version: 66.08
glider: 141
mission: 15
dive: 722
start: 6 1 111 5 31 50
data:
$ID,141
$MISSION,15
$DIVE,722
$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,-51583.66
$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,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
$GPS1,010611,043512,6713.157,-5742.077,0,4098.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,12.1
$GPS2,010611,043512,6713.157,-5742.077,0,4098.2,0,-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,153.3,43345,-17.5,-10.000
$D_GRID,740
$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,-146.0,0.0,0.0,0,127,0.00,0.40,-106.53,0.000,6,0.000,0.147,3121,2495,3626,0,0,0,0,0,0
$GC,133,-0.62,-146.0,5.2,-7.8,19,140,1.40,2.30,0.00,0.000,4,0.128,0.065,2672,1079,3627,0,0,0,0,0,0
$GC,211,-0.54,-146.0,15.4,-15.8,32,218,0.00,2.30,0.00,0.000,6,0.000,0.064,2673,2485,3628,0,0,0,0,0,0
$GC,558,-0.42,-146.0,74.6,-16.8,93,565,0.20,2.38,0.00,0.000,4,0.221,0.080,2722,3904,3626,0,0,0,0,0,0
$GC,579,-0.33,-146.0,78.1,-15.6,96,587,0.12,2.25,0.00,0.000,6,0.201,0.053,2752,2480,3627,0,0,0,0,0,0
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$GC,1288,-0.49,-146.0,150.2,-12.0,183,1292,0.00,2.40,0.00,0.000,4,0.000,0.085,2690,3907,3623,0,0,0,0,0,0
$GC,1329,-0.49,-146.0,155.1,-12.4,186,1333,0.00,2.25,0.00,0.000,6,0.000,0.056,2690,2492,3623,0,0,0,0,0,0
$GC,1655,-0.46,-146.0,191.6,-10.8,216,1659,0.00,2.30,0.00,0.000,4,0.000,0.072,2690,1076,3622,0,0,0,0,0,0
$GC,1685,-0.46,-146.0,194.8,-11.4,218,1689,0.00,2.33,0.00,0.000,6,0.000,0.068,2690,2496,3621,0,0,0,0,0,0
$GC,2011,-0.46,-146.0,230.0,-10.9,248,2015,0.00,2.38,0.00,0.000,4,0.000,0.083,2690,3906,3621,0,0,0,0,0,0
$GC,2040,-0.46,-146.0,233.0,-10.8,250,2044,0.00,2.25,0.00,0.000,6,0.000,0.052,2690,2482,3621,0,0,0,0,0,0
$GC,2366,-0.46,-146.0,266.3,-9.9,280,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2482,3621,0,0,0,0,0,0
$GC,2688,-0.46,-146.0,297.3,-9.5,310,2692,0.00,2.35,0.00,0.000,4,0.000,0.076,2690,3902,3621,0,0,0,0,0,0
$GC,2720,-0.46,-146.0,300.4,-9.5,312,2724,0.00,2.22,0.00,0.000,6,0.000,0.048,2690,2479,3621,0,0,0,0,0,0
$GC,3046,-0.46,-146.0,330.9,-9.6,342,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2479,3622,0,0,0,0,0,0
$GC,3367,-0.46,-146.0,362.2,-9.9,372,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2479,3624,0,0,0,0,0,0
$GC,3695,-0.46,-146.0,394.1,-9.7,403,3699,0.00,2.22,0.00,0.000,4,0.000,0.062,2690,1072,3624,0,0,0,0,0,0
$GC,3706,-0.46,-146.0,395.4,-9.8,403,3713,0.00,2.28,0.00,0.000,6,0.000,0.058,2690,2495,3624,0,0,0,0,0,0
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$GC,4066,-0.50,-146.0,426.9,-8.3,436,4073,0.00,2.25,0.00,0.000,6,0.000,0.054,2690,2478,3625,0,0,0,0,0,0
$GC,4392,-0.50,-146.0,456.7,-9.1,467,4396,0.00,2.35,0.00,0.000,4,0.000,0.070,2690,3900,3625,0,0,0,0,0,0
$GC,4402,-0.50,-146.0,457.8,-8.8,467,4409,0.00,2.20,0.00,0.000,6,0.000,0.044,2690,2489,3626,0,0,0,0,0,0
$GC,4729,-0.50,-146.0,486.8,-8.6,498,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2489,3627,0,0,0,0,0,0
