version: 66.07
glider: 23
mission: 5
dive: 176
start: 12 24 110 3 47 31
data:
$ID,23
$MISSION,5
$DIVE,176
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$D_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,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,520
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54964.145
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2370
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2640
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$GPS1,241210,033724,1900.748,12459.661,42,1.5,42,-2.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-53.0
$GPS2,241210,034638,1900.710,12459.500,13,1.4,13,-2.3
$SPEED_LIMITS,0.104,0.200
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.078,-0.185
$KALMAN_X,-299325.6,-496.8,-485.4,194265.6,300.2
$KALMAN_Y,125428.9,-931.8,64.1,-385123.3,3796.9
$MHEAD_RNG_PITCHd_Wd,205.2,104281,-10.2,-6.000
$D_GRID,990
$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,15,-0.84,-146.0,0.0,0.0,0,95,0.00,0.00,-76.10,0.000,2,0.000,0.000,367,2660,2786,0,0,0,0,0,0
$GC,97,-0.84,-146.0,3.0,-1.0,15,144,10.25,2.20,-30.50,0.000,4,0.153,0.046,2180,1586,3668,0,0,0,0,0,0
$GC,391,-0.84,-146.0,48.1,-18.4,59,397,0.00,2.15,0.00,0.000,6,0.000,0.025,2180,2629,3668,0,0,0,0,0,0
$GC,652,-0.84,-146.0,90.1,-16.9,84,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2629,3669,0,0,0,0,0,0
$GC,907,-0.84,-146.0,127.7,-11.6,108,911,0.00,2.15,0.00,0.000,4,0.000,0.037,2180,1588,3669,0,0,0,0,0,0
$GC,973,-0.84,-146.0,136.2,-12.0,113,979,0.00,2.15,0.00,0.000,6,0.000,0.025,2180,2635,3669,0,0,0,0,0,0
$GC,1234,-0.84,-146.0,162.5,-9.4,138,1238,0.00,2.15,0.00,0.000,4,0.000,0.035,2180,1591,3669,0,0,0,0,0,0
$GC,1260,-0.84,-146.0,165.3,-9.5,140,1267,0.00,2.15,0.00,0.000,6,0.000,0.025,2180,2637,3669,0,0,0,0,0,0
$GC,1522,-0.84,-146.0,192.4,-10.3,165,1526,0.00,2.15,0.00,0.000,4,0.000,0.035,2180,1590,3670,0,0,0,0,0,0
$GC,1622,-0.84,-146.0,202.8,-10.1,172,1628,0.00,2.12,0.00,0.000,6,0.000,0.026,2180,2622,3670,0,0,0,0,0,0
$GC,1937,-0.84,-146.0,231.7,-8.3,188,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2622,3670,0,0,0,0,0,0
$GC,2246,-0.84,-146.0,259.9,-10.0,203,2250,0.00,2.17,0.00,0.000,4,0.000,0.039,2180,1589,3668,0,0,0,0,0,0
$GC,2368,-0.84,-146.0,271.5,-9.3,208,2374,0.00,2.12,0.00,0.000,6,0.000,0.028,2180,2628,3667,0,0,0,0,0,0
