version: 66.11
glider: 122
mission: 17
dive: 34
start: 4 1 113 15 49 20
data:
$ID,122
$MISSION,17
$DIVE,34
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,420
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53959
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-45783.84
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,30
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-24.500248
$PRESSURE_SLOPE,0.0001162797
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043208366
$SEABIRD_T_H,0.00062347745
$SEABIRD_T_I,2.2670058e-05
$SEABIRD_T_J,2.2826241e-06
$SEABIRD_C_G,-10.179777
$SEABIRD_C_H,1.1536758
$SEABIRD_C_I,-0.0015873691
$SEABIRD_C_J,0.00021656453
$SC_RECORDABOVE,1050.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,010413,153854,2434.657,-3839.160,39,0.8,39,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-69.9
$GPS2,010413,154853,2434.579,-3839.275,19,0.8,19,-14.2
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$TGT_RADIUS,1852.000
$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,128.6,96242,-15.2,-7.857,-19.53,2419
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.05,-126.5,123,2231,1548,1703,0.0,0.0,0,73,0.00,0.00,-47.47,0.000,16386,0.000,0.000,122,2231,2775,2591,2959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.05,-126.5,122,2231,2592,2960,3.5,-3.0,3,111,11.57,1.80,-16.55,0.000,18948,0.356,0.080,2802,1171,3368,3270,3466,0,0,0,0,0,0,14.64,14.79,14.97
$GC,338,-0.86,-126.5,1792,1170,3240,3465,40.8,-16.5,20,345,0.28,1.70,0.00,0.000,3078,0.223,0.035,2871,2219,3368,3269,3467,0,0,0,0,0,0,14.78,14.91,28.83
$GC,652,-0.77,-126.5,2870,2218,3270,3468,82.5,-13.1,41,658,0.12,1.73,0.00,0.000,2564,0.243,0.044,2907,1176,3368,3269,3468,0,0,0,0,0,0,14.86,14.95,28.83
$GC,746,-0.72,-126.5,2908,1176,3269,3467,93.3,-11.3,47,752,0.00,1.73,0.00,0.000,1030,0.000,0.036,2904,2217,3369,3270,3468,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1064,-0.68,-126.5,2904,2217,3270,3468,127.2,-10.3,68,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2217,3368,3269,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1364,-0.68,-126.5,2904,2217,3270,3469,157.4,-10.0,88,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2216,3369,3270,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1664,-0.68,-126.5,2904,2217,3270,3470,190.8,-11.3,108,1669,0.00,1.73,0.00,0.000,516,0.000,0.047,2903,1168,3370,3270,3470,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1705,-0.68,-126.5,2903,1168,3269,3470,194.5,-11.2,110,1713,0.10,1.75,0.00,0.000,3078,0.187,0.037,2940,2225,3370,3270,3470,0,0,0,0,0,0,14.94,15.03,28.83
$GC,2011,-0.68,-126.5,2940,2224,3270,3470,224.6,-9.1,131,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2225,3371,3272,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2312,-0.68,-126.5,2940,2225,3269,3470,249.3,-7.3,151,2318,0.00,1.70,0.00,0.000,260,0.000,0.058,2934,3267,3370,3270,3470,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2386,-0.68,-126.5,2934,3267,3269,3470,253.9,-7.3,154,2391,0.00,1.67,0.00,0.000,1030,0.000,0.032,2934,2199,3369,3269,3469,0,0,0,0,0,0,28.83,15.09,28.83
$GC,2709,-0.68,-126.5,2934,2199,3269,3470,276.1,-6.6,165,2715,0.00,1.58,0.00,0.000,516,0.000,0.049,2934,1195,3369,3269,3470,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2857,-0.68,-126.5,2934,1196,3269,3470,285.0,-7.2,169,2864,0.00,1.65,0.00,0.000,1030,0.000,0.034,2928,2237,3370,3270,3470,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3162,-0.68,-126.5,2928,2236,3270,3469,311.8,-8.5,180,3168,0.00,1.70,0.00,0.000,516,0.000,0.046,2928,1190,3369,3269,3470,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3209,-0.68,-126.5,2928,1190,3269,3470,314.8,-8.7,181,3214,0.00,1.65,0.00,0.000,1030,0.000,0.034,2922,2232,3369,3269,3470,0,0,0,0,0,0,28.83,15.12,28.83
