version: 66.04
glider: 5
mission: 5
dive: 169
start: 12 10 108 9 10 37
data:
$ID,5
$MISSION,5
$DIVE,169
$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,-90511.727
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,19
$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
$GPS1,090308,6043.259,-408.018,41,2.0,41,-6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-58.5
$GPS2,090945,6043.315,-407.743,12,2.0,12,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.128,-0.181
$KALMAN_X,97526.0,228.4,172.6,-2337.1,4682.5
$KALMAN_Y,35426.4,-403.3,-75.3,-362650.4,2660.9
$MHEAD_RNG_PITCHd_Wd,221.7,51221,-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,-146.5,0.0,0.0,0,98,0.00,0.00,-79.40,0.000,6,0.000,0.000,425,1965,3430
$GC,101,-0.97,-146.5,5.5,-6.6,4,117,10.40,2.62,0.00,0.000,4,0.135,0.063,2431,3411,3431
$GC,371,-0.63,-146.5,52.6,-14.4,15,376,0.38,2.50,0.00,0.000,6,0.084,0.050,2511,2010,3432
$GC,693,-0.48,-146.5,85.9,-9.8,31,698,0.17,2.58,0.00,0.000,4,0.088,0.062,2551,3419,3432
$GC,749,-0.48,-146.5,90.8,-8.3,33,755,0.00,2.53,0.00,0.000,6,0.000,0.049,2551,2001,3433
$GC,1065,-0.48,-146.5,114.0,-7.5,49,1069,0.00,2.60,0.00,0.000,4,0.000,0.062,2551,3419,3433
$GC,1128,-0.48,-146.5,119.2,-8.1,52,1132,0.00,2.50,0.00,0.000,6,0.000,0.049,2551,2013,3433
$GC,1455,-0.48,-146.5,145.1,-7.8,68,1459,0.00,2.55,0.00,0.000,4,0.000,0.063,2551,3410,3432
$GC,1499,-0.48,-146.5,148.9,-8.7,70,1503,0.00,2.45,0.00,0.000,6,0.000,0.051,2551,2035,3432
$GC,1821,-0.48,-146.5,174.8,-8.3,86,1825,0.00,2.53,0.00,0.000,4,0.000,0.063,2551,3416,3432
$GC,1848,-0.48,-146.5,177.2,-8.4,87,1853,0.00,2.45,0.00,0.000,6,0.000,0.050,2551,2041,3433
$GC,2169,-0.48,-146.5,203.5,-8.0,103,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2040,3432
$GC,2478,-0.48,-146.5,228.4,-8.0,118,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2038,3432
$GC,2787,-0.48,-146.5,253.1,-8.0,133,2791,0.00,2.50,0.00,0.000,4,0.000,0.064,2551,3410,3432
$GC,2820,-0.48,-146.5,255.8,-7.8,134,2827,0.00,2.47,0.00,0.000,6,0.000,0.052,2551,2025,3433
$GC,3137,-0.48,-146.5,278.9,-7.0,150,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2025,3432
$GC,3448,-0.48,-146.5,301.3,-7.1,165,3452,0.00,2.53,0.00,0.000,4,0.000,0.064,2551,3412,3432
$GC,3480,-0.48,-146.5,304.0,-7.7,166,3486,0.00,2.45,0.00,0.000,6,0.000,0.052,2550,2041,3432
$GC,3797,-0.48,-146.5,325.9,-6.9,182,3801,0.00,2.50,0.00,0.000,4,0.000,0.065,2551,3410,3432
$GC,3825,-0.48,-146.5,327.9,-7.0,183,3829,0.00,2.45,0.00,0.000,6,0.000,0.053,2551,2043,3432
$GC,4141,-0.48,-146.5,348.5,-6.5,198,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2042,3432
$GC,4450,-0.48,-146.5,368.9,-6.8,213,4454,0.00,2.53,0.00,0.000,4,0.000,0.068,2551,3413,3433
$GC,4505,-0.48,-146.5,373.0,-7.9,215,4512,0.00,2.42,0.00,0.000,6,0.000,0.055,2550,2062,3433
$GC,4822,-0.48,-146.6,392.1,-5.8,231,4826,0.00,2.50,0.00,0.000,4,0.000,0.067,2551,3418,3432
$GC,4856,-0.48,-146.6,394.5,-6.7,232,4862,0.00,2.45,0.00,0.000,6,0.000,0.056,2551,2057,3433
$GC,5172,-0.48,-146.6,413.9,-6.0,248,5176,0.00,2.50,0.00,0.000,4,0.000,0.070,2551,3410,3433
$GC,5244,-0.48,-146.6,418.7,-6.6,251,5248,0.00,2.42,0.00,0.000,6,0.000,0.059,2551,2072,3433
$GC,5561,-0.48,-146.6,437.9,-6.1,266,5565,0.00,2.47,0.00,0.000,4,0.000,0.071,2551,3409,3432
