version: 66.08
glider: 141
mission: 15
dive: 171
start: 3 18 111 3 32 39
data:
$ID,141
$MISSION,15
$DIVE,171
$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,-28688.277
$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,30
$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
$GPS1,170311,202731,6656.620,-5952.275,0,5116.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,119.54
$_SM_ANGLEo,2.8
$GPS2,170311,202731,6656.620,-5952.275,0,5116.0,0,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,264.8,33984,-17.5,-10.000
$D_GRID,878
$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,-146.0,0.0,0.0,0,24,0.00,1.90,-4.28,0.000,6,0.000,0.061,2885,2471,3636,0,0,0,0,0,0
$GC,27,-0.62,-146.0,121.2,-0.0,1,34,0.62,2.15,0.00,0.000,4,0.115,0.053,2667,1074,3637,0,0,0,0,0,0
$GC,103,-0.56,-146.0,130.1,-13.7,8,107,0.00,2.25,0.00,0.000,6,0.000,0.056,2668,2495,3637,0,0,0,0,0,0
$GC,428,-0.45,-146.0,177.8,-14.5,38,433,0.17,2.28,0.00,0.000,4,0.229,0.072,2709,3897,3637,0,0,0,0,0,0
$GC,462,-0.45,-146.0,182.3,-12.0,41,467,0.00,2.17,0.00,0.000,6,0.000,0.043,2709,2485,3637,0,0,0,0,0,0
$GC,793,-0.47,-146.0,216.0,-10.2,72,797,0.00,2.20,0.00,0.000,4,0.000,0.060,2709,1086,3637,0,0,0,0,0,0
$GC,843,-0.53,-146.0,221.1,-9.9,76,850,0.00,2.22,0.00,0.000,6,0.000,0.057,2709,2489,3636,0,0,0,0,0,0
$GC,1172,-0.56,-146.0,251.2,-9.4,107,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2489,3635,0,0,0,0,0,0
$GC,1499,-0.60,-146.0,281.2,-9.3,138,1504,0.12,2.28,0.00,0.000,4,0.133,0.074,2667,3897,3635,0,0,0,0,0,0
$GC,1539,-0.56,-146.0,286.0,-12.6,141,1543,0.00,2.15,0.00,0.000,6,0.000,0.044,2666,2490,3634,0,0,0,0,0,0
$GC,1870,-0.49,-146.0,328.1,-12.4,172,1872,0.15,0.00,0.00,0.000,6,0.217,0.000,2701,2490,3635,0,0,0,0,0,0
$GC,2192,-0.52,-146.0,358.3,-9.0,202,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2490,3636,0,0,0,0,0,0
$GC,2519,-0.55,-146.0,387.8,-8.9,233,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2490,3635,0,0,0,0,0,0
$GC,2836,-0.59,-146.0,416.5,-8.9,263,2840,0.00,2.30,0.00,0.000,4,0.000,0.070,2702,3906,3635,0,0,0,0,0,0
$GC,2857,-0.64,-146.0,418.6,-9.1,264,2865,0.15,2.17,0.00,0.000,6,0.121,0.042,2651,2488,3635,0,0,0,0,0,0
$GC,3183,-0.55,-146.0,458.8,-12.7,295,3185,0.12,0.00,0.00,0.000,6,0.226,0.000,2679,2488,3635,0,0,0,0,0,0
$GC,3500,-0.55,-146.0,491.8,-10.0,325,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2488,3636,0,0,0,0,0,0
$GC,3821,-0.55,-146.0,523.7,-9.9,355,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2488,3635,0,0,0,0,0,0
$GC,4137,-0.55,-146.0,556.3,-10.2,385,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2488,3636,0,0,0,0,0,0
$GC,4458,-0.55,-146.0,587.9,-9.7,415,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2487,3636,0,0,0,0,0,0
$GC,4767,-0.55,-146.0,618.3,-9.6,433,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2487,3636,0,0,0,0,0,0
$GC,5074,-0.55,-146.0,647.6,-9.7,443,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2486,3636,0,0,0,0,0,0
$GC,5380,-0.55,-146.0,677.9,-9.7,453,5384,0.00,2.30,0.00,0.000,4,0.000,0.070,2678,3906,3636,0,0,0,0,0,0
$GC,5395,-0.55,-146.0,679.6,-9.3,453,5400,0.00,2.15,0.00,0.000,6,0.000,0.042,2679,2488,3635,0,0,0,0,0,0
