version: 66.08
glider: 141
mission: 15
dive: 109
start: 3 9 111 3 26 34
data:
$ID,141
$MISSION,15
$DIVE,109
$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,42
$R_STBD_OVSHOOT,24
$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
$GPS1,090311,004656,6725.192,-5745.620,0,2133.5,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-7.7
$GPS2,090311,004656,6725.192,-5745.620,0,2133.5,0,-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,172.8,58485,-17.5,-10.000
$D_GRID,337
$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,-146.0,0.0,0.0,0,81,0.00,2.62,-58.95,0.000,6,0.000,0.070,2859,2497,3625,0,0,0,0,0,0
$GC,84,-0.62,-146.0,1.9,0.2,11,91,0.52,2.33,0.00,0.000,4,0.078,0.086,2660,3899,3626,0,0,0,0,0,0
$GC,99,-0.81,-146.0,1.9,-0.1,13,106,0.17,2.15,0.00,0.000,6,0.110,0.043,2597,2489,3626,0,0,0,0,0,0
$GC,446,-0.99,-146.0,1.9,-0.0,74,453,0.15,0.00,0.00,0.000,6,0.116,0.000,2542,2489,3627,0,0,0,0,0,0
$GC,791,-1.17,-146.0,1.9,0.0,135,798,0.15,0.00,0.00,0.000,6,0.114,0.000,2488,2489,3627,0,0,0,0,0,0
$GC,1136,-1.34,-146.0,1.8,0.1,196,1142,0.15,0.00,0.00,0.000,6,0.113,0.000,2432,2489,3627,0,0,0,0,0,0
$GC,1483,-1.52,-146.0,1.9,-0.7,257,1489,0.15,0.00,0.00,0.000,6,0.112,0.000,2378,2489,3627,0,0,0,0,0,0
$GC,1828,-1.69,-146.0,1.8,0.2,318,1835,0.15,0.00,0.00,0.000,6,0.112,0.000,2323,2490,3627,0,0,0,0,0,0
$GC,2172,-1.85,-146.0,1.8,-0.1,379,2179,0.15,0.00,0.00,0.000,6,0.113,0.000,2269,2489,3627,0,0,0,0,0,0
$GC,2516,-2.01,-146.0,1.9,-0.0,440,2523,0.15,0.00,0.00,0.000,6,0.114,0.000,2214,2489,3627,0,0,0,0,0,0
$GC,2860,-2.16,-146.0,1.9,-0.2,501,2867,0.12,0.00,0.00,0.000,6,0.125,0.000,2170,2489,3627,0,0,0,0,0,0
$GC,3204,-2.16,-146.0,1.9,-0.0,562,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2489,3627,0,0,0,0,0,0
$GC,3550,-2.31,-146.0,1.9,0.4,623,3556,0.15,0.00,0.00,0.000,6,0.120,0.000,2119,2489,3627,0,0,0,0,0,0
$GC,3894,-2.46,-146.0,1.8,0.3,684,3901,0.12,0.00,0.00,0.000,6,0.126,0.000,2074,2489,3627,0,0,0,0,0,0
$GC,4238,-2.61,-146.0,1.9,0.2,745,4245,0.12,0.00,0.00,0.000,6,0.135,0.000,2029,2490,3627,0,0,0,0,0,0
$GC,4583,-2.76,-146.0,1.9,-0.2,806,4590,0.15,0.00,0.00,0.000,6,0.124,0.000,1974,2489,3627,0,0,0,0,0,0
$GC,4927,-2.90,-146.0,1.9,-0.4,867,4934,0.12,0.00,0.00,0.000,6,0.135,0.000,1931,2489,3627,0,0,0,0,0,0
$GC,5272,-3.04,-146.0,1.8,0.2,928,5278,0.12,0.00,0.00,0.000,6,0.129,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,5616,-3.04,-146.0,1.8,0.0,989,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,5961,-3.04,-146.0,1.9,0.2,1050,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,6306,-3.04,-146.0,1.9,0.3,1111,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,6650,-3.04,-146.0,1.8,-0.0,1172,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,6996,-3.04,-146.0,2.0,-0.1,1233,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,7339,-3.04,-146.0,1.8,1.0,1294,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,7684,-3.04,-146.0,2.0,-0.6,1355,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,8028,-3.04,-146.0,2.0,-0.3,1416,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,8373,-3.04,-146.0,2.0,-0.1,1477,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,8717,-3.04,-146.0,1.9,-0.1,1538,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,9061,-3.04,-146.0,1.8,-0.0,1599,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,9405,-3.04,-146.0,1.9,-0.1,1660,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,9748,-3.04,-146.0,1.9,0.0,1721,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2489,3627,0,0,0,0,0,0
$GC,10094,-3.04,-146.0,1.9,0.6,1782,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,10438,-3.04,-146.0,1.9,0.3,1843,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,10783,-3.04,-146.0,1.9,0.4,1904,10789,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,11129,-3.04,-146.0,1.9,-0.4,1965,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,11473,-3.04,-146.0,1.9,0.1,2026,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3627,0,0,0,0,0,0
$GC,11818,-3.04,-146.0,1.9,0.0,2087,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2489,3628,0,0,0,0,0,0
$STATE,12008,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12008,begin apogee
$FREEZE,1.93,0.000,0.000,3,5,0
$GC,12013,-0.12,0.0,1.9,-0.1,2121,12025,2.97,0.00,5.70,0.076,2,0.163,0.000,2821,2275,3573,0,0,0,0,0,0
$STATE,12025,end apogee,FINISH_DEPTH_REACHED
$STATE,12026,begin subsurface finish
$FINISH1,1.9,1.027500,0
$GC,12031,0.00,0.0,1.9,-0.2,2122,12045,0.15,0.00,11.18,0.073,2,0.203,0.000,2862,2275,3464,0,0,0,0,0,0
$FINISH2,1.9
$STATE,12046,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12046,begin surface
$RAFOS_CLK,673
$RAFOS,6,1299646144,4.833333,4.817778,100,64,59,56,55,55,729,181,222,206,126,167
$RAFOS,5,1299645662,4.700000,4.683889,134,60,60,54,53,52,742,214,200,191,224,170
$RAFOS,4,1299645184,4.566667,4.551111,62,58,55,55,53,52,157,205,216,227,126,185
$RAFOS,3,1299644702,4.433333,4.417222,64,63,58,57,56,55,174,200,157,209,184,218
$RAFOS,2,1299644222,4.300000,4.283889,67,61,54,53,51,51,203,147,184,123,166,222
$RAFOS,1,1299643744,4.166667,4.151111,64,55,55,54,54,52,200,122,218,143,182,209
$RAFOS,0,1299643263,4.033333,4.017500,61,54,52,51,51,50,211,153,184,134,228,167
$RAFOS_FIX,6727.329102,-5742.912598,090311,040400,2,117,0.30
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026215
$HUMID,47.48
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,26.0,17.483
$10V_AH,10.3,9.692
$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,5.800,7.425,16.875,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4879.927,3793.132,203.185,3055.354,179.156,0.000,1600.273,0.000,3021.054,2520.000,2.806,0.000
$DEVICE_MAMPS,203.490,86.445,76.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1522.859,1578.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76501,2124
$CAP_FILE_SIZE,142966,0
$CFSIZE,260165632,244293632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,090311,044800,6727.329,-5742.913,0,2117.0,0,-38.2