version: 66.03
glider: 5
mission: 3
dive: 127
start: 7 5 108 15 47 49
data:
$ID,5
$MISSION,3
$DIVE,127
$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,-79076.594
$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,24
$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
$GPS1,154026,6138.078,-931.539,41,1.0,41,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-55.0
$GPS2,154657,6138.069,-931.657,15,1.2,15,-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,-0.009
$KALMAN_X,-43045.7,7.0,846.3,51816.3,-9522.5
$KALMAN_Y,93138.2,-400.8,-2145.4,-111331.9,6609.0
$MHEAD_RNG_PITCHd_Wd,102.0,18942,-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,-117.3,0.0,0.0,0,135,0.00,0.00,-108.88,0.000,6,0.000,0.000,421,2124,3099
$GC,139,-1.03,-117.3,2.0,-1.4,5,155,10.57,2.53,0.00,0.000,4,0.137,0.055,2466,739,3098
$GC,316,-0.69,-117.3,25.0,-11.7,12,321,0.38,2.50,0.00,0.000,6,0.085,0.048,2547,2151,3098
$GC,645,-0.59,-117.3,44.5,-4.6,28,646,0.12,0.00,0.00,0.000,6,0.093,0.000,2573,2150,3097
$GC,953,-0.59,-117.3,58.2,-4.3,43,957,0.00,2.53,0.00,0.000,4,0.000,0.060,2572,3564,3097
$GC,1070,-0.59,-117.3,64.2,-5.1,48,1075,0.00,2.50,0.00,0.000,6,0.000,0.045,2573,2142,3097
$GC,1387,-0.59,-117.3,75.8,-3.6,63,1391,0.00,2.58,0.00,0.000,4,0.000,0.059,2572,3557,3097
$GC,1454,-0.59,-117.3,79.5,-5.9,66,1458,0.00,2.45,0.00,0.000,6,0.000,0.044,2572,2168,3097
$GC,1776,-0.59,-117.3,93.9,-4.6,82,1780,0.00,2.53,0.00,0.000,4,0.000,0.059,2572,3555,3097
$GC,1809,-0.59,-117.3,95.9,-6.0,83,1815,0.00,2.42,0.00,0.000,6,0.000,0.044,2572,2175,3097
$GC,2125,-0.59,-117.3,115.7,-6.1,99,2129,0.00,2.55,0.00,0.000,4,0.000,0.061,2572,748,3097
$GC,2232,-0.59,-117.3,123.0,-7.3,104,2237,0.00,2.53,0.00,0.000,6,0.000,0.051,2573,2171,3097
$GC,2560,-0.59,-117.3,149.7,-9.1,120,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2172,3096
$GC,2869,-0.59,-117.3,176.5,-8.5,135,2874,0.00,2.47,0.00,0.000,4,0.000,0.062,2572,3562,3096
$GC,2903,-0.59,-117.3,179.6,-9.0,136,2909,0.00,2.47,0.00,0.000,6,0.000,0.048,2572,2166,3096
$GC,3218,-0.59,-117.3,202.7,-6.9,152,3223,0.00,2.55,0.00,0.000,4,0.000,0.062,2572,739,3096
$GC,3252,-0.59,-117.3,205.2,-7.1,153,3258,0.00,2.55,0.00,0.000,6,0.000,0.051,2572,2171,3096
$GC,3568,-0.59,-117.3,224.4,-5.7,169,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2171,3096
$GC,3877,-0.59,-117.3,237.5,-3.8,184,3881,0.00,2.60,0.00,0.000,4,0.000,0.063,2572,745,3095
$GC,3921,-0.59,-117.3,239.4,-4.1,186,3926,0.00,2.55,0.00,0.000,6,0.000,0.052,2572,2170,3096
$GC,4243,-0.59,-117.3,251.1,-3.5,202,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2170,3095
$GC,4551,-0.59,-117.3,261.6,-2.2,217,4556,0.00,2.58,0.00,0.000,4,0.000,0.064,2572,745,3095
$GC,4630,-0.59,-117.3,264.0,-3.5,220,4636,0.00,2.55,0.00,0.000,6,0.000,0.053,2572,2173,3095
$GC,4947,-0.59,-117.3,276.7,-3.9,236,4951,0.00,2.60,0.00,0.000,4,0.000,0.064,2572,745,3095
$GC,5009,-0.59,-117.3,280.8,-7.5,239,5013,0.00,2.50,0.00,0.000,6,0.000,0.053,2572,2145,3095
$GC,5336,-0.59,-117.3,297.8,-4.6,255,5340,0.00,2.55,0.00,0.000,4,0.000,0.064,2572,741,3095
$GC,5403,-0.59,-117.3,301.7,-5.9,258,5407,0.00,2.50,0.00,0.000,6,0.000,0.053,2572,2139,3095
$GC,5724,-0.59,-117.3,316.9,-4.2,274,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2138,3094
$GC,6033,-0.59,-117.3,331.7,-4.8,289,6038,0.00,2.55,0.00,0.000,4,0.000,0.065,2572,3557,3094
$GC,6067,-0.59,-117.3,333.5,-5.5,290,6074,0.00,2.53,0.00,0.000,6,0.000,0.050,2572,2135,3094
$GC,6385,-0.59,-117.3,351.3,-6.0,306,6389,0.00,2.60,0.00,0.000,4,0.000,0.064,2572,3557,3094
