version: 66.08
glider: 141
mission: 15
dive: 578
start: 5 9 111 20 5 24
data:
$ID,141
$MISSION,15
$DIVE,578
$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,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,-47329.184
$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,20
$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
$GPS1,090511,162725,6705.667,-5855.935,0,7114.1,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.62
$_SM_ANGLEo,-3.8
$GPS2,090511,162725,6705.667,-5855.935,0,7114.1,0,-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,130.7,92520,-17.5,-10.000
$D_GRID,1236
$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,17,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.03,0.000,2,0.000,0.000,2897,863,2974,0,0,0,0,0,0
$GC,28,-0.62,-146.0,9.9,-0.0,1,52,0.65,0.38,-18.30,0.000,4,0.100,0.153,2666,1085,3629,0,0,0,0,0,0
$GC,114,-0.54,-146.0,20.4,-15.9,15,120,0.00,2.33,0.00,0.000,6,0.000,0.074,2666,2490,3630,0,0,0,0,0,0
$GC,458,-0.43,-146.0,82.8,-16.1,76,466,0.22,2.40,0.00,0.000,4,0.229,0.088,2720,3907,3630,0,0,0,0,0,0
$GC,525,-0.52,-146.0,90.2,-10.1,87,531,0.00,2.28,0.00,0.000,6,0.000,0.057,2720,2490,3631,0,0,0,0,0,0
$GC,863,-0.55,-146.0,122.7,-9.4,127,868,0.12,2.33,0.00,0.000,4,0.136,0.073,2678,1071,3630,0,0,0,0,0,0
$GC,892,-0.52,-146.0,126.2,-12.4,129,896,0.00,2.35,0.00,0.000,6,0.000,0.073,2678,2497,3630,0,0,0,0,0,0
$GC,1218,-0.47,-146.0,168.0,-12.7,159,1223,0.12,2.40,0.00,0.000,4,0.234,0.090,2704,3906,3629,0,0,0,0,0,0
$GC,1329,-0.53,-146.0,179.2,-9.4,168,1333,0.00,2.30,0.00,0.000,6,0.000,0.058,2705,2481,3629,0,0,0,0,0,0
$GC,1654,-0.57,-146.0,209.5,-8.9,198,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2481,3628,0,0,0,0,0,0
$GC,1975,-0.62,-146.0,237.9,-9.1,228,1980,0.12,2.45,0.00,0.000,4,0.132,0.086,2663,3903,3628,0,0,0,0,0,0
$GC,2019,-0.62,-146.0,243.5,-12.2,231,2026,0.00,2.30,0.00,0.000,6,0.000,0.058,2663,2479,3627,0,0,0,0,0,0
$GC,2345,-0.57,-146.0,283.4,-11.4,262,2349,0.00,2.40,0.00,0.000,4,0.000,0.085,2663,3903,3627,0,0,0,0,0,0
$GC,2375,-0.53,-146.0,286.9,-12.1,264,2379,0.12,2.28,0.00,0.000,6,0.203,0.057,2690,2489,3628,0,0,0,0,0,0
$GC,2701,-0.55,-146.0,317.7,-9.4,294,2705,0.00,2.28,0.00,0.000,4,0.000,0.070,2691,1080,3627,0,0,0,0,0,0
$GC,2712,-0.58,-146.0,319.0,-9.6,294,2719,0.00,2.35,0.00,0.000,6,0.000,0.070,2691,2497,3628,0,0,0,0,0,0
$GC,3040,-0.61,-146.0,348.2,-8.8,325,3044,0.00,2.38,0.00,0.000,4,0.000,0.087,2691,3909,3628,0,0,0,0,0,0
$GC,3069,-0.66,-146.0,350.9,-9.7,327,3074,0.12,2.28,0.00,0.000,6,0.127,0.056,2649,2490,3628,0,0,0,0,0,0
$GC,3395,-0.59,-146.0,391.2,-12.6,357,3399,0.00,2.42,0.00,0.000,4,0.000,0.083,2649,3906,3628,0,0,0,0,0,0
$GC,3413,-0.52,-146.0,393.5,-12.0,358,3418,0.17,2.28,0.00,0.000,6,0.197,0.054,2691,2485,3628,0,0,0,0,0,0
$GC,3740,-0.56,-146.0,423.2,-8.6,388,3744,0.00,2.40,0.00,0.000,4,0.000,0.082,2690,3905,3629,0,0,0,0,0,0
$GC,3752,-0.61,-146.0,424.3,-8.5,389,3756,0.00,2.28,0.00,0.000,6,0.000,0.053,2691,2480,3629,0,0,0,0,0,0
$GC,4080,-0.65,-146.0,453.3,-9.0,419,4082,0.12,0.00,0.00,0.000,6,0.132,0.000,2648,2480,3629,0,0,0,0,0,0
