version: 66.08
glider: 141
mission: 15
dive: 278
start: 4 1 111 8 45 41
data:
$ID,141
$MISSION,15
$DIVE,278
$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,-3
$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,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-34783.074
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,010411,044800,6702.917,-5722.377,0,2103.0,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.88
$_SM_ANGLEo,0.8
$GPS2,010411,044800,6702.917,-5722.377,0,2103.0,0,-37.5
$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,292.9,138825,-17.5,-10.000
$D_GRID,802
$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,-7.03,0.000,2,0.000,0.000,2885,3689,3130,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.2,-0.0,1,52,0.62,4.30,-13.32,0.000,4,0.116,0.063,2673,1073,3630,0,0,0,0,0,0
$GC,159,-0.58,-146.0,26.6,-14.5,24,166,0.00,2.33,0.00,0.000,6,0.000,0.061,2673,2498,3630,0,0,0,0,0,0
$GC,504,-0.51,-146.0,78.5,-15.8,85,511,0.00,2.30,0.00,0.000,4,0.000,0.077,2673,3899,3630,0,0,0,0,0,0
$GC,552,-0.47,-146.0,85.9,-14.9,93,559,0.15,2.22,0.00,0.000,6,0.213,0.050,2707,2482,3630,0,0,0,0,0,0
$GC,891,-0.50,-146.0,121.6,-9.6,135,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2482,3629,0,0,0,0,0,0
$GC,1211,-0.54,-146.0,152.4,-8.8,165,1215,0.00,2.22,0.00,0.000,4,0.000,0.065,2707,1081,3628,0,0,0,0,0,0
$GC,1268,-0.61,-146.0,157.9,-9.2,170,1273,0.12,2.28,0.00,0.000,6,0.137,0.060,2668,2491,3628,0,0,0,0,0,0
$GC,1593,-0.57,-146.0,197.4,-12.5,200,1597,0.00,2.30,0.00,0.000,4,0.000,0.076,2667,3903,3629,0,0,0,0,0,0
$GC,1727,-0.57,-146.0,213.2,-11.0,211,1734,0.00,2.25,0.00,0.000,6,0.000,0.049,2667,2485,3629,0,0,0,0,0,0
$GC,2052,-0.55,-146.0,251.1,-12.9,242,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2485,3629,0,0,0,0,0,0
$GC,2372,-0.52,-146.0,288.8,-11.6,272,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2485,3629,0,0,0,0,0,0
$GC,2691,-0.50,-146.0,325.3,-11.3,302,2693,0.12,0.00,0.00,0.000,6,0.213,0.000,2696,2485,3629,0,0,0,0,0,0
$GC,3008,-0.54,-146.0,353.4,-8.5,332,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2485,3629,0,0,0,0,0,0
$GC,3328,-0.59,-146.0,379.9,-8.1,362,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2485,3629,0,0,0,0,0,0
$GC,3646,-0.64,-146.0,407.6,-9.7,392,3648,0.12,0.00,0.00,0.000,6,0.135,0.000,2655,2485,3629,0,0,0,0,0,0
$GC,3963,-0.59,-146.0,445.9,-11.9,422,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2485,3629,0,0,0,0,0,0
$GC,4283,-0.55,-146.0,482.9,-11.4,452,4285,0.12,0.00,0.00,0.000,6,0.207,0.000,2683,2485,3630,0,0,0,0,0,0
$GC,4600,-0.58,-146.0,513.3,-9.1,482,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2485,3629,0,0,0,0,0,0
$GC,4920,-0.61,-146.0,541.8,-8.7,512,4925,0.00,2.30,0.00,0.000,4,0.000,0.073,2683,3900,3629,0,0,0,0,0,0
$GC,4961,-0.67,-146.0,545.6,-8.6,515,4966,0.12,2.22,0.00,0.000,6,0.125,0.047,2641,2479,3629,0,0,0,0,0,0
$GC,5286,-0.60,-146.0,582.3,-11.6,545,5290,0.00,2.20,0.00,0.000,4,0.000,0.061,2641,1077,3629,0,0,0,0,0,0
$GC,5319,-0.54,-146.0,586.5,-12.8,547,5326,0.17,2.28,0.00,0.000,6,0.203,0.060,2683,2491,3629,0,0,0,0,0,0
$GC,5660,-0.57,-146.0,615.4,-8.4,568,5664,0.00,2.30,0.00,0.000,4,0.000,0.075,2683,3906,3629,0,0,0,0,0,0
$GC,5732,-0.63,-146.0,621.9,-8.6,570,5736,0.00,2.20,0.00,0.000,6,0.000,0.047,2684,2490,3629,0,0,0,0,0,0
