version: 66.08
glider: 141
mission: 15
dive: 190
start: 3 20 111 15 2 3
data:
$ID,141
$MISSION,15
$DIVE,190
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,200311,122913,6651.671,-6007.529,0,5100.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.85
$_SM_ANGLEo,-4.6
$GPS2,200311,122913,6651.671,-6007.529,0,5100.0,0,-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,119.9,145609,-17.5,-10.000
$D_GRID,665
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.70,0.000,2,0.000,0.000,2897,861,2969,0,0,0,0,0,0
$GC,26,-0.62,-146.0,11.0,-0.0,1,57,0.65,5.05,-17.15,0.000,4,0.108,0.074,2671,3899,3627,0,0,0,0,0,0
$GC,289,-0.55,-146.0,52.7,-16.8,47,296,0.00,2.22,0.00,0.000,6,0.000,0.048,2670,2481,3628,0,0,0,0,0,0
$GC,630,-0.44,-146.0,112.5,-16.0,101,632,0.17,0.00,0.00,0.000,6,0.223,0.000,2713,2481,3628,0,0,0,0,0,0
$GC,950,-0.47,-146.0,147.7,-10.3,131,954,0.00,2.22,0.00,0.000,4,0.000,0.063,2713,1083,3628,0,0,0,0,0,0
$GC,971,-0.49,-146.0,150.3,-10.5,132,978,0.00,2.22,0.00,0.000,6,0.000,0.058,2713,2487,3628,0,0,0,0,0,0
$GC,1298,-0.53,-146.0,182.1,-9.7,163,1302,0.00,2.22,0.00,0.000,4,0.000,0.063,2713,1083,3627,0,0,0,0,0,0
$GC,1349,-0.60,-146.0,187.1,-9.9,167,1354,0.15,2.25,0.00,0.000,6,0.129,0.058,2665,2500,3627,0,0,0,0,0,0
$GC,1675,-0.53,-146.0,230.0,-13.6,197,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2500,3626,0,0,0,0,0,0
$GC,1996,-0.48,-146.0,270.3,-12.4,227,2003,0.17,0.00,0.00,0.000,6,0.216,0.000,2707,2500,3626,0,0,0,0,0,0
$GC,2322,-0.53,-146.0,299.4,-9.0,258,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2500,3626,0,0,0,0,0,0
$GC,2642,-0.59,-146.0,328.8,-9.2,288,2646,0.00,2.25,0.00,0.000,4,0.000,0.063,2707,1083,3626,0,0,0,0,0,0
$GC,2669,-0.65,-146.0,331.8,-10.1,290,2677,0.17,2.25,0.00,0.000,6,0.116,0.059,2648,2495,3625,0,0,0,0,0,0
$GC,2995,-0.57,-146.0,376.1,-13.5,321,3000,0.12,2.28,0.00,0.000,4,0.220,0.074,2675,3897,3626,0,0,0,0,0,0
$GC,3038,-0.60,-146.0,381.6,-10.7,324,3046,0.00,2.20,0.00,0.000,6,0.000,0.047,2676,2485,3626,0,0,0,0,0,0
$GC,3364,-0.60,-146.0,415.6,-10.2,355,3368,0.00,2.22,0.00,0.000,4,0.000,0.061,2675,1073,3626,0,0,0,0,0,0
$GC,3396,-0.60,-146.0,419.0,-10.4,357,3404,0.00,2.25,0.00,0.000,6,0.000,0.058,2676,2488,3626,0,0,0,0,0,0
$GC,3723,-0.60,-146.0,453.5,-10.6,388,3727,0.00,2.30,0.00,0.000,4,0.000,0.075,2676,3905,3626,0,0,0,0,0,0
$GC,3766,-0.62,-146.0,458.2,-10.2,391,3773,0.00,2.20,0.00,0.000,6,0.000,0.047,2676,2490,3626,0,0,0,0,0,0
$GC,4093,-0.62,-146.0,490.1,-9.8,422,4097,0.00,2.25,0.00,0.000,4,0.000,0.061,2676,1075,3626,0,0,0,0,0,0
$GC,4145,-0.65,-146.0,495.3,-9.3,426,4149,0.00,2.25,0.00,0.000,6,0.000,0.059,2675,2501,3626,0,0,0,0,0,0
$GC,4470,-0.65,-146.0,526.4,-8.9,456,4474,0.00,2.25,0.00,0.000,4,0.000,0.063,2676,1079,3626,0,0,0,0,0,0
