version: 66.03
glider: 5
mission: 3
dive: 40
start: 6 14 108 8 19 51
data:
$ID,5
$MISSION,3
$DIVE,40
$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,120
$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,300
$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,-77454.148
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,080908,6137.756,-925.982,30,1.3,30,-9.5
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-60.3
$GPS2,081857,6137.742,-925.897,13,1.3,13,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.201,-0.004
$KALMAN_X,-59551.9,1253.5,3771.3,-7120.0,-13180.9
$KALMAN_Y,-17274.4,21.1,2122.3,38902.9,-2860.1
$MHEAD_RNG_PITCHd_Wd,100.5,14411,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,96,0.00,0.00,-69.28,0.000,6,0.000,0.000,419,2152,3099
$GC,99,-1.03,-117.3,2.3,-3.4,3,116,10.60,2.55,0.00,0.000,4,0.137,0.055,2470,744,3101
$GC,357,-0.73,-117.3,36.8,-12.6,13,365,0.32,2.53,0.00,0.000,6,0.087,0.051,2539,2150,3101
$GC,674,-0.64,-117.3,62.5,-7.8,29,676,0.10,0.00,0.00,0.000,6,0.101,0.000,2559,2150,3102
$GC,983,-0.64,-117.3,84.8,-7.9,44,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2149,3102
$GC,1293,-0.64,-117.3,104.9,-5.1,59,1297,0.00,2.58,0.00,0.000,4,0.000,0.061,2559,739,3102
$GC,1342,-0.64,-117.3,108.3,-6.5,61,1346,0.00,2.53,0.00,0.000,6,0.000,0.051,2559,2150,3102
$GC,1658,-0.64,-117.3,125.2,-5.1,76,1663,0.00,2.55,0.00,0.000,4,0.000,0.061,2559,747,3102
$GC,1686,-0.64,-117.3,126.7,-4.8,77,1690,0.00,2.53,0.00,0.000,6,0.000,0.051,2559,2156,3102
$GC,2004,-0.64,-117.3,142.3,-5.2,92,2008,0.00,2.58,0.00,0.000,4,0.000,0.061,2559,739,3102
$GC,2089,-0.64,-117.3,147.3,-5.4,96,2093,0.00,2.53,0.00,0.000,6,0.000,0.052,2559,2152,3102
$GC,2416,-0.64,-117.3,162.4,-4.2,112,2420,0.00,2.50,0.00,0.000,4,0.000,0.064,2559,3555,3102
$GC,2517,-0.64,-117.3,167.4,-4.4,116,2523,0.00,2.50,0.00,0.000,6,0.000,0.048,2559,2143,3102
$GC,2833,-0.64,-117.3,181.5,-4.4,132,2837,0.00,2.60,0.00,0.000,4,0.000,0.064,2559,3563,3102
$GC,2883,-0.64,-117.3,184.0,-5.4,134,2887,0.00,2.50,0.00,0.000,6,0.000,0.048,2559,2150,3103
$GC,3199,-0.64,-117.3,197.7,-4.2,149,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2132,3102
$GC,3508,-0.64,-117.3,211.2,-4.6,164,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2132,3102
$GC,3817,-0.64,-117.3,227.1,-5.3,179,3821,0.00,2.58,0.00,0.000,4,0.000,0.065,2559,3556,3102
$GC,3844,-0.64,-117.3,228.8,-6.2,180,3848,0.00,2.50,0.00,0.000,6,0.000,0.050,2559,2149,3102
$GC,4160,-0.64,-117.3,248.4,-6.6,195,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2131,3102
$GC,4469,-0.64,-117.3,269.4,-7.1,210,4473,0.00,2.58,0.00,0.000,4,0.000,0.067,2559,3556,3101
$GC,4513,-0.64,-117.3,272.8,-7.6,212,4517,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,2150,3102
$GC,4833,-0.64,-117.3,293.9,-6.5,228,4838,0.00,2.53,0.00,0.000,4,0.000,0.066,2559,750,3102
$GC,4878,-0.64,-117.3,297.2,-7.9,230,4882,0.00,2.53,0.00,0.000,6,0.000,0.054,2559,2157,3102
$GC,5199,-0.64,-117.3,320.0,-7.1,246,5204,0.00,2.53,0.00,0.000,4,0.000,0.067,2559,3559,3102
$GC,5239,-0.64,-117.3,323.3,-8.2,248,5244,0.00,2.50,0.00,0.000,6,0.000,0.051,2559,2150,3101
$GC,5566,-0.64,-117.3,347.5,-7.1,264,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2131,3102
$GC,5876,-0.64,-117.3,369.3,-6.5,279,5880,0.00,2.60,0.00,0.000,4,0.000,0.067,2559,3560,3102
$GC,5942,-0.64,-117.3,374.2,-7.0,282,5946,0.00,2.50,0.00,0.000,6,0.000,0.051,2559,2151,3101
