version: 66.03
glider: 5
mission: 3
dive: 124
start: 7 4 108 17 45 15
data:
$ID,5
$MISSION,3
$DIVE,124
$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,-79028.555
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,173822,6144.168,-919.024,60,1.2,60,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-57.9
$GPS2,174421,6144.173,-918.949,16,1.2,16,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.007,-0.201
$KALMAN_X,-20203.0,-1757.4,-576.1,43308.4,5742.7
$KALMAN_Y,96106.5,326.0,-6150.8,-99730.1,27975.6
$MHEAD_RNG_PITCHd_Wd,187.5,9127,-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,-117.3,0.0,0.0,0,136,0.00,0.00,-109.78,0.000,6,0.000,0.000,422,2147,3100
$GC,140,-1.03,-117.3,2.3,-1.7,5,156,10.55,2.55,0.00,0.000,4,0.135,0.058,2471,737,3099
$GC,162,0.67,-117.3,7.4,-14.4,5,171,1.77,2.55,0.00,0.000,6,0.081,0.048,2844,2158,3100
$GC,490,-0.16,-117.3,17.9,-3.0,21,496,0.82,2.50,0.00,0.000,4,0.057,0.058,2661,3557,3098
$GC,558,-0.48,-117.3,20.0,-3.1,24,564,0.30,2.72,0.00,0.000,6,0.041,0.044,2580,2005,3098
$GC,882,-0.48,-117.3,31.5,-4.1,40,887,0.00,2.83,0.00,0.000,4,0.000,0.059,2579,3561,3098
$GC,1045,-0.48,-117.3,38.7,-4.4,47,1049,0.00,2.70,0.00,0.000,6,0.000,0.045,2579,2031,3098
$GC,1361,-0.48,-117.3,51.7,-4.1,62,1366,0.00,2.78,0.00,0.000,4,0.000,0.059,2579,3564,3099
$GC,1501,-0.48,-117.3,59.0,-5.6,68,1505,0.00,2.65,0.00,0.000,6,0.000,0.045,2579,2065,3099
$GC,1818,-0.48,-117.3,75.3,-5.3,83,1822,0.00,2.70,0.00,0.000,4,0.000,0.059,2579,3563,3099
$GC,1829,-0.48,-117.3,76.0,-5.6,83,1835,0.00,2.65,0.00,0.000,6,0.000,0.046,2579,2064,3099
$GC,2145,-0.48,-117.3,92.3,-5.0,99,2150,0.00,2.70,0.00,0.000,4,0.000,0.059,2579,3558,3099
$GC,2157,-0.48,-117.3,93.1,-5.0,99,2163,0.00,2.62,0.00,0.000,6,0.000,0.049,2579,2076,3099
$GC,2473,-0.48,-117.3,108.6,-4.2,115,2478,0.00,2.70,0.00,0.000,4,0.000,0.061,2579,3560,3100
$GC,2518,-0.48,-117.3,111.2,-5.9,117,2523,0.00,2.62,0.00,0.000,6,0.000,0.048,2579,2075,3099
$GC,2841,-0.52,-117.3,128.1,-6.3,133,2845,0.00,2.67,0.00,0.000,4,0.000,0.062,2579,3557,3099
$GC,2881,-0.52,-117.3,130.8,-6.7,135,2885,0.00,2.62,0.00,0.000,6,0.000,0.049,2579,2075,3099
$GC,3209,-0.52,-117.3,150.1,-5.5,151,3213,0.00,2.67,0.00,0.000,4,0.000,0.063,2579,3557,3098
$GC,3242,-0.52,-117.3,152.2,-6.3,152,3248,0.00,2.62,0.00,0.000,6,0.000,0.049,2579,2084,3098
$GC,3558,-0.57,-117.3,172.6,-6.4,168,3562,0.00,2.67,0.00,0.000,4,0.000,0.061,2579,3561,3098
$GC,3602,-0.57,-117.3,175.9,-7.5,170,3607,0.00,2.60,0.00,0.000,6,0.000,0.048,2579,2092,3098
