version: 66.08
glider: 141
mission: 15
dive: 106
start: 3 8 111 17 17 0
data:
$ID,141
$MISSION,15
$DIVE,106
$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,400
$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,-26100.58
$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,45
$R_STBD_OVSHOOT,43
$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
$GPS1,080311,164656,6723.068,-5749.550,0,2090.5,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-8.8
$GPS2,080311,164656,6723.068,-5749.550,0,2090.5,0,-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,168.1,57939,-17.5,-10.000
$D_GRID,519
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,80,0.00,0.30,-58.47,0.000,6,0.000,0.169,2856,2477,3625,0,0,0,0,0,0
$GC,83,-0.62,-146.0,1.9,-0.4,11,90,0.50,2.30,0.00,0.000,4,0.080,0.080,2664,3893,3625,0,0,0,0,0,0
$GC,97,-0.79,-146.0,1.8,0.1,13,105,0.17,2.12,0.00,0.000,6,0.108,0.040,2600,2488,3626,0,0,0,0,0,0
$GC,443,-0.96,-146.0,1.7,0.3,74,450,0.15,0.00,0.00,0.000,6,0.119,0.000,2546,2486,3627,0,0,0,0,0,0
$GC,788,-1.13,-146.0,1.8,0.0,135,795,0.15,0.00,0.00,0.000,6,0.115,0.000,2491,2486,3627,0,0,0,0,0,0
$GC,1133,-1.30,-146.0,1.8,-0.1,196,1140,0.12,0.00,0.00,0.000,6,0.125,0.000,2442,2486,3627,0,0,0,0,0,0
$GC,1478,-1.47,-146.0,2.0,-0.6,257,1484,0.15,0.00,0.00,0.000,6,0.117,0.000,2388,2486,3627,0,0,0,0,0,0
$GC,1823,-1.64,-146.0,1.8,0.1,318,1829,0.15,0.00,0.00,0.000,6,0.115,0.000,2333,2486,3627,0,0,0,0,0,0
$GC,2168,-1.81,-146.0,1.8,0.5,379,2174,0.15,0.00,0.00,0.000,6,0.116,0.000,2278,2486,3627,0,0,0,0,0,0
$GC,2512,-1.97,-146.0,1.8,0.3,440,2519,0.12,0.00,0.00,0.000,6,0.122,0.000,2232,2486,3627,0,0,0,0,0,0
$GC,2857,-2.13,-146.0,1.8,-0.0,501,2864,0.15,0.00,0.00,0.000,6,0.118,0.000,2177,2486,3627,0,0,0,0,0,0
$GC,3202,-2.29,-146.0,1.8,0.0,562,3209,0.15,0.00,0.00,0.000,6,0.121,0.000,2123,2486,3627,0,0,0,0,0,0
$GC,3549,-2.44,-146.0,1.8,-0.0,623,3555,0.12,0.00,0.00,0.000,6,0.132,0.000,2079,2485,3627,0,0,0,0,0,0
$GC,3893,-2.59,-146.0,1.9,0.2,684,3900,0.15,0.00,0.00,0.000,6,0.115,0.000,2024,2485,3627,0,0,0,0,0,0
$GC,4239,-2.74,-146.0,1.9,0.0,745,4245,0.12,0.00,0.00,0.000,6,0.125,0.000,1980,2485,3627,0,0,0,0,0,0
$GC,4584,-2.89,-146.0,1.9,-0.0,806,4590,0.12,0.00,0.00,0.000,6,0.127,0.000,1935,2485,3627,0,0,0,0,0,0
$GC,4929,-3.02,-146.0,1.9,-0.1,867,4935,0.12,0.00,0.00,0.000,6,0.136,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,5273,-3.02,-146.0,1.9,0.0,928,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,5618,-3.02,-146.0,1.9,-0.3,989,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,5965,-3.02,-146.0,1.9,1.8,1050,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,6309,-3.02,-146.0,1.9,0.0,1111,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,6652,-3.02,-146.0,1.9,-0.1,1172,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3626,0,0,0,0,0,0
$GC,6997,-3.02,-146.0,1.9,-0.4,1233,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,7340,-3.12,-146.0,1.9,-0.1,1294,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,7684,-3.12,-146.0,1.9,-0.2,1355,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,8027,-3.12,-146.0,1.8,0.1,1416,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,8372,-3.12,-146.0,1.9,0.0,1477,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,2485,3627,0,0,0,0,0,0
