version: 66.04
glider: 103
mission: 11
dive: 477
start: 6 3 109 19 11 42
data:
$ID,103
$MISSION,11
$DIVE,477
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,0
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,63
$TGT_DEFAULT_LON,-6
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,-152901.53
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2902
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.802039
$PRESSURE_SLOPE,0.0001162
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043321555
$SEABIRD_T_H,0.00063294952
$SEABIRD_T_I,2.4435583e-05
$SEABIRD_T_J,2.6458358e-06
$SEABIRD_C_G,-10.239935
$SEABIRD_C_H,1.1471217
$SEABIRD_C_I,-0.0012735804
$SEABIRD_C_J,0.00018857721
$GPS1,190407,6334.461,-604.205,40,1.0,40,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.1
$GPS2,191050,6334.398,-604.105,13,1.0,13,-8.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,N05
$TGT_LATLONG,6300.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.176,-0.232
$KALMAN_X,-15369.8,-711.7,-664.5,236467.7,5922.4
$KALMAN_Y,-32500.2,5173.0,-7704.0,129014.3,17946.7
$MHEAD_RNG_PITCHd_Wd,225.4,63710,-6.5,-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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.72,-146.6,0.0,0.0,0,78,0.00,0.00,-58.97,0.000,6,0.000,0.000,53,2764,3501
$GC,82,-0.72,-146.6,6.8,-14.6,3,103,12.80,2.05,0.00,0.000,4,0.163,0.093,2278,3786,3502
$GC,295,-0.72,-146.6,33.2,-6.1,12,298,0.00,1.95,0.00,0.000,6,0.000,0.067,2279,2749,3502
$GC,617,-0.72,-146.6,55.3,-7.2,28,620,0.00,2.05,0.00,0.000,4,0.000,0.095,2279,3782,3503
$GC,686,-0.72,-146.6,60.1,-6.7,31,689,0.00,1.95,0.00,0.000,6,0.000,0.065,2278,2737,3503
$GC,1019,-0.72,-146.6,82.7,-6.8,47,1023,0.00,2.65,0.00,0.000,4,0.000,0.077,2278,1333,3503
$GC,1131,-0.72,-146.6,90.5,-6.7,52,1136,0.00,2.72,0.00,0.000,6,0.000,0.075,2278,2757,3503
$GC,1453,-0.72,-146.6,114.0,-7.2,68,1457,0.00,2.05,0.00,0.000,4,0.000,0.102,2278,3793,3504
$GC,1554,-0.72,-146.6,121.0,-6.7,72,1557,0.00,1.95,0.00,0.000,6,0.000,0.063,2279,2745,3504
$GC,1877,-0.72,-146.6,141.1,-6.1,88,1881,0.00,2.67,0.00,0.000,4,0.000,0.078,2279,1332,3504
$GC,1950,-0.72,-146.6,145.7,-5.7,91,1954,0.00,2.72,0.00,0.000,6,0.000,0.075,2279,2757,3504
$GC,2266,-0.72,-146.6,166.6,-6.7,106,2270,0.00,2.72,0.00,0.000,4,0.000,0.078,2279,1334,3504
$GC,2361,-0.72,-146.6,173.2,-6.9,110,2366,0.00,2.75,0.00,0.000,6,0.000,0.081,2279,2755,3504
$GC,2677,-0.72,-146.6,195.3,-6.7,125,2681,0.00,2.03,0.00,0.000,4,0.000,0.104,2278,3783,3504
