version: 66.03
glider: 5
mission: 3
dive: 117
start: 7 2 108 15 13 28
data:
$ID,5
$MISSION,3
$DIVE,117
$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,-78908.859
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,150356,6141.743,-940.783,36,1.7,36,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-48.0
$GPS2,151237,6141.755,-940.875,148,0.9,148,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.042,-0.197
$KALMAN_X,-45965.4,562.0,174.5,46727.4,-8920.9
$KALMAN_Y,67026.6,-1288.8,-856.7,-78764.6,6913.7
$MHEAD_RNG_PITCHd_Wd,177.7,26282,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,137,0.00,0.00,-111.00,0.000,6,0.000,0.000,418,2158,3099
$GC,141,-1.03,-117.3,2.0,-1.7,5,157,10.57,2.58,0.00,0.000,4,0.137,0.058,2467,743,3099
$GC,410,-0.70,-117.3,34.0,-9.5,16,416,0.35,2.53,0.00,0.000,6,0.086,0.049,2542,2152,3098
$GC,733,-0.62,-117.3,54.3,-5.8,32,738,0.10,2.53,0.00,0.000,4,0.097,0.060,2563,3560,3097
$GC,991,-0.62,-117.3,71.1,-7.0,43,997,0.00,2.50,0.00,0.000,6,0.000,0.047,2563,2145,3097
$GC,1308,-0.62,-117.3,88.9,-5.3,59,1312,0.00,2.58,0.00,0.000,4,0.000,0.060,2563,3558,3097
$GC,1329,-0.62,-117.3,90.1,-4.9,60,1334,0.00,2.50,0.00,0.000,6,0.000,0.046,2563,2147,3097
$GC,1652,-0.62,-117.3,107.6,-5.6,76,1657,0.00,2.58,0.00,0.000,4,0.000,0.061,2562,3564,3097
$GC,1692,-0.62,-117.3,110.0,-6.2,78,1696,0.00,2.50,0.00,0.000,6,0.000,0.047,2563,2155,3097
$GC,2019,-0.62,-117.3,130.7,-6.4,94,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2155,3097
$GC,2329,-0.62,-117.3,148.9,-5.3,109,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2154,3097
$GC,2637,-0.62,-117.3,165.5,-5.4,124,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2154,3097
$GC,2946,-0.62,-117.3,183.2,-5.7,139,2951,0.00,2.53,0.00,0.000,4,0.000,0.066,2563,751,3096
$GC,2958,-0.62,-117.3,184.0,-5.8,139,2964,0.00,2.53,0.00,0.000,6,0.000,0.052,2563,2161,3096
$GC,3274,-0.62,-117.3,201.5,-5.5,155,3278,0.00,2.58,0.00,0.000,4,0.000,0.064,2563,743,3096
$GC,3301,-0.62,-117.3,203.0,-5.2,156,3305,0.00,2.53,0.00,0.000,6,0.000,0.054,2563,2150,3096
$GC,3618,-0.62,-117.3,217.9,-4.3,171,3622,0.00,2.58,0.00,0.000,4,0.000,0.064,2563,746,3096
$GC,3630,-0.62,-117.3,218.4,-4.2,171,3636,0.00,2.50,0.00,0.000,6,0.000,0.053,2563,2143,3096
$GC,3946,-0.62,-117.3,232.2,-4.5,187,3951,0.00,2.55,0.00,0.000,4,0.000,0.064,2562,744,3096
$GC,3980,-0.62,-117.3,233.7,-4.6,188,3986,0.00,2.53,0.00,0.000,6,0.000,0.054,2563,2150,3096
$GC,4296,-0.62,-117.3,247.9,-4.3,204,4301,0.00,2.55,0.00,0.000,4,0.000,0.065,2563,751,3095
$GC,4324,-0.62,-117.3,249.1,-4.6,205,4329,0.00,2.50,0.00,0.000,6,0.000,0.053,2563,2141,3095
$GC,4641,-0.62,-117.3,263.4,-4.7,220,4645,0.00,2.55,0.00,0.000,4,0.000,0.067,2563,748,3095
$GC,4663,-0.62,-117.3,264.7,-5.5,221,4667,0.00,2.47,0.00,0.000,6,0.000,0.054,2563,2130,3095
$GC,4984,-0.62,-117.3,281.4,-5.8,237,4988,0.00,2.53,0.00,0.000,4,0.000,0.065,2563,751,3095
$GC,4995,-0.62,-117.3,282.1,-5.9,237,5001,0.00,2.47,0.00,0.000,6,0.000,0.053,2563,2130,3095
$GC,5312,-0.62,-117.3,301.2,-6.4,253,5316,0.00,2.53,0.00,0.000,4,0.000,0.065,2563,746,3095
$GC,5329,-0.62,-117.3,302.2,-6.1,254,5333,0.00,2.47,0.00,0.000,6,0.000,0.054,2563,2126,3095
$GC,5656,-0.62,-117.3,322.0,-6.2,270,5660,0.00,2.53,0.00,0.000,4,0.000,0.066,2563,743,3094
$GC,5673,-0.62,-117.3,323.2,-6.1,271,5677,0.00,2.47,0.00,0.000,6,0.000,0.054,2563,2122,3094
$GC,5999,-0.62,-117.3,343.4,-6.5,287,6003,0.00,2.50,0.00,0.000,4,0.000,0.066,2562,749,3094
