version: 66.04
glider: 5
mission: 5
dive: 395
start: 2 2 109 13 20 7
data:
$ID,5
$MISSION,5
$DIVE,395
$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,-95149.766
$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,57
$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
$GPS1,131236,6038.212,-737.240,38,1.3,44,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.4
$GPS2,131949,6038.177,-737.484,15,1.3,32,-8.2
$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,36.4,14336,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.75,0.000,2,0.000,0.000,419,1968,3206
$GC,102,-0.97,-146.6,3.9,-4.1,4,121,11.10,0.00,-5.80,0.000,6,0.133,0.000,2531,1971,3431
$GC,428,-0.87,-146.6,38.9,-9.2,20,430,0.10,0.00,0.00,0.000,6,0.097,0.000,2551,1965,3431
$GC,736,-0.87,-146.6,62.6,-7.7,35,740,0.00,2.60,0.00,0.000,4,0.000,0.061,2551,3409,3431
$GC,769,-0.87,-146.6,65.6,-9.2,36,776,0.00,2.45,0.00,0.000,6,0.000,0.048,2551,2031,3431
$GC,1087,-0.87,-146.6,90.8,-7.6,52,1091,0.00,2.58,0.00,0.000,4,0.000,0.064,2551,591,3431
$GC,1136,-0.87,-146.6,94.8,-7.4,54,1141,0.00,2.50,0.00,0.000,6,0.000,0.051,2551,1998,3431
$GC,1455,-0.87,-146.6,116.7,-7.1,69,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3431
$GC,1762,-0.87,-146.6,136.9,-7.7,84,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3431
$GC,2071,-0.87,-146.6,161.7,-7.7,99,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3431
$GC,2381,-0.87,-146.6,186.0,-7.9,114,2385,0.00,2.58,0.00,0.000,4,0.000,0.065,2551,584,3431
$GC,2430,-0.87,-146.6,190.4,-8.3,116,2435,0.00,2.50,0.00,0.000,6,0.000,0.052,2552,1992,3431
$GC,2747,-0.87,-146.6,216.2,-8.0,131,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1992,3431
$GC,3057,-0.87,-146.6,238.6,-6.5,146,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1991,3431
$GC,3365,-0.87,-146.6,258.6,-6.7,161,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1992,3431
$GC,3674,-0.87,-146.6,280.1,-6.9,176,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1992,3431
$GC,3987,-0.87,-146.6,300.9,-6.7,191,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1995,3431
$GC,4293,-0.87,-146.6,321.6,-6.9,206,4297,0.00,2.55,0.00,0.000,4,0.000,0.067,2551,597,3431
$GC,4320,-0.87,-146.6,323.6,-7.5,207,4324,0.00,2.47,0.00,0.000,6,0.000,0.053,2551,1991,3431
$GC,4636,-0.87,-146.6,344.3,-6.1,222,4641,0.00,2.55,0.00,0.000,4,0.000,0.068,2551,597,3431
$GC,4670,-0.87,-146.6,346.6,-7.0,223,4676,0.00,2.47,0.00,0.000,6,0.000,0.053,2552,1989,3431
$GC,4986,-0.87,-146.6,366.2,-6.2,239,4990,0.00,2.55,0.00,0.000,4,0.000,0.064,2551,3408,3431
$GC,5036,-0.87,-146.6,369.5,-6.1,241,5040,0.00,2.53,0.00,0.000,6,0.000,0.054,2551,1999,3431
$GC,5353,-0.87,-146.6,391.6,-7.4,256,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1998,3431
$GC,5661,-0.87,-146.6,421.3,-9.0,271,5665,0.00,2.58,0.00,0.000,4,0.000,0.064,2551,3411,3431
$GC,5717,-0.87,-146.6,426.3,-8.8,273,5723,0.00,2.53,0.00,0.000,6,0.000,0.054,2551,2002,3431
$GC,6033,-0.87,-146.6,448.4,-6.0,289,6037,0.00,2.53,0.00,0.000,4,0.000,0.067,2551,591,3431
$GC,6156,-0.87,-146.6,455.9,-5.3,294,6162,0.00,2.50,0.00,0.000,6,0.000,0.052,2551,2002,3431
$GC,6473,-0.87,-146.6,470.0,-3.5,310,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3431