$GC,2790,-0.72,-146.6,202.7,-6.7,130,2794,0.00,1.92,0.00,0.000,6,0.000,0.065,2279,2750,3504
$GC,3124,-0.72,-146.6,225.9,-7.4,146,3129,0.00,2.70,0.00,0.000,4,0.000,0.081,2279,1333,3504
$GC,3209,-0.72,-146.6,232.7,-7.7,150,3214,0.00,2.75,0.00,0.000,6,0.000,0.081,2279,2753,3504
$GC,3537,-0.72,-146.6,261.4,-9.0,166,3540,0.00,2.08,0.00,0.000,4,0.000,0.107,2279,3793,3504
$GC,3583,-0.72,-146.6,265.6,-9.1,168,3586,0.00,1.95,0.00,0.000,6,0.000,0.065,2279,2747,3503
$GC,3915,-0.72,-146.6,295.5,-8.8,184,3920,0.00,2.70,0.00,0.000,4,0.000,0.082,2278,1332,3503
$GC,3979,-0.72,-146.6,301.1,-8.9,187,3983,0.00,2.75,0.00,0.000,6,0.000,0.082,2279,2750,3503
$GC,4305,-0.72,-146.6,328.2,-7.8,203,4309,0.00,2.08,0.00,0.000,4,0.000,0.109,2279,3786,3502
$GC,4401,-0.72,-146.6,335.4,-7.5,207,4404,0.00,1.95,0.00,0.000,6,0.000,0.064,2278,2741,3503
$GC,4728,-0.72,-146.6,357.8,-6.6,223,4733,0.00,2.70,0.00,0.000,4,0.000,0.083,2279,1328,3502
$GC,4784,-0.72,-146.6,361.6,-6.5,225,4791,0.00,2.75,0.00,0.000,6,0.000,0.083,2279,2750,3502
$GC,5102,-0.72,-146.6,381.5,-6.3,241,5106,0.00,2.72,0.00,0.000,4,0.000,0.080,2279,1331,3501
$GC,5135,-0.72,-146.6,383.7,-5.9,242,5142,0.00,2.78,0.00,0.000,6,0.000,0.083,2279,2757,3501
$GC,5451,-0.72,-146.6,403.0,-6.2,258,5456,0.00,2.72,0.00,0.000,4,0.000,0.078,2279,1333,3501
$GC,5492,-0.72,-146.6,405.4,-6.3,260,5496,0.00,2.75,0.00,0.000,6,0.000,0.082,2279,2751,3501
$GC,5820,-0.72,-146.6,425.7,-6.2,276,5824,0.00,2.08,0.00,0.000,4,0.000,0.107,2279,3790,3500
$GC,5944,-0.72,-146.6,433.0,-5.6,281,5947,0.00,1.95,0.00,0.000,6,0.000,0.062,2279,2739,3500
$GC,6266,-0.72,-146.6,452.2,-6.2,297,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2739,3499
$GC,6575,-0.72,-146.6,471.9,-6.5,312,6579,0.00,2.12,0.00,0.000,4,0.000,0.106,2279,3787,3499
$GC,6626,-0.72,-146.6,475.3,-6.5,314,6630,0.00,1.92,0.00,0.000,6,0.000,0.063,2279,2749,3499
$GC,6954,-0.72,-146.6,497.1,-6.8,330,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2749,3498
$GC,7263,-0.72,-146.6,518.6,-6.9,345,7266,0.00,2.10,0.00,0.000,4,0.000,0.107,2279,3783,3498
$GC,7296,-0.72,-146.6,520.9,-7.1,346,7300,0.00,1.92,0.00,0.000,6,0.000,0.061,2279,2741,3498
$GC,7618,-0.72,-146.6,542.6,-6.9,362,7622,0.00,2.10,0.00,0.000,4,0.000,0.106,2278,3783,3497
$GC,7635,-0.72,-146.6,543.7,-6.5,362,7641,0.00,1.90,0.00,0.000,6,0.000,0.061,2279,2750,3497
$GC,7951,-0.72,-146.6,564.6,-6.7,378,7955,0.00,2.10,0.00,0.000,4,0.000,0.107,2279,3784,3497
$GC,7990,-0.72,-146.6,567.4,-7.0,379,7996,0.00,1.92,0.00,0.000,6,0.000,0.061,2279,2742,3497
