version: 66.08
glider: 141
mission: 15
dive: 705
start: 5 28 111 19 40 36
data:
$ID,141
$MISSION,15
$DIVE,705
$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,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
$GPS1,280511,162707,6703.234,-5858.523,0,7134.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.46
$_SM_ANGLEo,-5.7
$GPS2,280511,162707,6703.234,-5858.523,0,7134.3,0,-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,127.9,94258,-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,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.60,0.000,2,0.000,0.000,2903,863,2907,0,0,0,0,0,0
$GC,28,-0.62,-146.0,10.8,-0.0,1,59,0.68,5.28,-19.48,0.000,4,0.098,0.092,2665,3898,3630,0,0,0,0,0,0
$GC,66,-0.42,-146.0,14.9,-13.2,7,74,0.25,2.30,0.00,0.000,6,0.228,0.060,2723,2485,3631,0,0,0,0,0,0
$GC,414,-0.38,-146.0,69.6,-13.8,68,420,0.00,2.40,0.00,0.000,4,0.000,0.087,2723,3897,3630,0,0,0,0,0,0
$GC,626,-0.43,-146.0,92.2,-9.7,105,633,0.00,2.30,0.00,0.000,6,0.000,0.061,2723,2488,3631,0,0,0,0,0,0
$GC,963,-0.43,-146.0,127.9,-11.0,143,967,0.00,2.35,0.00,0.000,4,0.000,0.080,2723,1070,3630,0,0,0,0,0,0
$GC,992,-0.43,-146.0,131.1,-10.9,145,996,0.00,2.40,0.00,0.000,6,0.000,0.077,2723,2489,3630,0,0,0,0,0,0
$GC,1318,-0.45,-146.0,165.6,-10.6,175,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2489,3629,0,0,0,0,0,0
$GC,1638,-0.49,-146.0,196.6,-9.1,205,1643,0.00,2.38,0.00,0.000,4,0.000,0.080,2723,1072,3629,0,0,0,0,0,0
$GC,1696,-0.57,-146.0,201.9,-8.5,209,1703,0.15,2.40,0.00,0.000,6,0.115,0.076,2669,2492,3629,0,0,0,0,0,0
$GC,2022,-0.49,-146.0,243.8,-13.4,240,2027,0.12,2.45,0.00,0.000,4,0.213,0.094,2698,3905,3628,0,0,0,0,0,0
$GC,2106,-0.54,-146.0,253.4,-10.3,247,2110,0.00,2.33,0.00,0.000,6,0.000,0.063,2698,2489,3628,0,0,0,0,0,0
$GC,2432,-0.54,-146.0,288.7,-10.6,277,2436,0.00,2.35,0.00,0.000,4,0.000,0.080,2697,1080,3628,0,0,0,0,0,0
$GC,2444,-0.54,-146.0,290.0,-10.7,277,2451,0.00,2.40,0.00,0.000,6,0.000,0.076,2698,2497,3628,0,0,0,0,0,0
$GC,2770,-0.54,-146.0,322.3,-9.9,308,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2498,3628,0,0,0,0,0,0
$GC,3089,-0.54,-146.0,353.7,-9.8,338,3093,0.00,2.42,0.00,0.000,4,0.000,0.090,2698,3909,3628,0,0,0,0,0,0
$GC,3106,-0.54,-146.0,355.3,-9.5,339,3111,0.00,2.30,0.00,0.000,6,0.000,0.061,2698,2487,3628,0,0,0,0,0,0
$GC,3433,-0.56,-146.0,385.6,-9.3,369,3437,0.00,2.35,0.00,0.000,4,0.000,0.075,2698,1068,3628,0,0,0,0,0,0
$GC,3478,-0.62,-146.0,390.2,-9.6,372,3484,0.00,2.40,0.00,0.000,6,0.000,0.073,2698,2497,3628,0,0,0,0,0,0
$GC,3804,-0.64,-146.0,420.4,-9.1,403,3806,0.12,0.00,0.00,0.000,6,0.127,0.000,2654,2497,3629,0,0,0,0,0,0
$GC,4123,-0.55,-146.0,460.5,-12.9,433,4128,0.12,2.42,0.00,0.000,4,0.203,0.088,2682,3902,3629,0,0,0,0,0,0
$GC,4145,-0.50,-146.0,463.5,-12.4,434,4152,0.00,2.30,0.00,0.000,6,0.000,0.058,2683,2485,3629,0,0,0,0,0,0
$GC,4473,-0.50,-146.0,496.4,-9.8,465,4477,0.00,2.28,0.00,0.000,4,0.000,0.073,2682,1080,3630,0,0,0,0,0,0