$GC,6781,-0.87,-146.6,483.8,-6.2,325,6785,0.00,2.53,0.00,0.000,4,0.000,0.066,2551,3404,3431
$GC,6814,-0.87,-146.6,486.8,-9.1,326,6820,0.00,2.58,0.00,0.000,6,0.000,0.056,2551,1973,3431
$GC,7130,-0.87,-146.6,512.5,-6.5,342,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1972,3431
$GC,7438,-0.87,-146.6,533.1,-8.1,357,7443,0.00,2.65,0.00,0.000,4,0.000,0.071,2551,3409,3431
$GC,7466,-0.87,-146.6,535.7,-9.2,358,7470,0.00,2.62,0.00,0.000,6,0.000,0.060,2551,1960,3431
$GC,7784,-0.87,-146.6,565.0,-8.8,373,7788,0.00,2.67,0.00,0.000,4,0.000,0.072,2551,3405,3431
$GC,7847,-0.91,-146.6,570.6,-9.5,376,7851,0.00,2.58,0.00,0.000,6,0.000,0.063,2551,1993,3430
$GC,8173,-0.91,-146.6,598.7,-8.9,392,8177,0.00,2.62,0.00,0.000,4,0.000,0.076,2551,3401,3430
$GC,8236,-0.91,-146.6,603.8,-9.9,395,8240,0.00,2.55,0.00,0.000,6,0.000,0.067,2551,2011,3429
$GC,8563,-0.91,-146.6,624.0,-7.9,411,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3428
$GC,8873,-0.91,-146.6,649.5,-8.9,426,8878,0.00,2.60,0.00,0.000,4,0.000,0.080,2551,3400,3426
$GC,8957,-0.97,-146.6,657.8,-9.2,429,8963,0.00,2.53,0.00,0.000,6,0.000,0.069,2551,2033,3426
$GC,9273,-0.97,-146.6,682.6,-7.0,445,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2032,3425
$GC,9584,-0.97,-146.6,700.2,-5.0,460,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2032,3424
$GC,9891,-0.97,-146.6,720.0,-6.7,475,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2032,3423
$GC,10200,-0.97,-146.6,740.8,-7.3,490,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2032,3422
$GC,10511,-0.97,-146.6,764.1,-8.3,505,10515,0.00,2.62,0.00,0.000,4,0.000,0.087,2551,3408,3421
$GC,10544,-1.03,-146.6,766.9,-8.7,506,10551,0.15,2.55,0.00,0.000,6,0.074,0.074,2517,2043,3420
$GC,10860,-0.97,-146.6,796.5,-8.8,522,10864,0.00,2.72,0.00,0.000,4,0.000,0.091,2516,591,3419
$GC,10935,-0.90,-146.6,804.0,-11.2,525,10940,0.15,2.65,0.00,0.000,6,0.109,0.075,2545,2020,3419
$GC,11251,-0.90,-146.6,832.6,-10.0,540,11252,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2020,3418
$GC,11561,-0.90,-146.6,857.3,-7.4,555,11562,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2024,3417
$GC,11869,-0.90,-146.6,881.5,-8.5,570,11874,0.00,2.72,0.00,0.000,4,0.000,0.090,2546,588,3416
$GC,11902,-0.90,-146.6,883.7,-6.7,571,11908,0.00,2.65,0.00,0.000,6,0.000,0.077,2545,2015,3416
$GC,12218,-0.90,-146.6,907.8,-8.5,587,12223,0.00,2.62,0.00,0.000,4,0.000,0.090,2545,3406,3415
$GC,12263,-0.95,-146.6,912.0,-9.7,589,12268,0.00,2.60,0.00,0.000,6,0.000,0.078,2545,2026,3415
$GC,12584,-0.95,-146.6,933.6,-6.2,605,12589,0.00,2.72,0.00,0.000,4,0.000,0.097,2545,587,3414
$GC,12630,-0.95,-146.6,936.2,-5.6,607,12635,0.00,2.67,0.00,0.000,6,0.000,0.077,2545,2023,3414
$GC,12952,-0.95,-146.6,954.7,-5.3,623,12957,0.00,2.62,0.00,0.000,4,0.000,0.090,2545,3416,3414
$GC,12997,-0.95,-146.6,958.0,-7.8,625,13001,0.00,2.62,0.00,0.000,6,0.000,0.078,2545,2020,3413
$GC,13319,-0.95,-146.6,977.9,-5.6,641,13324,0.00,2.72,0.00,0.000,4,0.000,0.097,2545,583,3413
$GC,13381,-0.95,-146.6,983.0,-8.5,644,13386,0.00,2.67,0.00,0.000,6,0.000,0.078,2545,2023,3412
$STATE,13499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13499,begin apogee
$GC,13507,-0.33,0.0,991.0,6.7,650,13646,0.60,0.00,135.10,1.628,6,0.089,0.000,2668,2135,2832
$STATE,13646,end apogee,CONTROL_FINISHED_OK
