version: 66.08
glider: 141
mission: 15
dive: 180
start: 3 19 111 9 33 12
data:
$ID,141
$MISSION,15
$DIVE,180
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,190311,082707,6651.720,-6015.398,0,7112.6,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.22
$_SM_ANGLEo,-2.5
$GPS2,190311,082707,6651.720,-6015.398,0,7112.6,0,-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,246.7,16265,-17.5,-10.000
$D_GRID,588
$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,12,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,-6.45,0.000,2,0.000,0.000,2901,3694,2968,0,0,0,0,0,0
$GC,26,-0.62,-146.0,11.5,-0.0,1,52,0.65,4.18,-16.75,0.000,4,0.106,0.059,2671,1080,3628,0,0,0,0,0,0
$GC,221,-0.51,-146.0,44.8,-19.1,35,228,0.00,2.25,0.00,0.000,6,0.000,0.056,2671,2497,3629,0,0,0,0,0,0
$GC,563,-0.37,-146.0,112.3,-17.9,90,568,0.25,2.30,0.00,0.000,4,0.230,0.070,2737,3906,3629,0,0,0,0,0,0
$GC,652,-0.44,-146.0,122.6,-9.5,97,659,0.00,2.22,0.00,0.000,6,0.000,0.046,2737,2483,3628,0,0,0,0,0,0
$GC,979,-0.50,-146.0,152.4,-8.5,128,984,0.12,2.25,0.00,0.000,4,0.132,0.065,2695,1086,3628,0,0,0,0,0,0
$GC,1034,-0.50,-146.0,158.9,-11.9,132,1041,0.00,2.28,0.00,0.000,6,0.000,0.058,2694,2489,3628,0,0,0,0,0,0
$GC,1361,-0.47,-146.0,197.6,-11.8,163,1365,0.00,2.30,0.00,0.000,4,0.000,0.075,2694,3900,3628,0,0,0,0,0,0
$GC,1382,-0.45,-146.0,200.6,-12.4,164,1389,0.00,2.20,0.00,0.000,6,0.000,0.045,2694,2490,3628,0,0,0,0,0,0
$GC,1709,-0.42,-146.0,239.2,-11.7,195,1711,0.12,0.00,0.00,0.000,6,0.217,0.000,2722,2489,3628,0,0,0,0,0,0
$GC,2026,-0.50,-146.0,267.9,-8.0,225,2030,0.00,2.22,0.00,0.000,4,0.000,0.064,2722,1086,3626,0,0,0,0,0,0
$GC,2045,-0.56,-146.0,269.4,-9.0,226,2050,0.12,2.22,0.00,0.000,6,0.135,0.057,2681,2495,3627,0,0,0,0,0,0
$GC,2370,-0.53,-146.0,305.6,-11.4,256,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2495,3626,0,0,0,0,0,0
$GC,2690,-0.51,-146.0,339.2,-10.3,286,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2495,3626,0,0,0,0,0,0
$GC,3007,-0.51,-146.0,373.2,-10.7,316,3011,0.00,2.28,0.00,0.000,4,0.000,0.074,2681,3897,3627,0,0,0,0,0,0
$GC,3029,-0.48,-146.0,375.6,-10.2,317,3036,0.00,2.20,0.00,0.000,6,0.000,0.046,2680,2484,3626,0,0,0,0,0,0
$GC,3356,-0.48,-146.0,408.5,-9.7,348,3360,0.00,2.22,0.00,0.000,4,0.000,0.063,2681,1074,3627,0,0,0,0,0,0
$GC,3366,-0.48,-146.0,409.8,-9.8,348,3373,0.00,2.22,0.00,0.000,6,0.000,0.057,2681,2490,3627,0,0,0,0,0,0
$GC,3692,-0.48,-146.0,441.4,-9.8,379,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2490,3627,0,0,0,0,0,0
$GC,4011,-0.48,-146.0,473.2,-10.1,409,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2490,3627,0,0,0,0,0,0
$GC,4329,-0.48,-146.0,504.4,-9.9,439,4333,0.00,2.30,0.00,0.000,4,0.000,0.073,2681,3899,3627,0,0,0,0,0,0
