version: 66.03
glider: 5
mission: 3
dive: 110
start: 6 30 108 9 56 55
data:
$ID,5
$MISSION,3
$DIVE,110
$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,-78651.914
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,094938,6145.996,-919.938,40,1.1,40,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-48.6
$GPS2,095603,6146.007,-919.891,15,1.1,15,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.056,-0.193
$KALMAN_X,-3308.7,-5.8,-415.2,23633.3,509.9
$KALMAN_Y,39682.9,-794.8,-1189.3,-43742.3,15643.9
$MHEAD_RNG_PITCHd_Wd,173.3,12125,-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,-117.3,0.0,0.0,0,138,0.00,0.00,-111.32,0.000,6,0.000,0.000,418,2170,3099
$GC,142,-1.03,-117.3,2.0,-1.6,5,158,10.62,2.53,0.00,0.000,4,0.137,0.057,2468,3565,3100
$GC,327,-0.70,-117.3,25.8,-10.5,12,332,0.38,2.53,0.00,0.000,6,0.085,0.047,2549,2140,3098
$GC,644,-0.61,-117.3,47.4,-5.9,27,648,0.00,2.60,0.00,0.000,4,0.000,0.059,2549,3565,3098
$GC,756,-0.51,-117.3,54.3,-5.8,32,761,0.17,2.50,0.00,0.000,6,0.088,0.045,2584,2153,3098
$GC,1079,-0.55,-117.3,67.3,-3.7,48,1083,0.00,2.55,0.00,0.000,4,0.000,0.058,2584,3565,3098
$GC,1134,-0.55,-117.3,70.2,-5.2,50,1141,0.00,2.50,0.00,0.000,6,0.000,0.047,2584,2154,3098
$GC,1451,-0.55,-117.3,84.9,-4.9,66,1455,0.00,2.55,0.00,0.000,4,0.000,0.060,2584,3561,3099
$GC,1546,-0.55,-117.3,89.9,-5.8,70,1550,0.00,2.42,0.00,0.000,6,0.000,0.046,2584,2182,3099
$GC,1863,-0.60,-117.3,106.5,-5.4,85,1867,0.00,2.50,0.00,0.000,4,0.000,0.060,2584,3561,3099
$GC,1918,-0.60,-117.3,109.8,-5.8,87,1925,0.00,2.42,0.00,0.000,6,0.000,0.047,2584,2196,3099
$GC,2235,-0.66,-117.3,125.0,-4.4,103,2237,0.12,0.00,0.00,0.000,6,0.051,0.000,2548,2195,3099
$GC,2545,-0.59,-117.3,140.3,-4.8,118,2549,0.12,2.47,0.00,0.000,4,0.091,0.062,2573,3560,3099
$GC,2612,-0.59,-117.3,143.6,-5.4,121,2616,0.00,2.38,0.00,0.000,6,0.000,0.048,2573,2221,3099
$GC,2933,-0.59,-117.3,158.3,-4.5,137,2937,0.00,2.45,0.00,0.000,4,0.000,0.064,2573,3561,3098
$GC,2967,-0.59,-117.3,160.2,-5.1,138,2973,0.00,2.38,0.00,0.000,6,0.000,0.051,2573,2228,3098
$GC,3283,-0.59,-117.3,174.8,-5.1,154,3291,0.00,2.42,0.00,0.000,4,0.000,0.063,2573,3559,3098
$GC,3358,-0.59,-117.3,179.2,-6.0,157,3362,0.00,2.33,0.00,0.000,6,0.000,0.048,2573,2245,3098
$GC,3680,-0.59,-117.3,194.0,-4.5,173,3684,0.00,2.40,0.00,0.000,4,0.000,0.063,2574,3559,3098
$GC,3804,-0.59,-117.3,200.0,-5.0,178,3810,0.00,2.30,0.00,0.000,6,0.000,0.048,2573,2260,3098
$GC,4120,-0.59,-117.3,215.1,-5.1,194,4125,0.00,2.40,0.00,0.000,4,0.000,0.065,2573,3567,3097
$GC,4154,-0.59,-117.3,217.1,-6.2,195,4160,0.00,2.30,0.00,0.000,6,0.000,0.050,2574,2269,3097
