version: 66.04
glider: 5
mission: 5
dive: 371
start: 1 25 109 12 2 3
data:
$ID,5
$MISSION,5
$DIVE,371
$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,-94703.109
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,115054,6013.097,-532.580,43,1.9,43,-7.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-56.1
$GPS2,120144,6013.172,-532.639,14,1.3,14,-7.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_1
$TGT_LATLONG,6010.000,-545.000
$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,249.7,12815,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-100.12,0.000,6,0.000,0.000,420,1971,3430
$GC,123,-0.97,-146.6,5.0,-4.5,5,139,11.00,2.50,0.00,0.000,4,0.131,0.057,2524,587,3431
$GC,392,-0.85,-146.6,42.4,-9.7,16,397,0.15,2.53,0.00,0.000,6,0.089,0.051,2557,2000,3432
$GC,714,-0.85,-146.6,67.3,-7.1,32,719,0.00,2.55,0.00,0.000,4,0.000,0.061,2557,598,3433
$GC,770,-0.85,-146.6,71.7,-7.6,34,777,0.00,2.50,0.00,0.000,6,0.000,0.051,2557,2005,3433
$GC,1086,-0.85,-146.6,93.4,-6.4,50,1091,0.00,2.55,0.00,0.000,4,0.000,0.062,2557,602,3433
$GC,1120,-0.85,-146.6,95.7,-7.1,51,1127,0.00,2.47,0.00,0.000,6,0.000,0.051,2557,1996,3433
$GC,1437,-0.85,-146.6,118.3,-7.5,67,1441,0.00,2.50,0.00,0.000,4,0.000,0.061,2557,3404,3433
$GC,1492,-0.85,-146.6,122.6,-7.7,69,1499,0.00,2.47,0.00,0.000,6,0.000,0.048,2557,2011,3433
$GC,1809,-0.85,-146.6,144.1,-6.8,85,1814,0.00,2.55,0.00,0.000,4,0.000,0.063,2557,584,3433
$GC,1865,-0.85,-146.6,148.2,-7.2,87,1871,0.00,2.53,0.00,0.000,6,0.000,0.051,2557,2008,3433
$GC,2181,-0.85,-146.6,168.3,-6.3,103,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2008,3433
$GC,2491,-0.85,-146.6,187.9,-6.6,118,2495,0.00,2.60,0.00,0.000,4,0.000,0.067,2557,587,3433
$GC,2540,-0.85,-146.6,191.7,-7.6,120,2545,0.00,2.50,0.00,0.000,6,0.000,0.053,2556,1991,3433
$GC,2856,-0.85,-146.6,215.5,-7.9,135,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1992,3433
$GC,3166,-0.85,-146.6,241.7,-8.4,150,3171,0.00,2.58,0.00,0.000,4,0.000,0.067,2557,584,3433
$GC,3199,-0.85,-146.6,244.6,-8.3,151,3206,0.00,2.53,0.00,0.000,6,0.000,0.054,2557,2001,3433
$GC,3515,-0.85,-146.6,270.4,-8.5,167,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2001,3433
$GC,3825,-0.85,-146.6,297.2,-9.0,182,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2001,3433
$GC,4134,-0.85,-146.6,323.7,-8.2,197,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2004,3432
$GC,4443,-0.85,-146.6,345.4,-6.4,212,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2004,3432
$GC,4753,-0.85,-146.6,364.7,-6.5,227,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2004,3433
$GC,5061,-0.85,-146.6,385.7,-7.2,242,5066,0.00,2.58,0.00,0.000,4,0.000,0.069,2557,594,3432
$GC,5101,-0.85,-146.6,389.0,-8.3,244,5106,0.00,2.50,0.00,0.000,6,0.000,0.055,2557,1998,3432
$GC,5429,-0.85,-146.6,416.4,-9.0,260,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1998,3432
$GC,5738,-0.85,-146.6,438.4,-6.1,275,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1998,3432
$GC,6047,-0.85,-146.6,456.6,-6.0,290,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1999,3431
$GC,6357,-0.85,-146.6,478.3,-7.4,305,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1999,3431
$GC,6665,-0.85,-146.6,498.9,-6.3,320,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1998,3430
$GC,6975,-0.85,-146.6,518.6,-6.5,335,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1999,3430
