version: 66.08
glider: 141
mission: 15
dive: 699
start: 5 27 111 12 14 13
data:
$ID,141
$MISSION,15
$DIVE,699
$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,-50844.75
$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,19
$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
$GPS1,270511,082725,6657.243,-5926.903,0,7122.6,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.23
$_SM_ANGLEo,-4.8
$GPS2,270511,082725,6657.243,-5926.903,0,7122.6,0,-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,122.3,115246,-17.5,-10.000
$D_GRID,1021
$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,-5.97,0.000,2,0.000,0.000,2904,864,2961,0,0,0,0,0,0
$GC,28,-0.62,-146.0,12.8,-0.0,1,53,0.68,5.25,-16.05,0.000,4,0.101,0.093,2667,3903,3629,0,0,0,0,0,0
$GC,308,-0.50,-146.0,64.7,-18.6,50,316,0.12,2.33,0.00,0.000,6,0.223,0.064,2693,2486,3631,0,0,0,0,0,0
$GC,649,-0.42,-146.0,118.6,-15.4,100,655,0.12,2.45,0.00,0.000,4,0.225,0.091,2723,3907,3630,0,0,0,0,0,0
$GC,703,-0.48,-146.0,125.8,-10.9,104,709,0.00,2.33,0.00,0.000,6,0.000,0.064,2723,2485,3630,0,0,0,0,0,0
$GC,1033,-0.51,-146.0,160.9,-9.6,135,1037,0.00,2.33,0.00,0.000,4,0.000,0.082,2723,1080,3629,0,0,0,0,0,0
$GC,1055,-0.53,-146.0,163.6,-9.8,136,1062,0.00,2.38,0.00,0.000,6,0.000,0.078,2723,2488,3629,0,0,0,0,0,0
$GC,1381,-0.57,-146.0,194.2,-9.7,167,1386,0.15,2.45,0.00,0.000,4,0.119,0.095,2670,3906,3629,0,0,0,0,0,0
$GC,1455,-0.53,-146.0,203.7,-13.0,173,1459,0.00,2.33,0.00,0.000,6,0.000,0.066,2670,2491,3629,0,0,0,0,0,0
$GC,1787,-0.45,-146.0,249.1,-13.2,204,1792,0.17,2.38,0.00,0.000,4,0.214,0.080,2713,1077,3628,0,0,0,0,0,0
$GC,1809,-0.43,-146.0,251.8,-11.7,205,1815,0.00,2.40,0.00,0.000,6,0.000,0.078,2713,2497,3628,0,0,0,0,0,0
$GC,2135,-0.48,-146.0,278.7,-8.5,236,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2497,3628,0,0,0,0,0,0
$GC,2456,-0.53,-146.0,305.0,-8.4,266,2461,0.00,2.42,0.00,0.000,4,0.000,0.094,2713,3900,3628,0,0,0,0,0,0
$GC,2495,-0.62,-146.0,308.7,-8.3,269,2503,0.15,2.33,0.00,0.000,6,0.117,0.063,2664,2488,3628,0,0,0,0,0,0
$GC,2822,-0.55,-146.0,348.3,-12.3,300,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2488,3628,0,0,0,0,0,0
$GC,3144,-0.48,-146.0,386.7,-11.8,330,3151,0.15,0.00,0.00,0.000,6,0.216,0.000,2700,2488,3628,0,0,0,0,0,0
$GC,3470,-0.52,-146.0,414.4,-8.1,361,3474,0.00,2.42,0.00,0.000,4,0.000,0.088,2700,3901,3628,0,0,0,0,0,0
$GC,3500,-0.56,-146.0,416.8,-8.2,363,3504,0.00,2.33,0.00,0.000,6,0.000,0.062,2700,2484,3628,0,0,0,0,0,0
$GC,3826,-0.60,-146.0,443.7,-8.6,393,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2483,3629,0,0,0,0,0,0
$GC,4146,-0.64,-146.0,471.4,-8.8,423,4151,0.12,2.35,0.00,0.000,4,0.132,0.077,2657,1070,3629,0,0,0,0,0,0
$GC,4158,-0.67,-146.0,472.8,-8.8,423,4165,0.00,2.40,0.00,0.000,6,0.000,0.075,2657,2493,3629,0,0,0,0,0,0
$GC,4484,-0.60,-146.0,512.8,-12.7,454,4488,0.00,2.40,0.00,0.000,4,0.000,0.091,2657,3902,3629,0,0,0,0,0,0
$GC,4514,-0.53,-146.0,516.5,-13.3,456,4519,0.12,2.33,0.00,0.000,6,0.203,0.061,2685,2478,3629,0,0,0,0,0,0
$GC,4840,-0.53,-146.0,548.8,-9.4,486,4844,0.00,2.30,0.00,0.000,4,0.000,0.076,2685,1078,3630,0,0,0,0,0,0
