version: 66.08
glider: 141
mission: 15
dive: 189
start: 3 20 111 11 49 44
data:
$ID,141
$MISSION,15
$DIVE,189
$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,-2
$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,-29425.438
$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,33
$R_STBD_OVSHOOT,21
$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
$GPS1,200311,082725,6650.033,-6009.453,0,7124.3,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.62
$_SM_ANGLEo,-1.7
$GPS2,200311,082725,6650.033,-6009.453,0,7124.3,0,-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,118.8,147447,-17.5,-10.000
$D_GRID,616
$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,-6.40,0.000,2,0.000,0.000,2902,3678,2927,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.6,-0.0,1,51,0.68,0.40,-19.88,0.000,4,0.102,0.167,2667,3912,3629,0,0,0,0,0,0
$GC,289,-0.55,-146.0,52.5,-16.6,47,296,0.00,2.25,0.00,0.000,6,0.000,0.049,2667,2490,3630,0,0,0,0,0,0
$GC,634,-0.44,-146.0,114.3,-16.2,101,639,0.20,2.28,0.00,0.000,4,0.207,0.065,2717,1072,3630,0,0,0,0,0,0
$GC,663,-0.41,-146.0,118.3,-13.2,103,667,0.00,2.28,0.00,0.000,6,0.000,0.059,2716,2489,3629,0,0,0,0,0,0
$GC,988,-0.44,-146.0,151.8,-10.5,133,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2489,3630,0,0,0,0,0,0
$GC,1307,-0.49,-146.0,183.7,-9.1,163,1311,0.00,2.28,0.00,0.000,4,0.000,0.068,2717,1074,3629,0,0,0,0,0,0
$GC,1338,-0.54,-146.0,186.4,-9.3,165,1342,0.00,2.30,0.00,0.000,6,0.000,0.061,2716,2496,3629,0,0,0,0,0,0
$GC,1663,-0.59,-146.0,215.8,-9.1,195,1668,0.15,2.30,0.00,0.000,4,0.116,0.067,2665,1082,3628,0,0,0,0,0,0
$GC,1696,-0.55,-146.0,219.9,-12.9,197,1703,0.00,2.28,0.00,0.000,6,0.000,0.062,2664,2488,3629,0,0,0,0,0,0
$GC,2021,-0.49,-146.0,261.6,-12.8,228,2023,0.15,0.00,0.00,0.000,6,0.224,0.000,2699,2488,3628,0,0,0,0,0,0
$GC,2342,-0.52,-146.0,289.9,-8.4,258,2346,0.00,2.30,0.00,0.000,4,0.000,0.078,2700,3904,3628,0,0,0,0,0,0
$GC,2363,-0.56,-146.0,292.0,-8.4,259,2370,0.00,2.22,0.00,0.000,6,0.000,0.050,2699,2481,3628,0,0,0,0,0,0
$GC,2689,-0.60,-146.0,321.6,-9.8,290,2693,0.00,2.22,0.00,0.000,4,0.000,0.067,2699,1079,3628,0,0,0,0,0,0
$GC,2728,-0.65,-146.0,325.6,-10.0,293,2736,0.15,2.28,0.00,0.000,6,0.124,0.061,2651,2491,3628,0,0,0,0,0,0
$GC,3053,-0.58,-146.0,367.8,-12.6,324,3057,0.00,2.30,0.00,0.000,4,0.000,0.076,2651,3902,3628,0,0,0,0,0,0
$GC,3086,-0.51,-146.0,372.1,-13.2,326,3093,0.17,2.22,0.00,0.000,6,0.204,0.049,2693,2484,3628,0,0,0,0,0,0
$GC,3411,-0.55,-146.0,401.8,-9.0,357,3415,0.00,2.22,0.00,0.000,4,0.000,0.065,2694,1081,3628,0,0,0,0,0,0
$GC,3453,-0.60,-146.0,405.6,-9.2,360,3457,0.00,2.25,0.00,0.000,6,0.000,0.060,2693,2498,3627,0,0,0,0,0,0
