version: 66.04
glider: 5
mission: 5
dive: 165
start: 12 8 108 23 50 53
data:
$ID,5
$MISSION,5
$DIVE,165
$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,-90435.156
$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,31
$R_STBD_OVSHOOT,16
$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
$GPS1,234315,6050.782,-406.834,77,1.9,77,-6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-53.3
$GPS2,235002,6050.770,-406.784,13,1.3,30,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.070,-0.210
$KALMAN_X,79998.6,325.3,103.0,15905.8,3366.6
$KALMAN_Y,25109.9,1638.9,1246.0,-341998.8,-3527.0
$MHEAD_RNG_PITCHd_Wd,204.9,64790,-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,-81.40,0.000,2,0.000,0.000,422,1973,3291
$GC,103,-0.97,-146.6,3.8,-4.0,4,125,10.70,2.67,-3.33,0.000,4,0.137,0.078,2483,3417,3431
$GC,378,-0.77,-146.6,43.9,-9.5,16,384,0.22,2.55,0.00,0.000,6,0.093,0.051,2530,1995,3431
$GC,701,-0.69,-146.6,73.0,-12.4,32,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1994,3432
$GC,1011,-0.62,-146.6,100.8,-8.9,47,1016,0.17,2.62,0.00,0.000,4,0.089,0.062,2571,3420,3432
$GC,1045,-0.69,-146.6,103.6,-7.3,48,1051,0.00,2.55,0.00,0.000,6,0.000,0.051,2571,1995,3432
$GC,1361,-0.69,-146.6,124.1,-6.1,64,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1995,3432
$GC,1671,-0.69,-146.6,149.2,-7.7,79,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1994,3433
$GC,1980,-0.69,-146.6,171.0,-7.3,94,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1994,3433
$GC,2288,-0.69,-146.6,193.4,-6.9,109,2293,0.00,2.60,0.00,0.000,4,0.000,0.064,2571,3415,3433
$GC,2322,-0.75,-146.6,195.8,-7.1,110,2329,0.15,2.53,0.00,0.000,6,0.055,0.051,2530,2001,3433
$GC,2639,-0.68,-146.6,220.8,-7.9,126,2641,0.10,0.00,0.00,0.000,6,0.096,0.000,2551,2001,3433
$GC,2948,-0.68,-146.6,240.0,-5.7,141,2952,0.00,2.55,0.00,0.000,4,0.000,0.070,2551,593,3433
$GC,2992,-0.68,-146.6,242.7,-6.2,143,2996,0.00,2.55,0.00,0.000,6,0.000,0.053,2551,2023,3433
$GC,3313,-0.68,-146.6,261.3,-6.0,159,3318,0.00,2.62,0.00,0.000,4,0.000,0.068,2551,592,3433
$GC,3363,-0.68,-146.6,264.9,-7.5,161,3368,0.00,2.53,0.00,0.000,6,0.000,0.054,2551,2008,3433
$GC,3680,-0.68,-146.6,286.4,-6.7,176,3684,0.00,2.53,0.00,0.000,4,0.000,0.068,2551,3405,3434
$GC,3715,-0.68,-146.6,288.9,-7.3,177,3721,0.00,2.53,0.00,0.000,6,0.000,0.055,2551,2000,3433
$GC,4030,-0.68,-146.6,310.3,-6.9,193,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2000,3433
$GC,4340,-0.68,-146.6,330.2,-6.3,208,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2000,3434
$GC,4650,-0.68,-146.6,350.9,-7.4,223,4654,0.00,2.62,0.00,0.000,4,0.000,0.071,2551,3412,3433
$GC,4717,-0.68,-146.6,356.3,-7.8,226,4721,0.00,2.55,0.00,0.000,6,0.000,0.061,2551,2009,3433
$GC,5040,-0.68,-146.6,379.2,-6.9,242,5044,0.00,2.60,0.00,0.000,4,0.000,0.077,2551,590,3433
$GC,5067,-0.68,-146.6,381.3,-7.5,243,5072,0.00,2.55,0.00,0.000,6,0.000,0.060,2551,2007,3433
$GC,5389,-0.68,-146.6,401.8,-6.5,259,5393,0.00,2.58,0.00,0.000,4,0.000,0.078,2551,3405,3432
$GC,5421,-0.68,-146.6,404.1,-7.0,260,5428,0.00,2.55,0.00,0.000,6,0.000,0.067,2551,2016,3432
$GC,5740,-0.68,-146.6,425.3,-7.2,276,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3431
$GC,6047,-0.68,-146.6,447.2,-7.0,291,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3431
$GC,6356,-0.68,-146.6,466.9,-5.9,306,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3430
