version: 66.04
glider: 5
mission: 5
dive: 128
start: 11 28 108 18 8 58
data:
$ID,5
$MISSION,5
$DIVE,128
$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,-89757.312
$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,38
$R_STBD_OVSHOOT,18
$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
$GPS1,180131,6126.783,-245.491,43,1.3,43,-5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-62.0
$GPS2,180807,6126.834,-245.477,31,1.6,31,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.220,-0.024
$KALMAN_X,75637.8,-520.1,-796.1,88873.1,7626.9
$KALMAN_Y,-26059.0,240.5,-225.8,-221076.8,771.8
$MHEAD_RNG_PITCHd_Wd,269.7,50049,-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,-81.03,0.000,6,0.000,0.000,423,1961,3431
$GC,102,-0.97,-146.6,5.2,-6.0,4,118,10.50,2.62,0.00,0.000,4,0.132,0.057,2480,3413,3432
$GC,368,-0.76,-146.6,44.5,-12.2,15,374,0.25,2.50,0.00,0.000,6,0.088,0.048,2533,2006,3432
$GC,698,-0.67,-146.6,76.1,-7.8,31,702,0.00,2.53,0.00,0.000,4,0.000,0.066,2533,597,3433
$GC,762,-0.60,-146.6,82.5,-10.3,34,767,0.17,2.47,0.00,0.000,6,0.084,0.050,2571,1998,3432
$GC,1091,-0.60,-146.6,102.6,-5.2,50,1096,0.00,2.53,0.00,0.000,4,0.000,0.061,2571,3412,3432
$GC,1142,-0.65,-146.6,105.9,-6.5,52,1146,0.00,2.53,0.00,0.000,6,0.000,0.048,2571,1988,3432
$GC,1460,-0.65,-146.6,123.9,-6.2,67,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1989,3432
$GC,1768,-0.65,-146.6,141.9,-6.7,82,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1989,3433
$GC,2076,-0.65,-146.6,166.4,-8.2,97,2080,0.00,2.55,0.00,0.000,4,0.000,0.059,2571,3404,3432
$GC,2120,-0.72,-146.6,170.3,-8.1,99,2125,0.12,2.50,0.00,0.000,6,0.054,0.048,2535,1991,3432
$GC,2442,-0.64,-146.6,198.8,-9.3,115,2444,0.12,0.00,0.00,0.000,6,0.090,0.000,2562,1990,3432
$GC,2751,-0.64,-146.6,222.5,-7.4,130,2755,0.00,2.55,0.00,0.000,4,0.000,0.060,2562,3404,3432
$GC,2790,-0.64,-146.6,225.6,-8.1,132,2794,0.00,2.47,0.00,0.000,6,0.000,0.048,2561,1995,3433
$GC,3118,-0.64,-146.6,250.1,-7.2,148,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1996,3432
$GC,3426,-0.64,-146.6,272.8,-7.0,163,3430,0.00,2.55,0.00,0.000,4,0.000,0.060,2562,3405,3433
$GC,3482,-0.64,-146.6,276.6,-6.7,165,3489,0.00,2.47,0.00,0.000,6,0.000,0.049,2562,2001,3433
$GC,3798,-0.64,-146.6,298.9,-7.3,181,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2001,3433
$GC,4108,-0.64,-146.6,320.1,-6.8,196,4112,0.00,2.55,0.00,0.000,4,0.000,0.061,2562,3410,3432
$GC,4152,-0.64,-146.6,323.2,-7.2,198,4156,0.00,2.47,0.00,0.000,6,0.000,0.050,2562,2014,3432
$GC,4473,-0.64,-146.6,345.2,-7.2,214,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2014,3433
$GC,4782,-0.64,-146.6,365.4,-6.6,229,4786,0.00,2.53,0.00,0.000,4,0.000,0.061,2561,3407,3433
$GC,4826,-0.64,-146.6,368.6,-6.5,231,4830,0.00,2.45,0.00,0.000,6,0.000,0.050,2562,2025,3432
$GC,5147,-0.64,-146.6,391.8,-7.8,247,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2025,3433
$GC,5456,-0.64,-146.6,417.5,-8.2,262,5460,0.00,2.50,0.00,0.000,4,0.000,0.063,2561,3412,3432
$GC,5518,-0.64,-146.6,422.8,-8.4,265,5522,0.00,2.45,0.00,0.000,6,0.000,0.052,2562,2028,3432
$GC,5851,-0.64,-146.6,447.2,-6.7,281,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2027,3433
