version: 66.08
glider: 141
mission: 15
dive: 111
start: 3 9 111 10 13 14
data:
$ID,141
$MISSION,15
$DIVE,111
$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,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
$GPS1,090311,084656,6727.340,-5738.991,0,2092.0,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-9.0
$GPS2,090311,084656,6727.340,-5738.991,0,2092.0,0,-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,179.0,58205,-17.5,-10.000
$D_GRID,218
$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,16,-0.62,-146.0,0.0,0.0,0,82,0.00,1.80,-58.65,0.000,6,0.000,0.060,2857,2481,3624,0,0,0,0,0,0
$GC,85,-0.62,-146.0,1.9,0.1,11,92,0.50,2.22,0.00,0.000,4,0.080,0.073,2666,1104,3625,0,0,0,0,0,0
$GC,346,-0.78,-146.0,1.8,0.1,57,354,0.17,2.20,0.00,0.000,6,0.108,0.057,2601,2490,3627,0,0,0,0,0,0
$GC,692,-0.95,-146.0,1.9,-0.2,118,699,0.12,2.25,0.00,0.000,4,0.122,0.072,2554,1104,3627,0,0,0,0,0,0
$GC,954,-1.12,-146.0,1.8,0.2,164,961,0.15,2.17,0.00,0.000,6,0.118,0.057,2501,2490,3627,0,0,0,0,0,0
$GC,1299,-1.28,-146.0,2.0,0.0,225,1306,0.15,2.25,0.00,0.000,4,0.111,0.071,2443,1103,3627,0,0,0,0,0,0
$GC,1560,-1.45,-146.0,1.9,-0.1,271,1567,0.15,2.17,0.00,0.000,6,0.119,0.057,2388,2490,3627,0,0,0,0,0,0
$GC,1907,-1.62,-146.0,1.9,-0.0,332,1914,0.12,2.25,0.00,0.000,4,0.119,0.070,2341,1102,3627,0,0,0,0,0,0
$GC,2167,-1.62,-146.0,1.9,-0.0,378,2174,0.00,2.20,0.00,0.000,6,0.000,0.057,2341,2495,3627,0,0,0,0,0,0
$GC,2512,-1.79,-146.0,1.8,-0.0,439,2519,0.15,2.28,0.00,0.000,4,0.115,0.070,2283,1103,3627,0,0,0,0,0,0
$GC,2773,-1.95,-146.0,1.9,-0.2,485,2781,0.12,2.20,0.00,0.000,6,0.127,0.056,2237,2492,3627,0,0,0,0,0,0
$GC,3119,-2.12,-146.0,1.9,0.0,546,3126,0.15,2.28,0.00,0.000,4,0.113,0.072,2183,1102,3627,0,0,0,0,0,0
$GC,3382,-2.29,-146.0,1.9,-0.3,592,3389,0.15,2.20,0.00,0.000,6,0.121,0.056,2131,2493,3627,0,0,0,0,0,0
$GC,3728,-2.46,-146.0,1.9,0.1,653,3735,0.15,2.28,0.00,0.000,4,0.114,0.071,2077,1102,3627,0,0,0,0,0,0
$GC,3989,-2.62,-146.0,1.9,0.2,699,3996,0.15,2.20,0.00,0.000,6,0.121,0.057,2024,2492,3627,0,0,0,0,0,0
$GC,4336,-2.79,-146.0,1.9,-0.4,760,4343,0.15,2.28,0.00,0.000,4,0.112,0.071,1968,1101,3627,0,0,0,0,0,0
$GC,4597,-2.95,-146.0,1.8,0.2,806,4605,0.15,2.20,0.00,0.000,6,0.120,0.057,1916,2490,3627,0,0,0,0,0,0
$GC,4944,-2.95,-146.0,1.9,-0.2,867,4951,0.00,2.28,0.00,0.000,4,0.000,0.071,1915,1103,3627,0,0,0,0,0,0
$GC,5206,-2.95,-146.0,1.9,-0.1,913,5213,0.00,2.20,0.00,0.000,6,0.000,0.057,1916,2492,3627,0,0,0,0,0,0
$GC,5552,-2.95,-146.0,1.9,0.4,974,5559,0.00,2.22,0.00,0.000,4,0.000,0.071,1916,1103,3627,0,0,0,0,0,0
$GC,5813,-2.95,-146.0,1.9,-0.2,1020,5820,0.00,2.20,0.00,0.000,6,0.000,0.056,1916,2493,3627,0,0,0,0,0,0
$GC,6158,-2.95,-146.0,1.9,0.2,1081,6165,0.00,2.25,0.00,0.000,4,0.000,0.072,1916,1102,3627,0,0,0,0,0,0
$GC,6419,-2.95,-146.0,1.9,-0.1,1127,6425,0.00,2.20,0.00,0.000,6,0.000,0.057,1916,2490,3627,0,0,0,0,0,0
$GC,6763,-2.95,-146.0,1.8,0.6,1188,6770,0.00,2.28,0.00,0.000,4,0.000,0.072,1916,1102,3627,0,0,0,0,0,0
$GC,7023,-2.95,-146.0,1.9,0.0,1234,7029,0.00,2.20,0.00,0.000,6,0.000,0.056,1916,2495,3627,0,0,0,0,0,0
$GC,7367,-2.95,-146.0,1.9,-0.2,1295,7374,0.00,2.25,0.00,0.000,4,0.000,0.070,1916,1103,3627,0,0,0,0,0,0
$GC,7628,-2.95,-146.0,1.8,0.2,1341,7634,0.00,2.20,0.00,0.000,6,0.000,0.057,1916,2492,3627,0,0,0,0,0,0
