version: 66.04
glider: 5
mission: 5
dive: 432
start: 2 12 109 12 49 22
data:
$ID,5
$MISSION,5
$DIVE,432
$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,-95876.852
$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,24
$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
$GPS1,124238,6140.390,-849.916,30,1.9,30,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-60.4
$GPS2,124901,6140.409,-849.857,12,1.8,17,-9.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_3
$TGT_LATLONG,6130.000,-828.000
$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,144.1,27288,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,109,0.00,0.00,-91.22,0.000,2,0.000,0.000,420,1966,3071
$GC,113,-0.97,-146.6,3.5,-2.4,5,141,11.18,2.53,-10.27,0.000,4,0.140,0.073,2525,588,3430
$GC,240,-0.83,-146.6,17.9,-11.4,10,247,0.17,2.53,0.00,0.000,6,0.086,0.051,2563,2008,3430
$GC,557,-0.83,-146.6,38.7,-5.8,26,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2009,3430
$GC,866,-0.83,-146.6,57.0,-5.1,41,871,0.00,2.60,0.00,0.000,4,0.000,0.064,2563,588,3430
$GC,900,-0.83,-146.6,58.9,-5.9,42,906,0.00,2.53,0.00,0.000,6,0.000,0.052,2563,2007,3430
$GC,1218,-0.83,-146.6,76.8,-4.8,58,1222,0.00,2.53,0.00,0.000,4,0.000,0.063,2563,3411,3429
$GC,1252,-0.83,-146.6,78.9,-6.3,59,1259,0.00,2.50,0.00,0.000,6,0.000,0.050,2563,2006,3429
$GC,1570,-0.83,-146.6,113.7,-10.2,75,1574,0.00,2.53,0.00,0.000,4,0.000,0.062,2563,590,3430
$GC,1634,-0.83,-146.6,121.0,-11.0,78,1638,0.00,2.50,0.00,0.000,6,0.000,0.051,2563,1999,3429
$GC,1963,-0.83,-146.6,140.8,-6.2,94,1968,0.00,2.53,0.00,0.000,4,0.000,0.062,2563,3410,3429
$GC,2014,-0.83,-146.6,142.7,-3.4,96,2018,0.00,2.53,0.00,0.000,6,0.000,0.049,2563,1992,3429
$GC,2330,-0.83,-146.6,165.0,-9.9,111,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1990,3429
$GC,2640,-0.83,-146.6,194.5,-10.2,126,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1991,3429
$GC,2948,-0.83,-146.6,218.5,-8.3,141,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1990,3429
$GC,3258,-0.83,-146.6,238.5,-7.5,156,3262,0.00,2.58,0.00,0.000,4,0.000,0.062,2563,3408,3429
$GC,3286,-0.83,-146.6,240.5,-6.9,157,3290,0.00,2.53,0.00,0.000,6,0.000,0.048,2563,1980,3429
$GC,3602,-0.83,-146.6,268.0,-10.6,172,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1980,3429
$GC,3911,-0.83,-146.6,281.2,-2.8,187,3915,0.00,2.47,0.00,0.000,4,0.000,0.062,2563,587,3429
$GC,3940,-0.83,-146.6,282.4,-4.0,188,3944,0.00,2.53,0.00,0.000,6,0.000,0.052,2563,2010,3429
$GC,4255,-0.83,-146.6,296.7,-6.4,203,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2024,3429
$GC,4565,-0.83,-146.6,318.5,-7.4,218,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2023,3429
$GC,4875,-0.83,-146.6,336.3,-5.2,233,4879,0.00,2.58,0.00,0.000,4,0.000,0.064,2563,598,3429
$GC,4915,-0.83,-146.6,339.0,-6.6,235,4919,0.00,2.47,0.00,0.000,6,0.000,0.052,2563,1996,3429
$GC,5243,-0.83,-146.6,357.7,-5.6,251,5247,0.00,2.53,0.00,0.000,4,0.000,0.064,2563,3402,3429
$GC,5292,-0.83,-146.6,361.1,-6.2,253,5297,0.00,2.50,0.00,0.000,6,0.000,0.051,2562,1999,3429
$GC,5608,-0.83,-146.6,380.7,-6.6,268,5612,0.00,2.50,0.00,0.000,4,0.000,0.064,2562,594,3429
$GC,5642,-0.83,-146.6,383.1,-7.4,269,5648,0.00,2.50,0.00,0.000,6,0.000,0.051,2563,2007,3429
