version: 66.04
glider: 5
mission: 5
dive: 389
start: 1 31 109 13 24 3
data:
$ID,5
$MISSION,5
$DIVE,389
$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,-95010.836
$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,28
$R_STBD_OVSHOOT,25
$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,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,131637,6033.683,-717.301,41,1.4,41,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-60.3
$GPS2,132346,6033.610,-717.333,12,4.6,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_4
$TGT_LATLONG,6045.000,-730.000
$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,339.5,24008,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-80.85,0.000,2,0.000,0.000,424,1975,3135
$GC,103,-0.97,-146.6,3.8,-4.1,4,129,10.88,2.55,-7.57,0.000,4,0.133,0.073,2524,594,3431
$GC,377,-0.86,-146.6,34.6,-10.0,16,382,0.15,2.53,0.00,0.000,6,0.091,0.051,2556,2009,3431
$GC,699,-0.86,-146.6,58.4,-7.3,32,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2009,3432
$GC,1009,-0.86,-146.6,81.8,-7.6,47,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2010,3431
$GC,1317,-0.86,-146.6,104.3,-7.2,62,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2010,3431
$GC,1628,-0.86,-146.6,126.2,-7.1,77,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2010,3431
$GC,1935,-0.86,-146.6,148.8,-7.2,92,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2010,3431
$GC,2244,-0.86,-146.6,170.3,-7.0,107,2248,0.00,2.58,0.00,0.000,4,0.000,0.066,2556,597,3431
$GC,2278,-0.86,-146.6,172.6,-7.1,108,2284,0.00,2.50,0.00,0.000,6,0.000,0.052,2557,2003,3431
$GC,2593,-0.86,-146.6,193.2,-6.4,124,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2004,3431
$GC,2903,-0.86,-146.6,212.7,-6.2,139,2907,0.00,2.53,0.00,0.000,4,0.000,0.063,2557,3413,3431
$GC,2937,-0.86,-146.6,214.9,-6.5,140,2944,0.00,2.53,0.00,0.000,6,0.000,0.051,2556,1998,3431
$GC,3253,-0.86,-146.6,234.5,-6.2,156,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1998,3431
$GC,3563,-0.86,-146.6,253.5,-6.1,171,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1997,3430
$GC,3873,-0.86,-146.6,272.4,-6.1,186,3877,0.00,2.58,0.00,0.000,4,0.000,0.062,2556,3412,3431
$GC,3917,-0.86,-146.6,275.3,-6.2,188,3922,0.00,2.53,0.00,0.000,6,0.000,0.051,2556,1994,3431
$GC,4238,-0.86,-146.6,295.7,-6.4,204,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1994,3431
$GC,4548,-0.86,-146.6,316.1,-6.8,219,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1993,3431
$GC,4857,-0.86,-146.6,336.6,-6.5,234,4861,0.00,2.50,0.00,0.000,4,0.000,0.066,2556,596,3431
$GC,4889,-0.86,-146.6,338.9,-7.1,235,4896,0.00,2.50,0.00,0.000,6,0.000,0.053,2556,2008,3431
$GC,5207,-0.86,-146.6,361.3,-7.2,251,5211,0.00,2.53,0.00,0.000,4,0.000,0.067,2556,3409,3431
$GC,5257,-0.86,-146.6,364.9,-7.6,253,5261,0.00,2.50,0.00,0.000,6,0.000,0.054,2556,2018,3431
$GC,5572,-0.86,-146.6,385.6,-6.5,268,5577,0.00,2.53,0.00,0.000,4,0.000,0.065,2556,3403,3431
$GC,5652,-0.86,-146.6,390.9,-6.6,271,5658,0.00,2.45,0.00,0.000,6,0.000,0.053,2556,2032,3431
$GC,5967,-0.86,-146.6,411.1,-6.6,287,5972,0.00,2.60,0.00,0.000,4,0.000,0.067,2556,583,3431
$GC,6007,-0.86,-146.6,413.7,-7.1,289,6012,0.00,2.58,0.00,0.000,6,0.000,0.054,2556,2029,3431
$GC,6335,-0.86,-146.6,434.5,-6.7,305,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2028,3430
$GC,6644,-0.86,-146.6,453.6,-6.6,320,6648,0.00,2.62,0.00,0.000,4,0.000,0.070,2556,597,3430
