version: 66.08
glider: 141
mission: 15
dive: 112
start: 3 9 111 13 36 9
data:
$ID,141
$MISSION,15
$DIVE,112
$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,38
$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
$GPS1,090311,124800,6726.591,-5735.958,0,2092.5,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-9.1
$GPS2,090311,124800,6726.591,-5735.958,0,2092.5,0,-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,179.8,55752,-17.5,-10.000
$D_GRID,216
$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,-146.0,0.0,0.0,0,36,0.00,0.38,-16.38,0.000,6,0.000,0.162,2859,2496,3626,0,0,0,0,0,0
$GC,39,-0.62,-146.0,1.8,0.1,3,46,0.52,2.28,0.00,0.000,4,0.076,0.067,2657,1090,3626,0,0,0,0,0,0
$GC,301,-0.78,-146.0,1.9,0.1,49,308,0.15,2.20,0.00,0.000,6,0.116,0.056,2601,2490,3627,0,0,0,0,0,0
$GC,647,-0.94,-146.0,1.9,0.1,110,654,0.12,2.28,0.00,0.000,4,0.122,0.070,2553,1097,3627,0,0,0,0,0,0
$GC,908,-1.11,-146.0,1.9,-0.0,156,915,0.12,2.20,0.00,0.000,6,0.125,0.057,2508,2499,3627,0,0,0,0,0,0
$GC,1253,-1.27,-146.0,1.9,0.3,217,1260,0.15,2.30,0.00,0.000,4,0.113,0.071,2450,1090,3627,0,0,0,0,0,0
$GC,1514,-1.44,-146.0,1.9,-0.5,263,1521,0.15,2.22,0.00,0.000,6,0.119,0.057,2395,2497,3627,0,0,0,0,0,0
$GC,1860,-1.60,-146.0,1.9,-0.2,324,1867,0.12,2.28,0.00,0.000,4,0.120,0.069,2347,1096,3628,0,0,0,0,0,0
$GC,2121,-1.77,-146.0,1.9,-0.1,370,2128,0.15,2.20,0.00,0.000,6,0.119,0.054,2293,2491,3628,0,0,0,0,0,0
$GC,2466,-1.93,-146.0,1.8,0.1,431,2473,0.15,2.25,0.00,0.000,4,0.112,0.070,2236,1096,3627,0,0,0,0,0,0
$GC,2727,-2.09,-146.0,1.9,-0.2,477,2734,0.12,2.20,0.00,0.000,6,0.129,0.056,2191,2501,3627,0,0,0,0,0,0
$GC,3072,-2.26,-146.0,1.9,0.1,538,3079,0.15,2.30,0.00,0.000,4,0.114,0.071,2136,1095,3627,0,0,0,0,0,0
$GC,3333,-2.42,-146.0,1.9,-0.2,584,3340,0.15,2.22,0.00,0.000,6,0.116,0.057,2081,2498,3627,0,0,0,0,0,0
$GC,3679,-2.58,-146.0,1.9,-0.3,645,3686,0.12,2.30,0.00,0.000,4,0.123,0.072,2034,1093,3627,0,0,0,0,0,0
$GC,3940,-2.74,-146.0,1.9,-0.2,691,3947,0.15,2.22,0.00,0.000,6,0.123,0.057,1981,2495,3627,0,0,0,0,0,0
$GC,4285,-2.74,-146.0,1.9,-0.0,752,4291,0.00,2.28,0.00,0.000,4,0.000,0.070,1981,1090,3628,0,0,0,0,0,0
$GC,4546,-2.85,-146.0,1.8,0.3,798,4553,0.00,2.22,0.00,0.000,6,0.000,0.057,1981,2493,3627,0,0,0,0,0,0
$GC,4892,-2.95,-146.0,1.9,0.2,859,4899,0.17,2.28,0.00,0.000,4,0.116,0.070,1920,1095,3628,0,0,0,0,0,0
$GC,5153,-3.05,-146.0,1.9,0.3,905,5159,0.00,2.20,0.00,0.000,6,0.000,0.060,1919,2490,3628,0,0,0,0,0,0
$GC,5498,-3.05,-146.0,1.9,0.0,966,5504,0.00,2.25,0.00,0.000,4,0.000,0.069,1919,1096,3627,0,0,0,0,0,0
$GC,5758,-3.05,-146.0,1.9,0.6,1012,5764,0.00,2.20,0.00,0.000,6,0.000,0.060,1919,2488,3627,0,0,0,0,0,0
