version: 66.08
glider: 141
mission: 15
dive: 183
start: 3 19 111 18 33 1
data:
$ID,141
$MISSION,15
$DIVE,183
$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,25
$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
$GPS1,190311,162202,6651.432,-6019.799,0,3112.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.49
$_SM_ANGLEo,-0.9
$GPS2,190311,162202,6651.432,-6019.799,0,3112.0,0,-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,236.4,14493,-17.5,-10.000
$D_GRID,565
$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,-6.90,0.000,2,0.000,0.000,2897,3684,2982,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.1,-0.0,1,52,0.65,4.20,-16.60,0.000,4,0.103,0.059,2669,1082,3628,0,0,0,0,0,0
$GC,217,-0.52,-146.0,42.9,-18.4,34,223,0.00,2.28,0.00,0.000,6,0.000,0.057,2669,2492,3629,0,0,0,0,0,0
$GC,564,-0.40,-146.0,109.2,-16.7,91,566,0.25,0.00,0.00,0.000,6,0.220,0.000,2730,2492,3629,0,0,0,0,0,0
$GC,884,-0.46,-146.0,141.8,-9.2,121,888,0.00,2.30,0.00,0.000,4,0.000,0.073,2730,3900,3629,0,0,0,0,0,0
$GC,917,-0.55,-146.0,144.8,-8.1,123,924,0.15,2.20,0.00,0.000,6,0.116,0.045,2679,2489,3629,0,0,0,0,0,0
$GC,1244,-0.49,-146.0,186.7,-12.6,154,1248,0.00,2.22,0.00,0.000,4,0.000,0.063,2679,1077,3629,0,0,0,0,0,0
$GC,1277,-0.46,-146.0,191.5,-13.1,156,1285,0.15,2.25,0.00,0.000,6,0.214,0.057,2714,2490,3629,0,0,0,0,0,0
$GC,1603,-0.51,-146.0,220.5,-8.1,187,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2490,3628,0,0,0,0,0,0
$GC,1923,-0.57,-146.0,244.8,-7.9,217,1925,0.12,0.00,0.00,0.000,6,0.133,0.000,2671,2490,3628,0,0,0,0,0,0
$GC,2241,-0.53,-146.0,282.9,-12.0,247,2245,0.00,2.30,0.00,0.000,4,0.000,0.073,2671,3899,3627,0,0,0,0,0,0
$GC,2271,-0.49,-146.0,286.7,-12.2,249,2276,0.12,2.20,0.00,0.000,6,0.210,0.046,2700,2486,3627,0,0,0,0,0,0
$GC,2602,-0.54,-146.0,317.4,-8.5,280,2605,0.00,2.20,0.00,0.000,4,0.000,0.060,2700,1074,3627,0,0,0,0,0,0
$GC,2631,-0.58,-146.0,320.2,-9.1,282,2635,0.00,2.25,0.00,0.000,6,0.000,0.056,2700,2491,3627,0,0,0,0,0,0
$GC,2957,-0.63,-146.0,347.1,-8.0,312,2959,0.12,0.00,0.00,0.000,6,0.127,0.000,2657,2491,3627,0,0,0,0,0,0
$GC,3275,-0.58,-146.0,384.2,-11.9,342,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2491,3627,0,0,0,0,0,0
$GC,3595,-0.52,-146.0,421.4,-12.0,372,3597,0.15,0.00,0.00,0.000,6,0.213,0.000,2692,2492,3627,0,0,0,0,0,0
$GC,3913,-0.57,-146.0,449.2,-8.4,402,3917,0.00,2.25,0.00,0.000,4,0.000,0.073,2692,3899,3628,0,0,0,0,0,0
$GC,3954,-0.65,-146.0,452.5,-8.0,405,3958,0.12,2.17,0.00,0.000,6,0.129,0.044,2651,2487,3628,0,0,0,0,0,0
$GC,4284,-0.60,-146.0,490.6,-11.6,436,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2486,3628,0,0,0,0,0,0
$GC,4604,-0.55,-146.0,526.7,-10.7,466,4606,0.15,0.00,0.00,0.000,6,0.220,0.000,2686,2486,3628,0,0,0,0,0,0
$GC,4922,-0.78,-146.0,553.2,-0.7,496,4927,0.22,2.30,0.00,0.000,4,0.107,0.071,2608,3898,3629,0,0,0,0,0,0
$STATE,5043,end dive,NO_VERTICAL_VELOCITY
$STATE,5043,begin apogee
$GC,5051,-0.12,0.0,553.2,0.0,506,5178,0.62,0.00,121.20,1.270,6,0.132,0.000,2814,2266,3030,0,0,0,0,0,0
$STATE,5179,end apogee,CONTROL_FINISHED_OK
$STATE,5179,begin climb
$GC,5181,0.62,146.0,553.2,0.0,518,5316,0.80,2.62,125.30,1.221,4,0.144,0.065,3054,3674,2433,0,0,0,0,0,0
$GC,5372,0.46,146.0,540.7,15.6,535,5379,0.20,2.40,0.00,0.000,6,0.193,0.050,3019,2282,2429,0,0,0,0,0,0
$GC,5697,0.42,146.0,507.9,10.4,566,5701,0.00,2.35,0.00,0.000,4,0.000,0.065,3019,3684,2425,0,0,0,0,0,0
$GC,5737,0.37,146.0,503.6,11.0,569,5742,0.17,2.33,0.00,0.000,6,0.200,0.050,2987,2275,2424,0,0,0,0,0,0
$GC,6062,0.46,195.5,477.3,7.7,599,6110,0.00,2.38,42.72,1.170,4,0.000,0.063,2995,862,2231,0,0,0,0,0,0
