version: 66.11
glider: 144
mission: 21
dive: 13
start: 10 27 113 11 55 1
data:
$ID,144
$MISSION,21
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$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,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,59412
$MASS_COMP,4370
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-57308.312
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3930
$C_PITCH,3128
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2390
$C_ROLL_CLIMB,2307
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2672
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.012749
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,131
$DEVICE3,53
$DEVICE4,20
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043491465
$SEABIRD_T_H,0.00063627562
$SEABIRD_T_I,2.5639563e-05
$SEABIRD_T_J,2.8485167e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$GPS1,271013,114823,4704.057,-12511.955,39,1.1,39,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.4
$GPS2,271013,115402,4704.033,-12511.906,4,0.9,4,16.6
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4700.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.243,0.091
$KALMAN_X,-5232272.0,-2913830.2,-2913830.2,-2913842.2,15673014.0
$KALMAN_Y,1967223.5,1095362.9,1095362.9,1095331.6,-5890835.0
$MHEAD_RNG_PITCHd_Wd,273.9,24043,-17.5,-10.000,-21.09,2221
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-146.6,106,2353,1404,1274,0.0,0.0,0,60,0.00,0.00,-42.30,0.000,16386,0.000,0.000,105,2352,2585,2544,2626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.78,-146.6,105,2352,2545,2629,2.1,-3.4,4,99,13.62,0.00,-16.65,0.000,18438,0.428,0.000,2869,2353,3275,3180,3371,0,0,0,0,0,0,14.28,28.83,14.69
$GC,398,-0.78,-146.6,2869,2353,3190,3371,53.7,-13.8,38,403,0.00,2.53,0.00,0.000,260,0.000,0.075,2868,3814,3280,3190,3371,0,0,0,0,0,0,28.83,14.59,28.83
$GC,557,-0.78,-146.6,2868,3814,3194,3370,77.7,-14.6,53,565,0.00,2.42,0.00,0.000,1030,0.000,0.040,2868,2362,3282,3194,3371,0,0,0,0,0,0,28.83,14.64,28.83
$GC,874,-0.78,-146.6,2868,2362,3197,3371,119.7,-12.4,70,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2362,3284,3197,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-0.78,-146.6,2868,2362,3198,3371,150.6,-10.4,85,1181,0.00,2.47,0.00,0.000,260,0.000,0.074,2868,3808,3284,3198,3371,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1238,-0.78,-146.6,2868,3808,3198,3371,156.4,-9.8,87,1242,0.00,2.35,0.00,0.000,1030,0.000,0.040,2867,2352,3284,3198,3371,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1559,-0.78,-146.6,2867,2352,3198,3371,189.8,-10.7,98,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2352,3284,3198,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1862,-0.78,-146.6,2868,2352,3198,3371,221.6,-10.4,108,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2352,3284,3197,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2162,-0.78,-146.6,2868,2352,3197,3371,252.0,-9.7,118,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2352,3284,3197,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2460,-0.78,-146.6,2867,2352,3197,3371,279.8,-9.4,128,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2352,3284,3197,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2791,-0.78,-146.6,2867,2352,3197,3370,311.8,-9.8,137,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2352,3284,3197,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3092,-0.78,-146.6,2868,2352,3197,3371,340.3,-9.5,142,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2352,3284,3198,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3390,-0.78,-146.6,2868,2352,3197,3371,369.2,-9.6,147,3396,0.00,2.47,0.00,0.000,260,0.000,0.076,2867,3807,3283,3197,3370,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3428,-0.78