$GC,6102,-3.05,-146.0,1.9,0.4,1073,6108,0.00,2.28,0.00,0.000,4,0.000,0.073,1919,1088,3627,0,0,0,0,0,0
$GC,6362,-3.05,-146.0,1.9,-0.3,1119,6369,0.00,2.22,0.00,0.000,6,0.000,0.060,1919,2498,3627,0,0,0,0,0,0
$GC,6707,-3.05,-146.0,1.9,0.3,1180,6713,0.00,2.25,0.00,0.000,4,0.000,0.071,1919,1094,3628,0,0,0,0,0,0
$GC,6967,-3.05,-146.0,1.9,-0.3,1226,6974,0.00,2.20,0.00,0.000,6,0.000,0.060,1919,2489,3627,0,0,0,0,0,0
$GC,7312,-3.05,-146.0,1.9,-0.1,1287,7319,0.00,2.25,0.00,0.000,4,0.000,0.071,1919,1096,3628,0,0,0,0,0,0
$GC,7573,-3.05,-146.0,1.9,-0.0,1333,7579,0.00,2.20,0.00,0.000,6,0.000,0.058,1920,2493,3627,0,0,0,0,0,0
$GC,7918,-3.11,-146.0,1.9,-0.5,1394,7925,0.15,2.28,0.00,0.000,4,0.129,0.070,1868,1096,3627,0,0,0,0,0,0
$GC,8181,-3.11,-146.0,1.8,0.9,1440,8187,0.00,2.20,0.00,0.000,6,0.000,0.059,1867,2492,3627,0,0,0,0,0,0
$GC,8525,-3.11,-146.0,1.9,-0.2,1501,8532,0.00,2.25,0.00,0.000,4,0.000,0.073,1868,1087,3628,0,0,0,0,0,0
$GC,8786,-3.11,-146.0,1.9,0.5,1547,8792,0.00,2.20,0.00,0.000,6,0.000,0.057,1868,2490,3628,0,0,0,0,0,0
$GC,9132,-3.11,-146.0,1.9,0.2,1608,9138,0.00,2.25,0.00,0.000,4,0.000,0.065,1868,1094,3628,0,0,0,0,0,0
$GC,9391,-3.11,-146.0,1.9,-0.3,1654,9397,0.00,2.20,0.00,0.000,6,0.000,0.060,1868,2490,3628,0,0,0,0,0,0
$GC,9738,-3.11,-146.0,1.9,-0.3,1715,9744,0.00,2.28,0.00,0.000,4,0.000,0.067,1868,1086,3628,0,0,0,0,0,0
$GC,9998,-3.11,-146.0,1.9,0.7,1761,10005,0.00,2.22,0.00,0.000,6,0.000,0.058,1867,2502,3627,0,0,0,0,0,0
$GC,10342,-3.11,-146.0,1.9,-0.4,1822,10349,0.00,2.25,0.00,0.000,4,0.000,0.070,1867,1090,3627,0,0,0,0,0,0
$GC,10417,-2.16,-146.0,28.1,-53.9,1835,10425,1.48,2.25,0.00,0.000,6,0.337,0.068,2160,2489,3627,0,0,0,0,0,0
$GC,10752,-1.39,-146.0,193.3,-46.9,1878,10757,1.10,2.30,0.00,0.000,4,0.308,0.075,2405,3906,3626,0,0,0,0,0,0
$STATE,10813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10813,begin apogee
$GC,10820,-0.12,0.0,217.6,36.2,1883,10952,1.75,0.00,121.25,1.060,6,0.286,0.000,2812,2278,3029,0,0,0,0,0,0
$STATE,10952,end apogee,CONTROL_FINISHED_OK
$STATE,10953,begin climb
$GC,10955,0.62,146.0,228.5,0.0,1895,11087,0.77,2.58,122.05,1.030,4,0.137,0.069,3050,3681,2433,0,0,0,0,0,0
$GC,11208,0.51,146.0,206.4,13.9,1918,11213,0.12,2.38,0.00,0.000,6,0.191,0.057,3033,2279,2423,0,0,0,0,0,0
$GC,11533,0.54,169.8,173.6,8.9,1948,11554,0.00,0.00,18.73,0.924,6,0.000,0.000,3033,2279,2337,0,0,0,0,0,0
$GC,11872,0.55,179.8,140.8,9.5,1980,11887,0.00,2.40,9.38,0.846,4,0.000,0.073,3042,868,2296,0,0,0,0,0,0
$GC,11934,0.58,179.8,134.9,10.2,1985,11941,0.00,2.30,0.00,0.000,6,0.000,0.053,3042,2284,2294,0,0,0,0,0,0
