version: 66.04
glider: 33
mission: 7
dive: 13
start: 10 9 109 17 42 39
data:
$ID,33
$MISSION,7
$DIVE,13
$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,-169598.66
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,186
$VBD_MAX,3785
$C_VBD,1836
$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
$GPS1,173637,4656.351,-12544.112,29,1.5,29,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-60.5
$GPS2,174150,4656.361,-12544.103,11,1.8,11,18.4
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.139,0.224
$KALMAN_X,41464.9,-833.7,-410.1,-95858.6,17584.6
$KALMAN_Y,-26602.2,388.7,233.0,18888.5,-11172.9
$MHEAD_RNG_PITCHd_Wd,309.7,171779,-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,-62.55,0.000,2,0.000,0.000,24,2117,1404
$GC,80,-1.39,-146.6,3.2,-4.9,6,134,9.32,2.50,-35.00,0.000,4,0.231,0.112,1637,3497,2237
$GC,138,-1.39,-146.6,13.4,-17.9,11,145,0.00,2.40,0.00,0.000,6,0.000,0.079,1637,2093,2237
$GC,474,-1.39,-146.6,75.5,-16.8,60,480,0.00,2.50,0.00,0.000,4,0.000,0.112,1637,3503,2238
$GC,502,-1.39,-146.6,80.1,-16.6,65,508,0.00,2.33,0.00,0.000,6,0.000,0.077,1637,2098,2238
$GC,826,-1.39,-146.6,130.4,-15.6,96,827,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2098,2238
$GC,1138,-1.39,-146.6,180.8,-16.7,117,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2098,2238
$GC,1448,-1.39,-146.6,231.0,-16.3,132,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2098,2238
$GC,1757,-1.39,-146.6,279.7,-15.6,147,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2098,2238
$GC,2085,-1.39,-146.6,333.3,-16.9,160,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2098,2238
$GC,2391,-1.39,-146.6,383.0,-15.9,170,2395,0.00,2.45,0.00,0.000,4,0.000,0.119,1637,695,2238
$GC,2401,-1.39,-146.6,384.8,-15.8,170,2406,0.00,2.38,0.00,0.000,6,0.000,0.089,1637,2092,2238
$GC,2730,-1.39,-146.6,437.2,-16.3,181,2734,0.00,2.45,0.00,0.000,4,0.000,0.119,1637,694,2239
$GC,2745,-1.39,-146.6,440.0,-16.7,181,2750,0.00,2.38,0.00,0.000,6,0.000,0.089,1637,2094,2238
$GC,3063,-1.39,-146.6,490.9,-16.1,192,3067,0.00,2.45,0.00,0.000,4,0.000,0.119,1637,695,2238
$GC,3073,-1.39,-146.6,492.5,-16.0,192,3077,0.00,2.38,0.00,0.000,6,0.000,0.092,1637,2094,2238
$GC,3396,-1.39,-146.6,545.3,-16.7,203,3400,0.00,2.45,0.00,0.000,4,0.000,0.119,1637,698,2238
$GC,3405,-1.39,-146.6,546.7,-16.4,203,3411,0.00,2.38,0.00,0.000,6,0.000,0.094,1637,2090,2238
$GC,3730,-1.39,-146.6,602.1,-17.0,214,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2090,2238
$GC,4036,-1.39,-146.6,654.6,-16.8,224,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2090,2238
$GC,4342,-1.39,-146.6,703.6,-15.5,234,4346,0.00,2.42,0.00,0.000,4,0.000,0.122,1637,697,2239
$GC,4351,-1.39,-146.6,705.0,-15.4,234,4356,0.00,2.40,0.00,0.000,6,0.000,0.094,1637,2104,2238
$GC,4681,-1.39,-146.6,755.7,-15.3,245,4685,0.00,2.47,0.00,0.000,4,0.000,0.122,1637,697,2238
$GC,4708,-1.39,-146.6,759.8,-16.2,246,4712,0.00,2.35,0.00,0.000,6,0.000,0.099,1637,2099,2238
$GC,5048,-1.39,-146.6,811.6,-15.5,257,5052,0.00,2.47,0.00,0.000,4,0.000,0.124,1637,698,2239
$GC,5075,-1.39,-146.6,815.9,-15.5,258,5079,0.00,2.35,0.00,0.000,6,0.000,0.099,1637,2100,2238
$GC,5414,-1.39,-146.6,869.4,-15.9,269,5418,0.00,2.47,0.00,0.000,4,0.000,0.124,1637,696,2239
$GC,5429,-1.39,-146.6,872.1,-16.1,269,5434,0.00,2.40,0.00,0.000,6,0.000,0.099,1637,2103,2238