$GC,4856,-0.53,-146.0,550.6,-9.8,487,4863,0.00,2.38,0.00,0.000,6,0.000,0.075,2685,2498,3630,0,0,0,0,0,0
$GC,5183,-0.53,-146.0,579.7,-8.6,518,5187,0.00,2.42,0.00,0.000,4,0.000,0.091,2685,3906,3630,0,0,0,0,0,0
$GC,5218,-0.56,-146.0,583.1,-8.8,520,5225,0.00,2.33,0.00,0.000,6,0.000,0.061,2685,2481,3630,0,0,0,0,0,0
$GC,5540,-0.56,-146.0,612.0,-9.1,543,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2481,3630,0,0,0,0,0,0
$GC,5845,-0.56,-146.0,638.9,-8.7,553,5849,0.00,2.33,0.00,0.000,4,0.000,0.076,2685,1076,3630,0,0,0,0,0,0
$GC,5867,-0.56,-146.0,641.0,-9.1,553,5872,0.00,2.38,0.00,0.000,6,0.000,0.076,2685,2497,3630,0,0,0,0,0,0
$GC,6181,-0.58,-146.0,667.6,-8.6,563,6185,0.00,2.42,0.00,0.000,4,0.000,0.092,2684,3904,3630,0,0,0,0,0,0
$GC,6211,-0.61,-146.0,670.1,-8.5,564,6216,0.00,2.30,0.00,0.000,6,0.000,0.062,2685,2483,3630,0,0,0,0,0,0
$GC,6549,-0.64,-146.0,699.5,-8.8,575,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2483,3631,0,0,0,0,0,0
$GC,6854,-0.67,-146.0,726.2,-8.7,585,6856,0.12,0.00,0.00,0.000,6,0.131,0.000,2642,2483,3630,0,0,0,0,0,0
$GC,7160,-0.59,-146.0,763.7,-12.5,595,7162,0.12,0.00,0.00,0.000,6,0.205,0.000,2671,2484,3630,0,0,0,0,0,0
$GC,7466,-0.59,-146.0,793.4,-9.4,605,7470,0.00,2.45,0.00,0.000,4,0.000,0.088,2671,3902,3630,0,0,0,0,0,0
$GC,7482,-0.59,-146.0,795.0,-9.3,605,7486,0.00,2.33,0.00,0.000,6,0.000,0.060,2671,2481,3630,0,0,0,0,0,0
$GC,7796,-0.59,-146.0,825.5,-9.9,615,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2481,3631,0,0,0,0,0,0
$GC,8101,-0.59,-146.0,855.1,-9.6,625,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2481,3631,0,0,0,0,0,0
$GC,8408,-0.59,-146.0,884.4,-9.4,635,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2481,3631,0,0,0,0,0,0
$GC,8715,-0.59,-146.0,913.6,-9.6,645,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2481,3631,0,0,0,0,0,0
$GC,9020,-0.59,-146.0,942.5,-9.5,655,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2481,3631,0,0,0,0,0,0
$GC,9326,-0.59,-146.0,969.8,-8.8,665,9330,0.00,2.45,0.00,0.000,4,0.000,0.086,2670,3905,3630,0,0,0,0,0,0
$GC,9348,-0.59,-146.0,972.0,-9.0,665,9355,0.00,2.33,0.00,0.000,6,0.000,0.060,2670,2485,3631,0,0,0,0,0,0
$STATE,9567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9567,begin apogee
$GC,9574,-0.12,0.0,991.8,9.0,673,9715,0.50,0.00,134.73,1.555,6,0.184,0.000,2812,2264,3030,0,0,0,0,0,0
$STATE,9715,end apogee,CONTROL_FINISHED_OK
$STATE,9716,begin climb
$GC,9718,0.62,146.0,996.2,0.0,677,9873,0.82,2.85,146.15,1.500,4,0.134,0.079,3052,3689,2434,0,0,0,0,0,0
$GC,10063,0.51,146.0,962.0,13.4,688,10068,0.12,2.47,0.00,0.000,6,0.190,0.067,3036,2277,2428,0,0,0,0,0,0
$GC,10394,0.51,146.0,928.7,10.2,699,10398,0.00,2.40,0.00,0.000,4,0.000,0.082,3035,3693,2426,0,0,0,0,0,0
$GC,10530,0.45,146.0,912.4,12.4,703,10535,0.12,2.33,0.00,0.000,6,0.203,0.068,3016,2273,2426,0,0,0,0,0,0
$GC,10861,0.50,168.1,882.2,9.0,714,10886,0.00,2.40,19.77,1.387,4,0.000,0.085,3024,863,2344,0,0,0,0,0,0
$GC,10927,0.57,179.1,875.8,9.5,716,10946,0.00,2.35,11.70,1.305,6,0.000,0.070,3024,2286,2299,0,0,0,0,0,0
$GC,11268,0.61,184.6,843.3,9.7,727,11280,0.10,2.35,6.22,1.108,4,0.118,0.083,3072,3696,2277,0,0,0,0,0,0
