version: 66.04
glider: 5
mission: 5
dive: 398
start: 2 3 109 13 5 33
data:
$ID,5
$MISSION,5
$DIVE,398
$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,-95201.391
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,125200,6042.292,-739.301,43,1.8,49,-8.2
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-60.5
$GPS2,130514,6042.198,-739.767,15,1.3,15,-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,67.8,10250,-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,-81.45,0.000,2,0.000,0.000,421,1982,3152
$GC,103,-0.97,-146.6,3.1,-3.0,4,129,11.05,2.62,-7.75,0.000,4,0.135,0.073,2524,3408,3431
$GC,164,-0.89,-146.6,13.6,-11.6,6,171,0.12,2.53,0.00,0.000,6,0.090,0.050,2550,2001,3431
$GC,480,-0.85,-146.6,39.3,-8.8,22,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2000,3431
$GC,790,-0.80,-146.6,65.2,-7.9,37,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2000,3431
$GC,1098,-0.80,-146.6,87.0,-6.3,52,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2000,3430
$GC,1408,-0.76,-146.6,109.5,-8.3,67,1413,0.12,2.60,0.00,0.000,4,0.096,0.061,2577,3415,3430
$GC,1438,-0.80,-146.6,111.9,-7.9,68,1442,0.00,2.53,0.00,0.000,6,0.000,0.048,2578,1997,3431
$GC,1755,-0.84,-146.6,136.0,-7.4,83,1759,0.00,2.53,0.00,0.000,4,0.000,0.066,2578,590,3431
$GC,1782,-0.84,-146.6,138.7,-9.7,84,1787,0.00,2.53,0.00,0.000,6,0.000,0.052,2577,2009,3431
$GC,2100,-0.89,-146.6,159.2,-5.3,99,2102,0.12,0.00,0.00,0.000,6,0.054,0.000,2543,2010,3431
$GC,2408,-0.83,-146.6,177.0,-4.5,114,2413,0.10,2.60,0.00,0.000,4,0.092,0.066,2563,587,3430
$GC,2476,-0.83,-146.6,180.0,-4.5,117,2480,0.00,2.50,0.00,0.000,6,0.000,0.051,2563,1988,3431
$GC,2797,-0.83,-146.6,199.1,-8.2,133,2801,0.00,2.55,0.00,0.000,4,0.000,0.063,2563,3409,3431
$GC,2841,-0.83,-146.6,203.2,-8.4,135,2845,0.00,2.55,0.00,0.000,6,0.000,0.051,2563,1980,3431
$GC,3163,-0.83,-146.6,223.6,-6.3,151,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1980,3431
$GC,3471,-0.83,-146.6,244.2,-7.0,166,3475,0.00,2.60,0.00,0.000,4,0.000,0.062,2563,3408,3431
$GC,3504,-0.83,-146.6,246.7,-7.4,167,3510,0.00,2.53,0.00,0.000,6,0.000,0.051,2563,1993,3430
$GC,3820,-0.83,-146.6,269.2,-7.3,183,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1992,3431
$GC,4129,-0.83,-146.6,292.7,-7.3,198,4133,0.00,2.58,0.00,0.000,4,0.000,0.063,2563,3405,3431
$GC,4161,-0.83,-146.6,295.2,-8.0,199,4168,0.00,2.53,0.00,0.000,6,0.000,0.051,2563,1988,3431
$GC,4478,-0.83,-146.6,314.8,-5.9,215,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1988,3431
$GC,4787,-0.83,-146.6,332.6,-5.7,230,4791,0.00,2.58,0.00,0.000,4,0.000,0.063,2563,3404,3431
$GC,4814,-0.83,-146.6,334.3,-6.2,231,4818,0.00,2.50,0.00,0.000,6,0.000,0.051,2562,2000,3431
$GC,5131,-0.83,-146.6,354.8,-7.0,246,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2000,3431
$GC,5440,-0.83,-146.6,375.5,-6.2,261,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2000,3431
$GC,5748,-0.83,-146.6,395.0,-6.2,276,5753,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,3409,3431
$GC,5822,-0.83,-146.6,399.8,-6.9,279,5827,0.00,2.50,0.00,0.000,6,0.000,0.050,2563,2002,3430
$GC,6143,-0.83,-146.6,418.3,-4.9,295,6147,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,3403,3431
$GC,6211,-0.87,-146.6,421.8,-5.2,298,6215,0.00,2.42,0.00,0.000,6,0.000,0.051,2563,2037,3431