$GC,4485,-0.50,-146.0,497.8,-9.8,466,4489,0.00,2.38,0.00,0.000,6,0.000,0.072,2683,2498,3630,0,0,0,0,0,0
$GC,4810,-0.50,-146.0,528.7,-9.5,496,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2498,3630,0,0,0,0,0,0
$GC,5132,-0.50,-146.0,557.9,-8.9,526,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2498,3630,0,0,0,0,0,0
$GC,5460,-0.50,-146.0,587.7,-9.1,557,5464,0.00,2.40,0.00,0.000,4,0.000,0.088,2683,3903,3630,0,0,0,0,0,0
$GC,5488,-0.50,-146.0,590.7,-9.5,559,5494,0.00,2.30,0.00,0.000,6,0.000,0.057,2682,2482,3630,0,0,0,0,0,0
$GC,5815,-0.50,-146.0,619.8,-9.1,577,5819,0.00,2.30,0.00,0.000,4,0.000,0.073,2683,1070,3630,0,0,0,0,0,0
$GC,5833,-0.50,-146.0,621.5,-9.2,577,5837,0.00,2.38,0.00,0.000,6,0.000,0.071,2682,2490,3631,0,0,0,0,0,0
$GC,6148,-0.50,-146.0,650.5,-9.3,587,6153,0.00,2.42,0.00,0.000,4,0.000,0.088,2682,3906,3630,0,0,0,0,0,0
$GC,6165,-0.50,-146.0,652.3,-9.2,587,6169,0.00,2.30,0.00,0.000,6,0.000,0.057,2682,2486,3630,0,0,0,0,0,0
$GC,6481,-0.50,-146.0,681.0,-9.2,597,6485,0.00,2.30,0.00,0.000,4,0.000,0.073,2682,1077,3631,0,0,0,0,0,0
$GC,6503,-0.50,-146.0,683.6,-10.0,597,6509,0.00,2.38,0.00,0.000,6,0.000,0.075,2682,2495,3631,0,0,0,0,0,0
$GC,6816,-0.50,-146.0,711.5,-8.8,608,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2495,3631,0,0,0,0,0,0
$GC,7123,-0.50,-146.0,738.9,-8.9,618,7127,0.00,2.40,0.00,0.000,4,0.000,0.087,2683,3905,3631,0,0,0,0,0,0
$GC,7152,-0.53,-146.0,741.5,-9.1,619,7157,0.00,2.30,0.00,0.000,6,0.000,0.058,2683,2488,3631,0,0,0,0,0,0
$GC,7488,-0.53,-146.0,770.2,-8.6,630,7492,0.00,2.30,0.00,0.000,4,0.000,0.073,2682,1080,3631,0,0,0,0,0,0
$GC,7519,-0.55,-146.0,772.9,-9.0,631,7523,0.00,2.38,0.00,0.000,6,0.000,0.072,2682,2497,3631,0,0,0,0,0,0
$GC,7855,-0.55,-146.0,800.9,-8.4,642,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2497,3631,0,0,0,0,0,0
$GC,8162,-0.58,-146.0,825.6,-7.9,652,8166,0.00,2.40,0.00,0.000,4,0.000,0.088,2682,3900,3631,0,0,0,0,0,0
$GC,8184,-0.61,-146.0,827.6,-8.1,652,8190,0.00,2.30,0.00,0.000,6,0.000,0.057,2683,2484,3631,0,0,0,0,0,0
$GC,8497,-0.63,-146.0,852.5,-8.0,663,8501,0.00,2.30,0.00,0.000,4,0.000,0.074,2682,1081,3631,0,0,0,0,0,0
$GC,8514,-0.65,-146.0,854.0,-8.0,663,8518,0.00,2.35,0.00,0.000,6,0.000,0.073,2682,2494,3631,0,0,0,0,0,0
$GC,8833,-0.68,-146.0,879.4,-8.0,674,8835,0.12,0.00,0.00,0.000,6,0.125,0.000,2638,2494,3632,0,0,0,0,0,0
$GC,9139,-0.59,-146.0,914.6,-11.7,684,9144,0.12,2.45,0.00,0.000,4,0.209,0.089,2666,3904,3631,0,0,0,0,0,0
$GC,9156,-0.52,-146.0,916.5,-11.3,684,9160,0.00,2.30,0.00,0.000,6,0.000,0.058,2666,2489,3631,0,0,0,0,0,0
$GC,9469,-0.52,-146.0,945.2,-9.3,694,9473,0.00,2.33,0.00,0.000,4,0.000,0.075,2666,1074,3631,0,0,0,0,0,0
$GC,9491,-0.52,-146.0,947.4,-9.6,694,9498,0.00,2.40,0.00,0.000,6,0.000,0.073,2666,2497,3631,0,0,0,0,0,0
$GC,9805,-0.52,-146.0,975.8,-9.0,705,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2497,3631,0,0,0,0,0,0
