version: 66.04
glider: 5
mission: 5
dive: 124
start: 11 27 108 9 30 6
data:
$ID,5
$MISSION,5
$DIVE,124
$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,-89683.031
$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,29
$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
$GPS1,092238,6125.713,-232.751,27,1.8,27,-5.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-52.8
$GPS2,092914,6125.702,-232.416,15,1.8,15,-5.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.220,0.025
$KALMAN_X,54934.1,-792.2,2322.9,117411.8,2784.9
$KALMAN_Y,-28830.0,-450.1,460.3,-220406.1,-492.1
$MHEAD_RNG_PITCHd_Wd,282.3,61704,-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,16,-0.97,-146.6,0.0,0.0,0,118,0.00,0.00,-97.62,0.000,6,0.000,0.000,425,1973,3429
$GC,122,-0.97,-146.6,6.2,-6.0,5,138,10.55,2.60,0.00,0.000,4,0.134,0.054,2480,3422,3431
$GC,162,-0.25,-146.6,22.0,-30.4,6,168,0.77,2.55,0.00,0.000,6,0.081,0.050,2645,2004,3431
$GC,491,-0.51,-146.6,40.9,-3.2,22,496,0.25,2.58,0.00,0.000,4,0.048,0.058,2575,3415,3431
$GC,578,-0.51,-146.6,44.7,-5.0,26,582,0.00,2.47,0.00,0.000,6,0.000,0.050,2575,2026,3431
$GC,905,-0.51,-146.6,66.7,-5.6,42,909,0.00,2.58,0.00,0.000,4,0.000,0.065,2575,591,3431
$GC,955,-0.56,-146.6,69.9,-7.8,44,960,0.00,2.58,0.00,0.000,6,0.000,0.050,2575,2043,3431
$GC,1271,-0.56,-146.6,95.1,-9.0,59,1276,0.00,2.65,0.00,0.000,4,0.000,0.064,2575,586,3431
$GC,1334,-0.61,-146.6,101.0,-9.9,62,1339,0.00,2.55,0.00,0.000,6,0.000,0.050,2575,2026,3431
$GC,1662,-0.61,-146.6,110.0,-1.4,78,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2045,3431
$GC,1970,-0.61,-146.6,128.5,-6.6,93,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2045,3431
$GC,2281,-0.61,-146.6,142.8,-3.6,108,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2042,3431
$GC,2589,-0.61,-146.6,153.0,-2.8,123,2593,0.00,2.60,0.00,0.000,4,0.000,0.064,2575,594,3431
$GC,2622,-0.65,-146.6,154.3,-4.0,124,2628,0.00,2.50,0.00,0.000,6,0.000,0.050,2575,2010,3431
$GC,2938,-0.65,-146.6,170.7,-7.2,140,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2010,3431
$GC,3248,-0.69,-146.6,195.3,-7.3,155,3253,0.12,2.60,0.00,0.000,4,0.055,0.064,2537,591,3432
$GC,3333,-0.62,-146.6,202.7,-9.0,159,3338,0.12,2.47,0.00,0.000,6,0.088,0.049,2564,1996,3431
$GC,3660,-0.62,-146.6,227.1,-8.2,175,3664,0.00,2.55,0.00,0.000,4,0.000,0.064,2564,588,3431
$GC,3739,-0.62,-146.6,233.8,-9.2,178,3745,0.00,2.45,0.00,0.000,6,0.000,0.049,2564,1980,3431
$GC,4054,-0.62,-146.6,258.1,-7.3,194,4059,0.00,2.53,0.00,0.000,4,0.000,0.065,2564,591,3431
$GC,4095,-0.62,-146.6,261.4,-8.5,196,4099,0.00,2.42,0.00,0.000,6,0.000,0.050,2564,1966,3431
$GC,4422,-0.62,-146.6,282.8,-6.5,212,4426,0.00,2.53,0.00,0.000,4,0.000,0.067,2564,594,3431
$GC,4455,-0.62,-146.6,285.1,-7.0,213,4461,0.00,2.42,0.00,0.000,6,0.000,0.051,2564,1966,3431
$GC,4771,-0.62,-146.6,306.9,-7.3,229,4775,0.00,2.50,0.00,0.000,4,0.000,0.067,2564,596,3431
$GC,4820,-0.62,-146.6,311.2,-8.2,231,4824,0.00,2.38,0.00,0.000,6,0.000,0.051,2564,1946,3431
$GC,5142,-0.62,-146.6,335.6,-7.1,247,5146,0.00,2.47,0.00,0.000,4,0.000,0.067,2564,591,3431
$GC,5181,-0.62,-146.6,338.6,-8.1,249,5185,0.00,2.42,0.00,0.000,6,0.000,0.051,2564,1949,3431
$GC,5508,-0.62,-146.6,359.6,-6.3,265,5512,0.00,2.47,0.00,0.000,4,0.000,0.067,2564,592,3431
$GC,5553,-0.62,-146.6,362.9,-7.2,267,5557,0.00,2.38,0.00,0.000,6,0.000,0.051,2564,1935,3431
