version: 66.08
glider: 141
mission: 15
dive: 273
start: 3 31 111 13 47 32
data:
$ID,141
$MISSION,15
$DIVE,273
$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,559.0387
$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,-34781.816
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,310311,124800,6702.910,-5711.429,0,2128.5,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,29.29
$_SM_ANGLEo,-0.5
$GPS2,310311,124800,6702.910,-5711.429,0,2128.5,0,-37.7
$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,293.9,146585,-17.5,-10.000
$D_GRID,745
$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,-6.80,0.000,2,0.000,0.000,2880,865,3438,0,0,0,0,0,0
$GC,27,-0.62,-146.0,30.1,-0.0,1,41,0.62,4.88,-2.42,0.000,4,0.131,0.060,2670,3907,3631,0,0,0,0,0,0
$GC,110,-0.58,-146.0,39.3,-13.5,15,116,0.00,2.17,0.00,0.000,6,0.000,0.037,2670,2480,3633,0,0,0,0,0,0
$GC,455,-0.51,-146.0,90.4,-14.5,76,461,0.12,0.00,0.00,0.000,6,0.224,0.000,2698,2480,3632,0,0,0,0,0,0
$GC,791,-0.53,-146.0,126.7,-9.7,114,795,0.00,2.28,0.00,0.000,4,0.000,0.066,2698,3896,3631,0,0,0,0,0,0
$GC,887,-0.58,-146.0,136.1,-9.1,122,894,0.00,2.12,0.00,0.000,6,0.000,0.040,2698,2488,3631,0,0,0,0,0,0
$GC,1212,-0.63,-146.0,167.2,-9.5,153,1217,0.12,2.20,0.00,0.000,4,0.131,0.056,2656,1080,3629,0,0,0,0,0,0
$GC,1264,-0.59,-146.0,173.3,-13.0,157,1268,0.00,2.22,0.00,0.000,6,0.000,0.052,2656,2497,3629,0,0,0,0,0,0
$GC,1594,-0.53,-146.0,217.7,-13.1,188,1599,0.12,2.28,0.00,0.000,4,0.214,0.067,2685,3899,3628,0,0,0,0,0,0
$GC,1657,-0.59,-146.0,224.5,-10.1,193,1661,0.00,2.15,0.00,0.000,6,0.000,0.038,2685,2482,3628,0,0,0,0,0,0
$GC,1987,-0.62,-146.0,257.5,-10.1,224,1991,0.00,2.17,0.00,0.000,4,0.000,0.054,2685,1081,3629,0,0,0,0,0,0
$GC,2066,-0.66,-146.0,265.8,-9.9,230,2073,0.10,2.22,0.00,0.000,6,0.145,0.050,2652,2498,3628,0,0,0,0,0,0
$GC,2391,-0.61,-146.0,305.9,-11.9,261,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2499,3628,0,0,0,0,0,0
$GC,2713,-0.57,-146.0,342.7,-11.8,291,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2498,3629,0,0,0,0,0,0
$GC,3039,-0.52,-146.0,380.7,-11.3,322,3044,0.15,2.28,0.00,0.000,4,0.204,0.066,2688,3906,3630,0,0,0,0,0,0
$GC,3114,-0.59,-146.0,387.4,-7.7,328,3118,0.00,2.15,0.00,0.000,6,0.000,0.037,2688,2473,3630,0,0,0,0,0,0
$GC,3439,-0.64,-146.0,413.9,-8.0,358,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2472,3631,0,0,0,0,0,0
$GC,3761,-0.69,-146.0,439.7,-8.0,388,3767,0.15,0.00,0.00,0.000,6,0.116,0.000,2636,2472,3631,0,0,0,0,0,0
$GC,4086,-0.60,-146.0,477.6,-11.6,419,4091,0.12,2.30,0.00,0.000,4,0.216,0.063,2664,3903,3631,0,0,0,0,0,0
$GC,4126,-0.60,-146.0,482.0,-9.8,422,4130,0.00,2.12,0.00,0.000,6,0.000,0.037,2664,2488,3631,0,0,0,0,0,0
$GC,4451,-0.60,-146.0,512.9,-9.8,452,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2488,3631,0,0,0,0,0,0
$GC,4771,-0.60,-146.0,545.0,-9.8,482,4775,0.00,2.15,0.00,0.000,4,0.000,0.051,2665,1086,3632,0,0,0,0,0,0
$GC,4811,-0.60,-146.0,549.2,-9.6,485,4815,0.00,2.22,0.00,0.000,6,0.000,0.050,2664,2500,3632,0,0,0,0,0,0
$GC,5138,-0.60,-146.0,580.6,-9.9,515,5142,0.00,2.25,0.00,0.000,4,0.000,0.067,2665,3899,3631,0,0,0,0,0,0