$GC,12258,0.58,179.8,102.6,10.3,2016,12262,0.00,2.30,0.00,0.000,4,0.000,0.067,3041,3692,2294,0,0,0,0,0,0
$GC,12316,0.54,179.8,95.4,12.9,2023,12323,0.00,2.28,0.00,0.000,6,0.000,0.052,3052,2267,2294,0,0,0,0,0,0
$GC,12662,0.61,234.3,64.3,7.5,2084,12715,0.00,2.40,47.10,0.907,4,0.000,0.067,3059,867,2073,0,0,0,0,0,0
$GC,12778,0.68,248.7,54.5,9.3,2104,12797,0.00,2.30,12.82,0.838,6,0.000,0.050,3060,2280,2015,0,0,0,0,0,0
$GC,13136,0.75,258.0,19.3,9.6,2167,13150,0.12,2.33,4.18,0.653,4,0.102,0.064,3112,3679,1977,0,0,0,0,0,0
$GC,13208,0.68,258.0,9.4,15.0,2179,13215,0.15,2.25,0.00,0.000,6,0.193,0.052,3086,2272,1976,0,0,0,0,0,0
$FREEZE,7.19,-0.970,-1.836,2,8,0
$FREEZE,6.40,-0.981,-1.835,2,8,0
$FREEZE,5.78,-0.982,-1.834,2,8,0
$FREEZE,5.33,-0.986,-1.834,2,8,0
$FREEZE,4.76,-0.988,-1.834,2,8,0
$FREEZE,4.08,-0.991,-1.833,2,8,0
$FREEZE,3.41,-0.992,-1.833,2,8,0
$FREEZE,2.84,-0.993,-1.832,2,8,0
$STATE,13257,end climb,SURFACE_DEPTH_REACHED
$STATE,13257,begin surface coast
$FREEZE,2.36,-1.006,-1.832,2,8,0
$FREEZE,2.42,-1.025,-1.832,2,8,0
$FREEZE,2.37,-0.588,-1.805,2,8,0
$FREEZE,2.32,-0.852,-1.822,2,8,0
$FINISH,2.3,1.026697
$STATE,13281,end surface coast,CONTROL_FINISHED_OK
$STATE,13281,begin surface
$RAFOS_CLK,738
$RAFOS,6,1299689341,16.833334,16.816944,154,61,61,55,54,52,763,207,164,225,151,184
$RAFOS,5,1299688866,16.700001,16.684999,66,66,62,58,57,55,162,713,151,189,92,229
$RAFOS,4,1299688391,16.566668,16.553055,64,63,62,52,52,48,131,213,158,182,148,226
$RAFOS,3,1299687901,16.433332,16.416945,62,62,56,55,53,52,164,200,151,211,125,222
$RAFOS,2,1299687424,16.299999,16.284445,65,60,56,56,55,55,150,166,122,191,202,222
$RAFOS,1,1299686945,16.166666,16.151388,66,62,61,59,57,53,193,174,151,206,223,124
$RAFOS,0,1299686462,16.033333,16.017221,58,58,55,53,51,51,132,144,218,156,200,182
$RAFOS_FIX,6726.590820,-5735.957520,090311,121200,2,92,0.18
$IRIDIUM_FIX,6652.93,-5748.43,070311,232357
$TT8_MAMPS,0.026215
$HUMID,43.50
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.3
$24V_AH,23.3,17.583
$10V_AH,10.2,10.012
$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,8.175,109.450,335.500,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4529.681,5099.838,431.561,3205.133,198.443,0.000,1985.319,0.000,3186.705,2520.000,2.619,0.000
$DEVICE_MAMPS,336.600,162.180,1059.525,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1556.686,1655.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83149,2192
$CAP_FILE_SIZE,173482,0
$CFSIZE,260165632,244031488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1407.9
$GPS,090311,124800,6726.591,-5735.958,0,2092.5,0,-38.2