version: 66.08
glider: 141
mission: 15
dive: 711
start: 5 30 111 4 3 3
data:
$ID,141
$MISSION,15
$DIVE,711
$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,22
$R_STBD_OVSHOOT,17
$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
$GPS1,300511,003117,6707.667,-5830.332,0,6118.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.88
$_SM_ANGLEo,-1.2
$GPS2,300511,003117,6707.667,-5830.332,0,6118.2,0,-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,134.3,74402,-17.5,-10.000
$D_GRID,1228
$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,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2893,3693,3006,0,0,0,0,0,0
$GC,27,-0.62,-146.0,12.3,-0.0,1,47,0.65,0.38,-15.35,0.000,4,0.105,0.183,2666,3902,3628,0,0,0,0,0,0
$GC,224,-0.52,-146.0,43.3,-17.6,35,231,0.00,2.30,0.00,0.000,6,0.000,0.060,2666,2488,3630,0,0,0,0,0,0
$GC,573,-0.39,-146.0,105.6,-17.3,94,578,0.25,2.35,0.00,0.000,4,0.218,0.076,2732,1073,3630,0,0,0,0,0,0
$GC,603,-0.35,-146.0,110.2,-14.1,96,607,0.00,2.38,0.00,0.000,6,0.000,0.073,2732,2493,3630,0,0,0,0,0,0
$GC,930,-0.40,-146.0,142.1,-9.2,126,935,0.00,2.40,0.00,0.000,4,0.000,0.090,2732,3902,3629,0,0,0,0,0,0
$GC,942,-0.44,-146.0,143.4,-8.9,126,948,0.00,2.30,0.00,0.000,6,0.000,0.059,2732,2483,3629,0,0,0,0,0,0
$GC,1269,-0.51,-146.0,172.6,-9.2,157,1273,0.00,2.33,0.00,0.000,4,0.000,0.079,2732,1077,3628,0,0,0,0,0,0
$GC,1302,-0.60,-146.0,175.8,-9.5,159,1309,0.20,2.38,0.00,0.000,6,0.099,0.073,2661,2493,3628,0,0,0,0,0,0
$GC,1629,-0.50,-146.0,222.0,-14.5,190,1633,0.15,2.42,0.00,0.000,4,0.214,0.091,2695,3901,3627,0,0,0,0,0,0
$GC,1692,-0.54,-146.0,229.3,-10.6,195,1696,0.00,2.28,0.00,0.000,6,0.000,0.061,2695,2495,3627,0,0,0,0,0,0
$GC,2022,-0.54,-146.0,264.0,-10.4,226,2026,0.00,2.35,0.00,0.000,4,0.000,0.077,2695,1069,3627,0,0,0,0,0,0
$GC,2051,-0.54,-146.0,266.9,-10.9,228,2055,0.00,2.40,0.00,0.000,6,0.000,0.073,2695,2497,3627,0,0,0,0,0,0
$GC,2378,-0.54,-146.0,298.6,-9.5,258,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2497,3627,0,0,0,0,0,0
$GC,2695,-0.54,-146.0,329.0,-9.4,288,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2497,3627,0,0,0,0,0,0
$GC,3014,-0.54,-146.0,359.1,-9.4,318,3018,0.00,2.38,0.00,0.000,4,0.000,0.088,2695,3901,3627,0,0,0,0,0,0
$GC,3025,-0.54,-146.0,360.2,-9.3,318,3031,0.00,2.30,0.00,0.000,6,0.000,0.058,2695,2486,3627,0,0,0,0,0,0
$GC,3351,-0.57,-146.0,390.6,-9.5,349,3355,0.00,2.33,0.00,0.000,4,0.000,0.075,2695,1070,3628,0,0,0,0,0,0
$GC,3372,-0.57,-146.0,392.9,-9.8,350,3379,0.00,2.38,0.00,0.000,6,0.000,0.072,2695,2502,3628,0,0,0,0,0,0
$GC,3699,-0.59,-146.0,423.4,-9.5,381,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2501,3628,0,0,0,0,0,0
$GC,4018,-0.61,-146.0,451.9,-8.9,411,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2501,3628,0,0,0,0,0,0
$GC,4347,-0.64,-146.0,480.4,-8.7,442,4352,0.12,2.38,0.00,0.000,4,0.125,0.073,2652,1079,3629,0,0,0,0,0,0
$GC,4360,-0.64,-146.0,481.7,-8.6,443,4364,0.00,2.38,0.00,0.000,6,0.000,0.072,2651,2496,3628,0,0,0,0,0,0
$GC,4686,-0.56,-146.0,520.8,-11.6,473,4691,0.12,2.42,0.00,0.000,4,0.218,0.087,2680,3899,3628,0,0,0,0,0,0
$GC,4704,-0.50,-146.0,522.9,-11.4,474,4708,0.00,2.30,0.00,0.000,6,0.000,0.059,2679,2485,3628,0,0,0,0,0,0
$GC,5035,-0.50,-146.0,554.2,-9.8,505,5039,0.00,2.30,0.00,0.000,4,0.000,0.074,2680,1080,3628,0,0,0,0,0,0
$GC,5045,-0.50,-146.0,555.3,-9.5,505,5052,0.00,2.38,0.00,0.000,6,0.000,0.070,2679,2498,3628,0,0,0,0,0,0
