version: 66.08
glider: 141
mission: 15
dive: 65
start: 3 1 111 21 6 23
data:
$ID,141
$MISSION,15
$DIVE,65
$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,-23144.75
$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,31
$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
$GPS1,010311,202734,6651.504,-6003.657,0,7125.0,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,145.80
$_SM_ANGLEo,9.0
$GPS2,010311,202734,6651.504,-6003.657,0,7125.0,0,-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,119.4,142888,-17.5,-10.000
$D_GRID,708
$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,-146.0,0.0,0.0,0,24,0.00,1.90,-3.78,0.000,6,0.000,0.064,2884,2477,3639,0,0,0,0,0,0
$GC,27,-0.62,-146.0,146.6,-0.0,1,34,0.62,2.15,0.00,0.000,4,0.119,0.055,2666,1080,3639,0,0,0,0,0,0
$GC,69,-0.59,-146.0,150.5,-9.6,5,73,0.00,2.22,0.00,0.000,6,0.000,0.059,2666,2489,3639,0,0,0,0,0,0
$GC,397,-0.49,-146.0,196.4,-13.8,35,402,0.15,2.20,0.00,0.000,4,0.237,0.061,2701,1089,3639,0,0,0,0,0,0
$GC,418,-0.43,-146.0,199.8,-13.1,36,426,0.00,2.22,0.00,0.000,6,0.000,0.058,2700,2495,3639,0,0,0,0,0,0
$GC,744,-0.43,-146.0,234.6,-10.5,67,748,0.00,2.20,0.00,0.000,4,0.000,0.061,2700,1084,3638,0,0,0,0,0,0
$GC,753,-0.43,-146.0,235.9,-10.6,67,761,0.00,2.25,0.00,0.000,6,0.000,0.057,2700,2494,3638,0,0,0,0,0,0
$GC,1080,-0.43,-146.0,271.4,-11.3,98,1084,0.00,2.20,0.00,0.000,4,0.000,0.060,2700,1081,3638,0,0,0,0,0,0
$GC,1113,-0.43,-146.0,275.6,-12.1,100,1120,0.00,2.25,0.00,0.000,6,0.000,0.058,2700,2492,3638,0,0,0,0,0,0
$GC,1440,-0.43,-146.0,310.0,-10.0,131,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2492,3637,0,0,0,0,0,0
$GC,1758,-0.45,-146.0,341.8,-10.1,161,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2492,3637,0,0,0,0,0,0
$GC,2077,-0.48,-146.0,373.8,-10.0,191,2081,0.00,2.17,0.00,0.000,4,0.000,0.060,2700,1089,3637,0,0,0,0,0,0
$GC,2099,-0.50,-146.0,376.4,-10.5,192,2106,0.00,2.20,0.00,0.000,6,0.000,0.059,2700,2495,3637,0,0,0,0,0,0
$GC,2425,-0.54,-146.0,406.9,-9.3,223,2429,0.00,2.20,0.00,0.000,4,0.000,0.059,2700,1087,3638,0,0,0,0,0,0
$GC,2437,-0.57,-146.0,408.0,-9.4,224,2441,0.00,2.22,0.00,0.000,6,0.000,0.059,2700,2496,3638,0,0,0,0,0,0
$GC,2762,-0.61,-146.0,437.8,-8.9,254,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2496,3637,0,0,0,0,0,0
$GC,3082,-0.64,-146.0,464.5,-8.2,284,3086,0.15,2.20,0.00,0.000,4,0.126,0.059,2651,1087,3638,0,0,0,0,0,0
$GC,3099,-0.64,-146.0,466.3,-8.9,285,3103,0.00,2.22,0.00,0.000,6,0.000,0.060,2651,2496,3637,0,0,0,0,0,0
$GC,3430,-0.56,-146.0,506.8,-12.5,316,3435,0.12,2.20,0.00,0.000,4,0.239,0.060,2679,1088,3637,0,0,0,0,0,0
$GC,3447,-0.49,-146.0,508.9,-12.2,317,3452,0.00,2.20,0.00,0.000,6,0.000,0.060,2679,2495,3637,0,0,0,0,0,0
