version: 66.11
glider: 124
mission: 14
dive: 329
start: 1 10 113 2 40 30
data:
$ID,124
$MISSION,14
$DIVE,329
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,980
$D_NO_BLEED,500
$D_BOOST,20
$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,340
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-13
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51525
$NAV_MODE,0
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-05
$HEADING,120
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-304074.16
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3700
$C_VBD,2509
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.1999998
$FG_AHR_10V,0
$FG_AHR_24V,69.417763
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.889965
$PRESSURE_SLOPE,0.0001157801
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$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,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043984288
$SEABIRD_T_H,0.00063808635
$SEABIRD_T_I,2.5525775e-05
$SEABIRD_T_J,3.0944329e-06
$SEABIRD_C_G,-9.6676407
$SEABIRD_C_H,1.1061285
$SEABIRD_C_I,-0.0013205735
$SEABIRD_C_J,0.00018109973
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,100113,023229,1854.081,12230.352,37,1.5,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-55.5
$GPS2,100113,024001,1854.273,12230.255,13,1.2,13,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,1848.873,12240.136
$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,122.1,20000,-14.2,-9.314,-18.51
$D_GRID,1753
$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,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.69,-194.6,0.0,0.0,0,117,0.00,0.00,-93.82,0.000,2,0.000,0.000,42,2528,1984,0,0,0,0,1,0,28.83,28.83,26.89
$GC,121,-0.69,-194.6,3.3,-2.6,17,173,9.10,2.28,-33.88,0.000,4,0.252,0.060,2117,1088,3304,0,0,0,0,0,0,25.37,26.36,26.94
$GC,278,-0.68,-194.6,24.6,-17.8,46,285,0.00,2.22,0.00,0.000,6,0.000,0.044,2117,2504,3304,0,0,0,0,0,0,28.83,26.43,28.83
$GC,583,-0.66,-194.6,74.9,-17.3,70,588,0.00,2.15,0.00,0.000,4,0.000,0.058,2117,3884,3304,0,0,0,0,0,0,28.83,26.41,28.83
$GC,606,-0.63,-194.6,78.8,-16.8,71,612,0.00,2.12,0.00,0.000,6,0.000,0.038,2117,2490,3304,0,0,0,0,0,0,28.83,26.62,28.83
$GC,930,-0.65,-194.6,116.8,-10.7,87,935,0.00,2.10,0.00,0.000,4,0.000,0.044,2117,1097,3304,0,0,0,0,0,0,28.83,26.58,28.83
$GC,963,-0.66,-194.6,119.5,-11.0,88,968,0.00,2.20,0.00,0.000,6,0.000,0.043,2117,2511,3304,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1276,-0.69,-194.6,152.0,-10.1,104,1281,0.00,2.12,0.00,0.000,4,0.000,0.057,2117,3885,3304,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1319,-0.74,-194.6,156.2,-10.0,106,1324,0.00,2.10,0.00,0.000,6,0.000,0.037,2117,2504,3303,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1643,-0.80,-194.6,180.9,-7.0,122,1648,0.00,2.12,0.00,0.000,4,0.000,0.044,2117,1092,3305,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1772,-0.86,-194.6,191.4,-8.7,128,1777,0.12,2.20,0.00,0.000,6,0.090,0.042,2063,2510,3304,0,0,0,0,0,0,26.62,26.62,28.83
$GC,2091,-0.88,-194.6,224.8,-10.5,144,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2509,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2393,-0.91,-194.6,253.6,-8.9,159,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2509,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2693,-0.93,-194.6,279.5,-8.7,174,2698,0.00,2.22,0.00,0.000,4,0.000,0.044,2062,1081,3301,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2808,-0.96,-194.6,289.6,-9.7,179,2814,0.00,2.22,0.00,0.000,6,0.000,0.044,2062,2504,3300,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3122,-1.00,-194.6,320.8,-9.4,195,3127,0.00,2.20,0.00,0.000,4,0.000,0.047,2062,1096,3298,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3186,-1.04,-194.6,326.5,-9.0,198,3191,0.00,2.20,0.00,0.000,6,0.000,0.045,2062,2501,3298,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3509,-1.07,-194.6,352.0,-7.5,214,3514,0.00,2.20,0.00,0.000,4,0.000,0.047,2062,1096,3295,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3553,-1.11,-194.6,355.4,-7.6,216,3559,0.10,2.22,0.00,0.000,6,0.100,0.047,2016,2511,3295,0,0,0,0,0,0,26.58,26.57,28.83
