version: 66.08
glider: 141
mission: 15
dive: 672
start: 5 23 111 8 47 26
data:
$ID,141
$MISSION,15
$DIVE,672
$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,-49740.031
$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,20
$R_STBD_OVSHOOT,19
$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
$GPS1,230511,043056,6701.169,-5951.183,0,6115.8,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.89
$_SM_ANGLEo,-3.0
$GPS2,230511,043056,6701.169,-5951.183,0,6115.8,0,-37.6
$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,256.3,40741,-17.5,-10.000
$D_GRID,940
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.47,0.000,2,0.000,0.000,2903,2272,2991,0,0,0,0,0,0
$GC,28,-0.62,-146.0,13.7,-0.0,1,53,0.68,2.88,-14.68,0.000,4,0.097,0.102,2665,3896,3630,0,0,0,0,0,0
$GC,89,-0.47,-146.0,22.2,-18.6,11,96,0.17,2.30,0.00,0.000,6,0.229,0.063,2705,2482,3632,0,0,0,0,0,0
$GC,436,-0.40,-146.0,78.3,-14.5,72,442,0.10,0.00,0.00,0.000,6,0.244,0.000,2728,2482,3632,0,0,0,0,0,0
$GC,777,-0.40,-146.0,120.4,-11.2,118,781,0.00,2.35,0.00,0.000,4,0.000,0.079,2728,1070,3632,0,0,0,0,0,0
$GC,807,-0.43,-146.0,123.8,-11.2,120,811,0.00,2.40,0.00,0.000,6,0.000,0.079,2728,2487,3632,0,0,0,0,0,0
$GC,1133,-0.48,-146.0,157.3,-9.5,150,1138,0.00,2.45,0.00,0.000,4,0.000,0.095,2728,3905,3631,0,0,0,0,0,0
$GC,1156,-0.55,-146.0,159.6,-9.2,151,1163,0.15,2.35,0.00,0.000,6,0.121,0.067,2679,2480,3631,0,0,0,0,0,0
$GC,1482,-0.50,-146.0,201.5,-12.5,182,1486,0.00,2.35,0.00,0.000,4,0.000,0.081,2678,1074,3631,0,0,0,0,0,0
$GC,1511,-0.44,-146.0,205.1,-13.3,184,1516,0.15,2.42,0.00,0.000,6,0.212,0.080,2713,2499,3631,0,0,0,0,0,0
$GC,1837,-0.49,-146.0,236.5,-9.6,214,1841,0.00,2.42,0.00,0.000,4,0.000,0.096,2713,3909,3629,0,0,0,0,0,0
$GC,1855,-0.54,-146.0,238.2,-9.6,215,1859,0.00,2.33,0.00,0.000,6,0.000,0.065,2713,2485,3630,0,0,0,0,0,0
$GC,2186,-0.60,-146.0,267.4,-9.0,246,2191,0.12,2.38,0.00,0.000,4,0.132,0.080,2671,1077,3629,0,0,0,0,0,0
$GC,2215,-0.60,-146.0,270.6,-11.0,248,2219,0.00,2.40,0.00,0.000,6,0.000,0.079,2671,2491,3629,0,0,0,0,0,0
$GC,2541,-0.55,-146.0,309.5,-11.8,278,2545,0.00,2.45,0.00,0.000,4,0.000,0.094,2670,3906,3629,0,0,0,0,0,0
$GC,2581,-0.55,-146.0,314.3,-11.8,281,2585,0.00,2.33,0.00,0.000,6,0.000,0.067,2671,2484,3628,0,0,0,0,0,0
$GC,2906,-0.51,-146.0,351.7,-11.0,311,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2484,3629,0,0,0,0,0,0
$GC,3228,-0.48,-146.0,386.9,-11.6,341,3233,0.15,2.38,0.00,0.000,4,0.208,0.078,2707,1073,3629,0,0,0,0,0,0
$GC,3280,-0.57,-146.0,392.4,-8.9,345,3284,0.00,2.38,0.00,0.000,6,0.000,0.077,2707,2490,3629,0,0,0,0,0,0
$GC,3611,-0.64,-146.0,418.9,-7.6,376,3616,0.15,2.42,0.00,0.000,4,0.117,0.093,2653,3900,3630,0,0,0,0,0,0
$GC,3644,-0.61,-146.0,422.5,-11.5,378,3651,0.00,2.33,0.00,0.000,6,0.000,0.063,2654,2484,3630,0,0,0,0,0,0
$GC,3970,-0.54,-146.0,461.0,-12.0,409,3972,0.12,0.00,0.00,0.000,6,0.210,0.000,2683,2484,3630,0,0,0,0,0,0
$GC,4288,-0.54,-146.0,490.7,-9.3,439,4293,0.00,2.33,0.00,0.000,4,0.000,0.076,2683,1079,3630,0,0,0,0,0,0
$GC,4311,-0.54,-146.0,493.1,-10.2,440,4318,0.00,2.40,0.00,0.000,6,0.000,0.076,2683,2501,3630,0,0,0,0,0,0