$GC,4397,-0.59,-146.0,491.3,-12.1,449,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2480,3630,0,0,0,0,0,0
$GC,4718,-0.52,-146.0,528.7,-11.9,479,4723,0.17,2.45,0.00,0.000,4,0.200,0.083,2691,3903,3630,0,0,0,0,0,0
$GC,4739,-0.52,-146.0,531.4,-10.9,480,4746,0.00,2.28,0.00,0.000,6,0.000,0.054,2690,2485,3630,0,0,0,0,0,0
$GC,5068,-0.57,-146.0,558.7,-8.3,511,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2485,3630,0,0,0,0,0,0
$GC,5395,-0.63,-146.0,586.5,-8.5,542,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2485,3630,0,0,0,0,0,0
$GC,5716,-0.68,-146.0,612.9,-8.2,563,5718,0.15,0.00,0.00,0.000,6,0.123,0.000,2638,2484,3630,0,0,0,0,0,0
$GC,6021,-0.60,-146.0,649.3,-12.0,573,6027,0.12,2.42,0.00,0.000,4,0.211,0.081,2665,3903,3629,0,0,0,0,0,0
$GC,6049,-0.60,-146.0,652.5,-11.0,573,6056,0.00,2.25,0.00,0.000,6,0.000,0.051,2666,2489,3630,0,0,0,0,0,0
$GC,6363,-0.60,-146.0,682.1,-9.4,584,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2489,3630,0,0,0,0,0,0
$GC,6668,-0.60,-146.0,710.2,-9.1,594,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2489,3630,0,0,0,0,0,0
$GC,6975,-0.60,-146.0,737.9,-9.0,604,6979,0.00,2.42,0.00,0.000,4,0.000,0.081,2666,3900,3630,0,0,0,0,0,0
$GC,7008,-0.60,-146.0,741.1,-9.8,605,7012,0.00,2.25,0.00,0.000,6,0.000,0.052,2666,2488,3630,0,0,0,0,0,0
$GC,7338,-0.60,-146.0,770.5,-9.1,616,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2488,3630,0,0,0,0,0,0
$GC,7644,-0.60,-146.0,798.7,-9.2,626,7649,0.00,2.38,0.00,0.000,4,0.000,0.081,2666,3903,3630,0,0,0,0,0,0
$GC,7678,-0.60,-146.0,801.8,-9.1,627,7682,0.00,2.28,0.00,0.000,6,0.000,0.052,2666,2477,3630,0,0,0,0,0,0
$GC,8008,-0.60,-146.0,832.6,-9.4,638,8012,0.00,2.40,0.00,0.000,4,0.000,0.083,2666,3905,3630,0,0,0,0,0,0
$GC,8030,-0.60,-146.0,834.9,-9.4,638,8037,0.00,2.28,0.00,0.000,6,0.000,0.054,2666,2481,3630,0,0,0,0,0,0
$GC,8344,-0.60,-146.0,863.8,-9.2,649,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2482,3630,0,0,0,0,0,0
$GC,8650,-0.60,-146.0,892.3,-9.4,659,8654,0.00,2.42,0.00,0.000,4,0.000,0.083,2666,3911,3630,0,0,0,0,0,0
$GC,8671,-0.60,-146.0,894.6,-10.1,659,8675,0.00,2.28,0.00,0.000,6,0.000,0.054,2666,2488,3630,0,0,0,0,0,0
$GC,8990,-0.60,-146.0,924.2,-9.4,670,8995,0.00,2.40,0.00,0.000,4,0.000,0.083,2666,3900,3630,0,0,0,0,0,0
$GC,9008,-0.60,-146.0,925.8,-9.0,670,9012,0.00,2.28,0.00,0.000,6,0.000,0.055,2666,2484,3630,0,0,0,0,0,0
$GC,9322,-0.60,-146.0,954.9,-9.2,680,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2484,3630,0,0,0,0,0,0
$GC,9627,-0.60,-146.0,982.2,-8.6,690,9631,0.00,2.42,0.00,0.000,4,0.000,0.083,2667,3909,3630,0,0,0,0,0,0
$GC,9678,-0.65,-146.0,986.7,-9.0,691,9682,0.00,2.30,0.00,0.000,6,0.000,0.056,2666,2479,3630,0,0,0,0,0,0
$STATE,9719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9719,begin apogee
$GC,9726,-0.12,0.0,990.3,8.6,693,9864,0.50,0.00,132.95,1.570,6,0.181,0.000,2812,2266,3029,0,0,0,0,0,0
$STATE,9864,end apogee,CONTROL_FINISHED_OK
$STATE,9865,begin climb
$GC,9867,0.62,146.0,994.7,0.0,697,10019,0.82,2.80,142.68,1.512,4,0.132,0.076,3053,3678,2434,0,0,0,0,0,0
