version: 66.08
glider: 141
mission: 15
dive: 187
start: 3 20 111 6 9 38
data:
$ID,141
$MISSION,15
$DIVE,187
$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,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
$GPS1,200311,042224,6650.425,-6015.197,0,3106.3,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.85
$_SM_ANGLEo,-3.3
$GPS2,200311,042224,6650.425,-6015.197,0,3106.3,0,-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,119.4,151428,-17.5,-10.000
$D_GRID,582
$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,-7.03,0.000,2,0.000,0.000,2901,866,2957,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.8,-0.0,1,58,0.65,5.07,-18.83,0.000,4,0.097,0.083,2666,3897,3629,0,0,0,0,0,0
$GC,273,-0.55,-146.0,48.8,-17.1,44,280,0.00,2.25,0.00,0.000,6,0.000,0.055,2666,2487,3630,0,0,0,0,0,0
$GC,619,-0.43,-146.0,112.4,-15.4,99,624,0.20,2.25,0.00,0.000,4,0.219,0.067,2715,1079,3630,0,0,0,0,0,0
$GC,663,-0.47,-146.0,118.6,-11.3,102,670,0.00,2.30,0.00,0.000,6,0.000,0.064,2715,2500,3629,0,0,0,0,0,0
$GC,992,-0.49,-146.0,152.7,-11.0,133,996,0.00,2.30,0.00,0.000,4,0.000,0.070,2715,1071,3629,0,0,0,0,0,0
$GC,1009,-0.52,-146.0,155.0,-11.3,134,1013,0.00,2.30,0.00,0.000,6,0.000,0.067,2715,2489,3630,0,0,0,0,0,0
$GC,1336,-0.56,-146.0,187.1,-8.6,164,1341,0.00,2.33,0.00,0.000,4,0.000,0.082,2715,3899,3629,0,0,0,0,0,0
$GC,1355,-0.61,-146.0,188.9,-8.7,165,1359,0.15,2.22,0.00,0.000,6,0.119,0.054,2665,2483,3629,0,0,0,0,0,0
$GC,1680,-0.54,-146.0,230.6,-13.8,195,1684,0.00,2.25,0.00,0.000,4,0.000,0.070,2664,1074,3629,0,0,0,0,0,0
$GC,1725,-0.50,-146.0,237.0,-13.8,199,1730,0.15,2.30,0.00,0.000,6,0.223,0.067,2699,2489,3628,0,0,0,0,0,0
$GC,2051,-0.54,-146.0,271.3,-10.2,229,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2489,3628,0,0,0,0,0,0
$GC,2372,-0.58,-146.0,301.1,-8.8,259,2376,0.00,2.30,0.00,0.000,4,0.000,0.080,2699,3901,3628,0,0,0,0,0,0
$GC,2406,-0.65,-146.0,304.4,-8.5,261,2413,0.15,2.22,0.00,0.000,6,0.122,0.053,2650,2481,3628,0,0,0,0,0,0
$GC,2731,-0.58,-146.0,345.0,-13.4,292,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2481,3628,0,0,0,0,0,0
$GC,3051,-0.50,-146.0,387.4,-12.9,322,3055,0.20,2.22,0.00,0.000,4,0.214,0.065,2699,1083,3628,0,0,0,0,0,0
$GC,3066,-0.46,-146.0,389.8,-12.6,323,3073,0.00,2.28,0.00,0.000,6,0.000,0.064,2699,2497,3628,0,0,0,0,0,0
$GC,3392,-0.52,-146.0,416.3,-7.6,354,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2497,3628,0,0,0,0,0,0
$GC,3712,-0.58,-146.0,440.8,-8.2,384,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2497,3628,0,0,0,0,0,0
$GC,4030,-0.65,-146.0,466.0,-8.3,414,4032,0.15,0.00,0.00,0.000,6,0.124,0.000,2649,2497,3628,0,0,0,0,0,0
