version: 66.08
glider: 141
mission: 15
dive: 138
start: 3 11 111 7 13 31
data:
$ID,141
$MISSION,15
$DIVE,138
$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,120
$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,-27951.119
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,110311,044344,6721.475,-5755.899,0,3128.3,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.74
$_SM_ANGLEo,-1.6
$GPS2,110311,044344,6721.475,-5755.899,0,3128.3,0,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,midTARGET
$TGT_LATLONG,6656.000,-5813.000
$TGT_RADIUS,10000.000
$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,232.9,48784,-17.5,-10.000
$D_GRID,740
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.47,0.000,2,0.000,0.000,2884,859,3119,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.1,-0.0,1,51,0.60,4.90,-13.00,0.000,4,0.111,0.065,2670,3899,3629,0,0,0,0,0,0
$GC,155,-0.56,-146.0,26.5,-14.9,23,162,0.00,2.17,0.00,0.000,6,0.000,0.041,2670,2478,3630,0,0,0,0,0,0
$GC,500,-0.47,-146.0,78.6,-12.7,84,507,0.15,0.00,0.00,0.000,6,0.222,0.000,2705,2477,3630,0,0,0,0,0,0
$GC,843,-0.49,-146.0,113.6,-10.8,134,847,0.00,2.28,0.00,0.000,4,0.000,0.067,2705,3899,3628,0,0,0,0,0,0
$GC,864,-0.52,-146.0,116.2,-11.2,135,871,0.00,2.15,0.00,0.000,6,0.000,0.041,2705,2489,3628,0,0,0,0,0,0
$GC,1190,-0.55,-146.0,146.4,-8.9,166,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2489,3627,0,0,0,0,0,0
$GC,1510,-0.59,-146.0,179.2,-10.3,196,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2489,3626,0,0,0,0,0,0
$GC,1830,-0.64,-146.0,210.6,-9.4,226,1837,0.15,0.00,0.00,0.000,6,0.116,0.000,2654,2489,3626,0,0,0,0,0,0
$GC,2155,-0.57,-146.0,252.3,-13.1,257,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2488,3626,0,0,0,0,0,0
$GC,2476,-0.51,-146.0,293.3,-12.2,287,2480,0.17,2.25,0.00,0.000,4,0.205,0.067,2697,3897,3625,0,0,0,0,0,0
$GC,2519,-0.58,-146.0,297.8,-8.7,290,2526,0.00,2.15,0.00,0.000,6,0.000,0.040,2697,2481,3626,0,0,0,0,0,0
$GC,2845,-0.64,-146.0,323.5,-8.0,321,2850,0.12,2.25,0.00,0.000,4,0.130,0.064,2655,3896,3625,0,0,0,0,0,0
$GC,2866,-0.64,-146.0,325.7,-9.2,322,2874,0.00,2.15,0.00,0.000,6,0.000,0.039,2655,2493,3625,0,0,0,0,0,0
$GC,3192,-0.58,-146.0,363.2,-12.2,353,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2493,3627,0,0,0,0,0,0
$GC,3511,-0.53,-146.0,401.9,-12.2,383,3515,0.15,2.25,0.00,0.000,4,0.205,0.065,2691,3894,3628,0,0,0,0,0,0
$GC,3528,-0.49,-146.0,404.0,-12.1,384,3532,0.00,2.12,0.00,0.000,6,0.000,0.038,2691,2487,3628,0,0,0,0,0,0
$GC,3854,-0.52,-146.0,434.4,-9.5,414,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2486,3628,0,0,0,0,0,0
$GC,4174,-0.56,-146.0,463.4,-9.0,444,4178,0.00,2.22,0.00,0.000,4,0.000,0.066,2691,3891,3628,0,0,0,0,0,0
