version: 66.04
glider: 5
mission: 5
dive: 134
start: 11 30 108 19 15 46
data:
$ID,5
$MISSION,5
$DIVE,134
$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,-89846.867
$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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,185655,6130.680,-341.536,41,1.9,41,-6.4
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-52.7
$GPS2,191452,6130.829,-341.660,18,1.8,18,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.091,-0.203
$KALMAN_X,69297.5,147.9,-34.3,47612.4,-3101.0
$KALMAN_Y,-10882.0,301.8,-431.8,-228748.1,4850.8
$MHEAD_RNG_PITCHd_Wd,162.3,5247,-10.9,-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,-0.96,-146.6,0.0,0.0,0,119,0.00,0.00,-101.50,0.000,2,0.000,0.000,425,1989,3401
$GC,123,-0.96,-146.6,3.8,-3.3,5,145,10.60,2.47,-0.77,0.000,4,0.135,0.066,2483,596,3430
$GC,398,-0.73,-146.6,43.5,-13.0,17,403,0.28,2.50,0.00,0.000,6,0.086,0.051,2542,2004,3431
$GC,721,-0.66,-146.6,63.2,-5.9,33,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2011,3431
$GC,1031,-0.62,-146.6,86.1,-7.0,48,1033,0.12,0.00,0.00,0.000,6,0.094,0.000,2568,2011,3431
$GC,1338,-0.62,-146.6,116.5,-11.3,63,1343,0.00,2.58,0.00,0.000,4,0.000,0.061,2568,594,3430
$GC,1367,-0.67,-146.6,118.7,-6.7,64,1371,0.00,2.50,0.00,0.000,6,0.000,0.051,2568,1999,3430
$GC,1683,-0.67,-146.6,142.8,-7.5,79,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2006,3431
$GC,1992,-0.67,-146.6,155.1,-2.1,94,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2004,3430
$GC,2301,-0.67,-146.6,172.9,-5.0,109,2306,0.00,2.55,0.00,0.000,4,0.000,0.064,2568,594,3431
$GC,2342,-0.67,-146.6,175.8,-6.9,111,2346,0.00,2.47,0.00,0.000,6,0.000,0.051,2567,1991,3430
$GC,2669,-0.67,-146.6,194.5,-4.3,127,2673,0.00,2.53,0.00,0.000,4,0.000,0.062,2568,3412,3431
$GC,2714,-0.71,-146.6,197.0,-5.6,129,2719,0.10,2.55,0.00,0.000,6,0.060,0.050,2538,1978,3430
$GC,3037,-0.64,-146.6,220.2,-6.8,145,3039,0.10,0.00,0.00,0.000,6,0.093,0.000,2559,1962,3431
$GC,3345,-0.64,-146.6,238.4,-5.1,160,3349,0.00,2.60,0.00,0.000,4,0.000,0.060,2558,3405,3431
$GC,3366,-0.64,-146.6,239.5,-4.6,161,3371,0.00,2.53,0.00,0.000,6,0.000,0.049,2558,1983,3431
$GC,3687,-0.64,-146.6,258.2,-7.6,177,3692,0.00,2.58,0.00,0.000,4,0.000,0.060,2559,3405,3431
$GC,3732,-0.64,-146.6,262.6,-9.8,179,3736,0.00,2.50,0.00,0.000,6,0.000,0.049,2558,1996,3431
$GC,4053,-0.64,-146.6,285.2,-6.8,195,4057,0.00,2.47,0.00,0.000,4,0.000,0.064,2558,597,3431
$GC,4086,-0.64,-146.6,287.7,-7.6,196,4090,0.00,2.50,0.00,0.000,6,0.000,0.051,2558,2019,3431
$GC,4403,-0.64,-146.6,305.9,-5.3,211,4407,0.00,2.47,0.00,0.000,4,0.000,0.062,2558,3405,3431
$GC,4430,-0.64,-146.6,307.7,-5.6,212,4435,0.00,2.47,0.00,0.000,6,0.000,0.051,2558,2012,3431
$GC,4746,-0.64,-146.6,327.5,-7.1,227,4750,0.00,2.53,0.00,0.000,4,0.000,0.063,2558,593,3431
$GC,4790,-0.64,-146.6,330.7,-7.4,229,4794,0.00,2.53,0.00,0.000,6,0.000,0.051,2558,2021,3431
$GC,5111,-0.64,-146.6,348.4,-4.5,245,5115,0.00,2.47,0.00,0.000,4,0.000,0.063,2558,3408,3430
$GC,5155,-0.64,-146.6,350.3,-5.0,247,5160,0.00,2.50,0.00,0.000,6,0.000,0.052,2558,2001,3431
$GC,5477,-0.64,-146.6,369.9,-5.7,263,5481,0.00,2.50,0.00,0.000,4,0.000,0.065,2558,599,3431
$GC,5533,-0.64,-146.6,374.1,-7.6,265,5539,0.00,2.47,0.00,0.000,6,0.000,0.051,2558,2000,3430
$GC,5849,-0.64,-146.6,395.2,-7.9,281,5854,0.00,2.53,0.00,0.000,4,0.000,0.064,2558,3406,3431
