version: 66.04
glider: 5
mission: 5
dive: 288
start: 1 7 109 18 0 57
data:
$ID,5
$MISSION,5
$DIVE,288
$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,225
$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,-92883.086
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,28
$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,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,5
$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
$GPS1,175007,6027.429,-439.336,37,0.9,37,-6.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-60.7
$GPS2,180038,6027.588,-439.093,14,1.2,14,-6.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6019.952,-454.521
$TGT_RADIUS,1852.000
$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,231.6,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-76.62,0.000,6,0.000,0.000,422,1977,3429
$GC,103,-0.97,-146.6,6.0,-7.1,4,119,10.77,2.62,0.00,0.000,4,0.133,0.063,2483,3413,3430
$GC,154,-0.74,-146.6,22.4,-17.4,5,159,0.28,2.55,0.00,0.000,6,0.085,0.051,2541,1998,3431
$GC,472,-0.68,-146.6,49.5,-8.6,20,476,0.00,2.60,0.00,0.000,4,0.000,0.062,2541,3418,3432
$GC,505,-0.64,-146.6,52.3,-8.5,21,511,0.00,2.55,0.00,0.000,6,0.000,0.048,2542,1989,3431
$GC,822,-0.57,-146.6,78.7,-8.5,37,827,0.15,2.62,0.00,0.000,4,0.085,0.061,2574,3417,3432
$GC,849,-0.57,-146.6,81.1,-7.9,38,854,0.00,2.53,0.00,0.000,6,0.000,0.048,2574,1998,3432
$GC,1167,-0.57,-146.6,104.3,-7.5,53,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1997,3431
$GC,1475,-0.57,-146.6,128.0,-7.8,68,1480,0.00,2.60,0.00,0.000,4,0.000,0.062,2574,3422,3432
$GC,1520,-0.62,-146.6,131.3,-7.5,70,1524,0.00,2.50,0.00,0.000,6,0.000,0.048,2573,2010,3432
$GC,1848,-0.62,-146.6,153.3,-6.7,86,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2010,3432
$GC,2158,-0.62,-146.6,174.5,-7.0,101,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2010,3432
$GC,2466,-0.62,-146.6,195.1,-6.5,116,2471,0.00,2.58,0.00,0.000,4,0.000,0.063,2574,3421,3432
$GC,2529,-0.67,-146.6,199.3,-6.5,119,2534,0.00,2.50,0.00,0.000,6,0.000,0.048,2573,2014,3432
$GC,2857,-0.67,-146.6,220.0,-6.3,135,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2014,3432
$GC,3166,-0.71,-146.6,239.7,-6.4,150,3171,0.12,2.58,0.00,0.000,4,0.058,0.063,2538,3413,3432
$GC,3199,-0.66,-146.6,242.3,-8.1,151,3205,0.00,2.47,0.00,0.000,6,0.000,0.050,2538,2023,3432
$GC,3516,-0.60,-146.6,266.7,-7.6,167,3518,0.15,0.00,0.00,0.000,6,0.088,0.000,2570,2023,3432
$GC,3824,-0.60,-146.6,285.8,-6.2,182,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2023,3432
$GC,4134,-0.60,-146.6,305.3,-6.4,197,4139,0.00,2.55,0.00,0.000,4,0.000,0.066,2571,3415,3432
$GC,4168,-0.65,-146.6,307.7,-7.3,198,4174,0.00,2.47,0.00,0.000,6,0.000,0.052,2570,2027,3432
$GC,4483,-0.65,-146.6,328.2,-6.7,214,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2027,3432
$GC,4793,-0.65,-146.6,348.8,-6.6,229,4798,0.00,2.55,0.00,0.000,4,0.000,0.067,2570,3418,3431
$GC,4827,-0.71,-146.6,351.0,-6.8,230,4834,0.12,2.50,0.00,0.000,6,0.058,0.053,2535,2022,3432
$GC,5144,-0.65,-146.6,374.8,-7.4,246,5149,0.10,2.58,0.00,0.000,4,0.094,0.072,2556,590,3431
$GC,5195,-0.65,-146.6,378.5,-7.1,248,5199,0.00,2.58,0.00,0.000,6,0.000,0.054,2556,2035,3431
$GC,5516,-0.65,-146.6,399.2,-6.1,264,5520,0.00,2.50,0.00,0.000,4,0.000,0.071,2556,3411,3431
$GC,5549,-0.65,-146.6,401.5,-6.7,265,5555,0.00,2.53,0.00,0.000,6,0.000,0.058,2556,2009,3431
$GC,5866,-0.65,-146.6,420.3,-6.2,281,5870,0.00,2.60,0.00,0.000,4,0.000,0.072,2556,3413,3431