$GC,4197,-0.61,-146.0,465.7,-9.0,446,4201,0.00,2.12,0.00,0.000,6,0.000,0.039,2691,2487,3628,0,0,0,0,0,0
$GC,4528,-0.64,-146.0,495.2,-9.0,477,4530,0.12,0.00,0.00,0.000,6,0.126,0.000,2647,2486,3629,0,0,0,0,0,0
$GC,4847,-0.58,-146.0,533.3,-12.1,507,4851,0.00,2.22,0.00,0.000,4,0.000,0.067,2647,3898,3628,0,0,0,0,0,0
$GC,4890,-0.54,-146.0,539.0,-12.8,510,4898,0.15,2.15,0.00,0.000,6,0.206,0.040,2684,2476,3628,0,0,0,0,0,0
$GC,5217,-0.56,-146.0,569.5,-9.1,541,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2476,3629,0,0,0,0,0,0
$GC,5536,-0.59,-146.0,598.2,-8.8,571,5540,0.00,2.25,0.00,0.000,4,0.000,0.067,2684,3900,3629,0,0,0,0,0,0
$GC,5571,-0.64,-146.0,601.9,-9.4,573,5575,0.00,2.15,0.00,0.000,6,0.000,0.041,2684,2485,3628,0,0,0,0,0,0
$GC,5901,-0.67,-146.0,632.2,-9.2,584,5906,0.12,2.15,0.00,0.000,4,0.130,0.057,2642,1093,3629,0,0,0,0,0,0
$GC,5916,-0.67,-146.0,633.9,-8.9,584,5921,0.00,2.20,0.00,0.000,6,0.000,0.054,2642,2498,3628,0,0,0,0,0,0
$GC,6236,-0.91,-146.0,649.9,-0.1,595,6241,0.20,2.22,0.00,0.000,4,0.096,0.058,2561,1086,3628,0,0,0,0,0,0
$STATE,6298,end dive,NO_VERTICAL_VELOCITY
$STATE,6298,begin apogee
$GC,6305,-0.12,0.0,650.0,0.0,597,6432,0.77,0.00,120.88,1.312,6,0.135,0.000,2816,2290,3030,0,0,0,0,0,0
$STATE,6433,end apogee,CONTROL_FINISHED_OK
$STATE,6433,begin climb
$GC,6435,0.62,146.0,649.8,0.0,601,6570,0.77,2.53,124.18,1.268,4,0.132,0.061,3055,3682,2433,0,0,0,0,0,0
$GC,6772,0.49,146.0,607.9,14.3,611,6777,0.17,2.30,0.00,0.000,6,0.187,0.047,3024,2283,2425,0,0,0,0,0,0
$GC,7101,0.47,146.0,574.6,10.5,637,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2282,2424,0,0,0,0,0,0
$GC,7421,0.45,146.0,541.6,10.6,667,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2283,2423,0,0,0,0,0,0
$GC,7739,0.45,153.3,510.3,9.7,697,7749,0.00,0.00,5.60,0.897,6,0.000,0.000,3024,2283,2404,0,0,0,0,0,0
$GC,8069,0.47,162.8,479.0,9.6,728,8080,0.00,0.00,9.85,1.071,6,0.000,0.000,3024,2283,2366,0,0,0,0,0,0
$GC,8396,0.47,162.8,446.1,10.1,759,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2283,2365,0,0,0,0,0,0
$GC,8715,0.47,162.8,413.9,10.1,789,8719,0.00,2.25,0.00,0.000,4,0.000,0.062,3023,3682,2363,0,0,0,0,0,0
$GC,8766,0.43,162.8,408.3,11.3,793,8770,0.00,2.22,0.00,0.000,6,0.000,0.047,3031,2267,2363,0,0,0,0,0,0
$GC,9092,0.43,163.1,374.8,10.0,823,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2266,2363,0,0,0,0,0,0
$GC,9411,0.41,163.1,343.1,10.1,853,9412,0.12,0.00,0.00,0.000,6,0.198,0.000,3001,2266,2363,0,0,0,0,0,0
$GC,9728,0.48,184.2,315.8,9.0,883,9754,0.00,2.38,19.10,1.076,4,0.000,0.061,3001,3694,2279,0,0,0,0,0,0
$GC,9795,0.51,184.2,309.1,11.0,889,9799,0.00,2.22,0.00,0.000,6,0.000,0.047,3007,2275,2278,0,0,0,0,0,0
