version: 66.08
glider: 141
mission: 15
dive: 60
start: 3 1 111 5 34 35
data:
$ID,141
$MISSION,15
$DIVE,60
$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,-2
$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,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,-22775.168
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,010311,042848,6650.102,-6017.191,0,5115.6,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.10
$_SM_ANGLEo,-6.9
$GPS2,010311,042848,6650.102,-6017.191,0,5115.6,0,-38.0
$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,119.0,152943,-17.5,-10.000
$D_GRID,573
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.68,0.000,2,0.000,0.000,2899,3686,2983,0,0,0,0,0,0
$GC,26,-0.62,-146.0,12.9,-0.0,1,46,0.65,0.35,-15.15,0.000,4,0.104,0.185,2670,3897,3629,0,0,0,0,0,0
$GC,277,-0.52,-146.0,56.4,-18.2,45,284,0.00,2.22,0.00,0.000,6,0.000,0.050,2670,2486,3631,0,0,0,0,0,0
$GC,621,-0.38,-146.0,123.6,-18.9,96,626,0.25,2.25,0.00,0.000,4,0.227,0.067,2736,1082,3630,0,0,0,0,0,0
$GC,688,-0.44,-146.0,131.9,-9.3,101,695,0.00,2.28,0.00,0.000,6,0.000,0.060,2736,2492,3630,0,0,0,0,0,0
$GC,1014,-0.49,-146.0,158.7,-8.5,132,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2492,3630,0,0,0,0,0,0
$GC,1335,-0.55,-146.0,184.4,-8.5,162,1340,0.15,2.28,0.00,0.000,4,0.125,0.068,2686,1079,3629,0,0,0,0,0,0
$GC,1375,-0.52,-146.0,189.2,-11.7,165,1379,0.00,2.28,0.00,0.000,6,0.000,0.062,2686,2493,3630,0,0,0,0,0,0
$GC,1700,-0.46,-146.0,229.7,-11.6,195,1704,0.00,2.25,0.00,0.000,4,0.000,0.067,2686,1080,3629,0,0,0,0,0,0
$GC,1755,-0.46,-146.0,236.3,-11.1,199,1762,0.00,2.25,0.00,0.000,6,0.000,0.061,2686,2490,3629,0,0,0,0,0,0
$GC,2080,-0.43,-146.0,274.6,-11.2,230,2082,0.15,0.00,0.00,0.000,6,0.222,0.000,2721,2491,3628,0,0,0,0,0,0
$GC,2399,-0.49,-146.0,301.1,-8.7,260,2403,0.00,2.28,0.00,0.000,4,0.000,0.067,2721,1080,3628,0,0,0,0,0,0
$GC,2449,-0.58,-146.0,305.9,-9.6,264,2457,0.15,2.25,0.00,0.000,6,0.131,0.060,2672,2492,3628,0,0,0,0,0,0
$GC,2775,-0.53,-146.0,345.7,-11.6,295,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2492,3628,0,0,0,0,0,0
$GC,3094,-0.48,-146.0,382.6,-11.3,325,3099,0.12,2.25,0.00,0.000,4,0.223,0.065,2701,1077,3628,0,0,0,0,0,0
$GC,3115,-0.48,-146.0,385.1,-10.1,326,3123,0.00,2.22,0.00,0.000,6,0.000,0.060,2701,2493,3628,0,0,0,0,0,0
$GC,3442,-0.51,-146.0,412.1,-9.0,357,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2493,3628,0,0,0,0,0,0
$GC,3762,-0.54,-146.0,440.6,-9.0,387,3766,0.00,2.28,0.00,0.000,4,0.000,0.076,2701,3902,3629,0,0,0,0,0,0
$GC,3780,-0.57,-146.0,442.4,-9.0,388,3784,0.00,2.20,0.00,0.000,6,0.000,0.047,2701,2482,3628,0,0,0,0,0,0
$GC,4106,-0.61,-146.0,471.9,-9.3,418,4110,0.12,2.20,0.00,0.000,4,0.134,0.063,2662,1080,3629,0,0,0,0,0,0
$GC,4145,-0.57,-146.0,476.5,-12.1,421,4150,0.00,2.25,0.00,0.000,6,0.000,0.060,2661,2497,3630,0,0,0,0,0,0
$GC,4471,-0.50,-146.0,516.4,-11.9,451,4475,0.15,2.25,0.00,0.000,4,0.225,0.063,2696,1073,3630,0,0,0,0,0,0
$GC,4481,-0.44,-146.0,517.8,-12.0,451,4488,0.00,2.25,0.00,0.000,6,0.000,0.058,2697,2498,3630,0,0,0,0,0,0
$GC,4808,-0.48,-146.0,546.3,-8.3,482,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2498,3630,0,0,0,0,0,0
$STATE,4867,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4867,begin apogee
$GC,4873,-0.12,0.0,551.8,8.8,488,5004,0.40,0.00,121.05,1.274,6,0.190,0.000,2816,2268,3030,0,0,0,0,0,0
$STATE,5005,end apogee,CONTROL_FINISHED_OK
$STATE,5005,begin climb
$GC,5007,0.62,146.0,555.4,0.0,500,5141,0.77,2.55,124.20,1.226,4,0.140,0.069,3062,877,2433,0,0,0,0,0,0
$GC,5168,0.53,146.0,544.0,12.3,514,5175,0.00,2.42,0.00,0.000,6,0.000,0.053,3062,2274,2430,0,0,0,0,0,0
$GC,5495,0.44,146.0,504.3,12.4,545,5500,0.20,2.38,0.00,0.000,4,0.180,0.070,3010,3692,2425,0,0,0,0,0,0
