version: 66.04
glider: 5
mission: 5
dive: 399
start: 2 3 109 20 50 51
data:
$ID,5
$MISSION,5
$DIVE,399
$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,-95214.312
$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,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
$GPS1,204341,6041.285,-735.942,40,1.9,56,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-55.9
$GPS2,205032,6041.165,-736.065,12,1.7,12,-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,45.9,8976,-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,-81.50,0.000,2,0.000,0.000,423,1966,3075
$GC,103,-0.97,-146.6,3.1,-3.2,4,133,11.05,2.47,-10.52,0.000,4,0.134,0.074,2528,599,3428
$GC,151,-0.86,-146.6,9.8,-7.9,6,156,0.12,2.53,0.00,0.000,6,0.088,0.052,2554,2008,3428
$GC,473,-0.82,-146.6,34.6,-7.9,22,477,0.00,2.58,0.00,0.000,4,0.000,0.063,2554,597,3429
$GC,501,-0.82,-146.6,36.9,-8.1,23,505,0.00,2.50,0.00,0.000,6,0.000,0.053,2554,1997,3429
$GC,817,-0.82,-146.6,61.9,-7.8,38,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1998,3429
$GC,1126,-0.82,-146.6,85.9,-7.4,53,1131,0.00,2.55,0.00,0.000,4,0.000,0.062,2554,594,3429
$GC,1155,-0.82,-146.6,88.3,-8.6,54,1159,0.00,2.50,0.00,0.000,6,0.000,0.052,2554,1996,3428
$GC,1473,-0.82,-146.6,115.5,-8.9,69,1477,0.00,2.55,0.00,0.000,4,0.000,0.063,2554,594,3428
$GC,1512,-0.82,-146.6,118.8,-8.1,71,1517,0.00,2.50,0.00,0.000,6,0.000,0.053,2554,1996,3429
$GC,1841,-0.82,-146.6,147.4,-8.5,87,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1996,3429
$GC,2149,-0.82,-146.6,172.9,-8.5,102,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3428
$GC,2458,-0.82,-146.6,198.2,-7.9,117,2462,0.00,2.53,0.00,0.000,4,0.000,0.063,2554,3405,3429
$GC,2485,-0.82,-146.6,200.8,-9.0,118,2489,0.00,2.53,0.00,0.000,6,0.000,0.051,2554,1991,3429
$GC,2802,-0.82,-146.6,224.3,-6.5,133,2806,0.00,2.58,0.00,0.000,4,0.000,0.062,2554,3407,3429
$GC,2834,-0.82,-146.6,226.5,-6.6,134,2841,0.00,2.50,0.00,0.000,6,0.000,0.049,2554,2000,3429
$GC,3151,-0.82,-146.6,246.6,-6.4,150,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2000,3428
$GC,3460,-0.82,-146.6,265.0,-5.6,165,3464,0.00,2.58,0.00,0.000,4,0.000,0.064,2554,3412,3429
$GC,3493,-0.82,-146.6,267.1,-5.9,166,3499,0.00,2.50,0.00,0.000,6,0.000,0.051,2554,2010,3428
$GC,3810,-0.82,-146.6,284.6,-5.4,182,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2010,3429
$GC,4118,-0.82,-146.6,300.0,-4.4,197,4123,0.00,2.55,0.00,0.000,4,0.000,0.064,2554,3405,3429
$GC,4151,-0.82,-146.6,301.7,-5.3,198,4156,0.00,2.50,0.00,0.000,6,0.000,0.051,2554,2003,3429
$GC,4468,-0.82,-146.6,315.7,-4.3,213,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2003,3429
$GC,4777,-0.82,-146.6,332.4,-5.9,228,4781,0.00,2.53,0.00,0.000,4,0.000,0.066,2554,594,3429
$GC,4816,-0.82,-146.6,335.9,-8.9,230,4820,0.00,2.55,0.00,0.000,6,0.000,0.053,2554,2030,3429
$GC,5144,-0.82,-146.6,360.5,-8.1,246,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2030,3429
$GC,5452,-0.82,-146.6,387.1,-8.9,261,5457,0.00,2.62,0.00,0.000,4,0.000,0.067,2554,587,3429
$GC,5479,-0.82,-146.6,389.6,-8.1,262,5484,0.00,2.55,0.00,0.000,6,0.000,0.054,2554,2012,3429
$GC,5796,-0.82,-146.6,412.7,-5.8,277,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2013,3429