$GC,5371,-0.50,-146.0,586.6,-9.6,536,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2499,3628,0,0,0,0,0,0
$GC,5693,-0.50,-146.0,617.4,-9.5,555,5697,0.00,2.38,0.00,0.000,4,0.000,0.086,2680,3901,3629,0,0,0,0,0,0
$GC,5715,-0.50,-146.0,619.6,-9.5,555,5722,0.00,2.30,0.00,0.000,6,0.000,0.058,2680,2489,3629,0,0,0,0,0,0
$GC,6029,-0.50,-146.0,648.2,-9.1,566,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2489,3629,0,0,0,0,0,0
$GC,6334,-0.50,-146.0,676.5,-9.3,576,6338,0.00,2.33,0.00,0.000,4,0.000,0.073,2680,1077,3629,0,0,0,0,0,0
$GC,6345,-0.50,-146.0,677.7,-9.3,576,6349,0.00,2.38,0.00,0.000,6,0.000,0.070,2680,2497,3629,0,0,0,0,0,0
$GC,6671,-0.50,-146.0,707.3,-9.1,587,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2497,3629,0,0,0,0,0,0
$GC,6976,-0.50,-146.0,734.8,-8.9,597,6980,0.00,2.38,0.00,0.000,4,0.000,0.086,2680,3900,3629,0,0,0,0,0,0
$GC,7005,-0.53,-146.0,737.6,-10.0,598,7009,0.00,2.28,0.00,0.000,6,0.000,0.058,2680,2488,3629,0,0,0,0,0,0
$GC,7341,-0.53,-146.0,767.4,-8.9,609,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2487,3629,0,0,0,0,0,0
$GC,7647,-0.53,-146.0,793.4,-8.4,619,7651,0.00,2.33,0.00,0.000,4,0.000,0.074,2680,1080,3629,0,0,0,0,0,0
$GC,7669,-0.53,-146.0,795.4,-8.5,619,7675,0.00,2.35,0.00,0.000,6,0.000,0.070,2680,2496,3629,0,0,0,0,0,0
$GC,7983,-0.53,-146.0,821.0,-8.2,630,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2496,3629,0,0,0,0,0,0
$GC,8288,-0.53,-146.0,845.7,-8.0,640,8292,0.00,2.40,0.00,0.000,4,0.000,0.088,2680,3901,3629,0,0,0,0,0,0
$GC,8327,-0.57,-146.0,849.1,-8.2,641,8331,0.00,2.28,0.00,0.000,6,0.000,0.058,2679,2490,3630,0,0,0,0,0,0
$GC,8664,-0.59,-146.0,874.7,-7.4,652,8668,0.00,2.38,0.00,0.000,4,0.000,0.075,2680,1076,3629,0,0,0,0,0,0
$GC,8680,-0.59,-146.0,876.3,-7.7,652,8684,0.00,2.35,0.00,0.000,6,0.000,0.072,2680,2491,3630,0,0,0,0,0,0
$GC,9001,-0.61,-146.0,900.5,-7.9,663,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2491,3629,0,0,0,0,0,0
$GC,9305,-0.63,-146.0,926.2,-8.6,673,9309,0.00,2.40,0.00,0.000,4,0.000,0.089,2680,3900,3629,0,0,0,0,0,0
$GC,9334,-0.67,-146.0,928.7,-9.0,674,9338,0.00,2.30,0.00,0.000,6,0.000,0.060,2680,2490,3629,0,0,0,0,0,0
$GC,9672,-0.69,-146.0,957.0,-8.3,685,9677,0.12,2.35,0.00,0.000,4,0.129,0.076,2635,1080,3629,0,0,0,0,0,0
$GC,9684,-0.69,-146.0,958.4,-8.6,685,9688,0.00,2.40,0.00,0.000,6,0.000,0.074,2632,2498,3629,0,0,0,0,0,0
$STATE,9970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9970,begin apogee
$GC,9977,-0.12,0.0,993.7,12.3,695,10116,0.68,0.00,133.80,1.566,6,0.195,0.000,2814,2260,3030,0,0,0,0,0,0
$STATE,10117,end apogee,CONTROL_FINISHED_OK
$STATE,10117,begin climb
$GC,10120,0.62,146.0,999.1,0.0,699,10275,0.82,2.85,146.93,1.510,4,0.132,0.078,3055,3686,2433,0,0,0,0,0,0
$GC,10458,0.51,146.0,968.0,13.1,710,10463,0.15,2.47,0.00,0.000,6,0.183,0.067,3032,2275,2427,0,0,0,0,0,0
$GC,10793,0.54,168.5,936.9,9.0,721,10819,0.00,2.42,20.58,1.397,4,0.000,0.078,3031,3699,2342,0,0,0,0,0,0
$GC,10937,0.50,168.5,921.5,11.5,724,10941,0.00,2.35,0.00,0.000,6,0.000,0.068,3039,2270,2339,0,0,0,0,0,0
$GC,11255,0.50,168.9,890.0,10.0,735,11259,0.00,2.35,0.00,0.000,4,0.000,0.084,3050,857,2338,0,0,0,0,0,0
$GC,11311,0.50,168.9,884.2,10.5,736,11318,0.00,2.35,0.00,0.000,6,0.000,0.068,3050,2281,2337,0,0,0,0,0,0
$GC,11624,0.48,168.9,851.3,10.4,747,11628,0.00,2.33,0.00,0.000,4,0.000,0.081,3050,3690,2337,0,0,0,0,0,0
