version: 66.04
glider: 5
mission: 5
dive: 139
start: 12 2 108 12 10 20
data:
$ID,5
$MISSION,5
$DIVE,139
$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,-89955.164
$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,33
$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
$GPS1,120231,6135.999,-353.986,38,1.0,43,-6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.6
$GPS2,120929,6136.043,-353.954,12,3.2,31,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.130,-0.179
$KALMAN_X,66956.2,373.7,1549.6,37987.1,-2810.6
$KALMAN_Y,18264.6,-535.8,-168.4,-247598.1,7145.0
$MHEAD_RNG_PITCHd_Wd,222.5,45462,-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,-81.53,0.000,2,0.000,0.000,421,1988,3413
$GC,102,-0.97,-146.6,5.3,-6.4,4,119,10.70,2.60,-0.38,0.000,4,0.139,0.072,2483,3420,3431
$GC,372,-0.77,-146.6,44.5,-11.1,15,378,0.22,2.55,0.00,0.000,6,0.091,0.048,2529,1997,3432
$GC,695,-0.69,-146.6,66.9,-6.1,31,699,0.00,2.58,0.00,0.000,4,0.000,0.061,2529,3413,3432
$GC,812,-0.61,-146.6,75.5,-9.1,36,817,0.17,2.50,0.00,0.000,6,0.087,0.048,2568,1996,3432
$GC,1128,-0.61,-146.6,102.0,-6.9,51,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1996,3432
$GC,1437,-0.61,-146.6,127.5,-8.3,66,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1995,3432
$GC,1747,-0.61,-146.6,144.9,-5.0,81,1751,0.00,2.53,0.00,0.000,4,0.000,0.066,2567,591,3432
$GC,1769,-0.61,-146.6,146.2,-5.2,82,1773,0.00,2.50,0.00,0.000,6,0.000,0.051,2567,2000,3432
$GC,2090,-0.61,-146.6,163.9,-5.5,98,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2007,3432
$GC,2399,-0.61,-146.6,182.8,-5.9,113,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2007,3432
$GC,2709,-0.61,-146.6,198.3,-5.2,128,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2007,3433
$GC,3017,-0.61,-146.6,221.1,-10.2,143,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2014,3433
$GC,3327,-0.61,-146.6,253.4,-9.3,158,3331,0.00,2.58,0.00,0.000,4,0.000,0.067,2567,591,3432
$GC,3377,-0.68,-146.6,258.6,-10.9,160,3381,0.00,2.47,0.00,0.000,6,0.000,0.050,2568,1991,3432
$GC,3693,-0.68,-146.6,281.6,-6.5,175,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1991,3432
$GC,4002,-0.68,-146.6,303.7,-6.6,190,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1991,3432
$GC,4311,-0.68,-146.6,324.0,-6.4,205,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1992,3433
$GC,4621,-0.68,-146.6,342.8,-6.5,220,4625,0.00,2.55,0.00,0.000,4,0.000,0.065,2567,3409,3432
$GC,4683,-0.73,-146.6,347.3,-7.9,223,4688,0.12,2.53,0.00,0.000,6,0.052,0.053,2532,1992,3432
$GC,5011,-0.66,-146.6,374.3,-8.1,239,5016,0.10,2.50,0.00,0.000,4,0.093,0.066,2553,597,3432
$GC,5038,-0.66,-146.6,376.7,-8.4,240,5043,0.00,2.45,0.00,0.000,6,0.000,0.051,2553,1990,3432
$GC,5355,-0.66,-146.6,400.1,-7.3,255,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3432
$GC,5663,-0.66,-146.6,420.4,-6.5,270,5667,0.00,2.58,0.00,0.000,4,0.000,0.070,2553,587,3432
$GC,5730,-0.66,-146.6,425.0,-6.4,273,5734,0.00,2.47,0.00,0.000,6,0.000,0.052,2553,1982,3432
$GC,6052,-0.66,-146.6,445.9,-6.8,289,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1983,3432
$GC,6361,-0.66,-146.6,464.6,-5.6,304,6366,0.00,2.58,0.00,0.000,4,0.000,0.068,2553,3410,3432
$GC,6402,-0.66,-146.6,467.1,-6.0,306,6406,0.00,2.58,0.00,0.000,6,0.000,0.058,2553,1980,3432