$GC,8307,-0.72,-146.6,589.2,-7.0,395,8310,0.00,2.10,0.00,0.000,4,0.000,0.104,2278,3783,3497
$GC,8334,-0.72,-146.6,591.2,-6.8,396,8338,0.00,1.90,0.00,0.000,6,0.000,0.059,2279,2750,3497
$GC,8662,-0.72,-146.6,614.1,-7.0,412,8666,0.00,2.10,0.00,0.000,4,0.000,0.105,2279,3789,3497
$GC,8680,-0.72,-146.6,615.5,-7.2,412,8686,0.00,1.92,0.00,0.000,6,0.000,0.058,2279,2740,3497
$GC,8996,-0.72,-146.6,637.0,-6.7,428,8999,0.00,2.12,0.00,0.000,4,0.000,0.107,2279,3789,3496
$GC,9023,-0.72,-146.6,639.0,-7.4,429,9027,0.00,1.90,0.00,0.000,6,0.000,0.058,2279,2751,3496
$GC,9351,-0.72,-146.6,659.9,-6.4,445,9355,0.00,2.10,0.00,0.000,4,0.000,0.106,2278,3793,3496
$GC,9375,-0.72,-146.6,661.6,-7.0,446,9379,0.00,1.92,0.00,0.000,6,0.000,0.058,2279,2742,3496
$GC,9708,-0.72,-146.6,682.4,-6.3,462,9711,0.00,2.12,0.00,0.000,4,0.000,0.105,2279,3792,3496
$GC,9736,-0.72,-146.6,684.3,-6.3,463,9739,0.00,1.92,0.00,0.000,6,0.000,0.058,2279,2742,3496
$GC,10063,-0.72,-146.6,703.7,-6.1,479,10067,0.00,2.12,0.00,0.000,4,0.000,0.106,2279,3792,3496
$GC,10097,-0.72,-146.6,705.8,-6.0,480,10101,0.00,1.92,0.00,0.000,6,0.000,0.058,2278,2742,3496
$GC,10420,-0.72,-146.6,723.9,-5.5,496,10423,0.00,2.12,0.00,0.000,4,0.000,0.106,2278,3792,3495
$GC,10454,-0.72,-146.6,725.9,-5.5,497,10458,0.00,1.92,0.00,0.000,6,0.000,0.058,2279,2743,3496
$GC,10776,-0.72,-146.6,743.8,-5.7,513,10780,0.00,2.10,0.00,0.000,4,0.000,0.104,2279,3785,3495
$GC,10816,-0.72,-146.6,746.0,-5.7,514,10821,0.00,1.90,0.00,0.000,6,0.000,0.058,2279,2747,3496
$GC,11132,-0.72,-146.6,763.6,-5.8,530,11136,0.00,2.10,0.00,0.000,4,0.000,0.104,2278,3786,3495
$GC,11179,-0.72,-146.6,766.3,-5.9,532,11183,0.00,1.90,0.00,0.000,6,0.000,0.058,2279,2739,3495
$GC,11512,-0.72,-146.6,785.9,-6.0,548,11516,0.00,2.12,0.00,0.000,4,0.000,0.104,2279,3791,3495
$GC,11536,-0.72,-146.6,787.4,-6.4,549,11539,0.00,1.92,0.00,0.000,6,0.000,0.058,2278,2740,3495
$GC,11868,-0.72,-146.6,808.0,-6.3,565,11872,0.00,2.12,0.00,0.000,4,0.000,0.106,2278,3790,3494
$GC,11915,-0.72,-146.6,811.0,-5.8,567,11918,0.00,1.92,0.00,0.000,6,0.000,0.058,2278,2740,3494
$GC,12248,-0.72,-146.6,832.8,-6.9,583,12252,0.00,2.12,0.00,0.000,4,0.000,0.105,2279,3791,3494
$GC,12294,-0.72,-146.6,835.9,-6.7,585,12298,0.00,1.92,0.00,0.000,6,0.000,0.058,2279,2740,3494
$GC,12628,-0.72,-146.6,858.5,-6.9,601,12631,0.00,2.12,0.00,0.000,4,0.000,0.106,2279,3789,3494
$GC,12661,-0.72,-146.6,861.1,-7.2,602,12665,0.00,1.90,0.00,0.000,6,0.000,0.058,2279,2752,3494
$GC,12983,-0.72,-146.6,884.0,-7.2,618,12986,0.00,2.10,0.00,0.000,4,0.000,0.105,2279,3789,3494
