version: 66.08
glider: 141
mission: 15
dive: 37
start: 2 25 111 4 1 48
data:
$ID,141
$MISSION,15
$DIVE,37
$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,100
$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,9
$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,-22406.588
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,250211,003533,6710.530,-5853.946,0,3131.3,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.31
$_SM_ANGLEo,0.7
$GPS2,250211,003533,6710.530,-5853.946,0,3131.3,0,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$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,271.9,83362,-17.5,-10.000
$D_GRID,1297
$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,-7.00,0.000,2,0.000,0.000,2884,3684,3141,0,0,0,0,0,0
$GC,26,-0.62,-146.0,12.6,-0.0,1,46,0.62,4.15,-11.43,0.000,4,0.113,0.062,2668,1077,3629,0,0,0,0,0,0
$GC,221,-0.53,-146.0,40.1,-15.1,35,228,0.00,2.28,0.00,0.000,6,0.000,0.063,2667,2490,3629,0,0,0,0,0,0
$GC,566,-0.39,-146.0,95.0,-16.5,96,573,0.25,2.25,0.00,0.000,4,0.230,0.066,2733,1080,3629,0,0,0,0,0,0
$GC,587,-0.30,-146.0,97.9,-14.6,99,595,0.12,2.28,0.00,0.000,6,0.223,0.062,2764,2498,3629,0,0,0,0,0,0
$GC,924,-0.44,-146.0,120.3,-7.2,132,929,0.12,2.30,0.00,0.000,4,0.126,0.080,2721,3897,3628,0,0,0,0,0,0
$GC,968,-0.51,-146.0,124.9,-10.7,135,975,0.00,2.22,0.00,0.000,6,0.000,0.050,2721,2477,3628,0,0,0,0,0,0
$GC,1295,-0.54,-146.0,158.2,-9.7,166,1299,0.00,2.20,0.00,0.000,4,0.000,0.067,2721,1088,3628,0,0,0,0,0,0
$GC,1322,-0.58,-146.0,161.1,-9.9,168,1329,0.12,2.25,0.00,0.000,6,0.135,0.063,2678,2493,3627,0,0,0,0,0,0
$GC,1647,-0.52,-146.0,200.5,-11.8,199,1651,0.00,2.30,0.00,0.000,4,0.000,0.081,2678,3901,3627,0,0,0,0,0,0
$GC,1686,-0.48,-146.0,205.2,-11.7,202,1691,0.12,2.20,0.00,0.000,6,0.222,0.051,2705,2482,3627,0,0,0,0,0,0
$GC,2012,-0.50,-146.0,235.9,-9.6,232,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2482,3627,0,0,0,0,0,0
$GC,2333,-0.53,-146.0,264.5,-9.0,262,2337,0.00,2.30,0.00,0.000,4,0.000,0.080,2705,3897,3627,0,0,0,0,0,0
$GC,2358,-0.57,-146.0,266.9,-9.0,263,2365,0.00,2.20,0.00,0.000,6,0.000,0.050,2706,2487,3627,0,0,0,0,0,0
$GC,2684,-0.61,-146.0,294.8,-7.9,294,2688,0.12,2.22,0.00,0.000,4,0.131,0.066,2665,1075,3626,0,0,0,0,0,0
$GC,2727,-0.58,-146.0,299.5,-10.9,297,2737,0.00,2.25,0.00,0.000,6,0.000,0.063,2665,2489,3626,0,0,0,0,0,0
$GC,3052,-0.51,-146.0,336.1,-11.2,328,3057,0.12,2.30,0.00,0.000,4,0.240,0.080,2692,3897,3626,0,0,0,0,0,0
$GC,3104,-0.56,-146.0,340.9,-8.5,332,3108,0.00,2.17,0.00,0.000,6,0.000,0.050,2692,2485,3626,0,0,0,0,0,0
$GC,3430,-0.56,-146.0,370.0,-8.8,362,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2484,3627,0,0,0,0,0,0