$GC,8716,-3.12,-146.0,1.9,-0.2,1538,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,2485,3627,0,0,0,0,0,0
$GC,9059,-3.12,-146.0,1.9,-0.0,1599,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,9404,-3.12,-146.0,2.0,-0.6,1660,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,9748,-3.12,-146.0,1.9,0.1,1721,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,2485,3627,0,0,0,0,0,0
$GC,10092,-3.12,-146.0,2.0,-0.4,1782,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2485,3627,0,0,0,0,0,0
$GC,10436,-3.12,-146.0,1.9,-0.0,1843,10443,0.00,2.33,0.00,0.000,4,0.000,0.086,1891,3892,3627,0,0,0,0,0,0
$GC,10598,-3.12,-146.0,1.8,0.0,1871,10605,0.00,2.12,0.00,0.000,6,0.000,0.041,1891,2477,3626,0,0,0,0,0,0
$GC,10944,-3.12,-146.0,1.9,-0.0,1932,10949,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2477,3627,0,0,0,0,0,0
$GC,11290,-3.12,-146.0,1.9,0.0,1993,11296,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2477,3626,0,0,0,0,0,0
$GC,11634,-3.12,-146.0,1.9,0.1,2054,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2477,3626,0,0,0,0,0,0
$GC,11978,-3.12,-146.0,1.9,-0.0,2115,11985,0.00,2.33,0.00,0.000,4,0.000,0.083,1891,3893,3626,0,0,0,0,0,0
$STATE,12007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12007,begin apogee
$FREEZE,1.92,0.000,0.000,2,2,0
$GC,12015,-0.12,0.0,1.9,-0.1,2120,12026,3.00,0.00,5.53,0.076,2,0.177,0.000,2819,2273,3572,0,0,0,0,0,0
$STATE,12027,end apogee,FINISH_DEPTH_REACHED
$STATE,12027,begin subsurface finish
$FINISH1,1.9,1.027500,0
$GC,12033,0.00,0.0,1.9,0.3,2121,12041,0.15,0.00,5.40,0.076,2,0.215,0.000,2858,2273,3520,0,0,0,0,0,0
$FINISH2,1.9
$STATE,12042,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12042,begin surface
$RAFOS_CLK,675
$RAFOS,3,1299615904,20.433332,20.417778,65,60,55,54,54,48,207,156,135,190,225,1379
$RAFOS,2,1299615425,20.299999,20.284721,60,59,53,53,50,47,206,164,192,117,130,90
$RAFOS,1,1299614946,20.166666,20.151667,63,62,59,59,58,57,218,190,209,199,157,118
$RAFOS,0,1299614463,20.033333,20.017500,57,57,55,54,52,52,198,232,213,186,119,223
$RAFOS_FIX,6723.067871,-5749.549805,080311,161656,2,90,0.67
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.02996
$HUMID,48.07
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,26.1,17.477
$10V_AH,10.3,9.377
$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,5.775,14.025,10.925,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4804.043,3836.103,202.402,3044.709,209.841,0.000,1601.193,0.000,3017.289,1800.000,2.808,0.000
$DEVICE_MAMPS,214.965,169.065,76.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1543.202,1574.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150720
$DATA_FILE_SIZE,76466,2122
$CAP_FILE_SIZE,144232,0
$CFSIZE,260165632,244514816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,080311,164656,6723.068,-5749.550,0,2090.5,0,-38.2