version: 66.04
glider: 5
mission: 5
dive: 125
start: 11 27 108 18 9 7
data:
$ID,5
$MISSION,5
$DIVE,125
$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,-89696.984
$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,36
$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
$GPS1,180137,6127.062,-235.410,41,1.3,47,-5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-60.7
$GPS2,180815,6127.054,-235.373,13,1.3,13,-5.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.221,0.003
$KALMAN_X,62802.6,-97.9,-1330.3,110074.9,8937.0
$KALMAN_Y,-27621.1,527.6,33.0,-219665.2,-158.3
$MHEAD_RNG_PITCHd_Wd,276.6,58967,-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,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,118,0.00,0.00,-96.53,0.000,6,0.000,0.000,421,1979,3430
$GC,122,-0.97,-146.6,5.6,-5.3,5,138,10.60,2.60,0.00,0.000,4,0.135,0.058,2481,3415,3432
$GC,269,-0.76,-146.6,36.8,-14.7,10,277,0.25,2.50,0.00,0.000,6,0.084,0.049,2534,2011,3432
$GC,586,-0.70,-146.6,70.9,-7.7,26,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2009,3432
$GC,895,-0.62,-146.6,100.3,-10.7,41,900,0.15,2.53,0.00,0.000,4,0.092,0.062,2566,594,3432
$GC,973,-0.62,-146.6,109.1,-10.5,44,980,0.00,2.53,0.00,0.000,6,0.000,0.050,2566,2019,3432
$GC,1290,-0.62,-146.6,132.7,-6.7,60,1294,0.00,2.60,0.00,0.000,4,0.000,0.063,2566,587,3432
$GC,1352,-0.62,-146.6,136.4,-6.0,63,1356,0.00,2.47,0.00,0.000,6,0.000,0.050,2566,1989,3432
$GC,1679,-0.62,-146.6,154.4,-5.3,79,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1989,3432
$GC,1987,-0.62,-146.6,174.7,-7.5,94,1993,0.00,2.55,0.00,0.000,4,0.000,0.064,2566,587,3432
$GC,2049,-0.62,-146.6,179.7,-8.1,96,2055,0.00,2.47,0.00,0.000,6,0.000,0.050,2566,1988,3432
$GC,2365,-0.62,-146.6,202.0,-7.4,112,2369,0.00,2.55,0.00,0.000,4,0.000,0.066,2566,589,3432
$GC,2398,-0.62,-146.6,204.8,-8.5,113,2404,0.00,2.45,0.00,0.000,6,0.000,0.051,2566,1973,3432
$GC,2713,-0.62,-146.6,230.6,-8.4,129,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1973,3432
$GC,3023,-0.62,-146.6,256.4,-8.4,144,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1973,3432
$GC,3332,-0.62,-146.6,283.5,-9.1,159,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1973,3432
$GC,3641,-0.62,-146.6,309.1,-7.8,174,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1973,3432
$GC,3950,-0.62,-146.6,334.8,-8.5,189,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1974,3432
$GC,4259,-0.62,-146.6,361.7,-8.5,204,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1974,3432
$GC,4569,-0.62,-146.6,384.9,-6.7,219,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1974,3432
$GC,4878,-0.62,-146.6,402.7,-6.9,234,4883,0.00,2.58,0.00,0.000,4,0.000,0.063,2567,3410,3432
$GC,4964,-0.69,-146.6,409.0,-6.7,238,4968,0.00,2.58,0.00,0.000,6,0.000,0.053,2566,1963,3432
$GC,5290,-0.69,-146.6,431.9,-6.5,254,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1962,3432
$GC,5599,-0.69,-146.6,455.1,-7.4,269,5604,0.00,2.62,0.00,0.000,4,0.000,0.062,2566,3412,3432
$GC,5644,-0.75,-146.6,458.3,-7.3,271,5649,0.12,2.58,0.00,0.000,6,0.053,0.053,2527,1968,3432
$GC,5966,-0.67,-146.6,482.1,-6.8,287,5967,0.12,0.00,0.00,0.000,6,0.091,0.000,2554,1968,3432
$GC,6274,-0.67,-146.6,501.6,-7.1,302,6278,0.00,2.62,0.00,0.000,4,0.000,0.063,2554,3412,3432
$GC,6346,-0.67,-146.6,507.7,-8.6,305,6350,0.00,2.55,0.00,0.000,6,0.000,0.054,2554,1986,3432