$GC,5604,0.40,146.0,493.0,10.5,554,5608,0.00,2.33,0.00,0.000,6,0.000,0.052,3018,2278,2424,0,0,0,0,0,0
$GC,5930,0.42,161.3,462.5,9.3,584,5949,0.00,0.00,13.20,1.088,6,0.000,0.000,3018,2277,2371,0,0,0,0,0,0
$GC,6269,0.43,165.1,430.0,9.8,616,6281,0.00,2.35,4.47,0.786,4,0.000,0.067,3018,3698,2357,0,0,0,0,0,0
$GC,6320,0.38,165.1,424.0,11.9,620,6328,0.15,2.30,0.00,0.000,6,0.191,0.050,2993,2270,2356,0,0,0,0,0,0
$GC,6647,0.49,204.9,396.7,8.2,651,6689,0.00,2.45,36.10,1.142,4,0.000,0.065,2992,3689,2194,0,0,0,0,0,0
$GC,6714,0.58,227.9,391.0,8.9,657,6741,0.15,2.33,21.92,1.106,6,0.104,0.050,3052,2274,2100,0,0,0,0,0,0
$GC,7061,0.56,227.9,347.1,13.1,689,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2274,2092,0,0,0,0,0,0
$GC,7381,0.56,227.9,307.4,12.3,719,7385,0.00,2.30,0.00,0.000,4,0.000,0.065,3052,3691,2090,0,0,0,0,0,0
$GC,7414,0.52,227.9,302.6,13.2,721,7422,0.12,2.28,0.00,0.000,6,0.198,0.051,3032,2270,2090,0,0,0,0,0,0
$GC,7740,0.56,230.2,268.8,9.9,752,7744,0.00,2.25,0.00,0.000,4,0.000,0.067,3041,865,2089,0,0,0,0,0,0
$GC,7772,0.60,230.2,265.3,10.2,754,7780,0.00,2.25,0.00,0.000,6,0.000,0.054,3041,2284,2088,0,0,0,0,0,0
$GC,8099,0.60,230.2,231.2,10.5,785,8103,0.00,2.28,0.00,0.000,4,0.000,0.067,3041,3697,2088,0,0,0,0,0,0
$GC,8184,0.58,230.2,220.4,13.4,792,8188,0.00,2.28,0.00,0.000,6,0.000,0.052,3050,2265,2088,0,0,0,0,0,0
$GC,8509,0.60,230.2,182.9,10.5,822,8513,0.00,2.25,0.00,0.000,4,0.000,0.067,3058,863,2088,0,0,0,0,0,0
$GC,8537,0.63,230.2,179.9,10.4,824,8541,0.00,2.22,0.00,0.000,6,0.000,0.053,3058,2280,2087,0,0,0,0,0,0
$GC,8863,0.63,230.2,146.9,10.3,854,8867,0.00,2.22,0.00,0.000,4,0.000,0.068,3058,3685,2086,0,0,0,0,0,0
$GC,8937,0.61,230.2,138.0,12.6,860,8941,0.00,2.22,0.00,0.000,6,0.000,0.052,3068,2273,2087,0,0,0,0,0,0
$GC,9268,0.64,230.2,99.3,11.4,891,9276,0.00,2.22,0.00,0.000,4,0.000,0.068,3076,867,2087,0,0,0,0,0,0
$GC,9306,0.70,249.3,95.8,9.1,897,9335,0.00,2.20,20.20,0.926,6,0.000,0.054,3076,2276,2012,0,0,0,0,0,0
$GC,9672,0.84,323.5,66.5,6.6,962,9750,0.17,2.40,67.05,0.981,4,0.099,0.069,3141,3685,1709,0,0,0,0,0,0
$GC,9809,0.77,323.5,49.2,15.2,985,9816,0.15,2.33,0.00,0.000,6,0.203,0.053,3117,2278,1705,0,0,0,0,0,0
$GC,10152,0.77,323.5,11.5,10.9,1046,10159,0.00,2.33,0.00,0.000,4,0.000,0.068,3124,858,1700,0,0,0,0,0,0
$FREEZE,8.89,-1.755,-1.767,3,37,0
$STATE,10171,end climb,FINISH_DEPTH_REACHED
$STATE,10171,begin subsurface finish
$FINISH1,8.9,1.025873,80
$GC,10180,0.10,79.8,8.9,-13.0,1049,10227,0.73,0.00,-39.58,0.000,6,0.152,0.000,2899,2283,2705,0,0,0,0,0,0
$FINISH2,6.8
$STATE,10228,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10228,begin surface
$RAFOS_CLK,571
$RAFOS,2,1298967421,8.300000,8.283611,128,68,64,55,54,50,688,219,206,181,126,190
$RAFOS,1,1298966948,8.166667,8.152223,143,58,56,52,52,50,548,217,162,146,200,172
$RAFOS,0,1298966471,8.033334,8.019722,107,62,58,55,55,54,587,204,215,177,131,154
$RAFOS_FIX,6647.651855,-6019.551758,010311,080822,3,126,0.36
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026964
$HUMID,46.69
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,550.0,16.4
$24V_AH,23.1,11.735
$10V_AH,10.3,5.699
$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,4.600,94.400,408.200,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2521.731,5461.417,468.444,1686.756,155.945,0.000,1384.430,0.000,1676.843,1080.000,15.922,0.000
$DEVICE_MAMPS,227.205,185.130,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,755.512,804.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,40012,1057
$CAP_FILE_SIZE,118061,0
$CFSIZE,260165632,247947264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,010311,081122,6647.652,-6019.552,0,3126.0,0,-38.0