$GC,13029,-0.72,-146.6,887.4,-8.1,620,13033,0.00,1.92,0.00,0.000,6,0.000,0.059,2279,2741,3494
$GC,13362,-0.72,-146.6,912.3,-7.8,636,13366,0.00,2.12,0.00,0.000,4,0.000,0.106,2279,3790,3494
$GC,13408,-0.72,-146.6,915.8,-7.7,638,13412,0.00,1.92,0.00,0.000,6,0.000,0.058,2279,2742,3494
$GC,13742,-0.72,-146.6,940.9,-7.8,654,13745,0.00,2.12,0.00,0.000,4,0.000,0.107,2279,3790,3493
$GC,13792,-0.72,-146.6,944.9,-7.4,656,13796,0.00,1.92,0.00,0.000,6,0.000,0.058,2279,2742,3493
$GC,14119,-0.72,-146.6,969.2,-7.6,672,14123,0.00,2.12,0.00,0.000,4,0.000,0.105,2278,3792,3493
$GC,14181,-0.72,-146.6,974.0,-7.2,674,14187,0.00,1.92,0.00,0.000,6,0.000,0.058,2279,2743,3493
$STATE,14391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14391,begin apogee
$GC,14400,-0.42,0.0,990.2,7.6,685,14537,0.35,0.00,134.40,1.420,6,0.084,0.000,2349,2075,2902
$STATE,14538,end apogee,CONTROL_FINISHED_OK
$STATE,14538,begin climb
$GC,14541,0.72,146.6,999.3,0.0,692,14687,1.17,2.85,133.68,1.378,4,0.067,0.081,2595,663,2304
$GC,14876,0.93,315.6,997.8,3.7,707,15041,0.22,2.62,154.15,1.371,6,0.039,0.055,2653,2083,1615
$GC,15346,0.93,315.6,970.1,6.7,730,15351,0.00,2.78,0.00,0.000,4,0.000,0.082,2653,655,1615
$GC,15464,0.93,315.6,962.6,6.4,735,15469,0.00,2.62,0.00,0.000,6,0.000,0.055,2653,2076,1615
$GC,15780,0.93,315.6,942.1,6.3,750,15785,0.00,2.72,0.00,0.000,4,0.000,0.082,2653,3493,1614
$GC,15842,0.93,315.6,938.1,6.7,753,15847,0.00,2.65,0.00,0.000,6,0.000,0.058,2653,2065,1614
$GC,16170,0.93,315.6,916.8,6.5,769,16174,0.00,2.70,0.00,0.000,4,0.000,0.083,2653,659,1614
$GC,16198,0.93,315.6,914.9,6.5,770,16202,0.00,2.60,0.00,0.000,6,0.000,0.053,2653,2076,1614
$GC,16513,0.93,315.6,893.3,7.0,785,16518,0.00,2.72,0.00,0.000,4,0.000,0.082,2653,3491,1614
$GC,16571,0.93,315.6,889.2,7.3,787,16577,0.00,2.62,0.00,0.000,6,0.000,0.058,2654,2075,1614
$GC,16887,0.93,315.6,866.5,7.1,803,16891,0.00,2.70,0.00,0.000,4,0.000,0.081,2653,663,1614
$GC,16931,0.93,315.6,863.2,7.8,805,16935,0.00,2.60,0.00,0.000,6,0.000,0.056,2653,2075,1614
$GC,17253,0.93,315.6,839.2,7.5,821,17257,0.00,2.72,0.00,0.000,4,0.000,0.083,2653,3491,1614
$GC,17315,0.93,315.6,834.3,7.5,824,17320,0.00,2.62,0.00,0.000,6,0.000,0.058,2653,2071,1614
$GC,17642,0.93,315.6,808.7,8.0,840,17647,0.00,2.70,0.00,0.000,4,0.000,0.081,2654,658,1614
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$GC,17987,0.93,315.6,780.6,8.4,856,17992,0.00,2.70,0.00,0.000,4,0.000,0.084,2653,3485,1614
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