$GC,3925,-0.61,-117.3,198.5,-7.1,186,3929,0.00,2.67,0.00,0.000,4,0.000,0.062,2579,3561,3098
$GC,3964,-0.61,-117.3,201.6,-8.1,188,3969,0.00,2.58,0.00,0.000,6,0.000,0.048,2579,2103,3098
$GC,4292,-0.61,-117.3,221.9,-5.8,204,4296,0.00,2.65,0.00,0.000,4,0.000,0.064,2579,3561,3097
$GC,4332,-0.61,-117.3,224.3,-6.3,206,4336,0.00,2.58,0.00,0.000,6,0.000,0.050,2579,2108,3097
$GC,4659,-0.66,-117.3,240.4,-4.4,222,4664,0.12,2.62,0.00,0.000,4,0.051,0.063,2539,3556,3097
$GC,4710,-0.56,-117.3,243.5,-6.7,224,4715,0.17,2.58,0.00,0.000,6,0.087,0.050,2576,2110,3097
$GC,5026,-0.56,-117.3,259.1,-5.1,239,5030,0.00,2.62,0.00,0.000,4,0.000,0.064,2576,3557,3097
$GC,5059,-0.56,-117.3,260.9,-5.8,240,5065,0.00,2.55,0.00,0.000,6,0.000,0.051,2576,2123,3096
$GC,5376,-0.56,-117.3,278.1,-5.6,256,5380,0.00,2.62,0.00,0.000,4,0.000,0.064,2576,3557,3096
$GC,5388,-0.56,-117.3,278.8,-5.4,256,5393,0.00,2.58,0.00,0.000,6,0.000,0.052,2576,2116,3096
$GC,5703,-0.56,-117.3,298.9,-6.4,272,5707,0.00,2.65,0.00,0.000,4,0.000,0.064,2576,3562,3096
$GC,5715,-0.56,-117.3,299.7,-6.3,272,5722,0.00,2.58,0.00,0.000,6,0.000,0.051,2576,2119,3096
$GC,6031,-0.56,-117.3,319.8,-6.5,288,6035,0.00,2.62,0.00,0.000,4,0.000,0.064,2576,3562,3096
$GC,6042,-0.60,-117.3,320.7,-6.6,288,6048,0.00,2.55,0.00,0.000,6,0.000,0.051,2576,2131,3095
$GC,6359,-0.64,-117.3,340.9,-5.5,304,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2131,3095
$GC,6667,-0.69,-117.3,355.1,-3.8,319,6672,0.12,2.60,0.00,0.000,4,0.052,0.064,2537,3565,3095
$GC,6678,-0.69,-117.3,355.6,-3.6,319,6684,0.00,2.58,0.00,0.000,6,0.000,0.052,2536,2118,3095
$GC,6995,-0.63,-117.3,371.0,-4.3,335,6997,0.12,0.00,0.00,0.000,6,0.094,0.000,2562,2119,3095
$GC,7304,-0.63,-117.3,380.1,-2.4,350,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2118,3095
$GC,7613,-0.63,-117.3,386.3,-1.9,365,7618,0.00,2.62,0.00,0.000,4,0.000,0.065,2562,3557,3095
$GC,7624,-0.63,-117.3,386.5,-2.2,365,7630,0.00,2.58,0.00,0.000,6,0.000,0.053,2562,2116,3095
$GC,7940,-0.63,-117.3,394.6,-2.8,381,7945,0.00,2.62,0.00,0.000,4,0.000,0.065,2562,3557,3094
$GC,7963,-0.63,-117.3,395.3,-2.6,382,7967,0.00,2.58,0.00,0.000,6,0.000,0.053,2562,2116,3094
$GC,8284,-0.63,-117.3,405.4,-3.3,398,8288,0.00,2.62,0.00,0.000,4,0.000,0.064,2562,3559,3094
$GC,8324,-0.63,-117.3,406.9,-4.3,400,8328,0.00,2.55,0.00,0.000,6,0.000,0.053,2562,2117,3094
$GC,8651,-0.63,-117.3,418.5,-3.9,416,8656,0.00,2.65,0.00,0.000,4,0.000,0.065,2562,3564,3094
$GC,8696,-0.63,-117.3,420.7,-5.1,418,8700,0.00,2.55,0.00,0.000,6,0.000,0.052,2562,2131,3094