$GC,3772,-0.49,-146.0,542.0,-10.2,347,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2495,3637,0,0,0,0,0,0
$GC,4093,-0.49,-146.0,573.4,-9.6,377,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2495,3638,0,0,0,0,0,0
$GC,4430,-0.49,-146.0,606.4,-9.8,405,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2495,3638,0,0,0,0,0,0
$GC,4735,-0.49,-146.0,636.6,-10.0,415,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2496,3638,0,0,0,0,0,0
$GC,5041,-0.49,-146.0,666.4,-9.5,425,5045,0.00,2.25,0.00,0.000,4,0.000,0.076,2679,3897,3637,0,0,0,0,0,0
$GC,5062,-0.51,-146.0,668.4,-9.1,425,5070,0.00,2.15,0.00,0.000,6,0.000,0.047,2679,2489,3637,0,0,0,0,0,0
$GC,5375,-0.51,-146.0,698.6,-9.9,436,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2488,3638,0,0,0,0,0,0
$STATE,5408,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5408,begin apogee
$GC,5413,-0.12,0.0,701.8,10.2,437,5543,0.45,0.00,124.60,1.353,6,0.184,0.000,2815,2259,3030,0,0,0,0,0,0
$STATE,5544,end apogee,CONTROL_FINISHED_OK
$STATE,5544,begin climb
$GC,5546,0.62,146.0,705.6,0.0,441,5681,0.77,2.50,125.68,1.315,4,0.137,0.068,3063,885,2432,0,0,0,0,0,0
$GC,5720,0.53,146.0,691.5,13.6,446,5727,0.00,2.40,0.00,0.000,6,0.000,0.056,3063,2277,2428,0,0,0,0,0,0
$GC,6033,0.43,146.0,652.4,12.5,457,6038,0.22,2.38,0.00,0.000,4,0.181,0.069,3004,3688,2424,0,0,0,0,0,0
$GC,6131,0.39,146.0,641.6,11.2,460,6135,0.00,2.30,0.00,0.000,6,0.000,0.052,3012,2290,2423,0,0,0,0,0,0
$GC,6466,0.41,156.9,609.5,9.5,471,6478,0.00,0.00,8.93,1.074,6,0.000,0.000,3012,2290,2390,0,0,0,0,0,0
$GC,6802,0.41,158.7,575.9,9.9,495,6806,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3697,2388,0,0,0,0,0,0
$GC,6846,0.37,158.7,571.0,11.5,498,6853,0.15,2.28,0.00,0.000,6,0.191,0.051,2987,2274,2388,0,0,0,0,0,0
$GC,7173,0.48,201.6,544.7,8.0,529,7217,0.10,0.00,40.33,1.232,6,0.123,0.000,3026,2275,2208,0,0,0,0,0,0
$GC,7534,0.48,201.6,504.5,11.4,563,7538,0.00,2.35,0.00,0.000,4,0.000,0.067,3026,3690,2201,0,0,0,0,0,0
$GC,7591,0.45,201.6,497.5,12.5,568,7595,0.00,2.30,0.00,0.000,6,0.000,0.051,3037,2265,2200,0,0,0,0,0,0
$GC,7915,0.45,201.6,458.9,12.1,598,7919,0.00,2.25,0.00,0.000,4,0.000,0.067,3045,861,2200,0,0,0,0,0,0
$GC,7944,0.45,201.6,455.4,12.2,600,7949,0.12,2.28,0.00,0.000,6,0.188,0.054,3015,2292,2198,0,0,0,0,0,0
$GC,8269,0.49,201.6,420.6,10.4,630,8273,0.00,2.22,0.00,0.000,4,0.000,0.069,3015,3683,2198,0,0,0,0,0,0
$GC,8334,0.49,201.6,413.0,12.5,635,8342,0.00,2.28,0.00,0.000,6,0.000,0.052,3022,2269,2198,0,0,0,0,0,0
$GC,8661,0.54,221.5,381.8,9.1,666,8681,0.00,0.00,17.62,1.108,6,0.000,0.000,3022,2269,2126,0,0,0,0,0,0
$GC,9001,0.60,236.2,350.8,9.3,698,9020,0.10,0.00,14.20,1.075,6,0.122,0.000,3063,2269,2066,0,0,0,0,0,0
$GC,9338,0.56,236.2,308.1,12.8,730,9342,0.00,2.30,0.00,0.000,4,0.000,0.064,3063,3695,2062,0,0,0,0,0,0