$GC,6263,-0.64,-117.3,394.2,-6.0,298,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2135,3101
$GC,6572,-0.64,-117.3,412.1,-6.0,313,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2135,3101
$GC,6882,-0.64,-117.3,430.6,-5.9,328,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2134,3101
$GC,7191,-0.64,-117.3,448.9,-5.8,343,7195,0.00,2.60,0.00,0.000,4,0.000,0.068,2559,3562,3101
$GC,7230,-0.64,-117.3,451.4,-6.5,345,7235,0.00,2.53,0.00,0.000,6,0.000,0.053,2559,2147,3100
$GC,7558,-0.64,-117.3,470.8,-6.0,361,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2129,3100
$GC,7867,-0.64,-117.3,489.1,-6.3,376,7871,0.00,2.60,0.00,0.000,4,0.000,0.068,2559,3556,3100
$GC,7934,-0.64,-117.3,493.3,-6.4,379,7938,0.00,2.53,0.00,0.000,6,0.000,0.053,2559,2143,3100
$GC,8255,-0.64,-117.3,512.3,-5.8,395,8259,0.00,2.62,0.00,0.000,4,0.000,0.069,2559,3563,3100
$GC,8273,-0.64,-117.3,513.3,-5.8,396,8277,0.00,2.53,0.00,0.000,6,0.000,0.054,2559,2149,3100
$GC,8599,-0.64,-117.3,530.9,-5.3,412,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2131,3100
$GC,8909,-0.64,-117.3,548.1,-5.5,427,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2131,3099
$GC,9218,-0.64,-117.3,564.9,-5.2,442,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2131,3099
$GC,9527,-0.64,-117.3,581.2,-5.0,457,9532,0.00,2.58,0.00,0.000,4,0.000,0.068,2559,3555,3099
$GC,9578,-0.64,-117.3,584.1,-6.3,459,9582,0.00,2.50,0.00,0.000,6,0.000,0.052,2559,2149,3099
$GC,9894,-0.64,-117.3,601.3,-5.3,474,9898,0.00,2.60,0.00,0.000,4,0.000,0.068,2559,3556,3099
$GC,9927,-0.64,-117.3,603.1,-5.9,475,9933,0.00,2.53,0.00,0.000,6,0.000,0.054,2559,2144,3099
$GC,10243,-0.64,-117.3,620.0,-5.0,491,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2128,3099
$GC,10553,-0.64,-117.3,634.6,-4.1,506,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2128,3099
$GC,10862,-0.64,-117.3,647.1,-4.1,521,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2129,3098
$GC,11171,-0.64,-117.3,659.4,-3.8,536,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2129,3098
$GC,11480,-0.64,-117.3,672.3,-4.4,551,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2129,3098
$GC,11790,-0.64,-117.3,686.3,-4.6,566,11791,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2128,3098
$GC,12099,-0.64,-117.3,699.9,-3.7,581,12104,0.00,2.50,0.00,0.000,4,0.000,0.068,2559,753,3098
$GC,12137,-0.64,-117.3,701.6,-4.7,582,12143,0.00,2.53,0.00,0.000,6,0.000,0.056,2559,2155,3098
$GC,12454,-0.64,-117.3,713.0,-3.5,598,12458,0.00,2.55,0.00,0.000,4,0.000,0.069,2560,3562,3098
$GC,12526,-0.64,-117.3,716.1,-4.6,601,12530,0.00,2.53,0.00,0.000,6,0.000,0.054,2559,2152,3097
$GC,12843,-0.64,-117.3,727.8,-3.1,616,12847,0.00,2.60,0.00,0.000,4,0.000,0.070,2559,3558,3097
$GC,12893,-0.64,-117.3,729.8,-4.1,618,12897,0.00,2.53,0.00,0.000,6,0.000,0.054,2559,2148,3097
$GC,13209,-0.64,-117.3,743.6,-4.3,633,13213,0.00,2.60,0.00,0.000,4,0.000,0.069,2559,3555,3097
$GC,13309,-0.64,-117.3,749.0,-4.9,637,13315,0.00,2.53,0.00,0.000,6,0.000,0.053,2559,2140,3097
$GC,13625,-0.64,-117.3,762.6,-3.9,653,13630,0.00,2.62,0.00,0.000,4,0.000,0.071,2559,3562,3097
$GC,13647,-0.64,-117.3,763.9,-5.7,654,13651,0.00,2.53,0.00,0.000,6,0.000,0.056,2559,2149,3097
$GC,13968,-0.64,-117.3,777.1,-3.7,670,13972,0.00,2.55,0.00,0.000,4,0.000,0.070,2559,740,3097
$GC,14063,-0.64,-117.3,780.9,-4.2,674,14067,0.00,2.55,0.00,0.000,6,0.000,0.058,2559,2149,3097
$GC,14379,-0.64,-117.3,797.8,-6.4,689,14380,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2148,3097
