version: 66.04
glider: 5
mission: 5
dive: 126
start: 11 28 108 1 57 55
data:
$ID,5
$MISSION,5
$DIVE,126
$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,-89709.836
$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,39
$R_STBD_OVSHOOT,16
$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
$GPS1,015038,6127.543,-236.997,37,1.1,37,-5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.7
$GPS2,015703,6127.487,-236.950,12,2.0,12,-5.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.221,0.001
$KALMAN_X,68123.2,274.0,-1147.6,102936.1,9362.8
$KALMAN_Y,-26635.5,-141.5,457.8,-219607.7,-62.8
$MHEAD_RNG_PITCHd_Wd,276.0,57554,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.30,0.000,2,0.000,0.000,420,1958,3241
$GC,103,-0.97,-146.6,4.1,-4.8,4,125,10.62,2.62,-4.70,0.000,4,0.137,0.070,2481,3416,3429
$GC,379,-0.75,-146.6,44.8,-9.9,16,384,0.25,2.50,0.00,0.000,6,0.086,0.050,2534,2014,3429
$GC,701,-0.66,-146.6,71.4,-8.2,32,703,0.10,0.00,0.00,0.000,6,0.100,0.000,2555,2014,3430
$GC,1011,-0.66,-146.6,100.0,-10.8,47,1015,0.00,2.55,0.00,0.000,4,0.000,0.064,2554,587,3430
$GC,1038,-0.66,-146.6,102.8,-9.0,48,1043,0.00,2.53,0.00,0.000,6,0.000,0.050,2554,2014,3430
$GC,1355,-0.66,-146.6,126.4,-6.8,63,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2034,3430
$GC,1663,-0.66,-146.6,148.4,-7.2,78,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2033,3430
$GC,1972,-0.66,-146.6,173.3,-8.1,93,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2033,3429
$GC,2282,-0.66,-146.6,196.4,-6.9,108,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2033,3430
$GC,2591,-0.66,-146.6,220.9,-8.1,123,2595,0.00,2.62,0.00,0.000,4,0.000,0.066,2554,584,3430
$GC,2635,-0.66,-146.6,224.0,-6.9,125,2639,0.00,2.50,0.00,0.000,6,0.000,0.050,2554,2001,3430
$GC,2956,-0.66,-146.6,248.6,-7.7,141,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2001,3430
$GC,3265,-0.66,-146.6,270.7,-6.2,156,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2001,3430
$GC,3574,-0.66,-146.6,292.2,-6.7,171,3578,0.00,2.50,0.00,0.000,4,0.000,0.061,2554,3404,3430
$GC,3614,-0.66,-146.6,295.0,-7.2,173,3619,0.00,2.53,0.00,0.000,6,0.000,0.050,2554,1979,3430
$GC,3941,-0.66,-146.6,316.8,-6.2,189,3945,0.00,2.58,0.00,0.000,4,0.000,0.061,2554,3404,3430
$GC,3985,-0.66,-146.6,320.0,-7.1,191,3989,0.00,2.53,0.00,0.000,6,0.000,0.050,2554,1983,3430
$GC,4306,-0.66,-146.6,341.6,-6.9,207,4310,0.00,2.58,0.00,0.000,4,0.000,0.061,2554,3404,3430
$GC,4333,-0.66,-146.6,343.7,-7.4,208,4337,0.00,2.50,0.00,0.000,6,0.000,0.051,2554,1996,3430
$GC,4649,-0.66,-146.6,365.4,-6.8,223,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3430
$GC,4958,-0.66,-146.6,389.2,-7.7,238,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1994,3430
$GC,5267,-0.66,-146.6,411.9,-6.9,253,5271,0.00,2.58,0.00,0.000,4,0.000,0.064,2554,3410,3430
$GC,5317,-0.66,-146.6,415.3,-6.7,255,5321,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,1996,3430
$GC,5632,-0.66,-146.6,436.8,-7.0,270,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1995,3430
$GC,5941,-0.66,-146.6,457.1,-6.8,285,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1995,3430
$GC,6251,-0.66,-146.6,479.3,-7.1,300,6255,0.00,2.50,0.00,0.000,4,0.000,0.067,2554,597,3430
$GC,6313,-0.66,-146.6,483.8,-7.2,303,6317,0.00,2.45,0.00,0.000,6,0.000,0.051,2554,1990,3429
$GC,6639,-0.66,-146.6,507.3,-7.3,319,6643,0.00,2.53,0.00,0.000,4,0.000,0.067,2554,594,3429
$GC,6679,-0.66,-146.6,510.3,-8.1,321,6684,0.00,2.47,0.00,0.000,6,0.000,0.052,2555,1993,3429