$GC,4485,-0.65,-146.0,528.0,-9.0,457,4492,0.00,2.25,0.00,0.000,6,0.000,0.059,2676,2493,3626,0,0,0,0,0,0
$GC,4811,-0.65,-146.0,557.5,-9.1,488,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2493,3627,0,0,0,0,0,0
$GC,5130,-0.65,-146.0,584.4,-8.4,518,5134,0.00,2.25,0.00,0.000,4,0.000,0.074,2676,3899,3627,0,0,0,0,0,0
$GC,5181,-0.69,-146.0,589.0,-9.0,522,5185,0.00,2.20,0.00,0.000,6,0.000,0.047,2676,2486,3627,0,0,0,0,0,0
$GC,5520,-0.71,-146.0,621.3,-9.7,540,5525,0.12,2.33,0.00,0.000,4,0.129,0.072,2634,3907,3627,0,0,0,0,0,0
$GC,5541,-0.68,-146.0,624.0,-11.2,540,5546,0.00,2.20,0.00,0.000,6,0.000,0.047,2634,2493,3627,0,0,0,0,0,0
$GC,5854,-0.60,-146.0,664.2,-12.9,550,5856,0.15,0.00,0.00,0.000,6,0.219,0.000,2669,2493,3627,0,0,0,0,0,0
$STATE,5884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5884,begin apogee
$GC,5889,-0.12,0.0,667.6,12.6,551,6018,0.50,0.00,122.65,1.340,6,0.189,0.000,2816,2247,3029,0,0,0,0,0,0
$STATE,6019,end apogee,CONTROL_FINISHED_OK
$STATE,6019,begin climb
$GC,6021,0.62,146.0,671.9,0.0,555,6157,0.77,2.38,127.80,1.291,4,0.137,0.064,3062,894,2433,0,0,0,0,0,0
$GC,6190,0.62,146.0,659.1,22306.4,560,6194,0.00,2.42,0.00,0.000,6,0.000,0.053,3062,2277,2430,0,0,0,0,0,0
$GC,6515,0.62,146.0,615.1,22306.4,571,6519,0.00,2.38,0.00,0.000,4,0.000,0.070,3062,3687,2425,0,0,0,0,0,0
$GC,6622,0.62,146.0,598.2,22306.4,575,6626,0.00,2.30,0.00,0.000,6,0.000,0.052,3071,2294,2424,0,0,0,0,0,0
$GC,6947,0.62,146.0,551.6,22306.4,605,6951,0.00,2.30,0.00,0.000,4,0.000,0.067,3071,3692,2423,0,0,0,0,0,0
$GC,7019,0.62,146.0,540.4,22306.4,611,7026,0.00,2.30,0.00,0.000,6,0.000,0.051,3081,2270,2423,0,0,0,0,0,0
$GC,7346,0.62,146.0,497.4,22306.4,642,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2269,2423,0,0,0,0,0,0
$GC,7665,0.62,146.0,457.1,22306.4,672,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2269,2422,0,0,0,0,0,0
$GC,7984,0.62,146.0,416.5,22306.4,702,7988,0.00,2.30,0.00,0.000,4,0.000,0.067,3081,3694,2422,0,0,0,0,0,0
$GC,8058,0.62,146.0,405.5,22306.4,708,8062,0.00,2.28,0.00,0.000,6,0.000,0.052,3091,2269,2423,0,0,0,0,0,0
$GC,8383,0.62,146.0,360.8,22306.4,738,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2268,2422,0,0,0,0,0,0
$GC,8702,0.62,146.0,318.9,22306.4,768,8707,0.00,2.33,0.00,0.000,4,0.000,0.066,3091,3701,2422,0,0,0,0,0,0
$GC,8758,0.62,146.0,310.7,22306.4,772,8765,0.15,2.28,0.00,0.000,6,0.213,0.051,3066,2267,2422,0,0,0,0,0,0
$GC,9083,0.62,146.0,272.3,22306.4,803,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2267,2422,0,0,0,0,0,0
$GC,9403,0.62,146.0,236.8,22306.4,833,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2267,2422,0,0,0,0,0,0
