version: 66.03
glider: 5
mission: 3
dive: 126
start: 7 5 108 7 53 42
data:
$ID,5
$MISSION,3
$DIVE,126
$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,-79060.234
$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,35
$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
$GPS1,074545,6139.205,-932.695,65,4.4,84,-9.6
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-56.6
$GPS2,075250,6139.211,-932.728,10,1.0,15,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.198,-0.035
$KALMAN_X,-34838.0,-325.4,-1244.6,45152.3,-3985.5
$KALMAN_Y,93873.6,0.8,-1678.9,-110816.5,7320.7
$MHEAD_RNG_PITCHd_Wd,109.6,19373,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,139,0.00,0.00,-109.72,0.000,6,0.000,0.000,418,2145,3099
$GC,143,-1.03,-117.3,2.3,-1.6,5,159,10.57,2.50,0.00,0.000,4,0.136,0.058,2468,3546,3099
$GC,243,-0.69,-117.3,16.6,-10.9,8,250,0.38,2.47,0.00,0.000,6,0.085,0.045,2549,2144,3097
$GC,561,-0.61,-117.3,35.0,-5.0,24,565,0.00,2.50,0.00,0.000,4,0.000,0.059,2549,744,3097
$GC,695,-0.51,-117.3,42.6,-5.5,30,700,0.17,2.45,0.00,0.000,6,0.088,0.049,2584,2115,3097
$GC,1019,-0.51,-117.3,53.7,-2.9,46,1023,0.00,2.58,0.00,0.000,4,0.000,0.059,2584,3553,3097
$GC,1172,-0.51,-117.3,58.4,-3.0,53,1176,0.00,2.47,0.00,0.000,6,0.000,0.045,2584,2150,3097
$GC,1500,-0.55,-117.3,67.7,-3.9,69,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2150,3098
$GC,1810,-0.60,-117.3,82.0,-4.9,84,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2150,3098
$GC,2118,-0.64,-117.3,99.2,-5.5,99,2120,0.12,0.00,0.00,0.000,6,0.051,0.000,2548,2150,3098
$GC,2427,-0.58,-117.3,118.0,-5.9,114,2432,0.12,2.53,0.00,0.000,4,0.091,0.063,2574,743,3098
$GC,2449,-0.58,-117.3,119.3,-5.2,115,2454,0.00,2.50,0.00,0.000,6,0.000,0.051,2574,2139,3098
$GC,2772,-0.58,-117.3,136.3,-5.1,131,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2138,3097
$GC,3081,-0.58,-117.3,151.6,-4.5,146,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2138,3097
$GC,3390,-0.58,-117.3,163.8,-3.8,161,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2138,3097
$GC,3700,-0.58,-117.3,175.4,-3.7,176,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2138,3097
$GC,4009,-0.58,-117.3,187.4,-3.9,191,4013,0.00,2.53,0.00,0.000,4,0.000,0.064,2574,751,3096
$GC,4036,-0.58,-117.3,188.6,-4.4,192,4040,0.00,2.47,0.00,0.000,6,0.000,0.052,2573,2138,3097
$GC,4354,-0.58,-117.3,200.8,-4.0,207,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2137,3096
$GC,4662,-0.58,-117.3,212.8,-4.2,222,4666,0.00,2.55,0.00,0.000,4,0.000,0.064,2573,744,3096
$GC,4690,-0.58,-117.3,214.2,-5.0,223,4694,0.00,2.50,0.00,0.000,6,0.000,0.052,2574,2137,3096
$GC,5006,-0.58,-117.3,228.6,-4.7,238,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2137,3096
$GC,5315,-0.58,-117.3,243.1,-4.6,253,5320,0.00,2.55,0.00,0.000,4,0.000,0.064,2574,3557,3096
$GC,5327,-0.58,-117.3,243.6,-4.3,253,5333,0.00,2.53,0.00,0.000,6,0.000,0.051,2574,2140,3095
$GC,5643,-0.58,-117.3,257.4,-4.1,269,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2119,3095
$GC,5952,-0.58,-117.3,274.3,-5.4,284,5956,0.00,2.50,0.00,0.000,4,0.000,0.065,2574,747,3095
$GC,6037,-0.58,-117.3,279.4,-5.7,288,6041,0.00,2.47,0.00,0.000,6,0.000,0.053,2573,2132,3095
$GC,6364,-0.58,-117.3,300.7,-7.2,304,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2132,3095
$GC,6672,-0.58,-117.3,323.0,-7.7,319,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2132,3095
$GC,6982,-0.58,-117.3,346.0,-6.9,334,6986,0.00,2.53,0.00,0.000,4,0.000,0.066,2573,747,3095
$GC,7015,-0.58,-117.3,348.1,-6.4,335,7021,0.00,2.50,0.00,0.000,6,0.000,0.054,2574,2142,3095