$GC,3876,-1.11,-194.6,388.4,-11.0,232,3882,0.00,2.25,-0.08,0.000,4,0.000,0.060,2016,1081,3317,0,0,0,0,0,0,28.83,26.55,25.92
$GC,3949,-1.11,-194.6,395.6,-11.2,235,3954,0.00,2.25,0.00,0.000,6,0.000,0.047,2013,2506,3317,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4262,-1.12,-194.6,432.6,-11.3,251,4267,0.00,2.25,0.00,0.000,4,0.000,0.049,2014,1081,3315,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4306,-1.13,-194.6,437.4,-11.2,253,4311,0.00,2.25,0.00,0.000,6,0.000,0.048,2014,2504,3315,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4629,-1.14,-194.6,471.7,-10.8,269,4634,0.00,2.22,0.00,0.000,4,0.000,0.049,2013,1082,3313,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4707,-1.16,-194.6,479.2,-11.5,272,4714,0.00,2.22,0.00,0.000,6,0.000,0.048,2013,2499,3312,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5013,-1.17,-194.6,513.7,-9.6,288,5018,0.00,2.20,0.00,0.000,4,0.000,0.049,2013,1097,3309,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5040,-1.18,-194.6,515.9,-9.4,289,5045,0.00,2.25,0.00,0.000,6,0.000,0.050,2013,2508,3309,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5359,-1.20,-194.6,542.9,-8.4,305,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2508,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5661,-1.21,-194.6,568.0,-8.6,320,5666,0.00,2.22,0.00,0.000,4,0.000,0.049,2013,1094,3305,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5748,-1.23,-194.6,575.2,-8.4,324,5754,0.00,2.25,0.00,0.000,6,0.000,0.049,2013,2505,3304,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6067,-1.25,-194.6,600.9,-8.4,340,6072,0.00,2.25,0.00,0.000,4,0.000,0.051,2013,1095,3303,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6101,-1.27,-194.6,603.9,-8.6,341,6106,0.00,2.25,0.00,0.000,6,0.000,0.050,2013,2505,3302,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6436,-1.29,-194.6,636.6,-10.2,352,6441,0.00,2.22,0.00,0.000,4,0.000,0.050,2013,1096,3300,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6494,-1.31,-194.6,640.3,-10.3,353,6501,0.10,2.25,0.00,0.000,6,0.119,0.050,1971,2504,3299,0,0,0,0,0,0,26.46,26.47,28.83
$GC,6801,-1.31,-194.6,682.3,-12.8,364,6806,0.00,2.25,0.00,0.000,4,0.000,0.050,1971,1082,3298,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6914,-1.31,-194.6,693.9,-12.2,367,6919,0.00,2.28,0.00,0.000,6,0.000,0.050,1971,2504,3297,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7227,-1.31,-194.6,728.4,-9.9,378,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2504,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7528,-1.31,-194.6,758.4,-10.3,388,7533,0.00,2.22,0.00,0.000,4,0.000,0.051,1971,1097,3294,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7600,-1.31,-194.6,765.6,-10.8,390,7605,0.00,2.25,0.00,0.000,6,0.000,0.051,1971,2499,3293,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7924,-1.31,-194.6,802.4,-10.7,401,7929,0.00,2.25,0.00,0.000,4,0.000,0.052,1971,1093,3291,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7966,-1.31,-194.6,805.9,-10.6,402,7971,0.00,2.28,0.00,0.000,6,0.000,0.051,1971,2509,3292,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8290,-1.31,-194.6,840.0,-10.5,413,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2509,