version: 66.08
glider: 141
mission: 15
dive: 61
start: 3 1 111 8 27 5
data:
$ID,141
$MISSION,15
$DIVE,61
$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,26
$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
$GPS1,010311,081122,6647.652,-6019.552,0,3126.0,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.19
$_SM_ANGLEo,-4.3
$GPS2,010311,081122,6647.652,-6019.552,0,3126.0,0,-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,117.5,155393,-17.5,-10.000
$D_GRID,548
$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,15,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-7.25,0.000,2,0.000,0.000,2899,2283,2922,0,0,0,0,0,0
$GC,27,-0.62,-146.0,8.2,-0.0,1,58,0.62,2.65,-22.25,0.000,4,0.076,0.083,2662,3903,3628,0,0,0,0,0,0
$GC,93,-0.44,-146.0,18.2,-21.3,12,100,0.22,2.22,0.00,0.000,6,0.220,0.049,2716,2490,3629,0,0,0,0,0,0
$GC,438,-0.36,-146.0,76.8,-17.4,73,445,0.12,2.28,0.00,0.000,4,0.247,0.067,2744,1077,3629,0,0,0,0,0,0
$GC,544,-0.41,-146.0,91.1,-11.4,91,551,0.00,2.28,0.00,0.000,6,0.000,0.060,2745,2487,3629,0,0,0,0,0,0
$GC,875,-0.45,-146.0,126.4,-10.1,129,879,0.00,2.25,0.00,0.000,4,0.000,0.066,2744,1079,3629,0,0,0,0,0,0
$GC,931,-0.53,-146.0,132.2,-9.8,133,939,0.15,2.28,0.00,0.000,6,0.131,0.061,2696,2490,3628,0,0,0,0,0,0
$GC,1257,-0.48,-146.0,171.9,-12.6,164,1261,0.00,2.30,0.00,0.000,4,0.000,0.067,2696,1079,3628,0,0,0,0,0,0
$GC,1285,-0.43,-146.0,175.6,-13.4,166,1289,0.00,2.28,0.00,0.000,6,0.000,0.061,2696,2491,3628,0,0,0,0,0,0
$GC,1610,-0.40,-146.0,216.5,-12.6,196,1612,0.15,0.00,0.00,0.000,6,0.222,0.000,2730,2492,3627,0,0,0,0,0,0
$GC,1929,-0.47,-146.0,245.6,-8.7,226,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2492,3627,0,0,0,0,0,0
$GC,2249,-0.55,-146.0,273.4,-8.5,256,2254,0.15,2.25,0.00,0.000,4,0.123,0.065,2680,1079,3627,0,0,0,0,0,0
$GC,2278,-0.55,-146.0,276.6,-11.4,258,2282,0.00,2.28,0.00,0.000,6,0.000,0.062,2679,2498,3626,0,0,0,0,0,0
$GC,2604,-0.51,-146.0,313.8,-11.6,288,2608,0.00,2.25,0.00,0.000,4,0.000,0.064,2679,1072,3626,0,0,0,0,0,0
$GC,2648,-0.51,-146.0,319.6,-12.7,291,2655,0.00,2.30,0.00,0.000,6,0.000,0.062,2680,2492,3627,0,0,0,0,0,0
$GC,2975,-0.47,-146.0,358.9,-12.6,322,2977,0.12,0.00,0.00,0.000,6,0.226,0.000,2707,2492,3626,0,0,0,0,0,0
$GC,3292,-0.51,-146.0,390.0,-8.9,352,3296,0.00,2.22,0.00,0.000,4,0.000,0.064,2708,1077,3627,0,0,0,0,0,0
$GC,3337,-0.56,-146.0,394.2,-8.7,355,3344,0.00,2.28,0.00,0.000,6,0.000,0.061,2708,2503,3627,0,0,0,0,0,0
$GC,3664,-0.61,-146.0,422.2,-8.2,386,3666,0.12,0.00,0.00,0.000,6,0.133,0.000,2666,2503,3627,0,0,0,0,0,0
$GC,3981,-0.55,-146.0,457.3,-11.0,416,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2503,3627,0,0,0,0,0,0
$GC,4301,-0.50,-146.0,493.1,-11.2,446,4306,0.15,2.25,0.00,0.000,4,0.214,0.063,2702,1078,3627,0,0,0,0,0,0
$GC,4318,-0.46,-146.0,495.0,-10.8,447,4322,0.00,2.22,0.00,0.000,6,0.000,0.060,2702,2492,3627,0,0,0,0,0,0
$GC,4644,-0.50,-146.0,520.8,-8.1,477,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2492,3627,0,0,0,0,0,0
$GC,4965,-0.54,-146.0,547.0,-7.5,507,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2494,3627,0,0,0,0,0,0
$STATE,4980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4980,begin apogee
$GC,4985,-0.12,0.0,548.7,8.1,509,5117,0.38,0.00,121.18,1.268,6,0.186,0.000,2815,2264,3030,0,0,0,0,0,0
$STATE,5117,end apogee,CONTROL_FINISHED_OK
$STATE,5118,begin climb
$GC,5119,0.62,146.0,553.0,0.0,521,5248,0.77,0.00,124.55,1.222,6,0.137,0.000,3051,2264,2434,0,0,0,0,0,0
$GC,5566,0.55,146.0,509.1,11.9,564,5570,0.00,2.42,0.00,0.000,4,0.000,0.068,3052,3692,2426,0,0,0,0,0,0
$GC,5682,0.42,146.0,493.1,13.9,574,5690,0.22,2.33,0.00,0.000,6,0.191,0.052,3007,2281,2424,0,0,0,0,0,0