$GC,4471,-0.59,-117.3,233.4,-4.9,211,4474,0.00,2.35,0.00,0.000,4,0.000,0.064,2573,3564,3097
$GC,4482,-0.59,-117.3,234.1,-5.1,211,4486,0.00,2.28,0.00,0.000,6,0.000,0.051,2573,2282,3097
$GC,4798,-0.59,-117.3,249.1,-4.8,226,4803,0.00,2.33,0.00,0.000,4,0.000,0.065,2574,3559,3097
$GC,4810,-0.59,-117.3,249.8,-5.0,226,4816,0.00,2.28,0.00,0.000,6,0.000,0.051,2574,2283,3097
$GC,5126,-0.59,-117.3,265.2,-5.2,242,5130,0.00,2.35,0.00,0.000,4,0.000,0.067,2574,3566,3096
$GC,5153,-0.59,-117.3,266.7,-5.9,243,5158,0.00,2.28,0.00,0.000,6,0.000,0.051,2574,2287,3096
$GC,5470,-0.59,-117.3,280.7,-4.5,258,5473,0.00,2.33,0.00,0.000,4,0.000,0.065,2573,3559,3096
$GC,5493,-0.59,-117.3,281.6,-4.1,259,5497,0.00,2.25,0.00,0.000,6,0.000,0.051,2573,2290,3096
$GC,5820,-0.59,-117.3,296.1,-4.6,275,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2286,3096
$GC,6129,-0.59,-117.3,311.1,-5.2,290,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2285,3096
$GC,6438,-0.59,-117.3,327.9,-5.5,305,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2284,3096
$GC,6748,-0.59,-117.3,344.3,-5.4,320,6752,0.00,2.33,0.00,0.000,4,0.000,0.066,2573,3565,3096
$GC,6759,-0.59,-117.3,344.9,-5.3,320,6763,0.00,2.28,0.00,0.000,6,0.000,0.051,2573,2282,3096
$GC,7075,-0.59,-117.3,362.0,-5.3,335,7079,0.00,2.35,0.00,0.000,4,0.000,0.067,2574,3562,3096
$GC,7093,-0.59,-117.3,363.1,-5.5,336,7097,0.00,2.25,0.00,0.000,6,0.000,0.051,2573,2286,3096
$GC,7421,-0.59,-117.3,379.8,-5.1,352,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2270,3095
$GC,7730,-0.59,-117.3,394.6,-4.8,367,7734,0.00,2.78,0.00,0.000,4,0.000,0.066,2573,747,3095
$GC,7741,-0.59,-117.3,395.1,-5.0,367,7747,0.00,2.75,0.00,0.000,6,0.000,0.054,2574,2279,3095
$GC,8057,-0.59,-117.3,409.7,-4.4,383,8061,0.00,2.80,0.00,0.000,4,0.000,0.065,2573,749,3095
$GC,8112,-0.59,-117.3,412.4,-4.9,385,8119,0.00,2.70,0.00,0.000,6,0.000,0.054,2573,2261,3095
$GC,8429,-0.59,-117.3,426.8,-4.5,401,8434,0.00,2.75,0.00,0.000,4,0.000,0.065,2574,749,3095
$GC,8479,-0.59,-117.3,429.3,-4.8,403,8483,0.00,2.67,0.00,0.000,6,0.000,0.054,2574,2243,3095
$GC,8795,-0.59,-117.3,444.3,-4.7,418,8799,0.00,2.70,0.00,0.000,4,0.000,0.065,2573,750,3094
$GC,8840,-0.59,-117.3,446.5,-5.0,420,8844,0.00,2.65,0.00,0.000,6,0.000,0.054,2573,2233,3094
$GC,9161,-0.59,-117.3,461.5,-4.6,436,9166,0.00,2.67,0.00,0.000,4,0.000,0.064,2573,749,3094
$GC,9189,-0.59,-117.3,462.9,-5.2,437,9194,0.00,2.65,0.00,0.000,6,0.000,0.054,2574,2224,3094
$GC,9506,-0.59,-117.3,477.2,-4.5,452,9510,0.00,2.67,0.00,0.000,4,0.000,0.063,2574,747,3094
$GC,9533,-0.59,-117.3,478.7,-5.8,453,9537,0.00,2.65,0.00,0.000,6,0.000,0.054,2573,2222,3094
