version: 66.03
glider: 5
mission: 3
dive: 100
start: 6 27 108 9 32 26
data:
$ID,5
$MISSION,3
$DIVE,100
$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,-78483.523
$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,27
$R_STBD_OVSHOOT,31
$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
$GPS1,092531,6149.730,-940.682,39,1.7,39,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-52.1
$GPS2,093133,6149.695,-940.717,12,1.9,12,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.010,-0.201
$KALMAN_X,-138132.2,350.2,2.6,63108.1,-13976.9
$KALMAN_Y,55815.9,419.6,-1520.9,-8754.5,15402.6
$MHEAD_RNG_PITCHd_Wd,192.7,30673,-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,-117.3,0.0,0.0,0,139,0.00,0.00,-113.20,0.000,6,0.000,0.000,420,2163,3100
$GC,143,-1.03,-117.3,1.7,-1.3,5,159,10.68,2.58,0.00,0.000,4,0.141,0.059,2469,750,3099
$GC,165,0.67,-117.3,7.4,-14.4,5,174,1.77,2.50,0.00,0.000,6,0.083,0.050,2841,2141,3099
$GC,493,-0.14,-117.3,16.1,-4.4,21,498,0.77,2.55,0.00,0.000,4,0.058,0.059,2668,747,3098
$GC,671,-0.48,-117.3,22.5,-3.3,29,677,0.32,2.58,0.00,0.000,6,0.039,0.051,2578,2190,3097
$GC,999,-0.48,-117.3,47.9,-9.7,45,1003,0.00,2.62,0.00,0.000,4,0.000,0.061,2578,750,3097
$GC,1009,-0.48,-117.3,48.9,-9.8,45,1015,0.00,2.53,0.00,0.000,6,0.000,0.051,2578,2169,3097
$GC,1325,-0.48,-117.3,75.4,-7.3,61,1330,0.00,2.60,0.00,0.000,4,0.000,0.061,2578,744,3098
$GC,1358,-0.48,-117.3,77.3,-6.0,62,1365,0.00,2.53,0.00,0.000,6,0.000,0.051,2578,2163,3097
$GC,1676,-0.48,-117.3,82.3,-0.5,78,1681,0.00,2.58,0.00,0.000,4,0.000,0.061,2578,748,3098
$GC,1755,-0.48,-117.3,83.2,-0.6,81,1761,0.00,2.47,0.00,0.000,6,0.000,0.051,2579,2140,3098
$GC,2071,-0.48,-117.3,90.9,-5.7,97,2076,0.00,2.55,0.00,0.000,4,0.000,0.062,2578,3562,3098
$GC,2122,-0.48,-117.3,95.0,-8.1,99,2126,0.00,2.50,0.00,0.000,6,0.000,0.048,2578,2148,3098
$GC,2438,-0.48,-117.3,113.7,-5.3,114,2443,0.00,2.58,0.00,0.000,4,0.000,0.062,2578,3557,3098
$GC,2449,-0.48,-117.3,114.6,-5.5,114,2456,0.00,2.50,0.00,0.000,6,0.000,0.048,2578,2140,3098
$GC,2767,-0.53,-117.3,128.7,-3.2,130,2771,0.00,2.58,0.00,0.000,4,0.000,0.062,2578,3557,3098
$GC,2780,-0.57,-117.3,129.2,-3.0,130,2786,0.00,2.47,0.00,0.000,6,0.000,0.048,2579,2160,3098
$GC,3096,-0.57,-117.3,138.9,-3.4,146,3100,0.00,2.55,0.00,0.000,4,0.000,0.061,2578,3564,3098
$GC,3107,-0.57,-117.3,139.2,-3.1,146,3113,0.00,2.50,0.00,0.000,6,0.000,0.048,2577,2150,3098
$GC,3424,-0.61,-117.3,148.9,-3.1,162,3428,0.00,2.58,0.00,0.000,4,0.000,0.061,2578,3560,3098
$GC,3451,-0.61,-117.3,150.0,-3.7,163,3459,0.00,2.50,0.00,0.000,6,0.000,0.048,2578,2154,3098
$GC,3776,-0.61,-117.3,160.6,-3.8,179,3780,0.00,2.55,0.00,0.000,4,0.000,0.062,2578,3557,3098
