version: 66.08
glider: 141
mission: 15
dive: 188
start: 3 20 111 9 10 50
data:
$ID,141
$MISSION,15
$DIVE,188
$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,21
$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
$GPS1,200311,082725,6650.033,-6009.453,0,7124.3,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.69
$_SM_ANGLEo,-3.6
$GPS2,200311,082725,6650.033,-6009.453,0,7124.3,0,-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,118.8,147447,-17.5,-10.000
$D_GRID,616
$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,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.47,0.000,2,0.000,0.000,2902,865,2934,0,0,0,0,0,0
$GC,26,-0.62,-146.0,9.9,-0.0,1,57,0.68,5.10,-19.23,0.000,4,0.109,0.080,2669,3905,3629,0,0,0,0,0,0
$GC,261,-0.56,-146.0,47.6,-16.9,42,267,0.00,2.28,0.00,0.000,6,0.000,0.051,2669,2478,3630,0,0,0,0,0,0
$GC,608,-0.44,-146.0,108.5,-16.2,99,613,0.20,2.25,0.00,0.000,4,0.216,0.066,2717,1070,3630,0,0,0,0,0,0
$GC,671,-0.49,-146.0,116.6,-10.6,104,675,0.00,2.30,0.00,0.000,6,0.000,0.061,2717,2493,3630,0,0,0,0,0,0
$GC,996,-0.52,-146.0,150.3,-10.3,134,1000,0.00,2.28,0.00,0.000,4,0.000,0.067,2717,1074,3629,0,0,0,0,0,0
$GC,1017,-0.56,-146.0,152.7,-11.0,135,1025,0.12,2.30,0.00,0.000,6,0.128,0.062,2675,2500,3629,0,0,0,0,0,0
$GC,1343,-0.51,-146.0,196.2,-13.1,166,1347,0.00,2.28,0.00,0.000,4,0.000,0.078,2675,3899,3629,0,0,0,0,0,0
$GC,1371,-0.45,-146.0,200.0,-12.7,168,1376,0.15,2.22,0.00,0.000,6,0.207,0.051,2710,2478,3629,0,0,0,0,0,0
$GC,1697,-0.50,-146.0,231.2,-8.9,198,1701,0.00,2.20,0.00,0.000,4,0.000,0.065,2711,1081,3629,0,0,0,0,0,0
$GC,1760,-0.57,-146.0,237.0,-9.2,203,1764,0.00,2.28,0.00,0.000,6,0.000,0.061,2711,2495,3629,0,0,0,0,0,0
$GC,2086,-0.63,-146.0,264.5,-8.4,233,2088,0.15,0.00,0.00,0.000,6,0.122,0.000,2661,2495,3628,0,0,0,0,0,0
$GC,2406,-0.57,-146.0,304.2,-11.9,263,2410,0.00,2.25,0.00,0.000,4,0.000,0.066,2661,1079,3628,0,0,0,0,0,0
$GC,2416,-0.51,-146.0,305.8,-11.8,263,2424,0.15,2.25,0.00,0.000,6,0.222,0.063,2695,2490,3628,0,0,0,0,0,0
$GC,2743,-0.55,-146.0,334.9,-8.9,294,2747,0.00,2.33,0.00,0.000,4,0.000,0.079,2695,3906,3628,0,0,0,0,0,0
$GC,2777,-0.61,-146.0,338.1,-9.2,296,2784,0.00,2.22,0.00,0.000,6,0.000,0.050,2695,2488,3628,0,0,0,0,0,0
$GC,3102,-0.65,-146.0,368.1,-9.0,327,3107,0.12,2.22,0.00,0.000,4,0.138,0.063,2655,1080,3628,0,0,0,0,0,0
$GC,3135,-0.61,-146.0,371.9,-11.9,329,3142,0.00,2.28,0.00,0.000,6,0.000,0.062,2654,2498,3628,0,0,0,0,0,0
$GC,3460,-0.55,-146.0,412.2,-12.4,360,3462,0.12,0.00,0.00,0.000,6,0.217,0.000,2682,2498,3628,0,0,0,0,0,0
$GC,3779,-0.57,-146.0,444.0,-9.7,390,3783,0.00,2.28,0.00,0.000,4,0.000,0.076,2683,3907,3628,0,0,0,0,0,0
$GC,3824,-0.62,-146.0,448.5,-9.7,393,3830,0.00,2.22,0.00,0.000,6,0.000,0.049,2683,2485,3628,0,0,0,0,0,0
$GC,4149,-0.65,-146.0,477.2,-8.9,424,4153,0.00,2.20,0.00,0.000,4,0.000,0.063,2683,1078,3628,0,0,0,0,0,0
$GC,4171,-0.67,-146.0,479.5,-9.7,425,4178,0.12,2.28,0.00,0.000,6,0.130,0.061,2641,2500,3628,0,0,0,0,0,0
$GC,4496,-0.59,-146.0,518.8,-12.2,456,4501,0.12,2.28,0.00,0.000,4,0.219,0.076,2668,3901,3628,0,0,0,0,0,0
$GC,4514,-0.54,-146.0,520.9,-11.8,457,4518,0.00,2.22,0.00,0.000,6,0.000,0.050,2669,2481,3628,0,0,0,0,0,0
$GC,4839,-0.54,-146.0,551.4,-8.6,487,4843,0.00,2.20,0.00,0.000,4,0.000,0.063,2668,1073,3629,0,0,0,0,0,0