$GC,6666,-0.68,-146.6,484.2,-5.5,321,6670,0.00,2.62,0.00,0.000,4,0.000,0.082,2551,3406,3428
$GC,6693,-0.68,-146.6,485.8,-5.4,322,6698,0.00,2.60,0.00,0.000,6,0.000,0.071,2551,2003,3428
$GC,7009,-0.68,-146.6,503.1,-5.6,337,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2004,3427
$GC,7319,-0.68,-146.6,520.2,-5.7,352,7323,0.00,2.65,0.00,0.000,4,0.000,0.084,2551,3405,3426
$GC,7352,-0.68,-146.6,522.2,-6.1,353,7358,0.00,2.60,0.00,0.000,6,0.000,0.074,2551,2008,3426
$GC,7668,-0.68,-146.6,540.2,-5.8,369,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2008,3425
$GC,7977,-0.68,-146.6,558.4,-6.0,384,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2009,3424
$GC,8286,-0.68,-146.6,576.4,-5.8,399,8291,0.00,2.65,0.00,0.000,4,0.000,0.086,2551,3405,3423
$GC,8313,-0.68,-146.6,578.1,-6.1,400,8318,0.00,2.60,0.00,0.000,6,0.000,0.075,2551,2015,3423
$GC,8629,-0.68,-146.6,598.0,-6.4,415,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3422
$GC,8938,-0.68,-146.6,619.4,-7.0,430,8942,0.00,2.65,0.00,0.000,4,0.000,0.087,2551,3408,3421
$GC,8960,-0.68,-146.6,621.0,-6.8,431,8964,0.00,2.60,0.00,0.000,6,0.000,0.075,2551,2018,3421
$GC,9281,-0.68,-146.6,644.0,-7.1,447,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2018,3420
$GC,9590,-0.68,-146.6,665.0,-6.6,462,9594,0.00,2.67,0.00,0.000,4,0.000,0.091,2551,3410,3420
$GC,9623,-0.72,-146.6,667.4,-7.9,463,9629,0.00,2.62,0.00,0.000,6,0.000,0.078,2551,2015,3419
$GC,9939,-0.72,-146.6,688.2,-6.4,479,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2015,3419
$GC,10248,-0.72,-146.6,707.2,-5.9,494,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2014,3418
$GC,10558,-0.72,-146.6,724.2,-5.4,509,10562,0.00,2.67,0.00,0.000,4,0.000,0.089,2551,3409,3417
$GC,10586,-0.76,-146.6,725.7,-5.5,510,10590,0.00,2.60,0.00,0.000,6,0.000,0.077,2551,2025,3417
$GC,10902,-0.76,-146.6,742.1,-5.0,525,10903,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2026,3417
$GC,11211,-0.76,-146.6,758.0,-5.2,540,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2025,3417
$GC,11521,-0.81,-146.6,773.4,-5.0,555,11522,0.12,0.00,0.00,0.000,6,0.072,0.000,2519,2025,3416
$GC,11829,-0.76,-146.6,792.1,-6.1,570,11834,0.00,2.62,0.00,0.000,4,0.000,0.089,2520,3404,3415
$GC,11858,-0.72,-146.6,793.8,-6.7,571,11863,0.10,2.58,0.00,0.000,6,0.113,0.077,2539,2030,3415
$GC,12175,-0.72,-146.6,811.5,-5.8,586,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2029,3415
$GC,12484,-0.72,-146.6,829.6,-5.9,601,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2029,3414
$GC,12793,-0.72,-146.6,848.0,-5.9,616,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2030,3414
$GC,13102,-0.72,-146.6,866.5,-6.1,631,13106,0.00,2.65,0.00,0.000,4,0.000,0.090,2538,3408,3414
$GC,13129,-0.72,-146.6,868.2,-6.0,632,13134,0.00,2.60,0.00,0.000,6,0.000,0.077,2538,2025,3413
$GC,13445,-0.72,-146.6,887.1,-5.9,647,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2024,3413
$GC,13754,-0.72,-146.6,905.9,-6.0,662,13755,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2024,3413
$GC,14064,-0.72,-146.6,924.3,-5.9,677,14068,0.00,2.67,0.00,0.000,4,0.000,0.091,2539,3412,3412
$GC,14091,-0.72,-146.6,926.1,-6.0,678,14095,0.00,2.62,0.00,0.000,6,0.000,0.080,2538,2022,3412
$GC,14407,-0.72,-146.6,944.3,-5.7,693,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2021,3412
$GC,14717,-0.72,-146.6,961.2,-5.6,708,14721,0.00,2.67,0.00,0.000,4,0.000,0.091,2538,3409,3412
$GC,14744,-0.72,-146.6,962.9,-5.7,709,14749,0.00,2.60,0.00,0.000,6,0.000,0.080,2539,2030,3411