$GC,9017,-0.63,-117.3,436.4,-4.8,434,9021,0.00,2.60,0.00,0.000,4,0.000,0.065,2563,3556,3094
$GC,9028,-0.63,-117.3,437.0,-5.1,434,9034,0.00,2.55,0.00,0.000,6,0.000,0.054,2562,2124,3093
$GC,9344,-0.63,-117.3,453.0,-5.4,450,9348,0.00,2.62,0.00,0.000,4,0.000,0.066,2562,3562,3094
$GC,9354,-0.63,-117.3,453.7,-5.3,450,9361,0.00,2.58,0.00,0.000,6,0.000,0.054,2562,2123,3093
$GC,9671,-0.63,-117.3,471.7,-6.2,466,9675,0.00,2.62,0.00,0.000,4,0.000,0.066,2562,3556,3093
$GC,9704,-0.63,-117.3,474.1,-7.7,467,9710,0.00,2.55,0.00,0.000,6,0.000,0.053,2562,2131,3093
$GC,10019,-0.63,-117.3,494.4,-6.6,483,10024,0.00,2.60,0.00,0.000,4,0.000,0.065,2562,3565,3093
$GC,10041,-0.63,-117.3,496.1,-7.1,484,10045,0.00,2.55,0.00,0.000,6,0.000,0.052,2562,2135,3093
$GC,10362,-0.63,-117.3,517.7,-6.6,500,10366,0.00,2.60,0.00,0.000,4,0.000,0.065,2563,3557,3093
$GC,10372,-0.63,-117.3,518.4,-6.5,500,10378,0.00,2.53,0.00,0.000,6,0.000,0.053,2562,2140,3093
$GC,10688,-0.63,-117.3,537.8,-5.6,516,10693,0.00,2.60,0.00,0.000,4,0.000,0.066,2562,3556,3093
$GC,10700,-0.63,-117.3,538.4,-5.4,516,10706,0.00,2.53,0.00,0.000,6,0.000,0.053,2562,2143,3092
$GC,11016,-0.63,-117.3,555.8,-5.5,532,11021,0.00,2.60,0.00,0.000,4,0.000,0.068,2562,3556,3093
$GC,11056,-0.63,-117.3,558.1,-6.5,534,11061,0.00,2.50,0.00,0.000,6,0.000,0.053,2562,2152,3092
$GC,11384,-0.63,-117.3,574.9,-5.0,550,11389,0.00,2.60,0.00,0.000,4,0.000,0.067,2562,3564,3093
$GC,11394,-0.63,-117.3,575.5,-5.3,550,11399,0.00,2.50,0.00,0.000,6,0.000,0.054,2562,2154,3093
$GC,11711,-0.63,-117.3,592.4,-5.6,565,11715,0.00,2.58,0.00,0.000,4,0.000,0.066,2562,3556,3092
$GC,11729,-0.63,-117.3,593.4,-5.4,566,11733,0.00,2.47,0.00,0.000,6,0.000,0.052,2563,2164,3092
$GC,12055,-0.63,-117.3,615.7,-6.9,582,12059,0.00,2.55,0.00,0.000,4,0.000,0.067,2562,3556,3092
$GC,12066,-0.63,-117.3,616.5,-6.7,582,12072,0.00,2.50,0.00,0.000,6,0.000,0.052,2562,2157,3092
$GC,12382,-0.63,-117.3,636.4,-5.6,598,12387,0.00,2.58,0.00,0.000,4,0.000,0.067,2562,3564,3092
$GC,12393,-0.63,-117.3,637.1,-5.5,598,12399,0.00,2.50,0.00,0.000,6,0.000,0.052,2562,2163,3092
$GC,12710,-0.63,-117.3,650.3,-3.7,614,12715,0.00,2.55,0.00,0.000,4,0.000,0.067,2562,3562,3092
$GC,12773,-0.63,-117.3,652.8,-3.9,617,12777,0.00,2.45,0.00,0.000,6,0.000,0.051,2563,2178,3092
$GC,13099,-0.63,-117.3,660.0,-1.4,633,13104,0.00,2.55,0.00,0.000,4,0.000,0.067,2562,3558,3092
$GC,13111,-0.63,-117.3,660.1,-1.4,633,13117,0.00,2.47,0.00,0.000,6,0.000,0.053,2562,2173,3092
$GC,13427,-0.63,-117.3,665.4,-2.5,649,13431,0.00,2.55,0.00,0.000,4,0.000,0.068,2562,3555,3092
