version: 66.03
glider: 5
mission: 3
dive: 142
start: 7 10 108 4 10 7
data:
$ID,5
$MISSION,3
$DIVE,142
$D_SURF,2
$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,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$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,547.01898
$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,-79335.93
$T_RSLEEP,12
$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,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$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,3
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.477776
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,040156,6139.880,-925.673,40,1.6,40,-9.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-51.0
$GPS2,040915,6139.825,-925.658,17,1.9,17,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,0.129
$KALMAN_X,-70787.2,941.1,1281.2,83402.9,-10886.8
$KALMAN_Y,53258.8,-62.3,253.8,-70998.1,-5261.1
$MHEAD_RNG_PITCHd_Wd,59.5,13059,-12.6,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,139,0.00,0.00,-110.38,0.000,6,0.000,0.000,417,2164,3099
$GC,143,-1.03,-117.3,2.2,-1.5,5,158,10.57,2.47,0.00,0.000,4,0.133,0.057,2472,3546,3099
$GC,181,-0.55,-117.3,9.2,-12.8,7,188,0.50,2.50,0.00,0.000,6,0.083,0.046,2580,2139,3099
$GC,499,-0.55,-117.3,31.0,-6.3,23,503,0.00,2.50,0.00,0.000,4,0.000,0.060,2580,743,3098
$GC,571,-0.55,-117.3,36.5,-8.0,26,575,0.00,2.50,0.00,0.000,6,0.000,0.049,2580,2138,3098
$GC,887,-0.55,-117.3,59.2,-7.7,41,891,0.00,2.53,0.00,0.000,4,0.000,0.059,2580,3558,3098
$GC,995,-0.55,-117.3,68.2,-8.0,46,1000,0.00,2.47,0.00,0.000,6,0.000,0.046,2579,2166,3098
$GC,1323,-0.55,-117.3,97.8,-9.5,62,1327,0.00,2.53,0.00,0.000,4,0.000,0.058,2579,3563,3098
$GC,1453,-0.55,-117.3,110.7,-9.3,68,1457,0.00,2.45,0.00,0.000,6,0.000,0.045,2580,2180,3098
$GC,1780,-0.60,-117.3,138.7,-8.0,84,1785,0.00,2.55,0.00,0.000,4,0.000,0.061,2580,741,3098
$GC,1971,-0.60,-117.3,152.7,-6.8,92,1977,0.00,2.58,0.00,0.000,6,0.000,0.050,2579,2190,3097
$GC,2288,-0.64,-117.3,169.9,-4.3,108,2291,0.00,2.45,0.00,0.000,4,0.000,0.061,2580,3565,3097
$GC,2361,-0.64,-117.3,173.3,-4.3,111,2365,0.00,2.45,0.00,0.000,6,0.000,0.047,2579,2179,3097
$GC,2683,-0.68,-117.3,187.2,-4.4,127,2688,0.12,2.53,0.00,0.000,4,0.051,0.059,2541,3566,3098
$GC,2740,-0.59,-117.3,190.6,-5.9,129,2746,0.15,2.45,0.00,0.000,6,0.089,0.048,2573,2183,3097
$GC,3056,-0.59,-117.3,206.0,-5.2,145,3060,0.00,2.58,0.00,0.000,4,0.000,0.063,2573,742,3097
$GC,3168,-0.59,-117.3,212.4,-5.6,150,3172,0.00,2.58,0.00,0.000,6,0.000,0.051,2573,2183,3097
$GC,3489,-0.59,-117.3,228.6,-4.8,166,3494,0.00,2.60,0.00,0.000,4,0.000,0.061,2573,744,3097
$GC,3568,-0.59,-117.3,232.7,-5.2,169,3574,0.00,2.58,0.00,0.000,6,0.000,0.052,2573,2182,3097