$GC,4373,-0.48,-146.0,509.7,-12.0,442,4381,0.00,2.20,0.00,0.000,6,0.000,0.044,2681,2494,3627,0,0,0,0,0,0
$GC,4698,-0.48,-146.0,546.2,-10.9,473,4702,0.00,2.22,0.00,0.000,4,0.000,0.061,2680,1080,3628,0,0,0,0,0,0
$GC,4721,-0.48,-146.0,548.7,-11.0,474,4728,0.00,2.22,0.00,0.000,6,0.000,0.055,2681,2491,3628,0,0,0,0,0,0
$STATE,4950,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4950,begin apogee
$GC,4955,-0.12,0.0,572.4,8.5,496,5087,0.45,0.00,121.22,1.287,6,0.192,0.000,2810,2263,3029,0,0,0,0,0,0
$STATE,5088,end apogee,CONTROL_FINISHED_OK
$STATE,5088,begin climb
$GC,5090,0.62,146.0,577.5,0.0,508,5221,0.80,0.00,125.88,1.238,6,0.145,0.000,3052,2263,2434,0,0,0,0,0,0
$GC,5537,0.54,146.0,531.3,12.0,550,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2263,2425,0,0,0,0,0,0
$GC,5857,0.47,146.0,497.3,10.8,580,5864,0.12,0.00,0.00,0.000,6,0.205,0.000,3023,2263,2424,0,0,0,0,0,0
$GC,6182,0.50,166.9,466.6,9.0,611,6206,0.00,2.45,17.75,1.134,4,0.000,0.063,3023,3697,2349,0,0,0,0,0,0
$GC,6245,0.46,166.9,460.3,10.5,616,6252,0.00,2.30,0.00,0.000,6,0.000,0.049,3031,2282,2347,0,0,0,0,0,0
$GC,6572,0.47,175.8,428.0,9.6,647,6587,0.00,2.35,8.90,1.035,4,0.000,0.063,3041,867,2313,0,0,0,0,0,0
$GC,6616,0.47,177.9,423.3,9.9,651,6621,0.00,2.28,0.00,0.000,6,0.000,0.051,3041,2278,2311,0,0,0,0,0,0
$GC,6943,0.44,177.9,388.2,11.0,681,6948,0.12,2.28,0.00,0.000,4,0.188,0.064,3010,3687,2310,0,0,0,0,0,0
$GC,7009,0.44,177.9,380.7,11.1,686,7016,0.00,2.28,0.00,0.000,6,0.000,0.047,3019,2268,2310,0,0,0,0,0,0
$GC,7336,0.47,197.4,351.1,9.1,717,7358,0.00,0.00,20.15,1.112,6,0.000,0.000,3018,2268,2225,0,0,0,0,0,0
$GC,7675,0.53,220.4,320.1,8.9,749,7701,0.00,2.35,21.70,1.092,4,0.000,0.060,3018,3689,2130,0,0,0,0,0,0
$GC,7729,0.56,220.4,314.6,11.0,753,7736,0.00,2.28,0.00,0.000,6,0.000,0.047,3028,2277,2129,0,0,0,0,0,0
$GC,8056,0.61,233.0,283.7,9.4,784,8074,0.10,2.30,11.93,1.017,4,0.122,0.061,3081,859,2081,0,0,0,0,0,0
$GC,8113,0.59,233.0,276.4,13.0,788,8120,0.00,2.28,0.00,0.000,6,0.000,0.050,3082,2277,2078,0,0,0,0,0,0
$GC,8440,0.55,233.0,233.9,13.3,819,8444,0.15,2.28,0.00,0.000,4,0.178,0.063,3043,3687,2076,0,0,0,0,0,0
$GC,8502,0.55,233.0,226.4,11.6,824,8506,0.00,2.25,0.00,0.000,6,0.000,0.050,3050,2273,2076,0,0,0,0,0,0
$GC,8828,0.59,250.3,193.5,9.2,854,8852,0.00,2.28,16.62,1.011,4,0.000,0.064,3057,868,2008,0,0,0,0,0,0
$GC,8890,0.64,250.3,187.3,10.1,859,8897,0.00,2.25,0.00,0.000,6,0.000,0.048,3057,2283,2005,0,0,0,0,0,0
$GC,9216,0.69,253.1,156.4,9.9,890,9220,0.00,2.25,0.00,0.000,4,0.000,0.064,3057,3692,2004,0,0,0,0,0,0
$GC,9273,0.69,253.1,149.9,11.9,895,9277,0.00,2.25,0.00,0.000,6,0.000,0.049,3067,2274,2004,0,0,0,0,0,0
