version: 66.08
glider: 141
mission: 15
dive: 181
start: 3 19 111 12 35 52
data:
$ID,141
$MISSION,15
$DIVE,181
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,190311,120728,6650.451,-6021.099,0,2112.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,9.9
$GPS2,190311,120728,6650.451,-6021.099,0,2112.5,0,-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,234.9,12473,-17.5,-10.000
$D_GRID,554
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,127,0.00,0.00,-107.53,0.000,2,0.000,0.000,3146,2286,3406,0,0,0,0,0,0
$GC,129,-0.62,-146.0,5.2,-8.7,19,149,1.55,1.98,-8.98,0.000,4,0.168,0.076,2673,1076,3628,0,0,0,0,0,0
$GC,162,-0.68,-146.0,8.3,-8.0,24,169,0.00,2.28,0.00,0.000,6,0.000,0.058,2673,2489,3629,0,0,0,0,0,0
$GC,506,-0.52,-146.0,74.8,-19.7,85,513,0.00,2.30,0.00,0.000,4,0.000,0.073,2673,3899,3629,0,0,0,0,0,0
$GC,554,-0.44,-146.0,83.7,-17.4,93,561,0.17,2.22,0.00,0.000,6,0.211,0.047,2715,2489,3629,0,0,0,0,0,0
$GC,887,-0.44,-146.0,126.3,-11.1,134,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2488,3628,0,0,0,0,0,0
$GC,1207,-0.47,-146.0,159.9,-10.1,164,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2488,3628,0,0,0,0,0,0
$GC,1527,-0.51,-146.0,191.5,-9.4,194,1531,0.00,2.22,0.00,0.000,4,0.000,0.065,2715,1079,3627,0,0,0,0,0,0
$GC,1554,-0.56,-146.0,194.5,-9.8,196,1561,0.00,2.25,0.00,0.000,6,0.000,0.057,2715,2490,3628,0,0,0,0,0,0
$GC,1881,-0.62,-146.0,224.0,-8.5,227,1883,0.15,0.00,0.00,0.000,6,0.121,0.000,2665,2490,3628,0,0,0,0,0,0
$GC,2198,-0.55,-146.0,262.8,-12.0,257,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2491,3627,0,0,0,0,0,0
$GC,2519,-0.49,-146.0,301.0,-12.4,287,2526,0.15,0.00,0.00,0.000,6,0.219,0.000,2700,2491,3627,0,0,0,0,0,0
$GC,2846,-0.53,-146.0,330.8,-8.8,318,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2491,3626,0,0,0,0,0,0
$GC,3164,-0.58,-146.0,358.1,-8.4,348,3168,0.00,2.30,0.00,0.000,4,0.000,0.074,2700,3905,3626,0,0,0,0,0,0
$GC,3186,-0.63,-146.0,360.3,-8.8,349,3193,0.12,2.20,0.00,0.000,6,0.130,0.044,2659,2484,3626,0,0,0,0,0,0
$GC,3511,-0.57,-146.0,397.7,-11.7,380,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2484,3626,0,0,0,0,0,0
$GC,3831,-0.53,-146.0,434.4,-11.2,410,3836,0.12,2.22,0.00,0.000,4,0.220,0.063,2687,1087,3627,0,0,0,0,0,0
$GC,3853,-0.53,-146.0,437.0,-10.9,412,3857,0.00,2.25,0.00,0.000,6,0.000,0.059,2687,2497,3627,0,0,0,0,0,0
$GC,4179,-0.56,-146.0,465.4,-8.9,442,4183,0.00,2.28,0.00,0.000,4,0.000,0.075,2687,3900,3627,0,0,0,0,0,0
$GC,4189,-0.59,-146.0,466.5,-8.7,442,4196,0.00,2.17,0.00,0.000,6,0.000,0.044,2687,2489,3627,0,0,0,0,0,0
$GC,4516,-0.63,-146.0,494.8,-8.1,473,4520,0.00,2.17,0.00,0.000,4,0.000,0.060,2687,1086,3628,0,0,0,0,0,0
$GC,4537,-0.67,-146.0,497.0,-9.2,474,4545,0.12,2.22,0.00,0.000,6,0.127,0.057,2646,2491,3627,0,0,0,0,0,0
$GC,4862,-0.60,-146.0,534.9,-12.2,505,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2491,3628,0,0,0,0,0,0
$STATE,5030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5030,begin apogee
$GC,5035,-0.12,0.0,555.0,11.7,521,5167,0.60,0.00,121.90,1.270,6,0.204,0.000,2815,2265,3029,0,0,0,0,0,0
$STATE,5168,end apogee,CONTROL_FINISHED_OK
$STATE,5168,begin climb
$GC,5170,0.62,146.0,560.3,0.0,533,5305,0.77,2.53,125.70,1.226,4,0.138,0.064,3061,885,2434,0,0,0,0,0,0
$GC,5360,0.52,146.0,544.9,13.2,550,5368,0.00,2.40,0.00,0.000,6,0.000,0.050,3062,2277,2428,0,0,0,0,0,0
$GC,5686,0.42,146.0,503.8,12.4,581,5691,0.22,2.35,0.00,0.000,4,0.184,0.065,3004,3684,2425,0,0,0,0,0,0
$GC,5783,0.37,146.0,492.5,11.5,589,5787,0.00,2.28,0.00,0.000,6,0.000,0.050,3012,2284,2425,0,0,0,0,0,0