$GC,5050,-0.50,-146.0,513.8,-9.0,528,5054,0.00,2.33,0.00,0.000,4,0.000,0.069,2689,3908,3627,0,0,0,0,0,0
$GC,5060,-0.50,-146.0,515.0,-8.4,528,5067,0.00,2.22,0.00,0.000,6,0.000,0.043,2689,2481,3627,0,0,0,0,0,0
$GC,5386,-0.50,-146.0,542.7,-8.6,559,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2481,3628,0,0,0,0,0,0
$GC,5707,-0.50,-146.0,569.5,-8.7,589,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2481,3628,0,0,0,0,0,0
$GC,6037,-0.50,-146.0,598.4,-8.7,620,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2481,3628,0,0,0,0,0,0
$GC,6362,-0.50,-146.0,627.4,-8.9,632,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2481,3629,0,0,0,0,0,0
$GC,6668,-0.50,-146.0,654.9,-8.9,642,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2481,3629,0,0,0,0,0,0
$GC,6975,-0.53,-146.0,681.9,-8.7,652,6979,0.00,2.22,0.00,0.000,4,0.000,0.061,2690,1074,3629,0,0,0,0,0,0
$GC,6987,-0.55,-146.0,683.1,-8.8,652,6991,0.00,2.28,0.00,0.000,6,0.000,0.059,2690,2492,3629,0,0,0,0,0,0
$STATE,7278,end dive,NO_VERTICAL_VELOCITY
$STATE,7278,begin apogee
$GC,7285,-0.12,0.0,686.8,0.0,662,7420,0.38,0.00,126.38,1.323,6,0.125,0.000,2817,2266,3030,0,0,0,0,0,0
$STATE,7421,end apogee,CONTROL_FINISHED_OK
$STATE,7421,begin climb
$GC,7423,0.62,146.0,686.8,0.0,666,7571,0.75,2.62,133.02,1.278,4,0.121,0.069,3062,876,2433,0,0,0,0,0,0
$GC,7583,0.64,182.3,681.4,8.3,671,7625,0.00,2.50,35.58,1.220,6,0.000,0.054,3063,2281,2286,0,0,0,0,0,0
$GC,7948,0.60,182.3,641.5,10.8,683,7952,0.00,2.30,0.00,0.000,4,0.000,0.070,3062,3696,2278,0,0,0,0,0,0
$GC,7997,0.53,182.3,634.7,12.4,684,8002,0.15,2.25,0.00,0.000,6,0.184,0.056,3035,2284,2277,0,0,0,0,0,0
$GC,8311,0.58,203.1,606.1,9.0,694,8335,0.00,2.38,17.85,1.174,4,0.000,0.072,3043,874,2201,0,0,0,0,0,0
$GC,8379,0.64,213.3,600.1,9.5,696,8395,0.00,2.25,10.80,1.103,6,0.000,0.056,3043,2285,2160,0,0,0,0,0,0
$GC,8715,0.64,213.3,564.9,10.6,726,8720,0.00,2.28,0.00,0.000,4,0.000,0.072,3043,3695,2157,0,0,0,0,0,0
$GC,8773,0.64,213.3,558.4,12.0,731,8777,0.00,2.25,0.00,0.000,6,0.000,0.057,3053,2276,2156,0,0,0,0,0,0
$GC,9099,0.64,213.3,521.1,11.6,761,9103,0.00,2.30,0.00,0.000,4,0.000,0.071,3064,862,2155,0,0,0,0,0,0
$GC,9155,0.64,213.3,514.7,11.6,765,9161,0.00,2.28,0.00,0.000,6,0.000,0.056,3064,2282,2155,0,0,0,0,0,0
$GC,9480,0.60,213.3,475.6,12.0,796,9484,0.00,2.28,0.00,0.000,4,0.000,0.071,3064,3696,2155,0,0,0,0,0,0
$GC,9548,0.55,213.3,466.5,13.5,801,9556,0.12,2.28,0.00,0.000,6,0.193,0.055,3044,2276,2154,0,0,0,0,0,0
$GC,9874,0.55,213.3,432.3,10.6,832,9878,0.00,2.30,0.00,0.000,4,0.000,0.070,3053,864,2154,0,0,0,0,0,0
$GC,9947,0.59,219.5,424.8,9.7,838,9958,0.00,2.25,5.93,0.888,6,0.000,0.054,3053,2277,2135,0,0,0,0,0,0
$GC,10279,0.59,219.5,389.1,11.0,869,10283,0.00,2.28,0.00,0.000,4,0.000,0.069,3053,3683,2135,0,0,0,0,0,0
$GC,10358,0.59,219.5,379.4,12.6,876,10362,0.00,2.25,0.00,0.000,6,0.000,0.055,3063,2263,2134,0,0,0,0,0,0
$GC,10689,0.59,219.5,340.0,12.5,907,10693,0.00,2.28,0.00,0.000,4,0.000,0.068,3074,858,2134,0,0,0,0,0,0
$GC,10766,0.59,219.5,329.6,13.5,913,10774,0.00,2.25,0.00,0.000,6,0.000,0.054,3074,2275,2134,0,0,0,0,0,0
