version: 66.08
glider: 141
mission: 15
dive: 186
start: 3 20 111 3 14 40
data:
$ID,141
$MISSION,15
$DIVE,186
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,200311,002202,6648.178,-6020.435,0,3100.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.07
$_SM_ANGLEo,-70.0
$GPS2,200311,002202,6648.178,-6020.435,181,99.0,181,-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,118.1,155846,-17.5,-10.000
$D_GRID,548
$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,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,149,0.00,0.00,-131.70,0.000,2,0.000,0.000,117,2489,3105,0,0,0,0,0,0
$GC,153,-0.62,-146.0,5.6,-6.0,23,185,12.60,2.40,-12.38,0.000,4,0.330,0.089,2653,3903,3630,0,0,0,0,0,0
$GC,440,-0.52,-146.0,65.7,-18.9,73,448,0.15,2.28,0.00,0.000,6,0.212,0.052,2690,2477,3631,0,0,0,0,0,0
$GC,778,-0.46,-146.0,120.9,-14.1,121,782,0.00,2.25,0.00,0.000,4,0.000,0.068,2691,1078,3631,0,0,0,0,0,0
$GC,789,-0.40,-146.0,122.5,-14.1,122,794,0.15,2.30,0.00,0.000,6,0.223,0.064,2727,2491,3631,0,0,0,0,0,0
$GC,1115,-0.45,-146.0,155.9,-9.6,152,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2491,3631,0,0,0,0,0,0
$GC,1437,-0.51,-146.0,183.8,-8.3,182,1441,0.00,2.33,0.00,0.000,4,0.000,0.080,2727,3899,3631,0,0,0,0,0,0
$GC,1467,-0.59,-146.0,186.6,-8.8,184,1472,0.17,2.22,0.00,0.000,6,0.112,0.052,2667,2480,3631,0,0,0,0,0,0
$GC,1793,-0.53,-146.0,229.4,-13.5,214,1797,0.00,2.22,0.00,0.000,4,0.000,0.070,2667,1080,3630,0,0,0,0,0,0
$GC,1833,-0.48,-146.0,234.9,-13.4,217,1838,0.15,2.30,0.00,0.000,6,0.211,0.066,2703,2498,3630,0,0,0,0,0,0
$GC,2159,-0.52,-146.0,266.4,-9.2,247,2163,0.00,2.30,0.00,0.000,4,0.000,0.081,2704,3898,3631,0,0,0,0,0,0
$GC,2185,-0.57,-146.0,269.0,-9.1,249,2192,0.00,2.22,0.00,0.000,6,0.000,0.054,2703,2478,3630,0,0,0,0,0,0
$GC,2513,-0.61,-146.0,298.5,-8.5,280,2517,0.12,2.25,0.00,0.000,4,0.133,0.070,2662,1073,3631,0,0,0,0,0,0
$GC,2544,-0.57,-146.0,302.3,-11.6,282,2552,0.00,2.30,0.00,0.000,6,0.000,0.067,2661,2490,3630,0,0,0,0,0,0
$GC,2870,-0.51,-146.0,339.8,-11.9,313,2872,0.15,0.00,0.00,0.000,6,0.218,0.000,2696,2490,3630,0,0,0,0,0,0
$GC,3189,-0.55,-146.0,368.9,-9.2,343,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2490,3631,0,0,0,0,0,0
$GC,3509,-0.59,-146.0,396.7,-8.4,373,3513,0.00,2.33,0.00,0.000,4,0.000,0.080,2696,3906,3631,0,0,0,0,0,0
$GC,3528,-0.64,-146.0,398.3,-8.3,374,3533,0.12,2.25,0.00,0.000,6,0.131,0.052,2655,2477,3631,0,0,0,0,0,0
$GC,3853,-0.58,-146.0,435.9,-12.6,404,3857,0.00,2.20,0.00,0.000,4,0.000,0.068,2655,1080,3631,0,0,0,0,0,0
