version: 66.03
glider: 5
mission: 3
dive: 39
start: 6 13 108 23 39 0
data:
$ID,5
$MISSION,3
$DIVE,39
$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,-77440.375
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,233132,6136.943,-934.968,41,1.5,41,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-55.8
$GPS2,233807,6136.910,-935.040,17,1.5,28,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.199,-0.030
$KALMAN_X,-58465.2,-317.8,2114.2,-13004.9,-9376.5
$KALMAN_Y,-16983.9,23.4,-814.9,40056.1,1.5
$MHEAD_RNG_PITCHd_Wd,108.3,22436,-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,-117.3,0.0,0.0,0,95,0.00,0.00,-68.75,0.000,6,0.000,0.000,422,2165,3100
$GC,98,-1.03,-117.3,2.5,-3.8,3,115,10.57,2.58,0.00,0.000,4,0.137,0.058,2468,740,3101
$GC,319,-0.70,-117.3,30.1,-10.8,12,324,0.35,2.53,0.00,0.000,6,0.087,0.051,2543,2153,3101
$GC,646,-0.59,-117.3,53.2,-7.0,28,651,0.12,2.53,0.00,0.000,4,0.096,0.062,2569,3557,3102
$GC,691,-0.59,-117.3,55.9,-5.4,30,695,0.00,2.50,0.00,0.000,6,0.000,0.048,2569,2146,3102
$GC,1012,-0.59,-117.3,70.6,-3.9,46,1017,0.00,2.58,0.00,0.000,4,0.000,0.061,2569,3557,3103
$GC,1058,-0.59,-117.3,72.3,-3.9,48,1062,0.00,2.50,0.00,0.000,6,0.000,0.045,2569,2141,3102
$GC,1379,-0.59,-117.3,89.5,-5.5,64,1383,0.00,2.58,0.00,0.000,4,0.000,0.061,2569,3555,3103
$GC,1401,-0.59,-117.3,90.7,-5.3,65,1405,0.00,2.50,0.00,0.000,6,0.000,0.047,2570,2143,3102
$GC,1723,-0.59,-117.3,106.3,-4.7,81,1727,0.00,2.50,0.00,0.000,4,0.000,0.060,2570,740,3103
$GC,1767,-0.59,-117.3,108.7,-5.9,83,1771,0.00,2.53,0.00,0.000,6,0.000,0.051,2569,2155,3102
$GC,2088,-0.59,-117.3,129.3,-6.5,99,2092,0.00,2.55,0.00,0.000,4,0.000,0.061,2569,750,3103
$GC,2219,-0.59,-117.3,137.7,-6.4,105,2223,0.00,2.50,0.00,0.000,6,0.000,0.052,2569,2151,3103
$GC,2546,-0.59,-117.3,153.3,-3.8,121,2550,0.00,2.55,0.00,0.000,4,0.000,0.063,2569,751,3102
$GC,2642,-0.59,-117.3,155.1,-1.6,125,2646,0.00,2.50,0.00,0.000,6,0.000,0.052,2570,2150,3102
$GC,2958,-0.59,-117.3,166.2,-4.2,140,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2149,3102
$GC,3267,-0.59,-117.3,177.7,-3.6,155,3271,0.00,2.55,0.00,0.000,4,0.000,0.064,2569,749,3103
$GC,3289,-0.59,-117.3,177.9,-1.2,156,3293,0.00,2.53,0.00,0.000,6,0.000,0.054,2569,2155,3103
$GC,3610,-0.59,-117.3,192.5,-4.5,172,3614,0.00,2.53,0.00,0.000,4,0.000,0.066,2570,3558,3103
$GC,3654,-0.59,-117.3,194.7,-4.8,174,3658,0.00,2.50,0.00,0.000,6,0.000,0.049,2569,2148,3102
$GC,3975,-0.59,-117.3,203.2,-3.0,190,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2129,3103
$GC,4284,-0.59,-117.3,215.9,-4.7,205,4289,0.00,2.58,0.00,0.000,4,0.000,0.066,2569,3557,3102
$GC,4352,-0.59,-117.3,219.4,-5.3,208,4356,0.00,2.50,0.00,0.000,6,0.000,0.049,2569,2147,3102
