version: 66.08
glider: 141
mission: 15
dive: 137
start: 3 11 111 4 20 10
data:
$ID,141
$MISSION,15
$DIVE,137
$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,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,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,-27951.119
$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,36
$R_STBD_OVSHOOT,40
$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
$GPS1,110311,004240,6721.330,-5751.854,181,99.0,181,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-61.8
$GPS2,110311,004240,6721.330,-5751.854,181,99.0,181,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,midTARGET
$TGT_LATLONG,6656.000,-5813.000
$TGT_RADIUS,10000.000
$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,236.3,49357,-17.5,-10.000
$D_GRID,672
$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,-146.0,0.0,0.0,0,155,0.00,0.00,-137.38,0.000,2,0.000,0.000,105,2504,3470,0,0,0,0,0,0
$GC,159,-0.62,-146.0,5.9,-10.6,24,178,12.48,0.00,-3.17,0.000,6,0.328,0.000,2651,2504,3629,0,0,0,0,0,0
$GC,516,-0.47,-146.0,76.6,-16.8,87,523,0.22,2.22,0.00,0.000,4,0.223,0.063,2707,3891,3630,0,0,0,0,0,0
$GC,570,-0.51,-146.0,83.7,-10.7,96,577,0.00,2.15,0.00,0.000,6,0.000,0.037,2707,2486,3631,0,0,0,0,0,0
$GC,904,-0.51,-146.0,119.4,-10.5,140,908,0.00,2.25,0.00,0.000,4,0.000,0.066,2707,3891,3631,0,0,0,0,0,0
$GC,950,-0.55,-146.0,124.3,-10.5,144,954,0.00,2.15,0.00,0.000,6,0.000,0.040,2707,2489,3630,0,0,0,0,0,0
$GC,1275,-0.59,-146.0,157.0,-10.1,174,1277,0.12,0.00,0.00,0.000,6,0.127,0.000,2664,2488,3628,0,0,0,0,0,0
$GC,1595,-0.54,-146.0,195.3,-12.1,204,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2487,3627,0,0,0,0,0,0
$GC,1912,-0.49,-146.0,231.8,-11.3,234,1914,0.15,0.00,0.00,0.000,6,0.213,0.000,2700,2488,3628,0,0,0,0,0,0
$GC,2231,-0.53,-146.0,260.7,-9.1,264,2235,0.00,2.22,0.00,0.000,4,0.000,0.064,2700,3884,3628,0,0,0,0,0,0
$GC,2250,-0.57,-146.0,262.3,-9.2,265,2254,0.00,2.12,0.00,0.000,6,0.000,0.037,2700,2483,3628,0,0,0,0,0,0
$GC,2581,-0.62,-146.0,292.0,-8.9,296,2583,0.12,0.00,0.00,0.000,6,0.125,0.000,2657,2482,3629,0,0,0,0,0,0
$GC,2901,-0.56,-146.0,329.7,-12.1,326,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2482,3629,0,0,0,0,0,0
$GC,3219,-0.50,-146.0,369.5,-12.3,356,3221,0.17,0.00,0.00,0.000,6,0.207,0.000,2700,2482,3630,0,0,0,0,0,0
$GC,3536,-0.55,-146.0,397.6,-8.6,386,3540,0.00,2.22,0.00,0.000,4,0.000,0.065,2700,3894,3630,0,0,0,0,0,0
$GC,3559,-0.61,-146.0,399.7,-8.7,387,3567,0.12,2.12,0.00,0.000,6,0.119,0.037,2657,2486,3630,0,0,0,0,0,0
$GC,3884,-0.56,-146.0,438.2,-12.7,418,3888,0.00,2.20,0.00,0.000,4,0.000,0.063,2657,3886,3631,0,0,0,0,0,0
$GC,3934,-0.53,-146.0,444.6,-12.8,422,3941,0.12,2.10,0.00,0.000,6,0.207,0.037,2686,2490,3631,0,0,0,0,0,0
$GC,4259,-0.56,-146.0,476.1,-9.3,453,4263,0.00,2.22,0.00,0.000,4,0.000,0.064,2686,3888,3631,0,0,0,0,0,0
$GC,4281,-0.59,-146.0,478.4,-9.4,454,4288,0.00,2.12,0.00,0.000,6,0.000,0.037,2686,2478,3631,0,0,0,0,0,0
$GC,4607,-0.61,-146.0,509.4,-9.6,485,4611,0.00,2.22,0.00,0.000,4,0.000,0.063,2686,3886,3631,0,0,0,0,0,0
$GC,4628,-0.63,-146.0,511.7,-10.2,486,4635,0.00,2.10,0.00,0.000,6,0.000,0.037,2685,2491,3631,0,0,0,0,0,0
$GC,4954,-0.83,-146.0,538.8,-0.8,517,4956,0.25,0.00,0.00,0.000,6,0.090,0.000,2590,2490,3633,0,0,0,0,0,0
$STATE,5079,end dive,NO_VERTICAL_VELOCITY
$STATE,5079,begin apogee
$GC,5084,-0.12,0.0,539.0,0.0,529,5210,0.68,0.00,119.95,1.227,6,0.124,0.000,2820,2267,3030,0,0,0,0,0,0
$STATE,5211,end apogee,CONTROL_FINISHED_OK
$STATE,5211,begin climb
$GC,5213,0.62,146.0,539.0,0.0,540,5346,0.75,2.40,121.90,1.184,4,0.138,0.062,3055,889,2433,0,0,0,0,0,0
$GC,5476,0.57,152.3,533.0,9.7,563,5486,0.00,2.28,5.62,0.848,6,0.000,0.046,3055,2263,2409,0,0,0,0,0,0
