version: 66.08
glider: 141
mission: 15
dive: 281
start: 4 1 111 21 10 16
data:
$ID,141
$MISSION,15
$DIVE,281
$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,26
$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
$GPS1,010411,203928,6656.107,-5742.222,0,4133.8,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.89
$_SM_ANGLEo,-1.6
$GPS2,010411,203928,6656.107,-5742.222,0,4133.8,0,-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,296.9,121894,-17.5,-10.000
$D_GRID,839
$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,-6.85,0.000,2,0.000,0.000,2884,855,3125,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.2,-0.0,1,46,0.62,0.38,-13.00,0.000,4,0.116,0.142,2670,1093,3628,0,0,0,0,0,0
$GC,302,-0.57,-146.0,49.1,-14.7,49,309,0.00,2.25,0.00,0.000,6,0.000,0.062,2670,2490,3630,0,0,0,0,0,0
$GC,652,-0.48,-146.0,103.2,-14.5,109,657,0.15,2.33,0.00,0.000,4,0.229,0.075,2704,3904,3630,0,0,0,0,0,0
$GC,715,-0.52,-146.0,110.6,-10.1,114,719,0.00,2.22,0.00,0.000,6,0.000,0.047,2704,2473,3630,0,0,0,0,0,0
$GC,1040,-0.52,-146.0,144.0,-10.3,144,1044,0.00,2.20,0.00,0.000,4,0.000,0.063,2704,1079,3629,0,0,0,0,0,0
$GC,1102,-0.57,-146.0,150.7,-10.7,149,1107,0.00,2.25,0.00,0.000,6,0.000,0.059,2703,2494,3629,0,0,0,0,0,0
$GC,1428,-0.59,-146.0,184.3,-11.0,179,1432,0.00,2.28,0.00,0.000,4,0.000,0.076,2704,3897,3629,0,0,0,0,0,0
$GC,1536,-0.65,-146.0,195.2,-9.8,188,1540,0.15,2.17,0.00,0.000,6,0.120,0.047,2654,2491,3628,0,0,0,0,0,0
$GC,1861,-0.57,-146.0,240.2,-13.9,218,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2491,3628,0,0,0,0,0,0
$GC,2181,-0.50,-146.0,284.9,-13.5,248,2186,0.17,2.25,0.00,0.000,4,0.212,0.062,2696,1083,3628,0,0,0,0,0,0
$GC,2253,-0.55,-146.0,293.1,-10.3,254,2260,0.00,2.25,0.00,0.000,6,0.000,0.059,2696,2490,3628,0,0,0,0,0,0
$GC,2579,-0.58,-146.0,322.0,-8.4,285,2583,0.00,2.30,0.00,0.000,4,0.000,0.074,2696,3899,3628,0,0,0,0,0,0
$GC,2645,-0.65,-146.0,327.7,-8.1,290,2653,0.12,2.17,0.00,0.000,6,0.130,0.047,2655,2491,3627,0,0,0,0,0,0
$GC,2970,-0.59,-146.0,363.5,-11.2,321,2974,0.00,2.25,0.00,0.000,4,0.000,0.061,2655,1083,3628,0,0,0,0,0,0
$GC,3037,-0.55,-146.0,371.1,-11.1,326,3044,0.00,2.28,0.00,0.000,6,0.000,0.059,2655,2499,3627,0,0,0,0,0,0
$GC,3362,-0.50,-146.0,407.0,-11.9,357,3367,0.17,2.30,0.00,0.000,4,0.206,0.074,2698,3903,3628,0,0,0,0,0,0
$GC,3407,-0.59,-146.0,411.2,-8.2,360,3413,0.00,2.22,0.00,0.000,6,0.000,0.047,2698,2480,3628,0,0,0,0,0,0