$GC,5874,-0.62,-146.6,386.7,-8.0,283,5878,0.00,2.47,0.00,0.000,4,0.000,0.068,2564,593,3431
$GC,5924,-0.62,-146.6,391.5,-9.6,285,5928,0.00,2.38,0.00,0.000,6,0.000,0.051,2564,1935,3431
$GC,6240,-0.62,-146.6,414.7,-6.9,300,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1936,3431
$GC,6549,-0.62,-146.6,434.2,-6.0,315,6553,0.00,2.45,0.00,0.000,4,0.000,0.069,2564,596,3431
$GC,6604,-0.62,-146.6,437.8,-6.8,317,6610,0.00,2.38,0.00,0.000,6,0.000,0.051,2564,1939,3431
$GC,6920,-0.62,-146.6,457.7,-6.7,333,6924,0.00,2.47,0.00,0.000,4,0.000,0.069,2564,589,3431
$GC,6983,-0.62,-146.6,462.3,-8.3,336,6987,0.00,2.35,0.00,0.000,6,0.000,0.052,2564,1916,3431
$GC,7310,-0.62,-146.6,481.2,-4.6,352,7314,0.00,2.67,0.00,0.000,4,0.000,0.065,2564,3405,3431
$GC,7344,-0.68,-146.6,482.9,-5.2,353,7350,0.00,2.67,0.00,0.000,6,0.000,0.056,2564,1914,3431
$GC,7659,-0.68,-146.6,501.9,-6.7,369,7664,0.00,2.38,0.00,0.000,4,0.000,0.068,2564,595,3430
$GC,7716,-0.74,-146.6,506.0,-7.4,371,7722,0.12,2.35,0.00,0.000,6,0.059,0.054,2528,1917,3430
$GC,8035,-0.68,-146.6,525.7,-5.4,387,8040,0.12,2.47,0.00,0.000,4,0.091,0.072,2554,587,3430
$GC,8097,-0.68,-146.6,528.5,-4.2,390,8101,0.00,2.33,0.00,0.000,6,0.000,0.055,2554,1892,3430
$GC,8425,-0.68,-146.6,543.9,-4.8,406,8429,0.00,2.75,0.00,0.000,4,0.000,0.070,2554,3409,3429
$GC,8464,-0.68,-146.6,546.0,-5.1,408,8469,0.00,2.72,0.00,0.000,6,0.000,0.061,2554,1903,3429
$GC,8792,-0.68,-146.6,563.1,-5.2,424,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1904,3429
$GC,9101,-0.68,-146.6,580.3,-5.4,439,9105,0.00,2.40,0.00,0.000,4,0.000,0.076,2554,586,3428
$GC,9141,-0.68,-146.6,582.7,-5.9,441,9145,0.00,2.35,0.00,0.000,6,0.000,0.060,2554,1894,3427
$GC,9469,-0.68,-146.6,600.8,-5.9,457,9473,0.00,2.75,0.00,0.000,4,0.000,0.075,2554,3399,3427
$GC,9508,-0.72,-146.6,603.5,-6.4,459,9513,0.00,2.75,0.00,0.000,6,0.000,0.066,2554,1896,3426
$GC,9836,-0.72,-146.6,622.2,-5.3,475,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1896,3425
$GC,10145,-0.72,-146.6,637.0,-5.1,490,10150,0.00,2.80,0.00,0.000,4,0.000,0.077,2554,3399,3425
$GC,10189,-0.77,-146.6,639.5,-6.1,492,10194,0.00,2.72,0.00,0.000,6,0.000,0.067,2554,1912,3425
$GC,10511,-0.81,-146.6,658.7,-5.9,508,10516,0.15,2.42,0.00,0.000,4,0.061,0.081,2516,597,3424
$GC,10562,-0.72,-146.6,662.7,-8.3,510,10566,0.12,2.38,0.00,0.000,6,0.097,0.066,2541,1900,3424
$GC,10877,-0.72,-146.6,684.1,-6.6,525,10878,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1901,3423
$GC,11187,-0.72,-146.6,704.1,-6.5,540,11188,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1901,3422
$GC,11496,-0.72,-146.6,724.0,-6.6,555,11500,0.00,2.50,0.00,0.000,4,0.000,0.090,2541,589,3421
$GC,11529,-0.72,-146.6,726.5,-7.9,556,11535,0.00,2.40,0.00,0.000,6,0.000,0.071,2541,1893,3421
$GC,11844,-0.72,-146.6,747.7,-6.6,572,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1892,3420
$GC,12154,-0.72,-146.6,767.3,-6.1,587,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1893,3419
$GC,12463,-0.72,-146.6,783.9,-5.1,602,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1893,3418
$GC,12773,-0.72,-146.6,799.6,-5.2,617,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1893,3416
$GC,13082,-0.72,-146.6,817.1,-5.9,632,13085,0.00,2.47,0.00,0.000,4,0.000,0.095,2540,599,3415
$GC,13109,-0.72,-146.6,818.9,-5.8,633,13114,0.00,2.38,0.00,0.000,6,0.000,0.075,2541,1883,3416