$GC,3907,-0.56,-146.0,443.1,-12.2,408,3914,0.00,2.28,0.00,0.000,6,0.000,0.066,2655,2492,3631,0,0,0,0,0,0
$GC,4234,-0.51,-146.0,481.7,-11.6,439,4236,0.17,0.00,0.00,0.000,6,0.209,0.000,2698,2492,3631,0,0,0,0,0,0
$GC,4554,-0.56,-146.0,508.7,-8.4,469,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2492,3632,0,0,0,0,0,0
$GC,4870,-0.62,-146.0,534.9,-8.3,499,4872,0.12,0.00,0.00,0.000,6,0.131,0.000,2656,2493,3632,0,0,0,0,0,0
$STATE,4995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4995,begin apogee
$GC,5001,-0.12,0.0,548.8,11.5,511,5132,0.55,0.00,122.10,1.269,6,0.197,0.000,2813,2271,3029,0,0,0,0,0,0
$STATE,5132,end apogee,CONTROL_FINISHED_OK
$STATE,5132,begin climb
$GC,5134,0.62,146.0,553.3,0.0,523,5269,0.80,2.58,125.18,1.225,4,0.137,0.069,3067,881,2433,0,0,0,0,0,0
$GC,5315,0.52,146.0,540.0,12.4,539,5323,0.15,2.45,0.00,0.000,6,0.193,0.058,3034,2275,2428,0,0,0,0,0,0
$GC,5641,0.46,146.0,505.4,10.8,570,5645,0.00,2.38,0.00,0.000,4,0.000,0.073,3033,3686,2424,0,0,0,0,0,0
$GC,5714,0.37,146.0,496.3,13.1,576,5719,0.22,2.33,0.00,0.000,6,0.197,0.057,2988,2283,2424,0,0,0,0,0,0
$GC,6040,0.44,178.5,468.9,8.5,606,6070,0.00,0.00,27.73,1.153,6,0.000,0.000,2988,2282,2302,0,0,0,0,0,0
$GC,6388,0.53,199.4,438.7,9.0,639,6410,0.15,0.00,19.45,1.121,6,0.096,0.000,3046,2283,2217,0,0,0,0,0,0
$GC,6727,0.50,199.4,396.5,12.0,671,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2283,2213,0,0,0,0,0,0
$GC,7048,0.47,199.4,357.8,12.0,701,7053,0.12,2.33,0.00,0.000,4,0.186,0.073,3015,3687,2211,0,0,0,0,0,0
$GC,7102,0.47,199.4,350.6,12.5,705,7110,0.00,2.30,0.00,0.000,6,0.000,0.056,3023,2278,2211,0,0,0,0,0,0
$GC,7429,0.47,199.4,316.1,10.4,736,7433,0.00,2.28,0.00,0.000,4,0.000,0.070,3032,865,2211,0,0,0,0,0,0
$GC,7470,0.50,199.7,312.0,10.0,739,7474,0.00,2.28,0.00,0.000,6,0.000,0.060,3033,2278,2209,0,0,0,0,0,0
$GC,7795,0.50,199.7,277.8,10.1,769,7799,0.00,2.28,0.00,0.000,4,0.000,0.072,3032,3690,2209,0,0,0,0,0,0
$GC,7884,0.46,199.7,267.1,11.9,776,7891,0.12,2.28,0.00,0.000,6,0.205,0.057,3014,2273,2210,0,0,0,0,0,0
$GC,8209,0.54,226.9,238.9,8.7,807,8243,0.00,2.38,24.65,1.061,4,0.000,0.073,3021,864,2102,0,0,0,0,0,0
$GC,8272,0.63,230.7,233.2,9.8,812,8283,0.12,2.30,4.60,0.756,6,0.113,0.060,3072,2276,2089,0,0,0,0,0,0
$GC,8608,0.60,230.7,192.2,12.1,844,8612,0.00,2.30,0.00,0.000,4,0.000,0.073,3073,3688,2087,0,0,0,0,0,0
$GC,8694,0.54,230.7,180.5,14.0,851,8699,0.15,2.30,0.00,0.000,6,0.188,0.057,3045,2268,2086,0,0,0,0,0,0