$GC,3732,-0.64,-146.0,437.8,-8.3,391,3737,0.12,2.22,0.00,0.000,4,0.132,0.062,2656,1075,3628,0,0,0,0,0,0
$GC,3929,-0.64,-146.0,460.0,-12.2,408,3933,0.00,2.28,0.00,0.000,6,0.000,0.059,2655,2492,3628,0,0,0,0,0,0
$GC,4254,-0.60,-146.0,497.9,-11.5,438,4258,0.00,2.25,0.00,0.000,4,0.000,0.062,2655,1072,3628,0,0,0,0,0,0
$GC,4511,-0.60,-146.0,527.8,-10.8,460,4518,0.00,2.28,0.00,0.000,6,0.000,0.057,2655,2489,3629,0,0,0,0,0,0
$GC,4837,-0.56,-146.0,565.1,-11.2,491,4841,0.00,2.22,0.00,0.000,4,0.000,0.063,2655,1083,3629,0,0,0,0,0,0
$GC,4878,-0.53,-146.0,570.0,-12.0,494,4882,0.15,2.25,0.00,0.000,6,0.201,0.059,2691,2489,3629,0,0,0,0,0,0
$GC,5204,-0.58,-146.0,597.0,-7.9,524,5208,0.00,2.30,0.00,0.000,4,0.000,0.074,2691,3899,3629,0,0,0,0,0,0
$GC,5259,-0.66,-146.0,601.4,-7.3,527,5266,0.12,2.20,0.00,0.000,6,0.127,0.046,2648,2488,3629,0,0,0,0,0,0
$GC,5572,-0.61,-146.0,635.7,-11.0,538,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2488,3629,0,0,0,0,0,0
$GC,5879,-0.56,-146.0,669.5,-11.1,548,5883,0.12,2.22,0.00,0.000,4,0.218,0.060,2676,1082,3630,0,0,0,0,0,0
$GC,5928,-0.60,-146.0,674.7,-9.4,549,5932,0.00,2.25,0.00,0.000,6,0.000,0.057,2676,2490,3630,0,0,0,0,0,0
$GC,6247,-0.62,-146.0,702.8,-8.9,560,6251,0.00,2.30,0.00,0.000,4,0.000,0.074,2676,3899,3630,0,0,0,0,0,0
$GC,6293,-0.68,-146.0,707.1,-10.0,561,6297,0.00,2.17,0.00,0.000,6,0.000,0.045,2676,2489,3630,0,0,0,0,0,0
$GC,6617,-0.70,-146.0,736.6,-8.9,572,6621,0.12,2.25,0.00,0.000,4,0.123,0.060,2633,1077,3630,0,0,0,0,0,0
$GC,6672,-0.65,-146.0,743.4,-12.5,573,6679,0.00,2.28,0.00,0.000,6,0.000,0.058,2632,2497,3630,0,0,0,0,0,0
$GC,6985,-0.57,-146.0,781.7,-12.1,584,6987,0.17,0.00,0.00,0.000,6,0.217,0.000,2674,2498,3630,0,0,0,0,0,0
$STATE,7105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7105,begin apogee
$GC,7111,-0.12,0.0,793.0,9.2,588,7241,0.47,0.00,124.70,1.418,6,0.190,0.000,2812,2267,3030,0,0,0,0,0,0
$STATE,7242,end apogee,CONTROL_FINISHED_OK
$STATE,7242,begin climb
$GC,7244,0.62,146.0,796.8,0.0,592,7382,0.80,2.55,130.32,1.372,4,0.136,0.067,3065,880,2434,0,0,0,0,0,0
$GC,7410,0.54,146.0,784.2,12.1,597,7414,0.00,2.42,0.00,0.000,6,0.000,0.051,3065,2273,2430,0,0,0,0,0,0
$GC,7729,0.46,146.0,745.4,12.2,608,7731,0.20,0.00,0.00,0.000,6,0.183,0.000,3015,2273,2426,0,0,0,0,0,0
$GC,8035,0.46,153.4,715.6,9.7,618,8048,0.00,2.40,6.57,1.038,4,0.000,0.070,3015,3688,2403,0,0,0,0,0,0
$GC,8093,0.43,153.4,709.3,11.0,619,8100,0.00,2.28,0.00,0.000,6,0.000,0.051,3022,2282,2403,0,0,0,0,0,0