$GC,11093,0.56,219.5,285.5,13.5,944,11098,0.12,2.30,0.00,0.000,4,0.177,0.067,3041,3685,2134,0,0,0,0,0,0
$GC,11149,0.58,219.5,278.0,11.9,948,11156,0.00,2.25,0.00,0.000,6,0.000,0.053,3049,2268,2134,0,0,0,0,0,0
$GC,11474,0.58,219.5,243.3,11.0,979,11478,0.00,2.25,0.00,0.000,4,0.000,0.067,3059,868,2135,0,0,0,0,0,0
$GC,11546,0.62,219.5,235.2,11.2,985,11553,0.00,2.25,0.00,0.000,6,0.000,0.052,3059,2285,2134,0,0,0,0,0,0
$GC,11872,0.62,219.5,195.8,12.2,1016,11876,0.00,2.25,0.00,0.000,4,0.000,0.067,3059,3694,2134,0,0,0,0,0,0
$GC,11928,0.62,219.5,188.4,13.3,1020,11935,0.00,2.22,0.00,0.000,6,0.000,0.050,3069,2277,2135,0,0,0,0,0,0
$GC,12254,0.62,219.5,150.6,10.9,1051,12258,0.00,2.28,0.00,0.000,4,0.000,0.066,3080,866,2134,0,0,0,0,0,0
$GC,12339,0.62,219.5,141.6,10.2,1058,12343,0.00,2.25,0.00,0.000,6,0.000,0.052,3080,2284,2135,0,0,0,0,0,0
$GC,12665,0.62,219.5,106.4,11.2,1088,12669,0.00,2.25,0.00,0.000,4,0.000,0.066,3080,3683,2135,0,0,0,0,0,0
$GC,12734,0.59,219.5,97.7,13.0,1095,12741,0.12,2.22,0.00,0.000,6,0.188,0.050,3060,2264,2135,0,0,0,0,0,0
$GC,13083,0.73,282.0,68.1,7.1,1156,13150,0.12,2.35,57.05,0.914,4,0.103,0.068,3126,842,1879,0,0,0,0,0,0
$GC,13214,0.73,282.0,53.4,12.2,1178,13221,0.00,2.30,0.00,0.000,6,0.000,0.062,3125,2277,1876,0,0,0,0,0,0
$GC,13562,0.73,282.0,12.0,12.2,1239,13569,0.00,2.28,0.00,0.000,4,0.000,0.079,3126,3686,1872,0,0,0,0,0,0
$FREEZE,8.50,-1.475,-1.809,2,85,1
$FREEZE,7.80,-1.494,-1.808,2,85,1
$FREEZE,7.19,-1.489,-1.808,2,85,1
$STATE,13596,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13596,begin subsurface finish
$FINISH1,7.2,1.026469,51
$GC,13606,0.06,50.5,7.2,-13.0,1245,13649,0.80,0.00,-38.08,0.000,6,0.161,0.000,2893,2273,2825,0,0,0,0,0,0
$FINISH2,5.6
$STATE,13650,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13650,begin surface
$RAFOS_CLK,705
$RAFOS,6,1306918147,8.833333,8.818611,154,64,59,59,54,54,693,184,220,164,152,203
$RAFOS,5,1306917665,8.700000,8.684722,102,61,58,55,53,50,607,127,160,151,203,213
$RAFOS,4,1306917187,8.566667,8.551945,127,72,58,57,52,52,798,205,151,193,166,134
$RAFOS,3,1306916709,8.433333,8.419167,67,59,55,54,52,50,189,209,222,149,176,137
$RAFOS,2,1306916227,8.300000,8.285277,63,60,60,56,55,55,146,198,219,210,176,115
$RAFOS,1,1306915747,8.166667,8.151944,68,58,57,55,53,49,209,191,170,138,1092,224
$RAFOS,0,1306915268,8.033334,8.018888,59,59,58,57,53,53,152,210,189,198,116,131
$RAFOS_FIX,6712.505859,-5738.794922,010611,080822,3,128,0.18
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.6,17.4
$24V_AH,21.4,97.569
$10V_AH,9.8,50.430
$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,4.475,129.000,386.600,0.000,0.000,0.000,0.000,0.000,10.250,0.000,0.000,3029.455,7794.323,535.227,2065.605,291.055,0.000,1661.928,0.000,2048.312,2520.000,16.761,0.000
$DEVICE_MAMPS,221.085,146.880,1322.685,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,885.851,945.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,50036,1252
$CAP_FILE_SIZE,143034,0
$CFSIZE,260165632,205639680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.7
$GPS,010611,084322,6712.506,-5738.795,0,3127.7,0,-37.6