version: 66.08
glider: 141
mission: 15
dive: 87
start: 3 6 111 5 37 33
data:
$ID,141
$MISSION,15
$DIVE,87
$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,33
$R_STBD_OVSHOOT,14
$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
$GPS1,060311,044656,6707.192,-5821.632,0,2104.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,9.7
$GPS2,060311,044656,6707.192,-5821.632,0,2104.5,0,-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,134.8,68060,-17.5,-10.000
$D_GRID,1187
$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,-146.0,0.0,0.0,0,99,0.00,0.43,-80.20,0.000,6,0.000,0.190,2888,2498,3626,0,0,0,0,0,0
$GC,102,-0.62,-146.0,3.1,-0.3,14,109,0.70,2.25,0.00,0.000,4,0.157,0.041,2671,1056,3627,0,0,0,0,0,0
$GC,365,-1.13,-146.0,3.1,-0.1,60,372,0.55,2.47,0.00,0.000,6,0.148,0.096,2505,2490,3628,0,0,0,0,0,0
$GC,711,-1.64,-146.0,3.0,0.4,121,718,0.50,2.20,0.00,0.000,4,0.152,0.043,2344,1069,3628,0,0,0,0,0,0
$GC,972,-2.14,-146.0,3.2,-0.3,167,980,0.52,2.45,0.00,0.000,6,0.148,0.097,2181,2489,3628,0,0,0,0,0,0
$GC,1318,-2.64,-146.0,3.1,0.0,228,1325,0.47,2.20,0.00,0.000,4,0.155,0.043,2027,1060,3628,0,0,0,0,0,0
$GC,1579,-2.64,-146.0,3.1,-0.4,274,1586,0.00,2.45,0.00,0.000,6,0.000,0.097,2027,2488,3628,0,0,0,0,0,0
$GC,1926,-2.64,-146.0,3.1,-0.2,335,1933,0.00,2.17,0.00,0.000,4,0.000,0.044,2027,1064,3628,0,0,0,0,0,0
$GC,2188,-2.64,-146.0,3.1,0.9,381,2195,0.00,2.45,0.00,0.000,6,0.000,0.098,2027,2500,3628,0,0,0,0,0,0
$GC,2535,-2.64,-146.0,3.0,0.4,442,2542,0.00,2.17,0.00,0.000,4,0.000,0.045,2027,1068,3628,0,0,0,0,0,0
$GC,2796,-2.64,-146.0,3.0,-0.1,488,2803,0.00,2.42,0.00,0.000,6,0.000,0.099,2027,2490,3628,0,0,0,0,0,0
$GC,3142,-2.64,-146.0,3.1,0.3,549,3148,0.00,2.20,0.00,0.000,4,0.000,0.045,2027,1060,3628,0,0,0,0,0,0
$GC,3403,-2.64,-146.0,3.1,-0.4,595,3409,0.00,2.45,0.00,0.000,6,0.000,0.097,2027,2500,3628,0,0,0,0,0,0
$GC,3748,-2.64,-146.0,3.1,0.1,656,3755,0.00,2.17,0.00,0.000,4,0.000,0.044,2027,1066,3628,0,0,0,0,0,0
$GC,4009,-2.64,-146.0,3.2,-0.1,702,4016,0.00,2.42,0.00,0.000,6,0.000,0.098,2027,2490,3628,0,0,0,0,0,0
$GC,4354,-2.64,-146.0,3.1,0.0,763,4361,0.00,2.20,0.00,0.000,4,0.000,0.046,2027,1059,3628,0,0,0,0,0,0
$GC,4615,-2.64,-146.0,3.1,0.4,809,4622,0.00,2.42,0.00,0.000,6,0.000,0.096,2027,2489,3628,0,0,0,0,0,0
$GC,4960,-2.64,-146.0,3.1,-0.7,870,4967,0.00,2.15,0.00,0.000,4,0.000,0.045,2027,1068,3628,0,0,0,0,0,0
$GC,5221,-2.64,-146.0,3.0,0.3,916,5227,0.00,2.42,0.00,0.000,6,0.000,0.099,2027,2495,3628,0,0,0,0,0,0
$GC,5565,-2.64,-146.0,3.2,-0.3,977,5572,0.00,2.17,0.00,0.000,4,0.000,0.044,2027,1059,3628,0,0,0,0,0,0
