version: 66.08
glider: 141
mission: 15
dive: 291
start: 4 3 111 19 47 9
data:
$ID,141
$MISSION,15
$DIVE,291
$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,23
$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
$GPS1,030411,164322,6702.866,-5820.020,0,3128.3,0,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.74
$_SM_ANGLEo,-1.7
$GPS2,030411,164322,6702.866,-5820.020,0,3128.3,0,-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,286.7,98563,-17.5,-10.000
$D_GRID,1122
$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,-6.95,0.000,2,0.000,0.000,2890,2278,3032,0,0,0,0,0,0
$GC,27,-0.62,-146.0,6.1,-0.0,1,58,0.62,1.92,-22.33,0.000,4,0.104,0.070,2670,1069,3628,0,0,0,0,0,0
$GC,222,-0.55,-146.0,32.5,-15.2,35,229,0.00,2.28,0.00,0.000,6,0.000,0.057,2670,2489,3629,0,0,0,0,0,0
$GC,568,-0.44,-146.0,90.2,-15.6,96,575,0.20,2.33,0.00,0.000,4,0.227,0.071,2717,3899,3628,0,0,0,0,0,0
$GC,645,-0.48,-146.0,98.9,-10.4,109,651,0.00,2.22,0.00,0.000,6,0.000,0.044,2717,2477,3629,0,0,0,0,0,0
$GC,977,-0.51,-146.0,131.6,-8.8,141,981,0.00,2.20,0.00,0.000,4,0.000,0.060,2717,1078,3627,0,0,0,0,0,0
$GC,1029,-0.57,-146.0,136.3,-9.1,145,1034,0.12,2.28,0.00,0.000,6,0.134,0.058,2678,2491,3627,0,0,0,0,0,0
$GC,1354,-0.52,-146.0,177.8,-12.9,175,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2491,3627,0,0,0,0,0,0
$GC,1674,-0.48,-146.0,216.7,-12.9,205,1676,0.12,0.00,0.00,0.000,6,0.233,0.000,2704,2492,3626,0,0,0,0,0,0
$GC,1993,-0.51,-146.0,249.3,-9.6,235,1997,0.00,2.22,0.00,0.000,4,0.000,0.060,2705,1084,3625,0,0,0,0,0,0
$GC,2022,-0.56,-146.0,252.1,-10.0,237,2026,0.00,1.80,0.00,0.000,6,0.000,0.056,2705,2202,3626,0,0,0,0,0,0
$GC,2353,-0.62,-146.0,282.3,-8.9,268,2358,0.12,1.83,0.00,0.000,4,0.125,0.060,2661,1080,3626,0,0,0,0,0,0
$GC,2612,-0.59,-146.0,313.4,-12.0,291,2616,0.00,2.25,0.00,0.000,6,0.000,0.057,2660,2492,3626,0,0,0,0,0,0
$GC,2937,-0.53,-146.0,353.1,-11.9,321,2939,0.12,0.00,0.00,0.000,6,0.224,0.000,2688,2491,3626,0,0,0,0,0,0
$GC,3255,-0.53,-146.0,383.7,-9.5,351,3259,0.00,2.30,0.00,0.000,4,0.000,0.072,2688,3902,3627,0,0,0,0,0,0
$GC,3300,-0.58,-146.0,387.9,-9.0,354,3307,0.00,2.17,0.00,0.000,6,0.000,0.043,2689,2484,3626,0,0,0,0,0,0
$GC,3627,-0.61,-146.0,417.2,-8.9,385,3631,0.00,2.17,0.00,0.000,4,0.000,0.057,2689,1086,3627,0,0,0,0,0,0
$GC,3661,-0.64,-146.0,420.6,-9.1,387,3668,0.00,2.25,0.00,0.000,6,0.000,0.056,2689,2495,3627,0,0,0,0,0,0
$GC,3989,-0.67,-146.0,449.0,-8.6,418,3993,0.12,2.30,0.00,0.000,4,0.124,0.073,2645,3905,3626,0,0,0,0,0,0
$GC,4033,-0.61,-146.0,454.1,-11.7,421,4040,0.00,2.17,0.00,0.000,6,0.000,0.044,2645,2492,3626,0,0,0,0,0,0
$GC,4360,-0.53,-146.0,492.5,-11.8,452,4364,0.17,2.22,0.00,0.000,4,0.210,0.057,2688,1084,3627,0,0,0,0,0,0
$GC,4412,-0.59,-146.0,497.7,-8.4,456,4416,0.00,2.25,0.00,0.000,6,0.000,0.056,2688,2490,3627,0,0,0,0,0,0
$GC,4737,-0.62,-146.0,524.8,-8.0,486,4741,0.00,2.33,0.00,0.000,4,0.000,0.074,2688,3905,3627,0,0,0,0,0,0
$GC,4777,-0.68,-146.0,528.2,-8.8,489,4785,0.12,2.20,0.00,0.000,6,0.124,0.044,2645,2489,3627,0,0,0,0,0,0