$GC,9383,0.50,236.2,301.9,14.3,734,9388,0.17,2.28,0.00,0.000,6,0.187,0.052,3029,2277,2062,0,0,0,0,0,0
$GC,9709,0.56,241.7,268.7,9.7,764,9721,0.00,2.28,5.65,0.845,4,0.000,0.066,3029,863,2044,0,0,0,0,0,0
$GC,9768,0.66,255.0,263.0,9.4,769,9792,0.15,2.25,13.82,1.024,6,0.109,0.052,3087,2283,1989,0,0,0,0,0,0
$GC,10109,0.62,255.0,215.3,13.3,801,10113,0.00,2.25,0.00,0.000,4,0.000,0.068,3087,3684,1986,0,0,0,0,0,0
$GC,10194,0.55,255.0,202.4,16.0,808,10202,0.20,2.25,0.00,0.000,6,0.184,0.052,3045,2273,1985,0,0,0,0,0,0
$GC,10519,0.61,255.0,168.2,10.3,839,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2273,1984,0,0,0,0,0,0
$GC,10840,0.72,287.2,137.3,8.5,869,10877,0.15,2.35,30.15,1.001,4,0.103,0.069,3111,875,1858,0,0,0,0,0,0
$GC,10911,0.72,287.2,129.3,12.0,875,10918,0.00,2.25,0.00,0.000,6,0.000,0.054,3111,2274,1855,0,0,0,0,0,0
$GC,11240,0.72,287.2,91.4,10.9,913,11247,0.00,2.30,0.00,0.000,4,0.000,0.067,3111,3693,1852,0,0,0,0,0,0
$GC,11298,0.66,287.2,83.9,13.7,923,11306,0.17,2.28,0.00,0.000,6,0.198,0.052,3078,2269,1851,0,0,0,0,0,0
$GC,11645,0.73,303.7,51.8,9.2,984,11668,0.00,0.00,17.83,0.886,6,0.000,0.000,3078,2270,1790,0,0,0,0,0,0
$GC,12004,0.88,356.6,18.8,7.6,1048,12041,0.20,2.33,28.00,0.990,4,0.089,0.067,3163,862,1575,0,0,0,0,0,0
$FREEZE,8.72,-1.761,-1.784,3,42,0
$STATE,12076,end climb,FINISH_DEPTH_REACHED
$STATE,12076,begin subsurface finish
$FINISH1,8.7,1.026122,68
$GC,12085,0.08,67.5,8.7,-16.3,1060,12138,0.88,0.00,-48.78,0.000,6,0.167,0.000,2900,2283,2756,0,0,0,0,0,0
$FINISH2,6.3
$STATE,12139,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12139,begin surface
$RAFOS_CLK,670
$RAFOS,2,1299025022,0.300000,0.283889,127,55,54,54,50,49,706,222,154,189,202,101
$RAFOS,1,1299024541,0.166667,0.150278,101,60,57,54,54,52,594,144,213,171,194,126
$RAFOS,0,1299024068,0.033333,0.018889,97,62,60,57,54,54,648,200,185,219,165,209
$RAFOS_FIX,6651.833496,-6006.961914,020311,000022,3,108,0.18
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.030709
$HUMID,46.49
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.8
$ALTIM_BOTTOM_PING,701.8,8.5
$24V_AH,22.8,12.370
$10V_AH,10.3,6.041
$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,4.900,97.225,426.800,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2584.645,7226.169,466.544,1760.729,167.496,0.000,1427.691,0.000,1744.345,1440.000,24.083,0.000
$DEVICE_MAMPS,238.680,75.735,1352.520,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,764.139,822.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40031,1069
$CAP_FILE_SIZE,126553,0
$CFSIZE,260165632,247607296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.8
$GPS,020311,001122,6651.833,-6006.962,0,3108.3,0,-38.0