$GC,10205,0.51,146.0,960.5,13.2,707,10212,0.15,2.42,0.00,0.000,6,0.188,0.062,3030,2280,2427,0,0,0,0,0,0
$GC,10517,0.51,146.0,929.0,10.1,718,10522,0.00,2.38,0.00,0.000,4,0.000,0.078,3029,3693,2425,0,0,0,0,0,0
$GC,10665,0.45,146.0,912.1,12.1,722,10669,0.00,2.33,0.00,0.000,6,0.000,0.063,3037,2272,2424,0,0,0,0,0,0
$GC,10995,0.41,146.9,878.7,10.0,733,11000,0.15,2.33,0.00,0.000,4,0.184,0.078,3007,866,2424,0,0,0,0,0,0
$GC,11040,0.54,200.7,874.9,7.5,734,11096,0.00,2.33,49.62,1.440,6,0.000,0.067,3007,2279,2210,0,0,0,0,0,0
$GC,11427,0.64,229.8,841.6,8.7,747,11461,0.17,2.45,27.17,1.385,4,0.090,0.081,3083,3688,2094,0,0,0,0,0,0
$GC,11525,0.56,229.8,827.3,15.8,749,11533,0.17,2.35,0.00,0.000,6,0.200,0.066,3050,2278,2091,0,0,0,0,0,0
$GC,11838,0.56,229.8,788.6,12.1,760,11842,0.00,2.33,0.00,0.000,4,0.000,0.078,3059,861,2087,0,0,0,0,0,0
$GC,11903,0.58,229.8,780.9,10.6,762,11908,0.00,2.33,0.00,0.000,6,0.000,0.067,3059,2277,2085,0,0,0,0,0,0
$GC,12234,0.55,229.8,740.2,12.3,773,12238,0.00,2.33,0.00,0.000,4,0.000,0.081,3059,3689,2085,0,0,0,0,0,0
$GC,12290,0.51,229.8,732.2,13.4,774,12295,0.15,2.30,0.00,0.000,6,0.189,0.065,3032,2265,2085,0,0,0,0,0,0
$GC,12604,0.53,229.8,699.5,10.5,784,12608,0.00,2.30,0.00,0.000,4,0.000,0.078,3041,863,2084,0,0,0,0,0,0
$GC,12668,0.60,236.8,693.1,9.7,786,12679,0.00,2.33,6.45,1.085,6,0.000,0.066,3041,2285,2064,0,0,0,0,0,0
$GC,13004,0.60,236.8,655.6,11.3,797,13009,0.00,2.30,0.00,0.000,4,0.000,0.082,3041,3687,2063,0,0,0,0,0,0
$GC,13048,0.60,236.8,649.9,11.9,798,13053,0.00,2.33,0.00,0.000,6,0.000,0.064,3050,2264,2062,0,0,0,0,0,0
$GC,13373,0.60,236.8,610.1,12.5,809,13377,0.00,2.30,0.00,0.000,4,0.000,0.078,3062,858,2062,0,0,0,0,0,0
$GC,13436,0.62,236.8,602.5,12.1,811,13440,0.00,2.30,0.00,0.000,6,0.000,0.067,3062,2275,2061,0,0,0,0,0,0
$GC,13763,0.59,236.8,558.8,13.7,840,13767,0.00,2.35,0.00,0.000,4,0.000,0.081,3062,3692,2061,0,0,0,0,0,0
$GC,13826,0.56,236.8,549.7,14.1,845,13830,0.00,2.33,0.00,0.000,6,0.000,0.064,3072,2264,2061,0,0,0,0,0,0
$GC,14158,0.51,236.8,502.2,14.4,876,14162,0.15,2.33,0.00,0.000,4,0.192,0.077,3042,859,2061,0,0,0,0,0,0
$GC,14204,0.58,236.8,496.7,10.8,880,14208,0.00,2.33,0.00,0.000,6,0.000,0.066,3042,2281,2060,0,0,0,0,0,0
$GC,14530,0.60,236.8,460.5,10.7,910,14534,0.00,2.33,0.00,0.000,4,0.000,0.081,3042,3695,2060,0,0,0,0,0,0
$GC,14585,0.60,236.8,453.6,11.8,914,14592,0.00,2.33,0.00,0.000,6,0.000,0.063,3052,2266,2060,0,0,0,0,0,0
$GC,14910,0.60,236.8,414.2,12.2,945,14915,0.00,2.30,0.00,0.000,4,0.000,0.076,3063,856,2059,0,0,0,0,0,0
$GC,14963,0.64,236.8,408.1,10.9,949,14967,0.00,2.30,0.00,0.000,6,0.000,0.065,3062,2276,2060,0,0,0,0,0,0
$GC,15288,0.64,236.8,366.6,12.6,979,15292,0.00,2.33,0.00,0.000,4,0.000,0.080,3062,3692,2060,0,0,0,0,0,0
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$STATE,18566,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18566,begin surface
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$DATA_FILE_SIZE,53357,1352
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