$GC,15060,-0.72,-146.6,980.2,-5.5,724,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2030,3412
$STATE,15243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15243,begin apogee
$GC,15250,-0.33,0.0,990.5,5.7,733,15378,0.43,0.00,124.85,1.671,6,0.091,0.000,2626,2252,2832
$STATE,15379,end apogee,CONTROL_FINISHED_OK
$STATE,15379,begin climb
$GC,15382,0.97,146.6,993.8,0.0,739,15513,1.35,0.00,126.25,1.628,6,0.081,0.000,2905,2251,2234
$GC,15816,0.97,146.6,968.9,6.9,760,15820,0.00,2.75,0.00,0.000,4,0.000,0.090,2905,841,2234
$GC,16062,0.90,146.6,952.2,7.2,771,16067,0.00,2.53,0.00,0.000,6,0.000,0.072,2906,2181,2233
$GC,16384,0.85,146.6,932.0,6.1,787,16389,0.00,2.60,0.00,0.000,4,0.000,0.093,2906,845,2234
$GC,16412,0.80,146.6,929.8,7.8,788,16417,0.17,2.53,0.00,0.000,6,0.102,0.077,2873,2176,2233
$GC,16729,0.87,163.3,912.6,5.5,803,16751,0.00,2.65,16.02,1.524,4,0.000,0.091,2873,846,2165
$GC,16780,0.91,163.3,909.5,6.4,805,16785,0.10,2.53,0.00,0.000,6,0.074,0.077,2897,2166,2165
$GC,17102,0.91,163.3,889.3,6.1,821,17103,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2166,2165
$GC,17411,0.93,180.8,871.6,5.5,836,17433,0.00,2.65,16.35,1.515,4,0.000,0.091,2897,845,2093
$GC,17456,0.93,180.8,869.0,6.2,838,17461,0.00,2.53,0.00,0.000,6,0.000,0.076,2897,2164,2093
$GC,17784,0.93,180.8,849.7,6.4,854,17785,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2164,2093
$GC,18092,0.93,180.8,829.8,6.5,869,18096,0.00,2.55,0.00,0.000,4,0.000,0.092,2897,846,2093
$GC,18120,0.93,180.8,827.8,7.8,870,18124,0.00,2.47,0.00,0.000,6,0.000,0.076,2897,2154,2094
$GC,18442,0.94,182.0,808.2,6.0,886,18443,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2154,2093
$GC,18750,0.94,182.0,788.5,6.6,901,18755,0.00,2.55,0.00,0.000,4,0.000,0.094,2897,844,2093
$GC,18778,0.94,182.0,786.7,6.4,902,18782,0.00,2.47,0.00,0.000,6,0.000,0.077,2897,2153,2094
$GC,19094,0.94,182.0,766.6,6.4,917,19095,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2154,2093
$GC,19403,0.94,182.0,747.7,6.0,932,19404,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2154,2093
$GC,19712,0.95,192.0,729.6,5.7,947,19733,0.00,2.58,11.32,1.401,4,0.000,0.091,2897,845,2049
$GC,19761,0.95,192.0,726.6,6.1,949,19765,0.00,2.47,0.00,0.000,6,0.000,0.076,2897,2142,2048
$GC,20082,0.98,208.3,708.5,5.6,965,20102,0.00,0.00,15.45,1.424,6,0.000,0.000,2897,2142,1982
$GC,20412,1.05,231.0,690.6,5.4,981,20439,0.15,2.60,20.77,1.441,4,0.067,0.091,2935,842,1889
$GC,20479,0.98,231.0,685.8,7.6,984,20484,0.00,2.47,0.00,0.000,6,0.000,0.076,2934,2139,1889
$GC,20801,0.98,231.0,664.1,6.7,1000,20802,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2138,1889
$GC,21110,0.98,231.0,643.0,7.0,1015,21114,0.00,2.53,0.00,0.000,4,0.000,0.092,2935,840,1889
$GC,21138,0.93,231.0,640.9,6.5,1016,21143,0.15,2.45,0.00,0.000,6,0.102,0.076,2904,2138,1889
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$STATE,30130,end climb,SURFACE_DEPTH_REACHED
$STATE,30130,begin surface coast
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$STATE,30172,end surface coast,CONTROL_FINISHED_OK
$STATE,30172,begin surface
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$10V_AH,10.0,14.070
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$DATA_FILE_SIZE,72574,1452
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$CFSIZE,254472192,242384896
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