$GC,9019,0.60,250.5,148.9,9.1,881,9043,0.00,2.38,18.80,1.004,4,0.000,0.072,3053,865,2007,0,0,0,0,0,0
$GC,9080,0.70,275.0,143.5,8.9,886,9114,0.10,2.30,23.40,0.995,6,0.125,0.060,3094,2280,1909,0,0,0,0,0,0
$GC,9431,0.70,275.0,102.1,11.5,919,9435,0.00,2.33,0.00,0.000,4,0.000,0.074,3093,3690,1902,0,0,0,0,0,0
$GC,9505,0.66,275.0,92.7,13.0,930,9512,0.00,2.30,0.00,0.000,6,0.000,0.060,3105,2269,1901,0,0,0,0,0,0
$GC,9850,0.66,275.0,54.6,10.6,991,9857,0.00,2.28,0.00,0.000,4,0.000,0.071,3113,861,1900,0,0,0,0,0,0
$GC,9914,0.66,275.0,47.4,11.5,1002,9921,0.12,2.28,0.00,0.000,6,0.195,0.060,3082,2276,1899,0,0,0,0,0,0
$GC,10260,0.71,278.7,15.7,9.8,1063,10267,0.00,2.28,0.00,0.000,4,0.000,0.073,3082,3687,1899,0,0,0,0,0,0
$GC,10309,0.74,278.7,10.4,11.2,1071,10315,0.00,2.30,0.00,0.000,6,0.000,0.060,3089,2264,1898,0,0,0,0,0,0
$FREEZE,8.45,-1.732,-1.771,3,61,0
$STATE,10327,end climb,FINISH_DEPTH_REACHED
$STATE,10327,begin subsurface finish
$FINISH1,8.5,1.025940,77
$GC,10333,0.09,76.5,8.5,-9.9,1074,10370,0.60,2.33,-30.98,0.000,4,0.155,0.084,2901,866,2720,0,0,0,0,0,0
$FINISH2,7.0
$STATE,10371,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10371,begin surface
$RAFOS_CLK,608
$RAFOS,6,1300596547,4.833333,4.818611,105,59,56,52,50,50,776,199,209,164,123,230
$RAFOS,5,1300596061,4.700000,4.683611,66,64,57,55,55,53,201,213,145,160,187,222
$RAFOS,4,1300595588,4.566667,4.552222,60,59,55,54,51,49,213,197,226,172,131,160
$RAFOS,3,1300595111,4.433333,4.419722,70,65,64,59,55,46,217,184,196,116,156,136
$RAFOS,2,1300594624,4.300000,4.284444,62,61,54,49,46,45,203,212,134,165,149,114
$RAFOS,1,1300594151,4.166667,4.153056,110,59,55,53,53,50,534,188,117,167,176,206
$RAFOS,0,1300593663,4.033333,4.017500,104,60,58,55,53,51,636,129,214,232,189,144
$RAFOS_FIX,6650.425293,-6015.196777,200311,040424,3,106,0.39
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,46.88
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,22.7,26.964
$10V_AH,10.2,14.910
$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,17.150,90.250,365.900,0.000,0.000,99.422,17.409,0.000,1.500,0.000,183.293,2566.920,5613.183,518.926,2013.999,398.626,0.000,1451.465,0.000,1700.629,2520.000,11.454,0.000
$DEVICE_MAMPS,330.480,88.740,1269.135,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.382,826.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150440
$DATA_FILE_SIZE,40028,1080
$CAP_FILE_SIZE,127067,0
$CFSIZE,260165632,239480832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,200311,042224,6650.425,-6015.197,0,3106.3,0,-38.2