$GC,6538,-0.87,-146.6,440.6,-6.7,314,6543,0.00,2.50,0.00,0.000,4,0.000,0.064,2563,3406,3431
$GC,6589,-0.91,-146.6,444.7,-8.5,316,6593,0.00,2.40,0.00,0.000,6,0.000,0.052,2563,2062,3431
$GC,6911,-0.91,-146.6,472.9,-8.6,332,6915,0.00,2.62,0.00,0.000,4,0.000,0.065,2563,590,3431
$GC,6928,-0.91,-146.6,474.3,-8.2,333,6933,0.00,2.65,0.00,0.000,6,0.000,0.053,2563,2088,3431
$GC,7255,-0.91,-146.6,494.6,-5.2,349,7259,0.00,2.72,0.00,0.000,4,0.000,0.067,2563,588,3431
$GC,7306,-0.96,-146.6,497.3,-5.4,351,7311,0.12,2.62,0.00,0.000,6,0.058,0.055,2526,2062,3431
$GC,7623,-0.89,-146.6,515.9,-5.8,366,7628,0.12,2.72,0.00,0.000,4,0.091,0.070,2552,587,3431
$GC,7663,-0.89,-146.6,518.3,-5.7,368,7668,0.00,2.62,0.00,0.000,6,0.000,0.058,2552,2055,3431
$GC,7991,-0.89,-146.6,539.3,-7.2,384,7996,0.00,2.47,0.00,0.000,4,0.000,0.074,2552,3405,3430
$GC,8025,-0.89,-146.6,542.0,-7.9,385,8031,0.00,2.45,0.00,0.000,6,0.000,0.064,2552,2065,3430
$GC,8342,-0.89,-146.6,565.7,-7.6,401,8346,0.00,2.67,0.00,0.000,4,0.000,0.076,2552,597,3429
$GC,8397,-0.89,-146.6,570.3,-7.8,403,8403,0.00,2.65,0.00,0.000,6,0.000,0.062,2552,2061,3429
$GC,8713,-0.89,-146.6,590.0,-5.6,419,8717,0.00,2.47,0.00,0.000,4,0.000,0.077,2552,3403,3428
$GC,8787,-0.93,-146.6,595.2,-7.8,422,8791,0.00,2.40,0.00,0.000,6,0.000,0.066,2552,2093,3427
$GC,9109,-0.93,-146.6,618.0,-7.5,438,9113,0.00,2.75,0.00,0.000,4,0.000,0.080,2552,593,3426
$GC,9186,-0.93,-146.6,624.8,-9.5,441,9193,0.00,2.70,0.00,0.000,6,0.000,0.067,2552,2072,3426
$GC,9505,-0.93,-146.6,650.8,-8.0,457,9510,0.00,2.78,0.00,0.000,4,0.000,0.081,2552,590,3425
$GC,9538,-0.93,-146.6,654.0,-9.1,458,9544,0.00,2.72,0.00,0.000,6,0.000,0.069,2552,2076,3425
$GC,9854,-0.93,-146.6,678.9,-7.8,474,9858,0.00,2.78,0.00,0.000,4,0.000,0.083,2552,599,3424
$GC,9882,-0.93,-146.6,681.1,-7.6,475,9886,0.00,2.67,0.00,0.000,6,0.000,0.071,2552,2056,3424
$GC,10198,-0.93,-146.6,705.6,-8.0,490,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2056,3423
$GC,10507,-0.93,-146.6,730.2,-7.9,505,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2056,3422
$GC,10817,-0.93,-146.6,754.5,-7.8,520,10822,0.00,2.78,0.00,0.000,4,0.000,0.090,2552,598,3420
$GC,10850,-0.93,-146.6,757.2,-8.2,521,10856,0.00,2.70,0.00,0.000,6,0.000,0.074,2552,2053,3420
$GC,11166,-0.93,-146.6,777.6,-5.9,537,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2053,3419
$GC,11476,-0.93,-146.6,795.2,-5.9,552,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2054,3418
$GC,11784,-0.93,-146.6,812.8,-5.4,567,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2053,3417
$GC,12093,-0.93,-146.6,833.1,-6.3,582,12098,0.00,2.78,0.00,0.000,4,0.000,0.092,2552,600,3416
$GC,12115,-0.93,-146.6,834.6,-6.2,583,12120,0.00,2.67,0.00,0.000,6,0.000,0.076,2552,2041,3416
$GC,12436,-0.93,-146.6,857.0,-6.6,599,12441,0.00,2.75,0.00,0.000,4,0.000,0.091,2552,599,3415
$GC,12463,-0.93,-146.6,858.8,-6.8,600,12468,0.00,2.67,0.00,0.000,6,0.000,0.076,2552,2036,3415
$GC,12781,-1.00,-146.6,880.6,-7.5,615,12782,0.12,0.00,0.00,0.000,6,0.074,0.000,2521,2036,3414
$GC,13089,-0.93,-146.6,905.2,-7.3,630,13093,0.00,2.75,0.00,0.000,4,0.000,0.091,2521,598,3413
$GC,13130,-0.87,-146.6,908.4,-8.1,632,13135,0.15,2.65,0.00,0.000,6,0.105,0.077,2551,2019,3413