$GC,3749,-0.56,-146.0,397.9,-8.4,392,3753,0.00,2.17,0.00,0.000,4,0.000,0.065,2692,1085,3626,0,0,0,0,0,0
$GC,3787,-0.59,-146.0,401.4,-8.8,395,3794,0.00,2.22,0.00,0.000,6,0.000,0.063,2692,2496,3627,0,0,0,0,0,0
$GC,4114,-0.61,-146.0,429.2,-9.2,426,4118,0.00,2.28,0.00,0.000,4,0.000,0.080,2692,3901,3628,0,0,0,0,0,0
$GC,4147,-0.64,-146.0,432.5,-9.7,428,4155,0.12,2.20,0.00,0.000,6,0.127,0.049,2651,2482,3627,0,0,0,0,0,0
$GC,4472,-0.55,-146.0,473.2,-12.7,459,4477,0.12,2.22,0.00,0.000,4,0.232,0.064,2678,1076,3627,0,0,0,0,0,0
$GC,4527,-0.55,-146.0,479.5,-10.6,463,4534,0.00,2.25,0.00,0.000,6,0.000,0.063,2677,2492,3627,0,0,0,0,0,0
$GC,4852,-0.55,-146.0,511.9,-10.2,494,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2492,3627,0,0,0,0,0,0
$GC,5172,-0.55,-146.0,544.8,-10.5,524,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2493,3628,0,0,0,0,0,0
$GC,5491,-0.55,-146.0,576.9,-9.9,554,5495,0.00,2.25,0.00,0.000,4,0.000,0.080,2678,3898,3628,0,0,0,0,0,0
$GC,5523,-0.55,-146.0,580.4,-9.9,556,5530,0.00,2.17,0.00,0.000,6,0.000,0.050,2678,2491,3628,0,0,0,0,0,0
$GC,5855,-0.55,-146.0,611.9,-9.4,580,5859,0.00,2.22,0.00,0.000,4,0.000,0.064,2678,1084,3628,0,0,0,0,0,0
$GC,5893,-0.55,-146.0,615.8,-9.3,581,5898,0.00,2.25,0.00,0.000,6,0.000,0.063,2679,2500,3628,0,0,0,0,0,0
$GC,6229,-0.55,-146.0,646.8,-9.1,592,6233,0.00,2.25,0.00,0.000,4,0.000,0.080,2678,3906,3628,0,0,0,0,0,0
$GC,6251,-0.55,-146.0,649.0,-9.5,592,6259,0.00,2.17,0.00,0.000,6,0.000,0.050,2678,2480,3628,0,0,0,0,0,0
$GC,6564,-0.55,-146.0,677.0,-9.4,603,6568,0.00,2.17,0.00,0.000,4,0.000,0.064,2678,1076,3628,0,0,0,0,0,0
$GC,6580,-0.55,-146.0,678.7,-9.4,603,6584,0.00,2.25,0.00,0.000,6,0.000,0.063,2678,2497,3628,0,0,0,0,0,0
$GC,6904,-0.55,-146.0,709.4,-9.5,614,6908,0.00,2.25,0.00,0.000,4,0.000,0.080,2678,3897,3628,0,0,0,0,0,0
$GC,6930,-0.55,-146.0,712.2,-10.6,614,6938,0.00,2.20,0.00,0.000,6,0.000,0.050,2678,2495,3628,0,0,0,0,0,0
$GC,7244,-0.55,-146.0,741.5,-9.5,625,7248,0.00,2.20,0.00,0.000,4,0.000,0.064,2678,1082,3629,0,0,0,0,0,0
$GC,7264,-0.55,-146.0,743.8,-10.2,625,7269,0.00,2.25,0.00,0.000,6,0.000,0.063,2678,2487,3629,0,0,0,0,0,0
$GC,7584,-0.55,-146.0,773.5,-9.2,636,7588,0.00,2.28,0.00,0.000,4,0.000,0.081,2678,3898,3629,0,0,0,0,0,0
$GC,7612,-0.55,-146.0,776.1,-9.9,637,7617,0.00,2.20,0.00,0.000,6,0.000,0.050,2678,2477,3628,0,0,0,0,0,0
$GC,7948,-0.55,-146.0,805.4,-8.7,648,7951,0.00,2.17,0.00,0.000,4,0.000,0.064,2678,1086,3629,0,0,0,0,0,0
$GC,7984,-0.55,-146.0,808.5,-9.2,649,7988,0.00,2.20,0.00,0.000,6,0.000,0.063,2678,2490,3629,0,0,0,0,0,0
$GC,8318,-0.55,-146.0,837.7,-8.8,660,8322,0.00,2.28,0.00,0.000,4,0.000,0.081,2678,3897,3629,0,0,0,0,0,0
