version: 66.08
glider: 141
mission: 15
dive: 275
start: 3 31 111 21 47 57
data:
$ID,141
$MISSION,15
$DIVE,275
$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,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-34783.074
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,310311,212738,6656.304,-5717.884,41,1.3,41,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-70.6
$GPS2,310311,214726,6656.146,-5717.891,12,1.1,12,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$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,298.2,139440,-17.5,-10.000
$D_GRID,769
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,251,0.00,0.00,-226.95,0.000,6,0.000,0.000,114,2505,3622,0,0,0,0,0,0
$GC,254,-0.62,-146.0,2.5,-0.1,41,273,12.65,2.30,0.00,0.000,4,0.321,0.073,2654,3887,3622,0,0,0,0,0,0
$GC,528,0.18,-146.0,2.4,0.2,89,536,1.25,2.17,0.00,0.000,6,0.309,0.037,2912,2462,3625,0,0,0,0,0,0
$GC,874,0.63,-146.0,2.5,-0.1,150,882,0.55,2.35,0.00,0.000,4,0.244,0.072,3051,3885,3625,0,0,0,0,0,0
$GC,1136,0.22,-146.0,2.7,0.0,196,1144,0.38,2.17,0.00,0.000,6,0.135,0.050,2938,2518,3624,0,0,0,0,0,0
$GC,1483,-0.16,-146.0,2.9,-0.1,257,1490,0.35,0.00,0.00,0.000,6,0.119,0.000,2814,2518,3624,0,0,0,0,0,0
$GC,1828,-0.54,-146.0,2.9,-0.0,318,1835,0.35,0.00,0.00,0.000,6,0.116,0.000,2689,2518,3624,0,0,0,0,0,0
$GC,2173,-0.91,-146.0,2.9,-0.1,379,2180,0.32,0.00,0.00,0.000,6,0.117,0.000,2574,2518,3624,0,0,0,0,0,0
$GC,2519,-1.28,-146.0,2.9,0.1,440,2526,0.32,0.00,0.00,0.000,6,0.116,0.000,2457,2518,3624,0,0,0,0,0,0
$GC,2864,-1.66,-146.0,2.8,0.0,501,2871,0.35,0.00,0.00,0.000,6,0.119,0.000,2332,2518,3623,0,0,0,0,0,0
$GC,3209,-2.03,-146.0,2.9,0.1,562,3216,0.32,0.00,0.00,0.000,6,0.119,0.000,2215,2518,3623,0,0,0,0,0,0
$GC,3555,-2.40,-146.0,2.9,-0.0,623,3562,0.32,0.00,0.00,0.000,6,0.115,0.000,2098,2518,3622,0,0,0,0,0,0
$GC,3900,-2.76,-146.0,2.9,0.0,684,3907,0.32,0.00,0.00,0.000,6,0.115,0.000,1981,2518,3622,0,0,0,0,0,0
$GC,4245,-2.76,-146.0,2.8,0.3,745,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2518,3622,0,0,0,0,0,0
$GC,4592,-2.76,-146.0,2.9,0.0,806,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2518,3622,0,0,0,0,0,0
$GC,4936,-2.76,-146.0,2.8,0.3,867,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2518,3622,0,0,0,0,0,0
$GC,5281,-2.76,-146.0,2.9,-0.7,928,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2518,3622,0,0,0,0,0,0
$GC,5627,-2.76,-146.0,2.9,0.1,989,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2518,3622,0,0,0,0,0,0
$GC,5972,-2.76,-146.0,2.9,-0.3,1050,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2518,3622,0,0,0,0,0,0
$GC,6316,-2.76,-146.0,2.9,-0.0,1111,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2518,3622,0,0,0,0,0,0
$GC,6662,-2.76,-146.0,2.9,-0.2,1172,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2518,3622,0,0,0,0,0,0
$GC,7006,-2.76,-146.0,2.8,-0.0,1233,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2518,3622,0,0,0,0,0,0
$GC,7350,-2.76,-146.0,2.9,0.1,1294,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2518,3621,0,0,0,0,0,0
$GC,7696,-2.76,-146.0,2.9,0.1,1355,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2518,3621,0,0,0,0,0,0
$GC,8040,-2.76,-146.0,2.9,0.1,1416,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2518,3622,0,0,0,0,0,0
