version: 66.04
glider: 33
mission: 7
dive: 7
start: 10 7 109 17 15 49
data:
$ID,33
$MISSION,7
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,2400
$D_ABORT,4005
$D_NO_BLEED,200
$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,800
$T_MISSION,830
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-169507.64
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1947
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,186
$VBD_MAX,3785
$C_VBD,2024
$VBD_DBAND,2
$VBD_CNV,-0.36790001
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,151
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.421526
$PRESSURE_SLOPE,0.00046800601
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,99
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,170937,4656.575,-12517.895,38,1.2,38,18.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-61.7
$GPS2,171501,4656.495,-12517.984,14,1.8,31,18.4
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.262,0.025
$KALMAN_X,21508.7,-1616.6,-726.9,-41823.5,31983.9
$KALMAN_Y,-11306.6,602.0,438.7,3403.6,-16055.2
$MHEAD_RNG_PITCHd_Wd,257.0,204739,-18.1,-10.000
$D_GRID,2400
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.39,-146.6,0.0,0.0,0,78,0.00,0.00,-62.72,0.000,2,0.000,0.000,22,2074,1388
$GC,80,-1.39,-146.6,3.7,-6.0,6,139,9.30,2.60,-43.70,0.000,4,0.228,0.117,1640,3506,2424
$GC,358,-1.39,-146.6,53.9,-17.9,37,364,0.00,2.38,0.00,0.000,6,0.000,0.082,1640,2086,2425
$GC,694,-1.39,-146.6,118.7,-17.1,79,695,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2086,2425
$GC,1019,-1.39,-146.6,175.3,-17.3,103,1024,0.00,2.58,0.00,0.000,4,0.000,0.127,1639,3506,2425
$GC,1035,-1.39,-146.6,178.2,-17.7,104,1039,0.00,2.35,0.00,0.000,6,0.000,0.084,1639,2095,2425
$GC,1366,-1.39,-146.6,234.9,-17.6,120,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2095,2425
$GC,1676,-1.39,-146.6,287.6,-16.9,135,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2095,2425
$GC,2003,-1.39,-146.6,342.8,-16.8,147,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2095,2425
$GC,2309,-1.39,-146.6,394.1,-17.1,157,2313,0.00,2.45,0.00,0.000,4,0.000,0.122,1639,693,2425
$GC,2352,-1.39,-146.6,402.4,-18.6,158,2357,0.00,2.38,0.00,0.000,6,0.000,0.094,1640,2095,2425
$GC,2676,-1.39,-146.6,463.0,-18.7,169,2680,0.00,2.58,0.00,0.000,4,0.000,0.139,1640,3512,2425
$GC,2714,-1.39,-146.6,470.2,-17.9,170,2719,0.00,2.45,0.00,0.000,6,0.000,0.102,1640,2098,2425
$GC,3044,-1.39,-146.6,527.5,-17.0,181,3048,0.00,2.45,0.00,0.000,4,0.000,0.122,1639,691,2425
$GC,3098,-1.39,-146.6,537.8,-18.4,182,3103,0.00,2.40,0.00,0.000,6,0.000,0.097,1639,2099,2425