$GC,13431,-0.72,-146.6,838.3,-5.8,649,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1887,3414
$GC,13740,-0.72,-146.6,854.5,-4.9,664,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1887,3414
$GC,14050,-0.72,-146.6,869.4,-4.8,679,14054,0.00,2.85,0.00,0.000,4,0.000,0.089,2541,3402,3412
$GC,14077,-0.72,-146.6,870.8,-5.3,680,14082,0.00,2.83,0.00,0.000,6,0.000,0.079,2541,1895,3412
$GC,14393,-0.72,-146.6,886.5,-5.0,695,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1896,3412
$GC,14703,-0.72,-146.6,902.3,-5.3,710,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1896,3412
$GC,15012,-0.72,-146.6,919.1,-5.8,725,15013,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1896,3411
$GC,15321,-0.72,-146.6,937.4,-6.1,740,15322,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1896,3410
$GC,15630,-0.72,-146.6,956.6,-6.3,755,15635,0.00,2.88,0.00,0.000,4,0.000,0.089,2541,3402,3410
$GC,15670,-0.72,-146.6,959.3,-6.8,757,15674,0.00,2.83,0.00,0.000,6,0.000,0.078,2541,1895,3410
$GC,15996,-0.72,-146.6,980.5,-6.3,773,15997,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1894,3409
$STATE,16158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16158,begin apogee
$GC,16166,-0.33,0.0,990.8,6.1,781,16293,0.40,0.00,124.47,1.654,6,0.091,0.000,2623,2241,2832
$STATE,16294,end apogee,CONTROL_FINISHED_OK
$STATE,16294,begin climb
$GC,16297,0.97,146.6,995.2,0.0,787,16429,1.35,0.00,126.93,1.606,6,0.082,0.000,2904,2241,2234
$GC,16736,0.97,146.6,973.6,6.2,809,16740,0.00,2.70,0.00,0.000,4,0.000,0.091,2904,3653,2233
$GC,16906,0.91,153.0,963.5,5.8,816,16920,0.00,2.65,7.22,1.299,6,0.000,0.080,2905,2253,2208
$GC,17246,0.90,173.3,945.3,5.4,833,17271,0.00,2.83,18.85,1.517,4,0.000,0.094,2905,845,2125
$GC,17313,0.91,176.3,941.1,5.9,836,17322,0.00,2.65,4.28,1.050,6,0.000,0.076,2905,2243,2113
$GC,17645,0.91,176.3,920.4,6.3,852,17646,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2243,2113
$GC,17954,0.91,176.3,900.4,6.6,867,17958,0.00,2.72,0.00,0.000,4,0.000,0.093,2905,843,2113
$GC,17993,0.91,176.3,897.6,7.6,869,17998,0.00,2.65,0.00,0.000,6,0.000,0.077,2905,2243,2113
$GC,18320,0.91,176.3,876.0,6.5,885,18321,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2243,2113
$GC,18629,0.91,176.3,856.4,6.3,900,18633,0.00,2.72,0.00,0.000,4,0.000,0.092,2905,839,2113
$GC,18672,0.91,176.3,853.4,6.6,902,18677,0.00,2.65,0.00,0.000,6,0.000,0.076,2905,2241,2113
$GC,18994,0.91,179.2,834.2,5.9,918,19000,0.00,0.00,4.35,1.089,6,0.000,0.000,2905,2242,2101
$GC,19303,0.92,186.4,816.1,5.8,933,19317,0.00,2.78,8.23,1.359,4,0.000,0.091,2905,850,2071
$GC,19340,0.92,186.4,813.7,6.4,934,19346,0.00,2.65,0.00,0.000,6,0.000,0.075,2904,2241,2071
$GC,19656,0.92,186.4,793.3,6.7,950,19660,0.00,2.70,0.00,0.000,4,0.000,0.091,2905,845,2071
$GC,19695,0.92,186.4,790.6,7.7,952,19700,0.00,2.60,0.00,0.000,6,0.000,0.075,2905,2225,2071
$GC,20022,0.92,186.4,769.9,6.3,968,20023,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2225,2071
$GC,20332,0.92,186.4,749.9,6.4,983,20337,0.00,2.65,0.00,0.000,4,0.000,0.091,2905,845,2070
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$STATE,30501,end climb,SURFACE_DEPTH_REACHED
$STATE,30501,begin surface coast
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$STATE,30523,end surface coast,CONTROL_FINISHED_OK
$STATE,30523,begin surface
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