$GC,6010,-0.62,-117.3,344.2,-6.7,287,6016,0.00,2.47,0.00,0.000,6,0.000,0.054,2563,2124,3094
$GC,6326,-0.62,-117.3,361.8,-4.9,303,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2124,3094
$GC,6635,-0.62,-117.3,377.1,-4.5,318,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2124,3094
$GC,6945,-0.62,-117.3,389.9,-4.5,333,6949,0.00,2.53,0.00,0.000,4,0.000,0.066,2562,749,3094
$GC,6955,-0.62,-117.3,390.5,-4.6,333,6961,0.00,2.47,0.00,0.000,6,0.000,0.054,2563,2128,3094
$GC,7271,-0.62,-117.3,404.8,-4.3,349,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2128,3094
$GC,7580,-0.62,-117.3,417.3,-3.8,364,7585,0.00,2.53,0.00,0.000,4,0.000,0.068,2563,748,3093
$GC,7592,-0.62,-117.3,417.7,-3.7,364,7598,0.00,2.47,0.00,0.000,6,0.000,0.054,2563,2123,3093
$GC,7908,-0.62,-117.3,430.0,-3.8,380,7912,0.00,2.53,0.00,0.000,4,0.000,0.066,2563,749,3093
$GC,7919,-0.62,-117.3,430.5,-4.0,380,7925,0.00,2.47,0.00,0.000,6,0.000,0.054,2562,2127,3093
$GC,8236,-0.62,-117.3,443.7,-4.4,396,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2127,3093
$GC,8545,-0.62,-117.3,458.4,-4.5,411,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2128,3093
$GC,8854,-0.62,-117.3,474.7,-5.5,426,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2128,3093
$GC,9163,-0.62,-117.3,493.2,-6.4,441,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2127,3093
$GC,9472,-0.62,-117.3,513.0,-6.4,456,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2128,3093
$GC,9782,-0.62,-117.3,531.8,-6.2,471,9786,0.00,2.55,0.00,0.000,4,0.000,0.067,2563,742,3092
$GC,9793,-0.62,-117.3,532.6,-6.2,471,9798,0.00,2.50,0.00,0.000,6,0.000,0.056,2562,2128,3092
$GC,10108,-0.62,-117.3,552.1,-6.0,487,10112,0.00,2.55,0.00,0.000,4,0.000,0.067,2563,744,3092
$GC,10118,-0.62,-117.3,552.8,-6.2,487,10124,0.00,2.50,0.00,0.000,6,0.000,0.055,2563,2133,3092
$GC,10435,-0.62,-117.3,570.9,-5.6,503,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2131,3092
$GC,10744,-0.62,-117.3,587.5,-5.4,518,10748,0.00,2.55,0.00,0.000,4,0.000,0.067,2563,744,3092
$GC,10754,-0.62,-117.3,588.1,-5.2,518,10760,0.00,2.47,0.00,0.000,6,0.000,0.055,2563,2117,3092
$GC,11071,-0.62,-117.3,604.0,-4.9,534,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2118,3092
$GC,11380,-0.62,-117.3,620.0,-5.3,549,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2118,3092
$GC,11689,-0.62,-117.3,635.6,-5.0,564,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2118,3091
$GC,11999,-0.62,-117.3,650.3,-5.1,579,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2118,3092
$GC,12307,-0.62,-117.3,668.9,-6.3,594,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2118,3091
$GC,12617,-0.62,-117.3,686.5,-5.4,609,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2118,3091
$GC,12926,-0.62,-117.3,702.8,-4.7,624,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2118,3091
$GC,13235,-0.62,-117.3,713.6,-2.8,639,13236,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2118,3091
$GC,13545,-0.62,-117.3,724.3,-3.2,654,13546,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2118,3091
$GC,13853,-0.62,-117.3,741.2,-6.4,669,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2118,3091
$GC,14164,-0.66,-117.3,762.7,-7.2,684,14168,0.00,2.53,0.00,0.000,4,0.000,0.068,2563,746,3091
$GC,14175,-0.66,-117.3,763.6,-7.0,684,14181,0.00,2.50,0.00,0.000,6,0.000,0.057,2563,2132,3091
$GC,14492,-0.66,-117.3,780.2,-5.9,700,14496,0.00,2.55,0.00,0.000,4,0.000,0.069,2563,748,3091
$GC,14558,-0.66,-117.3,784.5,-6.9,703,14562,0.00,2.47,0.00,0.000,6,0.000,0.058,2563,2116,3091
