version: 66.13
glider: 196
mission: 20
dive: 422
start: 9 2 120 9 53 18
data:
$ID,196
$MISSION,20
$DIVE,422
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,400
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,8
$SURFACE_URGENCY_TRY,8
$SURFACE_URGENCY_FORCE,16
$T_DIVE,390
$T_MISSION,500
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53734
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041999999
$HD_B,0.0082
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,-120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,275
$PITCH_MAX,3850
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3858
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2758
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-161.88326
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044106129
$SEABIRD_T_H,0.00064144889
$SEABIRD_T_I,2.6068648e-05
$SEABIRD_T_J,3.2054108e-06
$SEABIRD_C_G,-9.965229
$SEABIRD_C_H,1.1036862
$SEABIRD_C_I,-0.0021489244
$SEABIRD_C_J,0.00024241477
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,020920,095023,7309.1016,-14721.7451,0,1001.0,0,21.7,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.20
$_SM_ANGLEo,-11.8
$GPS2,020920,095023,7309.1016,-14721.7451,0,1001.0,0,21.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,220.3,35861,-18.2,-8.462,-20.48,1768
$D_GRID,990
$EXEC,0,999,2,0.000000,0.000000
$EXEC,4,999,2,0.000000,0.000000
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.73,-97.3,2892,2046,1027,1055,0.0,0.0,0,81,0.00,0.00,-67.18,0.003,16390,0.000,0.000,2892,2041,3158,3250,3066,0,0,0,0,0,0,14.55,12.33,14.55
$GC,84,-0.73,-97.3,2893,2041,3252,3068,12.9,-8.2,7,91,1.30,0.00,0.00,0.000,4102,0.094,0.000,2471,2040,3159,3251,3067,0,0,0,0,0,0,14.16,14.28,14.23
$GC,410,-0.73,-97.3,2472,2041,3251,3068,73.0,-14.9,24,415,0.00,2.65,0.00,0.000,516,0.000,0.109,2471,631,3159,3251,3067,0,0,0,0,0,0,14.71,13.93,14.74
$GC,515,-0.73,-97.3,2472,632,3251,3067,88.0,-13.7,45,521,0.00,2.45,0.00,0.000,1030,0.000,0.090,2472,1962,3159,3251,3067,0,0,0,0,0,0,14.17,13.99,14.23
$GC,892,-0.73,-97.3,2467,1963,3252,3068,133.3,-11.4,60,897,0.00,2.53,0.00,0.000,516,0.000,0.109,2471,624,3159,3251,3067,0,0,0,0,0,0,14.62,13.95,14.64
$GC,962,-0.73,-97.3,2472,625,3252,3067,142.0,-12.6,74,967,0.00,2.45,0.00,0.000,1030,0.000,0.088,2472,1956,3158,3251,3066,0,0,0,0,0,0,14.21,14.04,14.28
$GC,1342,-0.73,-97.3,2472,1957,3248,3067,185.4,-11.1,90,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1956,3158,3251,3066,0,0,0,0,0,0,14.61,14.64,14.64
$GC,1702,-0.73,-97.3,2472,1957,3252,3067,223.4,-10.4,102,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1956,3158,3251,3065,0,0,0,0,0,0,14.77,14.79,14.78
$GC,2062,-0.73,-97.3,2471,1957,3251,3066,260.3,-10.3,114,2067,0.00,2.53,0.00,0.000,516,0.000,0.110,2472,624,3158,3251,3065,0,0,0,0,0,0,14.76,13.88,14.79
$GC,2117,-0.73,-97.3,2472,626,3252,3065,266.5,-11.4,125,2124,0.00,2.45,0.00,0.000,1030,0.000,0.089,2471,1952,3157,3251,3064,0,0,0,0,0,0,14.15,13.97,14.21
$GC,2483,-0.73,-97.3,2472,1953,3252,3065,301.8,-8.9,138,2488,0.00,2.67,0.00,0.000,260,0.000,0.110,2472,3365,3157,3251,3064,0,0,0,0,0,0,14.76,13.83,14.78
$GC,2688,-0.73,-97.3,2471,3365,3251,3064,318.5,-7.7,179,2694,0.00,2.40,0.00,0.000,1030,0.000,0.071,2471,2036,3157,3250,3064,0,0,0,0,0,0,14.17,14.02,14.23
$GC,3053,-0.73,-97.3,2472,2036,3252,3064,345.5,-7.2,192,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2036,3157,3251,3063,0,0,0,0,0,0,14.76,14.79,14.78