$GC,6137,0.62,251.3,471.6,7.4,605,6195,0.20,2.35,50.78,1.160,6,0.089,0.049,3072,2279,2005,0,0,0,0,0,0
$GC,6520,0.54,251.3,412.6,15.5,641,6525,0.12,2.30,0.00,0.000,4,0.185,0.063,3041,3686,1993,0,0,0,0,0,0
$GC,6598,0.52,251.3,400.8,15.0,647,6605,0.00,2.30,0.00,0.000,6,0.000,0.049,3049,2272,1991,0,0,0,0,0,0
$GC,6923,0.50,251.3,357.0,13.6,678,6927,0.00,2.28,0.00,0.000,4,0.000,0.062,3059,859,1990,0,0,0,0,0,0
$GC,6957,0.50,251.3,352.6,12.8,681,6962,0.12,2.28,0.00,0.000,6,0.184,0.050,3029,2284,1989,0,0,0,0,0,0
$GC,7288,0.54,251.3,317.1,10.8,712,7292,0.00,2.28,0.00,0.000,4,0.000,0.065,3029,3692,1989,0,0,0,0,0,0
$GC,7348,0.54,251.3,309.9,12.2,717,7355,0.00,2.28,0.00,0.000,6,0.000,0.049,3036,2276,1988,0,0,0,0,0,0
$GC,7675,0.57,251.3,274.1,10.8,748,7679,0.00,2.25,0.00,0.000,4,0.000,0.063,3042,868,1988,0,0,0,0,0,0
$GC,7703,0.62,251.3,271.1,10.3,750,7708,0.00,2.22,0.00,0.000,6,0.000,0.050,3042,2279,1987,0,0,0,0,0,0
$GC,8028,0.65,251.3,233.5,11.6,780,8032,0.00,2.22,0.00,0.000,4,0.000,0.063,3042,3684,1986,0,0,0,0,0,0
$GC,8096,0.65,251.3,224.7,14.1,786,8100,0.00,2.25,0.00,0.000,6,0.000,0.049,3052,2262,1986,0,0,0,0,0,0
$GC,8423,0.67,251.3,188.2,11.2,816,8427,0.00,2.20,0.00,0.000,4,0.000,0.063,3060,865,1986,0,0,0,0,0,0
$GC,8466,0.71,251.3,182.9,11.4,819,8473,0.00,2.22,0.00,0.000,6,0.000,0.053,3060,2273,1985,0,0,0,0,0,0
$GC,8792,0.71,253.5,148.5,9.9,850,8796,0.00,2.25,0.00,0.000,4,0.000,0.066,3060,3694,1985,0,0,0,0,0,0
$GC,8869,0.68,253.5,139.7,12.3,856,8876,0.00,2.25,0.00,0.000,6,0.000,0.050,3071,2268,1985,0,0,0,0,0,0
$GC,9196,0.71,271.2,106.5,9.2,887,9215,0.00,0.00,16.23,0.975,6,0.000,0.000,3071,2268,1923,0,0,0,0,0,0
$GC,9548,0.81,313.2,74.5,8.1,944,9590,0.15,0.00,38.97,0.986,6,0.099,0.000,3131,2268,1753,0,0,0,0,0,0
$GC,9928,0.79,313.2,28.0,12.8,1011,9935,0.00,2.33,0.00,0.000,4,0.000,0.065,3131,3684,1744,0,0,0,0,0,0
$GC,9977,0.72,313.2,21.4,14.5,1019,9984,0.17,2.28,0.00,0.000,6,0.200,0.052,3099,2270,1743,0,0,0,0,0,0
$STATE,10086,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10086,begin subsurface finish
$FINISH1,9.6,1.025905,78
$GC,10091,0.10,78.2,9.6,-10.3,1038,10128,0.62,0.00,-33.08,0.000,6,0.158,0.000,2903,2270,2713,0,0,0,0,0,0
$FINISH2,8.3
$STATE,10129,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10129,begin surface
$RAFOS_CLK,563
$RAFOS,6,1300567745,20.833334,20.818056,110,60,59,58,57,54,828,189,177,200,138,215
$RAFOS,5,1300567264,20.700001,20.684444,73,61,60,55,55,53,978,218,121,190,208,165
$RAFOS,4,1300566792,20.566668,20.553333,69,60,57,57,53,50,703,114,188,170,209,1778
$RAFOS,3,1300566311,20.433332,20.419722,63,54,54,51,49,48,159,131,208,181,172,112
$RAFOS,2,1300565825,20.299999,20.284721,67,65,60,59,55,53,167,651,206,184,152,131
$RAFOS,1,1300565343,20.166666,20.150833,113,65,60,56,56,54,582,213,169,158,139,200
$RAFOS,0,1300564862,20.033333,20.017221,71,56,55,53,52,52,597,208,181,147,165,118
$RAFOS_FIX,6648.041992,-6022.675293,190311,202013,5,87,0.45
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.026215
$HUMID,47.75
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,14.1
$24V_AH,22.7,26.536
$10V_AH,10.2,14.711
$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,5.425,84.250,395.200,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2493.808,5455.085,418.715,1675.090,156.153,0.000,1316.594,0.000,1666.769,2520.000,16.105,0.000
$DEVICE_MAMPS,220.320,73.440,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.409,799.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40071,1044
$CAP_FILE_SIZE,113211,0
$CFSIZE,260165632,239685632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,190311,202913,6648.042,-6022.675,0,5087.2,0,-38.2