version: 66.04
glider: 5
mission: 5
dive: 164
start: 12 8 108 15 35 6
data:
$ID,5
$MISSION,5
$DIVE,164
$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,-90403.812
$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,45
$R_STBD_OVSHOOT,15
$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
$GPS1,152732,6051.534,-415.227,42,1.8,42,-6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-61.2
$GPS2,153414,6051.592,-415.048,15,1.6,15,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.076,-0.208
$KALMAN_X,74949.4,516.1,535.8,13551.3,-106.8
$KALMAN_Y,19987.3,624.6,1712.3,-334778.8,-5093.0
$MHEAD_RNG_PITCHd_Wd,166.4,67545,-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,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.22,0.000,2,0.000,0.000,422,1964,3170
$GC,102,-0.97,-146.6,4.1,-4.7,4,126,10.62,2.70,-6.38,0.000,4,0.133,0.076,2483,3413,3432
$GC,340,-0.77,-146.6,40.8,-10.4,14,345,0.22,2.50,0.00,0.000,6,0.088,0.051,2530,2020,3432
$GC,656,-0.70,-146.6,67.6,-8.2,29,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2019,3432
$GC,966,-0.63,-146.6,91.8,-7.8,44,967,0.15,0.00,0.00,0.000,6,0.089,0.000,2562,2019,3433
$GC,1274,-0.63,-146.6,111.8,-6.5,59,1279,0.00,2.58,0.00,0.000,4,0.000,0.065,2562,590,3433
$GC,1302,-0.63,-146.6,113.8,-7.3,60,1307,0.00,2.53,0.00,0.000,6,0.000,0.053,2562,2003,3433
$GC,1619,-0.63,-146.6,135.5,-7.1,75,1623,0.00,2.53,0.00,0.000,4,0.000,0.065,2562,3404,3433
$GC,1646,-0.63,-146.6,137.7,-7.6,76,1650,0.00,2.53,0.00,0.000,6,0.000,0.051,2562,1992,3433
$GC,1962,-0.63,-146.6,159.1,-7.2,91,1967,0.00,2.58,0.00,0.000,4,0.000,0.063,2562,3410,3433
$GC,1995,-0.63,-146.6,161.6,-7.3,92,2001,0.00,2.53,0.00,0.000,6,0.000,0.050,2562,1997,3433
$GC,2311,-0.63,-146.6,185.1,-7.2,108,2315,0.00,2.58,0.00,0.000,4,0.000,0.064,2562,3404,3433
$GC,2366,-0.63,-146.6,189.3,-7.9,110,2373,0.00,2.47,0.00,0.000,6,0.000,0.051,2561,2015,3433
$GC,2683,-0.63,-146.6,209.5,-5.9,126,2687,0.00,2.53,0.00,0.000,4,0.000,0.064,2561,3406,3434
$GC,2711,-0.63,-146.6,211.5,-6.9,127,2715,0.00,2.45,0.00,0.000,6,0.000,0.051,2562,2030,3433
$GC,3032,-0.63,-146.6,232.5,-6.6,143,3037,0.00,2.53,0.00,0.000,4,0.000,0.064,2562,3406,3434
$GC,3050,-0.63,-146.6,233.7,-6.6,144,3054,0.00,2.45,0.00,0.000,6,0.000,0.051,2562,2034,3434
$GC,3377,-0.63,-146.6,254.0,-5.5,160,3381,0.00,2.50,0.00,0.000,4,0.000,0.065,2562,3405,3434
$GC,3427,-0.67,-146.6,256.9,-6.0,162,3432,0.00,2.40,0.00,0.000,6,0.000,0.051,2562,2063,3433
$GC,3744,-0.67,-146.6,274.5,-5.8,177,3748,0.00,2.65,0.00,0.000,4,0.000,0.067,2562,591,3434
$GC,3776,-0.67,-146.6,276.7,-7.3,178,3782,0.00,2.62,0.00,0.000,6,0.000,0.053,2562,2062,3434
$GC,4093,-0.71,-146.6,295.4,-5.7,194,4098,0.00,2.70,0.00,0.000,4,0.000,0.071,2562,594,3434
$GC,4127,-0.71,-146.6,297.4,-5.9,195,4134,0.00,2.58,0.00,0.000,6,0.000,0.056,2562,2032,3434
$GC,4443,-0.71,-146.6,314.7,-6.1,211,4448,0.00,2.50,0.00,0.000,4,0.000,0.071,2562,3406,3434
$GC,4494,-0.76,-146.6,317.9,-6.5,213,4499,0.15,2.47,0.00,0.000,6,0.055,0.059,2522,2042,3434
$GC,4810,-0.68,-146.6,343.3,-8.6,228,4815,0.12,2.55,0.00,0.000,4,0.092,0.072,2549,3411,3433
$GC,4860,-0.68,-146.6,347.6,-8.1,230,4865,0.00,2.50,0.00,0.000,6,0.000,0.063,2549,2045,3434
$GC,5176,-0.68,-146.6,370.3,-7.0,245,5180,0.00,2.67,0.00,0.000,4,0.000,0.079,2549,590,3433