$GC,5812,0.50,152.3,493.7,12.1,595,5816,0.00,2.30,0.00,0.000,4,0.000,0.061,3055,3685,2406,0,0,0,0,0,0
$GC,5900,0.38,152.3,481.3,14.7,602,5908,0.28,2.22,0.00,0.000,6,0.188,0.045,2995,2292,2405,0,0,0,0,0,0
$GC,6226,0.46,188.4,453.3,8.3,633,6260,0.00,0.00,31.77,1.129,6,0.000,0.000,2994,2292,2262,0,0,0,0,0,0
$GC,6575,0.57,214.1,423.2,8.8,666,6605,0.15,0.00,23.27,1.107,6,0.093,0.000,3056,2291,2156,0,0,0,0,0,0
$GC,6924,0.55,214.1,380.3,12.4,699,6928,0.00,2.25,0.00,0.000,4,0.000,0.060,3056,3686,2151,0,0,0,0,0,0
$GC,6958,0.49,214.1,375.6,14.2,702,6963,0.17,2.22,0.00,0.000,6,0.179,0.047,3021,2276,2150,0,0,0,0,0,0
$GC,7289,0.53,218.5,342.2,9.8,733,7301,0.00,2.25,4.22,0.723,4,0.000,0.061,3029,863,2139,0,0,0,0,0,0
$GC,7358,0.59,218.5,335.1,10.8,739,7362,0.00,2.20,0.00,0.000,6,0.000,0.047,3028,2279,2138,0,0,0,0,0,0
$GC,7683,0.61,218.5,301.5,10.7,769,7687,0.00,2.20,0.00,0.000,4,0.000,0.060,3029,3682,2137,0,0,0,0,0,0
$GC,7767,0.61,218.5,291.1,13.2,776,7771,0.00,2.22,0.00,0.000,6,0.000,0.047,3039,2264,2137,0,0,0,0,0,0
$GC,8093,0.61,218.5,252.3,11.0,806,8097,0.00,2.17,0.00,0.000,4,0.000,0.060,3047,867,2136,0,0,0,0,0,0
$GC,8139,0.64,218.5,247.1,10.3,810,8143,0.00,2.20,0.00,0.000,6,0.000,0.046,3047,2277,2135,0,0,0,0,0,0
$GC,8464,0.64,218.5,210.1,10.7,840,8468,0.00,2.20,0.00,0.000,4,0.000,0.060,3046,3690,2135,0,0,0,0,0,0
$GC,8549,0.61,218.5,199.5,12.9,847,8553,0.00,2.20,0.00,0.000,6,0.000,0.045,3057,2272,2135,0,0,0,0,0,0
$GC,8875,0.61,218.5,159.3,11.2,877,8879,0.00,2.17,0.00,0.000,4,0.000,0.060,3067,867,2135,0,0,0,0,0,0
$GC,8930,0.61,218.5,153.0,10.6,881,8937,0.00,2.20,0.00,0.000,6,0.000,0.044,3067,2275,2135,0,0,0,0,0,0
$GC,9257,0.61,218.5,116.7,11.5,912,9261,0.00,2.20,0.00,0.000,4,0.000,0.058,3067,3697,2135,0,0,0,0,0,0
$GC,9353,0.55,218.5,103.9,13.4,920,9358,0.12,2.20,0.00,0.000,6,0.187,0.044,3045,2268,2134,0,0,0,0,0,0
$GC,9694,0.59,218.5,71.2,10.4,976,9701,0.00,2.17,0.00,0.000,4,0.000,0.060,3046,865,2135,0,0,0,0,0,0
$GC,9736,0.68,218.5,66.7,10.7,983,9743,0.10,2.17,0.00,0.000,6,0.126,0.044,3088,2277,2135,0,0,0,0,0,0
$GC,10083,0.64,218.5,26.7,12.0,1044,10090,0.00,2.17,0.00,0.000,4,0.000,0.060,3088,3681,2135,0,0,0,0,0,0
$GC,10222,0.57,218.5,9.1,13.7,1068,10229,0.17,2.17,0.00,0.000,6,0.193,0.046,3053,2276,2135,0,0,0,0,0,0
$FREEZE,7.02,-1.675,-1.824,3,12,0
$STATE,10235,end climb,FINISH_DEPTH_REACHED
$STATE,10235,begin subsurface finish
$FINISH1,7.0,1.026712,39
$GC,10241,0.05,38.6,7.0,-13.4,1070,10277,0.52,2.20,-27.40,0.000,4,0.153,0.073,2884,859,2874,0,0,0,0,0,0
$FINISH2,5.9
$STATE,10278,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10278,begin surface
$RAFOS_CLK,537
$RAFOS,6,1299818950,4.833333,4.819445,141,63,56,55,54,51,626,200,136,211,145,157
$RAFOS,5,1299818461,4.700000,4.683611,131,64,56,54,54,53,702,200,129,161,170,246
$RAFOS,4,1299817985,4.566667,4.551389,113,59,54,52,51,49,808,222,173,205,185,132
$RAFOS,3,1299817505,4.433333,4.418056,70,56,54,52,50,50,197,179,145,214,169,160
$RAFOS_FIX,6721.475098,-5755.898926,110311,040444,3,128,0.20
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,46.65
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.0
$24V_AH,23.3,20.049
$10V_AH,10.3,11.043
$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,16.725,81.750,306.750,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2554.125,5462.955,465.877,1718.602,146.660,0.000,1385.177,0.000,1708.033,1440.000,14.305,0.000
$DEVICE_MAMPS,328.185,72.675,1227.060,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,758.915,817.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150528
$DATA_FILE_SIZE,43338,1076
$CAP_FILE_SIZE,116207,0
$CFSIZE,260165632,243163136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.7
$GPS,110311,044344,6721.475,-5755.899,0,3128.3,0,-38.2