$GC,9850,-0.63,-117.3,495.5,-5.5,468,9854,0.00,2.70,0.00,0.000,4,0.000,0.064,2573,747,3094
$GC,9872,-0.63,-117.3,497.0,-6.2,469,9876,0.00,2.62,0.00,0.000,6,0.000,0.054,2573,2208,3094
$GC,10193,-0.63,-117.3,515.3,-5.5,485,10197,0.00,2.67,0.00,0.000,4,0.000,0.065,2574,745,3094
$GC,10210,-0.63,-117.3,516.2,-5.5,486,10215,0.00,2.60,0.00,0.000,6,0.000,0.054,2573,2196,3094
$GC,10538,-0.63,-117.3,533.7,-5.7,502,10543,0.00,2.65,0.00,0.000,4,0.000,0.066,2573,743,3094
$GC,10578,-0.63,-117.3,535.9,-5.5,504,10582,0.00,2.58,0.00,0.000,6,0.000,0.055,2574,2177,3094
$GC,10905,-0.63,-117.3,551.3,-4.7,520,10909,0.00,2.62,0.00,0.000,4,0.000,0.066,2573,744,3094
$GC,10915,-0.63,-117.3,551.9,-4.5,520,10922,0.00,2.58,0.00,0.000,6,0.000,0.055,2574,2178,3093
$GC,11232,-0.67,-117.3,566.8,-4.8,536,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2178,3093
$GC,11542,-0.67,-117.3,583.6,-6.0,551,11546,0.00,2.60,0.00,0.000,4,0.000,0.067,2573,751,3093
$GC,11564,-0.71,-117.3,584.9,-5.5,552,11569,0.12,2.58,0.00,0.000,6,0.053,0.055,2535,2191,3093
$GC,11886,-0.66,-117.3,607.1,-7.3,568,11891,0.10,2.47,0.00,0.000,4,0.098,0.067,2555,3562,3093
$GC,11964,-0.66,-117.3,612.5,-6.0,571,11970,0.00,2.40,0.00,0.000,6,0.000,0.052,2555,2194,3093
$GC,12280,-0.66,-117.3,622.8,-0.7,587,12284,0.00,2.47,0.00,0.000,4,0.000,0.068,2555,3561,3093
$GC,12298,-0.66,-117.3,622.8,-0.2,588,12302,0.00,2.40,0.00,0.000,6,0.000,0.053,2555,2211,3093
$GC,12625,-0.66,-117.3,627.5,-2.4,604,12629,0.00,2.58,0.00,0.000,4,0.000,0.067,2555,762,3093
$GC,12666,-0.66,-117.3,628.5,-2.4,606,12670,0.00,2.53,0.00,0.000,6,0.000,0.056,2555,2174,3093
$GC,12993,-0.66,-117.3,635.6,-2.5,622,12997,0.00,2.58,0.00,0.000,4,0.000,0.069,2555,762,3093
$GC,13004,-0.66,-117.3,635.8,-2.6,622,13009,0.00,2.58,0.00,0.000,6,0.000,0.058,2555,2191,3093
$GC,13320,-0.66,-117.3,645.5,-3.9,638,13324,0.00,2.62,0.00,0.000,4,0.000,0.069,2555,758,3093
$GC,13370,-0.66,-117.3,647.5,-4.3,640,13374,0.00,2.55,0.00,0.000,6,0.000,0.057,2555,2176,3092
$GC,13686,-0.66,-117.3,664.8,-6.0,655,13690,0.00,2.62,0.00,0.000,4,0.000,0.071,2555,757,3092
$GC,13793,-0.66,-117.3,671.4,-7.3,660,13797,0.00,2.53,0.00,0.000,6,0.000,0.058,2555,2156,3092
$GC,14120,-0.66,-117.3,689.9,-5.1,676,14124,0.00,2.58,0.00,0.000,4,0.000,0.072,2555,758,3092
$GC,14279,-0.66,-117.3,697.9,-5.5,683,14283,0.00,2.50,0.00,0.000,6,0.000,0.058,2555,2138,3092
$GC,14600,-0.66,-117.3,709.0,-2.8,699,14604,0.00,2.55,0.00,0.000,4,0.000,0.071,2555,761,3092
$GC,14779,-0.66,-117.3,713.4,-4.3,707,14783,0.00,2.45,0.00,0.000,6,0.000,0.061,2555,2112,3091