$GC,6441,-0.59,-117.3,355.3,-7.1,308,6447,0.00,2.50,0.00,0.000,6,0.000,0.048,2572,2148,3094
$GC,6756,-0.59,-117.3,377.0,-7.0,324,6761,0.00,2.58,0.00,0.000,4,0.000,0.065,2572,3565,3094
$GC,6823,-0.59,-117.3,381.6,-7.2,327,6828,0.00,2.47,0.00,0.000,6,0.000,0.049,2572,2160,3093
$GC,7146,-0.59,-117.3,400.1,-5.9,343,7150,0.00,2.53,0.00,0.000,4,0.000,0.063,2572,739,3094
$GC,7186,-0.59,-117.3,402.8,-6.4,345,7190,0.00,2.53,0.00,0.000,6,0.000,0.053,2572,2153,3093
$GC,7514,-0.59,-117.3,421.2,-5.5,361,7518,0.00,2.53,0.00,0.000,4,0.000,0.066,2572,3557,3093
$GC,7541,-0.59,-117.3,423.0,-6.2,362,7545,0.00,2.50,0.00,0.000,6,0.000,0.051,2572,2153,3093
$GC,7857,-0.59,-117.3,439.2,-4.9,377,7861,0.00,2.58,0.00,0.000,4,0.000,0.065,2572,3557,3093
$GC,7890,-0.59,-117.3,440.8,-4.9,378,7896,0.00,2.47,0.00,0.000,6,0.000,0.050,2572,2155,3093
$GC,8207,-0.59,-117.3,454.2,-3.8,394,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2142,3093
$GC,8515,-0.59,-117.3,466.2,-4.3,409,8520,0.00,2.55,0.00,0.000,4,0.000,0.065,2572,3559,3092
$GC,8549,-0.59,-117.3,467.6,-3.4,410,8556,0.00,2.45,0.00,0.000,6,0.000,0.051,2572,2153,3092
$GC,8866,-0.59,-117.3,478.4,-3.7,426,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2153,3092
$GC,9175,-0.59,-117.3,490.6,-3.9,441,9179,0.00,2.55,0.00,0.000,4,0.000,0.066,2572,3557,3092
$GC,9220,-0.59,-117.3,492.5,-4.6,443,9224,0.00,2.42,0.00,0.000,6,0.000,0.051,2572,2195,3092
$GC,9541,-0.59,-117.3,502.5,-2.5,459,9545,0.00,2.58,0.00,0.000,4,0.000,0.065,2572,749,3092
$GC,9568,-0.59,-117.3,503.7,-4.7,460,9573,0.00,2.55,0.00,0.000,6,0.000,0.054,2572,2169,3092
$GC,9885,-0.59,-117.3,514.1,-2.8,475,9889,0.00,2.60,0.00,0.000,4,0.000,0.065,2572,740,3092
$GC,9925,-0.59,-117.3,515.4,-3.3,477,9929,0.00,2.55,0.00,0.000,6,0.000,0.054,2572,2165,3092
$GC,10251,-0.59,-117.3,523.4,-2.4,493,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2165,3092
$GC,10561,-0.63,-117.3,532.6,-3.7,508,10566,0.00,2.53,0.00,0.000,4,0.000,0.067,2572,3562,3092
$GC,10594,-0.63,-117.3,534.1,-4.4,509,10600,0.00,2.50,0.00,0.000,6,0.000,0.053,2572,2152,3092
$GC,10910,-0.63,-117.3,547.8,-4.6,525,10915,0.00,2.58,0.00,0.000,4,0.000,0.067,2572,3560,3092
$GC,10933,-0.63,-117.3,548.8,-4.7,526,10937,0.00,2.53,0.00,0.000,6,0.000,0.053,2572,2147,3091
$GC,11255,-0.68,-117.3,559.3,-3.3,542,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2130,3091
$GC,11564,-0.72,-117.3,566.8,-2.8,557,11569,0.12,2.60,0.00,0.000,4,0.052,0.066,2534,3560,3091
$GC,11615,-0.64,-117.3,569.5,-5.9,559,11620,0.12,2.50,0.00,0.000,6,0.095,0.053,2559,2161,3091
$GC,11931,-0.64,-117.3,579.6,-3.9,574,11935,0.00,2.53,0.00,0.000,4,0.000,0.064,2559,748,3091
$GC,11965,-0.64,-117.3,580.7,-3.1,575,11971,0.00,2.55,0.00,0.000,6,0.000,0.054,2559,2171,3091
$GC,12281,-0.64,-117.3,586.8,-1.7,591,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2170,3091
$GC,12590,-0.64,-117.3,595.0,-2.9,606,12595,0.00,2.60,0.00,0.000,4,0.000,0.067,2560,743,3091
$GC,12619,-0.64,-117.3,596.0,-2.8,607,12623,0.00,2.55,0.00,0.000,6,0.000,0.055,2559,2161,3090
$GC,12935,-0.64,-117.3,602.4,-1.9,622,12936,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2161,3091
$GC,13245,-0.64,-117.3,608.0,-1.7,637,13249,0.00,2.58,0.00,0.000,4,0.000,0.065,2559,748,3091
$GC,13268,-0.64,-117.3,608.6,-2.4,638,13273,0.00,2.53,0.00,0.000,6,0.000,0.055,2559,2157,3091
$GC,13590,-0.64,-117.3,615.8,-2.2,654,13591,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2155,3090
$GC,13900,-0.64,-117.3,623.4,-2.6,669,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2155,3090
