version: 66.08
glider: 141
mission: 15
dive: 178
start: 3 19 111 3 55 56
data:
$ID,141
$MISSION,15
$DIVE,178
$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,31
$R_STBD_OVSHOOT,27
$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,76.09
$_SM_ANGLEo,4.8
$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,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.65,-6.47,0.000,3,0.000,0.096,2903,3233,3636,0,0,0,0,0,0
$GC,28,-0.62,-146.0,77.5,-0.0,1,36,0.70,3.40,0.00,0.000,4,0.139,0.050,2674,1076,3638,0,0,0,0,0,0
$GC,233,-0.55,-146.0,108.1,-15.9,33,237,0.00,2.25,0.00,0.000,6,0.000,0.057,2674,2490,3637,0,0,0,0,0,0
$GC,558,-0.45,-146.0,159.3,-14.8,63,563,0.15,2.28,0.00,0.000,4,0.230,0.072,2711,3900,3637,0,0,0,0,0,0
$GC,603,-0.49,-146.0,164.7,-10.1,66,609,0.00,2.17,0.00,0.000,6,0.000,0.044,2710,2489,3637,0,0,0,0,0,0
$GC,927,-0.49,-146.0,198.0,-10.2,97,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2489,3637,0,0,0,0,0,0
$GC,1248,-0.51,-146.0,229.4,-9.6,127,1252,0.00,2.20,0.00,0.000,4,0.000,0.063,2710,1080,3636,0,0,0,0,0,0
$GC,1294,-0.56,-146.0,234.0,-9.4,131,1298,0.00,2.25,0.00,0.000,6,0.000,0.057,2710,2497,3636,0,0,0,0,0,0
$GC,1619,-0.59,-146.0,264.2,-9.2,161,1624,0.12,2.28,0.00,0.000,4,0.132,0.074,2668,3900,3636,0,0,0,0,0,0
$GC,1631,-0.61,-146.0,265.4,-9.2,161,1639,0.00,2.20,0.00,0.000,6,0.000,0.044,2668,2481,3635,0,0,0,0,0,0
$GC,1956,-0.54,-146.0,307.2,-12.7,192,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2481,3635,0,0,0,0,0,0
$GC,2275,-0.48,-146.0,345.7,-11.7,222,2280,0.15,2.22,0.00,0.000,4,0.210,0.063,2704,1086,3635,0,0,0,0,0,0
$GC,2307,-0.51,-146.0,349.4,-10.2,224,2315,0.00,2.20,0.00,0.000,6,0.000,0.057,2704,2489,3635,0,0,0,0,0,0
$GC,2634,-0.55,-146.0,378.3,-9.1,255,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2489,3635,0,0,0,0,0,0
$GC,2954,-0.60,-146.0,405.4,-8.0,285,2958,0.00,2.28,0.00,0.000,4,0.000,0.074,2704,3906,3635,0,0,0,0,0,0
$GC,2983,-0.66,-146.0,408.0,-8.3,287,2988,0.15,2.17,0.00,0.000,6,0.122,0.044,2653,2487,3636,0,0,0,0,0,0
$GC,3313,-0.58,-146.0,449.7,-13.3,318,3321,0.00,2.20,0.00,0.000,4,0.000,0.060,2653,1087,3635,0,0,0,0,0,0
$GC,3339,-0.51,-146.0,453.2,-13.1,320,3344,0.17,2.22,0.00,0.000,6,0.210,0.057,2695,2490,3636,0,0,0,0,0,0
$GC,3665,-0.54,-146.0,484.2,-9.4,350,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2490,3636,0,0,0,0,0,0
$GC,3985,-0.57,-146.0,513.2,-8.9,380,3989,0.00,2.30,0.00,0.000,4,0.000,0.073,2694,3899,3636,0,0,0,0,0,0
$GC,4006,-0.61,-146.0,515.4,-9.4,381,4013,0.00,2.17,0.00,0.000,6,0.000,0.044,2695,2488,3636,0,0,0,0,0,0
$GC,4332,-0.64,-146.0,544.2,-9.0,412,4334,0.12,0.00,0.00,0.000,6,0.134,0.000,2653,2488,3636,0,0,0,0,0,0
$GC,4650,-0.57,-146.0,582.4,-12.3,442,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2488,3637,0,0,0,0,0,0
$STATE,4827,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4827,begin apogee
$GC,4833,-0.12,0.0,604.1,12.0,457,4962,0.57,0.00,123.45,1.300,6,0.204,0.000,2814,2258,3029,0,0,0,0,0,0
$STATE,4963,end apogee,CONTROL_FINISHED_OK