$GC,5715,-0.55,-146.0,708.5,-8.9,464,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2487,3635,0,0,0,0,0,0
$GC,6021,-0.55,-146.0,736.3,-9.1,474,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2487,3636,0,0,0,0,0,0
$GC,6327,-0.55,-146.0,763.8,-9.0,484,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2487,3636,0,0,0,0,0,0
$GC,6633,-0.55,-146.0,791.2,-9.0,494,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2488,3636,0,0,0,0,0,0
$GC,6939,-0.55,-146.0,818.1,-8.8,504,6943,0.00,2.28,0.00,0.000,4,0.000,0.070,2679,3900,3635,0,0,0,0,0,0
$GC,6974,-0.58,-146.0,821.2,-9.3,505,6978,0.00,2.17,0.00,0.000,6,0.000,0.042,2679,2484,3635,0,0,0,0,0,0
$STATE,6982,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6982,begin apogee
$GC,6988,-0.12,0.0,822.3,9.1,505,7119,0.45,0.00,124.57,1.438,6,0.183,0.000,2813,2265,3030,0,0,0,0,0,0
$STATE,7119,end apogee,CONTROL_FINISHED_OK
$STATE,7120,begin climb
$GC,7121,0.62,146.0,825.9,0.0,509,7263,0.77,2.47,128.60,1.401,4,0.135,0.064,3061,884,2433,0,0,0,0,0,0
$GC,7307,0.53,146.0,810.4,13.2,515,7311,0.00,2.40,0.00,0.000,6,0.000,0.050,3061,2276,2429,0,0,0,0,0,0
$GC,7638,0.43,146.0,767.7,13.1,526,7643,0.20,2.35,0.00,0.000,4,0.184,0.064,3010,3689,2425,0,0,0,0,0,0
$GC,7734,0.38,146.0,756.0,12.6,529,7739,0.12,2.28,0.00,0.000,6,0.202,0.049,2991,2281,2424,0,0,0,0,0,0
$GC,8069,0.43,167.2,725.3,9.0,540,8094,0.00,2.38,18.20,1.274,4,0.000,0.063,2999,873,2348,0,0,0,0,0,0
$GC,8111,0.51,196.6,721.3,8.6,541,8146,0.00,2.28,28.08,1.293,6,0.000,0.051,2999,2277,2228,0,0,0,0,0,0
$GC,8472,0.59,212.2,687.4,9.3,553,8492,0.15,2.35,14.52,1.225,4,0.096,0.065,3063,3694,2164,0,0,0,0,0,0
$GC,8555,0.49,212.2,674.9,16.5,555,8560,0.17,2.30,0.00,0.000,6,0.187,0.048,3029,2277,2161,0,0,0,0,0,0
$GC,8873,0.49,212.2,637.1,11.6,566,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2278,2159,0,0,0,0,0,0
$GC,9179,0.49,212.2,602.0,11.5,576,9183,0.00,2.28,0.00,0.000,4,0.000,0.062,3029,3687,2158,0,0,0,0,0,0
$GC,9213,0.47,212.2,597.8,13.1,577,9217,0.00,2.22,0.00,0.000,6,0.000,0.047,3038,2269,2157,0,0,0,0,0,0
$GC,9539,0.47,212.2,558.8,12.5,607,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2269,2157,0,0,0,0,0,0
$GC,9857,0.47,212.2,522.1,11.3,637,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2269,2157,0,0,0,0,0,0
$GC,10176,0.47,212.2,485.3,11.8,667,10181,0.00,2.28,0.00,0.000,4,0.000,0.061,3038,3688,2157,0,0,0,0,0,0
$GC,10220,0.43,212.2,479.1,13.8,670,10228,0.17,2.22,0.00,0.000,6,0.187,0.047,3002,2275,2157,0,0,0,0,0,0
$GC,10546,0.52,228.2,448.8,9.3,701,10569,0.00,2.30,14.55,1.136,4,0.000,0.063,3002,870,2098,0,0,0,0,0,0
$GC,10597,0.65,247.9,444.1,9.1,705,10627,0.20,2.25,19.20,1.145,6,0.093,0.048,3084,2286,2019,0,0,0,0,0,0
$GC,10944,0.56,247.9,389.1,15.9,738,10949,0.15,2.25,0.00,0.000,4,0.179,0.061,3045,3684,2014,0,0,0,0,0,0
$GC,11034,0.56,247.9,376.3,13.6,746,11039,0.00,2.22,0.00,0.000,6,0.000,0.048,3053,2273,2012,0,0,0,0,0,0
$GC,11359,0.56,247.9,333.9,13.0,776,11363,0.00,2.22,0.00,0.000,4,0.000,0.061,3063,864,2012,0,0,0,0,0,0
$GC,11388,0.56,247.9,330.3,12.9,778,11392,0.00,2.20,0.00,0.000,6,0.000,0.048,3063,2275,2011,0,0,0,0,0,0
$GC,11713,0.56,247.9,288.5,12.8,808,11717,0.00,2.25,0.00,0.000,4,0.000,0.063,3063,3685,2010,0,0,0,0,0,0