$GC,13457,-0.92,-146.6,934.3,-6.8,648,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2020,3412
$GC,13766,-0.96,-146.6,954.4,-7.5,663,13771,0.00,2.72,0.00,0.000,4,0.000,0.092,2551,596,3411
$GC,13823,-1.02,-146.6,957.3,-4.9,665,13831,0.15,2.62,0.00,0.000,6,0.069,0.076,2515,2017,3411
$STATE,14137,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14137,begin apogee
$GC,14144,-0.33,0.0,985.3,9.5,681,14281,0.75,0.00,133.18,1.631,6,0.091,0.000,2668,2131,2832
$STATE,14281,end apogee,CONTROL_FINISHED_OK
$STATE,14282,begin climb
$GC,14285,0.97,146.6,989.0,0.0,688,14432,1.35,2.78,137.27,1.575,4,0.075,0.088,2952,3524,2234
$GC,14468,0.76,146.6,983.2,7.3,696,14475,0.22,2.67,0.00,0.000,6,0.100,0.079,2911,2137,2234
$GC,14785,0.69,146.6,962.2,7.5,712,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2136,2233
$GC,15095,0.81,219.8,946.3,4.0,727,15171,0.00,2.80,68.25,1.546,4,0.000,0.087,2911,3518,1936
$GC,15194,0.81,219.8,939.6,7.1,731,15200,0.00,2.72,0.00,0.000,6,0.000,0.078,2911,2106,1936
$GC,15511,0.81,219.8,919.7,6.8,747,15515,0.00,2.65,0.00,0.000,4,0.000,0.091,2911,707,1937
$GC,15544,0.85,247.8,917.7,5.2,748,15579,0.00,2.67,27.73,1.501,6,0.000,0.077,2911,2125,1821
$GC,15905,0.85,247.8,898.2,6.1,766,15909,0.00,2.78,0.00,0.000,4,0.000,0.092,2910,703,1821
$GC,15932,0.88,267.6,896.5,5.5,767,15958,0.12,2.67,19.65,1.476,6,0.067,0.077,2943,2118,1741
$GC,16272,0.83,267.6,871.8,6.3,783,16277,0.00,2.72,0.00,0.000,4,0.000,0.092,2943,711,1741
$GC,16296,0.79,278.4,870.3,5.7,784,16314,0.15,2.62,11.65,1.400,6,0.101,0.076,2913,2104,1696
$GC,16624,0.88,301.7,852.2,5.4,800,16649,0.10,0.00,22.40,1.480,6,0.074,0.000,2939,2104,1602
$GC,16952,0.88,301.7,829.2,7.1,816,16956,0.00,2.70,0.00,0.000,4,0.000,0.093,2939,709,1602
$GC,16973,0.88,301.7,827.4,7.6,817,16978,0.00,2.65,0.00,0.000,6,0.000,0.076,2939,2114,1602
$GC,17294,0.88,301.7,805.0,6.8,833,17295,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2114,1601
$GC,17604,0.88,301.7,781.4,8.2,848,17609,0.00,2.72,0.00,0.000,4,0.000,0.092,2939,703,1601
$GC,17626,0.88,301.7,779.4,8.2,849,17630,0.00,2.62,0.00,0.000,6,0.000,0.076,2939,2095,1601
$GC,17947,0.88,301.7,752.2,8.7,865,17951,0.00,2.72,0.00,0.000,4,0.000,0.087,2939,3534,1601
$GC,17969,0.88,301.7,750.2,8.3,866,17974,0.00,2.72,0.00,0.000,6,0.000,0.077,2939,2094,1601
$GC,18290,0.88,301.7,722.5,8.8,882,18294,0.00,2.78,0.00,0.000,4,0.000,0.088,2939,3531,1601
$GC,18311,0.88,301.7,720.4,8.5,883,18316,0.00,2.70,0.00,0.000,6,0.000,0.077,2940,2106,1601
$GC,18633,0.88,301.7,692.3,9.3,899,18634,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2106,1601
$GC,18941,0.88,301.7,663.7,9.0,914,18942,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2106,1600
$GC,19251,0.88,301.7,641.2,6.9,929,19255,0.00,2.75,0.00,0.000,4,0.000,0.087,2939,3533,1600
$GC,19278,0.88,301.7,638.9,8.9,930,19282,0.00,2.65,0.00,0.000,6,0.000,0.074,2940,2120,1600
$GC,19594,0.88,301.7,616.3,6.8,945,19599,0.00,2.65,0.00,0.000,4,0.000,0.088,2939,707,1600
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$STATE,27270,end climb,SURFACE_DEPTH_REACHED
$STATE,27270,begin surface coast
$FINISH,0.5,1.002275
$STATE,27311,end surface coast,CONTROL_FINISHED_OK
$STATE,27311,begin surface
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