$GC,8353,-0.58,-146.0,840.7,-8.5,661,8357,0.00,2.17,0.00,0.000,6,0.000,0.051,2678,2492,3628,0,0,0,0,0,0
$GC,8694,-0.58,-146.0,869.9,-8.5,672,8698,0.00,2.17,0.00,0.000,4,0.000,0.064,2679,1085,3629,0,0,0,0,0,0
$GC,8733,-0.60,-146.0,873.5,-9.5,673,8737,0.00,2.20,0.00,0.000,6,0.000,0.065,2679,2490,3629,0,0,0,0,0,0
$GC,9069,-0.60,-146.0,901.8,-8.3,684,9073,0.00,2.28,0.00,0.000,4,0.000,0.082,2678,3897,3629,0,0,0,0,0,0
$GC,9099,-0.62,-146.0,904.4,-8.7,685,9103,0.00,2.20,0.00,0.000,6,0.000,0.051,2678,2480,3629,0,0,0,0,0,0
$GC,9434,-0.62,-146.0,933.3,-8.8,696,9437,0.00,2.17,0.00,0.000,4,0.000,0.065,2678,1076,3629,0,0,0,0,0,0
$GC,9470,-0.65,-146.0,936.5,-9.6,697,9474,0.00,2.22,0.00,0.000,6,0.000,0.065,2678,2489,3629,0,0,0,0,0,0
$GC,9805,-0.67,-146.0,965.1,-8.6,708,9810,0.00,2.30,0.00,0.000,4,0.000,0.083,2678,3906,3629,0,0,0,0,0,0
$GC,9836,-0.70,-146.0,967.9,-9.7,709,9841,0.12,2.17,0.00,0.000,6,0.125,0.052,2636,2488,3629,0,0,0,0,0,0
$STATE,10046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10046,begin apogee
$GC,10052,-0.12,0.0,992.6,11.7,716,10182,0.62,0.00,125.30,1.537,6,0.207,0.000,2815,2265,3030,0,0,0,0,0,0
$STATE,10183,end apogee,CONTROL_FINISHED_OK
$STATE,10183,begin climb
$GC,10185,0.62,146.0,996.6,0.0,720,10324,0.77,2.55,129.80,1.502,4,0.135,0.073,3062,884,2433,0,0,0,0,0,0
$GC,10346,0.52,146.0,984.0,12.6,725,10351,0.12,2.45,0.00,0.000,6,0.195,0.059,3035,2276,2430,0,0,0,0,0,0
$GC,10664,0.46,146.0,947.7,11.2,736,10668,0.00,2.40,0.00,0.000,4,0.000,0.076,3035,3687,2424,0,0,0,0,0,0
$GC,10733,0.34,146.0,939.0,14.1,738,10738,0.25,2.33,0.00,0.000,6,0.194,0.058,2982,2279,2423,0,0,0,0,0,0
$GC,11069,0.43,190.6,911.7,7.9,749,11110,0.00,0.00,39.22,1.430,6,0.000,0.000,2981,2279,2253,0,0,0,0,0,0
$GC,11406,0.54,224.9,883.9,8.4,760,11440,0.17,0.00,32.03,1.406,6,0.090,0.000,3048,2279,2113,0,0,0,0,0,0
$GC,11740,0.50,224.9,838.3,13.7,771,11745,0.00,2.38,0.00,0.000,4,0.000,0.072,3048,3697,2105,0,0,0,0,0,0
$GC,11775,0.42,224.9,832.8,16.2,772,11780,0.22,2.33,0.00,0.000,6,0.187,0.058,3001,2272,2104,0,0,0,0,0,0
$GC,12110,0.47,225.4,797.9,10.0,783,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2272,2103,0,0,0,0,0,0
$GC,12417,0.53,228.5,767.1,9.9,793,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2272,2102,0,0,0,0,0,0
$GC,12723,0.58,230.6,737.0,9.9,803,12733,0.15,2.35,4.62,0.924,4,0.099,0.073,3060,3689,2090,0,0,0,0,0,0
$GC,12750,0.53,230.6,733.3,13.2,803,12757,0.12,2.30,0.00,0.000,6,0.193,0.057,3040,2265,2090,0,0,0,0,0,0
$GC,13063,0.50,230.6,691.1,13.5,814,13064,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2265,2088,0,0,0,0,0,0
