version: 66.08
glider: 141
mission: 15
dive: 191
start: 3 20 111 18 22 2
data:
$ID,141
$MISSION,15
$DIVE,191
$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,28
$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
$GPS1,200311,162353,6653.178,-6002.633,0,5090.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.12
$_SM_ANGLEo,1.5
$GPS2,200311,162353,6653.178,-6002.633,0,5090.0,0,-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,120.8,141726,-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
$STATE,13,begin dive
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$GC,27,-0.62,-146.0,9.6,-0.0,1,52,0.68,0.38,-18.23,0.000,4,0.104,0.173,2668,3905,3629,0,0,0,0,0,0
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$GC,2667,-0.57,-146.0,319.1,-8.5,290,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2492,3628,0,0,0,0,0,0
$GC,2985,-0.62,-146.0,346.0,-8.5,320,2987,0.12,0.00,0.00,0.000,6,0.126,0.000,2659,2492,3629,0,0,0,0,0,0
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$GC,3649,-0.55,-146.0,411.8,-8.2,382,3653,0.00,2.22,0.00,0.000,4,0.000,0.060,2694,1073,3628,0,0,0,0,0,0
$GC,3683,-0.59,-146.0,414.5,-8.1,385,3688,0.00,2.25,0.00,0.000,6,0.000,0.057,2694,2502,3628,0,0,0,0,0,0
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$GC,4032,-0.64,-146.0,440.2,-8.1,417,4036,0.00,2.22,0.00,0.000,6,0.000,0.059,2651,2489,3628,0,0,0,0,0,0
$GC,4362,-0.57,-146.0,475.9,-10.9,448,4366,0.00,2.28,0.00,0.000,4,0.000,0.073,2651,3906,3628,0,0,0,0,0,0
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$GC,5089,-0.67,-146.0,531.6,-7.6,514,5093,0.00,2.20,0.00,0.000,6,0.000,0.047,2642,2484,3629,0,0,0,0,0,0
$GC,5414,-0.59,-146.0,570.2,-12.1,544,5416,0.12,0.00,0.00,0.000,6,0.220,0.000,2670,2484,3630,0,0,0,0,0,0
$GC,5734,-0.59,-146.0,600.3,-9.4,574,5738,0.00,2.17,0.00,0.000,4,0.000,0.062,2671,1085,3630,0,0,0,0,0,0
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$GC,6069,-0.59,-146.0,633.9,-9.4,585,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2486,3630,0,0,0,0,0,0
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$GC,6413,-0.62,-146.0,666.8,-8.8,596,6417,0.00,2.20,0.00,0.000,6,0.000,0.045,2670,2484,3630,0,0,0,0,0,0
$GC,6738,-0.62,-146.0,695.5,-8.9,607,6742,0.00,2.17,0.00,0.000,4,0.000,0.061,2671,1084,3630,0,0,0,0,0,0
$GC,6792,-0.65,-146.0,700.3,-10.0,608,6796,0.00,2.22,0.00,0.000,6,0.000,0.057,2670,2490,3630,0,0,0,0,0,0
$GC,7104,-0.65,-146.0,728.1,-8.2,618,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2490,3630,0,0,0,0,0,0
$STATE,7255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7255,begin apogee
$GC,7261,-0.12,0.0,742.6,9.5,623,7389,0.47,0.00,123.07,1.389,6,0.178,0.000,2813,2262,3030,0,0,0,0,0,0