$GC,2683,-0.84,-146.0,296.8,-7.4,224,2687,0.00,2.17,0.00,0.000,4,0.000,0.041,2180,1589,3666,0,0,0,0,0,0
$GC,2799,-0.84,-146.0,305.1,-7.0,227,2803,0.00,2.15,0.00,0.000,6,0.000,0.029,2180,2625,3666,0,0,0,0,0,0
$GC,3142,-0.84,-146.0,327.8,-6.9,236,3146,0.00,2.17,0.00,0.000,4,0.000,0.041,2180,1591,3664,0,0,0,0,0,0
$GC,3387,-0.84,-146.0,346.4,-7.6,241,3392,0.00,2.12,0.00,0.000,6,0.000,0.029,2180,2612,3662,0,0,0,0,0,0
$GC,3730,-0.84,-146.0,370.8,-6.8,250,3734,0.00,2.15,0.00,0.000,4,0.000,0.041,2180,1590,3660,0,0,0,0,0,0
$GC,3880,-0.84,-146.0,380.8,-7.0,253,3884,0.00,2.12,0.00,0.000,6,0.000,0.030,2180,2603,3659,0,0,0,0,0,0
$GC,4193,-0.84,-146.0,403.3,-7.3,261,4197,0.00,2.12,0.00,0.000,4,0.000,0.041,2180,1590,3658,0,0,0,0,0,0
$GC,4368,-0.84,-146.0,415.6,-6.4,265,4372,0.00,2.10,0.00,0.000,6,0.000,0.031,2180,2599,3656,0,0,0,0,0,0
$GC,4692,-0.84,-146.0,435.8,-5.8,273,4696,0.00,2.12,0.00,0.000,4,0.000,0.040,2180,1588,3654,0,0,0,0,0,0
$GC,4777,-0.84,-146.0,440.7,-5.4,275,4781,0.00,2.10,0.00,0.000,6,0.000,0.031,2180,2603,3653,0,0,0,0,0,0
$GC,5106,-0.84,-146.0,459.9,-6.1,283,5110,0.00,2.15,0.00,0.000,4,0.000,0.041,2180,1592,3651,0,0,0,0,0,0
$GC,5363,-0.84,-146.0,474.7,-4.6,288,5369,0.00,2.10,0.00,0.000,6,0.000,0.031,2180,2577,3649,0,0,0,0,0,0
$GC,5694,-0.84,-146.0,492.0,-5.5,297,5698,0.00,2.10,0.00,0.000,4,0.000,0.041,2180,1592,3646,0,0,0,0,0,0
$GC,5829,-0.84,-146.0,499.7,-5.4,300,5833,0.00,2.08,0.00,0.000,6,0.000,0.032,2180,2579,3645,0,0,0,0,0,0
$GC,6153,-0.84,-146.0,518.8,-5.9,308,6157,0.00,2.10,0.00,0.000,4,0.000,0.041,2180,1590,3643,0,0,0,0,0,0
$GC,6207,-0.84,-146.0,522.3,-6.5,309,6212,0.00,2.10,0.00,0.000,6,0.000,0.032,2180,2573,3643,0,0,0,0,0,0
$GC,6521,-0.84,-146.0,539.4,-5.2,317,6524,0.00,2.10,0.00,0.000,4,0.000,0.042,2180,1590,3641,0,0,0,0,0,0
$GC,6559,-0.84,-146.0,541.3,-4.3,317,6565,0.00,2.10,0.00,0.000,6,0.000,0.033,2180,2573,3641,0,0,0,0,0,0
$GC,6890,-0.84,-146.0,556.4,-4.6,326,6894,0.00,2.12,0.00,0.000,4,0.000,0.042,2180,1588,3639,0,0,0,0,0,0
$GC,7109,-0.84,-146.0,567.0,-5.1,331,7113,0.00,2.08,0.00,0.000,6,0.000,0.034,2180,2565,3637,0,0,0,0,0,0
$GC,7433,-0.84,-146.0,584.7,-5.5,339,7437,0.00,2.08,0.00,0.000,4,0.000,0.042,2180,1591,3636,0,0,0,0,0,0
$GC,7550,-0.84,-146.0,591.3,-5.2,341,7554,0.00,2.08,0.00,0.000,6,0.000,0.034,2180,2558,3635,0,0,0,0,0,0
$GC,7894,-0.84,-146.0,609.4,-5.1,350,7897,0.00,2.08,0.00,0.000,4,0.000,0.043,2180,1587,3633,0,0,0,0,0,0
