version: 66.08
glider: 141
mission: 15
dive: 173
start: 3 18 111 11 27 3
data:
$ID,141
$MISSION,15
$DIVE,173
$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,26
$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
$GPS1,180311,082419,6655.023,-5959.104,0,5117.2,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.33
$_SM_ANGLEo,-2.1
$GPS2,180311,082419,6655.023,-5959.104,0,5117.2,0,-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,262.1,28354,-17.5,-10.000
$D_GRID,775
$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,-6.32,0.000,2,0.000,0.000,2898,3675,2956,0,0,0,0,0,0
$GC,26,-0.62,-146.0,10.4,-0.0,1,57,0.65,4.22,-18.45,0.000,4,0.101,0.060,2669,1077,3629,0,0,0,0,0,0
$GC,255,-0.51,-146.0,51.3,-19.2,41,262,0.00,2.28,0.00,0.000,6,0.000,0.058,2669,2488,3630,0,0,0,0,0,0
$GC,595,-0.39,-146.0,114.4,-16.5,94,600,0.25,2.30,0.00,0.000,4,0.224,0.070,2734,3899,3630,0,0,0,0,0,0
$GC,635,-0.45,-146.0,119.3,-10.2,97,639,0.00,2.20,0.00,0.000,6,0.000,0.044,2735,2487,3630,0,0,0,0,0,0
$GC,961,-0.51,-146.0,148.2,-8.2,127,966,0.12,2.30,0.00,0.000,4,0.134,0.070,2693,3899,3629,0,0,0,0,0,0
$GC,979,-0.54,-146.0,149.9,-9.1,128,983,0.00,2.20,0.00,0.000,6,0.000,0.044,2693,2489,3629,0,0,0,0,0,0
$GC,1304,-0.51,-146.0,190.7,-12.2,158,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2490,3629,0,0,0,0,0,0
$GC,1624,-0.48,-146.0,228.3,-11.4,188,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2489,3629,0,0,0,0,0,0
$GC,1942,-0.48,-146.0,263.9,-10.9,218,1946,0.00,2.22,0.00,0.000,4,0.000,0.063,2692,1086,3628,0,0,0,0,0,0
$GC,1968,-0.48,-146.0,267.0,-11.0,220,1975,0.00,2.28,0.00,0.000,6,0.000,0.057,2692,2497,3628,0,0,0,0,0,0
$GC,2295,-0.48,-146.0,300.5,-9.9,251,2299,0.00,2.28,0.00,0.000,4,0.000,0.074,2692,3899,3628,0,0,0,0,0,0
$GC,2334,-0.48,-146.0,304.6,-9.7,254,2338,0.00,2.17,0.00,0.000,6,0.000,0.045,2693,2486,3628,0,0,0,0,0,0
$GC,2659,-0.48,-146.0,337.6,-10.3,284,2663,0.00,2.20,0.00,0.000,4,0.000,0.060,2692,1086,3628,0,0,0,0,0,0
$GC,2680,-0.48,-146.0,340.1,-11.4,285,2688,0.00,2.25,0.00,0.000,6,0.000,0.057,2692,2489,3628,0,0,0,0,0,0
$GC,3007,-0.48,-146.0,374.3,-10.4,316,3011,0.00,2.28,0.00,0.000,4,0.000,0.074,2692,3899,3628,0,0,0,0,0,0
$GC,3048,-0.51,-146.0,378.5,-10.1,319,3054,0.00,2.17,0.00,0.000,6,0.000,0.045,2692,2483,3628,0,0,0,0,0,0
$GC,3373,-0.51,-146.0,410.8,-9.4,350,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2483,3628,0,0,0,0,0,0
$GC,3691,-0.51,-146.0,440.9,-9.4,380,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2483,3628,0,0,0,0,0,0
$GC,4010,-0.51,-146.0,469.4,-9.3,410,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2483,3628,0,0,0,0,0,0
$GC,4330,-0.51,-146.0,498.2,-9.1,440,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2483,3629,0,0,0,0,0,0
$GC,4647,-0.51,-146.0,525.4,-8.5,470,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2483,3629,0,0,0,0,0,0
$GC,4966,-0.51,-146.0,553.0,-8.4,500,4970,0.00,2.17,0.00,0.000,4,0.000,0.059,2692,1082,3629,0,0,0,0,0,0