$GC,6057,-0.67,-146.0,649.6,-8.7,581,6065,0.12,2.25,0.00,0.000,4,0.134,0.062,2641,1073,3629,0,0,0,0,0,0
$GC,6104,-0.63,-146.0,655.2,-12.4,582,6108,0.00,2.28,0.00,0.000,6,0.000,0.060,2641,2491,3629,0,0,0,0,0,0
$GC,6428,-0.57,-146.0,694.2,-12.1,593,6433,0.15,2.33,0.00,0.000,4,0.214,0.076,2677,3906,3629,0,0,0,0,0,0
$GC,6492,-0.62,-146.0,700.6,-9.5,595,6496,0.00,2.20,0.00,0.000,6,0.000,0.049,2677,2492,3629,0,0,0,0,0,0
$GC,6827,-0.64,-146.0,732.0,-9.0,606,6831,0.00,2.25,0.00,0.000,4,0.000,0.063,2677,1081,3629,0,0,0,0,0,0
$GC,6905,-0.68,-146.0,739.3,-9.0,608,6909,0.00,2.28,0.00,0.000,6,0.000,0.060,2677,2495,3629,0,0,0,0,0,0
$GC,7229,-0.70,-146.0,766.3,-8.4,619,7234,0.12,2.33,0.00,0.000,4,0.125,0.078,2633,3906,3629,0,0,0,0,0,0
$GC,7279,-0.65,-146.0,772.0,-12.4,620,7283,0.00,2.22,0.00,0.000,6,0.000,0.050,2633,2489,3629,0,0,0,0,0,0
$STATE,7436,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7437,begin apogee
$GC,7442,-0.12,0.0,790.5,11.8,625,7572,0.65,0.00,124.07,1.427,6,0.203,0.000,2812,2249,3030,0,0,0,0,0,0
$STATE,7573,end apogee,CONTROL_FINISHED_OK
$STATE,7573,begin climb
$GC,7575,0.62,146.0,795.3,0.0,629,7715,0.80,2.45,130.45,1.382,4,0.139,0.070,3063,875,2432,0,0,0,0,0,0
$GC,7756,0.55,146.0,782.1,12.3,635,7760,0.00,2.45,0.00,0.000,6,0.000,0.055,3063,2279,2429,0,0,0,0,0,0
$GC,8091,0.46,146.0,741.0,12.0,646,8096,0.17,2.40,0.00,0.000,4,0.190,0.071,3020,3694,2424,0,0,0,0,0,0
$GC,8163,0.41,146.0,732.5,11.6,648,8168,0.12,2.35,0.00,0.000,6,0.203,0.056,3002,2281,2423,0,0,0,0,0,0
$GC,8487,0.48,179.5,704.4,8.5,659,8518,0.00,0.00,29.20,1.293,6,0.000,0.000,3002,2281,2298,0,0,0,0,0,0
$GC,8824,0.54,196.1,674.4,9.2,670,8843,0.12,0.00,15.93,1.236,6,0.109,0.000,3054,2281,2230,0,0,0,0,0,0
$GC,9129,0.50,196.1,636.2,12.7,680,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2281,2226,0,0,0,0,0,0
$GC,9436,0.46,196.1,597.2,12.8,690,9440,0.15,2.35,0.00,0.000,4,0.191,0.071,3018,3691,2225,0,0,0,0,0,0
$GC,9482,0.46,196.1,591.6,11.9,694,9486,0.00,2.30,0.00,0.000,6,0.000,0.055,3026,2267,2225,0,0,0,0,0,0
$GC,9806,0.46,196.1,557.9,10.2,724,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2267,2224,0,0,0,0,0,0
$GC,10127,0.47,201.0,526.9,9.8,754,10139,0.00,2.33,5.00,0.907,4,0.000,0.070,3026,3693,2210,0,0,0,0,0,0
$GC,10151,0.47,201.0,524.1,10.8,756,10156,0.00,2.28,0.00,0.000,6,0.000,0.054,3036,2274,2210,0,0,0,0,0,0
$GC,10476,0.47,201.0,490.4,10.1,786,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2274,2209,0,0,0,0,0,0
$GC,10796,0.47,208.5,459.2,9.7,816,10809,0.00,2.40,8.07,1.047,4,0.000,0.068,3036,3700,2180,0,0,0,0,0,0
$GC,10822,0.47,208.5,456.4,10.0,818,10826,0.00,2.30,0.00,0.000,6,0.000,0.054,3047,2265,2180,0,0,0,0,0,0
$GC,11147,0.47,208.5,421.4,11.2,848,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2265,2179,0,0,0,0,0,0
$GC,11467,0.47,208.5,386.5,10.6,878,11471,0.00,2.33,0.00,0.000,4,0.000,0.067,3047,3692,2180,0,0,0,0,0,0
$GC,11493,0.44,208.5,383.1,12.1,880,11501,0.17,2.28,0.00,0.000,6,0.188,0.054,3012,2268,2179,0,0,0,0,0,0
$GC,11819,0.57,258.6,355.5,7.7,911,11875,0.10,2.35,46.33,1.135,4,0.124,0.067,3068,866,1974,0,0,0,0,0,0
$GC,11880,0.57,258.6,348.6,11.2,916,11887,0.00,2.33,0.00,0.000,6,0.000,0.054,3068,2287,1972,0,0,0,0,0,0
$GC,12206,0.57,258.6,304.6,14.0,947,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2287,1966,0,0,0,0,0,0
