version: 66.11
glider: 144
mission: 21
dive: 16
start: 10 28 113 4 39 33
data:
$ID,144
$MISSION,21
$DIVE,16
$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,12
$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,-57312.461
$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
$GPS1,281013,042729,4704.768,-12514.736,37,1.1,37,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.1
$GPS2,281013,043905,4704.826,-12514.649,4,1.1,4,16.6
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4700.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.222,-0.135
$KALMAN_X,456.0,0.0,0.0,-4333.2,456.0
$KALMAN_Y,866.0,0.0,0.0,-986.9,866.0
$MHEAD_RNG_PITCHd_Wd,222.1,21350,-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,-146.6,51,2342,1451,1346,0.0,0.0,0,60,0.00,0.00,-42.42,0.000,16386,0.000,0.000,48,2342,2664,2620,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.78,-146.6,48,2342,2623,2709,2.1,-3.2,4,100,13.50,2.62,-14.12,0.000,18692,0.417,0.093,2858,3814,3275,3188,3362,0,0,0,0,0,0,14.28,14.47,14.66
$GC,221,-0.78,-146.6,2857,3814,3195,3362,30.0,-21.6,20,226,0.00,2.38,0.00,0.000,1030,0.000,0.040,2858,2364,3278,3195,3362,0,0,0,0,0,0,28.83,14.57,28.83
$GC,527,-0.78,-146.6,2857,2364,3199,3362,72.0,-14.2,50,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2364,3280,3199,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,827,-0.78,-146.6,2858,2364,3204,3362,112.6,-12.2,68,831,0.00,2.33,0.00,0.000,516,0.000,0.064,2857,968,3283,3204,3362,0,0,0,0,0,0,28.83,14.70,28.83
$GC,862,-0.78,-146.6,2857,968,3204,3362,117.2,-12.2,70,866,0.00,2.38,0.00,0.000,1030,0.000,0.050,2855,2409,3283,3204,3362,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1168,-0.78,-146.6,2855,2409,3204,3362,154.5,-12.0,85,1174,0.00,2.38,0.00,0.000,260,0.000,0.074,2855,3813,3283,3204,3362,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1260,-0.78,-146.6,1888,3812,3174,3358,164.7,-11.5,88,1265,0.00,2.38,0.00,0.000,1030,0.000,0.038,2855,2365,3283,3204,3362,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1589,-0.78,-146.6,2855,2366,3204,3362,196.3,-9.8,99,1594,0.00,2.33,0.00,0.000,516,0.000,0.064,2855,962,3283,3204,3362,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1693,-0.78,-146.6,2855,962,3204,3362,206.4,-10.8,102,1697,0.00,2.40,0.00,0.000,1030,0.000,0.050,2855,2419,3283,3204,3362,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2010,-0.78,-146.6,2855,2420,3204,3362,237.8,-9.2,113,2016,0.00,2.35,0.00,0.000,260,0.000,0.073,2855,3815,3283,3204,3362,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2132,-0.78,-146.6,2855,3815,3204,3362,249.8,-9.9,117,2138,0.00,2.35,0.00,0.000,1030,0.000,0.040,2855,2359,3283,3204,3362,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2461,-0.78,-146.6,2855,2358,3204,3362,283.9,-10.4,128,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2358,3283,3204,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2764,-0.78,-146.6,2855,2358,3204,3362,313.7,-9.6,136,2769,0.00,2.45,0.00,0.000,260,0.000,0.075,2855,3806,3283,3204,3362,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2836,-0.78,-146.6,2855,3806,3204,3362,319.6,-9.7,137,2840,0.00,2.33,0.00,0.000,1030,0.000,0.041,2855,2355,3282,3204,3361,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3179,-0.78,-146.6,2855,2356,3204,3362,354.8,-10.0,143,3185,0.00,2.28,0.00,0.000,516,0.000,0.066,2854,972,3283,3204,3362,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3215,-0.78,-146.6,2855,971,3204,3361,354.8,-10.0,143,3219,0.00,2.35,0.00,0.000,1030,0.000,0.050,2855,2407,3283,3204,3362,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3538,-0.78,-146.6,2854,2407,3204,3361,390.1,-9.7,149,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2407,3282,3204,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,-0.78,-146.6,2855,2407,3204,3360,418.1,-9.3,154,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2407,3282,3204,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4138,-0.78,-146.6,2855,2408,3204,3359,445.1,-9.0,159,4144,0.00,2.40,0.00,0.000,516,0.000,0.067,2855,971,3281,3204,3359,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4215,-0.78,-146.6,2855,970,3204,3358,450.7,-9.1,160,4219,0.00,2.38,0.00,0.000,1030,0.000,0.054,2855,2406,3281,3204,3359,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4558,-0.78,-146.6,2854,2406,3204,3357,482.8,-8.9,166,4564,0.00,2.35,0.00,0.000,260,0.000,0.077,2855,3806,3280,3204,3356,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4600,-0.78,-146.6,2855,3807,3204,3356,482.8,-8.9,166,4604,0.00,2.33,0.00,0.000,1030,0.000,0.041,2855,2360,3280,3204,3356,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4918,-0.78,-146.6,2854,2359,3204,3355,514.6,-8.8,172,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2359,3279,3204,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5218,-0.78,-146.6,2855,2359,3204,3354,542.5,-9.4,177,5224,0.00,2.30,0.00,0.000,516,0.000,0.068,2855,961,3279,3204,3354,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5255,-0.78,-146.6,2854,961,3204,3353,542.5,-9.4,177,5260,0.00,2.38,0.00,0.000,1030,0.000,0.052,2855,2411,3278,3204,3353,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5573,-0.78,-146.6,2855,2411,3204,3352,575.3,-9.1,183,5579,0.00,2.33,0.00,0.000,260,0.000,0.077,2855,