version: 66.08
glider: 141
mission: 15
dive: 160
start: 3 15 111 20 0 36
data:
$ID,141
$MISSION,15
$DIVE,160
$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,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,-28319.699
$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,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
$GPS1,150311,163117,6703.092,-5857.704,0,6124.8,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.29
$_SM_ANGLEo,-1.8
$GPS2,150311,163117,6703.092,-5857.704,0,6124.8,0,-38.2
$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,279.5,73638,-17.5,-10.000
$D_GRID,1199
$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,-7.07,0.000,2,0.000,0.000,2890,2275,3078,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.7,-0.0,1,48,0.62,2.70,-14.60,0.000,4,0.103,0.083,2665,3901,3629,0,0,0,0,0,0
$GC,106,-0.52,-146.0,20.8,-15.7,14,113,0.12,2.17,0.00,0.000,6,0.233,0.045,2692,2485,3631,0,0,0,0,0,0
$GC,451,-0.46,-146.0,74.2,-16.0,75,457,0.00,2.22,0.00,0.000,4,0.000,0.065,2692,1080,3630,0,0,0,0,0,0
$GC,504,-0.46,-146.0,82.5,-14.1,84,512,0.00,2.22,0.00,0.000,6,0.000,0.058,2692,2491,3630,0,0,0,0,0,0
$GC,843,-0.41,-146.0,133.0,-13.9,125,845,0.15,0.00,0.00,0.000,6,0.230,0.000,2728,2492,3629,0,0,0,0,0,0
$GC,1162,-0.46,-146.0,164.7,-9.2,155,1166,0.00,2.28,0.00,0.000,4,0.000,0.076,2728,3899,3629,0,0,0,0,0,0
$GC,1195,-0.54,-146.0,167.7,-8.6,157,1202,0.12,2.20,0.00,0.000,6,0.126,0.047,2686,2483,3629,0,0,0,0,0,0
$GC,1520,-0.51,-146.0,206.2,-12.5,188,1524,0.00,2.20,0.00,0.000,4,0.000,0.065,2687,1077,3628,0,0,0,0,0,0
$GC,1549,-0.48,-146.0,209.9,-13.2,190,1553,0.00,2.22,0.00,0.000,6,0.000,0.060,2686,2490,3628,0,0,0,0,0,0
$GC,1873,-0.48,-146.0,248.2,-11.0,220,1877,0.00,2.30,0.00,0.000,4,0.000,0.076,2686,3903,3627,0,0,0,0,0,0
$GC,1941,-0.48,-146.0,255.5,-10.7,226,1945,0.00,2.17,0.00,0.000,6,0.000,0.047,2686,2487,3627,0,0,0,0,0,0
$GC,2266,-0.48,-146.0,290.1,-11.0,256,2270,0.00,2.22,0.00,0.000,4,0.000,0.063,2686,1074,3627,0,0,0,0,0,0
$GC,2309,-0.48,-146.0,294.9,-10.4,259,2316,0.00,2.28,0.00,0.000,6,0.000,0.058,2686,2490,3628,0,0,0,0,0,0
$GC,2635,-0.48,-146.0,328.3,-10.0,290,2639,0.00,2.28,0.00,0.000,4,0.000,0.075,2686,3901,3627,0,0,0,0,0,0
$GC,2713,-0.51,-146.0,336.7,-9.9,296,2719,0.00,2.20,0.00,0.000,6,0.000,0.045,2686,2481,3627,0,0,0,0,0,0
$GC,3038,-0.51,-146.0,368.7,-9.9,327,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2481,3628,0,0,0,0,0,0
$GC,3360,-0.51,-146.0,400.8,-10.3,357,3364,0.00,2.17,0.00,0.000,4,0.000,0.060,2686,1078,3628,0,0,0,0,0,0
$GC,3403,-0.53,-146.0,406.0,-10.4,360,3410,0.00,2.25,0.00,0.000,6,0.000,0.057,2686,2497,3628,0,0,0,0,0,0
$GC,3729,-0.53,-146.0,438.5,-9.8,391,3733,0.00,2.25,0.00,0.000,4,0.000,0.073,2686,3897,3628,0,0,0,0,0,0
$GC,3778,-0.57,-146.0,443.8,-10.0,395,3785,0.00,2.15,0.00,0.000,6,0.000,0.044,2686,2488,3628,0,0,0,0,0,0
$GC,4104,-0.57,-146.0,476.1,-9.8,426,4108,0.00,2.17,0.00,0.000,4,0.000,0.060,2686,1082,3628,0,0,0,0,0,0
$GC,4142,-0.59,-146.0,480.1,-10.2,429,4149,0.00,2.20,0.00,0.000,6,0.000,0.057,2686,2489,3628,0,0,0,0,0,0
