version: 66.08
glider: 141
mission: 15
dive: 110
start: 3 9 111 6 49 30
data:
$ID,141
$MISSION,15
$DIVE,110
$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,22
$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
$GPS1,090311,044800,6727.329,-5742.913,0,2117.0,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-8.7
$GPS2,090311,044800,6727.329,-5742.913,0,2117.0,0,-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,176.8,60022,-17.5,-10.000
$D_GRID,233
$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,-146.0,0.0,0.0,0,35,0.00,0.38,-16.65,0.000,6,0.000,0.164,2862,2497,3626,0,0,0,0,0,0
$GC,38,-0.62,-146.0,1.9,-0.5,3,44,0.52,0.00,0.00,0.000,6,0.080,0.000,2665,2497,3626,0,0,0,0,0,0
$GC,383,-0.79,-146.0,1.9,0.1,64,390,0.17,0.00,0.00,0.000,6,0.102,0.000,2600,2497,3627,0,0,0,0,0,0
$GC,729,-0.96,-146.0,1.9,0.2,125,736,0.12,0.00,0.00,0.000,6,0.116,0.000,2552,2497,3627,0,0,0,0,0,0
$GC,1075,-1.14,-146.0,1.9,-0.0,186,1082,0.15,0.00,0.00,0.000,6,0.116,0.000,2497,2497,3627,0,0,0,0,0,0
$GC,1420,-1.31,-146.0,1.9,-0.1,247,1427,0.15,0.00,0.00,0.000,6,0.117,0.000,2441,2497,3627,0,0,0,0,0,0
$GC,1766,-1.31,-146.0,1.9,-0.0,308,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2497,3627,0,0,0,0,0,0
$GC,2111,-1.48,-146.0,1.9,-0.0,369,2117,0.15,0.00,0.00,0.000,6,0.115,0.000,2385,2497,3627,0,0,0,0,0,0
$GC,2456,-1.65,-146.0,1.9,-0.4,430,2463,0.15,0.00,0.00,0.000,6,0.114,0.000,2329,2497,3627,0,0,0,0,0,0
$GC,2803,-1.83,-146.0,1.9,-0.2,491,2809,0.15,0.00,0.00,0.000,6,0.116,0.000,2272,2497,3627,0,0,0,0,0,0
$GC,3148,-1.99,-146.0,1.9,-0.2,552,3154,0.15,0.00,0.00,0.000,6,0.116,0.000,2217,2497,3627,0,0,0,0,0,0
$GC,3493,-2.16,-146.0,1.9,0.1,613,3500,0.15,0.00,0.00,0.000,6,0.113,0.000,2161,2497,3627,0,0,0,0,0,0
$GC,3840,-2.33,-146.0,1.9,-0.0,674,3846,0.12,0.00,0.00,0.000,6,0.121,0.000,2115,2497,3627,0,0,0,0,0,0
$GC,4185,-2.33,-146.0,1.9,-0.0,735,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2497,3627,0,0,0,0,0,0
$GC,4529,-2.50,-146.0,1.8,0.2,796,4535,0.15,0.00,0.00,0.000,6,0.115,0.000,2059,2497,3627,0,0,0,0,0,0
$GC,4874,-2.67,-146.0,1.9,0.1,857,4880,0.15,0.00,0.00,0.000,6,0.113,0.000,2001,2497,3627,0,0,0,0,0,0
$GC,5218,-2.84,-146.0,1.9,0.1,918,5225,0.15,0.00,0.00,0.000,6,0.114,0.000,1945,2497,3627,0,0,0,0,0,0
$GC,5562,-3.01,-146.0,1.9,-0.1,979,5569,0.15,0.00,0.00,0.000,6,0.113,0.000,1890,2497,3627,0,0,0,0,0,0
$GC,5907,-3.01,-146.0,1.9,-0.0,1040,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2497,3627,0,0,0,0,0,0
$GC,6250,-3.01,-146.0,1.9,0.5,1101,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2497,3627,0,0,0,0,0,0
$GC,6594,-3.01,-146.0,1.9,-0.5,1162,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2497,3627,0,0,0,0,0,0
$GC,6938,-3.01,-146.0,2.0,-0.2,1223,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2497,3627,0,0,0,0,0,0
$GC,7281,-3.01,-146.0,2.0,-0.2,1284,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2497,3627,0,0,0,0,0,0
$GC,7625,-3.01,-146.0,1.8,0.4,1345,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2497,3627,0,0,0,0,0,0
$GC,7969,-3.01,-146.0,1.9,-0.3,1406,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2497,3627,0,0,0,0,0,0