$GC,5226,-0.68,-146.6,374.1,-7.5,247,5230,0.00,2.62,0.00,0.000,6,0.000,0.061,2549,2038,3433
$GC,5542,-0.68,-146.6,396.9,-7.2,262,5546,0.00,2.53,0.00,0.000,4,0.000,0.080,2549,3406,3432
$GC,5590,-0.68,-146.6,400.4,-7.7,264,5594,0.00,2.53,0.00,0.000,6,0.000,0.068,2549,2036,3432
$GC,5916,-0.68,-146.6,423.4,-7.3,280,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2035,3431
$GC,6226,-0.68,-146.6,447.4,-7.9,295,6230,0.00,2.60,0.00,0.000,4,0.000,0.081,2549,3415,3430
$GC,6264,-0.68,-146.6,450.6,-9.1,297,6269,0.00,2.55,0.00,0.000,6,0.000,0.071,2549,2040,3430
$GC,6593,-0.68,-146.6,475.2,-7.1,313,6597,0.00,2.60,0.00,0.000,4,0.000,0.083,2549,3412,3428
$GC,6614,-0.68,-146.6,477.0,-7.7,314,6618,0.00,2.53,0.00,0.000,6,0.000,0.071,2549,2054,3428
$GC,6935,-0.68,-146.6,499.1,-6.7,330,6939,0.00,2.58,0.00,0.000,4,0.000,0.084,2549,3406,3427
$GC,6968,-0.68,-146.6,501.7,-7.6,331,6974,0.00,2.50,0.00,0.000,6,0.000,0.076,2549,2063,3427
$GC,7284,-0.68,-146.6,522.0,-6.4,347,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2062,3425
$GC,7592,-0.68,-146.6,541.8,-6.2,362,7597,0.00,2.55,0.00,0.000,4,0.000,0.084,2549,3405,3424
$GC,7637,-0.68,-146.6,544.9,-7.1,364,7641,0.00,2.50,0.00,0.000,6,0.000,0.074,2549,2065,3424
$GC,7958,-0.68,-146.6,566.8,-6.8,380,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2065,3424
$GC,8267,-0.68,-146.6,587.6,-6.7,395,8271,0.00,2.58,0.00,0.000,4,0.000,0.089,2549,3405,3423
$GC,8299,-0.68,-146.6,589.9,-7.3,396,8306,0.00,2.50,0.00,0.000,6,0.000,0.077,2549,2073,3423
$GC,8616,-0.68,-146.6,611.1,-6.9,412,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2073,3422
$GC,8924,-0.68,-146.6,632.3,-7.2,427,8929,0.00,2.55,0.00,0.000,4,0.000,0.087,2549,3405,3421
$GC,8954,-0.72,-146.6,634.5,-8.1,428,8958,0.00,2.50,0.00,0.000,6,0.000,0.077,2549,2074,3421
$GC,9270,-0.72,-146.6,657.2,-7.3,443,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2072,3420
$GC,9579,-0.72,-146.6,678.2,-6.5,458,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2072,3419
$GC,9888,-0.72,-146.6,697.7,-6.3,473,9892,0.00,2.55,0.00,0.000,4,0.000,0.089,2549,3405,3419
$GC,9922,-0.76,-146.6,700.0,-7.4,474,9929,0.00,2.47,0.00,0.000,6,0.000,0.076,2549,2086,3418
$GC,10246,-0.76,-146.6,720.3,-6.3,490,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2086,3418
$GC,10555,-0.76,-146.6,740.3,-6.6,505,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2087,3417
$GC,10864,-0.76,-146.6,761.7,-7.1,520,10869,0.00,2.55,0.00,0.000,4,0.000,0.089,2549,3412,3417
$GC,10898,-0.81,-146.6,764.3,-7.7,521,10905,0.12,2.50,0.00,0.000,6,0.075,0.077,2518,2082,3416
$GC,11214,-0.76,-146.6,789.4,-7.9,537,11219,0.00,2.83,0.00,0.000,4,0.000,0.093,2518,584,3416
$GC,11242,-0.70,-146.6,791.7,-8.5,538,11247,0.12,2.80,0.00,0.000,6,0.107,0.075,2543,2090,3416
$GC,11557,-0.70,-146.6,814.7,-7.5,553,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2092,3415
$GC,11867,-0.70,-146.6,836.9,-7.1,568,11868,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2092,3415
$GC,12176,-0.70,-146.6,859.5,-7.2,583,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2092,3414
$GC,12485,-0.70,-146.6,880.7,-6.8,598,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2092,3413
$GC,12795,-0.70,-146.6,902.3,-7.1,613,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2092,3413