$GC,4467,-0.59,-146.0,510.9,-9.4,460,4471,0.00,2.28,0.00,0.000,4,0.000,0.073,2686,3900,3629,0,0,0,0,0,0
$GC,4507,-0.63,-146.0,514.8,-9.7,463,4511,0.00,2.17,0.00,0.000,6,0.000,0.044,2686,2488,3629,0,0,0,0,0,0
$GC,4834,-0.63,-146.0,545.6,-9.4,493,4838,0.00,2.17,0.00,0.000,4,0.000,0.059,2686,1080,3629,0,0,0,0,0,0
$GC,4862,-0.63,-146.0,548.8,-10.3,495,4866,0.00,2.22,0.00,0.000,6,0.000,0.057,2686,2497,3629,0,0,0,0,0,0
$GC,5193,-0.63,-146.0,580.4,-9.6,526,5197,0.00,2.25,0.00,0.000,4,0.000,0.074,2686,3904,3629,0,0,0,0,0,0
$GC,5245,-0.68,-146.0,585.4,-9.1,530,5250,0.12,2.17,0.00,0.000,6,0.130,0.044,2641,2481,3629,0,0,0,0,0,0
$GC,5589,-0.60,-146.0,628.1,-12.7,549,5593,0.00,2.15,0.00,0.000,4,0.000,0.059,2642,1087,3629,0,0,0,0,0,0
$GC,5627,-0.53,-146.0,633.5,-12.9,550,5632,0.17,2.20,0.00,0.000,6,0.212,0.058,2685,2488,3629,0,0,0,0,0,0
$GC,5952,-0.55,-146.0,663.5,-9.0,561,5957,0.00,2.25,0.00,0.000,4,0.000,0.074,2685,3899,3629,0,0,0,0,0,0
$GC,5997,-0.60,-146.0,667.8,-8.9,562,6001,0.00,2.15,0.00,0.000,6,0.000,0.044,2685,2489,3629,0,0,0,0,0,0
$GC,6315,-0.63,-146.0,695.6,-8.7,573,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2489,3629,0,0,0,0,0,0
$GC,6622,-0.66,-146.0,721.3,-8.3,583,6626,0.00,2.17,0.00,0.000,4,0.000,0.060,2685,1081,3629,0,0,0,0,0,0
$GC,6655,-0.69,-146.0,724.3,-8.6,584,6660,0.15,2.22,0.00,0.000,6,0.122,0.058,2635,2500,3630,0,0,0,0,0,0
$GC,6985,-0.60,-146.0,763.4,-12.2,595,6989,0.12,2.28,0.00,0.000,4,0.230,0.075,2662,3902,3630,0,0,0,0,0,0
$GC,7039,-0.60,-146.0,769.4,-10.6,596,7043,0.00,2.17,0.00,0.000,6,0.000,0.044,2662,2478,3630,0,0,0,0,0,0
$GC,7358,-0.60,-146.0,800.0,-9.6,607,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2478,3630,0,0,0,0,0,0
$GC,7664,-0.60,-146.0,829.0,-9.4,617,7668,0.00,2.30,0.00,0.000,4,0.000,0.072,2662,3897,3630,0,0,0,0,0,0
$GC,7686,-0.58,-146.0,831.4,-10.2,617,7693,0.00,2.15,0.00,0.000,6,0.000,0.044,2662,2489,3629,0,0,0,0,0,0
$GC,7999,-0.58,-146.0,861.2,-9.5,628,8003,0.00,2.17,0.00,0.000,4,0.000,0.058,2662,1079,3630,0,0,0,0,0,0
$GC,8027,-0.58,-146.0,864.1,-10.1,629,8031,0.00,2.22,0.00,0.000,6,0.000,0.058,2662,2497,3630,0,0,0,0,0,0
$GC,8362,-0.58,-146.0,896.0,-9.7,640,8366,0.00,2.25,0.00,0.000,4,0.000,0.076,2662,3902,3630,0,0,0,0,0,0
$GC,8411,-0.58,-146.0,901.1,-9.6,641,8415,0.00,2.15,0.00,0.000,6,0.000,0.045,2662,2489,3630,0,0,0,0,0,0
$GC,8730,-0.58,-146.0,931.1,-9.5,652,8734,0.00,2.20,0.00,0.000,4,0.000,0.059,2662,1073,3630,0,0,0,0,0,0
$GC,8757,-0.58,-146.0,933.9,-10.5,652,8764,0.00,2.22,0.00,0.000,6,0.000,0.058,2662,2489,3630,0,0,0,0,0,0
$GC,9070,-0.58,-146.0,963.7,-9.5,663,9074,0.00,2.28,0.00,0.000,4,0.000,0.075,2662,3899,3630,0,0,0,0,0,0
$GC,9113,-0.58,-146.0,968.1,-9.3,664,9117,0.00,2.15,0.00,0.000,6,0.000,0.046,2662,2489,3630,0,0,0,0,0,0
$STATE,9344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9344,begin apogee
$GC,9349,-0.12,0.0,990.3,9.6,672,9483,0.52,0.00,126.03,1.551,6,0.190,0.000,2817,2263,3030,0,0,0,0,0,0