$GC,8406,0.43,153.4,677.6,10.1,630,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2282,2402,0,0,0,0,0,0
$GC,8712,0.43,153.9,646.8,10.0,640,8716,0.00,2.30,0.00,0.000,4,0.000,0.067,3022,3696,2402,0,0,0,0,0,0
$GC,8727,0.41,153.9,645.0,10.2,640,8732,0.15,2.28,0.00,0.000,6,0.193,0.050,2997,2268,2401,0,0,0,0,0,0
$GC,9052,0.52,205.2,619.5,7.6,651,9102,0.10,0.00,47.33,1.280,6,0.122,0.000,3039,2268,2193,0,0,0,0,0,0
$GC,9394,0.52,205.2,581.1,11.6,672,9398,0.00,2.33,0.00,0.000,4,0.000,0.065,3040,3692,2185,0,0,0,0,0,0
$GC,9416,0.49,205.2,578.1,12.4,673,9423,0.00,2.30,0.00,0.000,6,0.000,0.050,3050,2264,2185,0,0,0,0,0,0
$GC,9741,0.46,205.2,538.3,12.8,704,9746,0.12,2.33,0.00,0.000,4,0.191,0.065,3019,3700,2184,0,0,0,0,0,0
$GC,9752,0.44,205.2,536.8,13.0,704,9759,0.00,2.28,0.00,0.000,6,0.000,0.047,3027,2267,2184,0,0,0,0,0,0
$GC,10077,0.44,205.2,502.7,10.0,735,10081,0.00,2.30,0.00,0.000,4,0.000,0.064,3027,3695,2184,0,0,0,0,0,0
$GC,10109,0.44,205.2,498.8,11.7,737,10118,0.10,2.28,0.00,0.000,6,0.171,0.050,3008,2278,2183,0,0,0,0,0,0
$GC,10436,0.55,243.6,471.1,8.2,768,10480,0.00,2.40,33.88,1.186,4,0.000,0.065,3015,858,2036,0,0,0,0,0,0
$GC,10497,0.68,282.7,465.6,8.2,773,10540,0.20,2.30,37.12,1.167,6,0.089,0.051,3097,2285,1877,0,0,0,0,0,0
$GC,10860,0.61,282.7,404.3,17.7,807,10865,0.12,2.28,0.00,0.000,4,0.190,0.065,3066,3687,1868,0,0,0,0,0,0
$GC,10889,0.57,282.7,399.2,18.4,809,10893,0.00,2.28,0.00,0.000,6,0.000,0.051,3075,2266,1866,0,0,0,0,0,0
$GC,11217,0.55,282.7,348.8,15.5,839,11222,0.12,2.25,0.00,0.000,4,0.188,0.064,3051,863,1865,0,0,0,0,0,0
$GC,11250,0.60,282.7,343.8,12.6,841,11257,0.00,2.22,0.00,0.000,6,0.000,0.050,3051,2277,1864,0,0,0,0,0,0
$GC,11576,0.63,282.7,304.7,11.9,872,11580,0.00,2.25,0.00,0.000,4,0.000,0.066,3052,3690,1863,0,0,0,0,0,0
$GC,11591,0.66,282.7,302.5,12.5,873,11598,0.00,2.25,0.00,0.000,6,0.000,0.050,3061,2274,1863,0,0,0,0,0,0
$GC,11917,0.68,282.7,259.9,13.1,904,11921,0.00,2.28,0.00,0.000,4,0.000,0.064,3071,864,1863,0,0,0,0,0,0
$GC,11938,0.70,282.7,257.0,12.3,905,11945,0.00,2.22,0.00,0.000,6,0.000,0.050,3071,2285,1862,0,0,0,0,0,0
$GC,12263,0.70,282.7,217.1,12.5,936,12267,0.00,2.25,0.00,0.000,4,0.000,0.065,3072,3687,1862,0,0,0,0,0,0
$GC,12303,0.70,282.7,211.9,13.2,939,12307,0.00,2.25,0.00,0.000,6,0.000,0.052,3081,2271,1861,0,0,0,0,0,0
$GC,12627,0.70,282.7,169.7,13.6,969,12631,0.00,2.22,0.00,0.000,4,0.000,0.064,3091,866,1861,0,0,0,0,0,0
$GC,12671,0.70,282.7,163.7,12.7,972,12678,0.00,2.22,0.00,0.000,6,0.000,0.050,3091,2278,1860,0,0,0,0,0,0