$GC,14209,-0.64,-117.3,632.0,-2.7,684,14213,0.00,2.58,0.00,0.000,4,0.000,0.067,2559,743,3090
$GC,14242,-0.64,-117.3,633.1,-3.6,685,14248,0.00,2.53,0.00,0.000,6,0.000,0.055,2559,2146,3091
$GC,14559,-0.64,-117.3,642.7,-3.1,701,14560,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2144,3090
$GC,14868,-0.64,-117.3,654.0,-4.2,716,14869,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2144,3090
$GC,15177,-0.64,-117.3,668.1,-4.5,731,15178,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2144,3090
$GC,15487,-0.64,-117.3,679.8,-3.5,746,15488,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2145,3090
$GC,15795,-0.64,-117.3,689.1,-2.7,761,15796,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2145,3090
$GC,16105,-0.64,-117.3,699.4,-3.6,776,16106,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2145,3090
$GC,16414,-0.64,-117.3,710.8,-4.1,791,16419,0.00,2.58,0.00,0.000,4,0.000,0.067,2559,743,3090
$GC,16459,-0.64,-117.3,712.8,-4.6,793,16464,0.00,2.53,0.00,0.000,6,0.000,0.056,2559,2145,3090
$GC,16781,-0.64,-117.3,729.2,-6.0,809,16785,0.00,2.53,0.00,0.000,4,0.000,0.067,2559,3557,3090
$GC,16802,-0.64,-117.3,730.8,-7.3,810,16806,0.00,2.53,0.00,0.000,6,0.000,0.053,2559,2142,3090
$GC,17123,-0.64,-117.3,756.5,-8.2,826,17124,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2124,3090
$STATE,17408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17408,begin apogee
$GC,17415,-0.33,0.0,778.1,7.6,840,17517,0.32,0.00,98.68,1.314,6,0.079,0.000,2627,2124,2620
$STATE,17518,end apogee,CONTROL_FINISHED_OK
$STATE,17518,begin climb
$GC,17521,1.03,117.3,783.3,0.0,845,17627,1.35,2.58,99.18,1.295,4,0.066,0.062,2920,3509,2140
$GC,17685,1.03,117.3,777.0,6.5,853,17689,0.00,2.55,0.00,0.000,6,0.000,0.051,2920,2103,2140
$GC,18012,1.03,117.5,757.7,6.0,869,18013,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2075,2139
$GC,18320,1.03,117.5,739.3,6.9,884,18321,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2073,2139
$GC,18630,1.03,117.5,720.4,6.1,899,18634,0.00,2.58,0.00,0.000,4,0.000,0.064,2920,3506,2139
$GC,18702,1.05,131.3,716.5,5.5,902,18721,0.00,2.53,13.35,1.161,6,0.000,0.051,2920,2098,2083
$GC,19044,1.08,151.0,697.1,5.3,919,19068,0.00,2.70,17.80,1.193,4,0.000,0.063,2920,3508,2003
$GC,19121,1.08,151.0,692.1,8.0,922,19126,0.00,2.50,0.00,0.000,6,0.000,0.051,2920,2126,2003
$GC,19437,1.08,151.0,674.5,6.1,937,19438,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2120,2003
$GC,19747,1.13,180.1,658.0,5.0,952,19778,0.10,2.62,25.52,1.201,4,0.054,0.062,2954,3514,1884
$GC,19823,1.06,180.1,652.7,8.1,955,19830,0.12,2.53,0.00,0.000,6,0.084,0.052,2930,2124,1884
$GC,20140,1.08,195.0,634.7,5.5,971,20158,0.00,0.00,13.90,1.130,6,0.000,0.000,2930,2124,1824
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$STATE,29193,end climb,SURFACE_DEPTH_REACHED
$STATE,29193,begin surface coast
$FINISH,0.2,1.026981
$STATE,29215,end surface coast,CONTROL_FINISHED_OK
$STATE,29215,begin surface
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$10V_AH,10.1,12.764
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$DEVICE_SECS,25.900,265.375,427.175,100.225,0.000,37.762,27.366,180.066,275.250,0.000,0.000,15.732,2561.095,22745.693,753.566,2932.126,725.535,33.353,2248.584,0.000,2877.582,0.000,45.271
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$DATA_FILE_SIZE,72524,1408
$CAP_FILE_SIZE,216794,0
$CFSIZE,254472192,243171328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
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