$GC,6729,-0.66,-146.6,483.7,-4.8,322,6733,0.00,2.62,0.00,0.000,4,0.000,0.067,2553,3412,3432
$GC,6796,-0.66,-146.6,487.4,-5.3,325,6800,0.00,2.55,0.00,0.000,6,0.000,0.059,2553,1999,3432
$GC,7117,-0.66,-146.6,505.4,-6.2,341,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3431
$GC,7426,-0.66,-146.6,527.3,-6.8,356,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3431
$GC,7735,-0.66,-146.6,547.4,-7.0,371,7739,0.00,2.58,0.00,0.000,4,0.000,0.080,2552,597,3430
$GC,7758,-0.66,-146.6,549.0,-7.0,372,7763,0.00,2.58,0.00,0.000,6,0.000,0.064,2553,2015,3430
$GC,8085,-0.66,-146.6,571.6,-7.1,388,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2016,3428
$GC,8394,-0.66,-146.6,592.7,-6.9,403,8398,0.00,2.58,0.00,0.000,4,0.000,0.082,2553,3405,3427
$GC,8427,-0.71,-146.6,595.2,-7.0,404,8433,0.00,2.58,0.00,0.000,6,0.000,0.071,2553,2014,3427
$GC,8743,-0.75,-146.6,617.9,-7.3,420,8748,0.00,2.65,0.00,0.000,4,0.000,0.086,2553,587,3425
$GC,8771,-0.75,-146.6,620.2,-7.5,421,8775,0.00,2.62,0.00,0.000,6,0.000,0.068,2553,2020,3425
$GC,9087,-0.75,-146.6,642.3,-6.9,436,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2021,3424
$GC,9397,-0.75,-146.6,662.9,-6.7,451,9401,0.00,2.58,0.00,0.000,4,0.000,0.085,2553,3405,3423
$GC,9430,-0.80,-146.6,665.3,-7.7,452,9437,0.12,2.58,0.00,0.000,6,0.071,0.074,2521,2018,3423
$GC,9747,-0.76,-146.6,690.6,-8.0,468,9751,0.00,2.67,0.00,0.000,4,0.000,0.091,2521,591,3422
$GC,9780,-0.69,-146.6,693.4,-9.6,469,9787,0.12,2.62,0.00,0.000,6,0.101,0.075,2547,2011,3422
$GC,10095,-0.69,-146.6,717.0,-7.5,485,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2011,3421
$GC,10405,-0.69,-146.6,740.2,-7.5,500,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2011,3419
$GC,10714,-0.69,-146.6,762.6,-7.1,515,10715,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2011,3419
$GC,11023,-0.69,-146.6,784.7,-7.1,530,11027,0.00,2.62,0.00,0.000,4,0.000,0.091,2547,3416,3418
$GC,11045,-0.69,-146.6,786.3,-6.2,531,11049,0.00,2.62,0.00,0.000,6,0.000,0.079,2547,2015,3417
$GC,11365,-0.69,-146.6,809.3,-7.2,547,11367,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2014,3416
$GC,11675,-0.69,-146.6,830.2,-6.5,562,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2014,3415
$GC,11987,-0.69,-146.6,850.6,-6.7,577,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2014,3415
$GC,12293,-0.69,-146.6,872.5,-7.1,592,12298,0.00,2.67,0.00,0.000,4,0.000,0.089,2548,3416,3414
$GC,12334,-0.74,-146.6,875.5,-7.4,594,12338,0.00,2.62,0.00,0.000,6,0.000,0.078,2547,2013,3414
$GC,12661,-0.74,-146.6,899.1,-7.2,610,12662,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2013,3413
$GC,12969,-0.74,-146.6,921.4,-7.0,625,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2012,3412
$GC,13279,-0.74,-146.6,941.9,-6.6,640,13280,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2012,3412
$GC,13588,-0.74,-146.6,962.9,-6.9,655,13592,0.00,2.67,0.00,0.000,4,0.000,0.090,2547,3409,3412
$GC,13615,-0.78,-146.6,964.8,-7.4,656,13620,0.00,2.60,0.00,0.000,6,0.000,0.079,2547,2022,3411
$GC,13932,-0.82,-146.6,986.3,-6.5,671,13934,0.12,0.00,0.00,0.000,6,0.073,0.000,2516,2022,3411
$STATE,13990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13990,begin apogee
$GC,13997,-0.33,0.0,990.9,7.2,674,14125,0.52,0.00,124.43,1.667,6,0.094,0.000,2624,2257,2832
$STATE,14125,end apogee,CONTROL_FINISHED_OK
$STATE,14125,begin climb