$GC,5616,-0.48,-146.6,441.7,-6.9,268,5622,0.00,2.40,0.00,0.000,6,0.000,0.061,2551,2090,3431
$GC,5932,-0.48,-146.6,461.0,-6.2,284,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2089,3431
$GC,6241,-0.48,-146.6,480.8,-6.6,299,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2090,3431
$GC,6552,-0.48,-146.6,501.3,-6.7,314,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2090,3430
$GC,6860,-0.48,-146.6,521.9,-6.8,329,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2090,3429
$GC,7169,-0.48,-146.6,541.9,-6.3,344,7173,0.00,2.50,0.00,0.000,4,0.000,0.083,2551,3408,3428
$GC,7196,-0.48,-146.6,543.8,-6.5,345,7200,0.00,2.45,0.00,0.000,6,0.000,0.071,2551,2086,3428
$GC,7512,-0.48,-146.6,565.3,-6.9,360,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2086,3428
$GC,7820,-0.48,-146.6,586.7,-6.9,375,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2086,3426
$GC,8130,-0.48,-146.6,607.6,-6.7,390,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2086,3425
$GC,8440,-0.48,-146.6,627.1,-6.3,405,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2087,3424
$GC,8748,-0.48,-146.6,647.1,-6.4,420,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2086,3423
$GC,9058,-0.48,-146.6,666.8,-6.3,435,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2086,3421
$GC,9367,-0.48,-146.6,686.6,-6.4,450,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2087,3420
$GC,9676,-0.48,-146.6,705.9,-6.2,465,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2086,3420
$GC,9986,-0.48,-146.6,725.7,-6.5,480,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2086,3419
$GC,10295,-0.48,-146.6,745.1,-6.3,495,10299,0.00,2.80,0.00,0.000,4,0.000,0.091,2551,590,3418
$GC,10329,-0.48,-146.6,747.3,-8.0,496,10335,0.00,2.78,0.00,0.000,6,0.000,0.075,2551,2086,3418
$GC,10645,-0.48,-146.6,767.3,-6.4,512,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2087,3417
$GC,10954,-0.48,-146.6,787.0,-6.4,527,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2087,3416
$GC,11263,-0.52,-146.6,807.7,-6.6,542,11268,0.00,2.88,0.00,0.000,4,0.000,0.095,2551,591,3415
$GC,11296,-0.52,-146.6,810.2,-7.6,543,11302,0.00,2.78,0.00,0.000,6,0.000,0.077,2551,2077,3415
$GC,11612,-0.57,-146.6,830.8,-6.6,559,11614,0.12,0.00,0.00,0.000,6,0.077,0.000,2520,2077,3415
$GC,11921,-0.57,-146.6,854.7,-7.8,574,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2077,3415
$GC,12230,-0.57,-146.6,878.1,-7.5,589,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2077,3414
$GC,12541,-0.57,-146.6,900.6,-7.2,604,12542,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2077,3414
$GC,12849,-0.57,-146.6,922.2,-7.1,619,12853,0.00,2.85,0.00,0.000,4,0.000,0.097,2520,600,3414
$GC,12882,-0.52,-146.6,924.7,-8.3,620,12892,0.00,2.75,0.00,0.000,6,0.000,0.079,2520,2074,3414
$GC,13198,-0.52,-146.6,947.3,-7.2,636,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2075,3413
$GC,13507,-0.52,-146.6,969.4,-7.1,651,13508,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2074,3413
$STATE,13792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13792,begin apogee
$GC,13799,-0.33,0.0,990.2,7.4,665,13927,0.25,0.00,125.10,1.672,6,0.102,0.000,2572,2199,2832
$STATE,13928,end apogee,CONTROL_FINISHED_OK
$STATE,13928,begin climb
