version: 66.08
glider: 141
mission: 15
dive: 176
start: 3 18 111 22 11 50
data:
$ID,141
$MISSION,15
$DIVE,176
$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,-29056.855
$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,33
$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
$GPS1,180311,200728,6652.023,-6013.064,0,2113.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.97
$_SM_ANGLEo,-59.9
$GPS2,180311,200728,6652.023,-6013.064,181,99.0,181,-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,250.7,17617,-17.5,-10.000
$D_GRID,599
$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,-146.0,0.0,0.0,0,149,0.00,0.00,-130.45,0.000,2,0.000,0.000,106,2510,3099,0,0,0,0,0,0
$GC,153,-0.62,-146.0,5.6,-4.5,23,184,12.90,2.35,-12.62,0.000,4,0.334,0.074,2654,1084,3629,0,0,0,0,0,0
$GC,280,-0.46,-146.0,37.8,-21.7,45,288,0.22,2.25,0.00,0.000,6,0.225,0.057,2710,2495,3631,0,0,0,0,0,0
$GC,626,-0.39,-146.0,96.1,-14.6,106,633,0.00,2.30,0.00,0.000,4,0.000,0.073,2709,3902,3631,0,0,0,0,0,0
$GC,685,-0.39,-146.0,104.4,-13.1,114,689,0.00,2.22,0.00,0.000,6,0.000,0.045,2710,2480,3631,0,0,0,0,0,0
$GC,1010,-0.36,-146.0,145.9,-11.9,144,1012,0.12,0.00,0.00,0.000,6,0.226,0.000,2739,2480,3631,0,0,0,0,0,0
$GC,1329,-0.42,-146.0,174.7,-8.4,174,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2480,3630,0,0,0,0,0,0
$GC,1649,-0.50,-146.0,200.7,-8.6,204,1654,0.12,2.35,0.00,0.000,4,0.133,0.070,2698,3906,3630,0,0,0,0,0,0
$GC,1665,-0.55,-146.0,202.5,-8.4,205,1672,0.00,2.20,0.00,0.000,6,0.000,0.044,2698,2489,3630,0,0,0,0,0,0
$GC,1992,-0.53,-146.0,242.0,-11.5,236,1996,0.00,2.25,0.00,0.000,4,0.000,0.060,2698,1081,3629,0,0,0,0,0,0
$GC,2021,-0.50,-146.0,245.8,-12.9,238,2025,0.00,2.22,0.00,0.000,6,0.000,0.055,2698,2490,3630,0,0,0,0,0,0
$GC,2351,-0.50,-146.0,283.3,-11.3,269,2355,0.00,2.30,0.00,0.000,4,0.000,0.074,2698,3903,3630,0,0,0,0,0,0
$GC,2383,-0.50,-146.0,287.2,-11.1,271,2390,0.00,2.22,0.00,0.000,6,0.000,0.044,2698,2487,3629,0,0,0,0,0,0
$GC,2710,-0.50,-146.0,322.6,-10.7,302,2714,0.00,2.22,0.00,0.000,4,0.000,0.061,2698,1079,3630,0,0,0,0,0,0
$GC,2750,-0.50,-146.0,327.3,-11.2,305,2754,0.00,2.25,0.00,0.000,6,0.000,0.057,2697,2494,3630,0,0,0,0,0,0
$GC,3075,-0.50,-146.0,360.7,-10.0,335,3079,0.00,2.28,0.00,0.000,4,0.000,0.075,2698,3905,3630,0,0,0,0,0,0
$GC,3093,-0.50,-146.0,362.5,-10.4,336,3097,0.00,2.20,0.00,0.000,6,0.000,0.044,2697,2486,3630,0,0,0,0,0,0
$GC,3418,-0.50,-146.0,393.9,-9.3,366,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2486,3630,0,0,0,0,0,0
$GC,3740,-0.50,-146.0,423.4,-9.2,396,3744,0.00,2.17,0.00,0.000,4,0.000,0.060,2698,1086,3631,0,0,0,0,0,0
$GC,3761,-0.50,-146.0,425.9,-9.9,397,3768,0.00,2.22,0.00,0.000,6,0.000,0.057,2698,2489,3631,0,0,0,0,0,0
$GC,4086,-0.50,-146.0,456.2,-9.5,428,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2489,3632,0,0,0,0,0,0
$GC,4407,-0.52,-146.0,486.1,-9.2,458,4411,0.00,2.30,0.00,0.000,4,0.000,0.073,2697,3906,3632,0,0,0,0,0,0
$GC,4427,-0.55,-146.0,487.9,-9.2,459,4431,0.00,2.20,0.00,0.000,6,0.000,0.043,2698,2483,3632,0,0,0,0,0,0
$GC,4752,-0.57,-146.0,517.4,-8.8,489,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2483,3632,0,0,0,0,0,0
$GC,5072,-0.60,-146.0,545.7,-9.0,519,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2483,3633,0,0,0,0,0,0
$GC,5390,-0.63,-146.0,574.6,-9.3,549,5395,0.12,2.20,0.00,0.000,4,0.136,0.059,2654,1077,3633,0,0,0,0,0,0
$GC,5441,-0.59,-146.0,580.6,-11.9,553,5445,0.00,2.22,0.00,0.000,6,0.000,0.058,2654,2490,3632,0,0,0,0,0,0
$STATE,5594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5594,begin apogee