$GC,13437,-0.63,-117.3,665.8,-2.7,649,13444,0.00,2.45,0.00,0.000,6,0.000,0.054,2562,2183,3092
$GC,13753,-0.63,-117.3,682.8,-7.1,665,13754,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2164,3092
$GC,14063,-0.63,-117.3,705.5,-8.5,680,14067,0.00,2.55,0.00,0.000,4,0.000,0.068,2562,3565,3092
$GC,14073,-0.63,-117.3,706.5,-8.8,680,14080,0.00,2.47,0.00,0.000,6,0.000,0.054,2562,2164,3091
$GC,14390,-0.63,-117.3,730.2,-6.0,696,14394,0.00,2.55,0.00,0.000,4,0.000,0.068,2562,763,3092
$GC,14403,-0.63,-117.3,730.9,-5.6,696,14409,0.00,2.55,0.00,0.000,6,0.000,0.056,2562,2185,3092
$GC,14719,-0.67,-117.3,741.8,-0.8,712,14723,0.00,2.50,0.00,0.000,4,0.000,0.071,2562,3565,3092
$GC,14874,-0.67,-117.3,741.7,-0.0,719,14878,0.00,2.38,0.00,0.000,6,0.000,0.055,2562,2233,3092
$GC,15200,-0.67,-117.3,749.7,-4.5,735,15207,0.00,2.47,0.00,0.000,4,0.000,0.074,2562,3561,3092
$GC,15275,-0.67,-117.3,754.5,-5.3,738,15279,0.00,2.38,0.00,0.000,6,0.000,0.058,2562,2237,3092
$GC,15597,-0.73,-117.3,774.3,-6.4,754,15598,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2220,3092
$GC,15906,-0.77,-117.3,790.2,-6.2,769,15911,0.15,2.50,0.00,0.000,4,0.057,0.081,2516,3565,3091
$GC,15928,-0.77,-117.3,791.9,-7.7,770,15932,0.00,2.45,0.00,0.000,6,0.000,0.067,2516,2227,3091
$GC,16251,-0.66,-117.3,808.7,-5.5,786,16256,0.15,2.53,0.00,0.000,4,0.100,0.086,2550,3554,3090
$GC,16313,-0.66,-117.3,811.2,-3.7,789,16318,0.00,2.40,0.00,0.000,6,0.000,0.067,2550,2236,3090
$STATE,16556,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,16556,begin apogee
$GC,16563,-0.33,0.0,823.0,5.8,801,16666,0.38,0.00,99.55,1.413,6,0.086,0.000,2627,2114,2620
$STATE,16666,end apogee,CONTROL_FINISHED_OK
$STATE,16667,begin climb
$GC,16669,1.03,117.3,825.8,0.0,806,16777,1.40,2.78,99.82,1.387,4,0.077,0.089,2922,697,2140
$GC,16839,0.94,117.3,816.5,6.1,814,16843,0.00,2.65,0.00,0.000,6,0.000,0.073,2923,2099,2140
$GC,17160,0.86,117.3,788.5,10.0,830,17165,0.15,2.67,0.00,0.000,4,0.094,0.084,2889,3510,2138
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$STATE,26214,end climb,SURFACE_DEPTH_REACHED
$STATE,26214,begin surface coast
$FINISH,0.1,1.026850
$STATE,26236,end surface coast,CONTROL_FINISHED_OK
$STATE,26236,begin surface
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$10V_AH,10.1,12.409
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$DATA_FILE_SIZE,66212,1270
$CAP_FILE_SIZE,217532,0
$CFSIZE,254472192,243433472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,050708,010537,6142.520,-923.186,41,1.0,42,-9.5