version: 66.03
glider: 5
mission: 3
dive: 38
start: 6 13 108 15 15 8
data:
$ID,5
$MISSION,3
$DIVE,38
$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,-77411.617
$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,16
$R_STBD_OVSHOOT,21
$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
$GPS1,150705,6138.230,-938.152,67,1.2,67,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-53.9
$GPS2,151417,6138.148,-938.224,12,2.2,31,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.201,0.003
$KALMAN_X,-52943.2,1200.7,-1598.7,-19127.8,-10096.0
$KALMAN_Y,-11820.0,462.8,-3486.7,39362.5,4722.1
$MHEAD_RNG_PITCHd_Wd,98.6,24492,-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,23,-1.03,-117.3,0.0,0.0,0,118,0.00,0.00,-91.80,0.000,6,0.000,0.000,421,2155,3099
$GC,122,-1.03,-117.3,2.2,-2.0,4,138,10.60,2.58,0.00,0.000,4,0.138,0.057,2469,735,3099
$GC,391,-0.71,-117.3,36.4,-8.5,15,396,0.35,2.55,0.00,0.000,6,0.087,0.051,2543,2161,3100
$GC,713,-0.64,-117.3,60.1,-7.4,31,718,0.00,2.58,0.00,0.000,4,0.000,0.060,2544,735,3100
$GC,821,-0.56,-117.3,68.7,-8.1,36,826,0.15,2.53,0.00,0.000,6,0.092,0.051,2575,2149,3100
$GC,1148,-0.56,-117.3,97.6,-9.9,52,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2148,3100
$GC,1458,-0.56,-117.3,128.3,-9.3,67,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2148,3100
$GC,1766,-0.56,-117.3,151.2,-6.0,82,1771,0.00,2.53,0.00,0.000,4,0.000,0.065,2575,3554,3100
$GC,1794,-0.56,-117.3,152.8,-5.7,83,1798,0.00,2.53,0.00,0.000,6,0.000,0.049,2575,2133,3099
$GC,2110,-0.56,-117.3,170.6,-6.5,98,2114,0.00,2.47,0.00,0.000,4,0.000,0.063,2575,750,3100
$GC,2165,-0.56,-117.3,174.9,-8.0,100,2173,0.00,2.50,0.00,0.000,6,0.000,0.051,2575,2148,3100
$GC,2482,-0.56,-117.3,200.7,-8.8,116,2486,0.00,2.58,0.00,0.000,4,0.000,0.064,2576,741,3100
$GC,2544,-0.56,-117.3,206.4,-8.9,119,2548,0.00,2.53,0.00,0.000,6,0.000,0.054,2575,2150,3100
$GC,2870,-0.56,-117.3,231.3,-7.1,135,2874,0.00,2.55,0.00,0.000,4,0.000,0.066,2575,3564,3100
$GC,2898,-0.56,-117.3,233.5,-7.7,136,2902,0.00,2.53,0.00,0.000,6,0.000,0.051,2575,2146,3100
$GC,3214,-0.56,-117.3,254.5,-6.5,151,3218,0.00,2.53,0.00,0.000,4,0.000,0.066,2575,743,3100
$GC,3249,-0.56,-117.3,256.8,-7.0,152,3255,0.00,2.55,0.00,0.000,6,0.000,0.054,2575,2160,3100
$GC,3565,-0.61,-117.3,277.2,-6.0,168,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2159,3099
$GC,3874,-0.65,-117.3,293.8,-5.4,183,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2158,3099
$GC,4183,-0.65,-117.3,312.6,-6.5,198,4187,0.00,2.58,0.00,0.000,4,0.000,0.064,2575,743,3099
$GC,4222,-0.65,-117.3,315.3,-7.5,200,4227,0.00,2.53,0.00,0.000,6,0.000,0.054,2575,2150,3099
$GC,4550,-0.70,-117.3,336.9,-6.5,216,4555,0.12,2.55,0.00,0.000,4,0.053,0.067,2538,3558,3099
$GC,4595,-0.61,-117.3,340.9,-9.0,218,4600,0.15,2.53,0.00,0.000,6,0.092,0.051,2569,2143,3099
$GC,4916,-0.61,-117.3,364.9,-7.2,234,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2125,3099
$GC,5225,-0.61,-117.3,383.0,-5.0,249,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2121,3098
$GC,5535,-0.61,-117.3,400.9,-6.2,264,5539,0.00,2.60,0.00,0.000,4,0.000,0.068,2569,3556,3098
$GC,5585,-0.61,-117.3,404.3,-6.3,266,5589,0.00,2.53,0.00,0.000,6,0.000,0.052,2569,2143,3098
$GC,5901,-0.61,-117.3,421.2,-5.3,281,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2125,3098
$GC,6211,-0.61,-117.3,431.8,-3.9,296,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2125,3098
$GC,6520,-0.61,-117.3,445.3,-3.8,311,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2125,3097
$GC,6829,-0.61,-117.3,459.2,-5.1,326,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2125,3097