$GC,13104,-0.70,-146.6,923.4,-6.6,628,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2092,3413
$GC,13413,-0.70,-146.6,943.5,-6.3,643,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2092,3413
$GC,13723,-0.70,-146.6,962.5,-5.9,658,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2092,3412
$GC,14031,-0.70,-146.6,980.7,-6.1,673,14036,0.00,2.90,0.00,0.000,4,0.000,0.096,2543,585,3412
$GC,14064,-0.70,-146.6,982.7,-6.1,674,14070,0.00,2.80,0.00,0.000,6,0.000,0.079,2543,2083,3412
$STATE,14192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14192,begin apogee
$GC,14200,-0.33,0.0,990.8,6.2,681,14328,0.40,0.00,125.07,1.667,6,0.093,0.000,2624,2256,2832
$STATE,14328,end apogee,CONTROL_FINISHED_OK
$STATE,14328,begin climb
$GC,14331,0.97,146.6,995.2,0.0,687,14467,1.35,2.85,127.40,1.621,4,0.081,0.091,2906,852,2234
$GC,14490,0.96,177.3,989.8,5.2,695,14523,0.00,2.70,27.70,1.540,6,0.000,0.076,2906,2255,2109
$GC,14834,0.96,179.9,969.6,5.9,712,14844,0.00,2.80,4.30,1.039,4,0.000,0.093,2906,841,2098
$GC,14884,0.92,179.9,966.5,6.2,714,14888,0.00,2.65,0.00,0.000,6,0.000,0.076,2907,2230,2098
$GC,15200,0.92,180.4,947.7,6.0,729,15205,0.00,2.70,0.00,0.000,4,0.000,0.094,2907,846,2098
$GC,15244,0.88,180.4,944.9,6.4,731,15249,0.00,2.60,0.00,0.000,6,0.000,0.077,2906,2215,2098
$GC,15566,0.88,180.4,925.3,6.2,747,15570,0.00,2.67,0.00,0.000,4,0.000,0.094,2906,846,2098
$GC,15605,0.88,180.4,922.6,7.5,749,15610,0.00,2.58,0.00,0.000,6,0.000,0.078,2906,2203,2098
$GC,15932,0.88,180.4,902.6,6.0,765,15937,0.00,2.65,0.00,0.000,4,0.000,0.094,2906,845,2098
$GC,15966,0.88,180.4,900.4,6.9,766,15972,0.00,2.55,0.00,0.000,6,0.000,0.077,2906,2190,2098
$GC,16282,0.89,190.5,882.5,5.7,782,16302,0.00,2.67,11.27,1.456,4,0.000,0.093,2907,843,2054
$GC,16330,0.89,190.5,879.3,6.3,784,16335,0.00,2.55,0.00,0.000,6,0.000,0.076,2907,2176,2054
$GC,16652,0.89,190.5,860.0,6.2,800,16657,0.00,2.60,0.00,0.000,4,0.000,0.094,2907,845,2054
$GC,16680,0.89,190.5,858.2,7.3,801,16684,0.00,2.50,0.00,0.000,6,0.000,0.077,2907,2173,2054
$GC,16996,0.89,190.5,839.1,6.1,816,17000,0.00,2.60,0.00,0.000,4,0.000,0.094,2906,841,2054
$GC,17024,0.92,205.3,837.4,5.6,817,17043,0.00,2.50,14.30,1.476,6,0.000,0.076,2907,2163,1994
$GC,17365,0.92,205.3,816.1,6.4,834,17370,0.00,2.58,0.00,0.000,4,0.000,0.094,2906,845,1994
$GC,17393,0.92,205.3,813.9,6.5,835,17398,0.00,2.47,0.00,0.000,6,0.000,0.076,2906,2153,1993
$GC,17710,0.92,209.9,794.6,5.9,850,17720,0.00,2.58,5.57,1.213,4,0.000,0.094,2906,845,1976
$GC,17743,0.92,209.9,792.4,6.3,851,17749,0.00,2.47,0.00,0.000,6,0.000,0.076,2907,2143,1976
$GC,18059,0.92,210.4,773.3,6.0,867,18060,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2144,1975
$GC,18368,0.93,213.4,754.6,5.9,882,18378,0.00,2.55,4.78,1.120,4,0.000,0.094,2907,845,1961
$GC,18407,0.93,213.4,752.2,6.3,884,18412,0.00,2.45,0.00,0.000,6,0.000,0.076,2907,2138,1961
$GC,18734,0.93,213.4,732.1,6.3,900,18735,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2138,1961
$GC,19044,0.93,213.4,712.9,6.2,915,19048,0.00,2.53,0.00,0.000,4,0.000,0.094,2906,841,1961
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$STATE,29069,end climb,SURFACE_DEPTH_REACHED
$STATE,29069,begin surface coast
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$STATE,29091,begin surface
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