$GC,5877,-0.64,-146.6,397.8,-9.4,282,5882,0.00,2.53,0.00,0.000,6,0.000,0.054,2558,1991,3431
$GC,6193,-0.64,-146.6,421.0,-7.7,297,6197,0.00,2.58,0.00,0.000,4,0.000,0.064,2558,3406,3430
$GC,6265,-0.64,-146.6,426.8,-8.0,300,6269,0.00,2.47,0.00,0.000,6,0.000,0.054,2558,2022,3430
$GC,6581,-0.64,-146.6,452.4,-8.8,315,6585,0.00,2.58,0.00,0.000,4,0.000,0.067,2558,587,3430
$GC,6630,-0.64,-146.6,457.2,-9.5,317,6635,0.00,2.50,0.00,0.000,6,0.000,0.053,2558,2005,3430
$GC,6947,-0.64,-146.6,476.9,-5.9,332,6951,0.00,2.53,0.00,0.000,4,0.000,0.068,2559,3405,3430
$GC,7025,-0.64,-146.6,481.9,-6.5,335,7031,0.00,2.53,0.00,0.000,6,0.000,0.058,2558,2001,3430
$GC,7341,-0.64,-146.6,503.1,-7.5,351,7345,0.00,2.58,0.00,0.000,4,0.000,0.070,2558,3403,3429
$GC,7368,-0.68,-146.6,505.3,-8.2,352,7373,0.00,2.50,0.00,0.000,6,0.000,0.061,2558,2024,3429
$GC,7685,-0.73,-146.6,522.3,-5.8,367,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2024,3429
$GC,7994,-0.77,-146.6,539.8,-5.5,382,7996,0.12,0.00,0.00,0.000,6,0.062,0.000,2524,2024,3428
$GC,8303,-0.72,-146.6,562.1,-7.7,397,8308,0.00,2.60,0.00,0.000,4,0.000,0.077,2523,3411,3427
$GC,8331,-0.67,-146.6,564.6,-8.3,398,8337,0.15,2.55,0.00,0.000,6,0.103,0.068,2554,2024,3427
$GC,8647,-0.67,-146.6,586.5,-7.0,413,8652,0.00,2.62,0.00,0.000,4,0.000,0.081,2554,596,3425
$GC,8675,-0.67,-146.6,588.5,-6.9,414,8679,0.00,2.60,0.00,0.000,6,0.000,0.067,2554,2024,3424
$GC,8991,-0.67,-146.6,607.2,-5.6,429,8995,0.00,2.55,0.00,0.000,4,0.000,0.082,2554,3406,3424
$GC,9032,-0.71,-146.6,609.4,-5.9,431,9037,0.00,2.55,0.00,0.000,6,0.000,0.071,2554,2027,3424
$GC,9359,-0.71,-146.6,627.5,-5.6,447,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2027,3423
$GC,9668,-0.75,-146.6,645.0,-5.9,462,9673,0.00,2.62,0.00,0.000,4,0.000,0.084,2554,3409,3421
$GC,9691,-0.80,-146.6,646.5,-5.9,463,9697,0.12,2.55,0.00,0.000,6,0.071,0.074,2523,2037,3421
$GC,10013,-0.75,-146.6,668.1,-6.8,479,10017,0.00,2.70,0.00,0.000,4,0.000,0.087,2523,587,3420
$GC,10047,-0.70,-146.6,670.6,-7.1,480,10054,0.12,2.67,0.00,0.000,6,0.107,0.072,2549,2038,3420
$GC,10363,-0.70,-146.6,689.6,-5.9,496,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2038,3419
$GC,10673,-0.70,-146.6,706.3,-5.3,511,10677,0.00,2.78,0.00,0.000,4,0.000,0.093,2548,586,3417
$GC,10702,-0.70,-146.6,707.8,-5.8,512,10707,0.00,2.67,0.00,0.000,6,0.000,0.074,2548,2029,3418
$GC,11019,-0.70,-146.6,725.5,-5.9,527,11023,0.00,2.60,0.00,0.000,4,0.000,0.091,2548,3410,3416
$GC,11046,-0.70,-146.6,727.1,-6.1,528,11050,0.00,2.60,0.00,0.000,6,0.000,0.079,2548,2027,3416
$GC,11362,-0.70,-146.6,746.6,-6.2,543,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2027,3415
$GC,11671,-0.70,-146.6,766.1,-6.3,558,11672,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2027,3413
$GC,11980,-0.70,-146.6,785.8,-6.2,573,11985,0.00,2.65,0.00,0.000,4,0.000,0.088,2549,3414,3413
$GC,12002,-0.70,-146.6,787.3,-7.0,574,12006,0.00,2.60,0.00,0.000,6,0.000,0.077,2548,2027,3412
$GC,12323,-0.70,-146.6,808.3,-6.8,590,12324,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2027,3412
$GC,12632,-0.70,-146.6,828.1,-6.4,605,12633,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2027,3411
$GC,12941,-0.70,-146.6,847.4,-6.2,620,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2027,3411
$GC,13250,-0.70,-146.6,866.8,-6.2,635,13255,0.00,2.65,0.00,0.000,4,0.000,0.089,2548,3409,3411
$GC,13278,-0.74,-146.6,868.6,-6.5,636,13283,0.00,2.58,0.00,0.000,6,0.000,0.078,2549,2037,3410