$GC,14128,0.97,146.6,995.7,0.0,680,14262,1.35,0.00,126.88,1.613,6,0.079,0.000,2907,2257,2234
$GC,14584,0.98,154.5,973.6,5.8,702,14599,0.00,2.83,8.43,1.343,4,0.000,0.090,2907,846,2202
$GC,14832,0.91,154.5,959.0,6.1,713,14836,0.00,2.65,0.00,0.000,6,0.000,0.076,2907,2246,2201
$GC,15159,0.89,172.8,941.0,5.5,729,15181,0.00,2.85,17.20,1.507,4,0.000,0.092,2907,846,2127
$GC,15238,0.84,172.8,936.2,6.9,732,15244,0.15,2.65,0.00,0.000,6,0.103,0.077,2881,2235,2127
$GC,15555,0.91,194.8,919.9,5.4,747,15581,0.00,2.78,20.85,1.537,4,0.000,0.091,2880,845,2036
$GC,15621,0.97,194.8,916.0,6.3,750,15626,0.12,2.62,0.00,0.000,6,0.071,0.076,2909,2222,2036
$GC,15943,0.97,198.6,896.4,5.9,766,15953,0.00,2.72,5.05,1.170,4,0.000,0.094,2909,840,2021
$GC,15992,0.98,202.6,893.1,5.9,768,16004,0.00,2.60,5.25,1.182,6,0.000,0.075,2910,2209,2006
$GC,16314,0.98,203.1,874.2,6.0,784,16318,0.00,2.67,0.00,0.000,4,0.000,0.094,2909,841,2006
$GC,16354,0.98,203.1,871.6,6.5,786,16358,0.00,2.58,0.00,0.000,6,0.000,0.077,2910,2203,2006
$GC,16681,0.99,211.4,852.7,5.8,802,16696,0.00,2.70,9.20,1.396,4,0.000,0.094,2910,845,1970
$GC,16726,0.99,211.4,849.9,6.2,804,16730,0.00,2.55,0.00,0.000,6,0.000,0.077,2910,2185,1970
$GC,17052,1.00,217.9,831.3,5.8,820,17062,0.00,0.00,7.65,1.335,6,0.000,0.000,2910,2186,1943
$GC,17362,1.02,228.7,812.9,5.7,835,17378,0.00,2.67,11.05,1.420,4,0.000,0.093,2910,842,1899
$GC,17430,1.02,228.7,808.3,6.5,837,17434,0.00,2.55,0.00,0.000,6,0.000,0.075,2909,2186,1898
$GC,17751,1.02,228.7,787.9,6.6,853,17755,0.00,2.62,0.00,0.000,4,0.000,0.094,2910,838,1899
$GC,17791,1.02,228.7,785.2,7.1,855,17795,0.00,2.53,0.00,0.000,6,0.000,0.075,2910,2177,1899
$GC,18118,1.02,228.7,764.1,6.4,871,18122,0.00,2.60,0.00,0.000,4,0.000,0.093,2909,839,1899
$GC,18145,1.02,228.7,762.1,6.8,872,18149,0.00,2.50,0.00,0.000,6,0.000,0.075,2910,2165,1899
$GC,18461,1.02,228.7,742.2,6.1,887,18462,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2165,1899
$GC,18770,1.02,228.7,722.0,6.6,902,18774,0.00,2.58,0.00,0.000,4,0.000,0.093,2910,839,1899
$GC,18819,1.02,228.7,718.3,7.4,904,18824,0.00,2.47,0.00,0.000,6,0.000,0.075,2910,2154,1899
$GC,19135,1.02,228.7,696.1,7.0,919,19137,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2155,1899
$GC,19444,1.02,228.7,675.0,6.8,934,19448,0.00,2.53,0.00,0.000,4,0.000,0.093,2910,844,1899
$GC,19484,1.02,228.7,672.3,7.2,936,19488,0.00,2.45,0.00,0.000,6,0.000,0.074,2910,2147,1899
$GC,19812,1.02,228.7,652.0,6.1,952,19813,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2148,1899
$GC,20120,1.02,228.7,631.6,6.8,967,20124,0.00,2.53,0.00,0.000,4,0.000,0.091,2910,839,1899
$GC,20148,1.02,228.7,629.5,6.8,968,20152,0.00,2.45,0.00,0.000,6,0.000,0.074,2910,2146,1898
$GC,20469,1.02,228.7,608.5,6.6,984,20473,0.00,2.53,0.00,0.000,4,0.000,0.091,2910,839,1899
$GC,20509,1.02,228.7,605.8,6.6,986,20513,0.00,2.42,0.00,0.000,6,0.000,0.074,2910,2135,1899
$GC,20836,1.02,228.7,585.3,6.7,1002,20837,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2136,1899
$GC,21145,1.02,228.7,562.5,7.3,1017,21149,0.00,2.50,0.00,0.000,4,0.000,0.090,2910,837,1899
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$STATE,28689,begin surface coast
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$STATE,28735,end surface coast,CONTROL_FINISHED_OK
$STATE,28735,begin surface
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