$GC,3884,-0.59,-117.3,244.5,-3.2,185,3889,0.00,2.47,0.00,0.000,4,0.000,0.062,2573,3567,3097
$GC,3952,-0.59,-117.3,246.8,-3.4,188,3956,0.00,2.47,0.00,0.000,6,0.000,0.048,2572,2169,3097
$GC,4274,-0.59,-117.3,254.8,-2.6,204,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2149,3096
$GC,4583,-0.59,-117.3,267.2,-4.8,219,4587,0.00,2.53,0.00,0.000,4,0.000,0.064,2573,749,3096
$GC,4646,-0.59,-117.3,270.2,-5.6,222,4650,0.00,2.55,0.00,0.000,6,0.000,0.052,2573,2178,3096
$GC,4972,-0.59,-117.3,288.0,-6.1,238,4976,0.00,2.60,0.00,0.000,4,0.000,0.061,2573,750,3096
$GC,5034,-0.59,-117.3,292.1,-6.9,241,5039,0.00,2.53,0.00,0.000,6,0.000,0.052,2573,2167,3096
$GC,5362,-0.59,-117.3,313.1,-6.3,257,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2167,3096
$GC,5671,-0.59,-117.3,330.8,-5.5,272,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2167,3096
$GC,5980,-0.59,-117.3,346.3,-4.8,287,5984,0.00,2.50,0.00,0.000,4,0.000,0.064,2573,3560,3095
$GC,6054,-0.59,-117.3,350.0,-5.2,290,6058,0.00,2.50,0.00,0.000,6,0.000,0.049,2573,2150,3095
$GC,6370,-0.59,-117.3,363.2,-4.0,305,6374,0.00,2.50,0.00,0.000,4,0.000,0.063,2573,747,3095
$GC,6427,-0.59,-117.3,365.6,-4.9,307,6433,0.00,2.50,0.00,0.000,6,0.000,0.052,2573,2154,3095
$GC,6743,-0.59,-117.3,376.4,-2.8,323,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2153,3094
$GC,7052,-0.64,-117.3,389.1,-4.3,338,7057,0.00,2.53,0.00,0.000,4,0.000,0.065,2573,3558,3095
$GC,7116,-0.64,-117.3,392.3,-6.0,341,7121,0.00,2.47,0.00,0.000,6,0.000,0.048,2573,2150,3095
$GC,7444,-0.68,-117.3,407.8,-4.6,357,7448,0.00,2.50,0.00,0.000,4,0.000,0.064,2573,752,3095
$GC,7545,-0.68,-117.3,413.3,-5.4,361,7551,0.00,2.53,0.00,0.000,6,0.000,0.052,2573,2163,3095
$GC,7861,-0.68,-117.3,426.3,-3.9,377,7865,0.00,2.50,0.00,0.000,4,0.000,0.065,2572,3553,3094
$GC,7939,-0.68,-117.3,430.0,-5.3,380,7946,0.00,2.47,0.00,0.000,6,0.000,0.049,2572,2141,3094
$GC,8256,-0.68,-117.3,443.9,-4.2,396,8260,0.00,2.47,0.00,0.000,4,0.000,0.061,2573,757,3094
$GC,8323,-0.68,-117.3,447.4,-5.1,399,8327,0.00,2.50,0.00,0.000,6,0.000,0.052,2572,2154,3094
$GC,8644,-0.73,-117.3,462.6,-4.8,415,8646,0.15,0.00,0.00,0.000,6,0.049,0.000,2528,2152,3094
$GC,8954,-0.64,-117.3,481.9,-6.1,430,8955,0.15,0.00,0.00,0.000,6,0.090,0.000,2560,2153,3094
$GC,9262,-0.64,-117.3,496.3,-4.0,445,9267,0.00,2.55,0.00,0.000,4,0.000,0.064,2560,759,3094
$GC,9326,-0.64,-117.3,499.1,-4.7,448,9330,0.00,2.47,0.00,0.000,6,0.000,0.053,2560,2145,3094
$GC,9653,-0.64,-117.3,514.8,-4.5,464,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2143,3094
$GC,9962,-0.64,-117.3,529.2,-4.7,479,9966,0.00,2.50,0.00,0.000,4,0.000,0.063,2560,756,3093