$GC,5600,-0.12,0.0,599.9,13.3,567,5730,0.55,0.00,122.75,1.300,6,0.197,0.000,2811,2261,3029,0,0,0,0,0,0
$STATE,5730,end apogee,CONTROL_FINISHED_OK
$STATE,5730,begin climb
$GC,5732,0.62,146.0,604.7,0.0,572,5865,0.80,0.00,127.12,1.257,6,0.145,0.000,3051,2260,2434,0,0,0,0,0,0
$GC,6182,-1.78,146.0,562.0,21300.9,607,6190,2.60,0.00,0.00,0.000,6,0.164,0.000,2298,2260,2423,0,0,0,0,0,0
$GC,6509,-1.78,146.0,509.8,21300.9,638,6513,0.00,2.25,0.00,0.000,4,0.000,0.060,2298,874,2418,0,0,0,0,0,0
$GC,6681,-1.78,146.0,476.0,21300.9,653,6688,0.00,2.28,0.00,0.000,6,0.000,0.051,2298,2276,2418,0,0,0,0,0,0
$GC,7007,-1.78,146.0,418.0,21300.9,684,7011,0.00,2.28,0.00,0.000,4,0.000,0.060,2298,3694,2417,0,0,0,0,0,0
$GC,7252,-1.78,146.0,370.8,21300.9,705,7259,0.00,2.22,0.00,0.000,6,0.000,0.041,2298,2269,2419,0,0,0,0,0,0
$GC,7578,-1.78,146.0,310.6,21300.9,736,7582,0.00,2.30,0.00,0.000,4,0.000,0.062,2298,3693,2418,0,0,0,0,0,0
$GC,7656,-1.78,146.0,295.5,21300.9,743,7660,0.00,2.22,0.00,0.000,6,0.000,0.043,2298,2264,2419,0,0,0,0,0,0
$GC,7988,-1.78,146.0,234.2,21300.9,774,7993,0.00,2.17,0.00,0.000,4,0.000,0.051,2298,861,2418,0,0,0,0,0,0
$GC,8236,-1.78,146.0,187.1,21300.9,796,8240,0.00,2.25,0.00,0.000,6,0.000,0.053,2298,2277,2418,0,0,0,0,0,0
$GC,8561,-1.78,146.0,129.5,21300.9,826,8565,0.00,2.22,0.00,0.000,4,0.000,0.057,2298,865,2417,0,0,0,0,0,0
$GC,8600,-1.78,146.0,122.6,21300.9,829,8605,0.00,2.22,0.00,0.000,6,0.000,0.055,2298,2273,2419,0,0,0,0,0,0
$GC,8935,-0.31,146.0,73.7,13.6,876,8943,2.00,2.33,0.00,0.000,4,0.295,0.066,2758,3694,2418,0,0,0,0,0,0
$GC,9071,0.64,240.8,65.4,5.6,899,9165,1.20,2.22,81.43,0.987,6,0.246,0.044,3061,2267,2047,0,0,0,0,0,0
$GC,9502,0.90,331.0,40.2,5.8,975,9583,0.25,2.45,71.53,0.974,4,0.089,0.061,3160,3678,1678,0,0,0,0,0,0
$GC,9626,0.81,331.0,24.3,17.0,996,9634,0.17,2.30,0.00,0.000,6,0.204,0.049,3128,2284,1671,0,0,0,0,0,0
$FREEZE,8.59,-1.756,-1.775,3,51,0
$STATE,9741,end climb,FINISH_DEPTH_REACHED
$STATE,9741,begin subsurface finish
$FINISH1,8.6,1.025994,74
$GC,9747,0.09,73.8,8.6,-13.1,1016,9795,0.75,2.40,-41.33,0.000,4,0.164,0.076,2902,862,2731,0,0,0,0,0,0
$FINISH2,7.1
$STATE,9796,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9796,begin surface
$RAFOS_CLK,570
$RAFOS,5,1300495263,0.700000,0.684167,63,58,58,57,56,55,227,214,198,145,169,135
$RAFOS,4,1300494784,0.566667,0.551111,70,56,56,54,54,53,719,195,135,152,182,112
$RAFOS,3,1300494301,0.433333,0.416944,75,59,54,50,48,44,204,138,118,237,180,148
$RAFOS,2,1300493821,0.300000,0.283611,69,62,60,58,52,52,727,204,175,187,216,150
$RAFOS,1,1300493343,0.166667,0.150833,120,73,57,56,53,52,601,211,157,177,130,196
$RAFOS,0,1300492863,0.033333,0.017500,58,54,54,53,53,51,198,152,227,213,115,179
$RAFOS_FIX,6653.403809,-6012.744141,190311,000002,3,86,0.17
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.028462
$HUMID,45.47
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.4
$24V_AH,22.6,25.698
$10V_AH,10.2,14.276
$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,21.825,79.425,402.825,0.000,0.000,99.751,17.389,0.000,1.750,0.000,183.291,2384.371,5229.615,536.386,1977.385,377.764,0.000,1454.223,0.000,1669.919,2520.000,13.218,0.000
$DEVICE_MAMPS,333.540,76.500,1300.500,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.623,786.744,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40054,1024
$CAP_FILE_SIZE,117118,0
$CFSIZE,260165632,240115712
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,190311,002202,6653.404,-6012.744,0,3086.3,0,-38.2