version: 66.08
glider: 141
mission: 15
dive: 62
start: 3 1 111 11 26 4
data:
$ID,141
$MISSION,15
$DIVE,62
$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,30
$R_STBD_OVSHOOT,27
$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,9.17
$_SM_ANGLEo,-5.6
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.62,0.000,2,0.000,0.000,2899,2272,2932,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.9,-0.0,1,51,0.62,0.00,-19.38,0.000,6,0.085,0.000,2667,2271,3628,0,0,0,0,0,0
$GC,387,-0.45,-146.0,83.2,-19.4,65,395,0.20,2.67,0.00,0.000,4,0.227,0.072,2714,3895,3630,0,0,0,0,0,0
$GC,413,-0.35,-146.0,87.7,-17.7,69,420,0.12,2.20,0.00,0.000,6,0.223,0.047,2744,2486,3631,0,0,0,0,0,0
$GC,746,-0.40,-146.0,125.1,-10.7,108,750,0.00,2.22,0.00,0.000,4,0.000,0.067,2744,1082,3629,0,0,0,0,0,0
$GC,819,-0.48,-146.0,133.2,-10.4,114,824,0.12,2.25,0.00,0.000,6,0.133,0.061,2705,2488,3629,0,0,0,0,0,0
$GC,1149,-0.48,-146.0,175.4,-12.4,145,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2488,3629,0,0,0,0,0,0
$GC,1469,-0.48,-146.0,211.8,-11.0,175,1473,0.00,2.25,0.00,0.000,4,0.000,0.067,2705,1074,3629,0,0,0,0,0,0
$GC,1502,-0.48,-146.0,215.7,-11.4,177,1509,0.00,2.30,0.00,0.000,6,0.000,0.062,2705,2494,3628,0,0,0,0,0,0
$GC,1829,-0.48,-146.0,249.2,-10.4,208,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2494,3628,0,0,0,0,0,0
$GC,2147,-0.48,-146.0,279.8,-9.5,238,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2494,3628,0,0,0,0,0,0
$GC,2467,-0.48,-146.0,311.9,-10.3,268,2471,0.00,2.20,0.00,0.000,4,0.000,0.066,2705,1088,3628,0,0,0,0,0,0
$GC,2483,-0.48,-146.0,314.0,-10.7,269,2490,0.00,2.25,0.00,0.000,6,0.000,0.062,2705,2486,3628,0,0,0,0,0,0
$GC,2809,-0.50,-146.0,345.2,-9.3,300,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2486,3627,0,0,0,0,0,0
$GC,3129,-0.53,-146.0,376.4,-9.5,330,3133,0.00,2.20,0.00,0.000,4,0.000,0.063,2705,1082,3627,0,0,0,0,0,0
$GC,3147,-0.56,-146.0,378.3,-10.0,331,3151,0.00,2.25,0.00,0.000,6,0.000,0.060,2705,2496,3628,0,0,0,0,0,0
$GC,3472,-0.59,-146.0,406.3,-8.0,361,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2495,3628,0,0,0,0,0,0
$GC,3792,-0.63,-146.0,431.8,-8.3,391,3794,0.12,0.00,0.00,0.000,6,0.129,0.000,2662,2496,3628,0,0,0,0,0,0
$GC,4109,-0.56,-146.0,470.0,-12.5,421,4113,0.00,2.22,0.00,0.000,4,0.000,0.063,2662,1072,3628,0,0,0,0,0,0
$GC,4132,-0.50,-146.0,472.9,-12.9,422,4139,0.15,2.25,0.00,0.000,6,0.223,0.061,2697,2489,3628,0,0,0,0,0,0
$GC,4457,-0.53,-146.0,503.1,-8.8,453,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2489,3628,0,0,0,0,0,0
$GC,4777,-0.56,-146.0,530.9,-9.1,483,4781,0.00,2.25,0.00,0.000,4,0.000,0.077,2697,3896,3629,0,0,0,0,0,0
$GC,4867,-0.60,-146.0,539.3,-9.1,490,4874,0.00,2.17,0.00,0.000,6,0.000,0.046,2697,2484,3629,0,0,0,0,0,0
$STATE,4967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4967,begin apogee
$GC,4972,-0.12,0.0,548.5,8.9,500,5099,0.40,0.00,120.90,1.271,6,0.189,0.000,2817,2260,3030,0,0,0,0,0,0
$STATE,5099,end apogee,CONTROL_FINISHED_OK
$STATE,5100,begin climb
$GC,5101,0.62,146.0,553.6,0.0,511,5235,0.77,2.50,124.95,1.221,4,0.141,0.070,3062,885,2432,0,0,0,0,0,0
$GC,5348,0.53,146.0,533.8,11.9,533,5356,0.00,2.38,0.00,0.000,6,0.000,0.056,3062,2272,2426,0,0,0,0,0,0
$GC,5675,0.44,146.0,495.9,11.8,564,5680,0.20,2.38,0.00,0.000,4,0.185,0.069,3010,3694,2424,0,0,0,0,0,0
$GC,5764,0.39,146.0,485.9,10.7,571,5771,0.00,2.33,0.00,0.000,6,0.000,0.053,3018,2276,2424,0,0,0,0,0,0
$GC,6089,0.39,147.9,455.0,9.9,602,6093,0.00,2.33,0.00,0.000,4,0.000,0.070,3028,864,2423,0,0,0,0,0,0