$STATE,4963,begin climb
$GC,4965,0.62,146.0,608.3,0.0,461,5096,0.77,0.00,126.93,1.252,6,0.139,0.000,3051,2258,2434,0,0,0,0,0,0
$GC,5402,-1.79,146.0,566.6,18437.2,493,5414,2.60,2.45,0.00,0.000,4,0.171,0.064,2291,3674,2422,0,0,0,0,0,0
$GC,5667,-1.79,146.0,521.2,18437.2,516,5674,0.00,2.22,0.00,0.000,6,0.000,0.043,2291,2273,2419,0,0,0,0,0,0
$GC,5992,-1.79,146.0,459.5,18437.2,547,5996,0.00,2.35,0.00,0.000,4,0.000,0.068,2291,3687,2419,0,0,0,0,0,0
$GC,6238,-1.79,146.0,412.1,18437.2,568,6245,0.00,2.20,0.00,0.000,6,0.000,0.042,2291,2276,2419,0,0,0,0,0,0
$GC,6563,-1.79,146.0,350.2,18437.2,599,6567,0.00,2.22,0.00,0.000,4,0.000,0.061,2290,875,2418,0,0,0,0,0,0
$GC,6822,-1.79,146.0,299.8,18437.2,622,6826,0.00,2.25,0.00,0.000,6,0.000,0.054,2288,2282,2418,0,0,0,0,0,0
$GC,7153,-1.79,146.0,238.1,18437.2,653,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2283,2418,0,0,0,0,0,0
$GC,7473,-1.79,146.0,179.6,18437.2,683,7477,0.00,2.25,0.00,0.000,4,0.000,0.060,2288,877,2419,0,0,0,0,0,0
$GC,7730,-1.79,146.0,131.7,18437.2,705,7737,0.00,2.20,0.00,0.000,6,0.000,0.053,2287,2275,2419,0,0,0,0,0,0
$GC,8063,-1.79,146.0,78.6,18437.2,748,8069,0.00,2.22,0.00,0.000,4,0.000,0.056,2287,867,2419,0,0,0,0,0,0
$GC,8256,-1.79,146.0,52.2,18437.2,782,8263,0.00,2.25,0.00,0.000,6,0.000,0.055,2287,2279,2418,0,0,0,0,0,0
$FREEZE,8.46,-1.664,-1.770,3,53,0
$STATE,8582,end climb,FINISH_DEPTH_REACHED
$STATE,8582,begin subsurface finish
$FINISH1,8.5,1.025915,78
$GC,8588,0.10,77.7,8.5,-18437.2,840,8614,2.50,2.30,-12.98,0.000,4,0.283,0.080,2883,3683,2714,0,0,0,0,0,0
$FINISH2,5.7
$STATE,8615,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8615,begin surface
$RAFOS_CLK,485
$RAFOS,6,1300510150,4.833333,4.819445,144,58,56,55,52,48,750,199,144,165,213,114
$RAFOS,5,1300509661,4.700000,4.683611,89,70,64,56,54,49,965,162,213,895,189,147
$RAFOS,4,1300509186,4.566667,4.551667,91,61,59,58,54,51,715,193,164,134,206,118
$RAFOS,3,1300508708,4.433333,4.418889,58,56,56,54,53,52,201,166,142,184,123,153
$RAFOS,2,1300508225,4.300000,4.284722,69,59,58,56,55,51,199,165,182,694,209,229
$RAFOS,1,1300507743,4.166667,4.150833,99,74,74,52,51,51,591,196,163,187,210,140
$RAFOS,0,1300507268,4.033333,4.018889,103,64,63,59,52,49,626,214,204,186,147,131
$RAFOS_FIX,6654.430664,-6012.989746,190311,040413,5,105,0.13
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.025466
$HUMID,46.57
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,600.3,15.3
$24V_AH,22.7,25.880
$10V_AH,10.2,14.388
$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,8.025,62.700,250.375,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2119.844,4702.562,285.211,1451.786,121.146,0.000,1033.473,0.000,1441.180,2520.000,17.872,0.000
$DEVICE_MAMPS,283.050,96.390,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.189,651.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33377,844
$CAP_FILE_SIZE,91396,0
$CFSIZE,260165632,240021504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,190311,042913,6654.431,-6012.990,0,5105.2,0,-38.2