$GC,14880,-0.66,-117.3,805.1,-6.5,719,14884,0.00,2.53,0.00,0.000,4,0.000,0.070,2562,750,3091
$GC,14890,-0.66,-117.3,805.9,-6.8,719,14896,0.00,2.45,0.00,0.000,6,0.000,0.057,2562,2104,3091
$GC,15206,-0.70,-117.3,826.0,-4.4,735,15208,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2103,3091
$GC,15516,-0.75,-117.3,834.5,-2.6,750,15521,0.12,2.65,0.00,0.000,4,0.053,0.070,2525,3565,3090
$GC,15775,-0.64,-117.3,839.0,-0.3,761,15782,0.15,2.65,0.00,0.000,6,0.097,0.056,2557,2087,3090
$GC,16091,-0.64,-117.3,838.9,-1.2,777,16096,0.00,2.67,0.00,0.000,4,0.000,0.069,2557,3558,3090
$GC,16103,-0.64,-117.3,839.1,-2.5,777,16109,0.00,2.67,0.00,0.000,6,0.000,0.055,2557,2067,3090
$GC,16419,-0.64,-117.3,857.3,-5.8,793,16424,0.00,2.75,0.00,0.000,4,0.000,0.070,2557,3566,3090
$GC,16644,-0.64,-117.3,869.3,-5.1,803,16648,0.00,2.65,0.00,0.000,6,0.000,0.054,2557,2075,3090
$GC,16966,-0.68,-117.3,883.2,-3.2,819,16970,0.00,2.75,0.00,0.000,4,0.000,0.074,2557,3557,3090
$GC,17223,-0.68,-117.3,888.7,-6.3,830,17230,0.00,2.62,0.00,0.000,6,0.000,0.058,2557,2099,3090
$STATE,17412,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17412,begin apogee
$GC,17419,-0.33,0.0,897.4,4.9,840,17522,0.32,0.00,100.68,1.417,6,0.080,0.000,2625,2098,2620
$STATE,17523,end apogee,CONTROL_FINISHED_OK
$STATE,17523,begin climb
$GC,17526,1.03,117.3,900.0,0.0,845,17636,1.38,2.75,100.53,1.398,4,0.075,0.079,2917,689,2141
$GC,17727,0.95,117.3,890.7,7.8,854,17731,0.00,2.60,0.00,0.000,6,0.000,0.063,2917,2103,2141
$GC,18043,0.95,117.3,865.3,7.0,869,18047,0.00,2.62,0.00,0.000,4,0.000,0.077,2917,3510,2139
$GC,18221,0.91,117.3,852.8,8.4,877,18226,0.00,2.60,0.00,0.000,6,0.000,0.063,2917,2103,2139
$GC,18548,0.86,117.3,830.0,6.7,893,18553,0.15,2.65,0.00,0.000,4,0.091,0.076,2884,3507,2138
$GC,18616,0.95,129.9,825.7,5.6,896,18633,0.00,2.53,11.85,1.252,6,0.000,0.059,2884,2126,2090
$GC,18944,1.06,150.5,812.9,5.3,912,18969,0.17,2.70,18.92,1.316,4,0.048,0.076,2939,690,2006
$GC,19015,0.96,150.5,806.0,10.2,915,19020,0.15,2.67,0.00,0.000,6,0.087,0.061,2907,2139,2006
$GC,19336,0.96,150.5,781.8,6.6,931,19341,0.00,2.53,0.00,0.000,4,0.000,0.071,2907,3517,2005
$GC,19393,1.00,150.5,777.8,7.4,933,19399,0.00,2.53,0.00,0.000,6,0.000,0.055,2907,2128,2005
$GC,19709,1.03,169.6,762.0,5.3,949,19731,0.00,2.67,17.17,1.269,4,0.000,0.066,2907,3514,1928
$GC,19778,1.10,177.3,758.5,5.7,952,19792,0.12,2.47,8.52,1.146,6,0.052,0.054,2945,2148,1897
$GC,20111,1.03,177.3,732.4,8.4,968,20116,0.00,2.67,0.00,0.000,4,0.000,0.072,2945,681,1896
$GC,20175,0.97,177.3,726.6,8.8,971,20180,0.17,2.67,0.00,0.000,6,0.082,0.058,2908,2163,1897
$GC,20503,1.03,177.3,704.4,7.3,987,20507,0.00,2.45,0.00,0.000,4,0.000,0.067,2908,3510,1896
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$STATE,29125,end climb,SURFACE_DEPTH_REACHED
$STATE,29125,begin surface coast
$FINISH,0.2,1.026994
$STATE,29150,end surface coast,CONTROL_FINISHED_OK
$STATE,29150,begin surface
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$10V_AH,10.1,11.631
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$DEVICE_SECS,25.750,280.975,325.250,176.575,0.000,37.764,27.154,176.818,267.250,0.000,0.000,148.775,2595.350,22575.559,766.143,3184.513,736.499,33.366,2297.524,0.000,2987.814,0.000,51.689
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72480,1401
$CAP_FILE_SIZE,221234,0
$CFSIZE,254472192,244011008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,020708,232401,6138.188,-935.269,38,1.3,43,-9.6