$GC,7285,-0.85,-146.6,538.9,-6.3,350,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1999,3429
$GC,7594,-0.85,-146.6,557.6,-5.9,365,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1999,3428
$GC,7903,-0.85,-146.6,576.6,-6.2,380,7907,0.00,2.62,0.00,0.000,4,0.000,0.081,2557,597,3428
$GC,7930,-0.85,-146.6,578.4,-7.1,381,7935,0.00,2.55,0.00,0.000,6,0.000,0.067,2557,1994,3428
$GC,8247,-0.85,-146.6,599.7,-7.1,396,8252,0.00,2.62,0.00,0.000,4,0.000,0.083,2557,3405,3427
$GC,8275,-0.90,-146.6,601.9,-7.6,397,8279,0.00,2.62,0.00,0.000,6,0.000,0.073,2557,1998,3427
$GC,8597,-0.94,-146.6,626.9,-8.4,413,8601,0.00,2.62,0.00,0.000,4,0.000,0.088,2557,590,3426
$GC,8630,-0.99,-146.6,630.0,-9.2,414,8636,0.12,2.58,0.00,0.000,6,0.069,0.072,2525,1991,3425
$GC,8947,-0.94,-146.6,657.0,-8.3,430,8951,0.00,2.65,0.00,0.000,4,0.000,0.086,2525,3408,3424
$GC,9014,-0.89,-146.6,662.9,-8.6,433,9019,0.12,2.65,0.00,0.000,6,0.108,0.074,2550,1990,3424
$GC,9335,-0.89,-146.6,686.5,-7.3,449,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1990,3422
$GC,9645,-0.89,-146.6,710.2,-7.5,464,9650,0.00,2.70,0.00,0.000,4,0.000,0.087,2550,3404,3421
$GC,9678,-0.89,-146.6,713.0,-8.0,465,9684,0.00,2.62,0.00,0.000,6,0.000,0.076,2550,2002,3421
$GC,9994,-0.89,-146.6,736.0,-7.2,481,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2001,3420
$GC,10304,-0.89,-146.6,756.6,-6.5,496,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2001,3418
$GC,10614,-0.89,-146.6,776.0,-6.0,511,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2001,3417
$GC,10922,-0.89,-146.6,793.3,-5.6,526,10927,0.00,2.70,0.00,0.000,4,0.000,0.091,2550,3408,3416
$GC,10967,-0.89,-146.6,796.2,-6.3,528,10971,0.00,2.65,0.00,0.000,6,0.000,0.079,2550,2000,3416
$GC,11288,-0.89,-146.6,814.2,-5.4,544,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2000,3415
$GC,11597,-0.89,-146.6,830.8,-5.4,559,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2000,3415
$GC,11907,-0.89,-146.6,847.2,-5.6,574,11912,0.00,2.72,0.00,0.000,4,0.000,0.094,2550,3411,3414
$GC,11935,-0.89,-146.6,849.1,-7.2,575,11940,0.00,2.65,0.00,0.000,6,0.000,0.081,2550,2008,3414
$GC,12252,-0.89,-146.6,867.0,-5.6,590,12253,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3414
$GC,12560,-0.89,-146.6,883.5,-5.3,605,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3413
$GC,12870,-0.89,-146.6,899.9,-5.5,620,12871,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3413
$GC,13180,-0.89,-146.6,916.8,-5.7,635,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3412
$GC,13488,-0.89,-146.6,934.5,-5.7,650,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3411
$GC,13797,-0.89,-146.6,951.9,-5.2,665,13802,0.00,2.70,0.00,0.000,4,0.000,0.091,2550,3412,3411
$GC,13843,-0.94,-146.6,954.5,-5.1,667,13847,0.00,2.65,0.00,0.000,6,0.000,0.079,2550,2003,3410
$GC,14165,-0.99,-146.6,971.6,-5.5,683,14169,0.00,2.70,0.00,0.000,4,0.000,0.100,2550,587,3410
$GC,14192,-0.99,-146.6,973.5,-6.1,684,14196,0.00,2.67,0.00,0.000,6,0.000,0.081,2550,2013,3410
$STATE,14484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14484,begin apogee
$GC,14492,-0.33,0.0,990.5,5.9,698,14637,0.60,0.00,137.10,1.633,6,0.093,0.000,2672,2127,2832
$STATE,14638,end apogee,CONTROL_FINISHED_OK
$STATE,14638,begin climb
$GC,14641,0.97,146.6,995.5,0.0,705,14794,1.35,2.78,141.27,1.586,4,0.079,0.091,2952,3530,2234
$GC,14811,0.76,146.6,989.5,6.7,713,14816,0.20,2.72,0.00,0.000,6,0.102,0.081,2915,2129,2234