$STATE,9985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9985,begin apogee
$GC,9991,-0.12,0.0,992.1,8.7,711,10130,0.52,0.00,134.25,1.561,6,0.182,0.000,2817,2270,3030,0,0,0,0,0,0
$STATE,10131,end apogee,CONTROL_FINISHED_OK
$STATE,10131,begin climb
$GC,10134,0.62,146.0,995.9,0.0,715,10290,0.80,2.85,146.50,1.509,4,0.132,0.078,3051,3676,2433,0,0,0,0,0,0
$GC,10452,0.52,146.0,965.6,13.5,725,10457,0.00,2.45,0.00,0.000,6,0.000,0.067,3061,2275,2428,0,0,0,0,0,0
$GC,10772,0.46,146.0,930.4,10.9,736,10777,0.17,2.40,0.00,0.000,4,0.189,0.083,3025,862,2425,0,0,0,0,0,0
$GC,10952,0.53,177.2,914.6,8.6,741,10987,0.00,2.35,28.25,1.419,6,0.000,0.069,3025,2280,2306,0,0,0,0,0,0
$GC,11309,0.56,189.1,882.2,9.5,753,11328,0.00,2.45,11.57,1.305,4,0.000,0.085,3025,3698,2260,0,0,0,0,0,0
$GC,11395,0.56,189.1,872.2,11.7,755,11400,0.00,2.35,0.00,0.000,6,0.000,0.068,3035,2274,2258,0,0,0,0,0,0
$GC,11710,0.56,189.1,840.1,10.3,765,11714,0.00,2.38,0.00,0.000,4,0.000,0.084,3046,856,2256,0,0,0,0,0,0
$GC,11748,0.56,189.1,835.9,11.1,766,11752,0.00,2.35,0.00,0.000,6,0.000,0.069,3046,2277,2256,0,0,0,0,0,0
$GC,12072,0.56,189.1,801.2,10.7,777,12077,0.00,2.35,0.00,0.000,4,0.000,0.083,3046,3696,2256,0,0,0,0,0,0
$GC,12140,0.51,189.1,792.8,12.6,779,12145,0.00,2.35,0.00,0.000,6,0.000,0.070,3056,2273,2255,0,0,0,0,0,0
$GC,12471,0.48,189.1,754.3,11.9,790,12476,0.15,2.40,0.00,0.000,4,0.187,0.084,3026,857,2255,0,0,0,0,0,0
$GC,12527,0.56,201.2,748.5,9.4,791,12544,0.00,2.35,12.15,1.279,6,0.000,0.070,3026,2286,2209,0,0,0,0,0,0
$GC,12872,0.62,212.0,716.1,9.5,803,12891,0.10,2.42,11.60,1.261,4,0.116,0.083,3076,3696,2164,0,0,0,0,0,0
$GC,12956,0.54,212.0,704.1,14.6,805,12961,0.17,2.35,0.00,0.000,6,0.195,0.069,3043,2275,2164,0,0,0,0,0,0
$GC,13274,0.54,212.0,669.2,10.6,816,13278,0.00,2.35,0.00,0.000,4,0.000,0.084,3052,860,2162,0,0,0,0,0,0
$GC,13324,0.56,212.0,663.8,10.7,817,13328,0.00,2.35,0.00,0.000,6,0.000,0.068,3051,2282,2161,0,0,0,0,0,0
$GC,13643,0.56,212.0,628.4,11.0,828,13647,0.00,2.35,0.00,0.000,4,0.000,0.083,3051,3687,2161,0,0,0,0,0,0
$GC,13698,0.53,212.0,621.3,12.5,829,13705,0.00,2.33,0.00,0.000,6,0.000,0.067,3062,2273,2161,0,0,0,0,0,0
$GC,14017,0.51,212.0,583.7,11.8,848,14022,0.12,2.38,0.00,0.000,4,0.184,0.083,3039,857,2161,0,0,0,0,0,0
$GC,14058,0.60,234.9,579.5,8.9,851,14085,0.00,2.35,22.15,1.257,6,0.000,0.068,3039,2278,2072,0,0,0,0,0,0
$GC,14405,0.65,234.9,544.7,10.3,883,14410,0.10,2.38,0.00,0.000,4,0.116,0.083,3088,3696,2068,0,0,0,0,0,0
$GC,14468,0.58,234.9,535.7,16.4,888,14473,0.17,2.33,0.00,0.000,6,0.194,0.068,3055,2275,2067,0,0,0,0,0,0
$GC,14794,0.58,234.9,498.0,10.7,918,14798,0.00,2.38,0.00,0.000,4,0.000,0.083,3064,857,2067,0,0,0,0,0,0
$GC,14846,0.61,234.9,492.6,10.6,922,14850,0.00,2.35,0.00,0.000,6,0.000,0.068,3064,2279,2066,0,0,0,0,0,0
$GC,15171,0.61,234.9,455.4,11.5,952,15176,0.00,2.35,0.00,0.000,4,0.000,0.082,3064,3697,2066,0,0,0,0,0,0
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