$GC,5826,-2.64,-146.0,3.2,-0.1,1023,5833,0.00,2.42,0.00,0.000,6,0.000,0.098,2027,2489,3628,0,0,0,0,0,0
$GC,6172,-2.64,-146.0,3.1,0.1,1084,6179,0.00,2.15,0.00,0.000,4,0.000,0.045,2027,1067,3628,0,0,0,0,0,0
$GC,6431,-2.64,-146.0,3.1,-0.0,1130,6438,0.00,2.42,0.00,0.000,6,0.000,0.098,2027,2498,3628,0,0,0,0,0,0
$GC,6777,-2.64,-146.0,3.1,-0.1,1191,6784,0.00,2.17,0.00,0.000,4,0.000,0.044,2027,1056,3628,0,0,0,0,0,0
$GC,7038,-3.12,-146.0,3.2,-0.2,1237,7045,0.50,2.42,0.00,0.000,6,0.150,0.097,1870,2490,3628,0,0,0,0,0,0
$GC,7384,-3.12,-146.0,3.1,0.0,1298,7391,0.00,2.17,0.00,0.000,4,0.000,0.044,1870,1064,3628,0,0,0,0,0,0
$GC,7645,-3.12,-146.0,3.1,-0.3,1344,7652,0.00,2.42,0.00,0.000,6,0.000,0.098,1870,2495,3628,0,0,0,0,0,0
$GC,7990,-3.12,-146.0,3.0,-0.0,1405,7997,0.00,2.15,0.00,0.000,4,0.000,0.044,1870,1066,3628,0,0,0,0,0,0
$GC,8250,-3.12,-146.0,3.1,-0.0,1451,8257,0.00,2.42,0.00,0.000,6,0.000,0.099,1870,2496,3628,0,0,0,0,0,0
$GC,8594,-3.12,-146.0,3.1,-0.1,1512,8601,0.00,2.15,0.00,0.000,4,0.000,0.044,1870,1066,3628,0,0,0,0,0,0
$GC,8855,-3.12,-146.0,3.1,-0.0,1558,8861,0.00,2.42,0.00,0.000,6,0.000,0.099,1870,2497,3628,0,0,0,0,0,0
$GC,9200,-3.12,-146.0,3.1,-0.1,1619,9206,0.00,2.17,0.00,0.000,4,0.000,0.044,1870,1053,3628,0,0,0,0,0,0
$GC,9462,-3.12,-146.0,3.1,-0.0,1665,9468,0.00,2.45,0.00,0.000,6,0.000,0.099,1870,2499,3628,0,0,0,0,0,0
$GC,9806,-3.12,-146.0,3.1,-0.1,1726,9812,0.00,2.17,0.00,0.000,4,0.000,0.044,1870,1053,3628,0,0,0,0,0,0
$GC,10065,-3.12,-146.0,3.0,-0.0,1772,10071,0.00,2.42,0.00,0.000,6,0.000,0.099,1870,2490,3628,0,0,0,0,0,0
$GC,10410,-3.12,-146.0,3.1,-0.1,1833,10417,0.00,2.17,0.00,0.000,4,0.000,0.044,1870,1061,3628,0,0,0,0,0,0
$GC,10671,-3.12,-146.0,3.1,-0.3,1879,10677,0.00,2.42,0.00,0.000,6,0.000,0.099,1869,2492,3628,0,0,0,0,0,0
$GC,11019,-3.12,-146.0,3.1,0.2,1940,11026,0.00,2.15,0.00,0.000,4,0.000,0.044,1870,1064,3627,0,0,0,0,0,0
$GC,11279,-3.12,-146.0,3.1,0.2,1986,11286,0.00,2.42,0.00,0.000,6,0.000,0.100,1870,2492,3628,0,0,0,0,0,0
$GC,11625,-3.12,-146.0,3.2,-0.0,2047,11632,0.00,2.15,0.00,0.000,4,0.000,0.044,1870,1065,3628,0,0,0,0,0,0
$GC,11887,-3.12,-146.0,3.1,-0.0,2093,11894,0.00,2.42,0.00,0.000,6,0.000,0.100,1870,2492,3628,0,0,0,0,0,0
$STATE,12005,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12006,begin apogee
$FREEZE,3.17,-1.713,-1.826,2,64,0
$FREEZE,3.08,-1.715,-1.826,2,64,0
$FREEZE,3.06,-1.712,-1.826,2,64,0
$FREEZE,3.09,-1.710,-1.825,2,64,0
$FREEZE,3.08,-1.709,-1.825,2,64,0
$FREEZE,3.12,-1.703,-1.825,2,64,0
$FREEZE,3.07,-1.701,-1.825,2,64,0
$FREEZE,3.05,-1.710,-1.825,2,64,0
$FREEZE,3.08,-1.709,-1.825,2,64,0
