version: 66.08
glider: 141
mission: 15
dive: 182
start: 3 19 111 15 30 22
data:
$ID,141
$MISSION,15
$DIVE,182
$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,25
$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
$GPS1,190311,120728,6650.451,-6021.099,0,2112.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.48
$_SM_ANGLEo,-1.1
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-7.20,0.000,2,0.000,0.000,2898,3691,2957,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.2,-0.0,1,58,0.65,4.25,-19.42,0.000,4,0.098,0.063,2666,1078,3629,0,0,0,0,0,0
$GC,246,-0.51,-146.0,47.4,-19.9,39,253,0.12,2.28,0.00,0.000,6,0.235,0.059,2693,2488,3631,0,0,0,0,0,0
$GC,590,-0.44,-146.0,105.3,-16.4,97,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2488,3630,0,0,0,0,0,0
$GC,909,-0.41,-146.0,147.7,-12.3,127,911,0.15,0.00,0.00,0.000,6,0.223,0.000,2729,2488,3630,0,0,0,0,0,0
$GC,1227,-0.47,-146.0,175.1,-8.4,157,1231,0.00,2.30,0.00,0.000,4,0.000,0.073,2729,3909,3629,0,0,0,0,0,0
$GC,1239,-0.55,-146.0,176.2,-8.3,158,1244,0.12,2.20,0.00,0.000,6,0.122,0.044,2687,2479,3630,0,0,0,0,0,0
$GC,1564,-0.52,-146.0,213.8,-11.5,188,1568,0.00,2.17,0.00,0.000,4,0.000,0.063,2687,1089,3630,0,0,0,0,0,0
$GC,1585,-0.49,-146.0,216.5,-11.8,189,1592,0.00,2.25,0.00,0.000,6,0.000,0.059,2686,2500,3629,0,0,0,0,0,0
$GC,1912,-0.49,-146.0,252.3,-10.9,220,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2500,3629,0,0,0,0,0,0
$GC,2230,-0.49,-146.0,284.8,-9.9,250,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2500,3628,0,0,0,0,0,0
$GC,2548,-0.49,-146.0,316.1,-9.8,280,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2501,3628,0,0,0,0,0,0
$GC,2868,-0.49,-146.0,346.9,-9.7,310,2872,0.00,2.28,0.00,0.000,4,0.000,0.076,2687,3898,3628,0,0,0,0,0,0
$GC,2878,-0.49,-146.0,348.1,-9.5,310,2885,0.00,2.20,0.00,0.000,6,0.000,0.045,2687,2485,3628,0,0,0,0,0,0
$GC,3203,-0.49,-146.0,378.0,-9.0,341,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2485,3629,0,0,0,0,0,0
$GC,3522,-0.49,-146.0,406.2,-8.5,371,3526,0.00,2.20,0.00,0.000,4,0.000,0.060,2686,1076,3629,0,0,0,0,0,0
$GC,3534,-0.49,-146.0,407.4,-8.9,372,3538,0.00,2.25,0.00,0.000,6,0.000,0.057,2687,2494,3629,0,0,0,0,0,0
$GC,3859,-0.52,-146.0,435.3,-8.4,402,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2494,3629,0,0,0,0,0,0
$GC,4178,-0.54,-146.0,461.8,-8.2,432,4182,0.00,2.25,0.00,0.000,4,0.000,0.074,2687,3899,3629,0,0,0,0,0,0
$GC,4219,-0.59,-146.0,465.2,-8.4,435,4223,0.00,2.20,0.00,0.000,6,0.000,0.045,2686,2478,3629,0,0,0,0,0,0
$GC,4545,-0.63,-146.0,492.3,-8.3,465,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2478,3629,0,0,0,0,0,0
$GC,4863,-0.65,-146.0,519.5,-8.5,495,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2478,3630,0,0,0,0,0,0
$GC,5183,-0.69,-146.0,547.4,-9.9,525,5185,0.12,0.00,0.00,0.000,6,0.135,0.000,2643,2478,3630,0,0,0,0,0,0
$STATE,5243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5243,begin apogee
$GC,5248,-0.12,0.0,554.7,12.2,531,5380,0.60,0.00,121.38,1.274,6,0.203,0.000,2813,2264,3031,0,0,0,0,0,0
$STATE,5380,end apogee,CONTROL_FINISHED_OK
$STATE,5380,begin climb
$GC,5382,0.62,146.0,559.8,0.0,543,5517,0.80,2.50,126.00,1.225,4,0.141,0.063,3065,885,2433,0,0,0,0,0,0
$GC,5550,0.51,146.0,545.6,12.3,558,5558,0.15,2.40,0.00,0.000,6,0.192,0.049,3033,2273,2429,0,0,0,0,0,0
$GC,5876,0.46,146.0,510.4,11.1,589,5880,0.00,2.35,0.00,0.000,4,0.000,0.065,3032,3691,2424,0,0,0,0,0,0
$GC,5978,0.37,146.0,497.7,13.1,598,5984,0.22,2.30,0.00,0.000,6,0.197,0.048,2987,2283,2424,0,0,0,0,0,0