$GC,8128,-0.84,-146.0,620.6,-4.1,355,8133,0.00,2.10,0.00,0.000,6,0.000,0.035,2180,2560,3631,0,0,0,0,0,0
$GC,8442,-0.84,-146.0,632.6,-3.6,363,8446,0.00,2.08,0.00,0.000,4,0.000,0.043,2180,1588,3629,0,0,0,0,0,0
$GC,8530,-0.84,-146.0,636.2,-4.0,365,8534,0.00,2.08,0.00,0.000,6,0.000,0.035,2180,2549,3629,0,0,0,0,0,0
$GC,8855,-0.84,-146.0,649.7,-4.5,373,8859,0.00,2.05,0.00,0.000,4,0.000,0.044,2180,1590,3627,0,0,0,0,0,0
$GC,9000,-0.84,-146.0,657.3,-5.7,376,9004,0.00,2.08,0.00,0.000,6,0.000,0.036,2180,2547,3627,0,0,0,0,0,0
$GC,9314,-0.84,-146.0,674.6,-5.4,384,9317,0.00,2.05,0.00,0.000,4,0.000,0.044,2180,1590,3625,0,0,0,0,0,0
$GC,9419,-0.84,-146.0,680.1,-5.6,386,9423,0.00,2.05,0.00,0.000,6,0.000,0.038,2180,2534,3625,0,0,0,0,0,0
$GC,9768,-0.84,-146.0,695.8,-4.3,395,9772,0.00,2.03,0.00,0.000,4,0.000,0.045,2180,1594,3623,0,0,0,0,0,0
$GC,9880,-0.84,-146.0,700.7,-4.5,397,9884,0.00,2.05,0.00,0.000,6,0.000,0.038,2180,2536,3623,0,0,0,0,0,0
$GC,10229,-0.84,-146.0,718.5,-5.4,406,10232,0.00,2.05,0.00,0.000,4,0.000,0.045,2180,1590,3622,0,0,0,0,0,0
$GC,10345,-0.84,-146.0,725.1,-5.7,408,10350,0.00,2.03,0.00,0.000,6,0.000,0.038,2180,2522,3621,0,0,0,0,0,0
$GC,10688,-0.84,-146.0,745.2,-6.0,417,10691,0.00,2.00,0.00,0.000,4,0.000,0.044,2180,1588,3620,0,0,0,0,0,0
$GC,10736,-0.84,-146.0,748.3,-6.5,418,10741,0.00,2.05,0.00,0.000,6,0.000,0.038,2180,2531,3620,0,0,0,0,0,0
$GC,11064,-0.84,-146.0,767.0,-5.3,426,11067,0.00,2.00,0.00,0.000,4,0.000,0.043,2180,1592,3619,0,0,0,0,0,0
$GC,11204,-0.84,-146.0,773.3,-3.5,429,11207,0.00,2.00,0.00,0.000,6,0.000,0.038,2180,2526,3618,0,0,0,0,0,0
$GC,11528,-0.84,-146.0,782.4,-2.5,437,11530,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2525,3618,0,0,0,0,0,0
$GC,11852,-0.84,-146.0,790.3,-2.5,445,11856,0.00,2.03,0.00,0.000,4,0.000,0.043,2180,1589,3617,0,0,0,0,0,0
$GC,12081,-0.84,-146.0,798.1,-3.6,450,12086,0.00,2.03,0.00,0.000,6,0.000,0.037,2180,2517,3617,0,0,0,0,0,0
$GC,12409,-0.84,-146.0,812.2,-4.6,458,12412,0.00,1.98,0.00,0.000,4,0.000,0.043,2180,1591,3616,0,0,0,0,0,0
$GC,12666,-0.84,-146.0,823.9,-4.7,463,12670,0.00,2.00,0.00,0.000,6,0.000,0.038,2180,2513,3616,0,0,0,0,0,0
$GC,13004,-0.84,-146.0,837.1,-3.8,472,13007,0.00,2.00,0.00,0.000,4,0.000,0.043,2180,1586,3615,0,0,0,0,0,0
$GC,13166,-0.84,-146.0,843.3,-3.9,475,13170,0.00,1.98,0.00,0.000,6,0.000,0.038,2180,2502,3614,0,0,0,0,0,0
$GC,13509,-0.84,-146.0,855.6,-3.8,484,13512,0.00,1.95,0.00,0.000,4,0.000,0.043,2180,1590,3613,0,0,0,0,0,0
