version: 66.08
glider: 141
mission: 15
dive: 403
start: 4 14 111 3 55 34
data:
$ID,141
$MISSION,15
$DIVE,403
$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,-2
$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,-38475.41
$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,19
$R_STBD_OVSHOOT,22
$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
$GPS1,140411,003512,6719.392,-5955.638,0,4124.2,0,-38.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.66
$_SM_ANGLEo,-1.2
$GPS2,140411,003512,6719.392,-5955.638,0,4124.2,0,-38.9
$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,141.5,138861,-17.5,-10.000
$D_GRID,1188
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.47,0.000,2,0.000,0.000,2895,3684,3006,0,0,0,0,0,0
$GC,26,-0.62,-146.0,11.9,-0.0,1,52,0.65,4.28,-15.30,0.000,4,0.106,0.069,2668,1065,3629,0,0,0,0,0,0
$GC,98,-0.53,-146.0,21.6,-17.4,13,105,0.00,2.30,0.00,0.000,6,0.000,0.068,2668,2490,3630,0,0,0,0,0,0
$GC,443,-0.41,-146.0,80.1,-16.4,74,450,0.22,2.33,0.00,0.000,4,0.220,0.069,2723,1070,3630,0,0,0,0,0,0
$GC,539,-0.47,-146.0,90.9,-10.0,90,546,0.00,2.33,0.00,0.000,6,0.000,0.067,2723,2497,3630,0,0,0,0,0,0
$GC,877,-0.52,-146.0,124.9,-9.7,129,880,0.00,2.33,0.00,0.000,4,0.000,0.084,2723,3905,3630,0,0,0,0,0,0
$GC,938,-0.59,-146.0,131.2,-9.6,134,945,0.15,2.28,0.00,0.000,6,0.121,0.054,2673,2473,3630,0,0,0,0,0,0
$GC,1263,-0.52,-146.0,174.2,-12.0,165,1267,0.00,2.38,0.00,0.000,4,0.000,0.080,2673,3899,3628,0,0,0,0,0,0
$GC,1293,-0.46,-146.0,177.8,-12.4,167,1300,0.15,2.25,0.00,0.000,6,0.211,0.054,2707,2484,3629,0,0,0,0,0,0
$GC,1619,-0.51,-146.0,205.2,-8.4,198,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2484,3628,0,0,0,0,0,0
$GC,1937,-0.56,-146.0,231.8,-8.7,228,1941,0.00,2.25,0.00,0.000,4,0.000,0.071,2707,1081,3628,0,0,0,0,0,0
$GC,1947,-0.61,-146.0,232.8,-8.5,228,1955,0.12,2.30,0.00,0.000,6,0.137,0.067,2667,2489,3628,0,0,0,0,0,0
$GC,2273,-0.57,-146.0,272.4,-12.3,259,2276,0.00,2.35,0.00,0.000,4,0.000,0.084,2667,3903,3627,0,0,0,0,0,0
$GC,2311,-0.57,-146.0,277.1,-11.8,262,2318,0.00,2.22,0.00,0.000,6,0.000,0.054,2667,2489,3627,0,0,0,0,0,0
$GC,2637,-0.54,-146.0,315.6,-11.4,293,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2488,3627,0,0,0,0,0,0
$GC,2958,-0.51,-146.0,350.8,-10.9,323,2963,0.12,2.25,0.00,0.000,4,0.216,0.067,2696,1081,3627,0,0,0,0,0,0
$GC,2968,-0.49,-146.0,352.4,-10.9,323,2975,0.00,2.28,0.00,0.000,6,0.000,0.065,2696,2498,3627,0,0,0,0,0,0
$GC,3295,-0.54,-146.0,379.2,-8.1,354,3299,0.00,2.30,0.00,0.000,4,0.000,0.081,2696,3900,3627,0,0,0,0,0,0
$GC,3325,-0.61,-146.0,381.6,-7.8,356,3329,0.00,2.22,0.00,0.000,6,0.000,0.050,2696,2478,3627,0,0,0,0,0,0
$GC,3656,-0.67,-146.0,407.0,-7.0,387,3658,0.15,0.00,0.00,0.000,6,0.122,0.000,2645,2477,3628,0,0,0,0,0,0
$GC,3974,-0.59,-146.0,442.8,-11.6,417,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2477,3628,0,0,0,0,0,0
$GC,4296,-0.51,-146.0,480.2,-11.7,447,4302,0.20,0.00,0.00,0.000,6,0.207,0.000,2694,2477,3629,0,0,0,0,0,0
$GC,4621,-0.56,-146.0,506.7,-7.9,478,4625,0.00,2.22,0.00,0.000,4,0.000,0.066,2694,1083,3629,0,0,0,0,0,0
$GC,4632,-0.61,-146.0,507.7,-7.5,478,4639,0.00,2.30,0.00,0.000,6,0.000,0.063,2694,2500,3629,0,0,0,0,0,0