$GC,5103,-0.60,-146.0,565.6,-11.7,520,5107,0.00,2.20,0.00,0.000,4,0.000,0.057,2645,1077,3627,0,0,0,0,0,0
$GC,5154,-0.57,-146.0,571.7,-11.6,524,5158,0.12,2.25,0.00,0.000,6,0.221,0.057,2673,2489,3627,0,0,0,0,0,0
$GC,5483,-0.57,-146.0,603.1,-9.6,553,5487,0.00,2.28,0.00,0.000,4,0.000,0.073,2674,3899,3628,0,0,0,0,0,0
$GC,5539,-0.60,-146.0,608.6,-9.3,554,5546,0.00,2.17,0.00,0.000,6,0.000,0.044,2674,2482,3628,0,0,0,0,0,0
$GC,5852,-0.60,-146.0,637.0,-9.1,565,5856,0.00,2.17,0.00,0.000,4,0.000,0.058,2673,1086,3628,0,0,0,0,0,0
$GC,5887,-0.60,-146.0,640.3,-10.0,566,5891,0.00,2.22,0.00,0.000,6,0.000,0.057,2673,2489,3628,0,0,0,0,0,0
$GC,6222,-0.60,-146.0,670.7,-8.9,577,6226,0.00,2.30,0.00,0.000,4,0.000,0.074,2674,3899,3627,0,0,0,0,0,0
$GC,6286,-0.64,-146.0,676.3,-9.2,579,6290,0.00,2.20,0.00,0.000,6,0.000,0.044,2673,2482,3627,0,0,0,0,0,0
$GC,6621,-0.64,-146.0,705.9,-8.9,590,6625,0.00,2.17,0.00,0.000,4,0.000,0.058,2673,1085,3628,0,0,0,0,0,0
$GC,6659,-0.64,-146.0,709.7,-9.3,591,6663,0.00,2.22,0.00,0.000,6,0.000,0.058,2673,2489,3628,0,0,0,0,0,0
$GC,6991,-0.64,-146.0,738.0,-8.5,602,6995,0.00,2.30,0.00,0.000,4,0.000,0.074,2673,3903,3628,0,0,0,0,0,0
$GC,7046,-0.69,-146.0,743.1,-8.8,603,7053,0.00,2.20,0.00,0.000,6,0.000,0.044,2673,2487,3628,0,0,0,0,0,0
$GC,7359,-0.69,-146.0,769.3,-8.3,614,7363,0.00,2.22,0.00,0.000,4,0.000,0.057,2673,1073,3628,0,0,0,0,0,0
$GC,7398,-0.71,-146.0,772.8,-8.9,615,7403,0.12,2.25,0.00,0.000,6,0.127,0.057,2633,2490,3628,0,0,0,0,0,0
$GC,7721,-0.63,-146.0,808.4,-11.3,626,7726,0.00,2.33,0.00,0.000,4,0.000,0.075,2633,3900,3627,0,0,0,0,0,0
$GC,7760,-0.56,-146.0,812.9,-11.1,627,7765,0.12,2.22,0.00,0.000,6,0.188,0.044,2680,2489,3627,0,0,0,0,0,0
$GC,8096,-0.60,-146.0,839.7,-8.1,638,8100,0.00,2.20,0.00,0.000,4,0.000,0.057,2680,1079,3627,0,0,0,0,0,0
$GC,8128,-0.64,-146.0,842.6,-9.0,639,8132,0.00,2.25,0.00,0.000,6,0.000,0.057,2680,2489,3628,0,0,0,0,0,0
$GC,8459,-0.68,-146.0,868.8,-8.0,650,8464,0.12,2.33,0.00,0.000,4,0.129,0.074,2637,3899,3627,0,0,0,0,0,0
$GC,8523,-0.63,-146.0,875.5,-11.4,652,8527,0.00,2.17,0.00,0.000,6,0.000,0.046,2637,2489,3627,0,0,0,0,0,0
$GC,8859,-0.57,-146.0,913.8,-11.4,663,8861,0.17,0.00,0.00,0.000,6,0.210,0.000,2679,2489,3627,0,0,0,0,0,0
$GC,9165,-0.60,-146.0,939.3,-8.3,673,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2489,3628,0,0,0,0,0,0
$GC,9472,-0.64,-146.0,964.5,-8.3,683,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2489,3628,0,0,0,0,0,0
$GC,9778,-0.68,-146.0,989.1,-7.9,693,9783,0.12,2.33,0.00,0.000,4,0.138,0.071,2637,3899,3628,0,0,0,0,0,0
$STATE,9786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9786,begin apogee
$GC,9793,-0.12,0.0,990.2,7.8,693,9928,0.62,0.00,126.82,1.554,6,0.198,0.000,2810,2275,3029,0,0,0,0,0,0
$STATE,9928,end apogee,CONTROL_FINISHED_OK
$STATE,9928,begin climb
$GC,9930,0.62,146.0,994.0,0.0,697,10073,0.80,2.55,134.35,1.513,4,0.135,0.063,3060,872,2433,0,0,0,0,0,0
$GC,10123,0.54,146.0,978.2,12.4,703,10130,0.00,2.45,0.00,0.000,6,0.000,0.052,3060,2276,2428,0,0,0,0,0,0