$GC,11787,0.52,247.9,278.3,14.3,814,11792,0.15,2.25,0.00,0.000,6,0.190,0.050,3035,2264,2010,0,0,0,0,0,0
$GC,12112,0.56,247.9,244.2,10.8,844,12116,0.00,2.20,0.00,0.000,4,0.000,0.063,3042,865,2010,0,0,0,0,0,0
$GC,12152,0.62,247.9,240.0,10.3,847,12156,0.00,2.22,0.00,0.000,6,0.000,0.049,3042,2280,2009,0,0,0,0,0,0
$GC,12479,0.65,247.9,204.4,10.4,877,12483,0.00,2.22,0.00,0.000,4,0.000,0.063,3041,3694,2009,0,0,0,0,0,0
$GC,12519,0.65,247.9,199.5,12.3,880,12523,0.00,2.22,0.00,0.000,6,0.000,0.049,3051,2264,2009,0,0,0,0,0,0
$GC,12844,0.69,247.9,164.5,10.2,910,12848,0.10,2.22,0.00,0.000,4,0.123,0.063,3101,864,2009,0,0,0,0,0,0
$GC,12921,0.66,247.9,153.9,14.0,916,12928,0.00,2.22,0.00,0.000,6,0.000,0.050,3102,2279,2008,0,0,0,0,0,0
$GC,13248,0.61,247.9,111.2,12.4,947,13253,0.15,2.25,0.00,0.000,4,0.194,0.063,3062,3692,2008,0,0,0,0,0,0
$GC,13299,0.61,247.9,105.3,10.6,951,13303,0.00,2.20,0.00,0.000,6,0.000,0.048,3071,2276,2008,0,0,0,0,0,0
$GC,13641,0.68,282.2,73.6,8.4,1006,13683,0.00,2.30,34.80,0.928,4,0.000,0.065,3072,870,1878,0,0,0,0,0,0
$GC,13737,0.83,324.9,65.7,8.0,1022,13785,0.17,2.25,39.20,0.970,6,0.099,0.049,3138,2276,1704,0,0,0,0,0,0
$GC,14124,0.81,324.9,17.4,13.2,1090,14130,0.00,2.30,0.00,0.000,4,0.000,0.064,3138,3692,1694,0,0,0,0,0,0
$GC,14171,0.76,324.9,10.6,14.5,1098,14179,0.15,2.28,0.00,0.000,6,0.202,0.050,3113,2276,1693,0,0,0,0,0,0
$FREEZE,8.57,-1.758,-1.776,2,46,0
$STATE,14184,end climb,FINISH_DEPTH_REACHED
$STATE,14184,begin subsurface finish
$FINISH1,8.6,1.026006,73
$GC,14190,0.09,73.3,8.6,-14.6,1100,14238,0.70,2.28,-40.25,0.000,4,0.164,0.073,2899,858,2733,0,0,0,0,0,0
$FINISH2,7.1
$STATE,14239,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14239,begin surface
$RAFOS_CLK,784
$RAFOS,6,1300423741,4.833333,4.816945,160,59,58,56,55,55,748,152,116,218,477,201
$RAFOS,5,1300423262,4.700000,4.683889,106,62,62,61,60,54,913,190,115,211,147,226
$RAFOS,4,1300422785,4.566667,4.551389,113,64,59,56,51,50,683,218,193,116,169,184
$RAFOS,3,1300422307,4.433333,4.418611,144,65,62,59,56,54,801,182,216,145,196,161
$RAFOS,2,1300421822,4.300000,4.283889,117,59,55,55,54,52,722,165,207,138,196,152
$RAFOS,1,1300421345,4.166667,4.151389,131,62,56,56,51,51,589,217,180,204,193,111
$RAFOS,0,1300420867,4.033333,4.018611,87,62,62,57,57,52,673,210,181,166,135,224
$RAFOS_FIX,1913.977783,1843.855469,171104,222249,16789,19,-35783373997735936.00
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,46.49
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,16.6
$ALTIM_BOTTOM_PING,802.0,34.9
$24V_AH,22.6,25.099
$10V_AH,10.2,13.916
$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,5.175,108.200,421.725,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,2890.932,9005.829,452.549,1877.917,190.289,0.000,1481.850,0.000,1864.001,2520.000,24.812,0.000
$DEVICE_MAMPS,228.735,74.205,1438.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.015,861.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43312,1108
$CAP_FILE_SIZE,140816,0
$CFSIZE,260165632,240422912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.0
$GPS,170311,202731,6656.620,-5952.275,0,5116.0,0,-38.2