version: 66.08
glider: 141
mission: 15
dive: 214
start: 3 25 111 12 37 57
data:
$ID,141
$MISSION,15
$DIVE,214
$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,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,-30163.6
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,250311,084656,6710.598,-5816.133,0,2135.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.26
$_SM_ANGLEo,-0.8
$GPS2,250311,084656,6710.598,-5816.133,0,2135.0,0,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,140.7,65182,-17.5,-10.000
$D_GRID,1129
$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,-6.97,0.000,2,0.000,0.000,2886,863,3141,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.3,-0.0,1,52,0.62,4.95,-12.52,0.000,4,0.115,0.068,2668,3894,3629,0,0,0,0,0,0
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$GC,610,-0.45,-146.0,100.4,-15.9,104,612,0.17,0.00,0.00,0.000,6,0.217,0.000,2710,2469,3630,0,0,0,0,0,0
$GC,930,-0.45,-146.0,137.5,-10.9,134,934,0.00,2.17,0.00,0.000,4,0.000,0.061,2710,1076,3629,0,0,0,0,0,0
$GC,951,-0.48,-146.0,140.2,-11.2,135,958,0.00,2.25,0.00,0.000,6,0.000,0.056,2711,2494,3629,0,0,0,0,0,0
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$GC,2307,-0.45,-146.0,281.8,-11.4,260,2311,0.00,2.25,0.00,0.000,6,0.000,0.057,2703,2495,3627,0,0,0,0,0,0
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$GC,2973,-0.63,-146.0,332.1,-7.6,321,2978,0.12,2.22,0.00,0.000,6,0.125,0.057,2662,2491,3627,0,0,0,0,0,0
$GC,3298,-0.59,-146.0,364.5,-9.8,351,3302,0.00,2.25,0.00,0.000,4,0.000,0.073,2661,3899,3628,0,0,0,0,0,0
$GC,3332,-0.56,-146.0,368.3,-10.7,353,3338,0.00,2.17,0.00,0.000,6,0.000,0.043,2661,2490,3628,0,0,0,0,0,0
$GC,3657,-0.52,-146.0,403.7,-11.6,384,3662,0.12,2.22,0.00,0.000,4,0.213,0.056,2690,1074,3628,0,0,0,0,0,0
$GC,3674,-0.49,-146.0,405.7,-11.7,385,3678,0.00,2.22,0.00,0.000,6,0.000,0.056,2690,2494,3629,0,0,0,0,0,0
$GC,4000,-0.53,-146.0,435.0,-8.8,415,4004,0.00,2.25,0.00,0.000,4,0.000,0.072,2690,3899,3628,0,0,0,0,0,0
$GC,4033,-0.58,-146.0,437.9,-8.7,417,4040,0.00,2.17,0.00,0.000,6,0.000,0.042,2690,2481,3629,0,0,0,0,0,0
$GC,4358,-0.62,-146.0,465.4,-8.5,448,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2481,3629,0,0,0,0,0,0
$GC,4679,-0.66,-146.0,493.4,-8.7,478,4683,0.12,2.20,0.00,0.000,4,0.129,0.057,2647,1081,3629,0,0,0,0,0,0
$GC,4699,-0.66,-146.0,496.0,-10.5,479,4707,0.00,2.25,0.00,0.000,6,0.000,0.057,2646,2497,3630,0,0,0,0,0,0
$GC,5025,-0.59,-146.0,534.2,-12.0,510,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2498,3630,0,0,0,0,0,0
$GC,5346,-0.52,-146.0,571.0,-11.3,540,5351,0.20,2.25,0.00,0.000,4,0.205,0.070,2696,3899,3630,0,0,0,0,0,0
$GC,5377,-0.54,-146.0,574.2,-9.3,542,5381,0.00,2.15,0.00,0.000,6,0.000,0.043,2696,2488,3629,0,0,0,0,0,0
$GC,5703,-0.60,-146.0,598.8,-7.9,572,5707,0.00,2.20,0.00,0.000,4,0.000,0.057,2696,1078,3629,0,0,0,0,0,0
$GC,5722,-0.67,-146.0,600.3,-8.1,573,5727,0.15,2.22,0.00,0.000,6,0.118,0.057,2643,2498,3629,0,0,0,0,0,0
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$GC,6369,-0.57,-146.0,663.6,-8.1,594,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2488,3630,0,0,0,0,0,0