$GC,5959,-0.83,-146.6,403.4,-6.4,285,5964,0.00,2.58,0.00,0.000,4,0.000,0.063,2562,584,3429
$GC,6017,-0.88,-146.6,407.8,-7.7,287,6023,0.00,2.47,0.00,0.000,6,0.000,0.052,2563,1980,3429
$GC,6334,-0.88,-146.6,429.9,-6.3,303,6338,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,3402,3429
$GC,6378,-0.93,-146.6,433.1,-6.8,305,6383,0.00,2.55,0.00,0.000,6,0.000,0.052,2562,1974,3428
$GC,6699,-0.93,-146.6,453.9,-6.7,321,6704,0.00,2.62,0.00,0.000,4,0.000,0.064,2563,3411,3429
$GC,6728,-0.93,-146.6,455.8,-6.3,322,6732,0.00,2.55,0.00,0.000,6,0.000,0.053,2563,1983,3428
$GC,7044,-0.93,-146.6,476.4,-6.4,337,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1983,3429
$GC,7353,-0.93,-146.6,494.6,-5.7,352,7358,0.00,2.60,0.00,0.000,4,0.000,0.064,2562,3412,3429
$GC,7406,-0.97,-146.6,497.7,-5.6,354,7411,0.15,2.53,0.00,0.000,6,0.054,0.051,2523,1994,3428
$GC,7723,-0.88,-146.6,523.4,-8.4,369,7725,0.12,0.00,0.00,0.000,6,0.091,0.000,2550,1994,3429
$GC,8032,-0.88,-146.6,541.3,-3.9,384,8036,0.00,2.58,0.00,0.000,4,0.000,0.064,2549,3412,3429
$GC,8081,-0.88,-146.6,544.7,-6.8,386,8086,0.00,2.53,0.00,0.000,6,0.000,0.053,2549,1999,3429
$GC,8398,-0.88,-146.6,568.2,-7.3,401,8402,0.00,2.58,0.00,0.000,4,0.000,0.064,2550,3412,3429
$GC,8454,-0.88,-146.6,571.9,-6.9,403,8460,0.00,2.50,0.00,0.000,6,0.000,0.051,2550,2007,3428
$GC,8770,-0.88,-146.6,593.2,-6.7,419,8774,0.00,2.53,0.00,0.000,4,0.000,0.064,2549,588,3429
$GC,8904,-0.88,-146.6,603.0,-7.2,425,8908,0.00,2.47,0.00,0.000,6,0.000,0.051,2549,1991,3428
$GC,9227,-0.88,-146.6,622.2,-5.5,441,9231,0.00,2.55,0.00,0.000,4,0.000,0.067,2549,596,3429
$GC,9334,-0.88,-146.6,628.0,-4.5,446,9338,0.00,2.40,0.00,0.000,6,0.000,0.054,2550,1950,3429
$GC,9669,-0.88,-146.6,644.3,-4.7,462,9673,0.00,2.50,0.00,0.000,4,0.000,0.067,2550,587,3428
$GC,9815,-0.88,-146.6,649.4,-3.1,468,9821,0.00,2.38,0.00,0.000,6,0.000,0.056,2550,1915,3428
$GC,10132,-0.88,-146.6,659.8,-3.8,484,10133,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1934,3428
$GC,10440,-0.88,-146.6,680.8,-7.7,499,10444,0.00,2.72,0.00,0.000,4,0.000,0.072,2550,3411,3428
$GC,10502,-0.88,-146.6,685.7,-7.7,502,10506,0.00,2.72,0.00,0.000,6,0.000,0.061,2550,1910,3428
$GC,10830,-0.88,-146.6,706.4,-5.6,518,10835,0.00,2.78,0.00,0.000,4,0.000,0.074,2550,3408,3427
$GC,10882,-0.93,-146.6,709.3,-5.8,520,10886,0.00,2.72,0.00,0.000,6,0.000,0.063,2550,1915,3427
$GC,11198,-0.93,-146.6,726.7,-5.1,535,11202,0.00,2.80,0.00,0.000,4,0.000,0.078,2550,3407,3426
$GC,11243,-0.93,-146.6,729.2,-4.1,537,11248,0.00,2.70,0.00,0.000,6,0.000,0.068,2550,1939,3426
$GC,11565,-0.93,-146.6,749.1,-8.2,553,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1939,3424
$GC,11875,-0.97,-146.6,784.5,-12.9,568,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1926,3424
$GC,12183,-0.97,-146.6,808.1,-7.3,583,12188,0.00,2.78,0.00,0.000,4,0.000,0.087,2550,3399,3423
$GC,12273,-0.97,-146.6,815.8,-9.6,587,12277,0.00,2.72,0.00,0.000,6,0.000,0.074,2550,1936,3421
$GC,12595,-0.97,-146.6,839.2,-5.2,603,12600,0.00,2.80,0.00,0.000,4,0.000,0.087,2550,3407,3420
$GC,12636,-1.06,-146.6,841.4,-5.0,605,12641,0.17,2.72,0.00,0.000,6,0.070,0.081,2508,1956,3420
$STATE,12877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12877,begin apogee
