version: 66.08
glider: 141
mission: 15
dive: 107
start: 3 8 111 20 39 41
data:
$ID,141
$MISSION,15
$DIVE,107
$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,40
$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
$GPS1,080311,164656,6723.068,-5749.550,0,2090.5,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-10.4
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,31,0.00,0.38,-10.88,0.000,6,0.000,0.168,2858,2497,3626,0,0,0,0,0,0
$GC,34,-0.62,-146.0,1.9,0.3,2,41,0.52,2.30,0.00,0.000,4,0.087,0.083,2663,3899,3626,0,0,0,0,0,0
$GC,48,-0.75,-146.0,1.9,0.0,4,55,0.12,2.15,0.00,0.000,6,0.125,0.041,2619,2485,3626,0,0,0,0,0,0
$GC,393,-0.89,-146.0,1.9,-0.1,65,400,0.12,2.38,0.00,0.000,4,0.129,0.086,2574,3899,3627,0,0,0,0,0,0
$GC,419,-1.03,-146.0,1.8,2.3,69,427,0.12,2.15,0.00,0.000,6,0.134,0.041,2530,2477,3627,0,0,0,0,0,0
$GC,767,-1.17,-146.0,1.8,0.2,130,774,0.12,2.35,0.00,0.000,4,0.126,0.086,2486,3895,3627,0,0,0,0,0,0
$GC,850,-1.30,-146.0,1.9,-0.1,144,857,0.12,2.12,0.00,0.000,6,0.132,0.042,2441,2489,3627,0,0,0,0,0,0
$GC,1197,-1.44,-146.0,1.9,-0.1,205,1204,0.12,2.35,0.00,0.000,4,0.129,0.086,2395,3900,3627,0,0,0,0,0,0
$GC,1458,-1.58,-146.0,1.9,-0.1,251,1466,0.12,2.15,0.00,0.000,6,0.133,0.041,2351,2489,3627,0,0,0,0,0,0
$GC,1804,-1.71,-146.0,1.9,-0.4,312,1812,0.12,2.33,0.00,0.000,4,0.119,0.083,2305,3896,3627,0,0,0,0,0,0
$GC,1820,-1.85,-146.0,1.8,0.1,314,1828,0.10,2.12,0.00,0.000,6,0.145,0.041,2269,2487,3626,0,0,0,0,0,0
$GC,2167,-1.98,-146.0,1.9,-0.3,375,2174,0.12,2.35,0.00,0.000,4,0.126,0.084,2223,3903,3626,0,0,0,0,0,0
$GC,2249,-2.11,-146.0,1.9,-0.1,389,2256,0.12,2.15,0.00,0.000,6,0.130,0.042,2181,2482,3626,0,0,0,0,0,0
$GC,2597,-2.24,-146.0,1.9,0.3,450,2604,0.10,2.35,0.00,0.000,4,0.145,0.083,2146,3901,3626,0,0,0,0,0,0
$GC,2613,-2.37,-146.0,1.9,-0.1,452,2621,0.12,2.12,0.00,0.000,6,0.125,0.042,2103,2494,3626,0,0,0,0,0,0
$GC,2960,-2.49,-146.0,1.9,-0.0,513,2967,0.12,2.33,0.00,0.000,4,0.130,0.081,2058,3903,3627,0,0,0,0,0,0
$GC,2975,-2.61,-146.0,2.0,-0.5,515,2982,0.00,2.15,0.00,0.000,6,0.000,0.041,2058,2477,3626,0,0,0,0,0,0
$GC,3320,-2.73,-146.0,1.9,-0.2,576,3328,0.20,2.33,0.00,0.000,4,0.116,0.080,1986,3896,3626,0,0,0,0,0,0
$GC,3337,-2.85,-146.0,1.8,0.4,578,3344,0.10,2.15,0.00,0.000,6,0.153,0.041,1954,2490,3626,0,0,0,0,0,0
$GC,3684,-2.97,-146.0,1.9,-0.1,639,3691,0.12,2.33,0.00,0.000,4,0.128,0.081,1911,3899,3626,0,0,0,0,0,0
$GC,3698,-3.08,-146.0,1.8,0.6,641,3706,0.12,2.15,0.00,0.000,6,0.138,0.044,1870,2489,3626,0,0,0,0,0,0
$GC,4045,-3.08,-146.0,1.8,-0.1,702,4052,0.00,2.30,0.00,0.000,4,0.000,0.083,1869,3894,3626,0,0,0,0,0,0
$GC,4060,-3.08,-146.0,1.8,0.3,704,4066,0.00,2.15,0.00,0.000,6,0.000,0.043,1869,2481,3626,0,0,0,0,0,0
$GC,4405,-3.08,-146.0,1.8,0.0,765,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2481,3626,0,0,0,0,0,0
$GC,4751,-3.08,-146.0,1.9,-0.2,826,4758,0.00,2.33,0.00,0.000,4,0.000,0.084,1870,3896,3626,0,0,0,0,0,0
$GC,4765,-3.08,-146.0,2.0,-0.2,828,4772,0.00,2.17,0.00,0.000,6,0.000,0.044,1869,2480,3627,0,0,0,0,0,0
$GC,5110,-3.08,-146.0,1.9,-0.2,889,5117,0.00,2.33,0.00,0.000,4,0.000,0.080,1870,3901,3627,0,0,0,0,0,0
$GC,5124,-3.08,-146.0,1.9,0.2,891,5131,0.00,2.17,0.00,0.000,6,0.000,0.044,1870,2489,3626,0,0,0,0,0,0
$GC,5469,-3.08,-146.0,1.9,0.2,952,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2489,3627,0,0,0,0,0,0
$GC,5814,-3.08,-146.0,1.9,0.2,1013,5820,0.00,2.30,0.00,0.000,4,0.000,0.083,1870,3894,3626,0,0,0,0,0,0
$GC,5828,-3.08,-146.0,1.8,0.1,1015,5834,0.00,2.15,0.00,0.000,6,0.000,0.044,1870,2486,3626,0,0,0,0,0,0