$GC,3816,-0.61,-117.3,162.3,-4.5,181,3820,0.00,2.47,0.00,0.000,6,0.000,0.048,2578,2166,3098
$GC,4143,-0.61,-117.3,174.0,-3.3,197,4147,0.00,2.55,0.00,0.000,4,0.000,0.063,2578,3558,3098
$GC,4176,-0.61,-117.3,175.2,-3.7,198,4182,0.00,2.47,0.00,0.000,6,0.000,0.048,2578,2167,3098
$GC,4492,-0.61,-117.3,186.3,-4.2,214,4496,0.00,2.53,0.00,0.000,4,0.000,0.062,2578,3557,3098
$GC,4503,-0.61,-117.3,186.9,-4.4,214,4509,0.00,2.47,0.00,0.000,6,0.000,0.049,2578,2164,3097
$GC,4819,-0.66,-117.3,202.1,-4.6,230,4824,0.00,2.53,0.00,0.000,4,0.000,0.063,2578,3557,3098
$GC,4831,-0.66,-117.3,202.7,-4.6,230,4837,0.00,2.47,0.00,0.000,6,0.000,0.049,2578,2164,3097
$GC,5148,-0.70,-117.3,218.1,-4.7,246,5150,0.15,0.00,0.00,0.000,6,0.047,0.000,2533,2164,3097
$GC,5457,-0.61,-117.3,239.2,-6.7,261,5459,0.15,0.00,0.00,0.000,6,0.091,0.000,2565,2163,3097
$GC,5766,-0.61,-117.3,254.6,-4.6,276,5770,0.00,2.55,0.00,0.000,4,0.000,0.064,2565,3564,3097
$GC,5776,-0.61,-117.3,255.3,-4.5,276,5782,0.00,2.50,0.00,0.000,6,0.000,0.051,2565,2156,3097
$GC,6093,-0.61,-117.3,269.4,-4.7,292,6097,0.00,2.55,0.00,0.000,4,0.000,0.064,2564,3557,3097
$GC,6110,-0.61,-117.3,270.2,-4.5,293,6114,0.00,2.50,0.00,0.000,6,0.000,0.052,2564,2154,3096
$GC,6437,-0.61,-117.3,286.2,-5.1,309,6441,0.00,2.55,0.00,0.000,4,0.000,0.064,2564,3557,3097
$GC,6447,-0.61,-117.3,286.7,-5.1,309,6453,0.00,2.50,0.00,0.000,6,0.000,0.052,2564,2158,3096
$GC,6763,-0.61,-117.3,306.9,-6.8,325,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2158,3096
$GC,7072,-0.61,-117.3,329.3,-7.2,340,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2158,3096
$GC,7382,-0.61,-117.3,351.7,-7.4,355,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2158,3096
$GC,7692,-0.61,-117.3,376.6,-8.2,370,7696,0.00,2.55,0.00,0.000,4,0.000,0.065,2564,3557,3096
$GC,7703,-0.61,-117.3,377.5,-7.7,370,7710,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,2163,3096
$GC,8020,-0.61,-117.3,398.2,-6.3,386,8024,0.00,2.55,0.00,0.000,4,0.000,0.067,2565,746,3096
$GC,8030,-0.61,-117.3,399.0,-6.3,386,8036,0.00,2.53,0.00,0.000,6,0.000,0.054,2565,2152,3095
$GC,8346,-0.61,-117.3,417.6,-5.4,402,8351,0.00,2.55,0.00,0.000,4,0.000,0.065,2565,747,3096
$GC,8358,-0.61,-117.3,418.2,-5.2,402,8364,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2151,3096
$GC,8674,-0.61,-117.3,434.4,-4.9,418,8678,0.00,2.58,0.00,0.000,4,0.000,0.067,2564,744,3095
$GC,8707,-0.61,-117.3,436.0,-5.0,419,8713,0.00,2.53,0.00,0.000,6,0.000,0.054,2565,2145,3095
$GC,9024,-0.61,-117.3,447.6,-2.3,435,9028,0.00,2.55,0.00,0.000,4,0.000,0.066,2564,739,3095
$GC,9086,-0.61,-117.3,449.9,-2.8,438,9091,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,2132,3095