$GC,3526,-0.68,-126.5,2922,2232,3269,3469,347.5,-10.2,192,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2232,3369,3269,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3826,-0.68,-126.5,2922,2232,3269,3469,375.8,-8.6,202,3832,0.00,1.67,0.00,0.000,260,0.000,0.058,2915,3264,3369,3269,3469,0,0,0,0,0,0,28.83,15.11,28.83
$GC,3919,-0.68,-126.5,2915,3264,3269,3469,383.0,-7.9,205,3924,0.00,1.62,0.00,0.000,1030,0.000,0.033,2915,2211,3369,3269,3469,0,0,0,0,0,0,28.83,15.15,28.83
$GC,4252,-0.68,-126.5,2914,2212,3270,3469,405.2,-7.0,216,4257,0.00,1.60,0.00,0.000,516,0.000,0.048,2914,1193,3369,3269,3469,0,0,0,0,0,0,28.83,15.12,28.83
$GC,4364,-0.68,-126.5,2914,1193,3269,3468,412.8,-8.1,219,4369,0.00,1.62,0.00,0.000,1030,0.000,0.034,2909,2220,3369,3270,3468,0,0,0,0,0,0,28.83,15.14,28.83
$GC,4677,-0.68,-126.5,2909,2220,3269,3466,444.6,-10.1,230,4683,0.00,1.65,0.00,0.000,516,0.000,0.047,2909,1196,3367,3269,3466,0,0,0,0,0,0,28.83,15.12,28.83
$GC,4764,-0.68,-126.5,2909,1196,3269,3466,451.1,-10.2,232,4771,0.00,1.62,0.00,0.000,1030,0.000,0.034,2902,2222,3367,3269,3466,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5070,-0.68,-126.5,2902,2223,3269,3464,482.2,-9.0,243,5075,0.00,1.70,0.00,0.000,260,0.000,0.059,2895,3265,3366,3269,3464,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5133,-0.68,-126.5,2895,3265,3269,3464,487.7,-8.7,245,5139,0.15,1.62,0.00,0.000,3078,0.206,0.033,2934,2211,3366,3269,3464,0,0,0,0,0,0,15.04,15.15,28.83
$GC,5467,-0.72,-126.5,2934,2211,3269,3462,508.0,-5.7,256,5473,0.00,1.58,0.00,0.000,516,0.000,0.050,2934,1210,3365,3269,3462,0,0,0,0,0,0,28.83,15.12,28.83
$GC,5610,-0.72,-126.5,2934,1211,3269,3461,515.7,-6.2,260,5616,0.00,1.60,0.00,0.000,1030,0.000,0.034,2930,2220,3365,3269,3461,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5924,-0.72,-126.5,2930,2220,3269,3458,537.7,-6.7,271,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2220,3363,3269,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6224,-0.72,-126.5,2931,2219,3269,3457,558.3,-7.0,281,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2220,3363,3270,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6524,-0.72,-126.5,2930,2220,3269,3455,580.5,-7.5,291,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2220,3362,3269,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6824,-0.76,-126.5,2930,2220,3269,3453,603.2,-7.8,301,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2220,3361,3269,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7124,-0.80,-126.5,2931,2220,3269,3451,627.8,-8.3,311,7126,0.12,0.00,0.00,0.000,4102,0.117,0.000,2863,2220,3360,3269,3451,0,0,0,0,0,0,15.16,28.83,28.83
$GC,7424,-0.80,-126.5,2863,2220,3272,3450,663.9,-12.4,321,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2220,3359,3269,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7723,-0.80,-126.5,2863,2220,3269,3447,700.3,-12.0,331,7729,0.00,1.70,0.00,0.000,260,0.000,0.060,2856,3264,3358,3269,3447,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7847,-0.80,-126.5,2856,3264,3270,3446,714.8,-11.8,335,7854,0.12,1.62,0.00,0.000,3078,0.230,0.034,2887,2222,3357,3269,3446,0,0,0,0,0,0,15.04,15.16,28.83
$GC,8181,-0.80,-126.5,2887,2222,3269,3444,743.0,-7.3,346,8187,0.00,1.62,0.00,0.000,516,0.000,0.050,2887,1194,3356,3269,3444,0,0,0,0,0,0,28.83,15.12,28.83