$GC,5747,-1.39,-146.6,924.7,-16.8,280,5752,0.00,2.50,0.00,0.000,4,0.000,0.124,1637,691,2238
$GC,5773,-1.39,-146.6,929.4,-17.6,280,5780,0.00,2.40,0.00,0.000,6,0.000,0.102,1637,2096,2238
$GC,6085,-1.39,-146.6,980.3,-16.1,291,6090,0.00,2.50,0.00,0.000,4,0.000,0.127,1637,690,2238
$GC,6100,-1.39,-146.6,982.8,-15.6,291,6105,0.00,2.40,0.00,0.000,6,0.000,0.102,1637,2095,2238
$GC,6419,-1.39,-146.6,1032.4,-15.6,302,6423,0.00,2.45,0.00,0.000,4,0.000,0.127,1637,699,2238
$GC,6428,-1.39,-146.6,1034.1,-15.2,302,6433,0.00,2.40,0.00,0.000,6,0.000,0.102,1638,2099,2238
$GC,6752,-1.39,-146.6,1082.6,-14.9,313,6756,0.00,2.50,0.00,0.000,4,0.000,0.127,1637,693,2238
$GC,6761,-1.39,-146.6,1084.0,-14.6,313,6766,0.00,2.40,0.00,0.000,6,0.000,0.102,1637,2098,2238
$GC,7085,-1.39,-146.6,1133.3,-15.6,324,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2097,2237
$GC,7391,-1.39,-146.6,1180.7,-15.5,334,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2098,2237
$GC,7698,-1.39,-146.6,1226.9,-15.0,344,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2098,2236
$GC,8003,-1.39,-146.6,1271.8,-14.7,354,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2098,2236
$GC,8310,-1.39,-146.6,1315.9,-14.4,364,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2098,2236
$GC,8616,-1.39,-146.6,1360.0,-14.4,374,8620,0.00,2.50,0.00,0.000,4,0.000,0.132,1637,700,2235
$GC,8625,-1.39,-146.6,1361.5,-14.5,374,8630,0.00,2.42,0.00,0.000,6,0.000,0.107,1637,2093,2236
$GC,8949,-1.39,-146.6,1407.7,-14.6,385,8953,0.00,2.47,0.00,0.000,4,0.000,0.134,1637,699,2235
$GC,8957,-1.39,-146.6,1409.0,-14.6,385,8962,0.00,2.42,0.00,0.000,6,0.000,0.107,1637,2101,2235
$GC,9287,-1.39,-146.6,1456.0,-14.1,396,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2101,2235
$GC,9593,-1.39,-146.6,1496.9,-13.2,406,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2101,2235
$GC,9899,-1.39,-146.6,1539.5,-14.2,416,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2101,2235
$GC,10206,-1.39,-146.6,1582.8,-14.0,426,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2101,2234
$GC,10512,-1.39,-146.6,1626.0,-14.0,436,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2101,2234
$GC,10818,-1.39,-146.6,1669.2,-14.0,446,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2101,2234
$GC,11124,-1.39,-146.6,1711.4,-13.5,456,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2101,2234
$GC,11431,-1.39,-146.6,1751.6,-12.9,466,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2101,2233
$GC,11736,-1.39,-146.6,1791.3,-13.1,476,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2101,2233
$GC,12044,-1.39,-146.6,1831.6,-13.3,486,12048,0.00,2.55,0.00,0.000,4,0.000,0.142,1637,698,2233
$GC,12053,-1.39,-146.6,1832.8,-12.5,486,12058,0.00,2.47,0.00,0.000,6,0.000,0.119,1637,2097,2233
$STATE,12100,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12100,begin apogee
$GC,12104,-0.33,0.0,1839.2,14.0,488,12226,1.10,0.00,119.03,2.135,6,0.151,0.000,1868,2003,1836
$STATE,12227,end apogee,CONTROL_FINISHED_OK
$STATE,12227,begin climb
$GC,12228,1.39,146.6,1843.9,0.0,492,12377,1.80,3.25,136.80,2.073,4,0.117,0.161,2245,3411,1436
$GC,12595,1.41,163.5,1822.2,9.2,503,12618,0.00,2.65,16.05,1.877,6,0.000,0.112,2245,1997,1391