$GC,9418,-0.61,-117.3,467.9,-5.9,454,9422,0.00,2.55,0.00,0.000,4,0.000,0.065,2564,741,3095
$GC,9429,-0.61,-117.3,468.4,-5.8,454,9435,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,2132,3095
$GC,9745,-0.61,-117.3,483.2,-3.9,470,9749,0.00,2.55,0.00,0.000,4,0.000,0.064,2564,738,3095
$GC,9757,-0.61,-117.3,483.7,-3.9,470,9763,0.00,2.50,0.00,0.000,6,0.000,0.054,2565,2129,3095
$GC,10074,-0.61,-117.3,499.4,-5.4,486,10078,0.00,2.58,0.00,0.000,4,0.000,0.067,2565,3557,3094
$GC,10086,-0.61,-117.3,500.1,-5.8,486,10092,0.00,2.58,0.00,0.000,6,0.000,0.054,2564,2117,3094
$GC,10402,-0.61,-117.3,526.1,-9.2,502,10406,0.00,2.65,0.00,0.000,4,0.000,0.066,2564,3557,3094
$GC,10413,-0.61,-117.3,527.1,-9.2,502,10419,0.00,2.58,0.00,0.000,6,0.000,0.052,2564,2115,3094
$GC,10729,-0.61,-117.3,548.0,-5.1,518,10730,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2087,3094
$GC,11038,-0.61,-117.3,567.3,-6.0,533,11042,0.00,2.65,0.00,0.000,4,0.000,0.065,2564,3557,3094
$GC,11066,-0.61,-117.3,568.6,-4.8,534,11070,0.00,2.55,0.00,0.000,6,0.000,0.054,2564,2130,3094
$GC,11382,-0.61,-117.3,573.6,-0.8,549,11386,0.00,2.62,0.00,0.000,4,0.000,0.067,2565,3556,3094
$GC,11499,-0.61,-117.3,575.7,-1.8,554,11504,0.00,2.55,0.00,0.000,6,0.000,0.052,2565,2128,3094
$GC,11816,-0.61,-117.3,588.3,-4.8,569,11820,0.00,2.62,0.00,0.000,4,0.000,0.067,2564,3556,3094
$GC,11827,-0.61,-117.3,589.1,-5.2,569,11833,0.00,2.55,0.00,0.000,6,0.000,0.054,2564,2133,3093
$GC,12143,-0.61,-117.3,606.8,-4.6,585,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2114,3093
$GC,12452,-0.68,-117.3,621.4,-4.1,600,12457,0.00,2.47,0.00,0.000,4,0.000,0.068,2565,747,3093
$GC,12525,-0.68,-117.3,624.9,-3.8,603,12533,0.00,2.50,0.00,0.000,6,0.000,0.055,2564,2134,3093
$GC,12849,-0.68,-117.3,640.2,-6.3,619,12854,0.00,2.53,0.00,0.000,4,0.000,0.067,2565,751,3093
$GC,12979,-0.68,-117.3,648.4,-6.5,625,12983,0.00,2.42,0.00,0.000,6,0.000,0.054,2565,2101,3093
$GC,13307,-0.72,-117.3,668.8,-5.7,641,13308,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2102,3093
$GC,13615,-0.72,-117.3,686.2,-5.3,656,13620,0.00,2.65,0.00,0.000,4,0.000,0.070,2564,3565,3093
$GC,13872,-0.72,-117.3,704.2,-6.7,667,13879,0.08,2.58,0.00,0.000,6,0.044,0.054,2533,2096,3093
$GC,14188,-0.67,-117.3,730.0,-9.7,683,14193,0.00,2.67,0.00,0.000,4,0.000,0.068,2533,3562,3093
$GC,14446,-0.60,-117.3,756.7,-9.2,694,14452,0.17,2.58,0.00,0.000,6,0.093,0.053,2570,2116,3092
$GC,14762,-0.66,-117.3,766.1,2.1,710,14766,0.00,2.65,0.00,0.000,4,0.000,0.071,2570,3557,3092
$GC,15020,-0.66,-117.3,751.5,5.3,721,15026,0.00,2.58,0.00,0.000,6,0.000,0.055,2570,2109,3092