$GC,6716,-0.86,-146.6,458.5,-6.9,323,6720,0.00,2.55,0.00,0.000,6,0.000,0.055,2556,2024,3430
$GC,7032,-0.86,-146.6,477.7,-6.3,338,7036,0.00,2.50,0.00,0.000,4,0.000,0.070,2556,3405,3430
$GC,7122,-0.86,-146.6,484.2,-7.4,342,7126,0.00,2.47,0.00,0.000,6,0.000,0.059,2556,2038,3430
$GC,7443,-0.86,-146.6,505.7,-6.5,358,7448,0.00,2.62,0.00,0.000,4,0.000,0.074,2556,591,3430
$GC,7522,-0.90,-146.6,511.4,-6.9,361,7528,0.00,2.58,0.00,0.000,6,0.000,0.060,2556,2024,3430
$GC,7838,-0.90,-146.6,531.2,-6.2,377,7842,0.00,2.65,0.00,0.000,4,0.000,0.077,2556,592,3429
$GC,7906,-0.95,-146.6,535.9,-7.9,380,7910,0.00,2.58,0.00,0.000,6,0.000,0.063,2556,2012,3429
$GC,8227,-0.95,-146.6,557.6,-6.9,396,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2012,3428
$GC,8537,-0.95,-146.6,579.3,-7.0,411,8541,0.00,2.67,0.00,0.000,4,0.000,0.082,2556,585,3427
$GC,8581,-0.95,-146.6,582.7,-7.0,413,8585,0.00,2.60,0.00,0.000,6,0.000,0.067,2556,2005,3426
$GC,8902,-0.95,-146.6,603.9,-6.1,429,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2005,3425
$GC,9212,-0.95,-146.6,622.7,-6.4,444,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2005,3425
$GC,9520,-0.95,-146.6,643.6,-6.9,459,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2006,3424
$GC,9830,-0.95,-146.6,665.5,-7.3,474,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2006,3422
$GC,10140,-0.99,-146.6,687.5,-6.8,489,10142,0.12,0.00,0.00,0.000,6,0.071,0.000,2525,2006,3421
$GC,10449,-0.95,-146.6,711.9,-7.5,504,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2006,3420
$GC,10758,-0.90,-146.6,736.4,-7.8,519,10763,0.10,2.72,0.00,0.000,4,0.112,0.091,2546,587,3419
$GC,10792,-0.90,-146.6,738.9,-7.4,520,10798,0.00,2.60,0.00,0.000,6,0.000,0.075,2545,1994,3419
$GC,11108,-0.90,-146.6,761.5,-7.3,536,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1994,3418
$GC,11417,-0.90,-146.6,780.5,-6.6,551,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1994,3417
$GC,11728,-0.90,-146.6,800.6,-6.8,566,11733,0.00,2.70,0.00,0.000,4,0.000,0.095,2545,590,3416
$GC,11762,-0.90,-146.6,803.0,-7.4,567,11768,0.00,2.62,0.00,0.000,6,0.000,0.077,2545,1998,3416
$GC,12078,-0.90,-146.6,821.2,-4.7,583,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1998,3415
$GC,12388,-0.90,-146.6,836.5,-5.4,598,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1998,3414
$GC,12696,-0.90,-146.6,855.0,-6.3,613,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1998,3413
$GC,13005,-0.90,-146.6,871.3,-4.7,628,13007,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1998,3413
$GC,13316,-0.90,-146.6,887.3,-5.7,643,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1998,3412
$GC,13624,-0.90,-146.6,902.6,-4.8,658,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1998,3412
$GC,13934,-0.90,-146.6,919.4,-5.7,673,13935,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1998,3411
$GC,14242,-0.90,-146.6,939.8,-6.5,688,14247,0.00,2.67,0.00,0.000,4,0.000,0.092,2545,3413,3410
$GC,14286,-0.90,-146.6,943.0,-7.0,690,14291,0.00,2.65,0.00,0.000,6,0.000,0.078,2545,2004,3410
$GC,14608,-0.90,-146.6,965.3,-7.5,706,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2004,3410
$GC,14916,-0.90,-146.6,982.8,-6.8,721,14921,0.00,2.67,0.00,0.000,4,0.000,0.097,2545,592,3410
$GC,14938,-0.90,-146.6,984.5,-7.5,722,14943,0.00,2.62,0.00,0.000,6,0.000,0.078,2545,1993,3410
$STATE,15029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15029,begin apogee