$GC,8383,-3.11,-146.0,2.9,0.0,1477,8390,0.30,0.00,0.00,0.000,6,0.122,0.000,1874,2518,3621,0,0,0,0,0,0
$GC,8728,-3.11,-146.0,3.0,-0.2,1538,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2518,3621,0,0,0,0,0,0
$GC,9072,-3.11,-146.0,2.9,0.1,1599,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2519,3621,0,0,0,0,0,0
$GC,9418,-3.11,-146.0,2.9,0.1,1660,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2518,3621,0,0,0,0,0,0
$GC,9762,-3.11,-146.0,3.0,0.3,1721,9769,0.00,2.35,0.00,0.000,4,0.000,0.070,1875,1070,3621,0,0,0,0,0,0
$GC,10025,-3.11,-146.0,2.9,-0.1,1767,10032,0.00,2.22,0.00,0.000,6,0.000,0.047,1874,2487,3621,0,0,0,0,0,0
$GC,10371,-3.11,-146.0,3.0,-0.3,1828,10378,0.00,2.28,0.00,0.000,4,0.000,0.070,1874,1079,3621,0,0,0,0,0,0
$GC,10632,-3.11,-146.0,3.0,-0.2,1874,10638,0.00,2.22,0.00,0.000,6,0.000,0.049,1874,2490,3621,0,0,0,0,0,0
$GC,10977,-3.11,-146.0,2.9,-0.0,1935,10983,0.00,2.33,0.00,0.000,4,0.000,0.070,1874,1074,3621,0,0,0,0,0,0
$GC,11238,-3.11,-146.0,3.0,0.3,1981,11245,0.00,2.22,0.00,0.000,6,0.000,0.051,1874,2490,3620,0,0,0,0,0,0
$GC,11586,-2.86,-146.0,3.1,-0.1,2042,11594,0.25,2.33,0.00,0.000,4,0.263,0.073,1933,3902,3620,0,0,0,0,0,0
$GC,11848,-2.61,-146.0,3.1,0.1,2088,11855,0.38,2.22,0.00,0.000,6,0.256,0.047,2020,2471,3620,0,0,0,0,0,0
$STATE,12006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12006,begin apogee
$FREEZE,3.10,-1.627,-1.826,3,1,0
$GC,12011,-0.12,0.0,3.1,0.0,2116,12026,3.17,0.00,8.57,0.887,2,0.243,0.000,2816,2278,3540,0,0,0,0,0,0
$STATE,12027,end apogee,FINISH_DEPTH_REACHED
$STATE,12027,begin subsurface finish
$FINISH1,3.1,1.026776,0
$GC,12033,0.00,0.0,3.1,-0.2,2117,12099,0.17,2.38,55.72,0.940,4,0.228,0.064,2861,864,3029,0,0,0,0,0,0
$FINISH2,3.6
$STATE,12100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12100,begin surface
$RAFOS_CLK,606
$RAFOS,6,1301618943,0.833333,0.817500,69,58,58,57,56,54,207,126,774,190,217,117
$RAFOS,5,1301618465,0.700000,0.684722,148,63,61,60,55,51,576,200,219,190,229,168
$RAFOS,4,1301617985,0.566667,0.551389,60,55,55,54,53,53,200,139,93,221,126,176
$RAFOS,3,1301617506,0.433333,0.418333,62,61,58,58,50,50,198,170,187,129,213,231
$RAFOS,2,1301617023,0.300000,0.284167,61,59,54,51,51,49,156,208,172,185,139,194
$RAFOS,1,1301616545,0.166667,0.151389,63,59,52,51,51,50,193,210,161,150,176,117
$RAFOS,0,1301616064,0.033333,0.017778,60,56,56,56,55,55,162,129,171,224,213,186
$RAFOS_FIX,6657.227051,-5724.992676,310311,202028,4,109,0.31
$IRIDIUM_FIX,6625.71,-5727.10,310311,212104
$TT8_MAMPS,0.026215
$HUMID,48.62
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,3.1,999.0
$24V_AH,24.4,37.735
$10V_AH,10.2,20.791
$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,21.775,29.850,64.300,0.000,0.000,58.306,66.017,713.814,0.250,0.000,14.281,4776.326,3809.054,376.974,3876.518,449.491,0.000,1817.067,0.000,3027.816,2520.000,2.812,0.000
$DEVICE_MAMPS,320.535,81.855,940.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1571.491,1537.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150384
$DATA_FILE_SIZE,76552,2128
$CAP_FILE_SIZE,163032,0
$CFSIZE,260165632,233930752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1439.4
$GPS,310311,214726,6656.146,-5717.891,12,1.1,12,-37.5