$GC,15133,0.69,146.6,969.9,6.3,729,15137,0.00,2.72,0.00,0.000,4,0.000,0.097,2915,712,2234
$GC,15167,0.59,146.6,967.5,6.5,730,15174,0.20,2.67,0.00,0.000,6,0.103,0.078,2876,2126,2233
$GC,15483,0.64,174.2,950.1,5.2,746,15522,0.00,0.00,29.23,1.454,6,0.000,0.000,2876,2126,2121
$GC,15833,0.73,187.7,930.7,5.6,763,15863,0.12,2.78,16.48,1.340,4,0.071,0.091,2905,3541,2066
$GC,15879,0.73,187.7,927.3,6.7,765,15884,0.00,2.75,0.00,0.000,6,0.000,0.080,2905,2119,2066
$GC,16201,0.73,187.7,906.4,6.4,781,16202,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2119,2066
$GC,16511,0.73,187.7,885.9,6.8,796,16512,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2119,2066
$GC,16819,0.73,187.7,866.0,6.2,811,16820,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2119,2066
$GC,17128,0.73,187.7,846.0,6.5,826,17130,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2119,2066
$GC,17438,0.73,187.7,826.3,6.3,841,17440,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2119,2066
$GC,17747,0.73,187.7,806.7,6.2,856,17751,0.00,2.78,0.00,0.000,4,0.000,0.093,2906,3542,2066
$GC,17780,0.73,187.7,804.4,6.2,857,17786,0.00,2.72,0.00,0.000,6,0.000,0.081,2905,2113,2066
$GC,18096,0.74,194.2,785.5,5.8,873,18110,0.00,2.75,7.65,1.325,4,0.000,0.095,2905,718,2040
$GC,18134,0.74,194.2,782.9,6.3,874,18140,0.00,2.67,0.00,0.000,6,0.000,0.077,2905,2127,2040
$GC,18450,0.74,197.0,764.2,5.9,890,18456,0.00,0.00,4.55,1.089,6,0.000,0.000,2906,2126,2028
$GC,18760,0.76,208.5,746.1,5.7,905,18779,0.00,0.00,12.15,1.411,6,0.000,0.000,2905,2126,1982
$GC,19089,0.76,210.4,726.9,5.9,921,19090,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2126,1981
$GC,19398,0.77,213.2,709.0,5.9,936,19406,0.00,0.00,6.28,1.222,6,0.000,0.000,2906,2126,1962
$GC,19708,0.77,213.2,690.3,6.4,951,19709,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2126,1962
$GC,20016,0.77,213.2,670.7,6.4,966,20021,0.00,2.75,0.00,0.000,4,0.000,0.093,2905,704,1961
$GC,20056,0.77,213.2,667.8,7.2,968,20061,0.00,2.67,0.00,0.000,6,0.000,0.078,2905,2125,1961
$GC,20383,0.77,213.2,645.7,6.8,984,20385,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2125,1961
$GC,20692,0.77,213.2,625.6,6.1,999,20693,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2125,1961
$GC,21001,0.79,229.7,608.0,5.6,1014,21024,0.00,2.83,16.23,1.366,4,0.000,0.090,2906,706,1894
$GC,21064,0.84,235.0,604.1,5.9,1016,21077,0.10,2.67,6.28,1.159,6,0.069,0.077,2931,2114,1874
$GC,21400,0.84,235.0,580.4,7.5,1033,21405,0.00,2.70,0.00,0.000,4,0.000,0.090,2932,3530,1874
$GC,21435,0.84,235.0,577.2,9.5,1034,21441,0.00,2.70,0.00,0.000,6,0.000,0.075,2931,2103,1874
$GC,21750,0.84,235.0,551.6,8.2,1050,21755,0.00,2.75,0.00,0.000,4,0.000,0.087,2931,3531,1873
$GC,21778,0.84,235.0,549.1,8.5,1051,21783,0.00,2.67,0.00,0.000,6,0.000,0.074,2931,2112,1874
$GC,22095,0.84,235.0,524.6,7.1,1066,22096,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2112,1874
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$STATE,29728,end climb,SURFACE_DEPTH_REACHED
$STATE,29728,begin surface coast
$FINISH,0.3,1.027371
$STATE,29771,end surface coast,CONTROL_FINISHED_OK
$STATE,29771,begin surface
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$10V_AH,10.0,31.799
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$DATA_FILE_SIZE,72507,1436
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$CFSIZE,254472192,229355520
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