$GC,4673,-0.59,-117.3,237.2,-6.4,224,4677,0.00,2.58,0.00,0.000,4,0.000,0.065,2569,3558,3102
$GC,4706,-0.59,-117.3,239.5,-7.1,225,4712,0.00,2.50,0.00,0.000,6,0.000,0.051,2569,2150,3102
$GC,5022,-0.59,-117.3,262.8,-7.9,241,5026,0.00,2.58,0.00,0.000,4,0.000,0.067,2569,3563,3102
$GC,5054,-0.59,-117.3,265.7,-8.7,242,5060,0.00,2.53,0.00,0.000,6,0.000,0.051,2569,2144,3102
$GC,5370,-0.59,-117.3,289.5,-7.1,258,5374,0.00,2.60,0.00,0.000,4,0.000,0.066,2569,3558,3102
$GC,5380,-0.59,-117.3,290.3,-7.1,258,5386,0.00,2.50,0.00,0.000,6,0.000,0.051,2570,2150,3102
$GC,5696,-0.59,-117.3,311.0,-6.4,274,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2137,3102
$GC,6005,-0.59,-117.3,326.0,-4.4,289,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2136,3102
$GC,6314,-0.59,-117.3,340.0,-4.7,304,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2136,3102
$GC,6624,-0.59,-117.3,352.8,-3.9,319,6628,0.00,2.58,0.00,0.000,4,0.000,0.067,2569,3557,3101
$GC,6634,-0.59,-117.3,353.3,-4.1,319,6640,0.00,2.50,0.00,0.000,6,0.000,0.051,2569,2150,3101
$GC,6951,-0.63,-117.3,367.4,-4.6,335,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2133,3101
$GC,7260,-0.63,-117.3,380.4,-4.0,350,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2133,3101
$GC,7569,-0.63,-117.3,391.7,-3.8,365,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2133,3101
$GC,7878,-0.63,-117.3,405.2,-4.3,380,7882,0.00,2.60,0.00,0.000,4,0.000,0.068,2569,3557,3101
$GC,7896,-0.63,-117.3,405.9,-4.0,381,7900,0.00,2.50,0.00,0.000,6,0.000,0.053,2569,2150,3100
$GC,8223,-0.63,-117.3,423.5,-5.3,397,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2133,3100
$GC,8531,-0.63,-117.3,441.9,-6.3,412,8536,0.00,2.60,0.00,0.000,4,0.000,0.068,2569,3560,3100
$GC,8549,-0.63,-117.3,442.9,-6.1,413,8553,0.00,2.53,0.00,0.000,6,0.000,0.053,2569,2145,3100
$GC,8876,-0.67,-117.3,459.0,-4.4,429,8880,0.00,2.50,0.00,0.000,4,0.000,0.067,2569,748,3100
$GC,8920,-0.67,-117.3,461.3,-5.8,431,8924,0.00,2.53,0.00,0.000,6,0.000,0.055,2569,2152,3100
$GC,9241,-0.67,-117.3,477.1,-4.9,447,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2151,3100
$GC,9550,-0.67,-117.3,493.1,-5.1,462,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2151,3100
$GC,9860,-0.67,-117.3,508.6,-5.0,477,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2151,3100
$GC,10171,-0.67,-117.3,525.9,-6.1,492,10175,0.00,2.55,0.00,0.000,4,0.000,0.070,2569,3561,3099
$GC,10210,-0.67,-117.3,528.3,-6.4,494,10215,0.00,2.50,0.00,0.000,6,0.000,0.054,2569,2150,3099
$GC,10538,-0.67,-117.3,547.4,-5.6,510,10542,0.00,2.60,0.00,0.000,4,0.000,0.068,2569,3558,3099