$STATE,13646,begin climb
$GC,13649,0.97,146.6,997.3,0.0,657,13801,1.35,2.80,139.75,1.570,4,0.077,0.089,2950,3529,2234
$GC,13869,0.79,146.6,989.8,7.8,667,13875,0.17,2.70,0.00,0.000,6,0.105,0.077,2919,2121,2234
$GC,14192,0.73,164.6,969.3,5.5,683,14213,0.00,0.00,18.17,1.453,6,0.000,0.000,2919,2121,2161
$GC,14524,0.82,257.1,950.9,3.5,699,14620,0.00,2.83,89.15,1.536,4,0.000,0.095,2919,715,1783
$GC,14655,0.82,257.1,942.7,7.3,705,14660,0.00,2.70,0.00,0.000,6,0.000,0.077,2919,2127,1784
$GC,14978,0.84,264.6,922.8,5.8,721,14989,0.00,0.00,9.15,1.323,6,0.000,0.000,2919,2128,1753
$GC,15286,0.84,264.6,905.2,6.5,736,15290,0.00,2.75,0.00,0.000,4,0.000,0.094,2919,712,1753
$GC,15313,0.84,264.6,902.9,8.3,737,15317,0.00,2.67,0.00,0.000,6,0.000,0.077,2919,2127,1753
$GC,15629,0.84,264.6,875.6,8.7,752,15634,0.00,2.75,0.00,0.000,4,0.000,0.096,2919,714,1753
$GC,15669,0.84,264.6,872.2,8.9,754,15673,0.00,2.62,0.00,0.000,6,0.000,0.077,2919,2110,1753
$GC,15995,0.84,264.6,843.9,9.0,770,15996,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2112,1753
$GC,16305,0.84,264.6,821.5,7.3,785,16310,0.00,2.72,0.00,0.000,4,0.000,0.096,2919,710,1753
$GC,16345,0.84,264.6,818.2,8.2,787,16350,0.00,2.62,0.00,0.000,6,0.000,0.077,2919,2103,1752
$GC,16672,0.84,264.6,790.6,8.7,803,16677,0.00,2.72,0.00,0.000,4,0.000,0.096,2919,704,1752
$GC,16694,0.84,264.6,788.5,9.1,804,16699,0.00,2.60,0.00,0.000,6,0.000,0.077,2919,2087,1752
$GC,17016,0.84,264.6,762.5,7.5,820,17017,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2089,1752
$GC,17324,0.89,295.7,744.6,5.1,835,17356,0.00,0.00,29.62,1.452,6,0.000,0.000,2919,2089,1627
$GC,17655,0.93,295.7,726.7,6.1,851,17660,0.12,2.70,0.00,0.000,4,0.066,0.093,2950,706,1626
$GC,17689,0.87,295.7,723.9,9.7,852,17695,0.00,2.60,0.00,0.000,6,0.000,0.076,2950,2084,1626
$GC,18005,0.82,295.7,699.1,7.5,868,18007,0.15,0.00,0.00,0.000,6,0.096,0.000,2921,2098,1626
$GC,18316,0.88,304.8,682.8,5.7,883,18327,0.00,0.00,9.85,1.295,6,0.000,0.000,2921,2085,1589
$GC,18623,0.93,304.8,660.7,7.2,898,18628,0.10,2.75,0.00,0.000,4,0.071,0.087,2947,3538,1589
$GC,18640,0.93,304.8,659.0,8.5,899,18645,0.00,2.78,0.00,0.000,6,0.000,0.074,2946,2065,1589
$GC,18968,0.93,304.8,636.4,6.9,915,18970,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2063,1589
$GC,19277,0.93,304.8,614.0,6.3,930,19281,0.00,2.55,0.00,0.000,4,0.000,0.088,2947,710,1589
$GC,19332,0.93,304.8,609.8,7.4,932,19338,0.00,2.55,0.00,0.000,6,0.000,0.071,2947,2076,1589
$GC,19648,0.93,304.8,581.0,9.7,948,19650,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2099,1589
$GC,19958,0.93,304.8,557.1,6.7,963,19959,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2099,1589
$GC,20266,0.98,336.7,541.7,5.1,978,20301,0.00,2.78,29.38,1.295,4,0.000,0.077,2947,3532,1459
$GC,20319,0.98,336.7,538.3,6.8,980,20324,0.00,2.78,0.00,0.000,6,0.000,0.066,2947,2051,1460
$GC,20635,0.98,336.7,512.9,8.8,995,20639,0.00,2.47,0.00,0.000,4,0.000,0.076,2947,709,1458
$GC,20667,0.98,336.7,509.7,8.9,996,20674,0.00,2.50,0.00,0.000,6,0.000,0.065,2947,2066,1458
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$STATE,26911,begin surface coast
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$10V_AH,10.1,34.612
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