$GC,10436,0.45,146.0,939.5,12.5,714,10441,0.17,2.40,0.00,0.000,4,0.187,0.069,3016,3693,2425,0,0,0,0,0,0
$GC,10499,0.40,146.0,932.3,11.8,716,10504,0.12,2.33,0.00,0.000,6,0.198,0.053,2997,2277,2424,0,0,0,0,0,0
$GC,10835,0.46,175.5,902.8,8.6,727,10864,0.00,0.00,25.95,1.407,6,0.000,0.000,2998,2277,2314,0,0,0,0,0,0
$GC,11171,0.51,188.1,872.1,9.4,738,11185,0.00,0.00,12.25,1.317,6,0.000,0.000,2997,2276,2263,0,0,0,0,0,0
$GC,11477,0.58,200.9,843.4,9.4,748,11496,0.15,2.38,13.00,1.318,4,0.096,0.067,3074,862,2210,0,0,0,0,0,0
$GC,11513,0.50,200.9,838.6,12.9,749,11518,0.17,2.28,0.00,0.000,6,0.192,0.052,3030,2282,2209,0,0,0,0,0,0
$GC,11849,0.50,200.9,798.6,11.8,760,11853,0.00,2.28,0.00,0.000,4,0.000,0.068,3030,3693,2207,0,0,0,0,0,0
$GC,11893,0.47,200.9,792.7,12.7,761,11897,0.00,2.30,0.00,0.000,6,0.000,0.052,3038,2264,2207,0,0,0,0,0,0
$GC,12217,0.44,200.9,752.0,12.5,772,12222,0.12,2.25,0.00,0.000,4,0.192,0.065,3017,864,2207,0,0,0,0,0,0
$GC,12251,0.48,200.9,748.1,11.2,773,12256,0.00,2.25,0.00,0.000,6,0.000,0.054,3016,2281,2205,0,0,0,0,0,0
$GC,12587,0.50,200.9,713.0,10.2,784,12591,0.00,2.28,0.00,0.000,4,0.000,0.068,3017,3685,2205,0,0,0,0,0,0
$GC,12616,0.50,200.9,709.7,12.0,785,12620,0.00,2.28,0.00,0.000,6,0.000,0.052,3027,2261,2205,0,0,0,0,0,0
$GC,12950,0.50,200.9,672.9,10.8,796,12954,0.00,2.25,0.00,0.000,4,0.000,0.064,3037,858,2205,0,0,0,0,0,0
$GC,12970,0.50,200.9,670.5,10.2,796,12975,0.00,2.28,0.00,0.000,6,0.000,0.053,3037,2271,2204,0,0,0,0,0,0
$GC,13290,0.50,200.9,634.3,11.6,807,13294,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3696,2204,0,0,0,0,0,0
$GC,13334,0.46,200.9,628.6,13.4,808,13338,0.10,2.28,0.00,0.000,6,0.175,0.051,3010,2279,2204,0,0,0,0,0,0
$GC,13664,0.52,214.2,597.6,9.4,819,13686,0.00,2.33,12.55,1.206,4,0.000,0.063,3017,865,2155,0,0,0,0,0,0
$GC,13714,0.62,234.1,592.7,9.1,823,13744,0.12,2.28,20.05,1.241,6,0.111,0.051,3072,2284,2074,0,0,0,0,0,0
$GC,14061,0.55,234.1,542.3,14.5,856,14066,0.12,2.30,0.00,0.000,4,0.185,0.066,3041,3685,2070,0,0,0,0,0,0
$GC,14106,0.55,234.1,535.9,13.5,860,14110,0.00,2.28,0.00,0.000,6,0.000,0.051,3049,2269,2069,0,0,0,0,0,0
$GC,14431,0.52,234.1,494.3,12.6,890,14435,0.00,2.22,0.00,0.000,4,0.000,0.062,3059,865,2069,0,0,0,0,0,0
$GC,14460,0.52,234.1,490.6,11.9,892,14464,0.00,2.22,0.00,0.000,6,0.000,0.051,3059,2276,2067,0,0,0,0,0,0
$GC,14785,0.49,234.1,446.3,13.6,922,14790,0.15,2.28,0.00,0.000,4,0.184,0.066,3020,3692,2067,0,0,0,0,0,0
$GC,14830,0.52,234.1,440.7,11.4,926,14834,0.00,2.25,0.00,0.000,6,0.000,0.050,3028,2274,2067,0,0,0,0,0,0
$GC,15155,0.55,234.1,405.0,10.7,956,15159,0.00,2.25,0.00,0.000,4,0.000,0.062,3039,862,2067,0,0,0,0,0,0
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$STATE,18588,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18588,begin surface
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,53236,1337
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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