$GC,6161,-0.64,-146.6,467.4,-6.4,296,6165,0.00,2.47,0.00,0.000,4,0.000,0.062,2562,3404,3432
$GC,6217,-0.68,-146.6,471.7,-7.8,298,6223,0.00,2.42,0.00,0.000,6,0.000,0.052,2562,2041,3432
$GC,6532,-0.68,-146.6,492.2,-6.5,314,6537,0.00,2.58,0.00,0.000,4,0.000,0.066,2562,592,3433
$GC,6588,-0.68,-146.6,496.2,-7.5,316,6594,0.00,2.55,0.00,0.000,6,0.000,0.051,2562,2036,3432
$GC,6904,-0.68,-146.6,515.2,-5.7,332,6908,0.00,2.45,0.00,0.000,4,0.000,0.065,2562,3405,3432
$GC,6938,-0.74,-146.6,517.4,-6.4,333,6943,0.10,2.45,0.00,0.000,6,0.061,0.054,2531,2036,3432
$GC,7254,-0.68,-146.6,542.1,-8.0,348,7259,0.10,2.58,0.00,0.000,4,0.092,0.064,2553,594,3432
$GC,7283,-0.68,-146.6,544.4,-7.6,349,7288,0.00,2.58,0.00,0.000,6,0.000,0.051,2552,2050,3432
$GC,7599,-0.68,-146.6,563.8,-5.4,364,7603,0.00,2.45,0.00,0.000,4,0.000,0.067,2552,3412,3431
$GC,7627,-0.68,-146.6,565.5,-5.6,365,7631,0.00,2.47,0.00,0.000,6,0.000,0.056,2552,2033,3431
$GC,7943,-0.68,-146.6,583.7,-6.1,380,7946,0.00,2.50,0.00,0.000,4,0.000,0.065,2552,3405,3432
$GC,7993,-0.68,-146.6,586.6,-6.0,382,7997,0.00,2.42,0.00,0.000,6,0.000,0.057,2552,2056,3431
$GC,8315,-0.68,-146.6,600.8,-4.6,398,8319,0.00,2.62,0.00,0.000,4,0.000,0.069,2552,596,3431
$GC,8348,-0.68,-146.6,602.6,-5.7,399,8354,0.00,2.60,0.00,0.000,6,0.000,0.055,2553,2057,3431
$GC,8664,-0.68,-146.6,621.3,-5.9,415,8668,0.00,2.67,0.00,0.000,4,0.000,0.072,2552,594,3430
$GC,8732,-0.68,-146.6,625.3,-5.9,418,8736,0.00,2.62,0.00,0.000,6,0.000,0.058,2553,2058,3431
$GC,9052,-0.68,-146.6,643.2,-6.1,434,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2060,3430
$GC,9362,-0.68,-146.6,663.2,-6.2,449,9366,0.00,2.72,0.00,0.000,4,0.000,0.077,2552,593,3429
$GC,9406,-0.68,-146.6,666.2,-6.6,451,9411,0.00,2.62,0.00,0.000,6,0.000,0.062,2552,2046,3429
$GC,9727,-0.68,-146.6,685.2,-5.8,467,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2046,3428
$GC,10036,-0.68,-146.6,702.8,-5.4,482,10041,0.00,2.72,0.00,0.000,4,0.000,0.081,2552,591,3426
$GC,10070,-0.68,-146.6,704.9,-6.4,483,10076,0.00,2.62,0.00,0.000,6,0.000,0.066,2552,2035,3426
$GC,10386,-0.68,-146.6,721.5,-5.3,499,10390,0.00,2.55,0.00,0.000,4,0.000,0.082,2552,3413,3425
$GC,10414,-0.72,-146.6,723.1,-5.7,500,10419,0.00,2.55,0.00,0.000,6,0.000,0.071,2553,2034,3425
$GC,10736,-0.72,-146.6,740.2,-5.3,516,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2032,3424
$GC,11045,-0.77,-146.6,756.6,-5.6,531,11050,0.00,2.67,0.00,0.000,4,0.000,0.086,2552,590,3423
$GC,11091,-0.81,-146.6,759.5,-6.3,533,11096,0.15,2.65,0.00,0.000,6,0.064,0.070,2514,2037,3423
$GC,11412,-0.75,-146.6,783.0,-7.4,549,11417,0.10,2.58,0.00,0.000,4,0.103,0.086,2533,3415,3421
$GC,11452,-0.75,-146.6,785.9,-7.6,551,11457,0.00,2.55,0.00,0.000,6,0.000,0.075,2533,2043,3422
$GC,11779,-0.75,-146.6,808.3,-6.9,567,11784,0.00,2.72,0.00,0.000,4,0.000,0.092,2533,587,3421
$GC,11823,-0.75,-146.6,811.7,-7.5,569,11827,0.00,2.67,0.00,0.000,6,0.000,0.073,2533,2038,3420
$GC,12144,-0.75,-146.6,833.9,-6.8,585,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2038,3419
$GC,12453,-0.75,-146.6,854.5,-6.5,600,12454,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2038,3418
$GC,12762,-0.75,-146.6,873.3,-5.9,615,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2037,3417
$GC,13072,-0.75,-146.6,890.8,-5.5,630,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2038,3416