$GC,12886,-0.33,0.0,859.2,7.4,617,13024,0.80,0.00,134.50,1.515,6,0.091,0.000,2672,2118,2832
$STATE,13024,end apogee,CONTROL_FINISHED_OK
$STATE,13025,begin climb
$GC,13028,0.97,146.6,863.7,0.0,624,13173,1.30,2.80,135.45,1.467,4,0.064,0.089,2953,714,2234
$GC,13261,0.76,146.6,854.6,7.5,634,13268,0.22,2.65,0.00,0.000,6,0.094,0.074,2910,2120,2234
$GC,13577,0.74,183.4,835.2,5.0,650,13618,0.00,0.00,35.15,1.420,6,0.000,0.000,2910,2120,2083
$GC,13931,0.81,183.4,818.2,6.1,667,13936,0.00,2.70,0.00,0.000,4,0.000,0.087,2910,713,2083
$GC,13965,0.92,251.4,816.6,4.1,668,14035,0.15,2.70,63.38,1.450,6,0.064,0.075,2947,2165,1807
$GC,14345,1.01,344.2,796.3,3.5,687,14437,0.00,2.67,86.15,1.443,4,0.000,0.088,2947,3514,1428
$GC,14466,1.01,344.2,784.5,15.2,692,14472,0.00,2.62,0.00,0.000,6,0.000,0.077,2947,2146,1428
$GC,14782,1.01,344.2,753.0,12.3,708,14786,0.00,2.72,0.00,0.000,4,0.000,0.089,2947,703,1428
$GC,14827,1.01,344.2,747.5,10.3,710,14832,0.00,2.67,0.00,0.000,6,0.000,0.076,2946,2118,1428
$GC,15148,1.01,344.2,714.8,10.6,726,15153,0.00,2.72,0.00,0.000,4,0.000,0.089,2947,707,1427
$GC,15166,1.01,344.2,713.1,10.3,727,15170,0.00,2.67,0.00,0.000,6,0.000,0.075,2947,2130,1428
$GC,15493,1.01,344.2,678.6,11.4,743,15498,0.00,2.67,0.00,0.000,4,0.000,0.089,2947,3534,1427
$GC,15527,1.01,344.2,674.6,11.1,744,15533,0.00,2.67,0.00,0.000,6,0.000,0.078,2947,2128,1426
$GC,15842,1.01,344.2,649.0,6.7,760,15844,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2128,1426
$GC,16153,1.01,344.2,628.5,7.8,775,16157,0.00,2.65,0.00,0.000,4,0.000,0.082,2947,706,1426
$GC,16197,1.01,344.2,623.7,12.4,777,16201,0.00,2.62,0.00,0.000,6,0.000,0.070,2947,2120,1425
$GC,16517,1.01,344.2,600.3,6.1,793,16522,0.00,2.65,0.00,0.000,4,0.000,0.079,2947,709,1425
$GC,16582,1.01,344.2,593.6,8.7,796,16586,0.00,2.55,0.00,0.000,6,0.000,0.067,2947,2091,1425
$GC,16908,1.01,344.2,579.4,6.0,812,16912,0.00,2.62,0.00,0.000,4,0.000,0.077,2947,703,1426
$GC,16964,1.06,375.7,576.2,5.1,814,17000,0.12,2.47,29.15,1.299,6,0.064,0.065,2980,2064,1300
$GC,17325,0.99,375.7,547.2,8.7,832,17330,0.00,2.75,0.00,0.000,4,0.000,0.072,2980,3535,1300
$GC,17369,0.99,375.7,543.1,9.2,834,17374,0.00,2.72,0.00,0.000,6,0.000,0.063,2980,2053,1300
$GC,17692,0.94,375.7,512.4,10.4,850,17697,0.17,2.47,0.00,0.000,4,0.087,0.070,2946,695,1301
$GC,17719,0.94,375.7,509.2,9.9,851,17724,0.00,2.50,0.00,0.000,6,0.000,0.058,2946,2076,1300
$GC,18041,0.94,375.7,479.3,8.6,867,18045,0.00,2.55,0.00,0.000,4,0.000,0.068,2946,706,1300
$GC,18069,0.94,375.7,476.9,7.2,868,18074,0.00,2.42,0.00,0.000,6,0.000,0.056,2946,2051,1300
$GC,18386,0.99,375.7,446.0,9.6,883,18390,0.00,2.70,0.00,0.000,4,0.000,0.067,2946,3538,1301
$GC,18413,1.06,375.7,443.1,10.4,884,18418,0.12,2.75,0.00,0.000,6,0.059,0.057,2979,2021,1302
$GC,18730,1.06,375.7,409.9,10.4,899,18731,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2020,1303
$GC,19038,1.06,375.7,377.9,11.2,914,19043,0.00,2.78,0.00,0.000,4,0.000,0.064,2979,3535,1303
$GC,19065,1.06,375.7,374.5,11.5,915,19070,0.00,2.72,0.00,0.000,6,0.000,0.054,2979,2020,1303
$GC,19382,1.06,375.7,340.4,11.1,930,19387,0.00,2.78,0.00,0.000,4,0.000,0.063,2979,3539,1304
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$CAP_FILE_SIZE,171943,0
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