$GC,4638,-0.54,-146.0,524.2,-9.5,471,4642,0.00,2.42,0.00,0.000,4,0.000,0.090,2683,3911,3630,0,0,0,0,0,0
$GC,4680,-0.58,-146.0,528.3,-9.7,474,4684,0.00,2.33,0.00,0.000,6,0.000,0.063,2683,2490,3630,0,0,0,0,0,0
$GC,5006,-0.58,-146.0,557.8,-8.6,504,5010,0.00,2.38,0.00,0.000,4,0.000,0.076,2683,1074,3631,0,0,0,0,0,0
$GC,5035,-0.60,-146.0,560.4,-9.5,506,5039,0.00,2.40,0.00,0.000,6,0.000,0.075,2683,2499,3631,0,0,0,0,0,0
$GC,5361,-0.63,-146.0,588.1,-8.4,536,5365,0.00,2.42,0.00,0.000,4,0.000,0.090,2683,3907,3631,0,0,0,0,0,0
$GC,5391,-0.66,-146.0,590.7,-8.5,538,5395,0.00,2.33,0.00,0.000,6,0.000,0.062,2683,2485,3631,0,0,0,0,0,0
$GC,5722,-0.69,-146.0,618.2,-8.5,555,5724,0.12,0.00,0.00,0.000,6,0.132,0.000,2640,2485,3631,0,0,0,0,0,0
$GC,6025,-0.60,-146.0,654.7,-12.0,565,6030,0.12,2.33,0.00,0.000,4,0.205,0.075,2669,1079,3631,0,0,0,0,0,0
$GC,6042,-0.52,-146.0,656.9,-12.3,565,6046,0.00,2.38,0.00,0.000,6,0.000,0.075,2669,2491,3631,0,0,0,0,0,0
$GC,6360,-0.52,-146.0,687.9,-9.8,576,6365,0.00,2.42,0.00,0.000,4,0.000,0.090,2669,3903,3632,0,0,0,0,0,0
$GC,6394,-0.52,-146.0,691.4,-10.0,577,6398,0.00,2.30,0.00,0.000,6,0.000,0.060,2669,2480,3631,0,0,0,0,0,0
$GC,6724,-0.52,-146.0,722.4,-9.2,588,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2480,3632,0,0,0,0,0,0
$GC,7029,-0.52,-146.0,749.3,-9.0,598,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2480,3632,0,0,0,0,0,0
$GC,7336,-0.52,-146.0,776.6,-8.6,608,7340,0.00,2.33,0.00,0.000,4,0.000,0.075,2669,1074,3632,0,0,0,0,0,0
$GC,7371,-0.52,-146.0,779.7,-9.3,609,7375,0.00,2.38,0.00,0.000,6,0.000,0.075,2669,2492,3632,0,0,0,0,0,0
$GC,7712,-0.52,-146.0,810.1,-9.1,620,7716,0.00,2.42,0.00,0.000,4,0.000,0.090,2668,3906,3632,0,0,0,0,0,0
$GC,7739,-0.52,-146.0,812.8,-9.6,620,7746,0.00,2.33,0.00,0.000,6,0.000,0.062,2669,2485,3632,0,0,0,0,0,0
$GC,8053,-0.52,-146.0,841.3,-9.1,631,8057,0.00,2.45,0.00,0.000,4,0.000,0.086,2669,3910,3633,0,0,0,0,0,0
$GC,8081,-0.52,-146.0,844.3,-9.8,631,8088,0.00,2.33,0.00,0.000,6,0.000,0.061,2669,2488,3632,0,0,0,0,0,0
$GC,8395,-0.52,-146.0,872.7,-9.2,642,8399,0.00,2.42,0.00,0.000,4,0.000,0.086,2669,3900,3632,0,0,0,0,0,0
$GC,8412,-0.52,-146.0,874.5,-8.8,642,8416,0.00,2.30,0.00,0.000,6,0.000,0.060,2669,2490,3632,0,0,0,0,0,0
$GC,8731,-0.77,-146.0,884.0,-0.0,653,8736,0.15,2.45,0.00,0.000,4,0.112,0.087,2614,3906,3633,0,0,0,0,0,0
$STATE,8758,end dive,NO_VERTICAL_VELOCITY
$STATE,8758,begin apogee
$GC,8767,-0.12,0.0,884.1,0.0,654,8908,0.65,0.00,132.35,1.492,6,0.148,0.000,2813,2275,3030,0,0,0,0,0,0
$STATE,8908,end apogee,CONTROL_FINISHED_OK
$STATE,8909,begin climb
$GC,8911,0.62,146.0,884.0,0.0,658,9063,0.82,2.80,141.82,1.437,4,0.145,0.078,3058,869,2433,0,0,0,0,0,0
$GC,9123,0.80,217.1,873.7,6.7,665,9202,0.20,2.60,71.90,1.393,6,0.077,0.068,3134,2280,2144,0,0,0,0,0,0
$GC,9524,0.64,217.1,805.4,18.0,678,9529,0.22,2.40,0.00,0.000,4,0.196,0.081,3076,3687,2134,0,0,0,0,0,0
$GC,9592,0.58,217.1,794.2,14.8,680,9597,0.12,2.38,0.00,0.000,6,0.200,0.070,3056,2277,2132,0,0,0,0,0,0
$GC,9927,0.58,217.1,754.4,11.9,691,9931,0.00,2.38,0.00,0.000,4,0.000,0.084,3065,855,2131,0,0,0,0,0,0
$GC,10011,0.61,217.1,744.7,10.8,693,10015,0.00,2.38,0.00,0.000,6,0.000,0.070,3065,2286,2130,0,0,0,0,0,0
