version: 66.04
glider: 5
mission: 5
dive: 123
start: 11 27 108 1 25 7
data:
$ID,5
$MISSION,5
$DIVE,123
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-89667.398
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.610077
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,10
$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,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,011807,6124.791,-231.517,39,1.8,44,-5.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-56.0
$GPS2,012415,6124.725,-231.220,15,1.9,15,-5.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,0.073
$KALMAN_X,46975.8,342.9,3085.9,124435.4,-27603.9
$KALMAN_Y,-28876.0,36.5,607.0,-222808.2,-4631.0
$MHEAD_RNG_PITCHd_Wd,295.1,62908,-11.0,-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,-0.97,-146.6,0.0,0.0,0,98,0.00,0.00,-80.10,0.000,6,0.000,0.000,422,1963,3431
$GC,101,-0.97,-146.6,5.1,-6.1,4,117,10.60,2.62,0.00,0.000,4,0.135,0.059,2482,3422,3432
$GC,293,-0.78,-146.6,40.3,-12.3,11,300,0.22,2.55,0.00,0.000,6,0.085,0.050,2530,1994,3433
$GC,610,-0.69,-146.6,63.0,-7.2,27,614,0.00,2.53,0.00,0.000,4,0.000,0.066,2530,591,3433
$GC,682,-0.59,-146.6,69.5,-10.6,30,687,0.17,2.50,0.00,0.000,6,0.086,0.050,2567,2000,3434
$GC,1000,-0.59,-146.6,89.6,-6.1,45,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2008,3434
$GC,1308,-0.59,-146.6,112.4,-5.6,60,1312,0.00,2.53,0.00,0.000,4,0.000,0.062,2567,3409,3433
$GC,1330,-0.64,-146.6,113.9,-6.5,61,1334,0.00,2.53,0.00,0.000,6,0.000,0.049,2567,1989,3434
$GC,1651,-0.64,-146.6,134.6,-6.9,77,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1989,3433
$GC,1960,-0.64,-146.6,155.9,-7.4,92,1964,0.00,2.58,0.00,0.000,4,0.000,0.061,2567,3409,3434
$GC,1993,-0.68,-146.6,158.2,-7.3,93,2000,0.00,2.50,0.00,0.000,6,0.000,0.050,2567,2001,3433
$GC,2309,-0.68,-146.6,178.2,-6.4,109,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2001,3433
$GC,2618,-0.68,-146.6,198.3,-6.5,124,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2001,3433
$GC,2928,-0.68,-146.6,218.4,-6.4,139,2932,0.00,2.55,0.00,0.000,4,0.000,0.061,2567,3408,3433
$GC,2961,-0.73,-146.6,220.4,-6.4,140,2968,0.12,2.47,0.00,0.000,6,0.056,0.050,2532,2014,3434
$GC,3278,-0.65,-146.6,243.5,-7.2,156,3280,0.12,0.00,0.00,0.000,6,0.091,0.000,2559,2014,3434
$GC,3586,-0.65,-146.6,263.6,-6.6,171,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2012,3434
$GC,3895,-0.65,-146.6,283.5,-6.6,186,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2012,3434
$GC,4205,-0.65,-146.6,304.2,-6.8,201,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2012,3434
$GC,4515,-0.65,-146.6,325.4,-6.8,216,4519,0.00,2.53,0.00,0.000,4,0.000,0.063,2559,3411,3434
$GC,4547,-0.65,-146.6,328.0,-8.0,217,4554,0.00,2.50,0.00,0.000,6,0.000,0.052,2559,2007,3434
$GC,4866,-0.65,-146.6,350.0,-6.9,233,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2007,3434
$GC,5172,-0.65,-146.6,370.4,-6.0,248,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2007,3434
$GC,5482,-0.65,-146.6,389.5,-6.5,263,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2007,3434
$GC,5791,-0.65,-146.6,412.3,-7.8,278,5795,0.00,2.55,0.00,0.000,4,0.000,0.064,2559,3413,3434
$GC,5846,-0.65,-146.6,416.9,-8.2,280,5853,0.00,2.53,0.00,0.000,6,0.000,0.054,2559,1998,3434
$GC,6163,-0.65,-146.6,437.9,-5.8,296,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1997,3434
$GC,6472,-0.65,-146.6,457.5,-6.9,311,6476,0.00,2.58,0.00,0.000,4,0.000,0.066,2559,3406,3433
$GC,6506,-0.65,-146.6,460.1,-7.4,312,6512,0.00,2.53,0.00,0.000,6,0.000,0.056,2560,1999,3433