$GC,7974,-2.95,-146.0,1.9,-0.3,1402,7981,0.00,2.25,0.00,0.000,4,0.000,0.071,1916,1102,3627,0,0,0,0,0,0
$GC,8236,-2.95,-146.0,1.9,0.1,1448,8243,0.00,2.20,0.00,0.000,6,0.000,0.057,1916,2492,3627,0,0,0,0,0,0
$GC,8583,-2.95,-146.0,1.9,-0.2,1509,8590,0.00,2.25,0.00,0.000,4,0.000,0.070,1916,1101,3627,0,0,0,0,0,0
$GC,8844,-3.12,-146.0,1.9,-0.1,1555,8851,0.15,2.20,0.00,0.000,6,0.122,0.056,1862,2491,3627,0,0,0,0,0,0
$GC,9190,-3.12,-146.0,1.9,-0.1,1616,9196,0.00,2.22,0.00,0.000,4,0.000,0.072,1862,1103,3627,0,0,0,0,0,0
$GC,9450,-3.12,-146.0,1.9,0.0,1662,9457,0.00,2.20,0.00,0.000,6,0.000,0.056,1862,2494,3627,0,0,0,0,0,0
$GC,9797,-3.12,-146.0,1.9,-0.3,1723,9803,0.00,2.25,0.00,0.000,4,0.000,0.070,1862,1101,3627,0,0,0,0,0,0
$GC,10057,-3.12,-146.0,1.9,0.3,1769,10064,0.00,2.20,0.00,0.000,6,0.000,0.055,1862,2497,3628,0,0,0,0,0,0
$GC,10403,-3.12,-146.0,2.0,-0.3,1830,10410,0.00,2.25,0.00,0.000,4,0.000,0.070,1862,1101,3627,0,0,0,0,0,0
$GC,10664,-3.12,-146.0,2.0,0.1,1876,10670,0.00,2.20,0.00,0.000,6,0.000,0.055,1862,2498,3627,0,0,0,0,0,0
$GC,11009,-3.12,-146.0,1.9,0.1,1937,11016,0.00,2.25,0.00,0.000,4,0.000,0.070,1862,1103,3627,0,0,0,0,0,0
$GC,11270,-3.12,-146.0,1.8,0.1,1983,11277,0.00,2.20,0.00,0.000,6,0.000,0.056,1862,2497,3628,0,0,0,0,0,0
$GC,11616,-3.12,-146.0,1.8,0.0,2044,11623,0.00,2.25,0.00,0.000,4,0.000,0.070,1862,1102,3628,0,0,0,0,0,0
$GC,11877,-3.12,-146.0,1.9,-0.1,2090,11884,0.00,2.20,0.00,0.000,6,0.000,0.054,1862,2500,3627,0,0,0,0,0,0
$STATE,12007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12007,begin apogee
$FREEZE,1.85,0.000,0.000,3,7,0
$GC,12012,-0.12,0.0,1.9,0.3,2113,12023,3.00,0.00,5.60,0.075,2,0.157,0.000,2817,2274,3572,0,0,0,0,0,0
$STATE,12024,end apogee,FINISH_DEPTH_REACHED
$STATE,12024,begin subsurface finish
$FINISH1,1.8,1.027500,0
$GC,12030,0.00,0.0,1.8,-0.2,2114,12044,0.15,0.00,11.10,0.073,2,0.200,0.000,2859,2274,3465,0,0,0,0,0,0
$FINISH2,1.8
$STATE,12045,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12045,begin surface
$RAFOS_CLK,674
$RAFOS,6,1299674946,12.833333,12.818334,106,56,56,54,53,53,728,191,153,206,173,221
$RAFOS,5,1299674466,12.700000,12.685000,79,59,57,55,54,53,709,211,129,191,165,224
$RAFOS,4,1299673983,12.566667,12.550834,65,63,53,53,53,51,216,167,194,206,113,137
$RAFOS,3,1299673503,12.433333,12.417500,67,60,59,58,58,54,210,173,187,155,115,138
$RAFOS,2,1299673023,12.300000,12.284166,59,56,56,54,53,52,197,165,216,141,129,231
$RAFOS,1,1299672547,12.166667,12.151944,55,54,54,54,53,50,204,143,126,219,183,160
$RAFOS,0,1299672063,12.033333,12.017500,61,60,59,56,52,50,188,204,169,147,221,114
$RAFOS_FIX,6726.590820,-5735.957520,090311,121200,2,92,0.18
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026964
$HUMID,47.04
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,1.8,999.0
$24V_AH,25.9,17.487
$10V_AH,10.3,9.902
$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,5.850,91.175,16.700,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4853.002,3796.394,223.370,3056.584,178.093,0.000,1624.185,0.000,3010.163,2520.000,2.807,0.000
$DEVICE_MAMPS,199.665,73.440,74.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1508.053,1569.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,76647,2116
$CAP_FILE_SIZE,153433,0
$CFSIZE,260165632,244133888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,090311,124800,6726.591,-5735.958,0,2092.5,0,-38.2