$GC,6113,0.38,147.9,461.0,9.9,620,6117,0.00,2.33,0.00,0.000,4,0.000,0.066,3023,864,2425,0,0,0,0,0,0
$GC,6156,0.38,153.6,456.6,9.7,623,6168,0.12,2.28,6.35,0.929,6,0.193,0.051,2994,2277,2403,0,0,0,0,0,0
$GC,6488,0.46,190.7,428.5,8.3,654,6532,0.00,2.42,33.70,1.149,4,0.000,0.067,2994,3692,2251,0,0,0,0,0,0
$GC,6594,0.46,190.7,418.4,10.5,663,6601,0.00,2.33,0.00,0.000,6,0.000,0.048,3002,2265,2249,0,0,0,0,0,0
$GC,6919,0.53,210.1,388.5,9.1,694,6940,0.10,0.00,17.90,1.098,6,0.123,0.000,3044,2264,2172,0,0,0,0,0,0
$GC,7258,0.53,210.1,348.3,11.7,726,7262,0.00,2.33,0.00,0.000,4,0.000,0.063,3044,3695,2168,0,0,0,0,0,0
$GC,7297,0.48,210.1,343.1,14.3,729,7305,0.15,2.28,0.00,0.000,6,0.191,0.048,3018,2275,2168,0,0,0,0,0,0
$GC,7623,0.53,228.9,311.6,9.1,760,7647,0.00,2.35,17.25,1.067,4,0.000,0.063,3026,861,2095,0,0,0,0,0,0
$GC,7675,0.61,245.1,306.9,9.2,764,7696,0.00,2.28,16.30,1.052,6,0.000,0.049,3027,2279,2030,0,0,0,0,0,0
$GC,8022,0.67,252.2,273.7,9.7,797,8036,0.15,2.35,7.18,0.917,4,0.099,0.062,3087,3692,2001,0,0,0,0,0,0
$GC,8093,0.57,252.2,263.6,15.9,803,8098,0.17,2.28,0.00,0.000,6,0.195,0.050,3053,2276,1999,0,0,0,0,0,0
$GC,8418,0.57,252.2,225.0,11.9,833,8422,0.00,2.25,0.00,0.000,4,0.000,0.063,3062,861,1998,0,0,0,0,0,0
$GC,8469,0.59,252.2,219.1,12.4,837,8473,0.00,2.22,0.00,0.000,6,0.000,0.050,3062,2277,1997,0,0,0,0,0,0
$GC,8799,0.59,252.2,180.5,10.8,868,8803,0.00,2.22,0.00,0.000,4,0.000,0.063,3062,3685,1996,0,0,0,0,0,0
$GC,8872,0.55,252.2,171.4,13.2,874,8877,0.12,2.25,0.00,0.000,6,0.192,0.050,3041,2267,1996,0,0,0,0,0,0
$GC,9197,0.65,280.4,141.2,8.7,904,9232,0.00,2.30,26.58,1.014,4,0.000,0.067,3042,868,1886,0,0,0,0,0,0
$GC,9260,0.80,304.5,135.6,8.9,909,9289,0.22,2.25,23.05,0.988,6,0.090,0.049,3128,2275,1788,0,0,0,0,0,0
$GC,9611,0.77,304.5,86.4,13.1,950,9618,0.00,2.28,0.00,0.000,4,0.000,0.063,3128,3684,1780,0,0,0,0,0,0
$GC,9659,0.69,304.5,79.6,14.5,958,9667,0.20,2.28,0.00,0.000,6,0.197,0.049,3087,2264,1779,0,0,0,0,0,0
$GC,10006,0.75,313.3,45.3,9.6,1019,10019,0.00,2.33,7.72,0.861,4,0.000,0.064,3096,860,1752,0,0,0,0,0,0
$GC,10072,0.84,321.0,38.8,9.6,1030,10086,0.12,2.25,8.45,0.877,6,0.118,0.051,3145,2275,1721,0,0,0,0,0,0
$FREEZE,8.51,-1.755,-1.773,3,56,0
$STATE,10294,end climb,FINISH_DEPTH_REACHED
$STATE,10294,begin subsurface finish
$FINISH1,8.5,1.025957,76
$GC,10299,0.09,75.6,8.5,-13.8,1069,10348,0.82,2.35,-41.05,0.000,4,0.172,0.080,2898,3691,2724,0,0,0,0,0,0
$FINISH2,6.4
$STATE,10348,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10349,begin surface
$RAFOS_CLK,576
$RAFOS,6,1300538941,12.833333,12.816944,89,65,63,58,55,53,814,217,180,190,165,205
$RAFOS,5,1300538466,12.700000,12.685000,56,56,56,56,53,52,115,144,154,211,178,88
$RAFOS_FIX,6651.842285,-6016.152832,190311,121241,3,105,5.19
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,46.85
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,16.9
$ALTIM_BOTTOM_PING,550.0,29.9
$24V_AH,22.7,26.269
$10V_AH,10.2,14.583
$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,6.200,89.150,412.075,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2513.170,5508.811,535.575,1710.420,147.894,0.000,1470.505,0.000,1696.154,720.000,17.302,0.000
$DEVICE_MAMPS,220.320,80.325,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.887,815.933,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40038,1077
$CAP_FILE_SIZE,118922,0
$CFSIZE,260165632,239808512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,190311,120728,6650.451,-6021.099,0,2112.5,0,-38.2