$GC,3779,-0.64,-146.0,434.4,-8.8,390,3781,0.12,0.00,0.00,0.000,6,0.129,0.000,2651,2498,3628,0,0,0,0,0,0
$GC,4097,-0.58,-146.0,473.0,-12.1,420,4101,0.00,2.30,0.00,0.000,4,0.000,0.076,2651,3906,3628,0,0,0,0,0,0
$GC,4114,-0.51,-146.0,475.2,-12.7,421,4119,0.17,2.22,0.00,0.000,6,0.205,0.048,2694,2485,3628,0,0,0,0,0,0
$GC,4440,-0.56,-146.0,504.8,-8.6,451,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2485,3629,0,0,0,0,0,0
$GC,4761,-0.61,-146.0,531.2,-8.3,481,4765,0.00,2.22,0.00,0.000,4,0.000,0.063,2694,1079,3629,0,0,0,0,0,0
$GC,4779,-0.67,-146.0,533.0,-8.7,482,4783,0.15,2.25,0.00,0.000,6,0.120,0.059,2643,2491,3629,0,0,0,0,0,0
$GC,5104,-0.60,-146.0,571.6,-12.3,512,5108,0.00,2.30,0.00,0.000,4,0.000,0.076,2642,3904,3629,0,0,0,0,0,0
$GC,5134,-0.53,-146.0,575.1,-13.4,514,5139,0.17,2.20,0.00,0.000,6,0.200,0.048,2686,2480,3629,0,0,0,0,0,0
$GC,5468,-0.57,-146.0,605.0,-8.0,541,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2480,3629,0,0,0,0,0,0
$STATE,5618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5618,begin apogee
$GC,5624,-0.12,0.0,618.4,8.7,546,5753,0.43,0.00,122.53,1.315,6,0.184,0.000,2813,2256,3029,0,0,0,0,0,0
$STATE,5754,end apogee,CONTROL_FINISHED_OK
$STATE,5754,begin climb
$GC,5756,0.62,146.0,623.0,0.0,550,5892,0.77,2.47,127.35,1.262,4,0.136,0.067,3061,889,2432,0,0,0,0,0,0
$GC,5944,0.62,146.0,609.2,21001.6,556,5948,0.00,2.40,0.00,0.000,6,0.000,0.054,3061,2274,2427,0,0,0,0,0,0
$GC,6275,0.62,146.0,566.9,21001.6,581,6279,0.00,2.38,0.00,0.000,4,0.000,0.068,3061,3689,2424,0,0,0,0,0,0
$GC,6447,0.62,146.0,542.2,21001.6,596,6451,0.00,2.30,0.00,0.000,6,0.000,0.052,3071,2287,2423,0,0,0,0,0,0
$GC,6772,0.62,146.0,500.4,21001.6,626,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2288,2422,0,0,0,0,0,0
$GC,7092,0.62,146.0,461.7,21001.6,656,7096,0.00,2.30,0.00,0.000,4,0.000,0.065,3071,3698,2421,0,0,0,0,0,0
$GC,7148,0.62,146.0,453.9,21001.6,660,7155,0.00,2.30,0.00,0.000,6,0.000,0.052,3082,2265,2422,0,0,0,0,0,0
$GC,7473,0.62,146.0,413.5,21001.6,691,7477,0.00,2.33,0.00,0.000,4,0.000,0.066,3082,3690,2422,0,0,0,0,0,0
$GC,7513,0.62,146.0,408.1,21001.6,694,7517,0.00,2.28,0.00,0.000,6,0.000,0.052,3092,2269,2421,0,0,0,0,0,0
$GC,7839,0.62,146.0,364.8,21001.6,724,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2269,2421,0,0,0,0,0,0
$GC,8158,0.62,146.0,321.7,21001.6,754,8162,0.00,2.30,0.00,0.000,4,0.000,0.066,3092,3698,2421,0,0,0,0,0,0
$GC,8202,0.62,146.0,314.8,21001.6,757,8209,0.15,2.28,0.00,0.000,6,0.215,0.053,3067,2269,2421,0,0,0,0,0,0
$GC,8529,0.62,146.0,276.6,21001.6,788,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2269,2421,0,0,0,0,0,0
$GC,8847,0.62,146.0,241.6,21001.6,818,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2269,2421,0,0,0,0,0,0