$GC,6822,-0.65,-146.6,481.7,-6.5,328,6826,0.00,2.60,0.00,0.000,4,0.000,0.066,2559,3413,3433
$GC,6885,-0.69,-146.6,485.9,-6.4,331,6890,0.00,2.50,0.00,0.000,6,0.000,0.056,2559,2021,3433
$GC,7213,-0.69,-146.6,503.4,-5.0,347,7217,0.00,2.55,0.00,0.000,4,0.000,0.068,2559,3412,3433
$GC,7240,-0.74,-146.6,504.9,-5.1,348,7245,0.00,2.50,0.00,0.000,6,0.000,0.057,2559,2022,3433
$GC,7557,-0.74,-146.6,522.5,-6.3,363,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2022,3432
$GC,7866,-0.79,-146.6,542.2,-5.9,378,7868,0.15,0.00,0.00,0.000,6,0.058,0.000,2518,2022,3432
$GC,8175,-0.72,-146.6,561.7,-6.1,393,8180,0.12,2.60,0.00,0.000,4,0.093,0.075,2545,595,3431
$GC,8231,-0.72,-146.6,565.3,-6.5,395,8238,0.00,2.58,0.00,0.000,6,0.000,0.060,2544,2031,3431
$GC,8547,-0.72,-146.6,583.3,-6.1,411,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2032,3431
$GC,8857,-0.72,-146.6,601.4,-5.6,426,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2032,3430
$GC,9165,-0.72,-146.6,619.5,-6.1,441,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2032,3430
$GC,9475,-0.72,-146.6,639.5,-6.6,456,9479,0.00,2.70,0.00,0.000,4,0.000,0.085,2545,599,3428
$GC,9525,-0.72,-146.6,643.0,-6.9,458,9529,0.00,2.62,0.00,0.000,6,0.000,0.068,2545,2034,3428
$GC,9841,-0.72,-146.6,660.9,-5.6,473,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2034,3426
$GC,10150,-0.72,-146.6,679.6,-6.4,488,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2034,3425
$GC,10460,-0.72,-146.6,700.8,-6.9,503,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2034,3424
$GC,10768,-0.72,-146.6,720.6,-6.1,518,10773,0.00,2.75,0.00,0.000,4,0.000,0.091,2544,592,3423
$GC,10818,-0.72,-146.6,724.1,-7.6,520,10822,0.00,2.65,0.00,0.000,6,0.000,0.073,2544,2026,3423
$GC,11134,-0.72,-146.6,744.1,-6.5,535,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2026,3422
$GC,11443,-0.72,-146.6,764.6,-6.8,550,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2026,3421
$GC,11753,-0.72,-146.6,783.9,-5.8,565,11754,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2027,3420
$GC,12061,-0.72,-146.6,801.9,-6.1,580,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2027,3419
$GC,12371,-0.72,-146.6,821.1,-5.9,595,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2027,3417
$GC,12680,-0.72,-146.6,837.9,-5.4,610,12685,0.00,2.75,0.00,0.000,4,0.000,0.094,2545,594,3417
$GC,12724,-0.72,-146.6,840.7,-6.6,612,12729,0.00,2.65,0.00,0.000,6,0.000,0.077,2544,2028,3417
$GC,13046,-0.72,-146.6,860.3,-6.5,628,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2028,3416
$GC,13355,-0.72,-146.6,880.8,-6.5,643,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2028,3415
$GC,13667,-0.72,-146.6,900.2,-6.4,658,13668,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2028,3414
$GC,13973,-0.72,-146.6,921.0,-6.8,673,13978,0.00,2.75,0.00,0.000,4,0.000,0.097,2544,600,3414
$GC,14013,-0.72,-146.6,924.0,-7.5,675,14018,0.00,2.65,0.00,0.000,6,0.000,0.077,2544,2023,3414
$GC,14340,-0.72,-146.6,945.3,-6.5,691,14341,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2024,3413
$GC,14649,-0.72,-146.6,965.7,-6.9,706,14650,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2024,3413
$GC,14959,-0.76,-146.6,987.0,-6.7,721,14964,0.00,2.75,0.00,0.000,4,0.000,0.094,2545,593,3412
$GC,14992,-0.76,-146.6,989.7,-7.5,722,14998,0.00,2.65,0.00,0.000,6,0.000,0.077,2544,2020,3412
$STATE,15016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15016,begin apogee
$GC,15023,-0.33,0.0,991.6,7.3,724,15151,0.40,0.00,124.93,1.662,6,0.094,0.000,2625,2251,2832
$STATE,15152,end apogee,CONTROL_FINISHED_OK
$STATE,15152,begin climb
