version: 66.08
glider: 141
mission: 15
dive: 177
start: 3 19 111 0 57 7
data:
$ID,141
$MISSION,15
$DIVE,177
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,190311,002202,6653.404,-6012.744,0,3086.3,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.12
$_SM_ANGLEo,-4.6
$GPS2,190311,002202,6653.404,-6012.744,0,3086.3,0,-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,247.3,19934,-17.5,-10.000
$D_GRID,620
$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,-6.97,0.000,2,0.000,0.000,2902,863,2994,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.5,-0.0,1,52,0.68,0.35,-16.20,0.000,4,0.107,0.151,2670,1096,3630,0,0,0,0,0,0
$GC,244,-0.51,-146.0,47.9,-17.9,39,250,0.00,2.25,0.00,0.000,6,0.000,0.058,2670,2489,3632,0,0,0,0,0,0
$GC,589,-0.39,-146.0,115.6,-17.4,93,594,0.25,2.30,0.00,0.000,4,0.226,0.070,2734,3902,3630,0,0,0,0,0,0
$GC,653,-0.48,-146.0,123.2,-9.9,98,657,0.00,2.22,0.00,0.000,6,0.000,0.044,2735,2479,3631,0,0,0,0,0,0
$GC,983,-0.54,-146.0,153.9,-9.3,129,985,0.15,0.00,0.00,0.000,6,0.125,0.000,2685,2478,3630,0,0,0,0,0,0
$GC,1302,-0.48,-146.0,197.1,-13.3,159,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2478,3630,0,0,0,0,0,0
$GC,1622,-0.43,-146.0,238.1,-12.3,189,1624,0.15,0.00,0.00,0.000,6,0.218,0.000,2719,2478,3630,0,0,0,0,0,0
$GC,1939,-0.48,-146.0,268.4,-9.0,219,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2478,3630,0,0,0,0,0,0
$GC,2261,-0.53,-146.0,295.0,-8.2,249,2265,0.00,2.20,0.00,0.000,4,0.000,0.062,2719,1077,3630,0,0,0,0,0,0
$GC,2277,-0.59,-146.0,296.7,-8.3,250,2285,0.15,2.25,0.00,0.000,6,0.124,0.057,2669,2498,3629,0,0,0,0,0,0
$GC,2602,-0.53,-146.0,336.4,-12.5,281,2606,0.00,2.28,0.00,0.000,4,0.000,0.074,2669,3899,3629,0,0,0,0,0,0
$GC,2624,-0.46,-146.0,339.3,-12.4,282,2632,0.17,2.20,0.00,0.000,6,0.205,0.045,2712,2486,3629,0,0,0,0,0,0
$GC,2950,-0.52,-146.0,366.4,-8.2,313,2954,0.00,2.20,0.00,0.000,4,0.000,0.061,2712,1081,3629,0,0,0,0,0,0
$GC,2990,-0.59,-146.0,369.9,-8.7,316,2995,0.12,2.22,0.00,0.000,6,0.131,0.056,2670,2491,3629,0,0,0,0,0,0
$GC,3315,-0.54,-146.0,407.2,-11.9,346,3319,0.00,2.28,0.00,0.000,4,0.000,0.073,2670,3904,3629,0,0,0,0,0,0
$GC,3347,-0.50,-146.0,411.2,-11.9,348,3355,0.12,2.20,0.00,0.000,6,0.208,0.044,2698,2484,3629,0,0,0,0,0,0
$GC,3673,-0.53,-146.0,441.4,-9.2,379,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2484,3630,0,0,0,0,0,0
$GC,3993,-0.57,-146.0,470.6,-8.7,409,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2484,3630,0,0,0,0,0,0
$GC,4311,-0.60,-146.0,498.9,-8.5,439,4315,0.00,2.22,0.00,0.000,4,0.000,0.062,2699,1074,3630,0,0,0,0,0,0
$GC,4335,-0.64,-146.0,501.1,-8.5,441,4340,0.15,2.28,0.00,0.000,6,0.123,0.057,2651,2500,3630,0,0,0,0,0,0
$GC,4660,-0.56,-146.0,540.5,-12.3,471,4662,0.12,0.00,0.00,0.000,6,0.226,0.000,2678,2500,3630,0,0,0,0,0,0
$GC,4980,-0.56,-146.0,573.8,-10.5,501,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2500,3630,0,0,0,0,0,0
$GC,5307,-0.56,-146.0,606.6,-10.1,528,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2500,3631,0,0,0,0,0,0
$STATE,5457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5457,begin apogee
$GC,5462,-0.12,0.0,621.9,10.2,533,5592,0.45,0.00,123.25,1.312,6,0.187,0.000,2812,2269,3030,0,0,0,0,0,0
$STATE,5592,end apogee,CONTROL_FINISHED_OK
$STATE,5593,begin climb
$GC,5594,0.62,146.0,625.2,0.0,537,5731,0.80,2.53,127.10,1.265,4,0.138,0.065,3066,882,2433,0,0,0,0,0,0