$GC,4958,-0.67,-146.0,532.2,-7.5,509,4960,0.15,0.00,0.00,0.000,6,0.116,0.000,2641,2501,3629,0,0,0,0,0,0
$GC,5276,-0.59,-146.0,567.7,-11.3,539,5278,0.12,0.00,0.00,0.000,6,0.212,0.000,2669,2501,3629,0,0,0,0,0,0
$GC,5596,-0.59,-146.0,597.7,-9.4,569,5600,0.00,2.30,0.00,0.000,4,0.000,0.080,2668,3904,3630,0,0,0,0,0,0
$GC,5628,-0.59,-146.0,600.5,-9.2,571,5632,0.00,2.20,0.00,0.000,6,0.000,0.050,2669,2486,3630,0,0,0,0,0,0
$GC,5964,-0.59,-146.0,631.6,-9.0,582,5968,0.00,2.25,0.00,0.000,4,0.000,0.064,2669,1071,3630,0,0,0,0,0,0
$GC,5973,-0.59,-146.0,632.6,-8.9,582,5977,0.00,2.28,0.00,0.000,6,0.000,0.063,2669,2495,3630,0,0,0,0,0,0
$GC,6304,-0.59,-146.0,662.1,-8.8,593,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2495,3630,0,0,0,0,0,0
$GC,6610,-0.59,-146.0,689.3,-8.9,603,6614,0.00,2.30,0.00,0.000,4,0.000,0.080,2669,3900,3631,0,0,0,0,0,0
$GC,6639,-0.59,-146.0,692.0,-9.2,604,6643,0.00,2.22,0.00,0.000,6,0.000,0.050,2669,2489,3630,0,0,0,0,0,0
$GC,6975,-0.59,-146.0,720.9,-8.7,615,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2489,3630,0,0,0,0,0,0
$GC,7281,-0.59,-146.0,747.4,-8.6,625,7285,0.00,2.22,0.00,0.000,4,0.000,0.063,2669,1076,3630,0,0,0,0,0,0
$GC,7292,-0.59,-146.0,748.5,-8.6,625,7296,0.00,2.28,0.00,0.000,6,0.000,0.063,2669,2498,3631,0,0,0,0,0,0
$GC,7610,-0.59,-146.0,776.3,-8.8,636,7614,0.00,2.30,0.00,0.000,4,0.000,0.080,2669,3904,3631,0,0,0,0,0,0
$GC,7626,-0.59,-146.0,777.7,-8.4,636,7630,0.00,2.20,0.00,0.000,6,0.000,0.050,2669,2489,3631,0,0,0,0,0,0
$GC,7938,-0.59,-146.0,804.8,-8.6,646,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2489,3631,0,0,0,0,0,0
$GC,8245,-0.59,-146.0,831.1,-8.8,656,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2488,3631,0,0,0,0,0,0
$GC,8552,-0.59,-146.0,858.0,-8.8,666,8556,0.00,2.22,0.00,0.000,4,0.000,0.063,2669,1079,3631,0,0,0,0,0,0
$GC,8562,-0.59,-146.0,859.2,-8.8,666,8566,0.00,2.28,0.00,0.000,6,0.000,0.063,2669,2498,3631,0,0,0,0,0,0
$GC,8887,-0.61,-146.0,887.0,-8.6,677,8891,0.00,2.30,0.00,0.000,4,0.000,0.079,2669,3902,3631,0,0,0,0,0,0
$GC,8902,-0.61,-146.0,888.5,-8.6,677,8906,0.00,2.20,0.00,0.000,6,0.000,0.050,2669,2485,3631,0,0,0,0,0,0
$GC,9221,-0.64,-146.0,915.3,-8.4,688,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2485,3631,0,0,0,0,0,0
$GC,9528,-0.66,-146.0,939.9,-8.0,698,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2485,3630,0,0,0,0,0,0
$GC,9834,-0.68,-146.0,964.1,-8.0,708,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2485,3631,0,0,0,0,0,0
$GC,10140,-0.71,-146.0,988.2,-7.8,718,10142,0.12,0.00,0.00,0.000,6,0.132,0.000,2627,2484,3631,0,0,0,0,0,0
$STATE,10168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10168,begin apogee
$GC,10173,-0.12,0.0,991.3,8.3,719,10307,0.68,0.00,128.82,1.558,6,0.206,0.000,2812,2265,3030,0,0,0,0,0,0
$STATE,10308,end apogee,CONTROL_FINISHED_OK
$STATE,10308,begin climb
$GC,10310,0.62,146.0,994.8,0.0,723,10455,0.80,2.58,137.05,1.508,4,0.132,0.071,3062,879,2433,0,0,0,0,0,0
$GC,10515,0.54,146.0,977.7,12.1,730,10519,0.00,2.45,0.00,0.000,6,0.000,0.057,3062,2279,2429,0,0,0,0,0,0
$GC,10850,0.46,146.0,935.9,12.2,741,10855,0.17,2.38,0.00,0.000,4,0.188,0.074,3017,3690,2425,0,0,0,0,0,0