$STATE,7390,end apogee,CONTROL_FINISHED_OK
$STATE,7390,begin climb
$GC,7392,0.62,146.0,745.2,0.0,627,7531,0.77,2.47,129.05,1.340,4,0.134,0.065,3060,885,2433,0,0,0,0,0,0
$GC,7553,0.51,146.0,733.0,13.1,632,7558,0.12,2.42,0.00,0.000,6,0.185,0.051,3034,2276,2430,0,0,0,0,0,0
$GC,7885,0.45,146.0,695.9,11.3,643,7889,0.00,2.35,0.00,0.000,4,0.000,0.068,3034,3683,2424,0,0,0,0,0,0
$GC,7951,0.35,146.0,686.9,14.1,645,7956,0.25,2.30,0.00,0.000,6,0.194,0.052,2981,2286,2424,0,0,0,0,0,0
$GC,8283,0.43,178.2,658.6,8.5,656,8316,0.00,2.45,27.62,1.260,4,0.000,0.068,2989,871,2303,0,0,0,0,0,0
$GC,8355,0.55,212.0,652.0,8.4,658,8393,0.15,2.33,31.83,1.261,6,0.094,0.054,3053,2279,2165,0,0,0,0,0,0
$GC,8718,0.50,212.0,602.1,14.3,670,8722,0.00,2.33,0.00,0.000,4,0.000,0.067,3053,3694,2156,0,0,0,0,0,0
$GC,8828,0.41,212.0,584.6,15.9,678,8833,0.25,2.30,0.00,0.000,6,0.187,0.051,2999,2275,2155,0,0,0,0,0,0
$GC,9154,0.49,225.8,551.6,9.4,708,9170,0.00,2.30,11.98,1.142,4,0.000,0.064,3005,867,2109,0,0,0,0,0,0
$GC,9206,0.58,230.5,546.8,9.8,712,9219,0.15,2.28,5.88,0.959,6,0.102,0.053,3070,2280,2090,0,0,0,0,0,0
$GC,9536,0.50,230.5,497.8,14.9,743,9540,0.15,2.30,0.00,0.000,4,0.180,0.067,3031,3691,2088,0,0,0,0,0,0
$GC,9607,0.50,230.5,487.4,13.7,749,9614,0.00,2.28,0.00,0.000,6,0.000,0.050,3039,2267,2087,0,0,0,0,0,0
$GC,9934,0.50,230.5,447.4,12.5,780,9938,0.00,2.30,0.00,0.000,4,0.000,0.065,3040,3692,2086,0,0,0,0,0,0
$GC,9967,0.47,230.5,442.8,13.2,782,9974,0.12,2.25,0.00,0.000,6,0.195,0.050,3020,2274,2086,0,0,0,0,0,0
$GC,10292,0.51,230.5,409.0,10.4,813,10296,0.00,2.28,0.00,0.000,4,0.000,0.065,3028,859,2086,0,0,0,0,0,0
$GC,10325,0.55,230.5,405.3,10.9,815,10331,0.00,2.25,0.00,0.000,6,0.000,0.053,3028,2285,2084,0,0,0,0,0,0
$GC,10651,0.57,230.5,371.2,10.2,846,10656,0.00,2.22,0.00,0.000,4,0.000,0.067,3028,3687,2084,0,0,0,0,0,0
$GC,10725,0.57,230.5,362.1,12.8,852,10729,0.00,2.22,0.00,0.000,6,0.000,0.051,3038,2275,2084,0,0,0,0,0,0
$GC,11056,0.57,230.5,325.4,11.7,883,11060,0.00,2.25,0.00,0.000,4,0.000,0.065,3047,867,2084,0,0,0,0,0,0
$GC,11085,0.57,230.5,322.3,10.4,885,11089,0.00,2.22,0.00,0.000,6,0.000,0.053,3047,2282,2083,0,0,0,0,0,0
$GC,11409,0.57,230.5,285.5,11.1,915,11413,0.00,2.25,0.00,0.000,4,0.000,0.067,3047,3698,2083,0,0,0,0,0,0
$GC,11487,0.53,230.5,275.3,13.1,921,11494,0.00,2.25,0.00,0.000,6,0.000,0.051,3057,2271,2083,0,0,0,0,0,0
$GC,11814,0.53,230.5,236.9,12.0,952,11818,0.00,2.22,0.00,0.000,4,0.000,0.063,3068,868,2083,0,0,0,0,0,0
$GC,11842,0.53,230.5,233.4,11.8,954,11847,0.12,2.22,0.00,0.000,6,0.183,0.051,3037,2281,2083,0,0,0,0,0,0
$GC,12173,0.57,238.9,199.0,9.6,985,12186,0.00,2.33,8.07,0.929,4,0.000,0.067,3037,3691,2056,0,0,0,0,0,0