$GC,12996,0.70,282.7,121.4,12.5,1003,13001,0.00,2.25,0.00,0.000,4,0.000,0.066,3091,3694,1860,0,0,0,0,0,0
$GC,13037,0.70,282.7,115.8,15.5,1006,13041,0.00,2.25,0.00,0.000,6,0.000,0.052,3101,2276,1860,0,0,0,0,0,0
$GC,13374,0.70,282.7,73.4,11.9,1055,13381,0.00,2.22,0.00,0.000,4,0.000,0.063,3111,868,1860,0,0,0,0,0,0
$GC,13404,0.70,282.7,69.9,12.0,1060,13410,0.00,2.20,0.00,0.000,6,0.000,0.050,3111,2276,1860,0,0,0,0,0,0
$GC,13748,0.70,282.7,29.1,11.9,1121,13755,0.00,2.25,0.00,0.000,4,0.000,0.066,3111,3692,1860,0,0,0,0,0,0
$GC,13813,0.66,282.7,20.5,14.2,1132,13821,0.17,2.25,0.00,0.000,6,0.191,0.051,3077,2269,1860,0,0,0,0,0,0
$FREEZE,8.91,-1.799,-1.818,3,7,0
$STATE,13930,end climb,FINISH_DEPTH_REACHED
$STATE,13930,begin subsurface finish
$FINISH1,8.9,1.026602,44
$GC,13936,0.05,44.0,8.9,-9.0,1152,13979,0.60,2.25,-35.85,0.000,4,0.155,0.074,2888,865,2852,0,0,0,0,0,0
$FINISH2,7.5
$STATE,13980,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13980,begin surface
$RAFOS_CLK,765
$RAFOS,6,1301705342,0.833333,0.817222,140,66,59,58,56,55,727,210,168,151,112,222
$RAFOS,5,1301704864,0.700000,0.684444,149,64,52,51,50,49,531,149,226,185,122,201
$RAFOS,4,1301704382,0.566667,0.550556,125,69,57,57,55,53,756,208,161,174,190,144
$RAFOS,3,1301703907,0.433333,0.418611,88,65,56,56,55,51,846,199,216,147,183,125
$RAFOS,2,1301703428,0.300000,0.285556,61,61,60,59,56,56,151,183,204,217,169,235
$RAFOS,1,1301702946,0.166667,0.151667,63,63,62,61,58,55,198,217,166,152,208,181
$RAFOS,0,1301702469,0.033333,0.019167,68,65,60,56,55,53,182,194,134,121,222,211
$RAFOS_FIX,6657.836426,-5746.050781,020411,000056,4,126,0.29
$IRIDIUM_FIX,6625.71,-5727.10,310311,212104
$TT8_MAMPS,0.026215
$HUMID,47.12
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,16.4
$ALTIM_BOTTOM_PING,751.7,53.8
$24V_AH,22.4,38.453
$10V_AH,10.2,21.288
$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,5.400,141.300,379.925,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,2885.515,8471.093,473.249,2032.034,186.453,0.000,1566.530,0.000,2001.882,2520.000,26.032,0.000
$DEVICE_MAMPS,228.735,142.290,1417.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.951,885.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150532
$DATA_FILE_SIZE,46639,1159
$CAP_FILE_SIZE,151049,0
$CFSIZE,260165632,233512960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.6
$GPS,020411,003856,6657.836,-5746.051,0,4125.5,0,-37.5