version: 66.08
glider: 141
mission: 15
dive: 179
start: 3 19 111 6 21 30
data:
$ID,141
$MISSION,15
$DIVE,179
$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,41
$R_STBD_OVSHOOT,22
$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
$GPS1,190311,042913,6654.431,-6012.990,0,5105.2,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.97
$_SM_ANGLEo,-6.6
$GPS2,190311,042913,6654.431,-6012.990,0,5105.2,0,-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,244.4,21536,-17.5,-10.000
$D_GRID,634
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-7.30,0.000,2,0.000,0.000,2883,3683,2947,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.3,-0.0,1,52,0.60,0.38,-19.88,0.000,4,0.085,0.174,2662,3907,3628,0,0,0,0,0,0
$GC,145,-0.50,-146.0,29.0,-19.3,21,153,0.15,2.20,0.00,0.000,6,0.218,0.044,2696,2498,3630,0,0,0,0,0,0
$GC,491,-0.41,-146.0,92.7,-15.3,82,499,0.12,2.25,0.00,0.000,4,0.233,0.060,2726,1073,3630,0,0,0,0,0,0
$GC,534,-0.44,-146.0,98.3,-11.2,89,541,0.00,2.25,0.00,0.000,6,0.000,0.054,2726,2490,3629,0,0,0,0,0,0
$GC,861,-0.44,-146.0,136.2,-11.4,121,865,0.00,2.30,0.00,0.000,4,0.000,0.073,2726,3906,3629,0,0,0,0,0,0
$GC,901,-0.48,-146.0,140.6,-10.5,124,905,0.00,2.22,0.00,0.000,6,0.000,0.044,2725,2476,3629,0,0,0,0,0,0
$GC,1226,-0.52,-146.0,174.6,-10.2,154,1230,0.00,2.17,0.00,0.000,4,0.000,0.063,2726,1086,3628,0,0,0,0,0,0
$GC,1254,-0.56,-146.0,177.6,-10.4,156,1261,0.15,2.22,0.00,0.000,6,0.126,0.056,2677,2500,3629,0,0,0,0,0,0
$GC,1581,-0.48,-146.0,221.3,-13.2,187,1585,0.12,2.30,0.00,0.000,4,0.232,0.076,2704,3899,3628,0,0,0,0,0,0
$GC,1613,-0.48,-146.0,225.7,-11.8,189,1620,0.00,2.20,0.00,0.000,6,0.000,0.046,2704,2487,3628,0,0,0,0,0,0
$GC,1938,-0.48,-146.0,258.9,-10.1,220,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2486,3628,0,0,0,0,0,0
$GC,2258,-0.48,-146.0,290.7,-9.8,250,2262,0.00,2.20,0.00,0.000,4,0.000,0.064,2704,1087,3627,0,0,0,0,0,0
$GC,2280,-0.48,-146.0,293.2,-9.9,251,2287,0.00,2.25,0.00,0.000,6,0.000,0.057,2704,2498,3627,0,0,0,0,0,0
$GC,2607,-0.51,-146.0,321.7,-8.4,282,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2498,3627,0,0,0,0,0,0
$GC,2925,-0.53,-146.0,349.3,-8.4,312,2930,0.00,2.25,0.00,0.000,4,0.000,0.074,2704,3899,3627,0,0,0,0,0,0
$GC,2942,-0.56,-146.0,351.0,-8.9,313,2948,0.00,2.20,0.00,0.000,6,0.000,0.045,2704,2486,3627,0,0,0,0,0,0
$GC,3267,-0.60,-146.0,379.4,-8.6,344,3271,0.00,2.22,0.00,0.000,4,0.000,0.063,2705,1080,3627,0,0,0,0,0,0
$GC,3289,-0.63,-146.0,381.5,-9.0,345,3296,0.15,2.22,0.00,0.000,6,0.123,0.057,2654,2492,3627,0,0,0,0,0,0
$GC,3614,-0.54,-146.0,422.2,-12.1,376,3616,0.12,0.00,0.00,0.000,6,0.213,0.000,2682,2492,3627,0,0,0,0,0,0
$GC,3933,-0.54,-146.0,453.3,-9.7,406,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2492,3627,0,0,0,0,0,0
$GC,4252,-0.54,-146.0,483.4,-9.3,436,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2492,3628,0,0,0,0,0,0
$GC,4571,-0.54,-146.0,513.2,-9.6,466,4575,0.00,2.25,0.00,0.000,4,0.000,0.073,2682,3899,3628,0,0,0,0,0,0
$GC,4600,-0.54,-146.0,516.2,-10.1,468,4604,0.00,2.20,0.00,0.000,6,0.000,0.045,2682,2481,3628,0,0,0,0,0,0
$GC,4925,-0.54,-146.0,546.8,-8.4,498,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2481,3628,0,0,0,0,0,0
$GC,5244,-0.54,-146.0,576.1,-9.6,528,5248,0.00,2.33,0.00,0.000,4,0.000,0.073,2682,3906,3628,0,0,0,0,0,0
$GC,5284,-0.57,-146.0,579.6,-8.5,531,5288,0.00,2.20,0.00,0.000,6,0.000,0.044,2682,2484,3628,0,0,0,0,0,0
$STATE,5395,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5395,begin apogee
$GC,5400,-0.12,0.0,590.0,9.3,541,5532,0.45,0.00,121.97,1.291,6,0.195,0.000,2814,2256,3029,0,0,0,0,0,0
$STATE,5533,end apogee,CONTROL_FINISHED_OK
$STATE,5533,begin climb
$GC,5535,0.62,146.0,594.7,0.0,553,5669,0.77,0.00,126.68,1.246,6,0.138,0.000,3049,2256,2434,0,0,0,0,0,0
$GC,5986,0.54,146.0,550.6,11.2,596,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2256,2425,0,0,0,0,0,0