$GC,3413,-0.73,-97.3,2472,2036,3252,3064,370.4,-7.0,204,3418,0.00,2.55,0.00,0.000,260,0.000,0.106,2471,3369,3156,3251,3062,0,0,0,0,0,0,14.76,13.80,14.78
$GC,3503,-0.73,-97.3,2472,3369,3251,3063,377.2,-7.6,222,3508,0.00,2.42,0.00,0.000,1030,0.000,0.070,2472,2035,3157,3251,3063,0,0,0,0,0,0,14.15,14.00,14.21
$GC,3894,-0.73,-97.3,2472,2035,3252,3064,404.8,-6.9,240,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2033,3157,3251,3063,0,0,0,0,0,0,14.76,14.80,14.79
$GC,4253,-0.73,-97.3,2471,2034,3251,3064,428.8,-6.7,252,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2033,3157,3251,3063,0,0,0,0,0,0,14.77,14.80,14.79
$GC,4614,-0.73,-97.3,2471,2034,3251,3064,452.0,-6.3,264,4615,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2033,3157,3251,3063,0,0,0,0,0,0,14.77,14.80,14.79
$GC,4974,-0.73,-97.3,2472,2034,3252,3063,474.8,-6.5,276,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2033,3157,3251,3063,0,0,0,0,0,0,14.77,14.79,14.79
$GC,5333,-0.73,-97.3,2472,2034,3252,3064,498.6,-6.6,288,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2033,3157,3251,3063,0,0,0,0,0,0,14.56,14.59,14.58
$GC,5694,-0.73,-97.3,2472,2033,3252,3058,522.3,-6.5,300,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2033,3157,3251,3063,0,0,0,0,0,0,14.76,14.80,14.79
$GC,6054,-0.73,-97.3,2472,2034,3252,3064,544.6,-6.0,312,6055,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2033,3157,3251,3063,0,0,0,0,0,0,14.77,14.81,14.79
$GC,6414,-0.73,-97.3,2472,2033,3252,3064,565.6,-5.9,324,6415,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2033,3157,3251,3063,0,0,0,0,0,0,14.56,14.57,14.59
$GC,6774,-0.73,-97.3,2472,2033,3251,3064,587.4,-6.1,336,6776,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2033,3158,3251,3065,0,0,0,0,0,0,14.58,14.60,14.60
$GC,7134,-0.73,-97.3,2472,2034,3252,3064,609.4,-6.1,348,7139,0.00,2.58,0.00,0.000,292,0.000,0.105,2471,3376,3157,3251,3063,0,0,0,0,0,0,14.56,13.75,14.58
$GC,7178,-0.73,-97.3,2472,3376,3251,3064,612.3,-6.5,357,7184,0.00,2.45,0.00,0.000,1030,0.000,0.067,2472,2033,3157,3251,3063,0,0,0,0,0,0,14.11,13.95,14.16
$GC,7555,-0.73,-97.3,2471,2033,3252,3064,636.2,-6.4,372,7556,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2032,3157,3251,3063,0,0,0,0,0,0,14.55,14.58,14.58
$GC,7915,-0.73,-97.3,2472,2034,3253,3064,659.3,-6.4,384,7916,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2033,3157,3251,3063,0,0,0,0,0,0,14.45,14.47,14.47
$GC,8275,-0.73,-97.3,2472,2033,3252,3064,682.1,-6.3,396,8280,0.00,2.55,0.00,0.000,292,0.000,0.105,2471,3366,3157,3251,3063,0,0,0,0,0,0,14.29,13.75,14.31
$GC,8355,-0.73,-97.3,2471,3367,3252,3064,687.2,-6.5,412,8360,0.00,2.45,0.00,0.000,1062,0.000,0.067,2472,2040,3157,3251,3063,0,0,0,0,0,0,14.02,13.88,14.06
$GC,8726,-0.73,-97.3,2472,2040,3252,3064,709.6,-6.0,426,8727,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2039,3157,3251,3063,0,0,0,0,0,0,14.42,14.45,14.44
$GC,9085,-0.73,-97.3,2472,2040,3252,3064,730.5,-5.7,438,9087,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2039,3157,3251,3063,0,0,0,0,0,0,14.42,14.45,14.44
$GC,9446,-0.73,-97.3,2471,2040,3252,3064,751.3,-5.8,450,9450,0.00,2.58,0.00,0.000,292,0.000,0.106,2471,3373,3157,3251,3063,0,0,0,0,0,0,14.41,13.74,14.44
$GC,9551,-0.73,-97.3,2471,3374,3252,3063,757.8,-6.1,471,9556,0.00,2.45,0.00,0.000,1062,0.000,0.067,2475,2040,3157,3251,3063,0,0,0,0,0,0,14.02,13.88,14.07
