version: 66.08
glider: 141
mission: 15
dive: 192
start: 3 20 111 22 18 30
data:
$ID,141
$MISSION,15
$DIVE,192
$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,26
$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
$GPS1,200311,202744,6652.413,-5957.672,0,6114.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.15
$_SM_ANGLEo,-2.8
$GPS2,200311,202744,6652.413,-5957.672,0,6114.0,0,-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,120.1,138367,-17.5,-10.000
$D_GRID,775
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.03,0.000,2,0.000,0.000,2902,857,2986,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.5,-0.0,1,58,0.68,5.05,-17.33,0.000,4,0.108,0.073,2667,3896,3628,0,0,0,0,0,0
$GC,267,-0.55,-146.0,49.3,-17.4,43,274,0.00,2.20,0.00,0.000,6,0.000,0.047,2667,2486,3630,0,0,0,0,0,0
$GC,614,-0.44,-146.0,111.1,-16.3,99,619,0.20,2.22,0.00,0.000,4,0.211,0.060,2716,1081,3629,0,0,0,0,0,0
$GC,680,-0.49,-146.0,119.5,-10.0,104,687,0.00,2.22,0.00,0.000,6,0.000,0.057,2716,2488,3629,0,0,0,0,0,0
$GC,1006,-0.53,-146.0,152.5,-9.3,135,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2488,3628,0,0,0,0,0,0
$GC,1327,-0.59,-146.0,182.0,-9.8,165,1334,0.12,0.00,0.00,0.000,6,0.130,0.000,2674,2488,3628,0,0,0,0,0,0
$GC,1653,-0.54,-146.0,220.9,-11.7,196,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2489,3628,0,0,0,0,0,0
$GC,1973,-0.51,-146.0,258.4,-11.4,226,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2489,3627,0,0,0,0,0,0
$GC,2291,-0.48,-146.0,295.3,-12.2,256,2293,0.12,0.00,0.00,0.000,6,0.215,0.000,2703,2489,3627,0,0,0,0,0,0
$GC,2608,-0.53,-146.0,323.7,-8.9,286,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2489,3627,0,0,0,0,0,0
$GC,2929,-0.58,-146.0,350.4,-8.2,316,2933,0.00,2.22,0.00,0.000,4,0.000,0.062,2703,1075,3627,0,0,0,0,0,0
$GC,2947,-0.63,-146.0,352.1,-8.5,317,2952,0.12,2.28,0.00,0.000,6,0.125,0.058,2659,2501,3627,0,0,0,0,0,0
$GC,3272,-0.58,-146.0,389.1,-11.1,347,3276,0.00,2.28,0.00,0.000,4,0.000,0.074,2659,3904,3627,0,0,0,0,0,0
$GC,3283,-0.53,-146.0,390.5,-11.7,347,3290,0.12,2.20,0.00,0.000,6,0.213,0.045,2688,2487,3627,0,0,0,0,0,0
$GC,3608,-0.56,-146.0,420.5,-9.2,378,3612,0.00,2.20,0.00,0.000,4,0.000,0.061,2688,1074,3628,0,0,0,0,0,0
$GC,3620,-0.58,-146.0,421.6,-9.3,378,3626,0.00,2.25,0.00,0.000,6,0.000,0.058,2688,2490,3628,0,0,0,0,0,0
$GC,3945,-0.61,-146.0,449.8,-8.3,409,3950,0.00,2.25,0.00,0.000,4,0.000,0.060,2688,1085,3627,0,0,0,0,0,0
$GC,3961,-0.64,-146.0,451.3,-8.4,410,3968,0.00,2.22,0.00,0.000,6,0.000,0.057,2688,2498,3628,0,0,0,0,0,0
$GC,4287,-0.68,-146.0,478.2,-8.1,441,4289,0.12,0.00,0.00,0.000,6,0.124,0.000,2645,2498,3628,0,0,0,0,0,0
$GC,4607,-0.61,-146.0,516.0,-11.9,471,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2498,3628,0,0,0,0,0,0
$GC,4925,-0.54,-146.0,555.3,-12.9,501,4927,0.17,0.00,0.00,0.000,6,0.206,0.000,2688,2500,3628,0,0,0,0,0,0
$GC,5243,-0.58,-146.0,584.1,-8.9,531,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2500,3629,0,0,0,0,0,0