$GC,10012,-0.64,-117.3,532.0,-5.4,481,10017,0.00,2.47,0.00,0.000,6,0.000,0.054,2560,2141,3093
$GC,10329,-0.64,-117.3,548.3,-5.3,496,10333,0.00,2.55,0.00,0.000,4,0.000,0.066,2560,3568,3093
$GC,10447,-0.64,-117.3,554.8,-5.2,501,10451,0.00,2.53,0.00,0.000,6,0.000,0.051,2560,2148,3093
$GC,10763,-0.64,-117.3,570.8,-5.5,516,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2130,3093
$GC,11073,-0.64,-117.3,588.0,-5.9,531,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2130,3093
$GC,11382,-0.64,-117.3,606.4,-6.3,546,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2130,3092
$GC,11691,-0.64,-117.3,623.2,-4.5,561,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2130,3092
$GC,12000,-0.64,-117.3,637.6,-4.9,576,12004,0.00,2.50,0.00,0.000,4,0.000,0.064,2560,744,3093
$GC,12073,-0.64,-117.3,641.2,-4.0,579,12077,0.00,2.53,0.00,0.000,6,0.000,0.054,2560,2152,3092
$GC,12390,-0.64,-117.3,650.0,-3.4,594,12394,0.00,2.53,0.00,0.000,4,0.000,0.067,2560,3561,3093
$GC,12463,-0.64,-117.3,653.1,-4.9,597,12467,0.00,2.53,0.00,0.000,6,0.000,0.052,2559,2144,3092
$GC,12779,-0.64,-117.3,667.0,-4.6,612,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2126,3092
$GC,13088,-0.64,-117.3,683.8,-4.9,627,13089,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2126,3092
$GC,13398,-0.64,-117.3,701.1,-6.0,642,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2126,3092
$GC,13706,-0.64,-117.3,719.2,-5.5,657,13711,0.00,2.53,0.00,0.000,4,0.000,0.067,2560,740,3092
$GC,13796,-0.64,-117.3,724.4,-6.5,661,13800,0.00,2.50,0.00,0.000,6,0.000,0.057,2560,2131,3092
$GC,14117,-0.64,-117.3,740.1,-3.3,677,14122,0.00,2.58,0.00,0.000,4,0.000,0.068,2560,3556,3091
$GC,14204,-0.64,-117.3,742.0,-2.1,681,14208,0.00,2.55,0.00,0.000,6,0.000,0.052,2559,2120,3091
$GC,14531,-0.64,-117.3,754.4,-1.3,697,14535,0.00,2.47,0.00,0.000,4,0.000,0.067,2560,743,3091
$GC,14649,-0.55,-117.3,754.6,-4.3,702,14654,0.10,2.45,0.00,0.000,6,0.100,0.058,2580,2097,3091
$GC,14966,-0.61,-117.3,772.7,-5.9,717,14970,0.00,2.47,0.00,0.000,4,0.000,0.067,2579,748,3091
$GC,15044,-0.70,-117.3,776.9,-6.3,720,15049,0.15,2.42,0.00,0.000,6,0.051,0.058,2535,2083,3091
$GC,15361,-0.65,-117.3,796.5,-7.0,735,15366,0.10,2.47,0.00,0.000,4,0.097,0.068,2555,741,3091
$GC,15618,-0.65,-117.3,817.2,-9.2,746,15624,0.00,2.45,0.00,0.000,6,0.000,0.060,2554,2088,3090
$GC,15934,-0.69,-117.3,839.3,-6.7,762,15938,0.00,2.50,0.00,0.000,4,0.000,0.073,2554,745,3090
$GC,16116,-0.74,-117.3,856.3,-10.0,770,16120,0.00,2.40,0.00,0.000,6,0.000,0.061,2554,2062,3090
$GC,16438,-0.74,-117.3,873.2,-2.6,786,16442,0.00,2.47,0.00,0.000,4,0.000,0.079,2554,742,3090
$STATE,16463,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,16463,begin apogee
