version: 66.08
glider: 141
mission: 15
dive: 702
start: 5 28 111 3 46 50
data:
$ID,141
$MISSION,15
$DIVE,702
$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,15
$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
$GPS1,280511,003117,6700.800,-5911.267,0,6110.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.75
$_SM_ANGLEo,-5.7
$GPS2,280511,003117,6700.800,-5911.267,0,6110.7,0,-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,125.3,103540,-17.5,-10.000
$D_GRID,1140
$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,16,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2902,869,2939,0,0,0,0,0,0
$GC,27,-0.62,-146.0,12.7,-0.0,1,53,0.68,5.25,-16.55,0.000,4,0.101,0.090,2665,3906,3628,0,0,0,0,0,0
$GC,72,-0.42,-146.0,18.3,-16.2,8,79,0.25,2.33,0.00,0.000,6,0.225,0.062,2723,2479,3629,0,0,0,0,0,0
$GC,419,-0.38,-146.0,71.4,-12.8,69,426,0.00,2.30,0.00,0.000,4,0.000,0.080,2724,1078,3629,0,0,0,0,0,0
$GC,541,-0.38,-146.0,86.0,-11.3,90,548,0.00,2.38,0.00,0.000,6,0.000,0.076,2724,2492,3629,0,0,0,0,0,0
$GC,875,-0.38,-146.0,125.9,-11.1,131,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2491,3628,0,0,0,0,0,0
$GC,1197,-0.40,-146.0,159.3,-9.7,161,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2492,3628,0,0,0,0,0,0
$GC,1523,-0.44,-146.0,190.4,-9.3,192,1527,0.00,2.42,0.00,0.000,4,0.000,0.094,2724,3907,3627,0,0,0,0,0,0
$GC,1552,-0.49,-146.0,193.1,-9.0,194,1556,0.00,2.33,0.00,0.000,6,0.000,0.063,2724,2489,3627,0,0,0,0,0,0
$GC,1878,-0.55,-146.0,221.2,-8.3,224,1883,0.12,2.38,0.00,0.000,4,0.131,0.080,2681,1074,3627,0,0,0,0,0,0
$GC,1934,-0.55,-146.0,227.5,-11.4,228,1940,0.00,2.38,0.00,0.000,6,0.000,0.077,2681,2493,3627,0,0,0,0,0,0
$GC,2260,-0.50,-146.0,266.0,-11.7,259,2264,0.00,2.40,0.00,0.000,4,0.000,0.093,2681,3900,3626,0,0,0,0,0,0
$GC,2278,-0.45,-146.0,268.1,-11.2,260,2282,0.15,2.30,0.00,0.000,6,0.199,0.062,2717,2491,3627,0,0,0,0,0,0
$GC,2609,-0.51,-146.0,295.3,-8.0,291,2613,0.00,2.35,0.00,0.000,4,0.000,0.078,2716,1071,3626,0,0,0,0,0,0
$GC,2633,-0.57,-146.0,297.3,-8.4,293,2638,0.12,2.40,0.00,0.000,6,0.118,0.075,2669,2497,3626,0,0,0,0,0,0
$GC,2959,-0.51,-146.0,333.7,-11.8,323,2963,0.00,2.42,0.00,0.000,4,0.000,0.090,2669,3910,3626,0,0,0,0,0,0
$GC,2999,-0.48,-146.0,338.3,-11.1,326,3004,0.15,2.33,0.00,0.000,6,0.197,0.060,2704,2485,3626,0,0,0,0,0,0
$GC,3325,-0.52,-146.0,366.6,-8.7,356,3329,0.00,2.33,0.00,0.000,4,0.000,0.076,2705,1068,3627,0,0,0,0,0,0
$GC,3377,-0.59,-146.0,371.3,-8.9,360,3381,0.00,2.38,0.00,0.000,6,0.000,0.074,2705,2490,3627,0,0,0,0,0,0
$GC,3708,-0.64,-146.0,399.4,-8.6,391,3710,0.15,0.00,0.00,0.000,6,0.116,0.000,2651,2490,3627,0,0,0,0,0,0
$GC,4026,-0.55,-146.0,439.8,-13.0,421,4031,0.12,2.45,0.00,0.000,4,0.213,0.090,2679,3906,3627,0,0,0,0,0,0
$GC,4070,-0.57,-146.0,445.1,-10.3,424,4077,0.00,2.28,0.00,0.000,6,0.000,0.058,2679,2490,3627,0,0,0,0,0,0
$GC,4396,-0.57,-146.0,480.0,-10.6,455,4400,0.00,2.38,0.00,0.000,4,0.000,0.074,2679,1068,3628,0,0,0,0,0,0
$GC,4407,-0.57,-146.0,481.4,-10.3,455,4414,0.00,2.40,0.00,0.000,6,0.000,0.073,2679,2498,3628,0,0,0,0,0,0