$GC,13605,-0.84,-146.0,859.4,-3.9,486,13608,0.00,1.98,0.00,0.000,6,0.000,0.038,2180,2511,3613,0,0,0,0,0,0
$GC,13929,-0.84,-146.0,872.9,-4.3,494,13933,0.00,1.98,0.00,0.000,4,0.000,0.044,2180,1588,3612,0,0,0,0,0,0
$GC,14175,-0.84,-146.0,883.7,-4.6,499,14179,0.00,1.98,0.00,0.000,6,0.000,0.038,2180,2493,3612,0,0,0,0,0,0
$GC,14524,-0.84,-146.0,898.3,-4.3,508,14525,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2493,3611,0,0,0,0,0,0
$GC,14848,-0.84,-146.0,911.9,-4.1,516,14852,0.00,1.92,0.00,0.000,4,0.000,0.043,2180,1592,3610,0,0,0,0,0,0
$GC,14920,-0.84,-146.0,914.9,-4.1,517,14925,0.00,1.98,0.00,0.000,6,0.000,0.038,2180,2501,3610,0,0,0,0,0,0
$GC,15263,-0.84,-146.0,926.7,-3.2,526,15265,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2500,3610,0,0,0,0,0,0
$GC,15588,-0.84,-146.0,937.2,-3.2,534,15591,0.00,1.95,0.00,0.000,4,0.000,0.043,2180,1589,3609,0,0,0,0,0,0
$GC,15845,-0.84,-146.0,946.1,-3.4,539,15849,0.00,1.98,0.00,0.000,6,0.000,0.038,2180,2490,3609,0,0,0,0,0,0
$GC,16183,-0.84,-146.0,957.8,-3.5,548,16186,0.00,1.95,0.00,0.000,4,0.000,0.043,2180,1590,3608,0,0,0,0,0,0
$GC,16440,-0.84,-146.0,966.4,-2.6,553,16444,0.00,1.95,0.00,0.000,6,0.000,0.038,2180,2482,3608,0,0,0,0,0,0
$GC,16778,-0.84,-146.0,976.9,-3.0,562,16781,0.00,1.90,0.00,0.000,4,0.000,0.042,2180,1593,3608,0,0,0,0,0,0
$GC,16883,-0.84,-146.0,980.1,-3.0,564,16887,0.00,1.92,0.00,0.000,6,0.000,0.038,2180,2470,3608,0,0,0,0,0,0
$GC,17197,-0.84,-146.0,989.6,-3.1,572,17201,0.00,1.90,0.00,0.000,4,0.000,0.043,2180,1588,3607,0,0,0,0,0,0
$STATE,17205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17205,begin apogee
$GC,17210,-0.33,0.0,990.0,3.0,572,17327,0.52,0.00,113.35,1.513,6,0.097,0.000,2291,1970,3071,0,0,0,0,0,0
$STATE,17328,end apogee,CONTROL_FINISHED_OK
$STATE,17328,begin climb
$GC,17330,0.84,146.0,988.8,0.0,575,17461,1.23,0.00,125.62,1.455,6,0.067,0.000,2550,1970,2475,0,0,0,0,0,0
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$GC,17853,0.84,146.0,949.8,7.1,587,17858,0.00,2.05,0.00,0.000,6,0.000,0.034,2549,1965,2469,0,0,0,0,0,0
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$STATE,30672,end climb,SURFACE_DEPTH_REACHED
$STATE,30672,begin surface coast
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$STATE,30707,end surface coast,CONTROL_FINISHED_OK
$STATE,30707,begin surface
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