$GC,7006,-0.66,-146.6,533.0,-6.4,337,7011,0.00,2.55,0.00,0.000,4,0.000,0.067,2554,3409,3429
$GC,7051,-0.66,-146.6,536.1,-6.9,339,7055,0.00,2.55,0.00,0.000,6,0.000,0.057,2554,1991,3429
$GC,7372,-0.66,-146.6,555.2,-5.7,355,7377,0.00,2.58,0.00,0.000,4,0.000,0.065,2554,3403,3429
$GC,7462,-0.66,-146.6,561.5,-7.3,359,7466,0.00,2.53,0.00,0.000,6,0.000,0.056,2554,1997,3429
$GC,7783,-0.66,-146.6,583.3,-6.6,375,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3428
$GC,8092,-0.66,-146.6,601.7,-5.1,390,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3428
$GC,8401,-0.66,-146.6,620.1,-5.9,405,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1996,3427
$GC,8711,-0.66,-146.6,640.0,-6.3,420,8715,0.00,2.60,0.00,0.000,4,0.000,0.076,2554,3401,3427
$GC,8755,-0.70,-146.6,643.0,-6.9,422,8759,0.00,2.55,0.00,0.000,6,0.000,0.066,2554,2008,3427
$GC,9076,-0.75,-146.6,663.4,-5.7,438,9081,0.00,2.60,0.00,0.000,4,0.000,0.078,2554,586,3426
$GC,9144,-0.80,-146.6,667.3,-6.1,441,9149,0.12,2.55,0.00,0.000,6,0.062,0.064,2521,1991,3426
$GC,9468,-0.74,-146.6,686.6,-5.8,457,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1991,3424
$GC,9776,-0.69,-146.6,704.6,-5.9,472,9777,0.12,0.00,0.00,0.000,6,0.102,0.000,2547,1992,3423
$GC,10084,-0.69,-146.6,718.1,-4.0,487,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1992,3422
$GC,10393,-0.69,-146.6,731.7,-4.7,502,10398,0.00,2.65,0.00,0.000,4,0.000,0.089,2547,596,3421
$GC,10427,-0.69,-146.6,733.5,-5.7,503,10433,0.00,2.58,0.00,0.000,6,0.000,0.071,2547,1997,3421
$GC,10743,-0.69,-146.6,749.9,-5.3,519,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1997,3419
$GC,11052,-0.69,-146.6,765.8,-5.0,534,11057,0.00,2.65,0.00,0.000,4,0.000,0.088,2547,591,3418
$GC,11086,-0.69,-146.6,767.4,-5.3,535,11092,0.00,2.58,0.00,0.000,6,0.000,0.073,2547,1989,3418
$GC,11402,-0.69,-146.6,782.5,-4.6,551,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1990,3417
$GC,11712,-0.69,-146.6,798.4,-5.3,566,11716,0.00,2.65,0.00,0.000,4,0.000,0.092,2547,595,3415
$GC,11740,-0.69,-146.6,800.0,-5.3,567,11745,0.00,2.58,0.00,0.000,6,0.000,0.074,2547,1984,3416
$GC,12056,-0.69,-146.6,818.2,-5.8,582,12060,0.00,2.67,0.00,0.000,4,0.000,0.090,2547,3408,3414
$GC,12083,-0.69,-146.6,820.1,-6.4,583,12088,0.00,2.67,0.00,0.000,6,0.000,0.077,2547,1981,3414
$GC,12399,-0.69,-146.6,838.5,-5.6,598,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1981,3413
$GC,12708,-0.69,-146.6,857.5,-6.1,613,12712,0.00,2.72,0.00,0.000,4,0.000,0.087,2547,3412,3412
$GC,12741,-0.69,-146.6,859.7,-6.7,614,12747,0.00,2.67,0.00,0.000,6,0.000,0.080,2547,1981,3412
$GC,13057,-0.69,-146.6,879.0,-6.0,630,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1981,3411
$GC,13366,-0.69,-146.6,897.1,-5.6,645,13370,0.00,2.60,0.00,0.000,4,0.000,0.094,2547,587,3410
$GC,13400,-0.69,-146.6,899.3,-6.9,646,13406,0.00,2.60,0.00,0.000,6,0.000,0.075,2548,1991,3410
$GC,13716,-0.69,-146.6,917.8,-5.7,662,13721,0.00,2.67,0.00,0.000,4,0.000,0.091,2547,3413,3409
$GC,13750,-0.74,-146.6,919.6,-5.6,663,13756,0.00,2.67,0.00,0.000,6,0.000,0.079,2547,1983,3410
$GC,14067,-0.78,-146.6,937.7,-5.7,679,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1983,3409
$GC,14376,-0.82,-146.6,955.7,-6.0,694,14377,0.12,0.00,0.00,0.000,6,0.073,0.000,2516,1983,3409
$GC,14685,-0.77,-146.6,977.8,-7.5,709,14686,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1983,3409
$STATE,14846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14846,begin apogee