$GC,4732,-0.57,-146.0,515.5,-10.5,486,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2498,3628,0,0,0,0,0,0
$GC,5055,-0.57,-146.0,548.9,-10.5,516,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2498,3628,0,0,0,0,0,0
$GC,5384,-0.57,-146.0,581.9,-9.6,547,5388,0.00,2.38,0.00,0.000,4,0.000,0.088,2680,3900,3629,0,0,0,0,0,0
$GC,5412,-0.57,-146.0,585.0,-10.5,549,5417,0.00,2.30,0.00,0.000,6,0.000,0.057,2679,2481,3628,0,0,0,0,0,0
$GC,5734,-0.57,-146.0,615.1,-9.3,569,5738,0.00,2.33,0.00,0.000,4,0.000,0.073,2680,1073,3629,0,0,0,0,0,0
$GC,5756,-0.57,-146.0,617.5,-9.3,569,5763,0.00,2.38,0.00,0.000,6,0.000,0.073,2679,2490,3629,0,0,0,0,0,0
$GC,6070,-0.57,-146.0,645.3,-8.8,580,6074,0.00,2.40,0.00,0.000,4,0.000,0.089,2679,3905,3629,0,0,0,0,0,0
$GC,6099,-0.57,-146.0,648.0,-9.0,581,6103,0.00,2.30,0.00,0.000,6,0.000,0.060,2680,2491,3629,0,0,0,0,0,0
$GC,6435,-0.57,-146.0,677.4,-8.8,592,6439,0.00,2.33,0.00,0.000,4,0.000,0.074,2680,1074,3629,0,0,0,0,0,0
$GC,6469,-0.57,-146.0,680.8,-9.3,593,6473,0.00,2.38,0.00,0.000,6,0.000,0.073,2679,2493,3629,0,0,0,0,0,0
$GC,6799,-0.57,-146.0,709.9,-8.9,604,6803,0.00,2.40,0.00,0.000,4,0.000,0.089,2679,3906,3629,0,0,0,0,0,0
$GC,6817,-0.57,-146.0,711.5,-9.0,604,6821,0.00,2.30,0.00,0.000,6,0.000,0.060,2679,2492,3628,0,0,0,0,0,0
$GC,7131,-0.57,-146.0,738.7,-8.7,614,7135,0.00,2.33,0.00,0.000,4,0.000,0.074,2680,1074,3628,0,0,0,0,0,0
$GC,7160,-0.57,-146.0,741.4,-9.3,615,7164,0.00,2.35,0.00,0.000,6,0.000,0.073,2679,2490,3628,0,0,0,0,0,0
$GC,7496,-0.57,-146.0,769.6,-8.4,626,7500,0.00,2.40,0.00,0.000,4,0.000,0.089,2680,3903,3629,0,0,0,0,0,0
$GC,7513,-0.57,-146.0,771.3,-8.4,626,7517,0.00,2.28,0.00,0.000,6,0.000,0.059,2680,2490,3629,0,0,0,0,0,0
$GC,7826,-0.57,-146.0,797.4,-8.2,636,7830,0.00,2.35,0.00,0.000,4,0.000,0.076,2680,1075,3629,0,0,0,0,0,0
$GC,7849,-0.57,-146.0,799.4,-8.9,636,7855,0.00,2.38,0.00,0.000,6,0.000,0.074,2679,2498,3629,0,0,0,0,0,0
$GC,8162,-0.57,-146.0,825.8,-8.6,647,8166,0.00,2.40,0.00,0.000,4,0.000,0.090,2679,3902,3629,0,0,0,0,0,0
$GC,8184,-0.57,-146.0,827.9,-9.0,647,8188,0.00,2.30,0.00,0.000,6,0.000,0.058,2680,2485,3629,0,0,0,0,0,0
$GC,8498,-0.57,-146.0,855.3,-8.9,657,8502,0.00,2.33,0.00,0.000,4,0.000,0.076,2680,1070,3629,0,0,0,0,0,0
$GC,8514,-0.57,-146.0,857.1,-8.9,657,8518,0.00,2.40,0.00,0.000,6,0.000,0.074,2680,2494,3629,0,0,0,0,0,0
$GC,8827,-0.57,-146.0,885.5,-9.1,667,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2494,3629,0,0,0,0,0,0
$GC,9134,-0.57,-146.0,912.6,-8.9,677,9139,0.00,2.42,0.00,0.000,4,0.000,0.090,2680,3905,3629,0,0,0,0,0,0
$GC,9165,-0.60,-146.0,915.4,-9.8,678,9170,0.00,2.33,0.00,0.000,6,0.000,0.060,2679,2480,3629,0,0,0,0,0,0
$GC,9503,-0.62,-146.0,944.6,-8.6,689,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2480,3629,0,0,0,0,0,0
$GC,9808,-0.65,-146.0,970.4,-8.3,699,9812,0.00,2.30,0.00,0.000,4,0.000,0.076,2680,1080,3629,0,0,0,0,0,0
$GC,9819,-0.67,-146.0,971.5,-8.3,699,9823,0.00,2.35,0.00,0.000,6,0.000,0.073,2680,2491,3629,0,0,0,0,0,0
$STATE,10042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10042,begin apogee
$GC,10050,-0.12,0.0,990.3,8.3,707,10188,0.45,0.00,133.70,1.560,6,0.180,0.000,2810,2266,3030,0,0,0,0,0,0