$GC,15037,-0.33,0.0,990.4,6.2,727,15175,0.62,0.00,134.60,1.642,6,0.092,0.000,2673,2128,2832
$STATE,15176,end apogee,CONTROL_FINISHED_OK
$STATE,15176,begin climb
$GC,15179,0.97,146.6,995.2,0.0,734,15326,1.35,2.85,139.12,1.588,4,0.078,0.094,2954,714,2234
$GC,15394,0.76,146.6,984.7,8.0,744,15401,0.22,2.70,0.00,0.000,6,0.097,0.077,2910,2133,2233
$GC,15711,0.78,202.7,969.6,4.5,760,15774,0.00,2.80,53.90,1.541,4,0.000,0.089,2910,3531,2005
$GC,15831,0.78,202.7,962.7,7.0,765,15836,0.00,2.70,0.00,0.000,6,0.000,0.081,2910,2131,2005
$GC,16147,0.78,202.7,944.4,7.0,780,16148,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2131,2006
$GC,16456,0.78,202.7,925.5,6.2,795,16460,0.00,2.72,0.00,0.000,4,0.000,0.088,2910,3537,2006
$GC,16495,0.78,202.7,923.0,7.9,797,16500,0.00,2.67,0.00,0.000,6,0.000,0.079,2910,2131,2006
$GC,16822,0.78,202.7,901.4,6.1,813,16823,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2131,2006
$GC,17132,0.79,213.1,884.0,5.7,828,17153,0.00,2.83,11.80,1.434,4,0.000,0.087,2910,3534,1963
$GC,17177,0.79,213.1,881.1,6.3,830,17182,0.00,2.67,0.00,0.000,6,0.000,0.077,2910,2137,1963
$GC,17505,0.79,213.1,862.8,6.1,846,17509,0.00,2.72,0.00,0.000,4,0.000,0.094,2910,707,1963
$GC,17532,0.79,213.1,861.0,6.5,847,17536,0.00,2.70,0.00,0.000,6,0.000,0.077,2910,2139,1963
$GC,17849,0.80,218.4,842.7,5.9,862,17857,0.00,0.00,6.65,1.278,6,0.000,0.000,2910,2140,1941
$GC,18157,0.82,227.0,825.0,5.8,877,18172,0.00,2.83,9.73,1.381,4,0.000,0.091,2910,712,1906
$GC,18206,0.82,227.0,821.8,6.2,878,18210,0.00,2.70,0.00,0.000,6,0.000,0.077,2910,2134,1906
$GC,18522,0.82,227.0,801.4,6.9,893,18523,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2135,1906
$GC,18830,0.82,227.0,780.2,6.8,908,18832,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2135,1906
$GC,19140,0.86,252.1,764.1,5.3,923,19169,0.00,2.83,24.20,1.468,4,0.000,0.091,2911,713,1804
$GC,19187,0.86,252.1,761.1,6.6,925,19192,0.00,2.70,0.00,0.000,6,0.000,0.076,2910,2130,1803
$GC,19504,1.00,309.5,743.2,4.4,940,19563,0.22,0.00,53.75,1.473,6,0.061,0.000,2965,2130,1569
$GC,19874,0.94,309.5,712.6,9.0,958,19875,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2130,1569
$GC,20182,0.88,309.5,684.3,8.3,973,20187,0.15,2.78,0.00,0.000,4,0.100,0.092,2937,707,1569
$GC,20232,0.88,309.5,680.4,8.5,975,20237,0.00,2.67,0.00,0.000,6,0.000,0.077,2936,2126,1569
$GC,20549,0.88,309.5,653.2,9.2,990,20550,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2143,1569
$GC,20857,0.88,309.5,627.1,9.9,1005,20858,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2127,1569
$GC,21166,0.88,309.5,602.0,7.9,1020,21171,0.00,2.67,0.00,0.000,4,0.000,0.088,2936,3535,1569
$GC,21212,0.92,309.5,598.8,6.5,1022,21217,0.00,2.67,0.00,0.000,6,0.000,0.074,2936,2113,1569
$GC,21533,1.03,376.5,582.1,4.2,1038,21600,0.15,2.72,60.20,1.371,4,0.066,0.085,2973,711,1297
$GC,21673,0.97,376.5,572.7,8.7,1044,21677,0.00,2.65,0.00,0.000,6,0.000,0.071,2973,2121,1296
$GC,21989,0.93,376.5,545.8,9.2,1059,21994,0.12,2.70,0.00,0.000,4,0.098,0.081,2948,710,1297
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$STATE,28248,end climb,SURFACE_DEPTH_REACHED
$STATE,28248,begin surface coast
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$STATE,28291,end surface coast,CONTROL_FINISHED_OK
$STATE,28291,begin surface
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$10V_AH,10.0,33.908
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