$GC,6662,-0.67,-146.6,529.4,-7.0,320,6666,0.00,2.50,0.00,0.000,4,0.000,0.066,2554,591,3432
$GC,6701,-0.67,-146.6,532.5,-8.5,322,6705,0.00,2.47,0.00,0.000,6,0.000,0.052,2554,1990,3432
$GC,7028,-0.67,-146.6,558.1,-6.6,338,7032,0.00,2.55,0.00,0.000,4,0.000,0.068,2554,3402,3432
$GC,7091,-0.67,-146.6,562.5,-6.6,341,7095,0.00,2.55,0.00,0.000,6,0.000,0.058,2554,1989,3432
$GC,7417,-0.67,-146.6,581.7,-5.1,357,7422,0.00,2.53,0.00,0.000,4,0.000,0.071,2554,590,3431
$GC,7457,-0.67,-146.6,584.1,-6.3,359,7462,0.00,2.50,0.00,0.000,6,0.000,0.057,2554,1987,3431
$GC,7784,-0.67,-146.6,602.8,-6.6,375,7789,0.00,2.60,0.00,0.000,4,0.000,0.074,2554,3411,3431
$GC,7812,-0.71,-146.6,604.7,-7.1,376,7817,0.00,2.60,0.00,0.000,6,0.000,0.063,2554,1982,3431
$GC,8129,-0.71,-146.6,625.5,-6.9,391,8134,0.00,2.65,0.00,0.000,4,0.000,0.074,2554,3410,3430
$GC,8162,-0.71,-146.6,627.9,-7.5,392,8169,0.00,2.60,0.00,0.000,6,0.000,0.064,2554,1985,3430
$GC,8480,-0.71,-146.6,650.0,-7.5,408,8485,0.00,2.55,0.00,0.000,4,0.000,0.078,2553,594,3429
$GC,8508,-0.71,-146.6,652.4,-8.4,409,8513,0.00,2.53,0.00,0.000,6,0.000,0.064,2554,1986,3428
$GC,8824,-0.76,-146.6,674.4,-6.5,424,8829,0.00,2.62,0.00,0.000,4,0.000,0.080,2554,3408,3427
$GC,8865,-0.81,-146.6,677.2,-7.4,426,8870,0.15,2.62,0.00,0.000,6,0.063,0.071,2516,1985,3427
$GC,9192,-0.75,-146.6,702.1,-7.2,442,9197,0.00,2.58,0.00,0.000,4,0.000,0.084,2516,593,3426
$GC,9226,-0.68,-146.6,704.6,-8.1,443,9233,0.15,2.55,0.00,0.000,6,0.099,0.071,2547,1988,3426
$GC,9542,-0.68,-146.6,720.8,-4.8,459,9546,0.00,2.65,0.00,0.000,4,0.000,0.088,2546,592,3424
$GC,9575,-0.68,-146.6,722.5,-5.1,460,9582,0.00,2.55,0.00,0.000,6,0.000,0.069,2547,1982,3424
$GC,9892,-0.68,-146.6,738.9,-5.5,476,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1982,3423
$GC,10201,-0.68,-146.6,757.7,-6.2,491,10205,0.00,2.67,0.00,0.000,4,0.000,0.086,2546,3415,3422
$GC,10222,-0.68,-146.6,759.3,-7.0,492,10227,0.00,2.67,0.00,0.000,6,0.000,0.075,2546,1980,3422
$GC,10543,-0.68,-146.6,781.4,-7.1,508,10547,0.00,2.60,0.00,0.000,4,0.000,0.091,2547,591,3421
$GC,10576,-0.68,-146.6,783.9,-7.5,509,10582,0.00,2.58,0.00,0.000,6,0.000,0.072,2547,1988,3421
$GC,10892,-0.68,-146.6,808.8,-8.5,525,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1990,3419
$GC,11201,-0.68,-146.6,834.3,-8.0,540,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1990,3418
$GC,11510,-0.68,-146.6,856.4,-7.0,555,11511,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1990,3417
$GC,11820,-0.68,-146.6,877.7,-7.0,570,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1990,3416
$GC,12129,-0.68,-146.6,899.2,-6.9,585,12130,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1990,3415
$GC,12438,-0.68,-146.6,920.8,-6.8,600,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1990,3414
$GC,12747,-0.68,-146.6,940.7,-6.3,615,12749,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1990,3413
$GC,13056,-0.68,-146.6,959.8,-6.2,630,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1990,3412
$GC,13366,-0.68,-146.6,979.0,-6.2,645,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1989,3412
$STATE,13548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13548,begin apogee
$GC,13556,-0.33,0.0,990.5,6.2,654,13683,0.38,0.00,124.78,1.642,6,0.092,0.000,2624,2249,2832
$STATE,13684,end apogee,CONTROL_FINISHED_OK
$STATE,13684,begin climb
$GC,13687,0.97,146.6,995.1,0.0,660,13822,1.35,2.75,126.55,1.595,4,0.080,0.091,2907,3653,2234