$GC,15155,0.97,146.6,997.0,0.0,730,15287,1.35,0.00,127.32,1.615,6,0.086,0.000,2908,2251,2234
$GC,15593,1.04,189.6,979.5,4.8,752,15638,0.00,2.80,38.30,1.555,4,0.000,0.090,2907,3654,2058
$GC,15736,1.04,189.9,971.5,6.0,758,15741,0.00,2.85,0.00,0.000,6,0.000,0.081,2908,2161,2058
$GC,16052,1.07,208.4,954.6,5.5,773,16078,0.10,2.65,17.77,1.503,4,0.073,0.095,2934,848,1982
$GC,16119,0.96,208.4,950.1,6.3,776,16124,0.12,2.50,0.00,0.000,6,0.104,0.077,2910,2156,1982
$GC,16446,0.98,221.6,930.5,5.6,792,16465,0.00,0.00,13.27,1.473,6,0.000,0.000,2910,2157,1928
$GC,16776,1.01,241.0,912.1,5.5,808,16800,0.00,2.65,18.15,1.519,4,0.000,0.094,2910,854,1849
$GC,16830,1.01,241.0,908.7,6.7,810,16834,0.00,2.47,0.00,0.000,6,0.000,0.076,2910,2146,1849
$GC,17146,1.03,253.0,890.5,5.7,825,17165,0.00,0.00,12.62,1.463,6,0.000,0.000,2910,2147,1800
$GC,17475,1.03,253.0,870.5,6.1,841,17479,0.00,2.53,0.00,0.000,4,0.000,0.094,2910,847,1801
$GC,17525,1.05,260.9,867.3,5.8,843,17542,0.00,2.45,8.90,1.384,6,0.000,0.076,2910,2145,1767
$GC,17851,1.05,260.9,846.9,6.3,859,17852,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2145,1767
$GC,18161,1.05,262.1,828.0,6.0,874,18165,0.00,2.53,0.00,0.000,4,0.000,0.095,2910,852,1767
$GC,18207,1.05,262.1,825.1,8.0,876,18211,0.00,2.42,0.00,0.000,6,0.000,0.076,2910,2140,1767
$GC,18534,1.06,270.0,805.9,5.8,892,18548,0.00,2.58,9.45,1.385,4,0.000,0.094,2910,848,1731
$GC,18571,1.06,270.0,803.3,6.3,893,18577,0.00,2.45,0.00,0.000,6,0.000,0.075,2910,2137,1730
$GC,18888,1.14,293.2,785.6,5.4,909,18915,0.15,2.58,21.38,1.489,4,0.068,0.092,2947,847,1635
$GC,18938,1.07,293.2,782.1,6.6,911,18942,0.00,2.45,0.00,0.000,6,0.000,0.074,2946,2132,1635
$GC,19255,1.02,293.2,757.4,7.8,926,19256,0.12,0.00,0.00,0.000,6,0.107,0.000,2923,2132,1635
$GC,19563,1.02,293.2,736.3,6.8,941,19567,0.00,2.47,0.00,0.000,4,0.000,0.093,2923,852,1635
$GC,19597,1.02,293.2,733.7,7.2,942,19601,0.00,2.40,0.00,0.000,6,0.000,0.075,2923,2125,1635
$GC,19912,1.02,293.2,712.5,6.3,957,19914,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2124,1635
$GC,20222,1.06,313.2,694.6,5.5,972,20247,0.00,2.58,18.20,1.420,4,0.000,0.092,2923,852,1555
$GC,20282,1.06,313.2,690.8,6.4,974,20288,0.00,2.40,0.00,0.000,6,0.000,0.074,2922,2116,1555
$GC,20598,1.10,313.2,668.9,7.2,990,20602,0.00,2.45,0.00,0.000,4,0.000,0.091,2922,844,1555
$GC,20622,1.14,313.2,667.2,6.6,991,20627,0.10,2.38,0.00,0.000,6,0.074,0.073,2947,2110,1555
$GC,20948,1.14,313.2,640.7,8.4,1007,20950,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2111,1555
$GC,21257,1.14,313.2,613.2,9.4,1022,21258,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2111,1555
$GC,21567,1.14,313.2,584.5,9.3,1037,21568,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2111,1555
$GC,21876,1.14,313.2,553.6,9.9,1052,21877,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2111,1555
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$STATE,28440,end climb,SURFACE_DEPTH_REACHED
$STATE,28440,begin surface coast
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$STATE,28503,end surface coast,CONTROL_FINISHED_OK
$STATE,28503,begin surface
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$10V_AH,10.0,9.753
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$DEVICE_SECS,25.125,183.350,442.100,0.000,0.000,39.218,26.652,169.347,110.250,0.000,0.000,15.399,2421.768,22619.178,611.189,2640.800,654.963,33.371,1934.998,0.000,2590.999,0.000,58.464,0.000
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$DATA_FILE_SIZE,69404,1371
$CAP_FILE_SIZE,187684,0
$CFSIZE,254472192,245575680
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