version: 66.08
glider: 141
mission: 15
dive: 713
start: 5 30 111 14 36 21
data:
$ID,141
$MISSION,15
$DIVE,713
$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,-51215.082
$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,18
$R_STBD_OVSHOOT,19
$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
$GPS1,300511,123117,6707.514,-5817.074,0,6092.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.25
$_SM_ANGLEo,-3.3
$GPS2,300511,123117,6707.514,-5817.074,0,6092.5,0,-37.6
$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,135.0,64865,-17.5,-10.000
$D_GRID,1071
$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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.72,0.000,2,0.000,0.000,2894,863,3004,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.6,-0.0,1,59,0.65,5.22,-16.90,0.000,4,0.101,0.088,2666,3897,3628,0,0,0,0,0,0
$GC,78,-0.46,-146.0,16.4,-15.3,9,85,0.17,2.28,0.00,0.000,6,0.222,0.059,2705,2489,3629,0,0,0,0,0,0
$GC,425,-0.42,-146.0,66.5,-12.7,70,432,0.00,2.40,0.00,0.000,4,0.000,0.086,2705,3906,3629,0,0,0,0,0,0
$GC,600,-0.45,-146.0,86.5,-11.1,100,607,0.00,2.30,0.00,0.000,6,0.000,0.059,2705,2488,3629,0,0,0,0,0,0
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$GC,1328,-0.46,-146.0,172.5,-11.1,176,1332,0.00,2.40,0.00,0.000,4,0.000,0.090,2706,3901,3627,0,0,0,0,0,0
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$GC,2059,-0.59,-146.0,245.7,-9.9,243,2064,0.00,2.38,0.00,0.000,6,0.000,0.073,2705,2496,3627,0,0,0,0,0,0
$GC,2386,-0.62,-146.0,275.1,-8.6,273,2388,0.12,0.00,0.00,0.000,6,0.124,0.000,2661,2496,3626,0,0,0,0,0,0
$GC,2703,-0.55,-146.0,313.0,-12.4,303,2708,0.00,2.38,0.00,0.000,4,0.000,0.087,2661,3902,3626,0,0,0,0,0,0
$GC,2726,-0.47,-146.0,316.0,-11.9,304,2733,0.20,2.33,0.00,0.000,6,0.197,0.068,2709,2486,3626,0,0,0,0,0,0
$GC,3052,-0.52,-146.0,342.2,-8.0,335,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2486,3627,0,0,0,0,0,0
$GC,3372,-0.57,-146.0,368.5,-8.3,365,3376,0.00,2.33,0.00,0.000,4,0.000,0.076,2709,1071,3627,0,0,0,0,0,0
$GC,3397,-0.63,-146.0,370.8,-8.8,366,3405,0.15,2.38,0.00,0.000,6,0.116,0.071,2657,2491,3627,0,0,0,0,0,0
$GC,3723,-0.55,-146.0,411.1,-12.8,397,3727,0.00,2.40,0.00,0.000,4,0.000,0.087,2657,3907,3626,0,0,0,0,0,0
$GC,3779,-0.53,-146.0,418.1,-12.3,401,3787,0.15,2.33,0.00,0.000,6,0.197,0.067,2691,2490,3627,0,0,0,0,0,0
$GC,4105,-0.53,-146.0,449.4,-9.4,432,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2489,3627,0,0,0,0,0,0
$GC,4429,-0.55,-146.0,478.7,-9.0,462,4433,0.00,2.33,0.00,0.000,4,0.000,0.073,2691,1079,3627,0,0,0,0,0,0
$GC,4447,-0.55,-146.0,480.7,-9.1,463,4451,0.00,2.35,0.00,0.000,6,0.000,0.070,2692,2498,3627,0,0,0,0,0,0
$GC,4773,-0.57,-146.0,509.5,-8.2,493,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2498,3628,0,0,0,0,0,0
$GC,5097,-0.60,-146.0,536.9,-8.5,523,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2498,3627,0,0,0,0,0,0
$GC,5425,-0.63,-146.0,565.2,-8.5,554,5429,0.00,2.38,0.00,0.000,4,0.000,0.086,2692,3902,3628,0,0,0,0,0,0
$GC,5448,-0.66,-146.0,567.5,-8.8,555,5455,0.12,2.30,0.00,0.000,6,0.119,0.057,2649,2485,3627,0,0,0,0,0,0
$GC,5783,-0.58,-146.0,608.1,-12.6,583,5787,0.00,2.33,0.00,0.000,4,0.000,0.073,2649,1077,3628,0,0,0,0,0,0