$GC,10604,-0.67,-117.3,551.6,-6.3,513,10608,0.00,2.53,0.00,0.000,6,0.000,0.052,2569,2144,3099
$GC,10925,-0.67,-117.3,570.0,-5.4,529,10929,0.00,2.60,0.00,0.000,4,0.000,0.068,2569,3560,3099
$GC,10965,-0.67,-117.3,572.3,-6.0,531,10970,0.00,2.50,0.00,0.000,6,0.000,0.054,2569,2150,3099
$GC,11293,-0.67,-117.3,588.1,-5.2,547,11294,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2131,3099
$GC,11602,-0.67,-117.3,601.5,-3.9,562,11603,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2131,3099
$GC,11911,-0.67,-117.3,611.8,-3.4,577,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2131,3098
$GC,12221,-0.71,-117.3,622.1,-3.2,592,12226,0.10,2.60,0.00,0.000,4,0.059,0.067,2538,3561,3099
$GC,12266,-0.64,-117.3,624.6,-6.0,594,12270,0.10,2.53,0.00,0.000,6,0.098,0.053,2558,2145,3099
$GC,12587,-0.64,-117.3,638.7,-4.4,610,12591,0.00,2.60,0.00,0.000,4,0.000,0.069,2558,3556,3098
$GC,12605,-0.64,-117.3,639.5,-4.3,611,12609,0.00,2.50,0.00,0.000,6,0.000,0.054,2558,2152,3098
$GC,12932,-0.64,-117.3,653.0,-4.0,627,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2133,3098
$GC,13241,-0.64,-117.3,666.7,-4.6,642,13245,0.00,2.50,0.00,0.000,4,0.000,0.067,2558,747,3098
$GC,13257,-0.64,-117.3,667.5,-4.7,642,13264,0.00,2.53,0.00,0.000,6,0.000,0.055,2558,2151,3098
$GC,13574,-0.64,-117.3,681.6,-4.4,658,13578,0.00,2.55,0.00,0.000,4,0.000,0.069,2558,3560,3098
$GC,13585,-0.64,-117.3,682.1,-4.2,658,13591,0.00,2.53,0.00,0.000,6,0.000,0.055,2558,2149,3098
$GC,13901,-0.64,-117.3,695.4,-4.7,674,13902,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2131,3098
$GC,14210,-0.64,-117.3,710.3,-5.0,689,14214,0.00,2.60,0.00,0.000,4,0.000,0.068,2558,3562,3098
$GC,14243,-0.64,-117.3,712.2,-5.5,690,14250,0.00,2.53,0.00,0.000,6,0.000,0.054,2558,2138,3098
$GC,14560,-0.64,-117.3,726.8,-4.6,706,14564,0.00,2.60,0.00,0.000,4,0.000,0.068,2558,3565,3097
$GC,14610,-0.64,-117.3,729.3,-5.2,708,14614,0.00,2.50,0.00,0.000,6,0.000,0.053,2559,2160,3098
$GC,14926,-0.64,-117.3,744.6,-5.2,723,14930,0.00,2.58,0.00,0.000,4,0.000,0.067,2558,3561,3097
$GC,14953,-0.64,-117.3,745.9,-4.5,724,14958,0.00,2.53,0.00,0.000,6,0.000,0.052,2558,2146,3098
$GC,15270,-0.64,-117.3,760.9,-4.5,739,15271,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2126,3097
$GC,15581,-0.64,-117.3,776.0,-5.6,754,15585,0.00,2.60,0.00,0.000,4,0.000,0.069,2558,3560,3098
$GC,15621,-0.64,-117.3,778.7,-7.5,756,15625,0.00,2.53,0.00,0.000,6,0.000,0.053,2558,2142,3097
$GC,15947,-0.64,-117.3,797.4,-5.3,772,15952,0.00,2.62,0.00,0.000,4,0.000,0.068,2558,3567,3098
$GC,15958,-0.64,-117.3,797.9,-5.2,772,15964,0.00,2.53,0.00,0.000,6,0.000,0.053,2558,2149,3097
$GC,16274,-0.64,-117.3,815.2,-5.9,788,16275,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2130,3097