$GC,5898,-0.65,-146.6,422.6,-7.2,282,5905,0.00,2.53,0.00,0.000,6,0.000,0.061,2555,2020,3431
$GC,6214,-0.65,-146.6,442.7,-6.4,298,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2020,3431
$GC,6524,-0.65,-146.6,462.3,-6.4,313,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2019,3430
$GC,6832,-0.65,-146.6,483.3,-6.9,328,6837,0.00,2.60,0.00,0.000,4,0.000,0.081,2556,3406,3429
$GC,6866,-0.69,-146.6,485.6,-7.2,329,6872,0.00,2.58,0.00,0.000,6,0.000,0.069,2556,2010,3429
$GC,7182,-0.69,-146.6,506.8,-6.6,345,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2011,3427
$GC,7490,-0.69,-146.6,527.7,-6.8,360,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2011,3427
$GC,7800,-0.69,-146.6,548.2,-6.7,375,7804,0.00,2.62,0.00,0.000,4,0.000,0.084,2556,3402,3425
$GC,7840,-0.74,-146.6,550.9,-6.9,377,7845,0.00,2.58,0.00,0.000,6,0.000,0.071,2556,2009,3425
$GC,8167,-0.74,-146.6,573.0,-6.9,393,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2009,3423
$GC,8476,-0.74,-146.6,593.3,-6.6,408,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2009,3422
$GC,8786,-0.74,-146.6,613.1,-6.3,423,8791,0.00,2.67,0.00,0.000,4,0.000,0.087,2556,3409,3421
$GC,8814,-0.78,-146.6,615.0,-7.0,424,8819,0.12,2.58,0.00,0.000,6,0.070,0.074,2525,2025,3420
$GC,9131,-0.73,-146.6,637.5,-7.0,439,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2025,3419
$GC,9440,-0.69,-146.6,660.0,-7.4,454,9442,0.12,0.00,0.00,0.000,6,0.108,0.000,2551,2025,3418
$GC,9748,-0.69,-146.6,680.0,-6.5,469,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2024,3417
$GC,10058,-0.69,-146.6,700.0,-6.3,484,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2025,3416
$GC,10368,-0.69,-146.6,719.9,-6.4,499,10373,0.00,2.65,0.00,0.000,4,0.000,0.090,2551,3405,3415
$GC,10395,-0.69,-146.6,721.9,-7.0,500,10400,0.00,2.58,0.00,0.000,6,0.000,0.077,2551,2026,3415
$GC,10712,-0.69,-146.6,742.3,-6.5,515,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2025,3415
$GC,11020,-0.69,-146.6,762.1,-6.3,530,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2026,3414
$GC,11330,-0.69,-146.6,781.1,-6.0,545,11331,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2026,3414
$GC,11640,-0.69,-146.6,799.1,-5.7,560,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2026,3413
$GC,11949,-0.69,-146.6,816.8,-5.8,575,11950,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2026,3413
$GC,12258,-0.69,-146.6,835.0,-6.0,590,12259,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2026,3412
$GC,12568,-0.73,-146.6,853.1,-5.9,605,12573,0.00,2.65,0.00,0.000,4,0.000,0.091,2551,3404,3412
$GC,12596,-0.77,-146.6,854.9,-6.2,606,12600,0.00,2.60,0.00,0.000,6,0.000,0.077,2551,2022,3412
$GC,12913,-0.81,-146.6,873.1,-5.7,621,12915,0.12,0.00,0.00,0.000,6,0.074,0.000,2520,2020,3411
$GC,13222,-0.77,-146.6,893.5,-6.7,636,13223,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2020,3411
$GC,13531,-0.72,-146.6,913.7,-6.5,651,13532,0.10,0.00,0.00,0.000,6,0.113,0.000,2539,2020,3410
$GC,13841,-0.72,-146.6,931.7,-5.9,666,13842,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2020,3410
$GC,14149,-0.72,-146.6,949.4,-5.7,681,14154,0.00,2.67,0.00,0.000,4,0.000,0.094,2539,3401,3409
$GC,14193,-0.72,-146.6,952.2,-5.9,683,14198,0.00,2.60,0.00,0.000,6,0.000,0.079,2539,2023,3409
$GC,14515,-0.72,-146.6,971.4,-6.0,699,14517,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2023,3409
$STATE,14800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14800,begin apogee
$GC,14808,-0.33,0.0,990.3,6.7,713,14944,0.43,0.00,131.62,1.663,6,0.093,0.000,2626,2204,2832