$GC,8314,-3.01,-146.0,1.9,-0.1,1467,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2497,3627,0,0,0,0,0,0
$GC,8658,-3.01,-146.0,1.9,-0.0,1528,8665,0.00,2.25,0.00,0.000,4,0.000,0.073,1890,1096,3627,0,0,0,0,0,0
$GC,8920,-3.01,-146.0,1.9,-0.4,1574,8927,0.00,2.20,0.00,0.000,6,0.000,0.057,1890,2498,3627,0,0,0,0,0,0
$GC,9265,-3.01,-146.0,1.9,-0.1,1635,9272,0.00,2.28,0.00,0.000,4,0.000,0.073,1890,1095,3627,0,0,0,0,0,0
$GC,9527,-3.01,-146.0,1.9,-0.1,1681,9534,0.00,2.20,0.00,0.000,6,0.000,0.057,1890,2498,3628,0,0,0,0,0,0
$GC,9873,-3.01,-146.0,1.9,0.1,1742,9879,0.00,2.25,0.00,0.000,4,0.000,0.072,1890,1096,3627,0,0,0,0,0,0
$GC,10133,-3.01,-146.0,1.9,0.0,1788,10140,0.00,2.22,0.00,0.000,6,0.000,0.057,1890,2501,3627,0,0,0,0,0,0
$GC,10478,-3.01,-146.0,1.9,-0.0,1849,10485,0.00,2.28,0.00,0.000,4,0.000,0.072,1890,1096,3627,0,0,0,0,0,0
$GC,10739,-3.01,-146.0,1.8,-0.2,1895,10746,0.00,2.20,0.00,0.000,6,0.000,0.057,1890,2500,3627,0,0,0,0,0,0
$GC,11085,-3.01,-146.0,1.9,0.0,1956,11092,0.00,2.25,0.00,0.000,4,0.000,0.072,1890,1096,3627,0,0,0,0,0,0
$GC,11348,-3.01,-146.0,1.9,-0.1,2002,11354,0.00,2.20,0.00,0.000,6,0.000,0.057,1890,2498,3627,0,0,0,0,0,0
$GC,11694,-3.01,-146.0,2.0,0.0,2063,11701,0.00,2.25,0.00,0.000,4,0.000,0.072,1890,1093,3627,0,0,0,0,0,0
$GC,11955,-3.01,-146.0,1.9,-0.1,2109,11961,0.00,2.20,0.00,0.000,6,0.000,0.057,1890,2497,3627,0,0,0,0,0,0
$STATE,12006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12006,begin apogee
$FREEZE,1.89,0.000,0.000,3,6,0
$GC,12011,-0.12,0.0,1.9,0.1,2118,12022,2.90,0.00,5.72,0.076,2,0.158,0.000,2815,2270,3572,0,0,0,0,0,0
$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,-0.2,2119,12094,0.15,2.38,55.22,0.072,4,0.197,0.082,2857,3671,3028,0,0,0,0,0,0
$FINISH2,2.0
$STATE,12095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12095,begin surface
$RAFOS_CLK,679
$RAFOS,6,1299660542,8.833333,8.817223,73,66,56,55,53,53,743,202,223,185,115,169
$RAFOS,5,1299660064,8.700000,8.684444,111,53,51,50,50,47,718,219,166,132,90,849
$RAFOS,4,1299659584,8.566667,8.551111,70,64,57,54,50,48,137,187,205,215,166,896
$RAFOS,3,1299659105,8.433333,8.418056,58,58,57,53,51,51,183,210,198,165,144,225
$RAFOS,2,1299658621,8.300000,8.283611,67,57,57,57,50,49,205,174,144,221,163,185
$RAFOS,1,1299658145,8.166667,8.151389,63,62,56,55,55,53,220,201,169,146,127,160
$RAFOS,0,1299657666,8.033334,8.018333,62,61,56,51,49,49,210,169,117,186,148,229
$RAFOS_FIX,6727.339844,-5738.990723,090311,080856,2,92,0.19
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026215
$HUMID,47.40
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,26.0,17.485
$10V_AH,10.3,9.797
$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,5.650,29.875,60.950,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4883.758,3822.011,211.197,3073.784,169.168,0.000,1615.530,0.000,3029.892,2520.000,2.806,0.000
$DEVICE_MAMPS,197.370,164.475,75.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1535.209,1565.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76560,2130
$CAP_FILE_SIZE,147247,0
$CFSIZE,260165632,244215808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,090311,084656,6727.340,-5738.991,0,2092.0,0,-38.2