$GC,6305,0.48,146.0,516.5,10.7,626,6309,0.00,2.38,0.00,0.000,4,0.000,0.065,3049,3693,2424,0,0,0,0,0,0
$GC,6378,0.37,146.0,507.2,13.1,632,6383,0.28,2.25,0.00,0.000,6,0.195,0.050,2990,2286,2423,0,0,0,0,0,0
$GC,6703,0.50,206.2,482.6,7.2,662,6763,0.10,0.00,52.55,1.188,6,0.119,0.000,3032,2286,2188,0,0,0,0,0,0
$GC,7081,0.50,206.2,442.0,11.1,698,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2286,2179,0,0,0,0,0,0
$GC,7401,0.50,206.2,408.6,10.6,728,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2286,2178,0,0,0,0,0,0
$GC,7719,0.50,206.2,374.7,10.3,758,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2286,2177,0,0,0,0,0,0
$GC,8037,0.50,206.2,341.5,10.5,788,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2286,2176,0,0,0,0,0,0
$GC,8357,0.52,206.2,308.1,10.6,818,8361,0.00,2.28,0.00,0.000,4,0.000,0.063,3033,3693,2176,0,0,0,0,0,0
$GC,8385,0.52,206.2,304.8,11.6,820,8389,0.00,2.25,0.00,0.000,6,0.000,0.048,3043,2269,2176,0,0,0,0,0,0
$GC,8710,0.52,206.2,270.2,11.1,850,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2269,2176,0,0,0,0,0,0
$GC,9029,0.52,211.2,237.3,9.8,880,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2269,2176,0,0,0,0,0,0
$GC,9349,0.56,220.9,206.8,9.6,910,9371,0.00,2.38,12.20,0.983,4,0.000,0.063,3042,3695,2128,0,0,0,0,0,0
$GC,9410,0.56,220.9,200.0,11.2,915,9417,0.00,2.28,0.00,0.000,6,0.000,0.048,3053,2274,2127,0,0,0,0,0,0
$GC,9738,0.60,227.9,167.7,9.7,946,9751,0.00,2.33,7.53,0.902,4,0.000,0.063,3061,862,2100,0,0,0,0,0,0
$GC,9786,0.65,227.9,162.7,10.1,950,9790,0.00,2.25,0.00,0.000,6,0.000,0.050,3061,2282,2098,0,0,0,0,0,0
$GC,10113,0.69,237.4,131.1,9.6,980,10128,0.00,2.30,9.93,0.943,4,0.000,0.066,3061,3681,2062,0,0,0,0,0,0
$GC,10161,0.69,237.4,125.7,11.6,984,10168,0.00,2.25,0.00,0.000,6,0.000,0.049,3071,2280,2061,0,0,0,0,0,0
$GC,10489,0.75,270.6,95.6,8.5,1019,10526,0.10,2.40,31.35,0.992,4,0.119,0.063,3114,3694,1926,0,0,0,0,0,0
$GC,10601,0.71,270.6,82.3,12.8,1038,10607,0.00,2.30,0.00,0.000,6,0.000,0.050,3124,2270,1922,0,0,0,0,0,0
$GC,10946,0.69,270.6,44.0,11.0,1099,10953,0.15,2.25,0.00,0.000,4,0.194,0.062,3095,867,1919,0,0,0,0,0,0
$GC,10977,0.74,278.8,40.8,9.6,1104,10990,0.00,2.25,7.75,0.859,6,0.000,0.049,3095,2280,1893,0,0,0,0,0,0
$FREEZE,8.85,-1.756,-1.773,3,54,0
$STATE,11321,end climb,FINISH_DEPTH_REACHED
$STATE,11322,begin subsurface finish
$FINISH1,8.9,1.025962,75
$GC,11327,0.09,75.4,8.9,-8.6,1165,11364,0.62,2.35,-29.85,0.000,4,0.150,0.080,2901,3694,2724,0,0,0,0,0,0
$FINISH2,7.8
$STATE,11365,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11365,begin surface
$RAFOS_CLK,627
$RAFOS,6,1300524547,8.833333,8.818611,134,61,56,55,55,54,779,215,181,139,190,162
$RAFOS,5,1300524063,8.700000,8.684167,75,66,57,57,55,54,964,201,140,184,121,163
$RAFOS,4,1300523587,8.566667,8.551945,119,67,58,58,57,56,714,141,215,202,175,193
$RAFOS,3,1300523109,8.433333,8.419167,89,62,60,57,51,48,790,167,198,208,226,144
$RAFOS,2,1300522631,8.300000,8.286389,91,58,57,56,55,53,645,137,212,119,197,169
$RAFOS,1,1300522146,8.166667,8.151667,151,57,56,54,54,54,562,196,147,127,220,117
$RAFOS,0,1300521662,8.033334,8.017222,129,61,60,58,56,55,637,210,191,222,136,167
$RAFOS_FIX,6651.719727,-6015.398438,190311,080807,7,113,0.37
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,47.04
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,15.4
$ALTIM_BOTTOM_PING,550.5,54.0
$24V_AH,22.7,26.005
$10V_AH,10.2,14.455
$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,3.900,77.625,369.950,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2796.938,6263.637,435.492,1789.291,158.785,0.000,1370.232,0.000,1780.413,2520.000,17.401,0.000
$DEVICE_MAMPS,232.560,173.655,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.560,895.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43365,1171
$CAP_FILE_SIZE,119989,0
$CFSIZE,260165632,239935488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$GPS,190311,082707,6651.720,-6015.398,0,7112.6,0,-38.2