$GC,4347,-0.59,-146.0,503.5,-11.8,444,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2498,3628,0,0,0,0,0,0
$GC,4667,-0.53,-146.0,541.3,-11.7,474,4672,0.15,2.28,0.00,0.000,4,0.212,0.066,2685,1073,3629,0,0,0,0,0,0
$GC,4707,-0.57,-146.0,545.5,-9.0,477,4711,0.00,2.28,0.00,0.000,6,0.000,0.063,2685,2490,3629,0,0,0,0,0,0
$GC,5033,-0.61,-146.0,572.6,-8.0,507,5037,0.00,2.25,0.00,0.000,4,0.000,0.066,2685,1083,3629,0,0,0,0,0,0
$GC,5043,-0.66,-146.0,573.6,-7.9,507,5050,0.00,2.28,0.00,0.000,6,0.000,0.063,2685,2500,3629,0,0,0,0,0,0
$STATE,5133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5133,begin apogee
$GC,5138,-0.12,0.0,581.5,7.9,516,5270,0.43,0.00,121.38,1.287,6,0.184,0.000,2813,2264,3030,0,0,0,0,0,0
$STATE,5270,end apogee,CONTROL_FINISHED_OK
$STATE,5271,begin climb
$GC,5273,0.62,146.0,583.4,0.0,528,5408,0.77,2.58,125.53,1.242,4,0.131,0.070,3063,878,2433,0,0,0,0,0,0
$GC,5505,0.53,146.0,562.9,12.7,549,5510,0.00,2.40,0.00,0.000,6,0.000,0.057,3063,2274,2427,0,0,0,0,0,0
$GC,5831,0.42,146.0,522.3,12.4,579,5836,0.22,2.38,0.00,0.000,4,0.184,0.070,3006,3688,2425,0,0,0,0,0,0
$GC,5871,0.40,146.0,517.8,10.7,582,5875,0.00,2.35,0.00,0.000,6,0.000,0.057,3014,2275,2424,0,0,0,0,0,0
$GC,6197,0.40,146.0,485.5,10.1,612,6201,0.00,2.33,0.00,0.000,4,0.000,0.070,3024,867,2423,0,0,0,0,0,0
$GC,6230,0.40,146.0,481.8,10.3,614,6238,0.12,2.33,0.00,0.000,6,0.191,0.059,2996,2283,2423,0,0,0,0,0,0
$GC,6556,0.45,160.7,452.4,9.3,645,6573,0.00,2.33,12.30,1.099,4,0.000,0.073,2996,3687,2374,0,0,0,0,0,0
$GC,6645,0.45,160.7,442.5,11.4,652,6653,0.00,2.30,0.00,0.000,6,0.000,0.056,3003,2275,2373,0,0,0,0,0,0
$GC,6971,0.49,181.2,411.9,9.1,683,6997,0.00,2.40,18.92,1.126,4,0.000,0.069,3014,860,2290,0,0,0,0,0,0
$GC,7016,0.55,200.0,407.8,9.1,687,7039,0.00,2.35,18.25,1.111,6,0.000,0.058,3014,2285,2214,0,0,0,0,0,0
$GC,7358,0.60,215.3,375.7,9.3,719,7381,0.12,2.38,14.35,1.077,4,0.107,0.072,3068,3683,2151,0,0,0,0,0,0
$GC,7440,0.50,215.3,364.3,16.2,726,7445,0.20,2.33,0.00,0.000,6,0.189,0.057,3027,2271,2150,0,0,0,0,0,0
$GC,7764,0.50,215.3,329.0,10.6,756,7768,0.00,2.30,0.00,0.000,4,0.000,0.069,3036,862,2148,0,0,0,0,0,0
$GC,7793,0.54,215.3,326.0,10.2,758,7797,0.00,2.28,0.00,0.000,6,0.000,0.057,3036,2281,2147,0,0,0,0,0,0
$GC,8118,0.54,215.3,290.9,10.8,788,8122,0.00,2.28,0.00,0.000,4,0.000,0.071,3036,3693,2147,0,0,0,0,0,0
$GC,8191,0.50,215.3,281.9,13.6,794,8195,0.00,2.30,0.00,0.000,6,0.000,0.057,3046,2265,2146,0,0,0,0,0,0
$GC,8522,0.50,215.3,245.5,10.3,825,8526,0.00,2.25,0.00,0.000,4,0.000,0.067,3055,857,2146,0,0,0,0,0,0
$GC,8554,0.50,215.3,241.8,10.6,827,8562,0.08,2.30,0.00,0.000,6,0.164,0.057,3017,2276,2145,0,0,0,0,0,0
$GC,8880,0.61,253.1,212.8,8.3,858,8925,0.12,2.42,33.85,1.056,4,0.109,0.071,3071,3695,1997,0,0,0,0,0,0