$GC,5792,0.62,146.0,608.2,20436.7,543,5796,0.00,2.40,0.00,0.000,6,0.000,0.050,3066,2277,2429,0,0,0,0,0,0
$GC,6123,0.62,146.0,566.7,20436.7,569,6127,0.00,2.38,0.00,0.000,4,0.000,0.067,3066,3695,2425,0,0,0,0,0,0
$GC,6258,0.62,146.0,547.1,20436.7,580,6265,0.00,2.30,0.00,0.000,6,0.000,0.050,3077,2284,2424,0,0,0,0,0,0
$GC,6584,0.62,146.0,505.1,20436.7,611,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2284,2424,0,0,0,0,0,0
$GC,6903,0.62,146.0,462.9,20436.7,641,6907,0.00,2.28,0.00,0.000,4,0.000,0.063,3076,3694,2423,0,0,0,0,0,0
$GC,6958,0.62,146.0,454.6,20436.7,645,6965,0.00,2.28,0.00,0.000,6,0.000,0.048,3087,2264,2422,0,0,0,0,0,0
$GC,7285,0.62,146.0,411.2,20436.7,676,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2264,2422,0,0,0,0,0,0
$GC,7602,0.62,146.0,370.0,20436.7,706,7607,0.00,2.28,0.00,0.000,4,0.000,0.062,3087,3688,2422,0,0,0,0,0,0
$GC,7688,0.62,146.0,357.8,20436.7,713,7693,0.12,2.25,0.00,0.000,6,0.214,0.050,3069,2269,2422,0,0,0,0,0,0
$GC,8013,0.62,146.0,320.0,20436.7,743,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2268,2422,0,0,0,0,0,0
$GC,8335,0.62,146.0,284.2,20436.7,773,8339,0.00,2.30,0.00,0.000,4,0.000,0.063,3067,3698,2422,0,0,0,0,0,0
$GC,8367,0.62,146.0,279.5,20436.7,775,8375,0.00,2.25,0.00,0.000,6,0.000,0.050,3076,2269,2423,0,0,0,0,0,0
$GC,8693,0.62,146.0,241.8,20436.7,806,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2269,2423,0,0,0,0,0,0
$GC,9013,0.62,146.0,205.9,20436.7,836,9017,0.00,2.28,0.00,0.000,4,0.000,0.062,3076,3700,2423,0,0,0,0,0,0
$GC,9102,0.62,146.0,194.9,20436.7,843,9109,0.00,2.28,0.00,0.000,6,0.000,0.050,3086,2269,2423,0,0,0,0,0,0
$GC,9427,0.62,146.0,160.6,20436.7,874,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2269,2423,0,0,0,0,0,0
$GC,9747,0.62,146.0,131.1,20436.7,904,9751,0.00,2.28,0.00,0.000,4,0.000,0.063,3086,3700,2423,0,0,0,0,0,0
$GC,9871,0.62,146.0,119.1,20436.7,914,9879,0.12,2.25,0.00,0.000,6,0.212,0.048,3068,2265,2423,0,0,0,0,0,0
$GC,10199,0.62,146.0,97.1,20436.7,949,10206,0.00,2.20,0.00,0.000,4,0.000,0.063,3077,868,2423,0,0,0,0,0,0
$GC,10269,0.62,146.0,92.9,20436.7,961,10276,0.00,2.22,0.00,0.000,6,0.000,0.051,3077,2283,2422,0,0,0,0,0,0
$STATE,10607,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10607,begin subsurface finish
$FINISH1,74.8,1.026045,71
$GC,10613,0.09,71.3,74.8,-20436.7,1021,10621,0.57,2.30,-2.45,0.000,4,0.166,0.081,2902,3684,2750,0,0,0,0,0,0
$FINISH2,74.3
$STATE,10622,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10622,begin surface
$RAFOS_CLK,586
$RAFOS,6,1300495743,0.833333,0.817500,58,56,56,55,55,52,185,141,234,199,118,217
$RAFOS_FIX,2044.841675,2022.497314,261104,232306,16802,20,-74189662097151599668920640026468941824.00
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,47.87
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.9,20.4
$ALTIM_BOTTOM_PING,75.3,20.7
$24V_AH,22.7,25.790
$10V_AH,10.2,14.336
$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,4.150,68.825,250.350,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2539.098,6051.515,281.780,1650.971,154.871,0.000,1141.526,0.000,1650.771,0.000,16.121,0.000
$DEVICE_MAMPS,225.675,151.470,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.011,798.522,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40045,1022
$CAP_FILE_SIZE,107397,0
$CFSIZE,260165632,240058368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$GPS,190311,002202,6653.404,-6012.744,0,3086.3,0,-38.2