$GC,15107,-0.70,-117.3,733.9,-7.6,723,15112,0.00,2.53,0.00,0.000,4,0.000,0.075,2554,758,3091
$GC,15158,-0.70,-117.3,737.5,-6.8,725,15162,0.00,2.45,0.00,0.000,6,0.000,0.061,2555,2104,3091
$GC,15474,-0.70,-117.3,751.8,-3.2,740,15478,0.00,2.67,0.00,0.000,4,0.000,0.077,2555,3558,3090
$GC,15558,-0.70,-117.3,755.2,-4.0,744,15563,0.00,2.58,0.00,0.000,6,0.000,0.061,2555,2138,3090
$GC,15885,-0.70,-117.3,764.5,-2.6,760,15890,0.00,2.67,0.00,0.000,4,0.000,0.080,2555,3555,3090
$GC,15897,-0.70,-117.3,765.0,-4.0,760,15903,0.00,2.65,0.00,0.000,6,0.000,0.067,2555,2113,3090
$GC,16213,-0.70,-117.3,777.6,-3.8,776,16217,0.00,2.53,0.00,0.000,4,0.000,0.082,2555,744,3089
$GC,16276,-0.79,-117.3,780.6,-3.7,779,16281,0.12,2.55,0.00,0.000,6,0.060,0.071,2520,2124,3089
$GC,16606,-0.71,-117.3,787.2,-0.1,795,16611,0.10,2.62,0.00,0.000,4,0.114,0.088,2540,744,3089
$GC,16617,-0.62,-117.3,787.2,1.3,795,16625,0.12,2.55,0.00,0.000,6,0.101,0.076,2565,2114,3089
$GC,16934,-0.62,-117.3,791.8,-0.8,811,16939,0.00,2.62,0.00,0.000,4,0.000,0.091,2565,744,3087
$GC,16945,-0.62,-117.3,791.8,-0.9,811,16951,0.00,2.53,0.00,0.000,6,0.000,0.074,2565,2095,3087
$GC,17262,-0.68,-117.3,805.4,-6.3,827,17266,0.00,2.75,0.00,0.000,4,0.000,0.088,2565,3566,3085
$GC,17273,-0.76,-117.3,806.1,-5.6,827,17279,0.15,2.75,0.00,0.000,6,0.061,0.074,2526,2083,3085
$STATE,17421,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17421,begin apogee
$GC,17428,-0.33,0.0,814.5,7.5,835,17531,0.47,0.00,99.68,1.447,6,0.091,0.000,2623,2107,2621
$STATE,17531,end apogee,CONTROL_FINISHED_OK
$STATE,17531,begin climb
$GC,17535,1.03,117.3,820.1,0.0,840,17644,1.40,2.72,100.07,1.422,4,0.081,0.084,2918,3508,2141
$GC,17696,0.99,129.0,816.1,5.6,847,17715,0.00,2.67,11.40,1.248,6,0.000,0.072,2918,2101,2094
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$STATE,27508,end climb,SURFACE_DEPTH_REACHED
$STATE,27508,begin surface coast
$FINISH,-0.1,1.027049
$STATE,27530,end surface coast,CONTROL_FINISHED_OK
$STATE,27530,begin surface
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$XPDR_PINGS,768
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$10V_AH,10.1,10.787
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$DEVICE_SECS,25.625,320.350,297.800,190.175,0.000,37.764,32.770,176.253,198.500,0.000,0.000,15.089,2508.790,21127.320,792.913,2962.000,730.696,33.356,2292.132,0.000,2902.797,0.000,44.818
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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,69466,1325
$CAP_FILE_SIZE,223899,0
$CFSIZE,254472192,244641792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,300608,174038,6145.101,-923.371,39,1.2,39,-9.5