$GC,4872,-0.54,-146.0,554.5,-9.4,489,4878,0.00,2.28,0.00,0.000,6,0.000,0.060,2668,2500,3629,0,0,0,0,0,0
$GC,5196,-0.54,-146.0,585.5,-10.5,520,5201,0.00,2.28,0.00,0.000,4,0.000,0.077,2668,3899,3629,0,0,0,0,0,0
$GC,5214,-0.54,-146.0,587.3,-10.1,521,5218,0.00,2.20,0.00,0.000,6,0.000,0.050,2668,2492,3629,0,0,0,0,0,0
$STATE,5438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5438,begin apogee
$GC,5444,-0.12,0.0,608.9,9.2,536,5573,0.50,0.00,121.82,1.308,6,0.191,0.000,2816,2254,3030,0,0,0,0,0,0
$STATE,5574,end apogee,CONTROL_FINISHED_OK
$STATE,5574,begin climb
$GC,5576,0.62,146.0,612.4,0.0,540,5712,0.77,2.50,126.22,1.258,4,0.137,0.068,3063,881,2433,0,0,0,0,0,0
$GC,5751,-1.87,146.0,599.3,20661.7,545,5763,2.88,2.45,0.00,0.000,6,0.164,0.054,2269,2281,2427,0,0,0,0,0,0
$GC,6081,-1.87,146.0,545.0,20661.7,576,6086,0.00,2.35,0.00,0.000,4,0.000,0.070,2270,3683,2420,0,0,0,0,0,0
$GC,6339,-1.87,146.0,492.6,20661.7,598,6346,0.00,2.28,0.00,0.000,6,0.000,0.047,2269,2278,2420,0,0,0,0,0,0
$GC,6666,-1.87,146.0,430.4,20661.7,629,6670,0.00,2.33,0.00,0.000,4,0.000,0.065,2269,3687,2418,0,0,0,0,0,0
$GC,6923,-1.87,146.0,377.7,20661.7,651,6930,0.00,2.22,0.00,0.000,6,0.000,0.046,2269,2268,2419,0,0,0,0,0,0
$GC,7249,-1.87,146.0,313.8,20661.7,682,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2267,2418,0,0,0,0,0,0
$GC,7568,-1.87,146.0,252.1,20661.7,712,7572,0.00,2.20,0.00,0.000,4,0.000,0.054,2269,868,2418,0,0,0,0,0,0
$GC,7827,-1.87,146.0,199.8,20661.7,735,7831,0.00,2.28,0.00,0.000,6,0.000,0.060,2269,2279,2419,0,0,0,0,0,0
$GC,8154,-1.87,146.0,141.1,20661.7,765,8158,0.00,2.25,0.00,0.000,4,0.000,0.059,2269,865,2419,0,0,0,0,0,0
$GC,8250,-1.87,146.0,123.5,20661.7,773,8254,0.00,2.25,0.00,0.000,6,0.000,0.058,2269,2277,2420,0,0,0,0,0,0
$GC,8585,-0.36,146.0,69.7,14.7,820,8593,1.98,2.33,0.00,0.000,4,0.283,0.070,2740,3685,2419,0,0,0,0,0,0
$GC,8685,0.61,234.6,62.9,5.9,837,8768,1.12,2.22,75.80,0.984,6,0.198,0.047,3055,2266,2073,0,0,0,0,0,0
$GC,9108,0.86,323.6,39.9,5.9,911,9185,0.25,2.45,70.90,0.972,4,0.088,0.069,3165,870,1708,0,0,0,0,0,0
$GC,9254,0.80,323.6,22.6,14.6,936,9261,0.17,2.35,0.00,0.000,6,0.190,0.053,3122,2285,1703,0,0,0,0,0,0
$FREEZE,8.92,-1.745,-1.769,3,63,0
$STATE,9370,end climb,FINISH_DEPTH_REACHED
$STATE,9370,begin subsurface finish
$FINISH1,8.9,1.025902,78
$GC,9375,0.10,78.3,8.9,-10.9,956,9424,0.73,2.38,-37.75,0.000,4,0.160,0.085,2901,3678,2713,0,0,0,0,0,0
$FINISH2,7.2
$STATE,9425,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9425,begin surface
$RAFOS_CLK,525
$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,45.78
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,16.5
$ALTIM_BOTTOM_PING,600.4,23.2
$24V_AH,22.6,27.233
$10V_AH,10.2,15.036
$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,10.350,96.625,394.750,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2324.737,4913.122,444.729,1655.705,142.822,0.000,1335.179,0.000,1638.830,0.000,21.615,0.000
$DEVICE_MAMPS,283.050,84.915,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,689.089,734.476,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40095,964
$CAP_FILE_SIZE,109339,0
$CFSIZE,260165632,239370240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$GPS,200311,082725,6650.033,-6009.453,0,7124.3,0,-38.2