$GC,4993,-0.51,-146.0,555.6,-9.5,502,4999,0.00,2.25,0.00,0.000,6,0.000,0.057,2693,2499,3629,0,0,0,0,0,0
$GC,5320,-0.53,-146.0,582.7,-8.2,533,5324,0.00,2.28,0.00,0.000,4,0.000,0.074,2692,3905,3629,0,0,0,0,0,0
$GC,5360,-0.58,-146.0,586.2,-8.4,536,5364,0.00,2.17,0.00,0.000,6,0.000,0.044,2692,2482,3629,0,0,0,0,0,0
$GC,5680,-0.61,-146.0,613.0,-8.4,556,5684,0.00,2.20,0.00,0.000,4,0.000,0.059,2692,1075,3630,0,0,0,0,0,0
$GC,5710,-0.63,-146.0,615.7,-8.8,557,5714,0.00,2.22,0.00,0.000,6,0.000,0.057,2692,2490,3630,0,0,0,0,0,0
$GC,6046,-0.66,-146.0,646.2,-9.3,568,6051,0.12,2.30,0.00,0.000,4,0.127,0.074,2646,3903,3629,0,0,0,0,0,0
$GC,6084,-0.61,-146.0,651.1,-12.9,569,6088,0.00,2.20,0.00,0.000,6,0.000,0.046,2646,2486,3630,0,0,0,0,0,0
$GC,6420,-0.53,-146.0,694.7,-13.0,580,6425,0.17,2.22,0.00,0.000,4,0.203,0.057,2690,1069,3630,0,0,0,0,0,0
$GC,6470,-0.58,-146.0,699.7,-10.5,581,6476,0.00,2.25,0.00,0.000,6,0.000,0.057,2690,2490,3630,0,0,0,0,0,0
$STATE,6701,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6701,begin apogee
$GC,6707,-0.12,0.0,719.1,9.0,589,6835,0.40,0.00,122.60,1.374,6,0.183,0.000,2811,2261,3030,0,0,0,0,0,0
$STATE,6835,end apogee,CONTROL_FINISHED_OK
$STATE,6836,begin climb
$GC,6837,0.62,146.0,722.5,0.0,593,6977,0.80,2.55,128.35,1.327,4,0.143,0.064,3061,883,2433,0,0,0,0,0,0
$GC,7029,0.54,146.0,705.9,12.1,599,7033,0.00,2.40,0.00,0.000,6,0.000,0.054,3061,2273,2428,0,0,0,0,0,0
$GC,7370,0.43,146.0,660.5,13.7,610,7375,0.22,2.38,0.00,0.000,4,0.184,0.064,3004,3691,2425,0,0,0,0,0,0
$GC,7419,0.40,146.0,654.2,11.3,611,7423,0.00,2.30,0.00,0.000,6,0.000,0.049,3011,2284,2425,0,0,0,0,0,0
$GC,7738,0.41,158.3,623.7,9.4,622,7750,0.00,0.00,10.70,1.137,6,0.000,0.000,3011,2283,2384,0,0,0,0,0,0
$GC,8045,0.42,163.9,594.2,9.7,634,8056,0.00,0.00,6.50,1.009,6,0.000,0.000,3011,2283,2361,0,0,0,0,0,0
$GC,8375,0.44,182.8,563.6,9.1,665,8395,0.00,0.00,17.85,1.196,6,0.000,0.000,3011,2283,2284,0,0,0,0,0,0
$GC,8715,0.50,210.9,533.6,8.7,697,8748,0.00,2.40,26.00,1.205,4,0.000,0.067,3011,3697,2170,0,0,0,0,0,0
$GC,8783,0.50,210.9,526.6,10.8,703,8787,0.00,2.33,0.00,0.000,6,0.000,0.050,3021,2275,2168,0,0,0,0,0,0
$GC,9110,0.53,210.9,493.7,10.6,733,9114,0.00,2.25,0.00,0.000,4,0.000,0.063,3030,869,2165,0,0,0,0,0,0
$GC,9150,0.56,210.9,489.2,10.9,736,9154,0.00,2.25,0.00,0.000,6,0.000,0.051,3031,2285,2163,0,0,0,0,0,0
$GC,9474,0.56,210.9,453.3,11.0,766,9479,0.00,2.25,0.00,0.000,4,0.000,0.066,3030,3695,2163,0,0,0,0,0,0
$GC,9530,0.53,210.9,446.3,12.8,770,9537,0.00,2.28,0.00,0.000,6,0.000,0.050,3041,2268,2163,0,0,0,0,0,0
$GC,9855,0.53,210.9,409.8,10.7,801,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2267,2163,0,0,0,0,0,0
$GC,10175,0.53,210.9,375.1,11.5,831,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2267,2163,0,0,0,0,0,0
$GC,10493,0.53,210.9,340.5,10.9,861,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2268,2163,0,0,0,0,0,0
$GC,10814,0.53,210.9,305.5,10.8,891,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2268,2162,0,0,0,0,0,0