$GC,9723,0.62,146.0,201.2,22306.4,863,9727,0.00,2.28,0.00,0.000,4,0.000,0.066,3065,3692,2422,0,0,0,0,0,0
$GC,9785,0.62,146.0,193.4,22306.4,868,9789,0.00,2.25,0.00,0.000,6,0.000,0.052,3074,2269,2423,0,0,0,0,0,0
$GC,10112,0.62,146.0,159.9,22306.4,898,10113,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2268,2423,0,0,0,0,0,0
$GC,10430,0.62,146.0,130.9,22306.4,928,10434,0.00,2.28,0.00,0.000,4,0.000,0.066,3074,3696,2423,0,0,0,0,0,0
$GC,10576,0.62,146.0,116.1,22306.4,940,10583,0.00,2.25,0.00,0.000,6,0.000,0.051,3084,2267,2422,0,0,0,0,0,0
$GC,10909,0.59,191.1,90.7,7.9,983,10957,0.12,2.40,38.38,0.995,4,0.201,0.066,3053,3691,2250,0,0,0,0,0,0
$GC,11059,0.57,199.2,78.3,9.6,1009,11073,0.00,2.28,8.20,0.881,6,0.000,0.051,3061,2277,2217,0,0,0,0,0,0
$GC,11412,0.68,266.7,52.2,6.9,1071,11483,0.00,2.40,60.25,0.972,4,0.000,0.066,3070,876,1940,0,0,0,0,0,0
$GC,11529,0.86,332.7,44.2,7.0,1091,11594,0.20,2.30,57.22,0.941,6,0.094,0.054,3145,2281,1673,0,0,0,0,0,0
$FREEZE,8.67,-1.754,-1.776,3,65,1
$FREEZE,7.78,-1.754,-1.775,3,65,1
$FREEZE,6.73,-1.754,-1.775,3,65,1
$STATE,11796,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11796,begin subsurface finish
$FINISH1,6.7,1.026006,73
$GC,11802,0.09,73.2,6.7,-15.8,1138,11867,0.82,2.38,-53.47,0.000,4,0.166,0.081,2901,3684,2733,0,0,0,0,0,0
$FINISH2,4.9
$STATE,11868,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11868,begin surface
$RAFOS_CLK,655
$RAFOS,6,1300639743,16.833334,16.817499,122,74,61,57,56,54,754,215,198,226,159,148
$RAFOS,5,1300639262,16.700001,16.683889,59,58,58,56,53,52,198,184,142,166,115,222
$RAFOS,4,1300638809,16.566668,16.558056,83,69,62,60,58,53,559,190,174,162,214,226
$RAFOS,3,1300638302,16.433332,16.417223,57,55,55,55,54,49,210,196,140,222,173,162
$RAFOS,2,1300637824,16.299999,16.284445,79,64,62,59,58,54,699,194,134,176,209,151
$RAFOS,1,1300637349,16.166666,16.152500,102,56,56,55,53,51,556,170,154,192,205,179
$RAFOS,0,1300636862,16.033333,16.017221,64,63,56,54,54,52,684,204,175,217,116,126
$RAFOS_FIX,6653.177734,-6002.632812,200311,161653,5,90,0.32
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,46.10
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.1
$24V_AH,22.6,27.495
$10V_AH,10.2,15.173
$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,4.300,96.525,414.500,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2754.424,6675.980,470.535,1882.218,159.011,0.000,1477.215,0.000,1859.755,2520.000,19.651,0.000
$DEVICE_MAMPS,222.615,81.090,1339.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.055,872.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43353,1149
$CAP_FILE_SIZE,127856,0
$CFSIZE,260165632,239222784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$GPS,200311,162353,6653.178,-6002.633,0,5090.0,0,-38.2