$GC,7138,-0.61,-117.3,470.8,-3.6,341,7142,0.00,2.53,0.00,0.000,4,0.000,0.067,2569,742,3097
$GC,7166,-0.61,-117.3,472.0,-4.1,342,7171,0.00,2.55,0.00,0.000,6,0.000,0.055,2569,2160,3097
$GC,7488,-0.61,-117.3,484.7,-3.5,358,7492,0.00,2.60,0.00,0.000,4,0.000,0.066,2569,740,3097
$GC,7521,-0.61,-117.3,486.0,-4.1,359,7527,0.00,2.55,0.00,0.000,6,0.000,0.056,2569,2156,3097
$GC,7837,-0.65,-117.3,497.0,-3.3,375,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2156,3096
$GC,8146,-0.65,-117.3,504.5,-2.0,390,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2156,3096
$GC,8456,-0.65,-117.3,510.3,-1.8,405,8460,0.00,2.55,0.00,0.000,4,0.000,0.069,2569,3564,3096
$GC,8518,-0.65,-117.3,511.9,-2.9,408,8523,0.00,2.50,0.00,0.000,6,0.000,0.053,2569,2148,3096
$GC,8846,-0.65,-117.3,518.2,-1.9,424,8850,0.00,2.60,0.00,0.000,4,0.000,0.069,2569,3557,3096
$GC,8913,-0.65,-117.3,519.9,-2.8,427,8917,0.00,2.53,0.00,0.000,6,0.000,0.052,2569,2143,3096
$GC,9234,-0.65,-117.3,527.2,-2.3,443,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2125,3096
$GC,9544,-0.69,-117.3,533.0,-2.0,458,9548,0.00,2.60,0.00,0.000,4,0.000,0.070,2569,3557,3096
$GC,9607,-0.69,-117.3,534.4,-1.9,461,9611,0.00,2.50,0.00,0.000,6,0.000,0.052,2569,2150,3096
$GC,9934,-0.74,-117.3,539.3,-0.9,477,9936,0.12,0.00,0.00,0.000,6,0.053,0.000,2530,2131,3096
$GC,10244,-0.65,-117.3,546.5,-1.8,492,10249,0.12,2.60,0.00,0.000,4,0.096,0.067,2555,3559,3096
$GC,10267,-0.60,-117.3,546.9,-1.9,493,10271,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2147,3096
$GC,10588,-0.60,-117.3,553.4,-1.6,509,10592,0.00,2.62,0.00,0.000,4,0.000,0.069,2554,3565,3096
$GC,10610,-0.60,-117.3,553.7,-1.5,510,10614,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2148,3096
$GC,10932,-0.60,-117.3,560.0,-2.3,526,10936,0.00,2.60,0.00,0.000,4,0.000,0.069,2555,3560,3095
$GC,10959,-0.60,-117.3,561.0,-2.9,527,10963,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2148,3096
$GC,11275,-0.60,-117.3,569.7,-3.0,542,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2130,3095
$GC,11584,-0.60,-117.3,577.8,-2.6,557,11588,0.00,2.60,0.00,0.000,4,0.000,0.068,2555,3558,3095
$GC,11606,-0.60,-117.3,578.4,-2.5,558,11610,0.00,2.50,0.00,0.000,6,0.000,0.053,2555,2149,3095
$GC,11927,-0.60,-117.3,584.7,-2.0,574,11931,0.00,2.60,0.00,0.000,4,0.000,0.068,2555,3557,3095
$GC,11967,-0.60,-117.3,585.7,-2.5,576,11972,0.00,2.50,0.00,0.000,6,0.000,0.053,2555,2149,3095
$GC,12295,-0.60,-117.3,593.9,-3.0,592,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2130,3095
$GC,12604,-0.60,-117.3,605.7,-3.9,607,12608,0.00,2.60,0.00,0.000,4,0.000,0.068,2555,3558,3095
$GC,12631,-0.60,-117.3,606.9,-5.0,608,12635,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2147,3095
$GC,12947,-0.60,-117.3,620.3,-4.2,623,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2128,3095
$GC,13256,-0.60,-117.3,636.3,-5.3,638,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2128,3095
$GC,13566,-0.60,-117.3,651.2,-4.7,653,13570,0.00,2.62,0.00,0.000,4,0.000,0.069,2555,3565,3095
$GC,13583,-0.60,-117.3,652.0,-4.7,654,13587,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2150,3095
$GC,13910,-0.60,-117.3,666.7,-4.2,670,13911,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2131,3095
$GC,14219,-0.60,-117.3,678.8,-3.7,685,14223,0.00,2.60,0.00,0.000,4,0.000,0.069,2555,3557,3095
$GC,14274,-0.60,-117.3,681.2,-4.6,687,14280,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2145,3095
$GC,14590,-0.60,-117.3,693.7,-3.9,703,14595,0.00,2.62,0.00,0.000,4,0.000,0.070,2555,3562,3095
$GC,14675,-0.60,-117.3,698.2,-6.4,707,14680,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2141,3095