$GC,6104,-0.82,-146.6,431.6,-6.1,292,6109,0.00,2.60,0.00,0.000,4,0.000,0.067,2554,585,3429
$GC,6177,-0.82,-146.6,437.7,-8.5,295,6181,0.00,2.53,0.00,0.000,6,0.000,0.054,2554,1995,3428
$GC,6494,-0.82,-146.6,460.7,-7.3,310,6498,0.00,2.58,0.00,0.000,4,0.000,0.068,2554,587,3429
$GC,6573,-0.82,-146.6,466.6,-7.9,313,6579,0.00,2.50,0.00,0.000,6,0.000,0.055,2554,1981,3428
$GC,6889,-0.82,-146.6,484.8,-4.4,329,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1981,3428
$GC,7199,-0.82,-146.6,496.7,-4.0,344,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1981,3428
$GC,7507,-0.82,-146.6,509.2,-3.7,359,7512,0.00,2.55,0.00,0.000,4,0.000,0.073,2554,595,3427
$GC,7537,-0.82,-146.6,510.6,-5.2,360,7541,0.00,2.47,0.00,0.000,6,0.000,0.059,2554,1970,3427
$GC,7855,-0.82,-146.6,525.9,-5.3,375,7859,0.00,2.60,0.00,0.000,4,0.000,0.073,2554,3405,3427
$GC,7887,-0.82,-146.6,528.0,-6.2,376,7894,0.00,2.62,0.00,0.000,6,0.000,0.061,2554,1962,3427
$GC,8203,-0.82,-146.6,549.0,-7.6,392,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1961,3426
$GC,8514,-0.82,-146.6,568.6,-5.6,407,8518,0.00,2.50,0.00,0.000,4,0.000,0.076,2554,588,3425
$GC,8547,-0.82,-146.6,570.7,-6.0,408,8553,0.00,2.50,0.00,0.000,6,0.000,0.063,2554,1970,3425
$GC,8863,-0.82,-146.6,587.9,-4.9,424,8867,0.00,2.62,0.00,0.000,4,0.000,0.078,2554,3404,3424
$GC,8904,-0.82,-146.6,589.9,-5.8,426,8909,0.00,2.65,0.00,0.000,6,0.000,0.067,2554,1964,3424
$GC,9232,-0.82,-146.6,607.6,-5.8,442,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1964,3424
$GC,9542,-0.82,-146.6,624.5,-5.3,457,9546,0.00,2.72,0.00,0.000,4,0.000,0.080,2554,3412,3423
$GC,9582,-0.82,-146.6,626.7,-5.9,459,9586,0.00,2.62,0.00,0.000,6,0.000,0.068,2554,1987,3423
$GC,9908,-0.82,-146.6,642.5,-5.1,475,9913,0.00,2.58,0.00,0.000,4,0.000,0.082,2554,588,3422
$GC,9943,-0.82,-146.6,644.3,-5.7,476,9949,0.00,2.58,0.00,0.000,6,0.000,0.068,2554,1996,3422
$GC,10260,-0.82,-146.6,663.4,-6.6,492,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3421
$GC,10568,-0.82,-146.6,683.4,-6.5,507,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3420
$GC,10878,-0.82,-146.6,702.6,-6.1,522,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3419
$GC,11186,-0.82,-146.6,722.2,-6.8,537,11188,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3419
$GC,11496,-0.82,-146.6,742.8,-6.8,552,11500,0.00,2.67,0.00,0.000,4,0.000,0.088,2554,587,3418
$GC,11530,-0.82,-146.6,745.1,-7.8,553,11536,0.00,2.55,0.00,0.000,6,0.000,0.074,2554,1975,3418
$GC,11846,-0.86,-146.6,767.0,-6.5,569,11850,0.00,2.70,0.00,0.000,4,0.000,0.088,2554,3412,3416
$GC,11873,-0.90,-146.6,768.9,-7.4,570,11878,0.00,2.70,0.00,0.000,6,0.000,0.076,2554,1973,3416
$GC,12190,-0.95,-146.6,789.0,-6.3,585,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1974,3415
$GC,12499,-0.99,-146.6,808.7,-6.5,600,12504,0.12,2.75,0.00,0.000,4,0.073,0.089,2525,3409,3414
$GC,12532,-0.95,-146.6,811.1,-7.9,601,12538,0.00,2.67,0.00,0.000,6,0.000,0.078,2525,1987,3414
$GC,12850,-0.90,-146.6,834.4,-7.2,617,12855,0.10,2.72,0.00,0.000,4,0.118,0.088,2544,3410,3413
$GC,12877,-0.90,-146.6,836.5,-7.1,618,12882,0.00,2.65,0.00,0.000,6,0.000,0.076,2544,1995,3413
$GC,13194,-0.90,-146.6,856.8,-6.4,633,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1995,3413
$GC,13505,-0.90,-146.6,875.4,-5.7,648,13510,0.00,2.72,0.00,0.000,4,0.000,0.090,2544,3413,3412