$GC,14689,-0.69,-117.3,819.3,-6.0,704,14690,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2148,3097
$GC,14997,-0.69,-117.3,830.7,-4.4,719,15002,0.00,2.60,0.00,0.000,4,0.000,0.072,2559,748,3097
$GC,15038,-0.73,-117.3,833.4,-7.4,721,15043,0.00,2.55,0.00,0.000,6,0.000,0.060,2559,2156,3097
$GC,15365,-0.73,-117.3,852.9,-5.0,737,15369,0.00,2.62,0.00,0.000,4,0.000,0.073,2559,740,3097
$GC,15623,-0.73,-117.3,867.8,-5.8,748,15629,0.00,2.58,0.00,0.000,6,0.000,0.062,2558,2151,3096
$STATE,15874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,15874,begin apogee
$GC,15881,-0.33,0.0,887.2,4.4,761,15987,0.32,0.00,102.75,1.415,6,0.081,0.000,2627,2150,2620
$STATE,15987,end apogee,CONTROL_FINISHED_OK
$STATE,15987,begin climb
$GC,15991,1.03,117.3,890.7,0.0,766,16101,1.35,2.78,101.55,1.393,4,0.067,0.084,2921,757,2141
$GC,16231,0.96,157.5,869.9,4.6,777,16273,0.00,2.60,35.80,1.345,6,0.000,0.067,2921,2148,1977
$GC,16597,1.04,280.5,855.9,1.8,795,16707,0.00,0.00,105.12,1.393,6,0.000,0.000,2921,2163,1476
$GC,17031,1.09,280.5,827.0,8.7,816,17035,0.00,2.70,0.00,0.000,4,0.000,0.083,2921,744,1476
$GC,17075,1.15,280.5,823.5,8.0,818,17080,0.12,2.65,0.00,0.000,6,0.056,0.069,2957,2154,1475
$GC,17396,1.08,280.5,791.5,9.9,834,17401,0.12,2.67,0.00,0.000,4,0.091,0.077,2933,749,1475
$GC,17446,1.08,280.5,786.7,9.2,836,17451,0.00,2.60,0.00,0.000,6,0.000,0.065,2933,2152,1474
$GC,17762,1.08,280.5,762.0,8.2,851,17767,0.00,2.62,0.00,0.000,4,0.000,0.074,2933,749,1474
$GC,17795,1.08,280.5,758.8,9.6,852,17801,0.00,2.60,0.00,0.000,6,0.000,0.062,2933,2156,1474
$GC,18111,1.08,280.5,734.6,7.6,868,18115,0.00,2.65,0.00,0.000,4,0.000,0.074,2934,748,1474
$GC,18143,1.08,280.5,732.2,7.6,869,18149,0.00,2.58,0.00,0.000,6,0.000,0.061,2933,2150,1474
$GC,18459,1.08,280.5,711.6,6.1,885,18460,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2149,1474
$GC,18769,1.08,280.5,691.6,6.5,900,18773,0.00,2.60,0.00,0.000,4,0.000,0.071,2933,749,1474
$GC,18818,1.08,280.5,688.0,7.5,902,18822,0.00,2.58,0.00,0.000,6,0.000,0.059,2933,2160,1474
$GC,19134,1.08,280.5,667.8,6.7,917,19138,0.00,2.62,0.00,0.000,4,0.000,0.071,2933,743,1474
$GC,19173,1.08,280.5,664.8,6.7,919,19178,0.00,2.55,0.00,0.000,6,0.000,0.058,2933,2148,1474
$GC,19499,1.08,280.5,640.0,8.0,935,19504,0.00,2.58,0.00,0.000,4,0.000,0.069,2933,748,1475
$GC,19539,1.08,280.5,636.8,8.4,937,19544,0.00,2.55,0.00,0.000,6,0.000,0.056,2933,2158,1474
$GC,19867,1.12,280.5,611.5,7.5,953,19871,0.00,2.62,0.00,0.000,4,0.000,0.069,2933,741,1475
$GC,19900,1.17,280.5,608.5,7.6,954,19906,0.00,2.55,0.00,0.000,6,0.000,0.057,2933,2150,1475
$GC,20216,1.21,280.5,583.2,8.2,970,20221,0.12,2.58,0.00,0.000,4,0.050,0.067,2973,748,1476
$GC,20244,1.16,280.5,580.4,10.1,971,20248,0.00,2.53,0.00,0.000,6,0.000,0.056,2973,2149,1476
$GC,20560,1.06,280.5,544.8,10.7,986,20565,0.20,2.60,0.00,0.000,4,0.077,0.067,2927,746,1476
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$STATE,28054,begin surface coast
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$STATE,28077,end surface coast,CONTROL_FINISHED_OK
$STATE,28077,begin surface
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$10V_AH,10.1,4.420
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$DATA_FILE_SIZE,69329,1351
$CAP_FILE_SIZE,212829,0
$CFSIZE,254472192,249487360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
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