$GC,16583,-0.64,-117.3,834.1,-6.0,803,16587,0.00,2.60,0.00,0.000,4,0.000,0.068,2558,3560,3097
$GC,16645,-0.64,-117.3,838.1,-6.3,806,16650,0.00,2.50,0.00,0.000,6,0.000,0.051,2558,2149,3097
$GC,16973,-0.64,-117.3,856.6,-5.6,822,16977,0.00,2.60,0.00,0.000,4,0.000,0.068,2558,3560,3098
$GC,16983,-0.64,-117.3,857.3,-5.4,822,16989,0.00,2.53,0.00,0.000,6,0.000,0.054,2558,2150,3097
$GC,17299,-0.64,-117.3,874.0,-5.2,838,17303,0.00,2.53,0.00,0.000,4,0.000,0.067,2558,745,3097
$GC,17332,-0.64,-117.3,875.7,-5.6,839,17338,0.00,2.55,0.00,0.000,6,0.000,0.057,2558,2161,3097
$STATE,17418,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17418,begin apogee
$GC,17425,-0.33,0.0,880.0,4.8,844,17530,0.32,0.00,102.62,1.374,6,0.077,0.000,2627,2161,2620
$STATE,17531,end apogee,CONTROL_FINISHED_OK
$STATE,17531,begin climb
$GC,17534,1.03,117.3,882.6,0.0,849,17641,1.38,0.00,102.05,1.357,6,0.068,0.000,2924,2162,2141
$GC,17954,1.16,143.6,862.3,5.1,870,17980,0.12,0.00,24.00,1.276,6,0.050,0.000,2966,2161,2034
$GC,18281,1.12,143.6,840.1,7.1,886,18286,0.10,2.62,0.00,0.000,4,0.090,0.069,2946,749,2034
$GC,18344,1.00,143.6,835.6,7.6,889,18349,0.15,2.55,0.00,0.000,6,0.084,0.056,2914,2149,2034
$GC,18670,1.00,143.6,815.8,6.4,905,18675,0.00,2.55,0.00,0.000,4,0.000,0.067,2914,3558,2033
$GC,18720,1.00,143.6,812.2,6.7,907,18725,0.00,2.55,0.00,0.000,6,0.000,0.054,2914,2150,2033
$GC,19036,1.01,149.8,792.6,5.8,922,19045,0.00,0.00,6.85,1.051,6,0.000,0.000,2914,2147,2009
$GC,19345,1.01,149.8,774.8,6.1,937,19346,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2139,2009
$GC,19655,1.01,149.8,755.1,6.7,952,19659,0.00,2.62,0.00,0.000,4,0.000,0.067,2914,3566,2009
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$STATE,30479,end climb,SURFACE_DEPTH_REACHED
$STATE,30479,begin surface coast
$FINISH,0.3,1.014175
$STATE,30501,end surface coast,CONTROL_FINISHED_OK
$STATE,30501,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1666
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$XPDR_PINGS,951
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$24V_AH,23.8,11.434
$10V_AH,10.1,4.297
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$DEVICE_SECS,25.525,265.225,345.500,14.500,0.000,37.762,26.175,180.827,245.500,0.000,0.000,28.135,2658.515,23970.770,608.461,2975.814,710.192,33.366,2079.291,0.000,2911.536,0.000,51.396
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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,75827,1475
$CAP_FILE_SIZE,217164,0
$CFSIZE,254472192,249565184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,140608,080908,6137.756,-925.982,30,1.3,30,-9.5