$GC,13560,-0.90,-146.6,878.9,-6.4,650,13567,0.00,2.65,0.00,0.000,6,0.000,0.077,2544,1998,3412
$GC,13880,-0.90,-146.6,900.3,-6.6,666,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1983,3411
$GC,14186,-0.90,-146.6,916.9,-5.7,681,14190,0.00,2.70,0.00,0.000,4,0.000,0.090,2544,3405,3410
$GC,14226,-0.90,-146.6,919.0,-5.0,683,14230,0.00,2.62,0.00,0.000,6,0.000,0.078,2544,2010,3410
$GC,14553,-0.90,-146.6,939.5,-6.5,699,14558,0.00,2.67,0.00,0.000,4,0.000,0.092,2544,587,3410
$GC,14610,-0.94,-146.6,944.7,-8.7,701,14617,0.00,2.65,0.00,0.000,6,0.000,0.078,2544,2007,3410
$GC,14926,-0.94,-146.6,966.2,-5.8,717,14931,0.00,2.65,0.00,0.000,4,0.000,0.092,2543,3408,3410
$GC,14990,-0.99,-146.6,970.3,-6.2,720,14995,0.00,2.62,0.00,0.000,6,0.000,0.080,2544,2014,3410
$STATE,15253,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,15253,begin apogee
$GC,15260,-0.33,0.0,987.1,7.1,733,15398,0.62,0.00,134.18,1.631,6,0.089,0.000,2672,2131,2832
$STATE,15398,end apogee,CONTROL_FINISHED_OK
$STATE,15398,begin climb
$GC,15402,0.97,146.6,991.3,0.0,740,15550,1.33,2.80,138.55,1.581,4,0.074,0.089,2952,3525,2234
$GC,15569,0.71,150.3,984.6,5.9,748,15580,0.28,2.72,5.25,1.109,6,0.095,0.080,2900,2119,2219
$GC,15900,0.80,210.2,967.3,4.4,764,15963,0.00,2.83,57.40,1.534,4,0.000,0.088,2900,3528,1974
$GC,15991,0.80,210.2,961.8,6.7,768,15997,0.00,2.70,0.00,0.000,6,0.000,0.077,2900,2125,1975
$GC,16308,0.80,210.2,936.9,7.1,784,16312,0.00,2.67,0.00,0.000,4,0.000,0.091,2900,715,1975
$GC,16357,0.80,210.2,932.9,7.7,786,16362,0.00,2.67,0.00,0.000,6,0.000,0.077,2900,2129,1975
$GC,16673,0.80,210.2,912.2,6.5,801,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1976
$GC,16983,0.80,210.2,891.4,6.9,816,16988,0.00,2.67,0.00,0.000,4,0.000,0.091,2900,3533,1975
$GC,17005,0.80,210.2,889.8,7.2,817,17010,0.00,2.70,0.00,0.000,6,0.000,0.078,2900,2113,1975
$GC,17326,0.86,242.7,873.1,5.1,833,17368,0.15,2.75,31.52,1.527,4,0.067,0.091,2937,709,1842
$GC,17393,0.84,274.2,869.5,5.1,836,17430,0.00,2.70,30.77,1.506,6,0.000,0.077,2937,2122,1713
$GC,17742,0.84,274.2,843.7,7.4,852,17743,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2123,1713
$GC,18049,0.84,274.2,818.8,9.4,867,18053,0.00,2.75,0.00,0.000,4,0.000,0.093,2937,705,1713
$GC,18077,0.84,274.2,816.0,9.2,868,18081,0.00,2.65,0.00,0.000,6,0.000,0.077,2937,2109,1712
$GC,18392,0.84,274.2,795.0,7.2,883,18397,0.00,2.72,0.00,0.000,4,0.000,0.091,2937,3535,1713
$GC,18414,0.84,274.2,793.2,8.0,884,18418,0.00,2.72,0.00,0.000,6,0.000,0.079,2937,2104,1712
$GC,18736,0.84,274.2,766.0,8.3,900,18740,0.00,2.65,0.00,0.000,4,0.000,0.091,2938,704,1712
$GC,18757,0.84,274.2,763.9,8.3,901,18761,0.00,2.65,0.00,0.000,6,0.000,0.077,2937,2110,1712
$GC,19078,0.84,274.2,740.4,7.4,917,19082,0.00,2.70,0.00,0.000,4,0.000,0.091,2937,710,1712
$GC,19100,0.84,274.2,738.7,7.7,918,19105,0.00,2.60,0.00,0.000,6,0.000,0.077,2937,2091,1712
$GC,19421,0.84,274.2,711.8,8.2,934,19422,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2091,1712
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$STATE,28376,begin surface coast
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$STATE,28419,end surface coast,CONTROL_FINISHED_OK
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