,-146.6,2867,3807,3197,3370,369.2,-9.6,147,3432,0.00,2.33,0.00,0.000,1030,0.000,0.041,2867,2357,3283,3197,3370,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3752,-0.78,-146.6,2867,2357,3197,3370,402.6,-9.2,153,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2357,3283,3197,3370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4051,-0.78,-146.6,2867,2357,3197,3370,430.2,-9.3,158,4056,0.00,2.47,0.00,0.000,260,0.000,0.076,2867,3810,3283,3197,3369,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4088,-0.78,-146.6,2867,3810,3197,3369,430.2,-9.3,158,4092,0.00,2.33,0.00,0.000,1030,0.000,0.042,2867,2358,3283,3197,3369,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4406,-0.78,-146.6,2867,2359,3197,3369,461.8,-8.9,164,4412,0.00,2.47,0.00,0.000,260,0.000,0.077,2867,3812,3282,3197,3368,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4454,-0.78,-146.6,2867,3812,3197,3367,461.8,-8.9,164,4458,0.00,2.33,0.00,0.000,1030,0.000,0.043,2867,2361,3282,3198,3367,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4761,-0.78,-146.6,2867,2361,3197,3367,493.3,-8.8,169,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2361,3282,3197,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5061,-0.78,-146.6,2867,2361,3197,3366,520.3,-8.9,174,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2362,3281,3197,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5360,-0.78,-146.6,2867,2362,3197,3366,545.2,-8.1,179,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2362,3281,3197,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5660,-0.78,-146.6,2867,2361,3197,3364,568.0,-7.5,184,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2362,3281,3197,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5960,-0.78,-146.6,2867,2361,3197,3363,589.8,-7.3,189,5966,0.00,2.45,0.00,0.000,260,0.000,0.079,2867,3806,3280,3198,3362,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5993,-0.78,-146.6,2867,3806,3197,3362,589.8,-7.3,189,5997,0.00,2.33,0.00,0.000,1030,0.000,0.043,2867,2353,3279,3197,3362,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6315,-0.78,-146.6,2867,2353,3197,3362,616.4,-7.4,195,6319,0.00,2.28,0.00,0.000,516,0.000,0.069,2867,970,3279,3197,3362,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6354,-0.78,-146.6,2867,970,3197,3362,616.4,-7.4,195,6358,0.00,2.35,0.00,0.000,1030,0.000,0.052,2867,2404,3279,3197,3362,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6667,-0.78,-146.6,2867,2404,3197,3361,643.5,-7.8,201,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2404,3279,3197,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6966,-0.78,-146.6,2867,2404,3197,3361,667.6,-8.1,206,6972,0.00,2.35,0.00,0.000,260,0.000,0.079,2867,3806,3278,3197,3360,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7014,-0.78,-146.6,2867,3806,3197,3360,667.6,-8.1,206,7018,0.00,2.33,0.00,0.000,1030,0.000,0.043,2867,2365,3278,3197,3359,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7326,-0.78,-146.6,2867,2364,3197,3359,694.6,-7.3,212,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2364,3278,3197,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7626,-0.78,-146.6,2867,2364,3197,3359,715.3,-6.9,217,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2364,3278,3197,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7926,-0.78,-146.6,2867,2364,3197,3359,736.1,-7.0,222,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2364,3278,3197,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8226,-0.78,-146.6,2867,2364,3197,3358,756.7,-6.9,227,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2364,3277,3197,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8526,-0.78,-146.6,2867,2364,3197,3357,778.6,-7.4,232,8532,0.00,2.45,0.00,0.000,260,0.000,0.080,2867,3807,3276,3197,