$GC,13369,0.47,230.6,651.1,13.0,824,13373,0.00,2.33,0.00,0.000,4,0.000,0.072,3039,3696,2088,0,0,0,0,0,0
$GC,13407,0.42,230.6,645.6,13.4,825,13412,0.17,2.28,0.00,0.000,6,0.194,0.057,3003,2273,2088,0,0,0,0,0,0
$GC,13742,0.48,231.3,612.1,10.0,836,13743,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2274,2088,0,0,0,0,0,0
$GC,14054,0.53,231.3,581.4,10.3,856,14055,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2273,2087,0,0,0,0,0,0
$GC,14374,0.60,237.5,549.5,9.7,886,14387,0.15,2.33,7.90,1.060,4,0.099,0.070,3075,867,2061,0,0,0,0,0,0
$GC,14404,0.57,237.5,545.4,12.8,888,14411,0.00,2.28,0.00,0.000,6,0.000,0.058,3075,2289,2060,0,0,0,0,0,0
$GC,14731,0.46,237.5,492.6,16.1,919,14735,0.22,2.25,0.00,0.000,4,0.184,0.072,3013,3690,2059,0,0,0,0,0,0
$GC,14799,0.48,237.5,483.2,12.0,925,14803,0.00,2.22,0.00,0.000,6,0.000,0.055,3020,2273,2059,0,0,0,0,0,0
$GC,15124,0.52,237.5,448.7,10.6,955,15125,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2273,2059,0,0,0,0,0,0
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$STATE,19070,end climb,FINISH_DEPTH_REACHED
$STATE,19070,begin subsurface finish
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$STATE,19125,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19125,begin surface
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$RAFOS,6,1298623748,8.833333,8.818889,146,58,57,56,53,53,530,207,150,165,114,182
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$RAFOS,4,1298622788,8.566667,8.552222,151,70,61,56,56,55,651,152,205,125,172,194
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$RAFOS,2,1298621831,8.300000,8.286389,60,59,59,54,53,50,215,201,187,124,225,145
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$RAFOS,0,1298620868,8.033334,8.018888,66,63,56,55,55,55,198,214,157,176,185,232
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$RAFOS,5,1298608861,4.700000,4.683611,152,59,57,54,54,52,769,196,208,220,174,140
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$RAFOS,1,1298606942,4.166667,4.150556,61,57,55,55,54,54,213,194,116,157,175,767
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$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.025466
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$TCM_TEMP,16.40
$XPDR_PINGS,0
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$24V_AH,22.7,8.339
$10V_AH,10.3,3.954
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,996.455,1086.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150732
$DATA_FILE_SIZE,53295,1395
$CAP_FILE_SIZE,187238,0
$CFSIZE,260165632,249548800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$GPS,250211,083342,6711.417,-5900.136,0,5131.6,0,-38.0