$GC,12924,1.45,199.4,1794.2,8.4,514,12960,0.00,2.85,30.58,1.976,4,0.000,0.151,2245,588,1293
$GC,13071,1.46,209.0,1780.1,9.6,518,13086,0.00,2.62,10.07,1.736,6,0.000,0.112,2245,1995,1267
$GC,13422,1.46,209.8,1745.4,10.0,530,13426,0.00,2.78,0.00,0.000,4,0.000,0.154,2244,3413,1267
$GC,13601,1.47,210.6,1727.1,10.0,535,13605,0.00,2.55,0.00,0.000,6,0.000,0.114,2245,2000,1266
$GC,13917,1.48,223.1,1696.9,9.4,546,13937,0.10,2.72,12.65,1.815,4,0.114,0.149,2269,597,1228
$GC,14031,1.48,223.1,1684.1,10.9,549,14036,0.00,2.55,0.00,0.000,6,0.000,0.114,2270,1996,1228
$GC,14355,1.48,223.1,1647.7,11.4,560,14359,0.00,2.72,0.00,0.000,4,0.000,0.156,2270,3412,1228
$GC,14611,1.48,223.1,1617.6,11.0,567,14618,0.00,2.55,0.00,0.000,6,0.000,0.114,2270,1998,1228
$GC,14925,1.48,223.1,1583.0,10.9,578,14929,0.00,2.60,0.00,0.000,4,0.000,0.144,2269,589,1228
$GC,15164,1.48,224.2,1556.2,10.0,585,15169,0.00,2.53,0.00,0.000,6,0.000,0.114,2270,2003,1228
$GC,15493,1.48,224.2,1522.1,10.5,596,15498,0.00,2.67,0.00,0.000,4,0.000,0.154,2270,3416,1228
$GC,15750,1.49,230.0,1493.1,9.7,603,15762,0.00,2.53,6.85,1.527,6,0.000,0.114,2270,1995,1210
$GC,16090,1.49,230.0,1457.4,10.2,615,16095,0.00,2.60,0.00,0.000,4,0.000,0.144,2270,587,1210
$GC,16240,1.49,230.0,1440.2,11.0,619,16245,0.00,2.50,0.00,0.000,6,0.000,0.112,2270,1997,1210
$GC,16558,1.50,236.5,1407.9,9.7,630,16572,0.00,2.75,6.70,1.482,4,0.000,0.154,2269,3412,1193
$GC,16825,1.50,236.5,1379.3,10.7,638,16829,0.00,2.47,0.00,0.000,6,0.000,0.112,2270,2000,1193
$GC,17165,1.50,236.5,1345.0,10.3,649,17169,0.00,2.60,0.00,0.000,4,0.000,0.142,2270,585,1192
$GC,17314,1.50,236.5,1329.0,10.4,653,17319,0.00,2.50,0.00,0.000,6,0.000,0.112,2270,2000,1192
$GC,17632,1.50,236.5,1296.8,10.1,664,17636,0.00,2.65,0.00,0.000,4,0.000,0.151,2270,3411,1192
$GC,17888,1.51,245.9,1269.4,9.6,671,17903,0.00,2.47,8.80,1.532,6,0.000,0.109,2270,2007,1167
$GC,18233,1.51,245.9,1232.7,10.5,683,18237,0.00,2.60,0.00,0.000,4,0.000,0.142,2269,591,1166
$GC,18484,1.51,245.9,1206.1,10.5,690,18489,0.00,2.50,0.00,0.000,6,0.000,0.112,2270,2005,1166
$GC,18804,1.52,255.0,1175.2,9.6,701,18818,0.00,2.70,8.98,1.490,4,0.000,0.156,2270,3416,1142
$GC,19071,1.53,265.6,1146.7,9.5,709,19085,0.00,2.50,9.50,1.485,6,0.000,0.109,2270,1992,1114
$GC,19409,1.53,265.6,1111.4,10.5,720,19414,0.00,2.60,0.00,0.000,4,0.000,0.142,2270,591,1114
$GC,19649,1.53,265.6,1085.4,12.0,727,19654,0.00,2.50,0.00,0.000,6,0.000,0.109,2270,2002,1114
$GC,19980,1.54,274.0,1053.0,9.6,738,19994,0.00,2.70,8.18,1.393,4,0.000,0.151,2270,3401,1091
$GC,20247,1.54,274.0,1024.9,10.9,746,20251,0.00,2.45,0.00,0.000,6,0.000,0.109,2270,1999,1091
$GC,20581,1.55,278.4,992.6,9.8,757,20591,0.00,2.60,5.50,1.197,4,0.000,0.142,2270,591,1078
$GC,20792,1.57,299.9,971.6,9.0,763,20815,0.00,2.47,17.83,1.505,6,0.000,0.109,2270,1994,1020
$GC,21143,1.57,299.9,937.3,10.1,775,21147,0.00,2.67,0.00,0.000,4,0.000,0.146,2270,3406,1019
$GC,21399,1.57,299.9,909.5,10.8,782,21407,0.00,2.50,0.00,0.000,6,0.000,0.107,2270,1997,1019
$GC,21713,1.57,299.9,875.4,10.8,793,21718,0.00,2.58,0.00,0.000,4,0.000,0.139,2269,588,1019
$GC,21909,1.57,299.9,852.9,12.1,799,21913,0.00,2.45,0.00,0.000,6,0.000,0.109,2270,2001,1019
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$STATE,29374,end climb,SURFACE_DEPTH_REACHED
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