$STATE,9483,end apogee,CONTROL_FINISHED_OK
$STATE,9483,begin climb
$GC,9486,0.62,146.0,994.4,0.0,676,9625,0.77,2.53,131.52,1.509,4,0.132,0.067,3065,881,2433,0,0,0,0,0,0
$GC,9670,0.52,146.0,979.2,12.6,681,9675,0.12,2.42,0.00,0.000,6,0.196,0.053,3039,2281,2429,0,0,0,0,0,0
$GC,9994,0.46,146.0,942.4,11.3,692,9998,0.00,2.35,0.00,0.000,4,0.000,0.069,3038,3687,2424,0,0,0,0,0,0
$GC,10043,0.35,146.0,935.9,12.5,693,10048,0.25,2.30,0.00,0.000,6,0.192,0.053,2985,2286,2424,0,0,0,0,0,0
$GC,10356,0.43,182.5,909.2,8.3,703,10394,0.00,2.45,31.92,1.429,4,0.000,0.068,2992,874,2286,0,0,0,0,0,0
$GC,10400,0.50,216.0,905.4,8.5,704,10441,0.10,2.35,32.45,1.411,6,0.119,0.053,3036,2281,2149,0,0,0,0,0,0
$GC,10753,0.50,216.0,863.3,11.8,716,10757,0.00,2.35,0.00,0.000,4,0.000,0.069,3036,3691,2140,0,0,0,0,0,0
$GC,10808,0.46,216.0,855.6,14.7,717,10816,0.12,2.33,0.00,0.000,6,0.192,0.051,3017,2267,2139,0,0,0,0,0,0
$GC,11122,0.46,216.0,822.3,10.6,728,11126,0.00,2.28,0.00,0.000,4,0.000,0.066,3026,858,2138,0,0,0,0,0,0
$GC,11143,0.49,216.0,819.7,10.7,728,11147,0.00,2.28,0.00,0.000,6,0.000,0.053,3025,2279,2137,0,0,0,0,0,0
$GC,11461,0.49,216.0,783.8,11.1,739,11465,0.00,2.28,0.00,0.000,4,0.000,0.066,3026,3692,2137,0,0,0,0,0,0
$GC,11506,0.46,216.0,778.3,12.5,740,11510,0.00,2.25,0.00,0.000,6,0.000,0.050,3035,2273,2136,0,0,0,0,0,0
$GC,11835,0.46,216.0,737.4,12.7,751,11836,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2273,2136,0,0,0,0,0,0
$GC,12141,0.46,216.0,698.2,12.6,761,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2273,2135,0,0,0,0,0,0
$GC,12448,0.46,216.0,660.2,12.5,771,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2273,2135,0,0,0,0,0,0
$GC,12754,0.46,216.0,621.8,12.6,781,12755,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2273,2135,0,0,0,0,0,0
$GC,13065,0.44,216.0,582.7,12.4,799,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2273,2134,0,0,0,0,0,0
$GC,13385,0.42,216.0,542.5,13.0,829,13387,0.12,0.00,0.00,0.000,6,0.192,0.000,3005,2273,2135,0,0,0,0,0,0
$GC,13702,0.48,217.6,509.9,9.9,859,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2273,2134,0,0,0,0,0,0
$GC,14022,0.53,217.6,476.3,10.6,889,14026,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,860,2134,0,0,0,0,0,0
$GC,14050,0.60,217.6,473.2,10.0,891,14055,0.12,2.22,0.00,0.000,6,0.114,0.051,3069,2278,2133,0,0,0,0,0,0
$GC,14376,0.53,217.6,426.1,14.5,921,14381,0.12,2.22,0.00,0.000,4,0.181,0.065,3036,3688,2133,0,0,0,0,0,0
$GC,14416,0.50,217.6,420.5,14.4,924,14420,0.00,2.20,0.00,0.000,6,0.000,0.050,3044,2276,2133,0,0,0,0,0,0
$GC,14740,0.50,217.6,379.9,12.4,954,14744,0.00,2.25,0.00,0.000,4,0.000,0.066,3055,860,2133,0,0,0,0,0,0
$GC,14773,0.50,217.6,375.6,12.1,956,14781,0.08,2.25,0.00,0.000,6,0.165,0.050,3031,2281,2133,0,0,0,0,0,0
$GC,15098,0.50,217.6,339.5,11.2,987,15102,0.00,2.22,0.00,0.000,4,0.000,0.066,3031,3684,2133,0,0,0,0,0,0
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$STATE,17977,end subsurface finish,CONTROL_FINISHED_OK
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