3807,3277,3204,3351,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5615,-0.78,-146.6,2854,3807,3204,3351,575.3,-9.1,183,5619,0.00,2.30,0.00,0.000,1030,0.000,0.041,2854,2366,3277,3204,3351,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5927,-0.78,-146.6,2854,2364,3204,3351,606.7,-8.9,189,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2363,3277,3204,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6228,-0.78,-146.6,2855,2364,3204,3350,631.8,-8.3,194,6234,0.00,2.30,0.00,0.000,516,0.000,0.068,2854,969,3277,3204,3350,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6270,-0.78,-146.6,2855,969,3204,3350,631.8,-8.3,194,6274,0.00,2.35,0.00,0.000,1030,0.000,0.053,2855,2404,3277,3204,3350,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6583,-0.78,-146.6,2854,2404,3204,3348,660.8,-8.0,200,6589,0.00,2.35,0.00,0.000,260,0.000,0.077,2855,3807,3275,3204,3347,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6642,-0.78,-146.6,2854,3807,3204,3347,665.5,-7.9,201,6648,0.00,2.33,0.00,0.000,1030,0.000,0.042,2855,2363,3275,3204,3347,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7004,-0.78,-146.6,2854,2362,3204,3347,691.1,-7.1,207,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2361,3275,3204,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7303,-0.78,-146.6,2855,2362,3204,3346,711.4,-6.7,212,7309,0.00,2.45,0.00,0.000,260,0.000,0.077,2855,3811,3274,3204,3345,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7345,-0.78,-146.6,2855,3811,3204,3345,711.4,-6.7,212,7349,0.00,2.38,0.00,0.000,1030,0.000,0.042,2855,2364,3274,3204,3345,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7662,-0.78,-146.6,2855,2363,3204,3345,737.4,-7.3,218,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2363,3274,3204,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7963,-0.78,-146.6,2855,2363,3204,3345,760.5,-7.7,223,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2363,3274,3204,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8263,-0.78,-146.6,2855,2363,3203,3345,784.7,-8.1,228,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2363,3274,3203,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8562,-0.78,-146.6,2854,2363,3202,3345,808.6,-7.9,233,8568,0.00,2.45,0.00,0.000,260,0.000,0.080,2854,3809,3273,3202,3345,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8600,-0.78,-146.6,2855,3810,3202,3343,808.6,-7.9,233,8604,0.00,2.33,0.00,0.000,1030,0.000,0.042,2855,2359,3272,3202,3343,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8918,-0.78,-146.6,2855,2357,3202,3343,833.8,-6.9,239,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2357,3272,3202,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9218,-0.78,-146.6,2854,2357,3201,3343,853.6,-6.6,244,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2358,3272,3201,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9517,-0.78,-146.6,2855,2357,3201,3343,875.1,-7.3,249,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2358,3272,3201,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9817,-0.78,-146.6,2855,2358,3200,3342,897.2,-7.4,254,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2358,3271,3201,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10117,-0.78,-146.6,2854,2358,3200,3342,919.2,-7.4,259,10123,0.00,2.47,0.00,0.000,260,0.000,0.080,2854,3814,3271,3201,3341,0,0,0,0,0,0,28.83,14.92,28.83
$GC,10160,-0.78,-146.6,2854,3814,3200,3341,919.2,-7.4,259,10164,0.00,2.35,0.00,0.000,1030,0.000,0.044,2855,2356,3270,3200,3341,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10473,-0.78,-146.6,2854,2355,3200,3341,943.5,-6.7,265,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2355,3270,3200,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10773,-0.78,-146.6,2855,2355,3200,3341,962.9,-6.4,270,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2355,3270,3200,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11073,-0.78,-146.6,2855,2355,3199,3341,983.1,-6.8,275,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2355,3270,3200,3341,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11192,begin apogee
$GC,11195,-0.22,0.0,2855,2274,3199,3341,991.5,-6.9,277,11336,0.68,0.05,133.48,2.342,10246,0.223,0.092,3050,2317,2671,2629,2714,0,0,0,0,0,0,14.81,13.86,12.95
$STATE,11337,end apogee,CONTROL_FINISHED_OK
$STATE,11337,begin climb
$GC,11338,0.78,146.6,3050,2317,2627,2713,994.5,0.0,279,11494,1.02,2.62,144.68,2.302,10756,0.135,0.071,3380,888,2073,2102,2044,0,0,0,0,0,0,13.93,13.75,12.45
$GC,11574,0.78,146.6,3380,888,2092,2041,976.7,9.9,283,11578,0.00,2.53,0.00,0.000,1030,0.000,0.047,3380,2322,2066,2092,2041,0,0,0,0,0,0,28.83,14.12,28.83
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$STATE,18835,end climb,SURFACE_DEPTH_REACHED
$STATE,18836,begin surface coast
$FINISH,0.1,1.012452
$STATE,18867,end surface coast,CONTROL_FINISHED_OK
$STATE,18867,begin surface
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$10V_AH,13.1,2.548
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$FG_AHR_10Vo,0.000
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$MEM,313832
$DATA_FILE_SIZE,33565,517
$CAP_FILE_SIZE,156359,0
$CFSIZE,260165632,218406912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$GPS,281013,095605,4703.993,-12517.841,23,1.0,23,16.6