3356,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8588,-0.78,-146.6,2867,3807,3197,3356,783.0,-7.5,233,8593,0.00,2.35,0.00,0.000,1030,0.000,0.044,2867,2372,3276,3197,3356,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8947,-0.78,-146.6,2867,2370,3197,3356,810.2,-7.6,239,8953,0.00,2.33,0.00,0.000,516,0.000,0.070,2867,964,3276,3197,3356,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8989,-0.78,-146.6,2867,964,3197,3356,810.2,-7.6,239,8993,0.00,2.38,0.00,0.000,1030,0.000,0.054,2867,2409,3276,3197,3356,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9301,-0.78,-146.6,2867,2408,3197,3356,838.0,-7.8,245,9307,0.00,2.35,0.00,0.000,260,0.000,0.081,2867,3807,3276,3197,3355,0,0,0,0,0,0,28.83,14.89,28.83
$GC,9334,-0.78,-146.6,2867,3807,3197,3354,838.0,-7.8,245,9338,0.00,2.33,0.00,0.000,1030,0.000,0.043,2867,2361,3275,3197,3353,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9656,-0.78,-146.6,2867,2362,3197,3354,865.8,-7.9,251,9660,0.00,2.30,0.00,0.000,516,0.000,0.070,2867,968,3275,3197,3354,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9690,-0.78,-146.6,2867,969,3197,3354,865.8,-7.9,251,9694,0.00,2.38,0.00,0.000,1030,0.000,0.054,2867,2411,3275,3197,3354,0,0,0,0,0,0,28.83,14.91,28.83
$GC,10008,-0.78,-146.6,2867,2411,3197,3354,893.5,-7.8,257,10014,0.00,2.35,0.00,0.000,260,0.000,0.080,2867,3808,3275,3197,3353,0,0,0,0,0,0,28.83,14.89,28.83
$GC,10070,-0.78,-146.6,1896,3808,3167,3349,898.0,-7.7,258,10074,0.00,2.38,0.00,0.000,1030,0.000,0.043,2867,2365,3274,3197,3352,0,0,0,0,0,0,28.83,14.92,28.83
$GC,10428,-0.78,-146.6,2867,2364,3198,3353,923.6,-7.0,264,10434,0.00,2.42,0.00,0.000,260,0.000,0.080,2867,3803,3275,3197,3353,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10465,-0.78,-146.6,2867,3803,3197,3352,923.6,-7.0,264,10469,0.00,2.33,0.00,0.000,1030,0.000,0.043,2867,2363,3274,3197,3352,0,0,0,0,0,0,28.83,14.93,28.83
$GC,10782,-0.78,-146.6,2867,2362,3197,3352,947.6,-6.8,270,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2362,3274,3197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11082,-0.78,-146.6,2867,2362,3197,3351,967.7,-6.7,275,11088,0.00,2.45,0.00,0.000,260,0.000,0.080,2867,3804,3274,3197,3352,0,0,0,0,0,0,28.83,14.88,28.83
$GC,11130,-0.78,-146.6,2867,3804,3197,3351,967.7,-6.7,275,11134,0.00,2.33,0.00,0.000,1030,0.000,0.044,2867,2366,3274,3198,3351,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,11437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11437,begin apogee
$GC,11440,-0.22,0.0,2867,2276,3198,3351,990.3,-6.3,280,11586,0.62,0.08,139.48,2.336,10246,0.221,0.156,3049,2325,2672,2628,2717,0,0,0,0,0,0,14.76,13.85,12.77
$STATE,11587,end apogee,CONTROL_FINISHED_OK
$STATE,11587,begin climb
$GC,11588,0.78,146.6,3048,2325,2626,2716,993.3,0.0,282,11739,1.05,2.65,140.45,2.337,10756,0.139,0.073,3381,885,2072,2102,2043,0,0,0,0,0,0,13.88,13.75,12.74
$GC,11789,0.78,146.6,3381,885,2094,2041,985.1,7.2,285,11794,0.00,2.53,0.00,0.000,1030,0.000,0.047,3381,2318,2067,2094,2041,0,0,0,0,0,0,28.83,14.04,28.83
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$STATE,19169,end climb,SURFACE_DEPTH_REACHED
$STATE,19169,begin surface coast
$FINISH,0.0,1.023837
$STATE,19199,end surface coast,CONTROL_FINISHED_OK
$STATE,19199,begin surface
$SM_CCo,19275,0.00,0.000,0,0,1422,306.62
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$TT8_MAMPS,0.023219,0.023219
$HUMID,65.43
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$TCM_TEMP,19.10
$XPDR_PINGS,1
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$10V_AH,12.9,2.282
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,313792
$DATA_FILE_SIZE,33687,523
$CAP_FILE_SIZE,152140,0
$CFSIZE,260165632,218595328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271013,171705,4705.568,-12515.062,23,1.1,23,16.6