$GC,15003,-0.60,-117.3,717.1,-5.9,723,15007,0.00,2.50,0.00,0.000,4,0.000,0.064,2555,748,3095
$GC,15047,-0.60,-117.3,719.8,-5.5,725,15051,0.00,2.53,0.00,0.000,6,0.000,0.055,2555,2150,3095
$GC,15369,-0.60,-117.3,737.2,-5.2,741,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2149,3095
$GC,15678,-0.60,-117.3,752.6,-4.9,756,15682,0.00,2.58,0.00,0.000,4,0.000,0.068,2555,751,3095
$GC,15705,-0.60,-117.3,754.1,-5.3,757,15709,0.00,2.53,0.00,0.000,6,0.000,0.056,2555,2154,3095
$GC,16021,-0.60,-117.3,770.1,-5.2,772,16022,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2154,3095
$GC,16330,-0.60,-117.3,787.2,-6.3,787,16331,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2154,3095
$GC,16640,-0.60,-117.3,807.0,-6.0,802,16641,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2155,3095
$GC,16949,-0.60,-117.3,826.7,-6.5,817,16953,0.00,2.55,0.00,0.000,4,0.000,0.070,2555,3564,3094
$GC,16998,-0.60,-117.3,830.6,-7.7,819,17002,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2150,3094
$GC,17314,-0.60,-117.3,854.7,-7.3,834,17318,0.00,2.60,0.00,0.000,4,0.000,0.070,2555,3557,3094
$GC,17363,-0.60,-117.3,858.4,-7.7,836,17368,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2148,3094
$STATE,17408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17408,begin apogee
$GC,17415,-0.33,0.0,861.3,6.4,838,17519,0.32,0.00,101.57,1.366,6,0.081,0.000,2624,2130,2620
$STATE,17520,end apogee,CONTROL_FINISHED_OK
$STATE,17520,begin climb
$GC,17523,1.03,117.3,865.5,0.0,843,17631,1.40,0.00,101.15,1.349,6,0.065,0.000,2924,2130,2141
$GC,17941,1.10,117.3,841.2,6.1,864,17946,0.00,2.62,0.00,0.000,4,0.000,0.067,2924,3562,2140
$GC,17963,1.10,117.3,839.6,7.0,865,17968,0.00,2.58,0.00,0.000,6,0.000,0.054,2924,2145,2140
$GC,18285,1.05,117.3,819.0,7.0,881,18289,0.00,2.62,0.00,0.000,4,0.000,0.067,2924,3556,2140
$GC,18307,1.01,117.3,817.4,7.1,882,18311,0.00,2.55,0.00,0.000,6,0.000,0.054,2924,2149,2140
$GC,18628,0.98,125.8,797.1,5.7,898,18643,0.00,2.67,8.93,1.122,4,0.000,0.067,2924,3559,2107
$GC,18673,0.94,125.8,794.4,6.2,900,18678,0.00,2.55,0.00,0.000,6,0.000,0.054,2923,2149,2106
$GC,19001,0.92,158.6,776.2,4.9,916,19036,0.12,2.67,29.17,1.266,4,0.085,0.067,2899,3558,1973
$GC,19061,1.05,190.8,773.3,4.9,918,19096,0.12,2.58,28.80,1.261,6,0.048,0.053,2939,2136,1842
$GC,19414,1.00,190.8,749.7,6.9,935,19416,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2136,1842
$GC,19721,1.00,190.8,728.8,6.5,950,19725,0.00,2.62,0.00,0.000,4,0.000,0.067,2939,3557,1842
$GC,19748,1.00,190.8,727.1,6.5,951,19753,0.00,2.55,0.00,0.000,6,0.000,0.054,2939,2150,1842
$GC,20065,0.96,190.8,707.5,6.3,966,20066,0.15,0.00,0.00,0.000,6,0.083,0.000,2906,2150,1842
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$STATE,29613,end climb,SURFACE_DEPTH_REACHED
$STATE,29613,begin surface coast
$FINISH,0.4,1.013124
$STATE,29635,end surface coast,CONTROL_FINISHED_OK
$STATE,29635,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1665
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$XPDR_PINGS,941
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$10V_AH,10.1,4.169
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$DEVICE_SECS,24.950,240.425,308.300,40.450,0.000,37.760,33.377,196.223,242.750,0.000,0.000,32.383,2569.909,23416.396,594.158,2818.011,722.074,33.367,1990.341,0.000,2754.307,0.000,49.453
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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,72614,1429
$CAP_FILE_SIZE,206430,0
$CFSIZE,254472192,249667584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,130608,233132,6136.943,-934.968,41,1.5,41,-9.6