$GC,6675,-0.62,-146.0,687.8,-7.9,604,6679,0.00,2.17,0.00,0.000,4,0.000,0.057,2686,1081,3629,0,0,0,0,0,0
$GC,6697,-0.67,-146.0,689.8,-8.4,604,6702,0.12,2.22,0.00,0.000,6,0.127,0.056,2645,2496,3630,0,0,0,0,0,0
$GC,7010,-0.61,-146.0,721.4,-10.1,614,7014,0.00,2.25,0.00,0.000,4,0.000,0.073,2644,3900,3629,0,0,0,0,0,0
$GC,7032,-0.55,-146.0,723.9,-10.7,614,7040,0.12,2.20,0.00,0.000,6,0.181,0.044,2689,2489,3630,0,0,0,0,0,0
$GC,7346,-0.60,-146.0,745.6,-6.8,625,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2489,3629,0,0,0,0,0,0
$GC,7651,-0.66,-146.0,767.3,-7.3,635,7653,0.12,0.00,0.00,0.000,6,0.124,0.000,2645,2488,3630,0,0,0,0,0,0
$GC,7958,-0.61,-146.0,799.4,-10.7,645,7962,0.00,2.17,0.00,0.000,4,0.000,0.057,2645,1085,3629,0,0,0,0,0,0
$GC,7979,-0.56,-146.0,801.9,-10.9,645,7983,0.15,2.25,0.00,0.000,6,0.208,0.058,2679,2498,3629,0,0,0,0,0,0
$GC,8297,-0.60,-146.0,826.6,-7.6,656,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2498,3629,0,0,0,0,0,0
$GC,8607,-0.64,-146.0,850.1,-7.6,666,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2498,3630,0,0,0,0,0,0
$STATE,8693,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8693,begin apogee
$GC,8698,-0.12,0.0,857.3,7.8,669,8829,0.45,0.00,124.60,1.462,6,0.179,0.000,2814,2267,3030,0,0,0,0,0,0
$STATE,8830,end apogee,CONTROL_FINISHED_OK
$STATE,8830,begin climb
$GC,8832,0.62,146.0,861.9,0.0,673,8971,0.77,2.50,129.93,1.424,4,0.125,0.064,3065,880,2433,0,0,0,0,0,0
$GC,9033,0.62,146.0,843.8,33309.8,679,9037,0.00,2.40,0.00,0.000,6,0.000,0.053,3065,2276,2428,0,0,0,0,0,0
$GC,9351,0.62,146.0,800.5,33309.8,690,9355,0.00,2.35,0.00,0.000,4,0.000,0.068,3065,3685,2424,0,0,0,0,0,0
$GC,9447,0.62,146.0,785.6,33309.8,693,9451,0.00,2.28,0.00,0.000,6,0.000,0.050,3075,2284,2424,0,0,0,0,0,0
$GC,9782,0.62,146.0,738.1,33309.8,704,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2284,2423,0,0,0,0,0,0
$GC,10088,0.62,146.0,694.9,33309.8,714,10092,0.00,2.30,0.00,0.000,4,0.000,0.064,3075,3700,2422,0,0,0,0,0,0
$GC,10188,0.62,146.0,678.5,33309.8,717,10192,0.00,2.25,0.00,0.000,6,0.000,0.049,3085,2276,2422,0,0,0,0,0,0
$GC,10517,0.62,146.0,629.7,33309.8,728,10521,0.00,2.30,0.00,0.000,4,0.000,0.063,3085,3689,2422,0,0,0,0,0,0
$GC,10583,0.62,146.0,618.8,33309.8,730,10588,0.12,2.25,0.00,0.000,6,0.221,0.050,3068,2264,2421,0,0,0,0,0,0
$GC,10905,0.62,146.0,576.3,33309.8,751,10909,0.00,2.33,0.00,0.000,4,0.000,0.063,3062,3698,2421,0,0,0,0,0,0
$GC,10980,0.62,146.0,565.4,33309.8,757,10984,0.00,2.25,0.00,0.000,6,0.000,0.048,3071,2276,2421,0,0,0,0,0,0
$GC,11305,0.62,146.0,523.4,33309.8,787,11309,0.00,2.28,0.00,0.000,4,0.000,0.064,3071,3696,2421,0,0,0,0,0,0
$GC,11361,0.62,146.0,515.4,33309.8,791,11368,0.00,2.25,0.00,0.000,6,0.000,0.050,3081,2272,2421,0,0,0,0,0,0
$GC,11686,0.62,146.0,472.8,33309.8,822,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2272,2421,0,0,0,0,0,0
$GC,12007,0.62,146.0,430.9,33309.8,852,12011,0.00,2.30,0.00,0.000,4,0.000,0.064,3081,3691,2421,0,0,0,0,0,0
