version: 66.08
glider: 141
mission: 15
dive: 184
start: 3 19 111 21 23 58
data:
$ID,141
$MISSION,15
$DIVE,184
$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,-29056.855
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.31
$_SM_ANGLEo,-1.9
$GPS2,190311,202913,6648.042,-6022.675,0,5087.2,0,-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,118.1,157483,-17.5,-10.000
$D_GRID,542
$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,-6.57,0.000,2,0.000,0.000,2903,2270,2964,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.7,-0.0,1,52,0.65,2.67,-16.65,0.000,4,0.096,0.080,2668,3903,3628,0,0,0,0,0,0
$GC,255,-0.55,-146.0,48.5,-17.2,41,262,0.00,2.25,0.00,0.000,6,0.000,0.047,2668,2477,3630,0,0,0,0,0,0
$GC,596,-0.43,-146.0,113.5,-18.0,95,601,0.20,2.20,0.00,0.000,4,0.216,0.060,2717,1082,3629,0,0,0,0,0,0
$GC,670,-0.46,-146.0,122.8,-10.6,101,674,0.00,2.25,0.00,0.000,6,0.000,0.058,2717,2497,3629,0,0,0,0,0,0
$GC,995,-0.48,-146.0,155.7,-10.8,131,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2497,3629,0,0,0,0,0,0
$GC,1317,-0.53,-146.0,187.4,-9.3,161,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2497,3628,0,0,0,0,0,0
$GC,1644,-0.59,-146.0,218.2,-9.6,192,1648,0.15,2.28,0.00,0.000,4,0.119,0.063,2665,1073,3628,0,0,0,0,0,0
$GC,1661,-0.59,-146.0,220.4,-11.2,193,1665,0.00,2.25,0.00,0.000,6,0.000,0.061,2665,2489,3628,0,0,0,0,0,0
$GC,1986,-0.53,-146.0,264.9,-13.5,223,1990,0.00,2.28,0.00,0.000,4,0.000,0.076,2665,3898,3628,0,0,0,0,0,0
$GC,2007,-0.47,-146.0,267.9,-12.5,224,2015,0.17,2.20,0.00,0.000,6,0.203,0.048,2708,2483,3627,0,0,0,0,0,0
$GC,2333,-0.53,-146.0,296.7,-8.5,255,2337,0.00,2.20,0.00,0.000,4,0.000,0.063,2709,1079,3628,0,0,0,0,0,0
$GC,2365,-0.60,-146.0,299.7,-8.7,257,2377,0.12,2.28,0.00,0.000,6,0.134,0.060,2667,2499,3627,0,0,0,0,0,0
$GC,2691,-0.57,-146.0,336.9,-11.9,288,2696,0.00,2.30,0.00,0.000,4,0.000,0.076,2667,3908,3627,0,0,0,0,0,0
$GC,2720,-0.54,-146.0,340.4,-11.9,290,2724,0.00,2.20,0.00,0.000,6,0.000,0.049,2667,2489,3627,0,0,0,0,0,0
$GC,3046,-0.51,-146.0,376.6,-11.1,320,3047,0.12,0.00,0.00,0.000,6,0.216,0.000,2696,2489,3627,0,0,0,0,0,0
$GC,3366,-0.56,-146.0,403.8,-8.5,350,3370,0.00,2.20,0.00,0.000,4,0.000,0.063,2696,1081,3627,0,0,0,0,0,0
$GC,3399,-0.62,-146.0,407.0,-8.9,352,3406,0.00,2.25,0.00,0.000,6,0.000,0.059,2696,2493,3627,0,0,0,0,0,0
$GC,3725,-0.67,-146.0,432.7,-8.1,383,3729,0.15,2.30,0.00,0.000,4,0.117,0.076,2644,3897,3627,0,0,0,0,0,0
$GC,3742,-0.67,-146.0,434.4,-8.7,384,3746,0.00,2.20,0.00,0.000,6,0.000,0.050,2644,2481,3627,0,0,0,0,0,0
$GC,4068,-0.60,-146.0,473.6,-11.2,414,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2481,3628,0,0,0,0,0,0
$GC,4387,-0.54,-146.0,510.2,-11.0,444,4389,0.17,0.00,0.00,0.000,6,0.216,0.000,2686,2481,3628,0,0,0,0,0,0
$GC,4705,-0.57,-146.0,536.9,-8.7,474,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2481,3629,0,0,0,0,0,0
$STATE,4766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4766,begin apogee
$GC,4771,-0.12,0.0,542.9,9.0,480,4902,0.43,0.00,120.80,1.266,6,0.190,0.000,2813,2256,3030,0,0,0,0,0,0
$STATE,4903,end apogee,CONTROL_FINISHED_OK
$STATE,4903,begin climb
$GC,4905,0.62,146.0,546.4,0.0,492,5044,0.77,2.53,125.32,1.218,4,0.136,0.064,3060,884,2431,0,0,0,0,0,0
$GC,5067,0.53,146.0,535.5,11.6,507,5072,0.00,2.40,0.00,0.000,6,0.000,0.052,3060,2272,2429,0,0,0,0,0,0