$STATE,14944,end apogee,CONTROL_FINISHED_OK
$STATE,14945,begin climb
$GC,14948,0.97,146.6,996.4,0.0,720,15094,1.38,2.80,136.98,1.599,4,0.079,0.097,2909,3597,2234
$GC,15125,0.89,146.6,989.7,8.5,728,15131,0.00,2.67,0.00,0.000,6,0.000,0.078,2909,2200,2234
$GC,15442,0.83,147.9,970.5,6.0,744,15447,0.15,2.72,0.00,0.000,4,0.105,0.097,2882,787,2233
$GC,15498,0.90,188.9,967.3,4.9,746,15546,0.00,2.67,39.47,1.551,6,0.000,0.079,2881,2195,2061
$GC,15860,1.00,215.3,948.4,5.3,764,15891,0.17,2.83,25.30,1.532,4,0.067,0.094,2924,789,1953
$GC,15914,0.94,215.3,944.2,7.5,766,15920,0.00,2.67,0.00,0.000,6,0.000,0.079,2924,2182,1953
$GC,16230,0.94,215.3,921.9,7.0,782,16231,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2183,1955
$GC,16540,0.94,215.3,901.1,6.6,797,16544,0.00,2.72,0.00,0.000,4,0.000,0.095,2924,789,1955
$GC,16595,0.88,215.3,897.1,8.1,799,16602,0.15,2.65,0.00,0.000,6,0.101,0.079,2894,2186,1955
$GC,16912,0.98,243.1,880.3,5.2,815,16946,0.00,2.80,26.70,1.541,4,0.000,0.094,2894,787,1839
$GC,16970,1.06,253.0,877.0,5.7,817,16986,0.17,2.65,10.35,1.403,6,0.066,0.077,2936,2172,1800
$GC,17305,1.06,253.0,852.3,7.8,834,17309,0.00,2.72,0.00,0.000,4,0.000,0.097,2936,783,1800
$GC,17350,0.99,253.0,848.4,7.8,836,17354,0.00,2.60,0.00,0.000,6,0.000,0.078,2936,2154,1800
$GC,17671,0.95,253.0,823.1,7.8,852,17676,0.12,2.67,0.00,0.000,4,0.106,0.095,2910,785,1800
$GC,17715,0.95,253.0,819.6,7.6,854,17720,0.00,2.58,0.00,0.000,6,0.000,0.077,2909,2144,1800
$GC,18037,0.95,253.0,798.2,6.7,870,18041,0.00,2.65,0.00,0.000,4,0.000,0.094,2910,785,1800
$GC,18071,0.95,253.0,795.5,7.2,871,18077,0.00,2.55,0.00,0.000,6,0.000,0.077,2910,2133,1800
$GC,18388,0.99,253.0,775.0,6.4,887,18389,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2134,1800
$GC,18696,1.04,253.0,754.1,6.8,902,18701,0.00,2.60,0.00,0.000,4,0.000,0.094,2910,791,1800
$GC,18736,1.04,253.0,751.2,7.8,904,18740,0.00,2.53,0.00,0.000,6,0.000,0.077,2910,2132,1800
$GC,19064,1.09,253.0,729.1,6.8,920,19065,0.12,0.00,0.00,0.000,6,0.073,0.000,2941,2132,1800
$GC,19372,1.09,253.0,703.9,8.1,935,19376,0.00,2.60,0.00,0.000,4,0.000,0.094,2941,792,1800
$GC,19422,1.01,253.0,699.5,8.8,937,19426,0.00,2.50,0.00,0.000,6,0.000,0.077,2942,2121,1800
$GC,19738,0.97,253.0,674.3,8.1,952,19743,0.15,2.60,0.00,0.000,4,0.100,0.092,2911,783,1800
$GC,19766,0.97,253.0,672.2,6.4,953,19770,0.00,2.50,0.00,0.000,6,0.000,0.077,2910,2114,1800
$GC,20082,1.02,253.0,651.0,6.6,968,20083,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2115,1800
$GC,20392,1.08,253.0,630.6,6.4,983,20397,0.10,2.58,0.00,0.000,4,0.075,0.091,2936,787,1800
$GC,20432,1.03,253.0,627.3,8.8,985,20436,0.00,2.47,0.00,0.000,6,0.000,0.077,2936,2109,1800
$GC,20766,1.03,253.0,602.1,7.4,1001,20767,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2110,1800
$GC,21074,1.03,253.0,578.8,7.4,1016,21075,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2110,1800
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$STATE,29317,end climb,SURFACE_DEPTH_REACHED
$STATE,29317,begin surface coast
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$STATE,29338,end surface coast,CONTROL_FINISHED_OK
$STATE,29338,begin surface
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$10V_AH,10.1,25.076
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$DATA_FILE_SIZE,72634,1412
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$CFSIZE,254472192,234254336
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