$GC,5558,-0.62,-146.0,611.1,-8.4,553,5562,0.00,2.25,0.00,0.000,4,0.000,0.074,2689,3903,3629,0,0,0,0,0,0
$GC,5579,-0.67,-146.0,613.2,-8.4,553,5587,0.12,2.20,0.00,0.000,6,0.122,0.045,2645,2481,3628,0,0,0,0,0,0
$GC,5892,-0.62,-146.0,647.9,-11.4,564,5896,0.00,2.17,0.00,0.000,4,0.000,0.060,2645,1079,3629,0,0,0,0,0,0
$GC,5924,-0.56,-146.0,652.1,-12.3,565,5929,0.15,2.22,0.00,0.000,6,0.213,0.057,2680,2490,3629,0,0,0,0,0,0
$GC,6254,-0.59,-146.0,680.9,-8.6,576,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2490,3629,0,0,0,0,0,0
$GC,6561,-0.63,-146.0,707.3,-8.6,586,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2490,3630,0,0,0,0,0,0
$GC,6867,-0.66,-146.0,731.3,-8.0,596,6871,0.00,2.28,0.00,0.000,4,0.000,0.073,2680,3899,3630,0,0,0,0,0,0
$GC,6896,-0.70,-146.0,733.8,-8.8,597,6900,0.15,2.17,0.00,0.000,6,0.119,0.044,2628,2481,3629,0,0,0,0,0,0
$GC,7232,-0.61,-146.0,773.6,-10.9,608,7234,0.15,0.00,0.00,0.000,6,0.216,0.000,2662,2480,3629,0,0,0,0,0,0
$STATE,7259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7259,begin apogee
$GC,7264,-0.12,0.0,777.1,10.8,609,7393,0.50,0.00,123.20,1.412,6,0.186,0.000,2812,2267,3030,0,0,0,0,0,0
$STATE,7394,end apogee,CONTROL_FINISHED_OK
$STATE,7394,begin climb
$GC,7396,0.62,146.0,782.4,0.0,613,7535,0.77,2.58,129.05,1.366,4,0.132,0.066,3059,884,2433,0,0,0,0,0,0
$GC,7598,0.62,146.0,767.0,27301.5,619,7602,0.00,2.40,0.00,0.000,6,0.000,0.051,3059,2273,2428,0,0,0,0,0,0
$GC,7916,0.62,146.0,724.0,27301.5,630,7920,0.00,2.35,0.00,0.000,4,0.000,0.067,3060,3687,2425,0,0,0,0,0,0
$GC,8056,0.62,146.0,703.7,27301.5,634,8061,0.00,2.30,0.00,0.000,6,0.000,0.050,3070,2283,2424,0,0,0,0,0,0
$GC,8380,0.62,146.0,661.6,27301.5,645,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2283,2423,0,0,0,0,0,0
$GC,8687,0.62,146.0,621.3,27301.5,655,8691,0.00,2.30,0.00,0.000,4,0.000,0.066,3070,3696,2423,0,0,0,0,0,0
$GC,8750,0.62,146.0,612.3,27301.5,657,8755,0.00,2.28,0.00,0.000,6,0.000,0.050,3080,2272,2422,0,0,0,0,0,0
$GC,9075,0.62,146.0,568.1,27301.5,682,9079,0.00,2.30,0.00,0.000,4,0.000,0.065,3080,3693,2422,0,0,0,0,0,0
$GC,9114,0.62,146.0,562.3,27301.5,685,9118,0.00,2.28,0.00,0.000,6,0.000,0.050,3090,2264,2422,0,0,0,0,0,0
$GC,9441,0.62,146.0,518.2,27301.5,715,9445,0.00,2.33,0.00,0.000,4,0.000,0.064,3090,3697,2422,0,0,0,0,0,0
$GC,9504,0.62,146.0,508.1,27301.5,720,9509,0.15,2.28,0.00,0.000,6,0.220,0.050,3066,2265,2422,0,0,0,0,0,0
$GC,9830,0.62,146.0,467.3,27301.5,750,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2264,2422,0,0,0,0,0,0
$GC,10150,0.62,146.0,429.6,27301.5,780,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2265,2422,0,0,0,0,0,0
$GC,10477,0.62,146.0,391.2,27301.5,811,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2265,2422,0,0,0,0,0,0
$GC,10795,0.62,146.0,354.0,27301.5,841,10797,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2265,2421,0,0,0,0,0,0
$GC,11115,0.62,146.0,316.8,27301.5,871,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2265,2422,0,0,0,0,0,0