$GC,5170,-0.60,-146.0,584.1,-10.1,517,5177,0.00,2.12,0.00,0.000,6,0.000,0.037,2664,2486,3631,0,0,0,0,0,0
$GC,5490,-0.60,-146.0,614.4,-9.3,538,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2486,3631,0,0,0,0,0,0
$GC,5796,-0.60,-146.0,643.0,-9.4,548,5800,0.00,2.15,0.00,0.000,4,0.000,0.052,2664,1092,3630,0,0,0,0,0,0
$GC,5824,-0.60,-146.0,645.9,-10.3,549,5828,0.00,2.22,0.00,0.000,6,0.000,0.052,2664,2500,3630,0,0,0,0,0,0
$GC,6159,-0.60,-146.0,677.3,-9.4,560,6163,0.00,2.28,0.00,0.000,4,0.000,0.068,2664,3906,3630,0,0,0,0,0,0
$GC,6209,-0.64,-146.0,682.2,-9.2,561,6213,0.00,2.17,0.00,0.000,6,0.000,0.038,2664,2484,3630,0,0,0,0,0,0
$GC,6522,-0.64,-146.0,710.7,-9.2,571,6525,0.00,2.17,0.00,0.000,4,0.000,0.054,2664,1089,3629,0,0,0,0,0,0
$GC,6566,-0.66,-146.0,715.0,-9.5,572,6570,0.00,2.22,0.00,0.000,6,0.000,0.053,2664,2498,3629,0,0,0,0,0,0
$GC,6890,-0.66,-146.0,745.0,-9.2,583,6894,0.00,2.17,0.00,0.000,3,0.000,0.069,2664,3850,3629,0,0,0,0,0,0
$STATE,6895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6895,begin apogee
$GC,6902,-0.12,0.0,745.5,9.3,583,7032,0.52,0.00,122.70,1.380,6,0.190,0.000,2815,2275,3029,0,0,0,0,0,0
$STATE,7033,end apogee,CONTROL_FINISHED_OK
$STATE,7033,begin climb
$GC,7035,0.62,146.0,749.8,0.0,587,7172,0.77,2.50,127.78,1.332,4,0.135,0.060,3063,878,2432,0,0,0,0,0,0
$GC,7222,0.55,146.0,734.6,12.5,593,7226,0.00,2.40,0.00,0.000,6,0.000,0.046,3064,2283,2429,0,0,0,0,0,0
$GC,7551,0.47,146.0,693.5,12.7,604,7556,0.17,2.30,0.00,0.000,4,0.180,0.063,3019,3683,2424,0,0,0,0,0,0
$GC,7595,0.43,146.0,688.1,12.2,605,7599,0.00,2.28,0.00,0.000,6,0.000,0.046,3027,2271,2424,0,0,0,0,0,0
$GC,7913,0.43,146.0,655.1,10.5,616,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2270,2422,0,0,0,0,0,0
$GC,8219,0.43,146.0,624.1,10.1,626,8223,0.00,2.30,0.00,0.000,4,0.000,0.061,3027,3693,2422,0,0,0,0,0,0
$GC,8235,0.40,146.0,622.2,10.6,626,8240,0.17,2.22,0.00,0.000,6,0.184,0.044,2993,2273,2422,0,0,0,0,0,0
$GC,8551,0.51,196.0,597.2,7.7,638,8601,0.12,0.00,42.65,1.249,6,0.106,0.000,3049,2273,2231,0,0,0,0,0,0
$GC,8919,0.49,196.0,555.0,11.8,673,8923,0.00,2.30,0.00,0.000,4,0.000,0.060,3049,3697,2224,0,0,0,0,0,0
$GC,8964,0.44,196.0,548.9,13.4,677,8969,0.20,2.25,0.00,0.000,6,0.181,0.046,3008,2279,2223,0,0,0,0,0,0
$GC,9290,0.50,201.0,518.0,9.8,707,9302,0.00,2.28,4.72,0.851,4,0.000,0.060,3015,867,2210,0,0,0,0,0,0
$GC,9315,0.59,218.8,515.7,9.2,709,9339,0.10,2.22,17.95,1.162,6,0.122,0.047,3063,2287,2136,0,0,0,0,0,0
$GC,9655,0.55,218.8,469.7,14.3,741,9660,0.00,2.25,0.00,0.000,4,0.000,0.061,3063,3687,2132,0,0,0,0,0,0
$GC,9718,0.49,218.8,459.8,16.0,746,9723,0.17,2.25,0.00,0.000,6,0.181,0.047,3028,2266,2131,0,0,0,0,0,0
$GC,10043,0.52,218.8,421.3,12.0,776,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2266,2130,0,0,0,0,0,0
$GC,10362,0.55,218.8,384.4,11.5,806,10366,0.00,2.22,0.00,0.000,4,0.000,0.059,3035,862,2129,0,0,0,0,0,0
$GC,10372,0.58,218.8,383.2,11.4,806,10379,0.00,2.17,0.00,0.000,6,0.000,0.044,3035,2278,2129,0,0,0,0,0,0
$GC,10699,0.58,218.8,346.5,11.2,837,10703,0.00,2.25,0.00,0.000,4,0.000,0.060,3035,3689,2129,0,0,0,0,0,0
$GC,10738,0.58,218.8,341.4,12.8,840,10742,0.00,2.22,0.00,0.000,6,0.000,0.046,3045,2265,2128,0,0,0,0,0,0