$GC,11140,0.53,210.9,270.6,10.5,922,11144,0.00,2.30,0.00,0.000,4,0.000,0.064,3041,3691,2163,0,0,0,0,0,0
$GC,11180,0.50,210.9,265.8,12.1,925,11184,0.00,2.25,0.00,0.000,6,0.000,0.050,3051,2264,2162,0,0,0,0,0,0
$GC,11505,0.50,210.9,230.6,10.8,955,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2264,2162,0,0,0,0,0,0
$GC,11826,0.50,210.9,197.3,10.3,985,11830,0.00,2.30,0.00,0.000,4,0.000,0.063,3051,3700,2162,0,0,0,0,0,0
$GC,11855,0.50,210.9,193.9,11.5,987,11859,0.12,2.25,0.00,0.000,6,0.196,0.051,3030,2264,2162,0,0,0,0,0,0
$GC,12185,0.60,251.1,165.1,8.1,1018,12225,0.00,0.00,35.65,1.030,6,0.000,0.000,3030,2264,2006,0,0,0,0,0,0
$GC,12544,0.78,312.5,136.9,7.2,1052,12610,0.25,2.40,54.88,1.011,4,0.081,0.063,3146,865,1756,0,0,0,0,0,0
$GC,12634,0.71,312.5,124.7,15.0,1060,12639,0.20,2.30,0.00,0.000,6,0.193,0.051,3095,2277,1753,0,0,0,0,0,0
$GC,12964,0.71,312.5,84.7,10.8,1101,12971,0.00,2.33,0.00,0.000,4,0.000,0.067,3096,3694,1745,0,0,0,0,0,0
$GC,13017,0.71,312.5,77.9,13.0,1110,13023,0.00,2.30,0.00,0.000,6,0.000,0.052,3104,2266,1744,0,0,0,0,0,0
$GC,13363,0.74,312.5,41.8,10.5,1171,13370,0.00,2.25,0.00,0.000,4,0.000,0.067,3111,865,1743,0,0,0,0,0,0
$GC,13411,0.79,312.5,36.7,11.0,1179,13418,0.00,2.22,0.00,0.000,6,0.000,0.052,3111,2276,1742,0,0,0,0,0,0
$FREEZE,8.98,-1.753,-1.777,3,48,0
$STATE,13654,end climb,FINISH_DEPTH_REACHED
$STATE,13654,begin subsurface finish
$FINISH1,9.0,1.026013,73
$GC,13659,0.09,72.9,9.0,-12.1,1222,13702,0.68,2.35,-36.38,0.000,4,0.154,0.083,2900,3693,2735,0,0,0,0,0,0
$FINISH2,7.5
$STATE,13703,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13703,begin surface
$RAFOS_CLK,752
$RAFOS,6,1300452544,12.833333,12.817778,132,68,61,60,53,50,748,194,204,216,161,115
$RAFOS,5,1300452066,12.700000,12.685000,60,58,54,50,48,47,189,208,170,224,137,116
$RAFOS,4,1300451588,12.566667,12.552222,80,64,59,54,52,49,685,191,121,207,144,225
$RAFOS,3,1300451110,12.433333,12.419444,70,58,53,53,53,48,217,190,129,200,158,116
$RAFOS,2,1300450627,12.300000,12.285277,82,59,59,58,56,55,700,224,213,195,165,149
$RAFOS,1,1300450142,12.166667,12.150556,119,64,61,58,57,57,608,212,130,200,190,163
$RAFOS,0,1300449670,12.033333,12.019444,61,59,57,54,53,52,210,161,189,132,143,78
$RAFOS_FIX,6655.829590,-6000.729980,180311,121252,4,103,0.13
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,47.16
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,16.4
$ALTIM_BOTTOM_PING,700.1,33.9
$24V_AH,22.6,25.370
$10V_AH,10.3,14.066
$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,4.000,104.600,402.525,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,3000.105,8133.027,466.811,1987.930,184.120,0.000,1522.528,0.000,1973.244,2520.000,22.380,0.000
$DEVICE_MAMPS,224.145,82.620,1373.940,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.507,948.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46727,1229
$CAP_FILE_SIZE,137108,0
$CFSIZE,260165632,240283648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.9
$GPS,180311,122952,6655.830,-6000.730,0,4103.2,0,-38.2