$GC,3416,-1.39,-146.6,597.6,-19.4,193,3420,0.00,2.55,0.00,0.000,4,0.000,0.139,1639,3508,2425
$GC,3448,-1.39,-146.6,604.2,-19.7,194,3453,0.00,2.42,0.00,0.000,6,0.000,0.099,1640,2103,2425
$GC,3783,-1.39,-146.6,668.3,-18.7,205,3787,0.00,2.47,0.00,0.000,4,0.000,0.124,1640,691,2425
$GC,3826,-1.39,-146.6,676.3,-18.0,206,3831,0.00,2.42,0.00,0.000,6,0.000,0.099,1639,2101,2425
$GC,4155,-1.39,-146.6,733.3,-16.9,217,4159,0.00,2.58,0.00,0.000,4,0.000,0.142,1640,3512,2425
$GC,4183,-1.39,-146.6,738.0,-17.7,218,4186,0.00,2.42,0.00,0.000,6,0.000,0.114,1639,2094,2425
$GC,4522,-1.39,-146.6,795.3,-17.2,229,4526,0.00,2.45,0.00,0.000,4,0.000,0.127,1639,693,2425
$GC,4571,-1.39,-146.6,803.9,-16.1,230,4576,0.00,2.40,0.00,0.000,6,0.000,0.102,1639,2097,2425
$GC,4889,-1.39,-146.6,861.2,-18.4,241,4893,0.00,2.58,0.00,0.000,4,0.000,0.144,1640,3508,2425
$GC,4927,-1.39,-146.6,868.5,-17.8,242,4931,0.00,2.45,0.00,0.000,6,0.000,0.104,1639,2101,2425
$GC,5262,-1.39,-146.6,929.6,-17.7,253,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2101,2425
$GC,5568,-1.39,-146.6,980.4,-16.2,263,5572,0.00,2.50,0.00,0.000,4,0.000,0.132,1639,689,2425
$GC,5616,-1.39,-146.6,988.5,-17.1,264,5621,0.00,2.42,0.00,0.000,6,0.000,0.104,1639,2098,2425
$GC,5934,-1.39,-146.6,1042.9,-17.7,275,5939,0.00,2.60,0.00,0.000,4,0.000,0.146,1640,3510,2425
$GC,5990,-1.39,-146.6,1052.9,-17.8,276,5996,0.00,2.45,0.00,0.000,6,0.000,0.109,1639,2092,2425
$GC,6301,-1.39,-146.6,1108.4,-17.8,287,6305,0.00,2.50,0.00,0.000,4,0.000,0.132,1640,682,2425
$GC,6350,-1.39,-146.6,1117.2,-17.5,288,6355,0.00,2.45,0.00,0.000,6,0.000,0.107,1639,2104,2425
$GC,6668,-1.39,-146.6,1168.9,-15.8,299,6672,0.00,2.60,0.00,0.000,4,0.000,0.151,1640,3511,2425
$GC,6711,-1.39,-146.6,1175.9,-16.4,300,6716,0.00,2.47,0.00,0.000,6,0.000,0.112,1639,2105,2425
$GC,7036,-1.39,-146.6,1228.9,-17.3,311,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2105,2425
$GC,7341,-1.39,-146.6,1282.6,-17.3,321,7345,0.00,2.62,0.00,0.000,4,0.000,0.149,1639,3513,2425
$GC,7362,-1.39,-146.6,1286.3,-17.7,321,7369,0.00,2.50,0.00,0.000,6,0.000,0.114,1640,2105,2425
$GC,7674,-1.39,-146.6,1339.8,-17.2,332,7678,0.00,2.55,0.00,0.000,4,0.000,0.137,1639,685,2425
$GC,7736,-1.39,-146.6,1350.5,-17.8,334,7740,0.00,2.45,0.00,0.000,6,0.000,0.114,1639,2110,2424
$GC,8075,-1.39,-146.6,1406.2,-15.5,345,8080,0.00,2.60,0.00,0.000,4,0.000,0.154,1639,3508,2424
$GC,8113,-1.39,-146.6,1412.2,-15.5,346,8118,0.00,2.50,0.00,0.000,6,0.000,0.114,1639,2101,2424
$GC,8442,-1.39,-146.6,1464.8,-15.9,357,8447,0.00,2.55,0.00,0.000,4,0.000,0.139,1639,688,2423
$GC,8496,-1.39,-146.6,1473.8,-15.4,358,8504,0.00,2.47,0.00,0.000,6,0.000,0.114,1639,2100,2423
