version: 66.04
glider: 5
mission: 5
dive: 332
start: 1 16 109 23 57 33
data:
$ID,5
$MISSION,5
$DIVE,332
$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,2
$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,-93872.844
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,27
$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,0
$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,6
$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
$GPS1,235000,6058.282,-434.487,43,1.4,43,-6.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-57.2
$GPS2,235714,6058.305,-434.490,15,1.5,15,-6.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,276.2,65175,-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,-81.47,0.000,2,0.000,0.000,425,1957,3169
$GC,103,-0.97,-146.6,3.5,-4.2,4,126,10.88,2.58,-6.82,0.000,4,0.132,0.074,2527,588,3431
$GC,331,-0.87,-146.6,32.5,-9.7,14,336,0.12,2.53,0.00,0.000,6,0.091,0.051,2553,2005,3431
$GC,659,-0.83,-146.6,59.4,-7.7,30,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3431
$GC,967,-0.78,-146.6,83.4,-8.3,45,969,0.10,0.00,0.00,0.000,6,0.102,0.000,2573,2005,3431
$GC,1278,-0.78,-146.6,104.5,-7.1,60,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2005,3431
$GC,1587,-0.78,-146.6,126.2,-7.2,75,1591,0.00,2.53,0.00,0.000,4,0.000,0.063,2573,3409,3431
$GC,1620,-0.83,-146.6,128.9,-7.1,76,1627,0.00,2.50,0.00,0.000,6,0.000,0.050,2573,2003,3431
$GC,1939,-0.83,-146.6,151.1,-7.1,92,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2003,3431
$GC,2246,-0.83,-146.6,173.1,-6.7,107,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2003,3431
$GC,2555,-0.83,-146.6,193.9,-6.3,122,2559,0.00,2.55,0.00,0.000,4,0.000,0.063,2573,3412,3432
$GC,2605,-0.89,-146.6,197.2,-6.2,124,2609,0.00,2.50,0.00,0.000,6,0.000,0.051,2573,2006,3432
$GC,2921,-0.89,-146.6,215.8,-6.6,139,2926,0.00,2.53,0.00,0.000,4,0.000,0.065,2573,594,3432
$GC,2955,-0.89,-146.6,218.2,-7.1,140,2961,0.00,2.50,0.00,0.000,6,0.000,0.053,2573,2004,3432
$GC,3272,-0.89,-146.6,237.1,-5.4,156,3276,0.00,2.53,0.00,0.000,4,0.000,0.064,2573,3411,3432
$GC,3305,-0.94,-146.6,239.2,-6.1,157,3310,0.15,2.53,0.00,0.000,6,0.051,0.052,2532,1997,3432
$GC,3621,-0.85,-146.6,263.2,-7.7,172,3623,0.12,0.00,0.00,0.000,6,0.092,0.000,2558,1997,3432
$GC,3930,-0.85,-146.6,283.8,-7.2,187,3935,0.00,2.58,0.00,0.000,4,0.000,0.065,2558,3404,3432
$GC,3980,-0.85,-146.6,287.6,-7.0,189,3985,0.00,2.47,0.00,0.000,6,0.000,0.052,2558,2018,3432
$GC,4296,-0.85,-146.6,309.0,-6.8,204,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2018,3432
$GC,4606,-0.85,-146.6,330.1,-6.6,219,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2018,3432
$GC,4915,-0.85,-146.6,351.2,-6.9,234,4920,0.00,2.55,0.00,0.000,4,0.000,0.066,2558,3409,3432
$GC,4949,-0.85,-146.6,353.8,-7.7,235,4955,0.00,2.50,0.00,0.000,6,0.000,0.054,2558,2012,3432
$GC,5266,-0.85,-146.6,379.4,-8.4,251,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2012,3432
$GC,5574,-0.85,-146.6,402.4,-7.1,266,5578,0.00,2.55,0.00,0.000,4,0.000,0.067,2558,3404,3432
$GC,5624,-0.90,-146.6,406.3,-7.7,268,5628,0.00,2.47,0.00,0.000,6,0.000,0.054,2558,2025,3432
$GC,5941,-0.90,-146.6,429.8,-7.3,283,5945,0.00,2.58,0.00,0.000,4,0.000,0.068,2558,591,3432
$GC,6003,-0.90,-146.6,434.7,-7.7,286,6007,0.00,2.55,0.00,0.000,6,0.000,0.056,2558,2022,3432
$GC,6329,-0.90,-146.6,456.1,-6.6,302,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2022,3432