$GC,6172,-3.08,-146.0,2.0,-1.9,1076,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2486,3627,0,0,0,0,0,0
$GC,6516,-3.08,-146.0,1.8,0.5,1137,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2486,3627,0,0,0,0,0,0
$GC,6862,-3.08,-146.0,1.9,1.9,1198,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2486,3626,0,0,0,0,0,0
$GC,7206,-3.08,-146.0,1.8,0.4,1259,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2486,3626,0,0,0,0,0,0
$GC,7550,-3.08,-146.0,1.9,0.1,1320,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2486,3627,0,0,0,0,0,0
$GC,7897,-3.08,-146.0,1.9,-0.3,1381,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2486,3627,0,0,0,0,0,0
$GC,8241,-3.08,-146.0,2.0,-0.1,1442,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2486,3626,0,0,0,0,0,0
$GC,8586,-3.08,-146.0,1.8,0.1,1503,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2486,3627,0,0,0,0,0,0
$GC,8930,-3.08,-146.0,1.9,0.1,1564,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2486,3626,0,0,0,0,0,0
$GC,9275,-3.08,-146.0,1.9,0.6,1625,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2486,3627,0,0,0,0,0,0
$GC,9619,-3.08,-146.0,1.9,-0.1,1686,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2486,3626,0,0,0,0,0,0
$GC,9963,-3.08,-146.0,1.9,0.4,1747,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2487,3626,0,0,0,0,0,0
$GC,10308,-3.08,-146.0,1.9,0.1,1808,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2486,3627,0,0,0,0,0,0
$GC,10652,-3.08,-146.0,1.9,-0.3,1869,10658,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2486,3626,0,0,0,0,0,0
$GC,10996,-3.08,-146.0,1.9,-0.0,1930,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2486,3627,0,0,0,0,0,0
$GC,11341,-3.08,-146.0,1.9,-0.2,1991,11347,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2486,3627,0,0,0,0,0,0
$GC,11685,-3.08,-146.0,1.9,0.4,2052,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2486,3626,0,0,0,0,0,0
$STATE,12005,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12005,begin apogee
$FREEZE,1.88,0.000,0.000,2,3,0
$GC,12010,-0.12,0.0,1.9,0.1,2109,12022,3.05,0.00,5.57,0.077,2,0.174,0.000,2815,2268,3572,0,0,0,0,0,0
$STATE,12022,end apogee,FINISH_DEPTH_REACHED
$STATE,12022,begin subsurface finish
$FINISH1,1.9,1.027500,0
$GC,12028,0.00,0.0,1.9,-0.2,2110,12054,0.15,0.00,22.67,0.073,2,0.206,0.000,2856,2268,3346,0,0,0,0,0,0
$FINISH2,1.9
$STATE,12055,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12055,begin surface
$RAFOS_CLK,674
$RAFOS,6,1299617342,20.833334,20.817223,131,62,56,56,50,48,716,181,202,140,118,217
$RAFOS,5,1299616863,20.700001,20.684166,105,65,59,56,53,52,709,205,217,183,165,226
$RAFOS,4,1299616387,20.566668,20.551945,59,56,55,54,51,51,213,122,160,172,192,138
$RAFOS_FIX,6724.262207,-5748.069336,080311,202056,2,118,0.17
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026964
$HUMID,47.95
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,26.1,17.479
$10V_AH,10.3,9.481
$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,5.975,63.400,28.250,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4826.152,3838.706,218.674,3050.190,183.778,0.000,1627.780,0.000,3006.182,720.000,2.808,0.000
$DEVICE_MAMPS,205.785,168.300,77.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1529.472,1551.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150676
$DATA_FILE_SIZE,76581,2114
$CAP_FILE_SIZE,156932,0
$CFSIZE,260165632,244428800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,080311,204656,6724.262,-5748.069,0,2118.0,0,-38.2