$GC,13595,-0.74,-146.6,888.1,-6.0,651,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2037,3409
$GC,13904,-0.78,-146.6,906.9,-6.1,666,13905,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2037,3409
$GC,14215,-0.83,-146.6,925.6,-6.0,681,14216,0.12,0.00,0.00,0.000,6,0.074,0.000,2517,2037,3408
$GC,14523,-0.79,-146.6,946.7,-6.9,696,14527,0.00,2.62,0.00,0.000,4,0.000,0.090,2517,3413,3408
$GC,14544,-0.74,-146.6,948.5,-7.4,697,14549,0.00,2.60,0.00,0.000,6,0.000,0.078,2517,2028,3408
$GC,14865,-0.74,-146.6,971.3,-7.2,713,14867,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2027,3407
$STATE,15131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15131,begin apogee
$GC,15138,-0.33,0.0,990.5,7.2,726,15265,0.52,0.00,123.90,1.664,6,0.096,0.000,2624,2262,2832
$STATE,15266,end apogee,CONTROL_FINISHED_OK
$STATE,15266,begin climb
$GC,15269,0.96,146.6,995.1,0.0,732,15403,1.35,2.75,126.45,1.616,4,0.080,0.091,2906,3654,2233
$GC,15413,1.00,172.6,990.7,5.3,739,15442,0.00,2.72,23.88,1.514,6,0.000,0.078,2906,2242,2128
$GC,15766,1.00,172.6,970.1,6.0,756,15771,0.00,2.70,0.00,0.000,4,0.000,0.094,2906,839,2127
$GC,15867,0.96,172.6,963.5,6.8,760,15873,0.00,2.65,0.00,0.000,6,0.000,0.075,2906,2236,2127
$GC,16183,0.96,172.6,944.6,6.0,776,16187,0.00,2.70,0.00,0.000,4,0.000,0.093,2907,843,2127
$GC,16228,0.90,172.6,941.8,6.1,778,16232,0.00,2.62,0.00,0.000,6,0.000,0.076,2906,2228,2127
$GC,16549,0.91,174.2,922.6,6.0,794,16553,0.00,2.70,0.00,0.000,4,0.000,0.093,2906,842,2127
$GC,16593,0.85,174.2,919.7,6.1,796,16598,0.00,2.58,0.00,0.000,6,0.000,0.076,2906,2213,2127
$GC,16914,0.85,174.2,899.9,6.1,812,16919,0.00,2.67,0.00,0.000,4,0.000,0.093,2906,839,2127
$GC,16959,0.79,174.2,897.0,6.1,814,16964,0.17,2.58,0.00,0.000,6,0.103,0.075,2874,2203,2127
$GC,17281,0.93,226.1,881.7,4.6,830,17335,0.12,2.72,47.20,1.576,4,0.074,0.091,2904,842,1910
$GC,17364,0.93,226.1,876.9,6.1,834,17368,0.00,2.55,0.00,0.000,6,0.000,0.074,2903,2183,1910
$GC,17691,0.94,231.2,857.8,5.9,850,17704,0.00,2.70,6.50,1.281,4,0.000,0.092,2903,842,1888
$GC,17728,0.94,231.2,855.4,6.7,851,17734,0.00,2.53,0.00,0.000,6,0.000,0.075,2903,2168,1888
$GC,18044,0.94,231.2,836.3,6.4,867,18048,0.00,2.58,0.00,0.000,4,0.000,0.093,2903,839,1888
$GC,18076,0.94,231.2,834.0,6.2,868,18083,0.00,2.50,0.00,0.000,6,0.000,0.075,2904,2164,1889
$GC,18393,0.94,231.2,813.1,7.0,884,18397,0.00,2.58,0.00,0.000,4,0.000,0.094,2903,841,1889
$GC,18420,0.94,231.2,810.8,8.2,885,18424,0.00,2.47,0.00,0.000,6,0.000,0.075,2903,2153,1888
$GC,18741,0.94,231.2,788.8,6.8,901,18742,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2153,1888
$GC,19051,0.94,231.2,768.3,6.4,916,19055,0.00,2.55,0.00,0.000,4,0.000,0.094,2904,841,1888
$GC,19090,0.94,231.2,765.5,6.4,918,19094,0.00,2.45,0.00,0.000,6,0.000,0.075,2904,2143,1888
$GC,19417,0.94,231.2,744.1,6.5,934,19421,0.00,2.53,0.00,0.000,4,0.000,0.093,2903,842,1888
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$STATE,29661,end climb,SURFACE_DEPTH_REACHED
$STATE,29661,begin surface coast
$FINISH,0.6,1.027323
$STATE,29704,end surface coast,CONTROL_FINISHED_OK
$STATE,29704,begin surface
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$10V_AH,10.0,11.075
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$DATA_FILE_SIZE,72639,1430
$CAP_FILE_SIZE,229064,0
$CFSIZE,254472192,244576256
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