$GC,8809,-1.39,-146.6,1523.7,-16.1,369,8813,0.00,2.65,0.00,0.000,4,0.000,0.159,1639,3510,2423
$GC,8846,-1.39,-146.6,1530.1,-16.4,370,8851,0.00,2.50,0.00,0.000,6,0.000,0.117,1639,2105,2423
$GC,9176,-1.39,-146.6,1582.5,-15.7,381,9180,0.00,2.58,0.00,0.000,4,0.000,0.144,1640,684,2423
$GC,9224,-1.39,-146.6,1590.1,-15.3,382,9229,0.00,2.50,0.00,0.000,6,0.000,0.119,1640,2102,2423
$GC,9542,-1.39,-146.6,1637.4,-14.7,393,9546,0.00,2.65,0.00,0.000,4,0.000,0.161,1640,3510,2422
$GC,9596,-1.39,-146.6,1646.2,-16.8,394,9604,0.00,2.53,0.00,0.000,6,0.000,0.119,1640,2098,2423
$GC,9909,-1.39,-146.6,1694.8,-15.9,405,9913,0.00,2.58,0.00,0.000,4,0.000,0.144,1639,681,2422
$GC,9969,-1.39,-146.6,1704.7,-16.5,407,9974,0.00,2.47,0.00,0.000,6,0.000,0.122,1640,2102,2422
$GC,10303,-1.39,-146.6,1758.4,-16.1,418,10307,0.00,2.65,0.00,0.000,4,0.000,0.161,1639,3508,2422
$GC,10340,-1.39,-146.6,1764.9,-17.0,419,10344,0.00,2.53,0.00,0.000,6,0.000,0.119,1639,2098,2422
$GC,10669,-1.39,-146.6,1815.2,-15.2,430,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2098,2421
$GC,10975,-1.39,-146.6,1861.7,-15.3,440,10979,0.00,2.65,0.00,0.000,4,0.000,0.159,1640,3508,2421
$GC,10984,-1.39,-146.6,1863.3,-15.1,440,10989,0.00,2.50,0.00,0.000,6,0.000,0.119,1639,2110,2421
$GC,11310,-1.39,-146.6,1911.9,-14.8,451,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2110,2421
$STATE,11368,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11369,begin apogee
$GC,11372,-0.33,0.0,1920.8,14.3,453,11494,1.10,0.00,119.15,2.195,6,0.154,0.000,1869,2109,2024
$STATE,11495,end apogee,CONTROL_FINISHED_OK
$STATE,11495,begin climb
$GC,11496,1.39,146.6,1926.7,0.0,457,11633,1.83,3.12,125.60,2.125,4,0.122,0.159,2244,3506,1624
$GC,11886,1.59,312.0,1927.1,2.5,469,12049,0.22,2.62,153.50,2.108,6,0.122,0.112,2290,2097,1175
$GC,12377,1.59,312.0,1872.3,12.8,485,12382,0.00,2.85,0.00,0.000,4,0.000,0.156,2289,3507,1176
$GC,12634,1.59,312.0,1837.9,12.0,492,12641,0.00,2.60,0.00,0.000,6,0.000,0.112,2289,2096,1176
$GC,12948,1.59,312.0,1796.4,13.6,503,12952,0.00,2.67,0.00,0.000,4,0.000,0.146,2289,681,1176
$GC,12956,1.59,312.0,1794.6,14.0,503,12961,0.00,2.58,0.00,0.000,6,0.000,0.114,2289,2100,1176
$GC,13280,1.59,312.0,1750.3,13.7,514,13284,0.00,2.62,0.00,0.000,4,0.000,0.139,2289,688,1175
$GC,13300,1.59,312.0,1747.5,12.3,514,13307,0.00,2.55,0.00,0.000,6,0.000,0.114,2290,2101,1176
$GC,13612,1.59,312.0,1705.9,13.0,525,13617,0.00,2.62,0.00,0.000,4,0.000,0.139,2289,680,1175
$GC,13661,1.59,312.0,1699.2,14.1,526,13666,0.00,2.55,0.00,0.000,6,0.000,0.117,2290,2099,1176
$GC,13979,1.59,312.0,1659.8,12.2,537,13983,0.00,2.60,0.00,0.000,4,0.000,0.139,2289,687,1176