$GC,12526,0.57,258.6,261.5,13.4,977,12530,0.00,2.28,0.00,0.000,4,0.000,0.070,3068,3692,1965,0,0,0,0,0,0
$GC,12571,0.55,258.6,254.4,14.5,980,12579,0.12,2.30,0.00,0.000,6,0.189,0.055,3047,2266,1964,0,0,0,0,0,0
$GC,12896,0.59,258.6,218.5,10.6,1011,12900,0.00,2.28,0.00,0.000,4,0.000,0.067,3055,861,1964,0,0,0,0,0,0
$GC,12925,0.64,258.6,215.5,10.4,1013,12930,0.00,2.25,0.00,0.000,6,0.000,0.056,3055,2277,1962,0,0,0,0,0,0
$GC,13251,0.67,259.1,181.2,10.0,1043,13255,0.00,2.28,0.00,0.000,4,0.000,0.070,3055,3694,1962,0,0,0,0,0,0
$GC,13294,0.67,259.1,175.9,12.2,1046,13302,0.00,2.30,0.00,0.000,6,0.000,0.054,3065,2274,1962,0,0,0,0,0,0
$GC,13621,0.71,259.1,139.7,11.4,1077,13625,0.00,2.28,0.00,0.000,4,0.000,0.068,3074,858,1962,0,0,0,0,0,0
$GC,13670,0.75,259.1,134.2,11.5,1081,13677,0.00,2.28,0.00,0.000,6,0.000,0.057,3074,2278,1961,0,0,0,0,0,0
$GC,13997,0.75,259.1,101.7,10.9,1112,14001,0.00,2.30,0.00,0.000,4,0.000,0.070,3074,3694,1961,0,0,0,0,0,0
$GC,14047,0.75,259.1,95.2,12.7,1119,14054,0.00,2.28,0.00,0.000,6,0.000,0.056,3084,2273,1961,0,0,0,0,0,0
$GC,14392,0.77,259.1,56.9,10.8,1180,14399,0.00,2.25,0.00,0.000,4,0.000,0.069,3094,864,1962,0,0,0,0,0,0
$GC,14423,0.80,259.1,53.6,10.2,1185,14429,0.00,2.25,0.00,0.000,6,0.000,0.057,3094,2274,1961,0,0,0,0,0,0
$GC,14767,0.80,259.1,15.5,11.4,1246,14773,0.00,2.30,0.00,0.000,4,0.000,0.069,3094,3697,1960,0,0,0,0,0,0
$GC,14814,0.80,259.1,9.5,12.0,1254,14821,0.00,2.28,0.00,0.000,6,0.000,0.056,3105,2274,1960,0,0,0,0,0,0
$FREEZE,7.77,-1.665,-1.824,3,4,0
$STATE,14827,end climb,FINISH_DEPTH_REACHED
$STATE,14827,begin subsurface finish
$FINISH1,7.8,1.026701,39
$GC,14833,0.05,39.1,7.8,-12.6,1256,14881,0.73,2.38,-37.20,0.000,4,0.171,0.086,2888,3687,2873,0,0,0,0,0,0
$FINISH2,6.5
$STATE,14881,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14881,begin surface
$RAFOS_CLK,810
$RAFOS,5,1301661661,12.700000,12.683611,111,64,63,59,56,50,576,191,210,221,181,126
$RAFOS,4,1301661183,12.566667,12.550834,64,63,58,56,54,54,153,211,138,224,129,185
$RAFOS,3,1301660705,12.433333,12.418056,57,56,55,55,54,53,209,220,114,138,188,861
$RAFOS,2,1301660222,12.300000,12.283889,63,56,56,56,53,51,191,154,182,141,215,167
$RAFOS,1,1301659744,12.166667,12.151111,58,57,56,52,52,50,220,194,181,206,149,134
$RAFOS,0,1301659262,12.033333,12.017222,57,55,54,54,53,49,209,146,187,170,160,114
$RAFOS,6,1301647745,8.833333,8.818055,100,63,63,57,51,49,760,212,199,174,156,120
$RAFOS,5,1301647262,8.700000,8.683888,104,64,59,54,51,50,588,205,164,182,129,153
$RAFOS_FIX,6702.481934,-5723.112793,010411,080856,2,102,0.07
$IRIDIUM_FIX,6625.71,-5727.10,310311,212104
$TT8_MAMPS,0.029211
$HUMID,46.73
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,751.0,54.0
$24V_AH,22.3,38.035
$10V_AH,10.2,21.057
$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,5.125,119.300,359.050,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,3127.800,9073.635,446.302,2103.009,195.035,0.000,1557.303,0.000,2078.000,2880.000,24.115,0.000
$DEVICE_MAMPS,214.200,85.680,1427.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,903.809,969.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,46732,1264
$CAP_FILE_SIZE,151273,0
$CFSIZE,260165632,233734144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.0
$GPS,010411,084656,6702.482,-5723.113,0,2102.0,0,-37.5