$GC,8295,-0.80,-126.5,2887,1194,3269,3443,749.8,-7.3,349,8300,0.00,1.65,0.00,0.000,1030,0.000,0.036,2883,2224,3356,3269,3443,0,0,0,0,0,0,28.83,15.13,28.83
$GC,8608,-0.80,-126.5,2884,2224,3269,3442,773.3,-7.5,360,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2224,3355,3269,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8907,-0.80,-126.5,2883,2224,3269,3439,800.0,-9.4,370,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2224,3354,3269,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9207,-0.80,-126.5,2884,2224,3269,3438,830.7,-10.6,380,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2224,3353,3269,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9507,-0.80,-126.5,2884,2224,3269,3436,862.7,-10.6,390,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2224,3353,3270,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9807,-0.80,-126.5,2883,2224,3269,3434,893.3,-10.1,400,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2224,3351,3269,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10107,-0.80,-126.5,2884,2224,3269,3431,923.1,-10.0,410,10113,0.00,1.67,0.00,0.000,516,0.000,0.050,2884,1204,3350,3269,3431,0,0,0,0,0,0,28.83,15.12,28.83
$GC,10255,-0.80,-126.5,2884,1204,3269,3431,935.7,-10.2,414,10261,0.00,1.67,0.00,0.000,1030,0.000,0.037,2878,2220,3349,3269,3430,0,0,0,0,0,0,28.83,15.13,28.83
$GC,10561,-0.80,-126.5,2878,2220,3269,3429,966.5,-8.8,425,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2220,3349,3270,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10861,-0.80,-126.5,2878,2219,3269,3428,989.8,-7.3,435,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2220,3348,3269,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10889,begin apogee
$GC,10893,-0.28,0.0,2877,2122,3269,3427,991.7,-7.0,436,11011,0.57,0.00,110.07,2.072,10246,0.176,0.000,3054,2121,2846,2774,2919,0,0,0,0,0,0,15.03,28.83,13.34
$STATE,11014,end apogee,CONTROL_FINISHED_OK
$STATE,11014,begin climb
$GC,11015,1.05,126.5,3054,2122,2775,2918,992.6,0.0,440,11138,1.35,0.00,118.88,2.028,10246,0.106,0.000,3490,2122,2333,2222,2445,0,0,0,0,0,0,14.28,28.83,13.28
$GC,11431,0.88,126.5,3490,2122,2216,2427,942.0,14.6,454,11437,0.20,1.80,0.00,0.000,4356,0.256,0.053,3436,3160,2322,2217,2427,0,0,0,0,0,0,14.62,14.72,28.83
$GC,11515,0.72,126.5,3437,3160,2216,2427,933.8,13.6,456,11521,0.22,1.70,0.00,0.000,5126,0.239,0.039,3383,2135,2321,2216,2427,0,0,0,0,0,0,14.66,14.80,28.83
$GC,11830,0.68,129.0,3383,2136,2216,2423,904.0,7.8,467,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2135,2319,2216,2423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12128,0.76,202.8,3383,2135,2216,2422,887.4,4.7,477,12203,0.00,1.90,68.97,1.926,8708,0.000,0.063,3383,1082,2020,1923,2118,0,0,0,0,0,0,28.83,14.36,13.53
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$STATE,19944,end climb,SURFACE_DEPTH_REACHED
$STATE,19944,begin surface coast
$FINISH,1.6,1.025701
$STATE,19960,end surface coast,CONTROL_FINISHED_OK
$STATE,19962,begin surface
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$XPDR_PINGS,26
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$TM_FREEKB,7657020
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$10V_AH,13.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354044
$DATA_FILE_SIZE,30030,809
$CAP_FILE_SIZE,199135,0
$CFSIZE,260034560,249155584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.102,231.8,1
$GPS,010413,212403,2432.809,-3837.286,38,1.3,41,-14.2