$GC,11063,0.58,218.8,300.9,12.9,870,11067,0.00,2.17,0.00,0.000,4,0.000,0.057,3055,868,2128,0,0,0,0,0,0
$GC,11096,0.58,218.8,296.5,12.8,872,11103,0.00,2.20,0.00,0.000,6,0.000,0.045,3055,2269,2127,0,0,0,0,0,0
$GC,11423,0.58,218.8,254.1,13.0,903,11427,0.00,2.25,0.00,0.000,4,0.000,0.060,3055,3690,2127,0,0,0,0,0,0
$GC,11502,0.54,218.8,242.9,13.5,909,11509,0.00,2.20,0.00,0.000,6,0.000,0.044,3066,2275,2127,0,0,0,0,0,0
$GC,11827,0.51,218.8,198.3,13.7,940,11832,0.12,2.22,0.00,0.000,4,0.184,0.057,3033,3691,2127,0,0,0,0,0,0
$GC,11848,0.51,218.8,195.2,13.5,941,11855,0.00,2.20,0.00,0.000,6,0.000,0.042,3041,2270,2126,0,0,0,0,0,0
$GC,12174,0.54,221.2,157.2,9.9,972,12175,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2271,2127,0,0,0,0,0,0
$GC,12494,0.59,221.2,127.8,11.0,1002,12498,0.00,2.20,0.00,0.000,4,0.000,0.056,3043,865,2127,0,0,0,0,0,0
$GC,12520,0.65,221.2,124.4,11.0,1004,12528,0.00,2.15,0.00,0.000,6,0.000,0.042,3043,2277,2127,0,0,0,0,0,0
$GC,12853,0.72,228.4,86.7,9.7,1046,12867,0.15,2.28,8.38,0.820,4,0.096,0.058,3109,3690,2098,0,0,0,0,0,0
$GC,12913,0.62,228.4,78.2,15.0,1056,12921,0.20,2.20,0.00,0.000,6,0.194,0.042,3068,2265,2097,0,0,0,0,0,0
$GC,13262,0.70,270.3,44.8,8.1,1117,13304,0.00,2.35,36.70,0.916,4,0.000,0.057,3068,3680,1928,0,0,0,0,0,0
$GC,13317,0.76,293.0,39.9,9.0,1126,13342,0.10,2.20,19.85,0.885,6,0.116,0.040,3116,2265,1835,0,0,0,0,0,0
$FREEZE,8.24,-1.683,-1.835,3,22,0
$STATE,13533,end climb,FINISH_DEPTH_REACHED
$STATE,13533,begin subsurface finish
$FINISH1,8.2,1.026848,32
$GC,13538,0.04,31.9,8.2,-15.4,1164,13586,0.77,2.35,-38.05,0.000,4,0.162,0.076,2883,3686,2902,0,0,0,0,0,0
$FINISH2,6.2
$STATE,13587,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13587,begin surface
$RAFOS_CLK,709
$RAFOS,6,1301590143,16.833334,16.817499,146,63,63,58,57,54,776,201,192,211,168,150
$RAFOS,5,1301589671,16.700001,16.686388,122,58,56,52,52,52,554,192,174,73,117,202
$RAFOS,4,1301589187,16.566668,16.551945,65,62,61,59,55,52,796,227,200,209,130,145
$RAFOS,3,1301588703,16.433332,16.417500,62,57,56,54,54,54,906,203,181,126,216,115
$RAFOS,2,1301588231,16.299999,16.286388,66,57,53,52,49,48,221,126,191,208,182,145
$RAFOS,1,1301587748,16.166666,16.152222,62,59,54,53,50,50,219,166,199,208,127,151
$RAFOS,0,1301587286,16.033333,16.023890,74,67,65,63,55,55,210,194,177,128,155,117
$RAFOS_FIX,6655.379883,-5721.171387,310311,161628,4,99,1.13
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,45.03
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.6
$ALTIM_BOTTOM_PING,702.1,61.1
$24V_AH,22.5,37.523
$10V_AH,10.2,20.596
$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,5.125,125.550,380.725,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2887.899,8181.583,449.215,1958.639,182.465,0.000,1502.716,0.000,1937.992,2520.000,21.344,0.000
$DEVICE_MAMPS,224.145,75.735,1380.060,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,829.208,893.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150504
$DATA_FILE_SIZE,46667,1172
$CAP_FILE_SIZE,143991,0
$CFSIZE,260165632,234115072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.3
$GPS,310311,163928,6655.380,-5721.171,0,4098.8,0,-37.7