$GC,6118,0.39,147.9,452.1,10.2,604,6123,0.12,2.28,0.00,0.000,6,0.188,0.055,2998,2278,2423,0,0,0,0,0,0
$GC,6443,0.46,177.1,423.6,8.7,634,6477,0.00,2.35,26.17,1.134,4,0.000,0.070,2998,3685,2307,0,0,0,0,0,0
$GC,6558,0.46,177.1,412.4,11.0,644,6562,0.00,2.30,0.00,0.000,6,0.000,0.051,3002,2278,2305,0,0,0,0,0,0
$GC,6885,0.55,214.2,384.9,8.3,674,6924,0.12,0.00,33.72,1.128,6,0.113,0.000,3051,2278,2156,0,0,0,0,0,0
$GC,7242,0.53,214.2,343.9,11.5,708,7246,0.00,2.30,0.00,0.000,4,0.000,0.067,3051,3685,2150,0,0,0,0,0,0
$GC,7302,0.47,214.2,336.1,13.5,713,7310,0.17,2.30,0.00,0.000,6,0.190,0.053,3018,2264,2149,0,0,0,0,0,0
$GC,7628,0.53,230.0,306.4,9.3,744,7651,0.00,2.35,13.95,1.035,4,0.000,0.068,3025,864,2091,0,0,0,0,0,0
$GC,7675,0.63,250.7,302.2,9.0,748,7702,0.12,2.30,20.17,1.063,6,0.118,0.055,3076,2277,2007,0,0,0,0,0,0
$GC,8027,0.58,250.7,254.4,13.7,781,8032,0.00,2.28,0.00,0.000,4,0.000,0.067,3076,3684,2001,0,0,0,0,0,0
$GC,8105,0.51,250.7,242.4,15.9,787,8113,0.20,2.28,0.00,0.000,6,0.191,0.054,3034,2277,2000,0,0,0,0,0,0
$GC,8431,0.60,275.5,211.1,8.9,818,8459,0.00,2.33,22.77,1.034,4,0.000,0.067,3041,866,1905,0,0,0,0,0,0
$GC,8494,0.72,299.6,205.5,8.9,823,8528,0.15,2.28,23.08,1.014,6,0.106,0.052,3098,2280,1807,0,0,0,0,0,0
$GC,8845,0.69,299.6,155.3,15.7,856,8849,0.00,2.30,0.00,0.000,4,0.000,0.067,3098,3694,1800,0,0,0,0,0,0
$GC,8902,0.65,299.6,146.1,15.8,861,8907,0.15,2.30,0.00,0.000,6,0.194,0.053,3073,2270,1799,0,0,0,0,0,0
$GC,9227,0.72,308.3,111.6,9.6,891,9237,0.00,0.00,7.45,0.862,6,0.000,0.000,3073,2270,1773,0,0,0,0,0,0
$GC,9567,0.80,311.2,78.9,9.9,941,9581,0.15,2.33,4.20,0.679,4,0.100,0.069,3140,868,1761,0,0,0,0,0,0
$GC,9599,0.80,311.2,75.1,12.7,946,9605,0.00,2.22,0.00,0.000,6,0.000,0.053,3139,2274,1760,0,0,0,0,0,0
$GC,9943,0.75,311.2,26.6,13.3,1007,9951,0.12,0.00,0.00,0.000,6,0.202,0.000,3109,2274,1759,0,0,0,0,0,0
$FREEZE,8.86,-1.770,-1.771,3,39,0
$STATE,10108,end climb,FINISH_DEPTH_REACHED
$STATE,10108,begin subsurface finish
$FINISH1,8.9,1.025925,77
$GC,10114,0.09,77.2,8.9,-9.9,1036,10156,0.65,0.00,-34.08,0.000,6,0.155,0.000,2902,2275,2716,0,0,0,0,0,0
$FINISH2,7.8
$STATE,10156,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10156,begin surface
$RAFOS_CLK,563
$RAFOS,6,1298983746,12.833333,12.818334,62,58,58,52,51,50,217,203,193,148,111,160
$RAFOS,5,1298983261,12.700000,12.683611,74,64,64,55,54,49,953,213,190,156,114,125
$RAFOS,4,1298982786,12.566667,12.551666,113,65,63,57,56,54,704,197,211,125,146,175
$RAFOS,3,1298982308,12.433333,12.418889,103,61,57,57,56,52,799,202,217,128,151,117
$RAFOS,2,1298981825,12.300000,12.284722,107,63,62,59,58,54,690,189,215,147,198,156
$RAFOS,1,1298981347,12.166667,12.151944,97,68,61,57,57,51,564,208,217,189,166,178
$RAFOS,0,1298980865,12.033333,12.018056,124,66,59,56,50,49,642,151,210,193,225,175
$RAFOS_FIX,6650.733398,-6014.829102,010311,121228,6,103,0.44
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.53
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.3
$24V_AH,23.0,11.985
$10V_AH,10.3,5.826
$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,4.700,78.400,397.375,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2498.838,5468.682,445.781,1678.622,141.368,0.000,1348.365,0.000,1667.499,2520.000,11.453,0.000
$DEVICE_MAMPS,227.205,77.265,1271.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.437,796.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40060,1043
$CAP_FILE_SIZE,112373,0
$CFSIZE,260165632,247820288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$GPS,010311,122328,6650.733,-6014.829,0,6103.0,0,-38.0