$GC,6008,0.46,175.8,464.9,8.6,605,6040,0.00,2.38,25.38,1.143,4,0.000,0.065,3007,3687,2312,0,0,0,0,0,0
$GC,6064,0.46,175.8,459.9,10.0,610,6068,0.00,2.35,0.00,0.000,6,0.000,0.050,3015,2265,2311,0,0,0,0,0,0
$GC,6388,0.46,175.8,427.8,10.3,640,6393,0.00,2.35,0.00,0.000,4,0.000,0.068,3015,3692,2309,0,0,0,0,0,0
$GC,6421,0.46,175.8,423.9,11.7,642,6428,0.00,2.30,0.00,0.000,6,0.000,0.050,3025,2271,2308,0,0,0,0,0,0
$GC,6748,0.46,175.8,388.5,10.7,673,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2271,2307,0,0,0,0,0,0
$GC,7066,0.46,175.8,355.8,10.0,703,7070,0.00,2.30,0.00,0.000,4,0.000,0.065,3025,3697,2307,0,0,0,0,0,0
$GC,7121,0.42,175.8,349.0,12.1,707,7129,0.15,2.28,0.00,0.000,6,0.195,0.051,2999,2264,2307,0,0,0,0,0,0
$GC,7449,0.51,199.5,321.1,8.9,738,7477,0.00,0.00,21.30,1.087,6,0.000,0.000,2999,2264,2216,0,0,0,0,0,0
$GC,7797,0.59,199.5,287.5,10.1,771,7802,0.17,2.35,0.00,0.000,4,0.096,0.067,3067,3687,2212,0,0,0,0,0,0
$GC,7826,0.55,199.5,283.7,14.1,773,7831,0.15,2.25,0.00,0.000,6,0.190,0.051,3040,2273,2212,0,0,0,0,0,0
$GC,8156,0.55,199.5,244.6,11.3,804,8160,0.00,2.25,0.00,0.000,4,0.000,0.068,3043,866,2211,0,0,0,0,0,0
$GC,8196,0.58,199.5,240.3,10.7,807,8200,0.00,2.22,0.00,0.000,6,0.000,0.052,3043,2279,2210,0,0,0,0,0,0
$GC,8522,0.58,199.5,206.4,10.0,837,8526,0.00,2.28,0.00,0.000,4,0.000,0.069,3043,3694,2210,0,0,0,0,0,0
$GC,8630,0.54,199.5,194.2,11.2,846,8634,0.00,2.25,0.00,0.000,6,0.000,0.052,3053,2273,2210,0,0,0,0,0,0
$GC,8956,0.54,199.5,158.3,11.0,876,8960,0.00,2.22,0.00,0.000,4,0.000,0.067,3061,865,2210,0,0,0,0,0,0
$GC,8989,0.54,199.5,154.4,10.5,878,8996,0.00,2.22,0.00,0.000,6,0.000,0.054,3061,2285,2211,0,0,0,0,0,0
$GC,9314,0.58,226.6,125.9,8.7,909,9348,0.00,2.33,24.83,0.988,4,0.000,0.069,3061,3679,2105,0,0,0,0,0,0
$GC,9409,0.58,226.6,115.8,11.4,917,9417,0.00,2.25,0.00,0.000,6,0.000,0.051,3072,2276,2103,0,0,0,0,0,0
$GC,9746,0.63,253.6,86.2,8.8,963,9776,0.00,2.38,24.80,0.978,4,0.000,0.067,3079,870,1996,0,0,0,0,0,0
$GC,9823,0.70,253.6,78.5,10.3,976,9830,0.00,2.25,0.00,0.000,6,0.000,0.053,3079,2274,1993,0,0,0,0,0,0
$GC,10169,0.74,267.5,46.2,9.4,1037,10189,0.00,2.38,13.07,0.926,4,0.000,0.069,3079,3682,1939,0,0,0,0,0,0
$GC,10240,0.76,267.5,38.1,11.3,1049,10247,0.00,2.28,0.00,0.000,6,0.000,0.051,3086,2272,1938,0,0,0,0,0,0
$FREEZE,8.70,-1.759,-1.767,3,38,0
$STATE,10567,end climb,FINISH_DEPTH_REACHED
$STATE,10569,begin subsurface finish
$FINISH1,8.7,1.025879,79
$GC,10575,0.10,79.5,8.7,-9.1,1107,10610,0.60,0.00,-27.83,0.000,6,0.155,0.000,2899,2272,2707,0,0,0,0,0,0
$FINISH2,7.5
$STATE,10611,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10611,begin surface
$RAFOS_CLK,590
$RAFOS,6,1298969346,8.833333,8.818334,142,72,63,55,49,48,777,210,132,152,192,98
$RAFOS,5,1298968866,8.700000,8.685000,92,68,67,61,60,56,940,215,193,179,156,137
$RAFOS,4,1298968382,8.566667,8.550555,98,67,61,60,59,56,738,202,220,178,188,146
$RAFOS_FIX,6649.590820,-6015.128906,010311,080801,6,118,5.14
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,47.75
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.1
$24V_AH,23.0,11.854
$10V_AH,10.3,5.763
$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,4.275,87.525,355.100,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2663.817,5694.039,441.114,1738.674,148.351,0.000,1354.979,0.000,1731.628,1080.000,11.458,0.000
$DEVICE_MAMPS,247.095,82.620,1267.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.290,846.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150732
$DATA_FILE_SIZE,43359,1113
$CAP_FILE_SIZE,114717,0
$CFSIZE,260165632,247877632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,010311,081122,6647.652,-6019.552,0,3126.0,0,-38.0