$STATE,10189,end apogee,CONTROL_FINISHED_OK
$STATE,10189,begin climb
$GC,10192,0.62,146.0,994.9,0.0,711,10347,0.82,2.83,146.25,1.504,4,0.135,0.079,3050,3686,2433,0,0,0,0,0,0
$GC,10516,0.52,146.0,965.7,11.8,721,10521,0.00,2.47,0.00,0.000,6,0.000,0.066,3060,2277,2428,0,0,0,0,0,0
$GC,10835,0.45,146.0,930.7,11.1,732,10839,0.17,2.38,0.00,0.000,4,0.189,0.083,3024,864,2425,0,0,0,0,0,0
$GC,11025,0.53,179.4,913.9,8.5,737,11061,0.00,2.35,30.17,1.414,6,0.000,0.068,3024,2281,2298,0,0,0,0,0,0
$GC,11377,0.57,191.5,881.6,9.4,749,11396,0.00,2.42,12.00,1.307,4,0.000,0.083,3024,3687,2249,0,0,0,0,0,0
$GC,11459,0.57,191.5,872.2,11.6,751,11463,0.00,2.35,0.00,0.000,6,0.000,0.068,3034,2267,2247,0,0,0,0,0,0
$GC,11777,0.57,191.5,839.8,10.2,762,11781,0.00,2.33,0.00,0.000,4,0.000,0.083,3045,866,2246,0,0,0,0,0,0
$GC,11822,0.59,191.5,835.1,10.0,763,11826,0.00,2.30,0.00,0.000,6,0.000,0.068,3045,2275,2244,0,0,0,0,0,0
$GC,12140,0.59,191.5,800.9,10.8,774,12144,0.00,2.35,0.00,0.000,4,0.000,0.083,3044,3696,2245,0,0,0,0,0,0
$GC,12203,0.54,191.5,793.2,13.5,776,12207,0.00,2.35,0.00,0.000,6,0.000,0.068,3054,2268,2244,0,0,0,0,0,0
$GC,12539,0.52,191.5,755.3,11.1,787,12543,0.00,2.33,0.00,0.000,4,0.000,0.083,3067,864,2244,0,0,0,0,0,0
$GC,12589,0.50,191.5,749.3,11.5,788,12594,0.15,2.33,0.00,0.000,6,0.182,0.069,3028,2283,2243,0,0,0,0,0,0
$GC,12903,0.57,219.7,721.3,8.7,798,12937,0.00,2.45,26.85,1.340,4,0.000,0.085,3028,3686,2134,0,0,0,0,0,0
$GC,12994,0.57,219.7,712.3,10.9,800,12998,0.00,2.33,0.00,0.000,6,0.000,0.068,3036,2274,2133,0,0,0,0,0,0
$GC,13309,0.61,227.8,681.6,9.6,810,13323,0.00,2.40,8.65,1.173,4,0.000,0.083,3046,869,2100,0,0,0,0,0,0
$GC,13376,0.69,235.0,674.8,9.7,812,13391,0.12,2.33,8.73,1.166,6,0.108,0.069,3102,2275,2070,0,0,0,0,0,0
$GC,13719,0.58,235.0,619.8,16.5,823,13724,0.17,2.38,0.00,0.000,4,0.183,0.083,3055,3685,2068,0,0,0,0,0,0
$GC,13796,0.58,235.0,608.1,13.3,825,13801,0.00,2.33,0.00,0.000,6,0.000,0.067,3063,2272,2067,0,0,0,0,0,0
$GC,14126,0.55,235.0,566.6,12.5,852,14130,0.00,2.35,0.00,0.000,4,0.000,0.082,3074,866,2066,0,0,0,0,0,0
$GC,14167,0.55,235.0,561.3,11.9,855,14172,0.12,2.33,0.00,0.000,6,0.177,0.068,3043,2275,2065,0,0,0,0,0,0
$GC,14493,0.58,235.0,526.3,11.0,885,14497,0.00,2.40,0.00,0.000,4,0.000,0.084,3043,3695,2065,0,0,0,0,0,0
$GC,14551,0.61,235.0,519.3,11.8,890,14555,0.00,2.33,0.00,0.000,6,0.000,0.067,3051,2268,2065,0,0,0,0,0,0
$GC,14877,0.61,235.0,482.2,11.7,920,14881,0.00,2.35,0.00,0.000,4,0.000,0.082,3062,856,2065,0,0,0,0,0,0
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$STATE,19064,begin subsurface finish
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$STATE,19142,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19143,begin surface
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$10V_AH,9.8,48.658
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,150616
$DATA_FILE_SIZE,53267,1384
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$CFSIZE,260165632,207257600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.9
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