$GC,11350,0.50,184.6,831.9,15.0,729,11355,0.20,2.35,0.00,0.000,6,0.194,0.068,3032,2273,2276,0,0,0,0,0,0
$GC,11669,0.52,184.6,797.9,10.3,740,11673,0.00,2.35,0.00,0.000,4,0.000,0.083,3041,864,2275,0,0,0,0,0,0
$GC,11708,0.56,184.6,793.7,10.5,741,11712,0.00,2.33,0.00,0.000,6,0.000,0.069,3041,2277,2274,0,0,0,0,0,0
$GC,12044,0.56,184.6,759.5,10.2,752,12048,0.00,2.38,0.00,0.000,4,0.000,0.085,3041,3693,2274,0,0,0,0,0,0
$GC,12109,0.52,184.6,752.0,12.1,754,12113,0.00,2.35,0.00,0.000,6,0.000,0.069,3051,2266,2274,0,0,0,0,0,0
$GC,12444,0.52,184.6,714.1,11.2,765,12448,0.00,2.33,0.00,0.000,4,0.000,0.082,3062,862,2274,0,0,0,0,0,0
$GC,12482,0.52,184.6,709.5,11.4,766,12487,0.12,2.33,0.00,0.000,6,0.183,0.070,3032,2281,2273,0,0,0,0,0,0
$GC,12819,0.55,190.3,676.6,9.7,777,12830,0.00,2.35,6.35,1.076,4,0.000,0.083,3032,3687,2253,0,0,0,0,0,0
$GC,12874,0.55,190.3,670.3,10.7,778,12881,0.00,2.33,0.00,0.000,6,0.000,0.068,3040,2275,2253,0,0,0,0,0,0
$GC,13189,0.56,195.1,639.5,9.8,789,13200,0.00,2.38,6.45,1.059,4,0.000,0.081,3051,857,2233,0,0,0,0,0,0
$GC,13245,0.58,195.1,633.7,10.6,790,13252,0.00,2.35,0.00,0.000,6,0.000,0.070,3051,2277,2232,0,0,0,0,0,0
$GC,13558,0.58,195.1,602.3,10.1,801,13562,0.00,2.35,0.00,0.000,4,0.000,0.084,3051,3691,2232,0,0,0,0,0,0
$GC,13618,0.53,195.1,595.6,12.1,804,13621,0.00,2.33,0.00,0.000,6,0.000,0.068,3061,2265,2231,0,0,0,0,0,0
$GC,13949,0.51,195.1,557.0,11.1,835,13954,0.12,2.38,0.00,0.000,4,0.191,0.083,3038,861,2232,0,0,0,0,0,0
$GC,14005,0.58,208.9,551.6,9.4,839,14024,0.00,2.33,13.60,1.196,6,0.000,0.069,3038,2278,2178,0,0,0,0,0,0
$GC,14343,0.62,213.3,519.1,9.8,871,14356,0.00,2.35,5.97,0.985,4,0.000,0.083,3038,3687,2159,0,0,0,0,0,0
$GC,14406,0.62,213.3,511.8,12.2,876,14413,0.00,2.33,0.00,0.000,6,0.000,0.068,3049,2275,2159,0,0,0,0,0,0
$GC,14732,0.62,213.3,477.4,10.4,907,14737,0.00,2.38,0.00,0.000,4,0.000,0.083,3058,857,2158,0,0,0,0,0,0
$GC,14796,0.65,213.3,470.7,10.8,912,14800,0.00,2.35,0.00,0.000,6,0.000,0.070,3059,2277,2157,0,0,0,0,0,0
$GC,15128,0.65,213.3,433.8,11.1,943,15132,0.00,2.35,0.00,0.000,4,0.000,0.083,3059,3690,2157,0,0,0,0,0,0
$GC,15183,0.61,213.3,426.8,12.2,947,15190,0.00,2.35,0.00,0.000,6,0.000,0.067,3069,2264,2157,0,0,0,0,0,0
$GC,15511,0.59,213.3,388.3,11.5,978,15515,0.00,2.33,0.00,0.000,4,0.000,0.082,3080,864,2157,0,0,0,0,0,0
$GC,15552,0.59,213.3,383.1,12.0,981,15556,0.00,2.33,0.00,0.000,6,0.000,0.070,3080,2279,2156,0,0,0,0,0,0
$GC,15878,0.54,213.3,343.1,12.5,1011,15883,0.15,2.38,0.00,0.000,4,0.183,0.083,3040,3686,2156,0,0,0,0,0,0
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$STATE,19035,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,19035,begin subsurface finish
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$STATE,19091,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19091,begin surface
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$FG_AHR_10Vo,0.000
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$MEM,150560
$DATA_FILE_SIZE,53314,1377
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.3
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