$GC,6640,-0.90,-146.6,475.4,-6.3,317,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2023,3432
$GC,6948,-0.90,-146.6,495.2,-6.5,332,6952,0.00,2.65,0.00,0.000,4,0.000,0.076,2558,594,3431
$GC,6975,-0.90,-146.6,497.1,-7.3,333,6979,0.00,2.58,0.00,0.000,6,0.000,0.062,2558,2020,3431
$GC,7291,-0.90,-146.6,519.4,-6.8,348,7295,0.00,2.55,0.00,0.000,4,0.000,0.079,2558,3405,3430
$GC,7319,-0.94,-146.6,521.6,-7.5,349,7324,0.00,2.53,0.00,0.000,6,0.000,0.067,2558,2033,3431
$GC,7641,-0.94,-146.6,543.5,-6.9,365,7645,0.00,2.65,0.00,0.000,4,0.000,0.081,2558,591,3430
$GC,7696,-0.94,-146.6,547.9,-8.1,367,7703,0.00,2.62,0.00,0.000,6,0.000,0.067,2557,2031,3430
$GC,8012,-0.94,-146.6,570.6,-7.2,383,8016,0.00,2.58,0.00,0.000,4,0.000,0.084,2558,3412,3428
$GC,8046,-0.99,-146.6,572.9,-7.1,384,8052,0.12,2.58,0.00,0.000,6,0.068,0.071,2525,2025,3428
$GC,8362,-0.93,-146.6,596.6,-7.1,400,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2025,3426
$GC,8671,-0.87,-146.6,618.2,-6.7,415,8673,0.15,0.00,0.00,0.000,6,0.100,0.000,2556,2025,3425
$GC,8980,-0.87,-146.6,637.3,-6.4,430,8985,0.00,2.62,0.00,0.000,4,0.000,0.084,2556,3405,3424
$GC,9013,-0.92,-146.6,639.4,-6.8,431,9019,0.00,2.55,0.00,0.000,6,0.000,0.074,2556,2040,3424
$GC,9329,-0.92,-146.6,661.2,-7.3,447,9333,0.00,2.72,0.00,0.000,4,0.000,0.091,2556,586,3423
$GC,9357,-0.92,-146.6,663.3,-7.8,448,9361,0.00,2.67,0.00,0.000,6,0.000,0.074,2556,2032,3423
$GC,9672,-0.92,-146.6,686.2,-7.6,463,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2034,3422
$GC,9982,-0.96,-146.6,707.1,-6.4,478,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2034,3421
$GC,10295,-1.01,-146.6,725.6,-5.7,493,10297,0.15,0.00,0.00,0.000,6,0.070,0.000,2520,2034,3420
$GC,10601,-0.95,-146.6,747.0,-6.8,508,10605,0.00,2.78,0.00,0.000,4,0.000,0.094,2520,590,3419
$GC,10645,-0.88,-146.6,750.5,-8.0,510,10650,0.15,2.70,0.00,0.000,6,0.103,0.077,2550,2037,3419
$GC,10968,-0.88,-146.6,770.2,-5.9,526,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2037,3418
$GC,11276,-0.88,-146.6,788.2,-5.8,541,11277,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2037,3417
$GC,11586,-0.88,-146.6,805.2,-5.2,556,11591,0.00,2.78,0.00,0.000,4,0.000,0.097,2550,596,3416
$GC,11619,-0.88,-146.6,807.2,-5.8,557,11626,0.00,2.70,0.00,0.000,6,0.000,0.078,2550,2042,3416
$GC,11935,-0.88,-146.6,823.3,-5.2,573,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2043,3415
$GC,12246,-0.88,-146.6,840.3,-5.8,588,12247,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2042,3415
$GC,12554,-0.88,-146.6,857.8,-5.6,603,12558,0.00,2.80,0.00,0.000,4,0.000,0.097,2550,589,3414
$GC,12581,-0.88,-146.6,859.5,-6.2,604,12586,0.00,2.70,0.00,0.000,6,0.000,0.079,2550,2034,3414
$GC,12898,-0.88,-146.6,877.5,-5.7,619,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2034,3413
$GC,13206,-0.88,-146.6,895.4,-6.0,634,13211,0.00,2.80,0.00,0.000,4,0.000,0.100,2550,588,3413
$GC,13239,-0.88,-146.6,897.5,-7.1,635,13245,0.00,2.67,0.00,0.000,6,0.000,0.079,2550,2022,3413
$GC,13556,-0.88,-146.6,916.1,-5.9,651,13558,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3412
$GC,13865,-0.92,-146.6,934.7,-6.0,666,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2023,3412
$GC,14175,-0.96,-146.6,954.7,-6.5,681,14176,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2023,3412