$GC,10325,0.59,217.1,705.4,12.9,703,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2286,2130,0,0,0,0,0,0
$GC,10630,0.56,217.1,666.7,12.6,713,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2286,2129,0,0,0,0,0,0
$GC,10936,0.54,217.1,628.8,12.3,723,10940,0.00,2.38,0.00,0.000,4,0.000,0.083,3075,864,2129,0,0,0,0,0,0
$GC,10972,0.54,217.1,624.7,11.5,724,10977,0.12,2.33,0.00,0.000,6,0.177,0.070,3044,2277,2128,0,0,0,0,0,0
$GC,11297,0.58,217.1,592.0,10.4,739,11301,0.00,2.35,0.00,0.000,4,0.000,0.085,3043,3691,2128,0,0,0,0,0,0
$GC,11338,0.58,217.1,587.2,12.7,742,11342,0.00,2.33,0.00,0.000,6,0.000,0.068,3052,2265,2129,0,0,0,0,0,0
$GC,11663,0.60,217.1,551.8,10.9,772,11667,0.00,2.33,0.00,0.000,4,0.000,0.083,3063,862,2128,0,0,0,0,0,0
$GC,11720,0.63,217.1,545.6,10.5,776,11727,0.00,2.35,0.00,0.000,6,0.000,0.070,3063,2277,2127,0,0,0,0,0,0
$GC,12046,0.63,217.1,510.1,11.2,807,12050,0.00,2.35,0.00,0.000,4,0.000,0.084,3063,3688,2128,0,0,0,0,0,0
$GC,12098,0.60,217.1,503.8,12.6,811,12104,0.00,2.35,0.00,0.000,6,0.000,0.069,3073,2265,2128,0,0,0,0,0,0
$GC,12431,0.57,217.1,463.8,11.6,842,12435,0.00,2.33,0.00,0.000,4,0.000,0.083,3083,866,2127,0,0,0,0,0,0
$GC,12487,0.57,217.1,457.0,11.1,846,12495,0.12,2.35,0.00,0.000,6,0.180,0.070,3054,2281,2126,0,0,0,0,0,0
$GC,12813,0.61,221.4,425.4,9.8,877,12817,0.00,2.35,0.00,0.000,4,0.000,0.083,3053,3694,2127,0,0,0,0,0,0
$GC,12858,0.61,221.4,420.2,11.4,880,12865,0.00,2.38,0.00,0.000,6,0.000,0.074,3061,2267,2127,0,0,0,0,0,0
$GC,13183,0.61,221.4,385.7,10.7,911,13187,0.00,2.35,0.00,0.000,4,0.000,0.083,3072,866,2127,0,0,0,0,0,0
$GC,13251,0.63,221.4,378.3,10.7,916,13258,0.00,2.35,0.00,0.000,6,0.000,0.070,3072,2279,2126,0,0,0,0,0,0
$GC,13576,0.63,221.4,342.4,11.3,947,13581,0.00,2.38,0.00,0.000,4,0.000,0.083,3072,3689,2126,0,0,0,0,0,0
$GC,13645,0.59,221.4,333.9,12.9,952,13651,0.00,2.35,0.00,0.000,6,0.000,0.069,3082,2272,2127,0,0,0,0,0,0
$GC,13970,0.57,221.4,295.9,11.5,983,13975,0.12,2.38,0.00,0.000,4,0.190,0.083,3058,860,2127,0,0,0,0,0,0
$GC,14027,0.66,237.6,290.4,9.3,987,14048,0.00,2.35,16.70,1.081,6,0.000,0.070,3058,2276,2061,0,0,0,0,0,0
$GC,14370,0.73,254.6,258.8,9.2,1019,14395,0.12,2.40,17.27,1.061,4,0.102,0.084,3114,3694,1990,0,0,0,0,0,0
$GC,14432,0.64,254.6,250.5,16.5,1024,14437,0.20,2.35,0.00,0.000,6,0.197,0.068,3075,2264,1989,0,0,0,0,0,0
$GC,14758,0.68,254.6,213.8,10.8,1054,14762,0.00,2.33,0.00,0.000,4,0.000,0.083,3083,864,1986,0,0,0,0,0,0
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$STATE,16936,end climb,NO_VERTICAL_VELOCITY
$STATE,16936,begin subsurface finish
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$STATE,16953,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,16953,begin surface
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$RAFOS,5,1306140065,8.700000,8.684722,76,63,60,57,56,48,892,181,201,214,152,100
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$FG_AHR_10Vo,0.000
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$MEM,150616
$DATA_FILE_SIZE,49933,1339
$CAP_FILE_SIZE,180314,0
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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