$GC,12236,0.57,238.9,191.8,11.7,990,12243,0.00,2.25,0.00,0.000,6,0.000,0.050,3044,2273,2055,0,0,0,0,0,0
$GC,12561,0.60,238.9,157.3,10.9,1021,12565,0.00,2.25,0.00,0.000,4,0.000,0.065,3053,865,2054,0,0,0,0,0,0
$GC,12595,0.65,238.9,153.7,10.4,1023,12601,0.00,2.22,0.00,0.000,6,0.000,0.053,3053,2280,2054,0,0,0,0,0,0
$GC,12922,0.70,257.0,121.6,9.2,1054,12946,0.10,2.35,17.73,0.991,4,0.117,0.066,3097,3694,1982,0,0,0,0,0,0
$GC,12998,0.63,257.0,111.5,15.0,1060,13005,0.15,2.28,0.00,0.000,6,0.190,0.052,3071,2276,1980,0,0,0,0,0,0
$GC,13335,0.68,274.9,77.9,9.2,1111,13359,0.00,2.28,17.83,0.972,4,0.000,0.063,3078,868,1908,0,0,0,0,0,0
$GC,13383,0.75,285.9,73.1,9.5,1119,13402,0.00,2.25,11.50,0.921,6,0.000,0.050,3078,2285,1864,0,0,0,0,0,0
$GC,13740,0.87,327.7,42.5,8.1,1182,13788,0.17,2.38,37.65,0.963,4,0.091,0.066,3147,3683,1692,0,0,0,0,0,0
$GC,13813,0.80,327.7,33.1,14.9,1194,13821,0.15,2.33,0.00,0.000,6,0.204,0.053,3123,2267,1688,0,0,0,0,0,0
$FREEZE,8.61,-1.761,-1.778,3,66,0
$STATE,13996,end climb,FINISH_DEPTH_REACHED
$STATE,13996,begin subsurface finish
$FINISH1,8.6,1.026030,72
$GC,14003,0.09,72.1,8.6,-12.3,1226,14050,0.73,2.35,-41.67,0.000,4,0.166,0.076,2902,856,2739,0,0,0,0,0,0
$FINISH2,6.6
$STATE,14051,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14051,begin surface
$RAFOS_CLK,764
$RAFOS,6,1300654145,20.833334,20.818056,110,66,62,61,54,54,734,162,152,217,119,175
$RAFOS,5,1300653664,20.700001,20.684444,121,59,54,52,51,49,895,201,226,140,173,126
$RAFOS,4,1300653203,20.566668,20.556389,81,61,56,55,53,53,568,219,196,208,129,997
$RAFOS,3,1300652706,20.433332,20.418333,71,59,59,55,55,53,215,175,150,193,117,161
$RAFOS,2,1300652240,20.299999,20.288889,138,56,56,54,50,49,590,233,201,189,211,166
$RAFOS,1,1300651744,20.166666,20.151112,151,62,62,60,55,54,562,171,121,152,204,219
$RAFOS,0,1300651266,20.033333,20.018333,83,61,58,54,54,53,664,198,178,217,168,112
$RAFOS_FIX,6652.412598,-5957.672363,200311,202044,6,114,0.26
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.028462
$HUMID,46.61
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.9
$24V_AH,22.6,27.644
$10V_AH,10.2,15.250
$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,5.850,132.500,422.200,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,3037.696,8325.933,484.287,2082.651,194.961,0.000,1608.575,0.000,2059.571,2520.000,21.428,0.000
$DEVICE_MAMPS,226.440,172.890,1389.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,883.031,947.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46706,1234
$CAP_FILE_SIZE,153939,0
$CFSIZE,260165632,239124480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.8
$GPS,200311,202744,6652.413,-5957.672,0,6114.0,0,-38.2