$GC,9926,-0.73,-97.3,2469,2041,3252,3064,779.0,-5.6,486,9928,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2040,3157,3251,3063,0,0,0,0,0,0,14.42,14.45,14.45
$GC,10286,-0.73,-97.3,2471,2041,3252,3063,799.3,-5.6,498,10288,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2040,3157,3251,3063,0,0,0,0,0,0,14.52,14.54,14.54
$GC,10646,-0.73,-97.3,2473,2040,3252,3064,819.7,-5.7,510,10651,0.00,2.58,0.00,0.000,292,0.000,0.105,2472,3373,3157,3251,3063,0,0,0,0,0,0,14.53,13.72,14.55
$GC,10702,-0.73,-97.3,2472,3374,3252,3063,822.7,-6.0,521,10709,0.00,2.45,0.00,0.000,1062,0.000,0.068,2471,2032,3154,3245,3063,0,0,0,0,0,0,14.08,13.93,14.13
$GC,11067,-0.73,-97.3,2472,2033,3246,3064,843.8,-5.5,534,11072,0.00,2.58,0.00,0.000,292,0.000,0.107,2472,3370,3157,3251,3063,0,0,0,0,0,0,14.54,13.69,14.56
$GC,11102,-0.73,-97.3,2472,3371,3252,3064,846.4,-6.1,541,11108,0.00,2.45,0.00,0.000,1062,0.000,0.068,2472,2031,3157,3251,3063,0,0,0,0,0,0,14.09,13.94,14.14
$GC,11489,-0.73,-97.3,2471,2031,3251,3062,868.2,-5.6,558,11490,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2030,3157,3251,3063,0,0,0,0,0,0,14.54,14.57,14.57
$GC,11849,-0.73,-97.3,2472,2031,3251,3064,888.7,-5.6,570,11854,0.00,2.58,0.00,0.000,292,0.000,0.106,2472,3372,3160,3251,3069,0,0,0,0,0,0,14.54,13.67,14.56
$GC,11914,-0.73,-97.3,2471,3372,3252,3064,893.2,-5.9,583,11919,0.00,2.42,0.00,0.000,1062,0.000,0.068,2471,2041,3157,3251,3063,0,0,0,0,0,0,14.07,13.92,14.12
$GC,12300,-0.73,-97.3,2472,2041,3258,3064,914.5,-5.8,600,12301,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2041,3157,3252,3063,0,0,0,0,0,0,14.53,14.57,14.57
$GC,12659,-0.73,-97.3,2472,2041,3252,3064,935.6,-5.8,612,12661,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2041,3157,3251,3063,0,0,0,0,0,0,14.54,14.57,14.56
$GC,13020,-0.73,-97.3,2471,2041,3252,3064,956.8,-5.9,624,13021,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2041,3156,3251,3062,0,0,0,0,0,0,14.55,14.58,14.58
$GC,13379,-0.73,-97.3,2472,2042,3252,3064,977.6,-5.8,636,13381,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2041,3157,3251,3063,0,0,0,0,0,0,14.53,14.56,14.55
$STATE,13617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13617,begin apogee
$GC,13622,-0.17,0.0,2472,2041,3252,3063,991.3,-5.7,644,13733,0.75,0.00,107.45,2.295,10246,0.226,0.000,2654,2040,2758,2881,2635,0,0,0,0,0,0,13.64,13.63,12.50
$STATE,13734,end apogee,CONTROL_FINISHED_OK
$STATE,13734,begin climb
$GC,13736,0.73,97.3,2655,2041,2880,2636,993.6,0.0,647,13857,1.02,2.75,108.88,2.239,10756,0.140,0.115,2950,717,2358,2482,2235,0,0,0,0,0,0,13.64,13.16,11.98
$GC,13877,0.73,97.3,2950,718,2480,2234,984.0,11.1,674,13883,0.00,2.58,0.00,0.000,1030,0.000,0.087,2950,2037,2355,2478,2232,0,0,0,0,0,0,13.49,13.35,13.52
$GC,14253,0.73,97.3,2949,2038,2472,2227,950.1,9.0,689,14259,0.00,2.65,0.00,0.000,260,0.000,0.110,2950,3448,2348,2471,2226,0,0,0,0,0,0,14.64,14.07,14.66
$GC,14309,0.73,97.3,2950,3449,2472,2227,945.2,10.2,700,14315,0.00,2.40,0.00,0.000,1030,0.000,0.075,2951,2117,2348,2471,2226,0,0,0,0,0,0,14.31,14.16,14.37
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$STATE,26962,end climb,NO_VERTICAL_VELOCITY
$STATE,26962,begin subsurface finish
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$STATE,26974,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,26974,begin surface
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