$GC,15336,-0.73,-117.3,756.0,-4.8,737,15341,0.12,2.67,0.00,0.000,4,0.055,0.073,2533,3561,3092
$GC,15426,-0.65,-117.3,762.8,-9.1,741,15431,0.12,2.58,0.00,0.000,6,0.099,0.058,2558,2135,3092
$GC,15750,-0.65,-117.3,777.2,-2.4,757,15754,0.00,2.67,0.00,0.000,4,0.000,0.076,2557,3564,3092
$GC,15863,-0.70,-117.3,782.8,-6.0,762,15868,0.00,2.62,0.00,0.000,6,0.000,0.061,2557,2119,3091
$GC,16185,-0.74,-117.3,787.9,-2.4,778,16187,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2092,3091
$GC,16493,-0.74,-117.3,800.8,-10.8,793,16498,0.00,2.55,0.00,0.000,4,0.000,0.084,2557,748,3090
$GC,16679,-0.82,-117.3,823.2,-7.1,801,16684,0.17,2.60,0.00,0.000,6,0.054,0.072,2509,2143,3089
$GC,16996,-0.72,-117.3,836.9,-4.8,816,17001,0.15,2.65,0.00,0.000,4,0.103,0.085,2543,3563,3088
$GC,17085,-0.72,-117.3,844.7,-11.3,820,17090,0.00,2.60,0.00,0.000,6,0.000,0.069,2543,2153,3088
$STATE,17405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17405,begin apogee
$GC,17412,-0.33,0.0,850.9,1.0,836,17515,0.40,0.00,99.95,1.465,6,0.100,0.000,2624,2122,2620
$STATE,17515,end apogee,CONTROL_FINISHED_OK
$STATE,17515,begin climb
$GC,17518,1.03,117.3,849.9,0.0,841,17629,1.42,2.90,100.62,1.424,4,0.087,0.091,2918,687,2141
$GC,17822,1.07,184.0,836.3,3.7,855,17887,0.00,2.67,58.03,1.397,6,0.000,0.073,2918,2109,1868
$GC,18215,1.07,184.0,807.6,11.0,874,18219,0.00,2.65,0.00,0.000,4,0.000,0.084,2918,3513,1866
$GC,18293,1.03,184.0,801.7,6.3,877,18299,0.00,2.62,0.00,0.000,6,0.000,0.069,2918,2115,1866
$GC,18609,1.06,229.6,784.7,4.4,893,18654,0.00,2.78,39.12,1.396,4,0.000,0.090,2918,681,1683
$GC,18706,1.06,229.6,776.6,7.8,897,18713,0.00,2.70,0.00,0.000,6,0.000,0.072,2918,2123,1683
$GC,19022,1.07,241.4,753.6,5.6,913,19043,0.00,2.72,11.90,1.289,4,0.000,0.081,2918,3510,1635
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$STATE,27567,end climb,SURFACE_DEPTH_REACHED
$STATE,27567,begin surface coast
$FINISH,0.0,1.018322
$STATE,27587,end surface coast,CONTROL_FINISHED_OK
$STATE,27587,begin surface
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$HUMID,1653
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$ALTIM_BOTTOM_PING,775.3,89.4
$24V_AH,23.8,21.190
$10V_AH,10.1,9.647
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$DEVICE_SECS,28.400,318.300,372.900,140.675,0.000,37.763,28.629,163.940,216.500,0.000,0.000,12.267,2510.812,20996.559,802.414,3084.123,715.482,33.364,2371.534,0.000,3014.866,0.000,48.022
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69321,1327
$CAP_FILE_SIZE,224480,0
$CFSIZE,254472192,245510144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,270608,171630,6149.278,-942.728,52,1.8,52,-9.7