$GC,11687,0.41,168.9,843.8,12.1,749,11692,0.25,2.33,0.00,0.000,6,0.192,0.068,2997,2275,2337,0,0,0,0,0,0
$GC,12024,0.55,219.2,817.4,7.7,760,12074,0.12,0.00,47.85,1.418,6,0.104,0.000,3054,2275,2136,0,0,0,0,0,0
$GC,12359,0.52,219.2,776.3,12.6,771,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2275,2129,0,0,0,0,0,0
$GC,12666,0.50,219.2,739.1,12.0,781,12670,0.00,2.35,0.00,0.000,4,0.000,0.079,3054,3690,2128,0,0,0,0,0,0
$GC,12701,0.47,219.2,734.4,13.3,782,12706,0.17,2.35,0.00,0.000,6,0.184,0.069,3021,2267,2128,0,0,0,0,0,0
$GC,13039,0.55,235.3,702.6,9.3,793,13058,0.00,2.38,14.93,1.283,4,0.000,0.084,3028,862,2070,0,0,0,0,0,0
$GC,13099,0.70,266.0,697.2,8.6,794,13138,0.17,2.35,30.80,1.320,6,0.091,0.067,3106,2282,1944,0,0,0,0,0,0
$GC,13447,0.59,266.0,639.6,17.3,806,13452,0.17,2.35,0.00,0.000,4,0.182,0.080,3060,3695,1938,0,0,0,0,0,0
$GC,13486,0.59,266.0,632.7,15.4,807,13490,0.00,2.35,0.00,0.000,6,0.000,0.069,3068,2275,1936,0,0,0,0,0,0
$GC,13802,0.59,266.0,591.0,13.6,821,13806,0.00,2.35,0.00,0.000,4,0.000,0.084,3079,860,1937,0,0,0,0,0,0
$GC,13859,0.59,266.0,583.6,12.6,825,13865,0.00,2.33,0.00,0.000,6,0.000,0.066,3079,2276,1935,0,0,0,0,0,0
$GC,14184,0.56,266.0,538.5,13.9,856,14189,0.12,2.35,0.00,0.000,4,0.184,0.081,3047,3694,1934,0,0,0,0,0,0
$GC,14226,0.59,266.0,533.5,11.8,859,14230,0.00,2.33,0.00,0.000,6,0.000,0.068,3054,2271,1933,0,0,0,0,0,0
$GC,14552,0.61,266.0,496.2,11.5,889,14556,0.00,2.38,0.00,0.000,4,0.000,0.083,3066,855,1933,0,0,0,0,0,0
$GC,14630,0.65,266.0,487.4,10.5,895,14637,0.00,2.35,0.00,0.000,6,0.000,0.067,3066,2281,1932,0,0,0,0,0,0
$GC,14956,0.65,266.0,446.2,12.6,926,14960,0.00,2.35,0.00,0.000,4,0.000,0.081,3066,3685,1933,0,0,0,0,0,0
$GC,15017,0.65,266.0,437.5,13.6,931,15024,0.00,2.35,0.00,0.000,6,0.000,0.068,3076,2265,1932,0,0,0,0,0,0
$GC,15343,0.65,266.0,392.7,13.7,962,15347,0.00,2.38,0.00,0.000,4,0.000,0.084,3086,858,1932,0,0,0,0,0,0
$GC,15406,0.65,266.0,384.4,13.6,967,15410,0.00,2.35,0.00,0.000,6,0.000,0.067,3087,2281,1931,0,0,0,0,0,0
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$STATE,18674,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,18674,begin subsurface finish
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$FINISH2,9.2
$STATE,18726,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18726,begin surface
$RAFOS_CLK,1020
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$RAFOS,2,1306743428,8.300000,8.285556,67,63,56,56,52,52,145,877,199,179,222,208
$RAFOS,1,1306742945,8.166667,8.151389,101,64,56,55,53,51,845,209,194,153,167,623
$RAFOS,0,1306742466,8.033334,8.018333,64,58,56,52,51,51,200,159,215,191,168,115
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$RAFOS,4,1306729990,4.566667,4.552778,120,58,54,51,51,50,654,220,183,157,146,166
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$TT8_MAMPS,0.026215
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$TCM_TEMP,16.20
$XPDR_PINGS,6
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$24V_AH,20.3,95.973
$10V_AH,9.8,49.505
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$FG_AHR_10Vo,0.000
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$MEM,150560
$DATA_FILE_SIZE,53359,1345
$CAP_FILE_SIZE,186052,0
$CFSIZE,260165632,206479360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
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