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8589,-1.31,-194.6,871.1,-10.6,423,8595,0.00,2.25,0.00,0.000,4,0.000,0.052,1971,1097,3289,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8678,-1.31,-194.6,877.9,-10.5,425,8684,0.00,2.28,0.00,0.000,6,0.000,0.054,1971,2505,3289,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8983,-1.31,-194.6,910.8,-9.8,436,8988,0.00,2.25,0.00,0.000,4,0.000,0.054,1971,1097,3287,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9065,-1.31,-194.6,917.0,-9.6,438,9071,0.00,2.28,0.00,0.000,6,0.000,0.054,1971,2509,3286,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,9377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9377,begin apogee
$GC,9386,-0.22,0.0,951.3,-10.9,449,9519,0.77,0.00,123.62,1.267,6,0.109,0.000,2228,1692,2483,0,0,0,0,0,0,25.97,28.83,23.63
$STATE,9520,end apogee,CONTROL_FINISHED_OK
$STATE,9520,begin climb
$GC,9523,0.69,194.6,958.6,0.0,453,9740,0.55,2.55,202.95,1.232,4,0.059,0.054,2432,3118,1711,0,0,0,0,0,0,25.41,24.32,22.84
$GC,9823,0.73,318.3,956.9,5.2,463,9936,0.00,2.38,106.18,1.210,6,0.000,0.049,2441,1697,1210,0,0,0,0,0,0,28.83,25.53,23.21
$GC,10257,0.75,342.7,923.9,8.5,478,10286,0.00,2.40,20.33,1.149,4,0.000,0.059,2441,3112,1112,0,0,0,0,0,0,28.83,25.97,24.39
$GC,10315,0.77,363.4,921.3,8.6,479,10343,0.00,2.30,19.35,1.134,6,0.000,0.050,2442,1691,1027,0,0,0,0,0,0,28.83,26.10,24.27
$GC,10651,0.79,363.4,883.8,10.5,491,10656,0.00,2.30,0.00,0.000,4,0.000,0.057,2441,3114,1021,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10674,0.82,363.4,883.8,10.5,491,10679,0.00,2.30,0.00,0.000,6,0.000,0.052,2441,1691,1021,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10989,0.84,363.4,850.8,9.5,502,10994,0.00,2.33,0.00,0.000,4,0.000,0.058,2441,3117,1019,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11017,0.86,363.4,850.8,9.5,502,11024,0.10,2.30,0.00,0.000,6,0.104,0.052,2487,1690,1019,0,0,0,0,0,0,26.50,26.48,28.83
$GC,11323,0.86,363.4,810.8,12.2,513,11329,0.10,2.22,0.00,0.000,4,0.138,0.062,2459,292,1019,0,0,0,0,0,0,26.73,26.41,28.83
$GC,11357,0.86,363.4,806.9,12.0,514,11362,0.00,2.25,0.00,0.000,6,0.000,0.048,2459,1712,1018,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11693,0.88,363.4,772.3,10.3,525,11698,0.00,2.20,0.00,0.000,4,0.000,0.059,2459,3112,1017,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11750,0.89,363.4,768.6,10.3,526,11757,0.00,2.28,0.00,0.000,6,0.000,0.050,2459,1693,1017,0,0,0,0,0,0,28.83,26.50,28.83
$GC,12059,0.90,363.4,735.9,9.7,537,12064,0.00,2.25,0.00,0.000,4,0.000,0.065,2460,283,1017,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12101,0.92,363.4,732.4,9.8,538,12106,0.00,2.25,0.00,0.000,6,0.000,0.047,2459,1696,1016,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12427,0.93,363.4,698.5,9.9,549,12432,0.00,2.22,0.00,0.000,4,0.000,0.059,2460,3115,1014,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12479,0.94,363.4,694.8,10.0,550,12484,0.00,2.28,0.00,0.000,6,0.000,0.051,2460,1699,1016,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12795,0.96,363.4,663.8,9.5,561,12797,0.10,0.00,0.00,0.000,6,0.106,0.000,2511,1698,1016,0,0,0,0,0,0,26.88,28.83,28.83
$GC,13092,0.94,363.4,623.8,13.5,571,13098,0.12,2.25,0.00,0.000,4,0.126,0.062,2468,290,1016,0,0,0,0,0,0,26.67,26.33,28.83
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$STATE,19022,end climb,SURFACE_DEPTH_REACHED
$STATE,19022,begin surface coast
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$10V_AH,9.9,37.407
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$FG_AHR_10Vo,0.000
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$CFSIZE,260034560,218820608
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