$GC,10126,0.58,204.3,277.3,9.1,920,10149,0.12,0.00,18.58,1.047,6,0.109,0.000,3060,2275,2197,0,0,0,0,0,0
$GC,10467,0.54,204.3,234.5,12.3,952,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2274,2193,0,0,0,0,0,0
$GC,10788,0.50,204.3,196.3,11.6,982,10793,0.12,2.28,0.00,0.000,4,0.182,0.059,3028,3684,2193,0,0,0,0,0,0
$GC,10850,0.50,204.3,189.0,11.5,987,10854,0.00,2.20,0.00,0.000,6,0.000,0.044,3036,2273,2193,0,0,0,0,0,0
$GC,11177,0.55,224.7,160.7,9.1,1017,11201,0.00,2.30,18.45,0.963,4,0.000,0.059,3042,871,2113,0,0,0,0,0,0
$GC,11236,0.64,238.3,154.9,9.4,1022,11259,0.00,2.22,13.50,0.927,6,0.000,0.046,3042,2281,2057,0,0,0,0,0,0
$GC,11578,0.68,238.3,120.4,10.1,1054,11580,0.12,0.00,0.00,0.000,6,0.104,0.000,3094,2281,2054,0,0,0,0,0,0
$GC,11904,0.64,238.3,77.8,12.4,1098,11911,0.00,2.22,0.00,0.000,4,0.000,0.062,3095,3692,2053,0,0,0,0,0,0
$GC,11975,0.59,238.3,68.6,13.0,1110,11982,0.17,2.22,0.00,0.000,6,0.183,0.045,3058,2267,2053,0,0,0,0,0,0
$GC,12322,0.69,280.9,36.4,8.0,1171,12358,0.00,0.00,29.77,0.984,6,0.000,0.000,3059,2267,1882,0,0,0,0,0,0
$FREEZE,8.43,-1.662,-1.827,3,13,0
$STATE,12646,end climb,FINISH_DEPTH_REACHED
$STATE,12646,begin subsurface finish
$FINISH1,8.4,1.026731,38
$GC,12652,0.05,37.7,8.4,-11.0,1228,12694,0.55,0.00,-34.45,0.000,6,0.148,0.000,2882,2264,2875,0,0,0,0,0,0
$FINISH2,7.0
$STATE,12695,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12695,begin surface
$RAFOS_CLK,672
$RAFOS,6,1299833356,8.833333,8.821111,143,63,59,58,57,55,573,198,187,226,145,169
$RAFOS,5,1299832867,8.700000,8.685278,152,64,55,55,54,51,667,209,145,191,157,222
$RAFOS,4,1299832381,8.566667,8.550278,80,67,64,56,55,53,806,207,164,217,127,188
$RAFOS,3,1299831903,8.433333,8.417500,65,62,60,57,57,56,152,221,122,210,170,188
$RAFOS,2,1299831430,8.300000,8.286111,69,59,59,57,57,56,218,148,130,185,169,116
$RAFOS,1,1299830949,8.166667,8.152500,60,57,56,56,56,55,165,207,133,186,155,221
$RAFOS,0,1299830465,8.033334,8.018056,65,61,60,54,53,52,215,174,201,162,190,146
$RAFOS_FIX,6720.910156,-5802.658691,110311,080840,3,125,0.34
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026964
$HUMID,46.02
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.6
$24V_AH,23.0,20.171
$10V_AH,10.3,11.115
$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,4.900,73.625,359.900,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,3002.830,7202.518,403.150,1985.784,166.869,0.000,1433.371,0.000,1970.536,2520.000,17.857,0.000
$DEVICE_MAMPS,221.850,66.555,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.881,947.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,50014,1235
$CAP_FILE_SIZE,129435,0
$CFSIZE,260165632,243077120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,110311,084240,6720.910,-5802.659,0,3125.0,0,-38.2