$GC,6304,0.45,185.4,470.8,8.2,628,6344,0.00,0.00,33.75,1.162,6,0.000,0.000,2987,2283,2273,0,0,0,0,0,0
$GC,6663,0.56,221.5,440.5,8.3,662,6706,0.17,2.40,33.10,1.144,4,0.086,0.063,3055,3696,2124,0,0,0,0,0,0
$GC,6736,0.48,221.5,430.8,15.1,668,6743,0.17,2.35,0.00,0.000,6,0.192,0.048,3024,2265,2123,0,0,0,0,0,0
$GC,7062,0.48,221.5,394.2,10.3,699,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2265,2118,0,0,0,0,0,0
$GC,7380,0.50,221.5,359.8,11.1,729,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2265,2117,0,0,0,0,0,0
$GC,7699,0.53,221.5,325.2,10.9,759,7703,0.00,2.30,0.00,0.000,4,0.000,0.062,3024,3691,2116,0,0,0,0,0,0
$GC,7739,0.53,221.5,320.4,12.7,762,7743,0.00,2.25,0.00,0.000,6,0.000,0.048,3032,2270,2116,0,0,0,0,0,0
$GC,8064,0.55,221.5,285.0,10.8,792,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2270,2116,0,0,0,0,0,0
$GC,8386,0.59,237.7,252.9,9.3,822,8403,0.00,0.00,13.77,1.027,6,0.000,0.000,3032,2270,2060,0,0,0,0,0,0
$GC,8723,0.64,242.3,219.5,9.8,854,8736,0.12,2.22,5.35,0.824,4,0.106,0.060,3094,870,2042,0,0,0,0,0,0
$GC,8764,0.59,242.3,214.2,13.3,857,8772,0.15,2.25,0.00,0.000,6,0.194,0.051,3057,2283,2042,0,0,0,0,0,0
$GC,9089,0.59,242.3,177.0,11.2,888,9093,0.00,2.25,0.00,0.000,4,0.000,0.065,3057,3698,2041,0,0,0,0,0,0
$GC,9161,0.56,242.3,167.7,13.3,894,9168,0.00,2.25,0.00,0.000,6,0.000,0.049,3065,2270,2040,0,0,0,0,0,0
$GC,9488,0.56,242.3,132.6,10.0,925,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2270,2040,0,0,0,0,0,0
$GC,9807,0.57,249.9,100.9,9.6,955,9821,0.00,0.00,8.55,0.904,6,0.000,0.000,3066,2270,2010,0,0,0,0,0,0
$GC,10160,0.66,286.6,70.9,8.3,1017,10201,0.00,0.00,34.80,0.985,6,0.000,0.000,3066,2270,1861,0,0,0,0,0,0
$GC,10539,0.78,322.6,38.5,8.3,1084,10575,0.15,0.00,31.15,0.976,6,0.093,0.000,3127,2270,1713,0,0,0,0,0,0
$FREEZE,8.70,-1.745,-1.774,3,57,0
$STATE,10782,end climb,FINISH_DEPTH_REACHED
$STATE,10782,begin subsurface finish
$FINISH1,8.7,1.025982,74
$GC,10788,0.09,74.4,8.7,-12.9,1127,10836,0.75,2.33,-39.15,0.000,4,0.156,0.080,2898,3684,2729,0,0,0,0,0,0
$FINISH2,7.1
$STATE,10837,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10837,begin surface
$RAFOS_CLK,602
$RAFOS,6,1300553344,16.833334,16.817778,145,74,58,57,57,56,815,220,174,198,207,150
$RAFOS,5,1300552866,16.700001,16.684999,62,57,56,56,54,54,200,220,136,191,177,114
$RAFOS,4,1300552383,16.566668,16.550833,60,56,55,54,54,54,208,748,220,133,144,162
$RAFOS,3,1300551908,16.433332,16.418888,58,57,57,54,52,51,144,197,225,182,163,125
$RAFOS,2,1300551422,16.299999,16.283890,74,65,61,54,52,50,193,691,215,127,173,182
$RAFOS,1,1300550945,16.166666,16.151388,96,69,59,54,53,52,581,208,130,190,154,166
$RAFOS,0,1300550467,16.033333,16.018612,95,63,57,52,51,50,598,218,153,184,137,193
$RAFOS_FIX,6651.432129,-6019.798828,190311,161602,3,112,0.13
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,47.59
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.4
$24V_AH,22.7,26.403
$10V_AH,10.2,14.649
$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,4.475,59.275,407.850,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2651.764,5914.472,445.042,1737.060,152.704,0.000,1360.974,0.000,1728.558,2520.000,15.771,0.000
$DEVICE_MAMPS,234.855,79.560,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.907,865.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43344,1135
$CAP_FILE_SIZE,113148,0
$CFSIZE,260165632,239747072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,190311,162202,6651.432,-6019.799,0,3112.0,0,-38.2