$GC,8977,0.55,253.1,200.6,13.7,866,8984,0.15,2.35,0.00,0.000,6,0.184,0.057,3043,2264,1994,0,0,0,0,0,0
$GC,9302,0.62,270.0,168.2,9.2,897,9325,0.00,2.30,15.82,0.991,4,0.000,0.067,3046,861,1928,0,0,0,0,0,0
$GC,9360,0.73,287.2,163.0,9.2,902,9384,0.15,2.30,17.35,0.981,6,0.103,0.057,3107,2280,1859,0,0,0,0,0,0
$GC,9701,0.73,287.2,117.1,13.3,934,9705,0.00,2.33,0.00,0.000,4,0.000,0.070,3108,3698,1852,0,0,0,0,0,0
$GC,9781,0.68,287.2,105.5,15.9,941,9785,0.12,2.30,0.00,0.000,6,0.204,0.058,3089,2276,1851,0,0,0,0,0,0
$GC,10122,0.72,322.3,69.2,8.4,997,10158,0.00,2.40,31.35,0.978,4,0.000,0.069,3098,865,1716,0,0,0,0,0,0
$GC,10228,0.79,322.3,59.0,10.2,1015,10234,0.00,2.30,0.00,0.000,6,0.000,0.057,3097,2279,1711,0,0,0,0,0,0
$GC,10573,0.86,335.7,24.1,9.4,1076,10587,0.12,2.30,6.95,0.930,4,0.107,0.068,3147,3691,1659,0,0,0,0,0,0
$GC,10658,0.80,335.7,12.1,16.9,1090,10666,0.15,2.30,0.00,0.000,6,0.210,0.056,3123,2274,1656,0,0,0,0,0,0
$FREEZE,8.55,-1.744,-1.769,3,62,0
$STATE,10677,end climb,FINISH_DEPTH_REACHED
$STATE,10677,begin subsurface finish
$FINISH1,8.6,1.025912,78
$GC,10682,0.10,77.9,8.6,-15.9,1093,10731,0.73,2.35,-41.58,0.000,4,0.173,0.080,2904,865,2715,0,0,0,0,0,0
$FINISH2,6.6
$STATE,10732,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10732,begin surface
$RAFOS_CLK,593
$RAFOS,6,1300610949,8.833333,8.819167,136,67,62,60,54,54,753,227,200,212,149,179
$RAFOS,5,1300610465,8.700000,8.684722,74,65,58,55,54,54,929,203,218,150,193,174
$RAFOS,4,1300609990,8.566667,8.552778,161,60,58,53,51,50,679,211,199,147,129,165
$RAFOS,3,1300609505,8.433333,8.418056,93,61,59,58,53,53,792,116,198,152,167,211
$RAFOS,2,1300609024,8.300000,8.284445,129,57,56,56,51,51,667,213,162,196,106,119
$RAFOS,1,1300608552,8.166667,8.153334,142,59,58,56,56,55,515,210,195,219,133,166
$RAFOS,0,1300608071,8.033334,8.019722,135,62,60,57,56,54,592,141,219,132,210,85
$RAFOS_FIX,6650.032715,-6009.453125,200311,080825,7,124,0.29
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,46.57
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.0
$ALTIM_BOTTOM_PING,550.8,45.0
$24V_AH,22.7,27.102
$10V_AH,10.2,14.977
$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,5.300,111.825,416.050,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2664.344,5727.917,479.634,1780.543,160.691,0.000,1444.305,0.000,1765.648,2520.000,15.998,0.000
$DEVICE_MAMPS,222.615,83.385,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,785.650,839.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43390,1101
$CAP_FILE_SIZE,127334,0
$CFSIZE,260165632,239411200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.6
$GPS,200311,082725,6650.033,-6009.453,0,7124.3,0,-38.2