$GC,13381,-0.75,-146.6,907.2,-5.2,645,13386,0.00,2.78,0.00,0.000,4,0.000,0.097,2533,593,3414
$GC,13414,-0.75,-146.6,909.3,-6.7,646,13420,0.00,2.67,0.00,0.000,6,0.000,0.077,2533,2035,3415
$GC,13732,-0.75,-146.6,925.1,-5.1,662,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2035,3414
$GC,14039,-0.75,-146.6,940.8,-5.3,677,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2035,3413
$GC,14348,-0.75,-146.6,958.1,-5.5,692,14353,0.00,2.78,0.00,0.000,4,0.000,0.097,2533,594,3412
$GC,14382,-0.75,-146.6,960.1,-5.7,693,14388,0.00,2.67,0.00,0.000,6,0.000,0.078,2533,2035,3412
$GC,14697,-0.75,-146.6,978.3,-6.1,709,14699,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2035,3412
$STATE,14901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14901,begin apogee
$GC,14908,-0.33,0.0,990.5,6.0,719,15035,0.45,0.00,124.05,1.650,6,0.094,0.000,2625,2251,2832
$STATE,15035,end apogee,CONTROL_FINISHED_OK
$STATE,15036,begin climb
$GC,15039,0.97,146.6,994.1,0.0,725,15173,1.33,2.78,125.93,1.599,4,0.078,0.091,2905,3657,2234
$GC,15186,0.97,146.6,988.1,6.3,732,15191,0.00,2.70,0.00,0.000,6,0.000,0.078,2905,2252,2234
$GC,15507,0.92,146.6,967.8,6.4,748,15512,0.00,2.70,0.00,0.000,4,0.000,0.096,2905,842,2233
$GC,15586,0.85,146.6,962.4,6.5,751,15592,0.00,2.65,0.00,0.000,6,0.000,0.076,2905,2239,2233
$GC,15902,0.79,146.6,942.8,6.1,767,15907,0.17,2.75,0.00,0.000,4,0.101,0.092,2872,837,2232
$GC,15958,0.82,163.6,939.5,5.5,769,15979,0.00,2.65,16.10,1.480,6,0.000,0.077,2873,2236,2164
$GC,16292,0.88,171.1,921.0,5.8,785,16306,0.00,2.78,7.85,1.344,4,0.000,0.091,2872,848,2134
$GC,16342,0.93,171.1,917.7,6.3,787,16347,0.15,2.62,0.00,0.000,6,0.069,0.076,2906,2228,2134
$GC,16663,0.93,171.1,894.9,6.9,803,16668,0.00,2.70,0.00,0.000,4,0.000,0.093,2907,841,2134
$GC,16704,0.88,171.1,891.9,7.8,805,16708,0.00,2.60,0.00,0.000,6,0.000,0.077,2907,2216,2134
$GC,17031,0.88,171.1,868.9,7.0,821,17035,0.00,2.67,0.00,0.000,4,0.000,0.093,2907,841,2134
$GC,17064,0.83,171.1,866.4,7.2,822,17071,0.15,2.58,0.00,0.000,6,0.104,0.076,2879,2205,2134
$GC,17381,0.91,186.4,848.1,5.6,838,17402,0.00,2.72,14.68,1.471,4,0.000,0.091,2879,841,2072
$GC,17426,0.96,186.4,845.3,7.2,840,17431,0.12,2.58,0.00,0.000,6,0.072,0.075,2907,2193,2072
$GC,17754,0.96,186.4,824.2,6.4,856,17758,0.00,2.62,0.00,0.000,4,0.000,0.093,2907,843,2072
$GC,17793,0.96,186.4,821.3,6.8,858,17798,0.00,2.53,0.00,0.000,6,0.000,0.076,2907,2183,2072
$GC,18120,0.96,186.4,800.4,6.3,874,18125,0.00,2.60,0.00,0.000,4,0.000,0.092,2907,842,2072
$GC,18154,0.96,187.8,798.0,6.0,875,18160,0.00,2.50,0.00,0.000,6,0.000,0.074,2907,2171,2072
$GC,18471,0.96,187.8,777.3,6.6,891,18475,0.00,2.58,0.00,0.000,4,0.000,0.091,2907,841,2072
$GC,18503,0.96,187.8,774.9,7.7,892,18509,0.00,2.50,0.00,0.000,6,0.000,0.075,2907,2169,2072
$GC,18819,0.96,187.8,754.1,6.4,908,18823,0.00,2.55,0.00,0.000,4,0.000,0.091,2907,842,2072
$GC,18847,0.96,187.8,752.1,7.0,909,18851,0.00,2.47,0.00,0.000,6,0.000,0.074,2907,2158,2072
$GC,19168,0.97,195.1,732.8,5.8,925,19182,0.00,2.60,9.38,1.343,4,0.000,0.090,2908,839,2036
$GC,19222,0.97,195.1,729.3,6.2,927,19226,0.00,2.47,0.00,0.000,6,0.000,0.074,2907,2146,2036
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