$GC,13932,0.97,146.6,996.1,0.0,671,14063,1.40,0.00,127.05,1.623,6,0.089,0.000,2856,2199,2234
$GC,14367,1.19,179.4,976.3,5.1,692,14402,0.20,2.83,29.30,1.547,4,0.064,0.094,2909,794,2100
$GC,14453,1.11,179.4,971.1,6.1,695,14458,0.00,2.70,0.00,0.000,6,0.000,0.078,2908,2215,2100
$GC,14775,1.07,179.4,951.5,6.3,711,14780,0.15,2.80,0.00,0.000,4,0.102,0.094,2881,792,2100
$GC,14816,1.07,179.4,949.0,6.0,713,14820,0.00,2.67,0.00,0.000,6,0.000,0.078,2881,2203,2100
$GC,15143,1.15,199.5,931.6,5.4,729,15168,0.00,2.83,19.30,1.536,4,0.000,0.094,2881,788,2018
$GC,15198,1.22,213.1,928.4,5.6,731,15218,0.15,2.70,13.52,1.476,6,0.067,0.078,2917,2198,1963
$GC,15542,1.22,213.1,905.0,7.0,748,15546,0.00,2.75,0.00,0.000,4,0.000,0.095,2916,792,1962
$GC,15597,1.18,213.1,900.7,7.6,750,15604,0.00,2.62,0.00,0.000,6,0.000,0.078,2917,2180,1962
$GC,15914,1.18,213.1,879.5,6.6,766,15918,0.00,2.70,0.00,0.000,4,0.000,0.096,2916,791,1962
$GC,15964,1.14,213.1,875.7,7.6,768,15968,0.00,2.60,0.00,0.000,6,0.000,0.078,2916,2164,1962
$GC,16280,1.14,213.1,854.6,6.8,783,16284,0.00,2.67,0.00,0.000,4,0.000,0.096,2917,792,1962
$GC,16320,1.10,213.1,851.7,7.2,785,16325,0.15,2.58,0.00,0.000,6,0.105,0.077,2888,2157,1962
$GC,16650,1.18,223.6,832.9,5.7,801,16666,0.00,2.72,10.77,1.438,4,0.000,0.094,2888,790,1920
$GC,16695,1.24,223.6,830.1,6.3,802,16700,0.15,2.58,0.00,0.000,6,0.068,0.077,2923,2141,1919
$GC,17016,1.24,223.6,808.4,6.8,818,17020,0.00,2.62,0.00,0.000,4,0.000,0.095,2924,794,1919
$GC,17049,1.19,223.6,806.1,7.7,819,17055,0.00,2.53,0.00,0.000,6,0.000,0.077,2924,2131,1919
$GC,17365,1.19,223.6,784.8,6.9,835,17366,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2132,1919
$GC,17674,1.19,223.6,764.2,6.7,850,17678,0.00,2.60,0.00,0.000,4,0.000,0.095,2924,794,1919
$GC,17713,1.14,223.6,761.5,6.7,852,17718,0.12,2.53,0.00,0.000,6,0.105,0.077,2900,2135,1919
$GC,18041,1.21,234.4,742.4,5.7,868,18053,0.00,0.00,10.52,1.388,6,0.000,0.000,2900,2136,1876
$GC,18350,1.29,251.6,724.9,5.5,883,18372,0.15,2.70,16.55,1.440,4,0.069,0.092,2938,794,1806
$GC,18407,1.23,251.6,720.5,8.8,885,18411,0.00,2.53,0.00,0.000,6,0.000,0.076,2937,2121,1805
$GC,18723,1.23,251.6,698.1,6.8,900,18724,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2121,1806
$GC,19032,1.23,251.6,677.1,6.9,915,19037,0.00,2.58,0.00,0.000,4,0.000,0.094,2937,790,1807
$GC,19073,1.17,251.6,673.9,8.3,917,19078,0.15,2.50,0.00,0.000,6,0.103,0.077,2907,2119,1807
$GC,19400,1.22,251.6,653.6,6.3,933,19401,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2120,1807
$GC,19709,1.28,251.6,633.7,6.4,948,19714,0.00,2.55,0.00,0.000,4,0.000,0.091,2907,796,1807
$GC,19743,1.32,251.6,631.3,7.1,949,19750,0.12,2.45,0.00,0.000,6,0.071,0.075,2939,2106,1806
$GC,20059,1.32,251.6,608.2,7.3,965,20060,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2107,1807
$GC,20368,1.32,251.6,585.5,7.2,980,20373,0.00,2.53,0.00,0.000,4,0.000,0.091,2939,794,1807
$GC,20410,1.27,251.6,582.0,9.2,982,20414,0.00,2.45,0.00,0.000,6,0.000,0.075,2939,2103,1807
$GC,20736,1.27,251.6,557.8,7.4,998,20741,0.00,2.85,0.00,0.000,4,0.000,0.088,2939,3613,1807
$GC,20758,1.27,251.6,556.2,7.4,999,20763,0.00,2.83,0.00,0.000,6,0.000,0.074,2939,2100,1807
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$STATE,28552,begin surface coast
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