$GC,13841,0.97,148.2,990.2,6.0,667,13846,0.00,2.70,0.00,0.000,6,0.000,0.078,2907,2249,2234
$GC,14158,0.95,169.1,973.7,5.4,682,14184,0.00,2.78,21.08,1.493,4,0.000,0.093,2907,843,2141
$GC,14247,0.90,169.1,968.1,6.0,686,14251,0.00,2.65,0.00,0.000,6,0.000,0.075,2907,2236,2141
$GC,14568,0.91,177.7,949.6,5.8,702,14582,0.00,2.78,8.73,1.360,4,0.000,0.091,2907,838,2107
$GC,14617,0.87,177.7,946.5,6.0,704,14621,0.00,2.65,0.00,0.000,6,0.000,0.076,2907,2231,2107
$GC,14938,0.89,193.4,928.2,5.6,720,14960,0.00,2.78,15.68,1.490,4,0.000,0.091,2907,842,2043
$GC,14989,0.89,193.4,925.0,6.4,722,14993,0.00,2.65,0.00,0.000,6,0.000,0.076,2908,2228,2043
$GC,15310,0.93,215.8,907.0,5.4,738,15336,0.00,2.75,20.52,1.526,4,0.000,0.091,2907,842,1952
$GC,15364,0.93,215.8,903.8,6.5,740,15368,0.00,2.62,0.00,0.000,6,0.000,0.075,2907,2219,1952
$GC,15680,0.93,215.8,885.2,6.1,755,15684,0.00,2.67,0.00,0.000,4,0.000,0.092,2907,840,1951
$GC,15719,0.93,215.8,882.5,7.1,757,15724,0.00,2.60,0.00,0.000,6,0.000,0.076,2907,2215,1951
$GC,16046,0.93,215.8,862.6,6.0,773,16050,0.00,2.67,0.00,0.000,4,0.000,0.092,2907,840,1951
$GC,16078,0.93,215.8,860.5,6.0,774,16084,0.00,2.58,0.00,0.000,6,0.000,0.075,2907,2205,1951
$GC,16395,0.96,237.0,843.4,5.4,790,16416,0.00,0.00,19.48,1.503,6,0.000,0.000,2908,2206,1865
$GC,16724,0.97,243.1,824.6,5.8,806,16738,0.00,2.75,7.15,1.299,4,0.000,0.091,2907,840,1841
$GC,16778,0.98,250.4,821.2,5.8,808,16792,0.00,2.58,8.70,1.347,6,0.000,0.074,2907,2195,1810
$GC,17122,0.99,251.9,800.8,6.0,825,17126,0.00,2.62,0.00,0.000,4,0.000,0.092,2907,842,1811
$GC,17149,0.99,251.9,798.9,6.6,826,17153,0.00,2.55,0.00,0.000,6,0.000,0.075,2907,2193,1811
$GC,17465,0.99,251.9,779.8,6.4,841,17469,0.00,2.62,0.00,0.000,4,0.000,0.092,2907,841,1811
$GC,17492,0.99,251.9,777.7,6.8,842,17496,0.00,2.53,0.00,0.000,6,0.000,0.074,2908,2181,1811
$GC,17808,0.99,251.9,757.8,6.7,857,17812,0.00,2.60,0.00,0.000,4,0.000,0.092,2907,841,1812
$GC,17835,0.99,251.9,755.8,7.2,858,17839,0.00,2.53,0.00,0.000,6,0.000,0.074,2907,2185,1812
$GC,18151,0.99,251.9,732.0,7.6,873,18152,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2185,1811
$GC,18460,0.99,251.9,711.3,6.6,888,18464,0.00,2.58,0.00,0.000,4,0.000,0.090,2907,842,1811
$GC,18522,0.99,251.9,707.0,6.7,891,18526,0.00,2.50,0.00,0.000,6,0.000,0.073,2907,2178,1811
$GC,18849,0.99,251.9,683.0,7.6,907,18850,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2178,1811
$GC,19158,1.03,251.9,660.4,6.8,922,19162,0.00,2.58,0.00,0.000,4,0.000,0.090,2907,841,1811
$GC,19190,1.03,251.9,658.1,7.8,923,19197,0.00,2.47,0.00,0.000,6,0.000,0.073,2907,2164,1811
$GC,19507,1.09,264.8,639.3,5.6,939,19526,0.12,0.00,13.85,1.348,6,0.066,0.000,2942,2164,1752
$GC,19835,1.09,264.8,613.7,8.7,955,19840,0.00,2.53,0.00,0.000,4,0.000,0.087,2942,842,1752
$GC,19881,1.04,264.8,609.3,10.7,957,19885,0.00,2.47,0.00,0.000,6,0.000,0.071,2942,2165,1751
$GC,20202,1.04,264.8,579.9,9.0,973,20203,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2165,1751
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$STATE,27470,end climb,SURFACE_DEPTH_REACHED
$STATE,27470,begin surface coast
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$STATE,27534,end surface coast,CONTROL_FINISHED_OK
$STATE,27534,begin surface
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$10V_AH,10.1,9.995
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