$GC,13994,1.59,312.0,1657.7,12.6,537,13999,0.00,2.53,0.00,0.000,6,0.000,0.114,2290,2099,1176
$GC,14312,1.59,312.0,1618.1,12.5,548,14316,0.00,2.60,0.00,0.000,4,0.000,0.139,2289,681,1175
$GC,14322,1.59,312.0,1616.7,12.9,548,14327,0.00,2.53,0.00,0.000,6,0.000,0.114,2289,2100,1176
$GC,14645,1.59,312.0,1576.3,12.5,559,14650,0.00,2.60,0.00,0.000,4,0.000,0.142,2289,681,1176
$GC,14655,1.59,312.0,1574.8,12.6,559,14660,0.00,2.53,0.00,0.000,6,0.000,0.114,2290,2104,1176
$GC,14978,1.59,312.0,1537.9,11.2,570,14983,0.00,2.60,0.00,0.000,4,0.000,0.142,2290,683,1175
$GC,14988,1.59,312.0,1536.4,11.3,570,14993,0.00,2.50,0.00,0.000,6,0.000,0.114,2290,2098,1176
$GC,15312,1.59,312.0,1498.1,12.2,581,15316,0.00,2.58,0.00,0.000,4,0.000,0.139,2290,688,1176
$GC,15321,1.59,312.0,1496.7,12.3,581,15325,0.00,2.50,0.00,0.000,6,0.000,0.114,2290,2105,1175
$GC,15644,1.59,312.0,1457.0,12.6,592,15645,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2105,1176
$GC,15952,1.59,312.0,1418.3,12.3,602,15956,0.00,2.60,0.00,0.000,4,0.000,0.142,2289,682,1176
$GC,15960,1.59,312.0,1417.0,12.2,602,15965,0.00,2.47,0.00,0.000,6,0.000,0.112,2290,2093,1176
$GC,16284,1.59,312.0,1377.6,12.3,613,16288,0.00,2.58,0.00,0.000,4,0.000,0.142,2290,681,1176
$GC,16295,1.59,312.0,1376.0,12.6,613,16299,0.00,2.47,0.00,0.000,6,0.000,0.114,2290,2106,1175
$GC,16611,1.59,312.0,1337.3,12.4,624,16615,0.00,2.58,0.00,0.000,4,0.000,0.139,2289,688,1176
$GC,16620,1.59,312.0,1335.8,12.4,624,16624,0.00,2.47,0.00,0.000,6,0.000,0.112,2290,2100,1175
$GC,16943,1.59,312.0,1298.8,11.2,635,16948,0.00,2.58,0.00,0.000,4,0.000,0.139,2290,689,1175
$GC,16964,1.59,312.0,1296.1,12.0,635,16971,0.00,2.47,0.00,0.000,6,0.000,0.114,2290,2097,1175
$GC,17278,1.59,312.0,1262.4,10.7,646,17282,0.00,2.55,0.00,0.000,4,0.000,0.139,2290,688,1175
$GC,17286,1.59,312.0,1260.9,10.9,646,17291,0.00,2.47,0.00,0.000,6,0.000,0.112,2290,2102,1175
$GC,17610,1.59,312.0,1226.6,10.4,657,17614,0.00,2.58,0.00,0.000,4,0.000,0.139,2290,681,1176
$GC,17642,1.60,323.7,1223.1,9.5,658,17658,0.00,2.47,10.38,1.572,6,0.000,0.112,2290,2094,1144
$GC,17976,1.62,336.2,1189.8,9.4,669,17989,0.00,0.00,11.25,1.564,6,0.000,0.000,2290,2094,1110
$GC,18283,1.62,336.2,1159.1,10.0,679,18288,0.00,2.60,0.00,0.000,4,0.000,0.139,2290,689,1110
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$STATE,28506,end climb,SURFACE_DEPTH_REACHED
$STATE,28506,begin surface coast
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$STATE,28518,end surface coast,CONTROL_FINISHED_OK
$STATE,28519,begin surface
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$10V_AH,10.7,0.678
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