$GC,5805,-0.49,-146.0,611.3,-12.8,583,5812,0.20,2.38,0.00,0.000,6,0.202,0.070,2695,2498,3627,0,0,0,0,0,0
$GC,6119,-0.54,-146.0,638.4,-8.5,594,6123,0.00,2.38,0.00,0.000,4,0.000,0.086,2695,3902,3627,0,0,0,0,0,0
$GC,6141,-0.59,-146.0,640.4,-8.3,594,6148,0.00,2.30,0.00,0.000,6,0.000,0.056,2695,2479,3628,0,0,0,0,0,0
$GC,6457,-0.64,-146.0,665.9,-7.9,605,6459,0.12,0.00,0.00,0.000,6,0.130,0.000,2652,2479,3628,0,0,0,0,0,0
$GC,6762,-0.58,-146.0,700.2,-11.5,615,6766,0.00,2.45,0.00,0.000,4,0.000,0.084,2652,3906,3628,0,0,0,0,0,0
$GC,6778,-0.51,-146.0,702.5,-11.7,615,6783,0.17,2.30,0.00,0.000,6,0.193,0.057,2694,2488,3628,0,0,0,0,0,0
$GC,7094,-0.56,-146.0,728.8,-8.2,625,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2488,3628,0,0,0,0,0,0
$GC,7399,-0.61,-146.0,752.9,-8.0,635,7403,0.00,2.33,0.00,0.000,4,0.000,0.073,2694,1080,3628,0,0,0,0,0,0
$GC,7411,-0.66,-146.0,754.1,-8.0,635,7416,0.12,2.38,0.00,0.000,6,0.127,0.070,2652,2497,3628,0,0,0,0,0,0
$GC,7730,-0.60,-146.0,786.5,-10.2,646,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2497,3628,0,0,0,0,0,0
$GC,8036,-0.55,-146.0,818.3,-10.1,656,8041,0.12,2.42,0.00,0.000,4,0.205,0.088,2680,3909,3628,0,0,0,0,0,0
$GC,8066,-0.55,-146.0,821.2,-9.6,657,8070,0.00,2.30,0.00,0.000,6,0.000,0.058,2681,2480,3628,0,0,0,0,0,0
$GC,8402,-0.57,-146.0,848.7,-8.2,668,8406,0.00,2.30,0.00,0.000,4,0.000,0.075,2680,1079,3628,0,0,0,0,0,0
$GC,8413,-0.59,-146.0,849.8,-8.4,668,8422,0.00,2.35,0.00,0.000,6,0.000,0.072,2680,2491,3628,0,0,0,0,0,0
$STATE,8425,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8426,begin apogee
$GC,8432,-0.12,0.0,851.1,8.5,668,8569,0.45,0.00,131.18,1.470,6,0.177,0.000,2812,2266,3030,0,0,0,0,0,0
$STATE,8571,end apogee,CONTROL_FINISHED_OK
$STATE,8571,begin climb
$GC,8573,0.62,146.0,855.1,0.0,673,8726,0.82,2.80,142.12,1.416,4,0.135,0.076,3053,3687,2433,0,0,0,0,0,0
$GC,8922,0.62,146.0,819.5,31382.8,683,8929,0.00,2.45,0.00,0.000,6,0.000,0.067,3063,2280,2427,0,0,0,0,0,0
$GC,9236,0.62,146.0,783.0,31382.8,694,9240,0.00,2.38,0.00,0.000,4,0.000,0.080,3064,3692,2425,0,0,0,0,0,0
$GC,9408,0.62,146.0,760.6,31382.8,699,9413,0.00,2.35,0.00,0.000,6,0.000,0.067,3073,2268,2425,0,0,0,0,0,0
$GC,9744,0.62,146.0,718.9,31382.8,710,9749,0.00,2.35,0.00,0.000,4,0.000,0.083,3083,860,2424,0,0,0,0,0,0
$GC,9795,0.62,146.0,712.6,31382.8,711,9800,0.00,2.35,0.00,0.000,6,0.000,0.067,3083,2283,2423,0,0,0,0,0,0
$GC,10109,0.62,146.0,674.1,31382.8,721,10113,0.00,2.33,0.00,0.000,4,0.000,0.082,3083,3688,2423,0,0,0,0,0,0
$GC,10182,0.62,146.0,663.9,31382.8,723,10186,0.00,2.33,0.00,0.000,6,0.000,0.067,3093,2265,2423,0,0,0,0,0,0
$GC,10506,0.62,146.0,623.7,31382.8,734,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2265,2422,0,0,0,0,0,0
$GC,10816,0.62,146.0,586.6,31382.8,750,10818,0.12,0.00,0.00,0.000,6,0.205,0.000,3064,2265,2422,0,0,0,0,0,0
$GC,11134,0.62,146.0,554.0,31382.8,780,11139,0.00,2.38,0.00,0.000,4,0.000,0.084,3073,857,2422,0,0,0,0,0,0
$GC,11179,0.62,146.0,549.0,31382.8,783,11186,0.00,2.35,0.00,0.000,6,0.000,0.070,3073,2275,2422,0,0,0,0,0,0
$GC,11505,0.62,146.0,516.1,31382.8,814,11509,0.00,2.35,0.00,0.000,4,0.000,0.083,3073,3688,2422,0,0,0,0,0,0