$GC,14853,-0.33,0.0,990.1,7.5,717,14980,0.52,0.00,124.12,1.651,6,0.092,0.000,2624,2249,2832
$STATE,14981,end apogee,CONTROL_FINISHED_OK
$STATE,14981,begin climb
$GC,14984,0.97,146.6,994.7,0.0,723,15116,1.35,0.00,126.62,1.600,6,0.079,0.000,2907,2249,2234
$GC,15418,0.97,146.6,972.1,6.7,744,15422,0.00,2.75,0.00,0.000,4,0.000,0.090,2907,838,2233
$GC,15615,0.89,146.6,959.1,6.4,753,15620,0.00,2.67,0.00,0.000,6,0.000,0.074,2907,2253,2233
$GC,15942,0.85,155.1,939.7,5.8,769,15957,0.12,2.80,8.98,1.381,4,0.105,0.091,2885,842,2199
$GC,16014,0.90,187.8,935.7,5.1,772,16051,0.00,2.65,29.40,1.539,6,0.000,0.076,2885,2236,2066
$GC,16363,0.99,212.4,917.2,5.3,789,16393,0.12,2.80,22.77,1.522,4,0.071,0.090,2914,849,1966
$GC,16432,0.99,212.4,912.2,6.9,792,16437,0.00,2.60,0.00,0.000,6,0.000,0.075,2914,2222,1966
$GC,16753,0.99,212.4,890.6,6.9,808,16758,0.00,2.67,0.00,0.000,4,0.000,0.092,2914,839,1965
$GC,16798,0.94,212.4,887.3,7.7,810,16803,0.00,2.60,0.00,0.000,6,0.000,0.076,2914,2211,1965
$GC,17120,0.94,212.4,865.9,6.6,826,17125,0.00,2.65,0.00,0.000,4,0.000,0.091,2915,842,1965
$GC,17176,0.89,212.4,861.7,8.3,828,17182,0.00,2.58,0.00,0.000,6,0.000,0.076,2914,2205,1965
$GC,17492,0.89,212.4,840.9,6.5,844,17496,0.00,2.62,0.00,0.000,4,0.000,0.091,2915,842,1965
$GC,17519,0.89,212.4,839.1,6.3,845,17523,0.00,2.55,0.00,0.000,6,0.000,0.075,2915,2192,1965
$GC,17835,0.89,212.4,819.6,6.1,860,17839,0.00,2.62,0.00,0.000,4,0.000,0.091,2914,838,1965
$GC,17869,0.89,212.4,817.4,6.4,861,17875,0.00,2.55,0.00,0.000,6,0.000,0.075,2914,2190,1964
$GC,18185,0.92,231.0,799.3,5.5,877,18204,0.00,0.00,17.33,1.470,6,0.000,0.000,2915,2192,1890
$GC,18514,0.93,232.5,779.9,6.0,893,18519,0.00,2.60,0.00,0.000,4,0.000,0.091,2915,842,1890
$GC,18570,0.93,232.5,776.0,6.2,895,18577,0.00,2.53,0.00,0.000,6,0.000,0.075,2915,2183,1890
$GC,18887,0.93,232.5,755.9,6.5,911,18891,0.00,2.58,0.00,0.000,4,0.000,0.091,2914,842,1890
$GC,18914,0.93,232.5,753.7,6.9,912,18918,0.00,2.50,0.00,0.000,6,0.000,0.074,2914,2173,1890
$GC,19235,0.93,232.5,733.0,6.8,928,19239,0.00,2.58,0.00,0.000,4,0.000,0.091,2915,843,1890
$GC,19268,0.93,232.5,730.7,6.7,929,19274,0.00,2.50,0.00,0.000,6,0.000,0.074,2915,2173,1890
$GC,19584,0.96,251.5,711.7,5.5,945,19609,0.00,2.67,19.20,1.432,4,0.000,0.090,2915,844,1806
$GC,19633,0.97,258.6,708.9,5.8,947,19649,0.00,2.50,7.95,1.267,6,0.000,0.074,2915,2157,1777
$GC,19959,1.01,281.8,691.6,5.4,963,19986,0.00,2.62,21.30,1.416,4,0.000,0.089,2915,836,1682
$GC,20021,1.01,283.4,687.8,6.0,966,20026,0.00,2.50,0.00,0.000,6,0.000,0.073,2915,2154,1682
$GC,20349,1.05,283.4,666.1,7.3,982,20353,0.00,2.53,0.00,0.000,4,0.000,0.089,2915,842,1683
$GC,20393,1.05,283.4,662.4,8.7,984,20397,0.00,2.42,0.00,0.000,6,0.000,0.072,2915,2140,1683
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$STATE,28836,end climb,SURFACE_DEPTH_REACHED
$STATE,28836,begin surface coast
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$STATE,28879,begin surface
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$10V_AH,10.1,10.114
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$DEVICE_SECS,24.525,221.825,385.850,0.000,0.000,37.759,27.199,182.058,124.250,0.000,0.000,12.224,2511.387,22733.332,570.242,2827.878,691.039,33.366,1991.458,0.000,2772.634,0.000,58.431,0.000
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$DATA_FILE_SIZE,69446,1392
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$CFSIZE,254472192,245297152
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