$GC,5392,0.42,146.0,494.0,14.2,537,5397,0.22,2.38,0.00,0.000,4,0.194,0.066,3004,3688,2424,0,0,0,0,0,0
$GC,5505,0.37,146.0,481.5,11.0,546,5512,0.00,2.30,0.00,0.000,6,0.000,0.051,3013,2288,2423,0,0,0,0,0,0
$GC,5831,0.38,153.0,449.8,9.7,577,5840,0.00,0.00,5.55,0.876,6,0.000,0.000,3012,2288,2406,0,0,0,0,0,0
$GC,6160,0.40,171.3,419.1,9.2,608,6183,0.00,2.40,17.75,1.114,4,0.000,0.067,3013,3688,2331,0,0,0,0,0,0
$GC,6218,0.37,171.3,413.1,11.1,613,6223,0.15,2.30,0.00,0.000,6,0.195,0.051,2988,2277,2329,0,0,0,0,0,0
$GC,6544,0.49,220.0,387.2,7.8,643,6592,0.00,2.38,43.15,1.138,4,0.000,0.064,2993,858,2134,0,0,0,0,0,0
$GC,6629,0.66,266.7,380.6,7.8,650,6678,0.25,2.35,42.95,1.115,6,0.083,0.054,3087,2279,1941,0,0,0,0,0,0
$GC,6997,0.58,266.7,318.6,17.3,684,7002,0.15,2.30,0.00,0.000,4,0.182,0.067,3050,3684,1931,0,0,0,0,0,0
$GC,7086,0.55,266.7,304.5,14.7,691,7093,0.00,2.30,0.00,0.000,6,0.000,0.051,3057,2271,1930,0,0,0,0,0,0
$GC,7411,0.55,266.7,260.1,12.8,722,7415,0.00,2.28,0.00,0.000,4,0.000,0.064,3069,865,1929,0,0,0,0,0,0
$GC,7443,0.55,266.7,255.6,12.9,724,7450,0.00,2.28,0.00,0.000,6,0.000,0.053,3069,2283,1927,0,0,0,0,0,0
$GC,7770,0.55,266.7,214.4,11.9,755,7774,0.00,2.25,0.00,0.000,4,0.000,0.070,3068,3684,1927,0,0,0,0,0,0
$GC,7832,0.51,266.7,206.1,13.5,760,7837,0.17,2.28,0.00,0.000,6,0.181,0.055,3033,2269,1926,0,0,0,0,0,0
$GC,8158,0.62,288.1,176.2,9.0,790,8181,0.00,2.35,18.17,1.003,4,0.000,0.067,3040,866,1854,0,0,0,0,0,0
$GC,8209,0.74,304.4,171.6,9.2,794,8231,0.17,2.25,15.90,0.985,6,0.099,0.053,3111,2276,1789,0,0,0,0,0,0
$GC,8551,0.71,304.4,121.6,13.7,826,8555,0.00,2.30,0.00,0.000,4,0.000,0.071,3111,3683,1784,0,0,0,0,0,0
$GC,8623,0.66,304.4,110.4,15.9,832,8631,0.17,2.28,0.00,0.000,6,0.187,0.057,3077,2277,1782,0,0,0,0,0,0
$GC,8964,0.77,336.8,76.7,8.5,884,9000,0.10,2.40,29.55,0.975,4,0.125,0.068,3126,862,1655,0,0,0,0,0,0
$GC,9053,0.77,336.8,66.7,11.8,899,9060,0.00,2.30,0.00,0.000,6,0.000,0.055,3126,2284,1652,0,0,0,0,0,0
$GC,9398,0.77,336.8,25.8,12.1,960,9404,0.00,2.30,0.00,0.000,4,0.000,0.072,3126,3690,1648,0,0,0,0,0,0
$GC,9461,0.74,336.8,16.9,15.0,971,9468,0.12,2.30,0.00,0.000,6,0.200,0.060,3107,2275,1646,0,0,0,0,0,0
$FREEZE,8.76,-1.753,-1.773,3,59,0
$STATE,9525,end climb,FINISH_DEPTH_REACHED
$STATE,9525,begin subsurface finish
$FINISH1,8.8,1.025966,75
$GC,9530,0.09,75.2,8.8,-12.0,982,9578,0.65,2.35,-40.33,0.000,4,0.158,0.083,2903,863,2726,0,0,0,0,0,0
$FINISH2,7.2
$STATE,9579,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9579,begin surface
$RAFOS_CLK,533
$RAFOS_FIX,6648.041992,-6022.675293,190311,202013,5,87,0.45
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.029211
$HUMID,46.96
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.1
$24V_AH,22.7,26.674
$10V_AH,10.2,14.769
$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,5.125,90.150,419.150,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2321.317,5111.372,469.275,1596.891,134.964,0.000,1337.944,0.000,1583.257,360.000,14.099,0.000
$DEVICE_MAMPS,216.495,82.620,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.275,748.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36678,990
$CAP_FILE_SIZE,109617,0
$CFSIZE,260165632,239628288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2