$GC,11583,0.62,146.0,506.9,31382.8,820,11590,0.00,2.35,0.00,0.000,6,0.000,0.067,3083,2264,2422,0,0,0,0,0,0
$GC,11909,0.62,146.0,472.5,31382.8,851,11910,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2264,2421,0,0,0,0,0,0
$GC,12232,0.62,146.0,437.0,31382.8,881,12238,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2264,2422,0,0,0,0,0,0
$GC,12559,0.62,146.0,400.7,31382.8,912,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2264,2422,0,0,0,0,0,0
$GC,12890,0.62,146.0,365.5,31382.8,943,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2264,2421,0,0,0,0,0,0
$GC,13218,0.62,146.0,330.4,31382.8,974,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2264,2421,0,0,0,0,0,0
$GC,13548,0.62,146.0,295.8,31382.8,1005,13552,0.00,2.42,0.00,0.000,4,0.000,0.080,3082,3694,2421,0,0,0,0,0,0
$GC,13592,0.62,146.0,290.3,31382.8,1008,13600,0.00,2.35,0.00,0.000,6,0.000,0.066,3093,2269,2422,0,0,0,0,0,0
$GC,13918,0.62,146.0,256.0,31382.8,1039,13922,0.00,2.35,0.00,0.000,4,0.000,0.081,3104,857,2422,0,0,0,0,0,0
$GC,13985,0.62,146.0,248.7,31382.8,1044,13992,0.15,2.38,0.00,0.000,6,0.192,0.069,3068,2280,2422,0,0,0,0,0,0
$GC,14311,0.62,146.0,220.2,31382.8,1075,14315,0.00,2.35,0.00,0.000,4,0.000,0.082,3068,3687,2422,0,0,0,0,0,0
$GC,14396,0.62,146.0,211.8,31382.8,1082,14400,0.00,2.33,0.00,0.000,6,0.000,0.066,3077,2274,2422,0,0,0,0,0,0
$STATE,14698,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14698,begin subsurface finish
$FINISH1,183.9,1.027284,11
$GC,14705,0.01,10.6,183.9,-31382.8,1110,14718,0.70,2.45,-2.75,0.000,4,0.175,0.094,2879,863,2999,0,0,0,0,0,0
$FINISH2,182.5
$STATE,14718,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14719,begin surface
$RAFOS_CLK,807
$RAFOS,6,1306774153,16.833334,16.820278,159,62,58,56,49,47,574,210,180,157,121,141
$RAFOS,5,1306773663,16.700001,16.684166,132,64,59,56,55,55,612,222,191,207,132,166
$RAFOS,4,1306773208,16.566668,16.557777,128,61,60,60,59,58,589,176,191,158,135,201
$RAFOS,3,1306772724,16.433332,16.423334,57,55,51,50,50,47,184,216,232,123,200,1367
$RAFOS,2,1306772235,16.299999,16.287500,65,61,57,55,55,49,211,181,863,163,192,152
$RAFOS,1,1306771750,16.166666,16.152779,109,59,56,48,47,46,848,204,156,115,167,231
$RAFOS,0,1306771269,16.033333,16.019167,63,52,52,50,50,49,208,181,128,226,648,156
$RAFOS_FIX,6707.950684,-5811.694824,300511,161612,4,132,0.27
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,50.55
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.00
$XPDR_PINGS,6
$ALTIM_TOP_PING,20.5,20.8
$ALTIM_BOTTOM_PING,185.9,20.2
$24V_AH,20.7,96.266
$10V_AH,9.8,49.670
$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,4.575,123.700,273.300,0.000,0.000,0.000,0.000,0.000,4.750,0.000,0.000,2807.518,9414.817,360.684,1923.922,280.990,0.000,1390.479,0.000,1903.711,2520.000,24.888,0.000
$DEVICE_MAMPS,221.850,94.095,1469.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.674,861.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,43310,1111
$CAP_FILE_SIZE,141987,0
$CFSIZE,260165632,206360576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.2
$GPS,300511,163512,6707.951,-5811.695,0,4132.0,0,-37.6