version: 66.08
glider: 141
mission: 15
dive: 86
start: 3 6 111 2 11 15
data:
$ID,141
$MISSION,15
$DIVE,86
$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,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,-23514.691
$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,30
$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
$GPS1,060311,004322,6710.204,-5822.578,0,3127.3,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,10.8
$GPS2,060311,004322,6710.204,-5822.578,0,3127.3,0,-38.2
$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,139.3,69590,-17.5,-10.000
$D_GRID,1198
$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,-146.0,0.0,0.0,0,139,0.00,0.38,-116.00,0.000,6,0.000,0.177,3070,2486,3626,0,0,0,0,0,0
$GC,142,-0.62,-146.0,2.8,0.2,21,149,1.45,2.15,0.00,0.000,4,0.234,0.037,2687,1052,3627,0,0,0,0,0,0
$GC,405,-1.65,-146.0,2.9,0.0,67,413,1.27,2.30,0.00,0.000,6,0.233,0.063,2341,2503,3627,0,0,0,0,0,0
$GC,751,-2.69,-146.0,2.8,0.4,128,759,1.20,2.17,0.00,0.000,4,0.230,0.037,2020,1052,3626,0,0,0,0,0,0
$GC,1013,-2.69,-146.0,2.9,1.1,174,1020,0.00,2.28,0.00,0.000,6,0.000,0.063,2015,2489,3626,0,0,0,0,0,0
$GC,1359,-2.69,-146.0,3.0,0.4,235,1365,0.00,2.15,0.00,0.000,4,0.000,0.042,2024,1056,3626,0,0,0,0,0,0
$GC,1620,-2.69,-146.0,3.0,0.1,281,1627,0.00,2.40,0.00,0.000,6,0.000,0.090,2024,2494,3625,0,0,0,0,0,0
$GC,1965,-2.69,-146.0,3.1,-0.4,342,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3625,0,0,0,0,0,0
$GC,2310,-2.69,-146.0,3.0,-0.0,403,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3625,0,0,0,0,0,0
$GC,2655,-2.69,-146.0,3.0,-0.0,464,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3624,0,0,0,0,0,0
$GC,2999,-2.69,-146.0,3.0,-0.5,525,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3624,0,0,0,0,0,0
$GC,3344,-2.69,-146.0,3.0,-0.1,586,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3624,0,0,0,0,0,0
$GC,3688,-2.69,-146.0,3.0,-0.1,647,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3623,0,0,0,0,0,0
$GC,4032,-2.69,-146.0,3.1,-0.2,708,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3623,0,0,0,0,0,0
$GC,4378,-2.69,-146.0,3.0,0.3,769,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3623,0,0,0,0,0,0
$GC,4723,-2.69,-146.0,3.0,-0.1,830,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2494,3623,0,0,0,0,0,0
$GC,5067,-2.69,-146.0,3.0,-0.0,891,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3623,0,0,0,0,0,0
$GC,5413,-2.69,-146.0,3.0,0.1,952,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3623,0,0,0,0,0,0
$GC,5758,-2.69,-146.0,3.0,0.1,1013,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3623,0,0,0,0,0,0
$GC,6102,-2.69,-146.0,3.0,-0.0,1074,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3623,0,0,0,0,0,0
$GC,6448,-2.69,-146.0,3.0,-0.0,1135,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3623,0,0,0,0,0,0
$GC,6792,-2.69,-146.0,3.1,0.5,1196,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3623,0,0,0,0,0,0
$GC,7135,-2.69,-146.0,3.0,0.6,1257,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,7479,-2.69,-146.0,3.0,-0.0,1318,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,7823,-2.69,-146.0,3.1,0.2,1379,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,8167,-2.69,-146.0,3.0,-0.2,1440,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,8512,-2.69,-146.0,3.1,-0.2,1501,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,8856,-2.69,-146.0,3.0,-0.1,1562,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,9199,-2.69,-146.0,3.0,0.4,1623,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,9542,-2.69,-146.0,3.0,0.5,1684,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,9886,-2.69,-146.0,3.1,-0.1,1745,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,10231,-2.69,-146.0,3.0,-0.2,1806,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2493,3622,0,0,0,0,0,0