$GC,12103,0.62,146.0,416.2,33309.8,860,12107,0.00,2.25,0.00,0.000,6,0.000,0.050,3091,2264,2420,0,0,0,0,0,0
$GC,12433,0.62,146.0,369.8,33309.8,891,12437,0.00,2.30,0.00,0.000,4,0.000,0.062,3091,3694,2420,0,0,0,0,0,0
$GC,12489,0.62,146.0,360.9,33309.8,895,12496,0.15,2.22,0.00,0.000,6,0.216,0.049,3066,2274,2420,0,0,0,0,0,0
$GC,12814,0.62,146.0,321.2,33309.8,926,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2275,2420,0,0,0,0,0,0
$GC,13134,0.62,146.0,285.9,33309.8,956,13138,0.00,2.25,0.00,0.000,4,0.000,0.063,3064,3692,2420,0,0,0,0,0,0
$GC,13196,0.62,146.0,278.3,33309.8,961,13200,0.00,2.22,0.00,0.000,6,0.000,0.049,3073,2264,2420,0,0,0,0,0,0
$GC,13528,0.62,146.0,244.8,33309.8,992,13532,0.00,2.28,0.00,0.000,4,0.000,0.063,3073,3697,2420,0,0,0,0,0,0
$GC,13595,0.62,146.0,236.9,33309.8,997,13602,0.00,2.20,0.00,0.000,6,0.000,0.047,3083,2273,2419,0,0,0,0,0,0
$GC,13920,0.62,146.0,203.4,33309.8,1028,13921,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2273,2420,0,0,0,0,0,0
$GC,14240,0.62,146.0,166.3,33309.8,1058,14245,0.00,2.28,0.00,0.000,4,0.000,0.062,3083,3694,2420,0,0,0,0,0,0
$GC,14396,0.62,146.0,143.0,33309.8,1071,14404,0.00,2.20,0.00,0.000,6,0.000,0.047,3093,2271,2421,0,0,0,0,0,0
$STATE,14720,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14720,begin subsurface finish
$FINISH1,102.8,1.027023,23
$GC,14726,0.03,23.4,102.8,-33309.8,1102,14739,0.73,2.33,-3.33,0.000,4,0.184,0.077,2881,3691,2944,0,0,0,0,0,0
$FINISH2,101.2
$STATE,14739,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14739,begin surface
$RAFOS_CLK,797
$RAFOS,4,1301070786,16.566668,16.551666,64,61,58,51,50,50,214,162,192,124,230,771
$RAFOS,3,1301070308,16.433332,16.418888,57,57,55,52,52,50,151,199,169,182,214,388
$RAFOS,65,248988091,-0.000000,-2916721527785242958815316410368.000000,21,74,65,185,87,29,208,16710,8431,158,213,90
$RAFOS,1,1301069351,16.166666,16.153055,59,58,54,54,52,52,210,151,170,114,189,134
$RAFOS,0,1301068864,16.033333,16.017778,64,57,56,53,52,51,193,184,160,206,141,114
$RAFOS,6,1301057348,12.833333,12.818889,118,68,60,58,57,49,607,182,197,215,168,142
$RAFOS,5,1301056862,12.700000,12.683888,100,59,58,58,56,53,669,195,213,163,223,127
$RAFOS,4,1301056384,12.566667,12.551111,79,60,58,52,51,51,755,216,183,203,194,141
$RAFOS_FIX,6714.742188,-5809.876953,250311,121244,3,99,0.63
$IRIDIUM_FIX,6652.93,-5737.74,100311,101013
$TT8_MAMPS,0.029211
$HUMID,47.00
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,24.5,24.3
$ALTIM_BOTTOM_PING,105.1,23.8
$24V_AH,22.5,31.238
$10V_AH,10.2,17.220
$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,4.775,126.550,254.525,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,2824.924,9578.538,314.976,1904.206,184.344,0.000,1332.128,0.000,1885.974,2880.000,24.911,0.000
$DEVICE_MAMPS,221.085,77.265,1461.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.295,853.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150556
$DATA_FILE_SIZE,43372,1103
$CAP_FILE_SIZE,144752,0
$CFSIZE,260165632,237277184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.9
$GPS,250311,124344,6714.742,-5809.877,0,3099.0,0,-38.2