$GC,11435,0.62,146.0,279.5,27301.5,901,11441,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2265,2422,0,0,0,0,0,0
$GC,11761,0.62,146.0,242.4,27301.5,932,11765,0.00,2.28,0.00,0.000,4,0.000,0.063,3065,3694,2421,0,0,0,0,0,0
$GC,11839,0.62,146.0,232.4,27301.5,938,11846,0.00,2.25,0.00,0.000,6,0.000,0.049,3074,2264,2422,0,0,0,0,0,0
$GC,12166,0.62,146.0,195.2,27301.5,969,12167,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2264,2422,0,0,0,0,0,0
$GC,12484,0.62,146.0,161.4,27301.5,999,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2264,2422,0,0,0,0,0,0
$GC,12803,0.62,146.0,130.1,27301.5,1029,12807,0.00,2.28,0.00,0.000,4,0.000,0.064,3074,3695,2422,0,0,0,0,0,0
$GC,12934,0.62,146.0,116.8,27301.5,1040,12939,0.00,2.22,0.00,0.000,6,0.000,0.050,3084,2272,2422,0,0,0,0,0,0
$GC,13267,0.59,196.1,89.3,7.7,1081,13315,0.00,2.35,42.35,0.994,4,0.000,0.065,3094,869,2229,0,0,0,0,0,0
$GC,13388,0.58,218.7,78.8,9.0,1102,13420,0.15,2.30,20.95,0.960,6,0.188,0.052,3057,2291,2136,0,0,0,0,0,0
$GC,13758,0.71,282.6,52.1,7.0,1167,13823,0.10,2.35,57.00,0.962,4,0.118,0.065,3098,3692,1875,0,0,0,0,0,0
$GC,13892,0.68,282.6,38.0,12.0,1190,13899,0.00,2.33,0.00,0.000,6,0.000,0.049,3109,2270,1870,0,0,0,0,0,0
$STATE,13999,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13999,begin subsurface finish
$FINISH1,26.3,1.026039,72
$GC,14005,0.09,71.6,26.3,-10.4,1209,14025,0.70,2.38,-14.15,0.000,4,0.162,0.077,2898,858,2742,0,0,0,0,0,0
$FINISH2,24.7
$STATE,14026,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14026,begin surface
$RAFOS_CLK,771
$RAFOS,6,1300668551,0.833333,0.819722,165,57,56,55,54,47,675,198,170,207,125,95
$RAFOS,5,1300668072,0.700000,0.686667,103,60,55,52,52,52,841,198,235,147,159,179
$RAFOS,4,1300667582,0.566667,0.550556,115,69,61,56,49,48,675,191,211,137,114,90
$RAFOS,3,1300667105,0.433333,0.418056,67,63,62,59,56,55,196,213,801,147,156,173
$RAFOS,2,1300666646,0.300000,0.290556,79,58,58,53,53,53,576,217,193,122,135,152
$RAFOS,1,1300666159,0.166667,0.155278,122,66,56,51,49,48,503,215,189,115,172,150
$RAFOS,0,1300665669,0.033333,0.019167,112,65,60,56,54,54,665,161,213,200,186,131
$RAFOS_FIX,6652.782227,-5952.935059,210311,000001,6,116,0.24
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,46.69
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,21.7,21.7
$ALTIM_BOTTOM_PING,21.8,21.9
$24V_AH,22.5,27.776
$10V_AH,10.2,15.324
$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,4.625,87.300,372.550,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2967.588,8573.256,407.422,1969.925,179.578,0.000,1444.633,0.000,1956.039,2520.000,19.634,0.000
$DEVICE_MAMPS,220.320,77.265,1412.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.885,932.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46696,1212
$CAP_FILE_SIZE,136183,0
$CFSIZE,260165632,239071232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,210311,002701,6652.782,-5952.935,0,6116.0,0,-38.2