$GC,9165,0.62,146.0,206.9,21001.6,848,9169,0.00,2.28,0.00,0.000,4,0.000,0.066,3066,3691,2421,0,0,0,0,0,0
$GC,9216,0.62,146.0,200.8,21001.6,852,9220,0.00,2.25,0.00,0.000,6,0.000,0.053,3075,2272,2421,0,0,0,0,0,0
$GC,9543,0.62,146.0,165.4,21001.6,882,9547,0.00,2.25,0.00,0.000,4,0.000,0.065,3085,861,2421,0,0,0,0,0,0
$GC,9587,0.62,146.0,160.7,21001.6,885,9594,0.00,2.25,0.00,0.000,6,0.000,0.054,3085,2285,2421,0,0,0,0,0,0
$GC,9912,0.62,146.0,130.0,21001.6,916,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2285,2421,0,0,0,0,0,0
$GC,10234,0.62,146.0,101.0,21001.6,946,10238,0.00,2.22,0.00,0.000,4,0.000,0.070,3085,3690,2421,0,0,0,0,0,0
$GC,10493,0.56,195.8,79.3,7.7,990,10547,0.20,2.22,45.40,0.952,6,0.204,0.054,3045,2265,2231,0,0,0,0,0,0
$GC,10884,0.73,284.3,56.6,5.9,1059,10972,0.15,2.45,78.32,0.972,4,0.096,0.066,3109,3685,1868,0,0,0,0,0,0
$GC,11031,0.68,284.3,41.3,12.7,1084,11039,0.12,2.33,0.00,0.000,6,0.202,0.054,3090,2280,1862,0,0,0,0,0,0
$FREEZE,8.93,-1.754,-1.773,3,64,0
$STATE,11360,end climb,FINISH_DEPTH_REACHED
$STATE,11360,begin subsurface finish
$FINISH1,8.9,1.025954,76
$GC,11366,0.09,75.8,8.9,-9.4,1142,11408,0.62,2.35,-32.40,0.000,4,0.158,0.078,2897,861,2725,0,0,0,0,0,0
$FINISH2,7.3
$STATE,11409,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11409,begin surface
$RAFOS_CLK,632
$RAFOS,6,1300625348,12.833333,12.818889,140,69,65,61,58,56,741,174,194,138,211,1849
$RAFOS,5,1300624864,12.700000,12.684444,65,61,60,53,53,53,927,198,117,161,210,175
$RAFOS,4,1300624385,12.566667,12.551389,76,60,59,58,58,57,698,208,221,197,179,154
$RAFOS,3,1300623909,12.433333,12.419167,66,65,57,56,55,50,205,150,163,139,180,118
$RAFOS,2,1300623423,12.300000,12.284166,72,65,64,61,54,54,191,208,169,694,137,157
$RAFOS,1,1300622950,12.166667,12.152778,119,62,58,57,56,55,538,194,176,129,165,141
$RAFOS,0,1300622462,12.033333,12.017222,100,62,62,54,53,47,669,198,176,133,226,161
$RAFOS_FIX,6651.670898,-6007.529297,200311,121213,5,100,0.23
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,47.24
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.4
$24V_AH,22.7,27.358
$10V_AH,10.2,15.104
$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,4.575,92.125,373.600,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2788.598,6266.444,408.588,1853.814,162.333,0.000,1389.461,0.000,1837.734,2520.000,14.987,0.000
$DEVICE_MAMPS,224.145,166.770,1315.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.524,876.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,43323,1149
$CAP_FILE_SIZE,126537,0
$CFSIZE,260165632,239292416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$GPS,200311,122913,6651.671,-6007.529,0,5100.0,0,-38.2