$GC,14483,-1.00,-146.6,975.2,-6.2,696,14485,0.12,0.00,0.00,0.000,6,0.078,0.000,2520,2022,3412
$STATE,14706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14706,begin apogee
$GC,14714,-0.33,0.0,991.5,7.3,707,14851,0.73,0.00,134.40,1.663,6,0.092,0.000,2668,2132,2832
$STATE,14852,end apogee,CONTROL_FINISHED_OK
$STATE,14852,begin climb
$GC,14856,0.97,146.6,995.8,0.0,714,15003,1.33,2.83,138.80,1.603,4,0.072,0.090,2948,3531,2234
$GC,15045,0.76,146.6,987.9,8.1,722,15052,0.20,2.72,0.00,0.000,6,0.103,0.081,2912,2127,2234
$GC,15362,0.70,146.6,968.5,6.2,738,15366,0.00,2.72,0.00,0.000,4,0.000,0.098,2912,714,2234
$GC,15389,0.62,146.6,966.7,6.6,739,15395,0.17,2.67,0.00,0.000,6,0.101,0.078,2879,2122,2234
$GC,15706,0.70,197.9,951.7,4.6,754,15768,0.00,2.88,51.12,1.522,4,0.000,0.097,2879,713,2025
$GC,15780,0.72,212.3,947.7,5.6,757,15809,0.10,2.72,17.52,1.331,6,0.074,0.079,2902,2129,1966
$GC,16120,0.72,212.3,927.1,6.3,774,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1967
$GC,16427,0.72,212.3,907.8,6.3,789,16428,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1968
$GC,16735,0.72,212.3,888.3,6.4,804,16740,0.00,2.78,0.00,0.000,4,0.000,0.099,2902,715,1968
$GC,16768,0.72,212.3,885.9,7.1,805,16775,0.00,2.65,0.00,0.000,6,0.000,0.080,2902,2118,1968
$GC,17085,0.72,212.3,865.7,6.3,821,17086,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1967
$GC,17393,0.72,212.3,846.6,6.1,836,17394,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1967
$GC,17702,0.72,212.3,827.7,6.1,851,17703,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1967
$GC,18012,0.72,212.3,809.2,6.1,866,18017,0.00,2.75,0.00,0.000,4,0.000,0.097,2902,705,1967
$GC,18039,0.72,212.3,807.3,7.1,867,18044,0.00,2.67,0.00,0.000,6,0.000,0.079,2902,2121,1967
$GC,18355,0.76,235.7,789.3,5.4,882,18380,0.00,0.00,23.02,1.506,6,0.000,0.000,2902,2120,1871
$GC,18686,0.84,252.0,770.9,5.6,898,18709,0.12,2.83,16.25,1.457,4,0.074,0.096,2933,706,1803
$GC,18733,0.80,252.0,767.7,6.3,900,18737,0.00,2.70,0.00,0.000,6,0.000,0.078,2933,2118,1803
$GC,19060,0.80,252.0,746.4,6.7,916,19061,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2118,1804
$GC,19369,0.80,252.0,726.2,6.5,931,19373,0.00,2.75,0.00,0.000,4,0.000,0.094,2933,705,1804
$GC,19402,0.76,252.0,723.7,6.2,932,19409,0.12,2.65,0.00,0.000,6,0.105,0.078,2908,2108,1804
$GC,19719,0.86,282.1,706.8,5.2,948,19750,0.10,0.00,28.75,1.468,6,0.077,0.000,2934,2108,1681
$GC,20046,0.86,282.1,685.5,6.7,964,20051,0.00,2.72,0.00,0.000,4,0.000,0.096,2934,704,1680
$GC,20080,0.86,282.1,683.1,7.1,965,20086,0.00,2.65,0.00,0.000,6,0.000,0.078,2934,2103,1680
$GC,20396,0.86,282.1,660.6,7.5,981,20398,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2103,1681
$GC,20705,0.86,282.1,637.3,7.8,996,20710,0.00,2.70,0.00,0.000,4,0.000,0.094,2934,709,1680
$GC,20732,0.86,282.1,634.9,7.9,997,20737,0.00,2.62,0.00,0.000,6,0.000,0.077,2934,2103,1680
$GC,21049,0.86,282.1,610.6,7.7,1012,21050,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2104,1681
$GC,21357,0.86,282.1,587.6,7.0,1027,21362,0.00,2.70,0.00,0.000,4,0.000,0.094,2934,709,1681
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$STATE,29335,end climb,SURFACE_DEPTH_REACHED
$STATE,29335,begin surface coast
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$STATE,29378,end surface coast,CONTROL_FINISHED_OK
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