.0,1.8,0.2,66,400,0.17,0.00,0.00,0.000,6,0.104,0.000,2601,2491,3627,0,0,0,0,0,0
$GC,739,-0.96,-146.0,1.9,0.0,127,746,0.12,0.00,0.00,0.000,6,0.121,0.000,2551,2491,3627,0,0,0,0,0,0
$GC,1083,-1.13,-146.0,1.9,-0.1,188,1089,0.15,0.00,0.00,0.000,6,0.115,0.000,2496,2491,3627,0,0,0,0,0,0
$GC,1429,-1.29,-146.0,1.8,0.2,249,1435,0.15,0.00,0.00,0.000,6,0.116,0.000,2439,2491,3627,0,0,0,0,0,0
$GC,1774,-1.46,-146.0,1.8,0.0,310,1781,0.12,0.00,0.00,0.000,6,0.125,0.000,2392,2491,3627,0,0,0,0,0,0
$GC,2120,-1.62,-146.0,1.9,-0.4,371,2126,0.15,0.00,0.00,0.000,6,0.109,0.000,2336,2491,3627,0,0,0,0,0,0
$GC,2464,-1.79,-146.0,1.9,-0.4,432,2471,0.12,0.00,0.00,0.000,6,0.118,0.000,2288,2491,3627,0,0,0,0,0,0
$GC,2808,-1.95,-146.0,1.9,-0.3,493,2815,0.15,0.00,0.00,0.000,6,0.113,0.000,2231,2491,3627,0,0,0,0,0,0
$GC,3153,-2.11,-146.0,1.9,-0.1,554,3159,0.12,0.00,0.00,0.000,6,0.125,0.000,2185,2491,3628,0,0,0,0,0,0
$GC,3498,-2.11,-146.0,1.9,-0.0,615,3505,0.00,2.30,0.00,0.000,4,0.000,0.085,2185,3903,3627,0,0,0,0,0,0
$GC,3586,-2.27,-146.0,1.9,0.0,630,3594,0.15,2.15,0.00,0.000,6,0.121,0.045,2134,2495,3627,0,0,0,0,0,0
$GC,3934,-2.43,-146.0,1.9,0.3,691,3941,0.15,2.35,0.00,0.000,4,0.114,0.083,2079,3903,3628,0,0,0,0,0,0
$GC,3949,-2.59,-146.0,1.9,-0.2,693,3956,0.12,2.15,0.00,0.000,6,0.129,0.044,2035,2489,3627,0,0,0,0,0,0
$GC,4295,-2.59,-146.0,1.8,-0.0,754,4302,0.00,2.35,0.00,0.000,4,0.000,0.084,2035,3903,3627,0,0,0,0,0,0
$GC,4309,-2.73,-146.0,1.8,0.8,756,4316,0.15,2.17,0.00,0.000,6,0.125,0.044,1984,2487,3627,0,0,0,0,0,0
$GC,4656,-2.87,-146.0,1.9,0.1,817,4664,0.12,2.38,0.00,0.000,4,0.129,0.084,1939,3903,3627,0,0,0,0,0,0
$GC,4671,-3.01,-146.0,1.9,0.1,819,4679,0.12,2.17,0.00,0.000,6,0.135,0.044,1898,2480,3627,0,0,0,0,0,0
$GC,5020,-3.01,-146.0,1.9,0.3,880,5027,0.00,2.35,0.00,0.000,4,0.000,0.085,1897,3902,3627,0,0,0,0,0,0
$GC,5034,-3.01,-146.0,1.8,0.5,882,5041,0.00,2.17,0.00,0.000,6,0.000,0.045,1898,2489,3627,0,0,0,0,0,0
$GC,5380,-3.01,-146.0,1.9,-1.3,943,5387,0.00,2.35,0.00,0.000,4,0.000,0.085,1898,3901,3627,0,0,0,0,0,0
$GC,5445,-3.01,-146.0,1.8,-0.0,954,5451,0.00,2.20,0.00,0.000,6,0.000,0.046,1897,2478,3628,0,0,0,0,0,0
$GC,5789,-3.01,-146.0,1.8,1.0,1015,5796,0.00,2.38,0.00,0.000,4,0.000,0.086,1897,3901,3627,0,0,0,0,0,0
$GC,5843,-3.01,-146.0,1.9,-0.0,1024,5850,0.00,2.17,0.00,0.000,6,0.000,0.045,1898,2478,3627,0,0,0,0,0,0
$GC,6188,-3.01,-146.0,1.9,-1.0,1085,6195,0.00,2.35,0.00,0.000,4,0.000,0.084,1897,3894,3628,0,0,0,0,0,0
$GC,6208,-3.01,-146.0,1.9,-0.2,1088,6215,0.00,2.15,0.00,0.000,6,0.000,0.044,1897,2486,3627,0,0,0,0,0,0
$GC,6554,-3.01,-146.0,1.9,0.1,1149,6561,0.00,2.35,0.00,0.000,4,0.000,0.087,1897,3903,3627,0,0,0,0,0,0
$GC,6590,-3.01,-146.0,1.9,-0.0,1155,6597,0.00,2.15,0.00,0.000,6,0.000,0.045,1898,2492,3627,0,0,0,0,0,0
$GC,6936,-3.01,-146.0,2.0,-0.1,1216,6942,0.00,2.35,0.00,0.000,4,0.000,0.086,1897,3900,3627,0,0,0,0,0,0
$GC,6966,-3.01,-146.0,1.9,-0.0,1221,6973,0.00,2.17,0.00,0.000,6,0.000,0.045,1898,2478,3627,0,0,0,0,0,0
$GC,7313,-3.01,-146.0,1.8,0.2,1282,7320,0.00,2.38,0.00,0.000,4,0.000,0.086,1898,3900,3627,0,0,0,0,0,0
$GC,7355,-3.01,-146.0,1.8,0.2,1289,7362,0.00,2.15,0.00,0.000,6,0.000,0.044,1897,2488,3627,0,0,0,0,0,0
$GC,7700,-3.01,-146.0,1.8,0.2,1350,7707,0.00,2.35,0.00,0.000,4,0.000,0.085,1897,3897,3627,0,0,0,0,0,0
$GC,7716,-3.01,-146.0,1.9,-0.0,1352,7723,0.00,2.15,0.00,0.000,6,0.000,0.044,1898,2492,3628,0,0,0,0,0,0