$GC,10939,0.41,146.0,925.0,12.1,743,10946,0.00,2.33,0.00,0.000,6,0.000,0.059,3025,2280,2424,0,0,0,0,0,0
$GC,11253,0.39,146.0,893.0,10.2,754,11255,0.12,0.00,0.00,0.000,6,0.186,0.000,2996,2279,2424,0,0,0,0,0,0
$GC,11559,0.47,182.7,867.1,8.3,764,11597,0.00,2.45,32.28,1.414,4,0.000,0.073,2995,3693,2285,0,0,0,0,0,0
$GC,11622,0.53,197.0,861.6,9.3,766,11642,0.10,2.33,14.68,1.323,6,0.119,0.058,3042,2273,2227,0,0,0,0,0,0
$GC,11962,0.53,197.0,822.0,11.7,777,11966,0.00,2.30,0.00,0.000,4,0.000,0.073,3053,862,2221,0,0,0,0,0,0
$GC,12005,0.53,197.0,816.5,12.1,778,12010,0.00,2.33,0.00,0.000,6,0.000,0.058,3053,2293,2220,0,0,0,0,0,0
$GC,12330,0.51,197.0,776.0,12.4,789,12334,0.00,2.28,0.00,0.000,4,0.000,0.074,3053,3691,2220,0,0,0,0,0,0
$GC,12419,0.44,197.0,763.1,14.9,791,12424,0.20,2.30,0.00,0.000,6,0.193,0.060,3013,2267,2219,0,0,0,0,0,0
$GC,12733,0.50,210.0,732.4,9.4,801,12752,0.00,2.35,12.07,1.261,4,0.000,0.073,3021,865,2173,0,0,0,0,0,0
$GC,12799,0.56,217.4,726.1,9.7,803,12814,0.00,2.28,8.48,1.185,6,0.000,0.059,3021,2281,2143,0,0,0,0,0,0
$GC,13139,0.61,217.4,691.7,10.1,814,13144,0.10,2.30,0.00,0.000,4,0.117,0.073,3070,3689,2141,0,0,0,0,0,0
$GC,13223,0.53,217.4,679.0,16.4,816,13228,0.17,2.30,0.00,0.000,6,0.196,0.059,3036,2265,2140,0,0,0,0,0,0
$GC,13535,0.53,217.4,642.9,11.4,826,13539,0.00,2.25,0.00,0.000,4,0.000,0.072,3045,865,2140,0,0,0,0,0,0
$GC,13607,0.53,217.4,634.5,11.2,828,13611,0.00,2.25,0.00,0.000,6,0.000,0.057,3045,2284,2139,0,0,0,0,0,0
$GC,13928,0.53,217.4,596.5,11.8,840,13932,0.00,2.25,0.00,0.000,4,0.000,0.073,3045,3687,2139,0,0,0,0,0,0
$GC,14002,0.49,217.4,586.6,13.3,846,14006,0.12,2.28,0.00,0.000,6,0.195,0.058,3025,2263,2139,0,0,0,0,0,0
$GC,14332,0.53,217.4,551.8,10.3,877,14336,0.00,2.25,0.00,0.000,4,0.000,0.071,3034,859,2139,0,0,0,0,0,0
$GC,14383,0.58,217.4,546.6,10.3,881,14387,0.00,2.25,0.00,0.000,6,0.000,0.058,3033,2276,2138,0,0,0,0,0,0
$GC,14713,0.60,217.4,511.8,10.5,912,14717,0.00,2.28,0.00,0.000,4,0.000,0.073,3033,3696,2138,0,0,0,0,0,0
$GC,14791,0.60,217.4,502.1,12.1,918,14798,0.00,2.28,0.00,0.000,6,0.000,0.056,3044,2270,2138,0,0,0,0,0,0
$GC,15116,0.60,217.4,464.7,11.6,949,15120,0.00,2.25,0.00,0.000,4,0.000,0.069,3054,863,2138,0,0,0,0,0,0
$GC,15161,0.60,217.4,459.5,11.0,953,15165,0.00,2.28,0.00,0.000,6,0.000,0.057,3054,2285,2138,0,0,0,0,0,0
$GC,15487,0.60,217.4,420.8,12.1,983,15491,0.00,2.25,0.00,0.000,4,0.000,0.071,3054,3691,2138,0,0,0,0,0,0
$GC,15561,0.56,217.4,410.9,13.3,989,15565,0.00,2.25,0.00,0.000,6,0.000,0.057,3065,2275,2138,0,0,0,0,0,0
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$STATE,19252,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,19252,begin subsurface finish
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$STATE,19306,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19307,begin surface
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$10V_AH,10.1,27.496
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$FG_AHR_10Vo,0.000
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$MEM,150496
$DATA_FILE_SIZE,53360,1401
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$CFSIZE,260165632,227319808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.5
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