$GC,10575,-2.69,-146.0,3.0,0.0,1867,10581,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,10919,-2.69,-146.0,3.0,0.1,1928,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2493,3621,0,0,0,0,0,0
$GC,11265,-2.69,-146.0,3.0,-0.1,1989,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,11609,-2.69,-146.0,3.0,-0.2,2050,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2494,3622,0,0,0,0,0,0
$GC,11954,-2.69,-146.0,3.0,-0.2,2111,11961,0.00,2.15,0.00,0.000,4,0.000,0.046,2026,1061,3622,0,0,0,0,0,0
$STATE,12006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12006,begin apogee
$FREEZE,3.08,-1.712,-1.825,2,63,0
$FREEZE,3.03,-1.704,-1.824,2,63,0
$FREEZE,3.05,-1.709,-1.825,2,63,0
$FREEZE,3.02,-1.710,-1.825,2,63,0
$FREEZE,3.10,-1.710,-1.825,2,63,0
$FREEZE,3.09,-1.710,-1.825,2,63,0
$FREEZE,3.09,-1.709,-1.825,2,63,0
$FREEZE,3.08,-1.713,-1.825,2,63,0
$GC,12013,-0.12,0.0,3.1,-0.1,2120,12083,2.12,0.00,63.12,0.943,6,0.074,0.000,2830,2283,3029,0,0,0,0,0,0
$STATE,12085,end apogee,CONTROL_FINISHED_OK
$STATE,12085,begin climb
$FREEZE,3.09,-1.714,-1.825,2,63,0
$FREEZE,3.05,-1.715,-1.825,2,63,0
$FREEZE,3.02,-1.712,-1.825,2,63,0
$FREEZE,3.13,-1.712,-1.825,2,63,0
$FREEZE,3.04,-1.697,-1.824,2,63,0
$FREEZE,3.07,-1.708,-1.825,2,63,0
$FREEZE,3.09,-1.700,-1.824,2,63,0
$FREEZE,3.09,-1.703,-1.824,2,63,0
$FREEZE,3.07,-1.713,-1.825,2,63,0
$GC,12087,0.62,146.0,3.0,0.0,2129,12164,0.62,2.58,67.47,0.889,4,0.079,0.099,3058,3699,2430,0,0,0,0,0,0
$FREEZE,3.15,-1.711,-1.825,2,63,0
$FREEZE,3.12,-1.711,-1.825,2,63,0
$FREEZE,3.14,-1.713,-1.825,2,63,0
$FREEZE,3.12,-1.713,-1.825,2,63,0
$FREEZE,3.08,-1.708,-1.825,2,63,0
$FREEZE,3.18,-1.710,-1.825,2,63,0
$FREEZE,3.18,-1.710,-1.825,2,63,0
$FREEZE,3.08,-1.713,-1.825,2,63,0
$FREEZE,3.20,-1.711,-1.825,2,63,0
$STATE,12211,end climb,NO_VERTICAL_VELOCITY
$STATE,12211,begin subsurface finish
$FINISH1,3.2,1.026760,36
$GC,12220,0.04,36.2,3.2,0.3,2148,12228,0.57,0.00,-5.07,0.000,2,0.163,0.000,2888,2268,2489,0,0,0,0,0,0
$FINISH2,3.1
$STATE,12229,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12229,begin surface
$RAFOS_CLK,677
$RAFOS,6,1299386941,4.833333,4.816945,114,58,55,54,52,51,610,205,174,146,230,193
$RAFOS,5,1299386464,4.700000,4.684444,95,65,59,59,57,56,670,193,226,160,176,204
$RAFOS,4,1299385983,4.566667,4.550833,61,57,53,50,49,49,212,193,135,149,172,91
$RAFOS,3,1299385504,4.433333,4.417778,67,58,56,53,53,51,216,126,168,201,180,143
$RAFOS,2,1299385026,4.300000,4.285000,74,60,55,53,53,50,204,222,168,144,188,123
$RAFOS,1,1299384546,4.166667,4.151667,61,61,58,57,54,52,199,211,166,228,133,187
$RAFOS,0,1299384063,4.033333,4.017500,67,57,51,50,49,46,178,215,194,66,119,152
$RAFOS_FIX,6707.192383,-5821.632324,060311,040456,2,104,0.38
$IRIDIUM_FIX,6641.98,-5820.28,050311,151513
$TT8_MAMPS,0.026964
$HUMID,47.24
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,3.1,999.0
$24V_AH,24.1,15.402
$10V_AH,10.3,7.865
$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,7.250,23.000,130.600,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4921.156,3746.977,351.068,3101.453,190.848,0.000,1787.334,0.000,3066.161,2520.000,2.806,0.000
$DEVICE_MAMPS,234.090,177.480,943.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1541.171,1610.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,76509,2149
$CAP_FILE_SIZE,146877,0
$CFSIZE,260165632,245768192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.9
$GPS,060311,044656,6707.192,-5821.632,0,2104.5,0,-38.2