$GC,8061,-3.01,-146.0,1.9,-0.2,1413,8068,0.00,2.30,0.00,0.000,4,0.000,0.083,1898,3895,3627,0,0,0,0,0,0
$GC,8075,-3.01,-146.0,1.9,-0.0,1415,8082,0.00,2.17,0.00,0.000,6,0.000,0.045,1898,2489,3627,0,0,0,0,0,0
$GC,8420,-3.01,-146.0,1.9,0.1,1476,8426,0.00,2.33,0.00,0.000,4,0.000,0.086,1897,3895,3627,0,0,0,0,0,0
$GC,8524,-3.01,-146.0,1.9,-0.3,1494,8531,0.00,2.15,0.00,0.000,6,0.000,0.046,1898,2489,3627,0,0,0,0,0,0
$GC,8870,-3.01,-146.0,1.9,0.2,1555,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2489,3627,0,0,0,0,0,0
$GC,9216,-3.01,-146.0,1.9,-0.4,1616,9222,0.00,2.35,0.00,0.000,4,0.000,0.084,1898,3899,3627,0,0,0,0,0,0
$GC,9230,-3.01,-146.0,1.8,0.2,1618,9237,0.00,2.17,0.00,0.000,6,0.000,0.046,1897,2480,3627,0,0,0,0,0,0
$GC,9575,-3.01,-146.0,1.9,-0.2,1679,9582,0.00,2.35,0.00,0.000,4,0.000,0.085,1898,3903,3628,0,0,0,0,0,0
$GC,9591,-3.01,-146.0,1.9,-0.0,1681,9597,0.00,2.15,0.00,0.000,6,0.000,0.044,1897,2489,3627,0,0,0,0,0,0
$GC,9936,-3.01,-146.0,1.9,0.3,1742,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,2489,3627,0,0,0,0,0,0
$GC,10280,-3.01,-146.0,2.0,-0.5,1803,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2489,3627,0,0,0,0,0,0
$GC,10626,-3.01,-146.0,1.8,1.6,1864,10632,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,2489,3627,0,0,0,0,0,0
$GC,10971,-3.01,-146.0,1.8,0.1,1925,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2489,3627,0,0,0,0,0,0
$GC,11316,-3.01,-146.0,1.9,-0.8,1986,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,2489,3627,0,0,0,0,0,0
$GC,11662,-3.01,-146.0,1.9,-0.0,2047,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,2489,3628,0,0,0,0,0,0
$STATE,12005,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12005,begin apogee
$FREEZE,1.89,0.000,0.000,2,4,0
$GC,12011,-0.12,0.0,1.9,0.1,2108,12022,2.97,0.00,6.10,0.076,2,0.171,0.000,2818,2266,3568,0,0,0,0,0,0
$STATE,12023,end apogee,FINISH_DEPTH_REACHED
$STATE,12023,begin subsurface finish
$FINISH1,1.9,1.027500,0
$GC,12029,0.00,0.0,1.9,0.1,2109,12094,0.15,2.30,54.72,0.072,4,0.201,0.073,2859,881,3027,0,0,0,0,0,0
$FINISH2,1.9
$STATE,12095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12095,begin surface
$RAFOS_CLK,671
$RAFOS,6,1299631743,0.833333,0.817500,116,67,64,63,56,55,717,206,126,192,221,149
$RAFOS,5,1299631263,0.700000,0.684167,151,55,55,55,52,52,719,201,214,166,223,129
$RAFOS,4,1299630784,0.566667,0.551111,69,60,56,53,53,50,205,117,163,181,1768,217
$RAFOS,3,1299630306,0.433333,0.418333,60,59,59,57,56,54,195,175,218,208,185,152
$RAFOS,2,1299629822,0.300000,0.283889,66,61,55,54,52,51,216,190,126,116,177,159
$RAFOS,1,1299629345,0.166667,0.151389,64,55,52,51,50,49,221,197,163,184,120,149
$RAFOS_FIX,6725.191895,-5745.619629,090311,000056,2,134,0.17
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026215
$HUMID,48.03
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,26.0,17.482
$10V_AH,10.3,9.587
$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,5.725,75.175,60.825,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4914.791,3716.511,271.139,3050.648,206.183,0.000,1696.729,0.000,3014.614,2160.000,2.807,0.000
$DEVICE_MAMPS,201.195,166.005,76.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1548.942,1548.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150720
$DATA_FILE_SIZE,76585,2120
$CAP_FILE_SIZE,161095,0
$CFSIZE,260165632,244350976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,090311,004656,6725.192,-5745.620,0,2133.5,0,-38.2