$GC,12011,-0.12,0.0,3.0,0.0,2114,12088,2.70,0.00,64.15,0.940,6,0.106,0.000,2825,2268,3028,0,0,0,0,0,0
$STATE,12089,end apogee,CONTROL_FINISHED_OK
$STATE,12089,begin climb
$FREEZE,3.13,-1.710,-1.825,2,64,0
$FREEZE,3.08,-1.705,-1.825,2,64,0
$FREEZE,3.10,-1.706,-1.825,2,64,0
$FREEZE,3.09,-1.708,-1.825,2,64,0
$FREEZE,3.11,-1.709,-1.826,2,64,0
$FREEZE,3.09,-1.709,-1.826,2,64,0
$FREEZE,3.13,-1.710,-1.826,2,64,0
$FREEZE,3.07,-1.706,-1.825,2,64,0
$FREEZE,3.05,-1.707,-1.826,2,64,0
$GC,12091,0.62,146.0,3.1,0.0,2124,12169,0.65,2.62,68.25,0.887,4,0.073,0.104,3064,3688,2431,0,0,0,0,0,0
$FREEZE,3.16,-1.709,-1.826,2,64,0
$FREEZE,3.17,-1.709,-1.826,2,64,0
$FREEZE,3.07,-1.708,-1.826,2,64,0
$FREEZE,3.09,-1.707,-1.826,2,64,0
$FREEZE,3.20,-1.708,-1.826,2,64,0
$FREEZE,3.06,-1.710,-1.826,2,64,0
$FREEZE,3.15,-1.708,-1.826,2,64,0
$FREEZE,3.10,-1.705,-1.825,2,64,0
$FREEZE,3.06,-1.704,-1.825,2,64,0
$STATE,12216,end climb,NO_VERTICAL_VELOCITY
$STATE,12216,begin subsurface finish
$FINISH1,3.1,1.026769,36
$GC,12225,0.04,35.8,3.1,-0.5,2143,12233,0.62,0.00,-5.05,0.000,2,0.161,0.000,2883,2265,2488,0,0,0,0,0,0
$FINISH2,3.1
$STATE,12234,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12234,begin surface
$RAFOS_CLK,684
$RAFOS,6,1299401345,8.833333,8.818055,66,58,57,55,50,48,208,152,169,183,222,135
$RAFOS,5,1299400865,8.700000,8.684722,103,63,60,58,58,52,651,211,172,181,199,115
$RAFOS,4,1299400381,8.566667,8.550278,58,52,51,50,48,47,208,218,178,166,190,288
$RAFOS,3,1299399904,8.433333,8.417778,60,59,55,53,53,48,202,150,131,179,218,1578
$RAFOS,2,1299399421,8.300000,8.283611,58,57,57,57,53,49,201,173,147,210,188,117
$RAFOS,1,1299398943,8.166667,8.150833,63,62,56,55,55,53,166,206,227,150,190,135
$RAFOS,0,1299398464,8.033334,8.017777,61,57,57,56,54,54,203,181,145,171,157,947
$RAFOS_FIX,6707.192383,-5821.632324,060311,040456,2,104,0.38
$IRIDIUM_FIX,6641.98,-5820.28,050311,151513
$TT8_MAMPS,0.026215
$HUMID,46.29
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,3.2,999.0
$24V_AH,24.1,15.438
$10V_AH,10.3,7.972
$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,7.225,97.950,132.400,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4901.332,3751.196,346.209,3087.875,203.502,0.000,1783.530,0.000,3052.310,2520.000,2.806,0.000
$DEVICE_MAMPS,160.650,190.485,940.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1537.937,1611.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150728
$DATA_FILE_SIZE,76499,2144
$CAP_FILE_SIZE,156248,0
$CFSIZE,260165632,245682176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.8
$GPS,060311,044656,6707.192,-5821.632,0,2104.5,0,-38.2