$GC,16472,-0.33,0.0,876.1,10.3,787,16577,0.30,0.00,102.03,1.415,6,0.084,0.000,2619,2098,2620
$STATE,16578,end apogee,CONTROL_FINISHED_OK
$STATE,16578,begin climb
$GC,16581,1.03,117.3,881.4,0.0,792,16692,1.42,2.75,101.93,1.391,4,0.077,0.079,2921,697,2141
$GC,16705,0.88,117.3,872.9,9.8,798,16710,0.15,2.62,0.00,0.000,6,0.095,0.065,2893,2101,2141
$GC,17032,0.88,117.3,834.8,15.8,814,17036,0.00,2.62,0.00,0.000,4,0.000,0.080,2893,3508,2140
$GC,17076,0.88,117.3,828.9,11.7,816,17081,0.00,2.62,0.00,0.000,6,0.000,0.067,2893,2103,2139
$GC,17398,0.96,117.3,789.8,10.8,832,17403,0.00,2.65,0.00,0.000,4,0.000,0.085,2893,690,2138
$GC,17493,0.96,117.3,777.6,11.8,836,17498,0.00,2.58,0.00,0.000,6,0.000,0.071,2893,2066,2138
$GC,17810,0.96,117.3,750.4,6.6,851,17814,0.00,2.62,0.00,0.000,4,0.000,0.084,2893,682,2136
$GC,17831,0.96,117.3,748.1,9.8,852,17836,0.00,2.58,0.00,0.000,6,0.000,0.068,2893,2069,2135
$GC,18153,1.00,117.3,727.4,6.0,868,18158,0.10,2.67,0.00,0.000,4,0.059,0.075,2923,3512,2134
$GC,18164,1.03,133.5,726.7,5.4,868,18184,0.00,2.67,14.18,1.263,6,0.000,0.065,2923,2055,2075
$GC,18501,1.03,133.5,703.7,7.0,885,18505,0.00,2.72,0.00,0.000,4,0.000,0.072,2923,3509,2074
$GC,18556,1.03,133.5,699.1,9.6,887,18563,0.00,2.60,0.00,0.000,6,0.000,0.058,2924,2080,2073
$GC,18872,1.03,133.5,677.5,6.8,903,18877,0.00,2.65,0.00,0.000,4,0.000,0.071,2924,3512,2073
$GC,18923,1.03,133.5,673.7,7.3,905,18927,0.00,2.60,0.00,0.000,6,0.000,0.058,2923,2083,2073
$GC,19239,1.03,133.5,651.3,8.3,920,19243,0.00,2.65,0.00,0.000,4,0.000,0.067,2924,3511,2073
$GC,19301,1.03,133.5,646.0,8.1,923,19305,0.00,2.55,0.00,0.000,6,0.000,0.058,2924,2101,2073
$GC,19627,1.03,133.5,624.1,7.1,939,19631,0.00,2.62,0.00,0.000,4,0.000,0.067,2924,3514,2073
$GC,19649,1.03,133.5,622.5,7.1,940,19653,0.00,2.55,0.00,0.000,6,0.000,0.054,2924,2102,2073
$GC,19970,1.03,133.5,603.2,6.2,956,19974,0.00,2.60,0.00,0.000,4,0.000,0.066,2924,3514,2074
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$STATE,27747,end climb,SURFACE_DEPTH_REACHED
$STATE,27747,begin surface coast
$FINISH,0.2,1.002394
$STATE,27771,end surface coast,CONTROL_FINISHED_OK
$STATE,27772,begin surface
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$10V_AH,10.1,14.488
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$DEVICE_SECS,24.900,282.700,286.300,201.975,0.000,37.762,27.151,230.369,221.500,0.000,0.000,17.625,2488.080,21424.098,765.673,2981.767,765.972,33.360,2251.118,0.000,2915.909,0.000,51.103
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$DATA_FILE_SIZE,69589,1331
$CAP_FILE_SIZE,213580,0
$CFSIZE,254472192,241897472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
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