$GC,9598,0.73,258.0,117.0,9.8,925,9611,0.00,2.33,7.45,0.881,4,0.000,0.066,3075,868,1977,0,0,0,0,0,0
$GC,9646,0.80,272.1,112.3,9.3,929,9670,0.12,2.25,14.88,0.967,6,0.117,0.049,3124,2285,1920,0,0,0,0,0,0
$GC,10001,0.77,272.1,71.5,10.9,983,10008,0.00,2.25,0.00,0.000,4,0.000,0.063,3124,3684,1916,0,0,0,0,0,0
$GC,10065,0.70,272.1,63.4,12.8,994,10073,0.17,2.25,0.00,0.000,6,0.198,0.050,3091,2275,1915,0,0,0,0,0,0
$GC,10411,0.77,297.3,31.4,8.8,1055,10435,0.00,2.33,16.15,1.029,4,0.000,0.067,3097,861,1817,0,0,0,0,0,0
$GC,10471,0.86,308.5,25.9,9.5,1065,10484,0.12,2.28,6.00,0.861,6,0.118,0.049,3145,2283,1771,0,0,0,0,0,0
$FREEZE,8.39,-1.756,-1.772,3,55,1
$FREEZE,7.77,-1.756,-1.771,3,55,1
$FREEZE,7.08,-1.755,-1.771,3,55,1
$FREEZE,6.42,-1.754,-1.770,3,55,1
$FREEZE,5.71,-1.749,-1.769,3,55,1
$FREEZE,5.57,-1.746,-1.769,3,55,1
$FREEZE,5.15,-1.753,-1.769,3,55,1
$FREEZE,5.00,-1.754,-1.769,3,55,1
$FREEZE,4.78,-1.753,-1.769,3,55,1
$FREEZE,4.50,-1.753,-1.769,3,55,1
$FREEZE,4.05,-1.754,-1.768,3,55,1
$FREEZE,3.50,-1.753,-1.768,3,55,1
$FREEZE,3.13,-1.753,-1.767,3,55,1
$FREEZE,2.86,-1.753,-1.767,3,55,1
$STATE,10675,end climb,SURFACE_DEPTH_REACHED
$STATE,10675,begin surface coast
$FREEZE,2.73,-1.754,-1.767,3,55,1
$FREEZE,2.64,-1.753,-1.767,3,55,1
$FREEZE,2.61,-1.753,-1.767,3,55,1
$FREEZE,2.55,-1.755,-1.767,3,55,1
$FREEZE,2.49,-1.753,-1.767,3,55,1
$FREEZE,2.52,-1.750,-1.767,3,55,1
$FREEZE,2.53,-1.754,-1.767,3,55,1
$FINISH,2.5,1.025942
$STATE,10714,end surface coast,CONTROL_FINISHED_OK
$STATE,10714,begin surface
$RAFOS_CLK,602
$RAFOS,3,1300537506,12.433333,12.418333,65,63,60,58,55,54,184,216,146,166,109,206
$RAFOS,2,1300537021,12.300000,12.283611,63,63,58,54,53,50,158,706,144,197,123,171
$RAFOS,1,1300536543,12.166667,12.150833,131,68,61,59,59,56,597,134,179,214,158,117
$RAFOS,0,1300536066,12.033333,12.018333,94,59,58,57,55,52,620,196,167,157,205,232
$RAFOS_FIX,6650.450684,-6021.099121,190311,121228,2,112,0.36
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,47.00
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.1
$ALTIM_BOTTOM_PING,550.5,36.3
$24V_AH,22.7,26.134
$10V_AH,10.2,14.520
$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,3.450,93.000,388.625,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2698.966,5863.246,435.428,1752.746,152.864,0.000,1372.989,0.000,1739.570,1440.000,15.977,0.000
$DEVICE_MAMPS,230.265,74.970,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.330,842.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43333,1109
$CAP_FILE_SIZE,120997,0
$CFSIZE,260165632,239869952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.1
$GPS,190311,120728,6650.451,-6021.099,0,2112.5,0,-38.2