$GC,7332,-0.58,-117.3,366.8,-6.7,351,7336,0.00,2.55,0.00,0.000,4,0.000,0.066,2573,3560,3094
$GC,7359,-0.58,-117.3,369.0,-8.1,352,7363,0.00,2.53,0.00,0.000,6,0.000,0.051,2573,2134,3094
$GC,7675,-0.58,-117.3,394.4,-7.3,367,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2115,3094
$GC,7984,-0.58,-117.3,418.7,-8.9,382,7988,0.00,2.50,0.00,0.000,4,0.000,0.066,2573,744,3094
$GC,8051,-0.58,-117.3,425.4,-10.2,385,8056,0.00,2.50,0.00,0.000,6,0.000,0.053,2573,2142,3094
$GC,8374,-0.58,-117.3,454.1,-8.5,401,8378,0.00,2.55,0.00,0.000,4,0.000,0.067,2574,3556,3093
$GC,8401,-0.58,-117.3,456.8,-10.0,402,8405,0.00,2.50,0.00,0.000,6,0.000,0.053,2573,2148,3093
$GC,8717,-0.62,-117.3,484.9,-8.3,417,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2131,3093
$GC,9026,-0.67,-117.3,508.7,-7.3,432,9030,0.00,2.53,0.00,0.000,4,0.000,0.065,2573,744,3093
$GC,9048,-0.67,-117.3,510.6,-8.2,433,9053,0.00,2.53,0.00,0.000,6,0.000,0.054,2574,2148,3093
$GC,9370,-0.71,-117.3,534.7,-6.9,449,9372,0.12,0.00,0.00,0.000,6,0.052,0.000,2535,2147,3093
$GC,9680,-0.63,-117.3,558.7,-7.5,464,9681,0.12,0.00,0.00,0.000,6,0.091,0.000,2561,2148,3093
$GC,9988,-0.63,-117.3,578.5,-6.6,479,9992,0.00,2.58,0.00,0.000,4,0.000,0.066,2560,744,3093
$GC,10015,-0.63,-117.3,580.5,-6.2,480,10019,0.00,2.53,0.00,0.000,6,0.000,0.055,2561,2148,3093
$GC,10331,-0.63,-117.3,599.9,-6.0,495,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2147,3093
$GC,10640,-0.63,-117.3,617.7,-5.0,510,10645,0.00,2.55,0.00,0.000,4,0.000,0.067,2561,744,3092
$GC,10719,-0.63,-117.3,622.1,-5.3,513,10725,0.00,2.50,0.00,0.000,6,0.000,0.054,2561,2135,3092
$GC,11035,-0.63,-117.3,638.5,-5.3,529,11036,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2134,3092
$GC,11345,-0.63,-117.3,655.3,-5.2,544,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2134,3092
$GC,11654,-0.63,-117.3,671.1,-6.0,559,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2134,3092
$GC,11963,-0.63,-117.3,687.8,-6.0,574,11967,0.00,2.58,0.00,0.000,4,0.000,0.068,2561,3565,3092
$GC,12003,-0.63,-117.3,690.5,-7.6,576,12008,0.00,2.55,0.00,0.000,6,0.000,0.053,2561,2131,3092
$GC,12331,-0.63,-117.3,707.9,-3.4,592,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2112,3092
$GC,12640,-0.63,-117.3,723.0,-5.2,607,12644,0.00,2.62,0.00,0.000,4,0.000,0.067,2561,3564,3092
$GC,12782,-0.63,-117.3,731.9,-5.8,613,12786,0.00,2.50,0.00,0.000,6,0.000,0.052,2561,2154,3092
$GC,13098,-0.63,-117.3,745.3,-3.1,628,13102,0.00,2.53,0.00,0.000,4,0.000,0.066,2561,749,3091
$GC,13170,-0.63,-117.3,748.0,-4.6,631,13175,0.00,2.53,0.00,0.000,6,0.000,0.055,2561,2150,3092
$GC,13487,-0.63,-117.3,756.4,-3.0,646,13492,0.00,2.55,0.00,0.000,4,0.000,0.068,2561,3561,3091
$GC,13515,-0.63,-117.3,757.5,-3.9,647,13520,0.00,2.53,0.00,0.000,6,0.000,0.054,2561,2152,3091
$GC,13832,-0.63,-117.3,768.1,-3.3,662,13836,0.00,2.60,0.00,0.000,4,0.000,0.069,2560,3561,3091
$GC,13887,-0.63,-117.3,770.5,-4.1,664,13893,0.00,2.50,0.00,0.000,6,0.000,0.053,2561,2165,3091
$GC,14203,-0.63,-117.3,781.6,-3.2,680,14208,0.00,2.55,0.00,0.000,4,0.000,0.066,2561,744,3091
$GC,14282,-0.63,-117.3,783.5,-2.5,683,14288,0.00,2.55,0.00,0.000,6,0.000,0.055,2561,2161,3090
$GC,14598,-0.63,-117.3,785.5,-1.0,699,14603,0.00,2.60,0.00,0.000,4,0.000,0.067,2561,742,3091
$GC,14656,-0.63,-117.3,786.0,-1.6,701,14662,0.00,2.53,0.00,0.000,6,0.000,0.056,2561,2140,3091
$GC,14972,-0.63,-117.3,790.2,-2.3,717,14977,0.00,2.58,0.00,0.000,4,0.000,0.069,2561,3562,3091
$GC,15000,-0.63,-117.3,791.1,-2.8,718,15005,0.00,2.58,0.00,0.000,6,0.000,0.054,2561,2125,3090
$GC,15317,-0.63,-117.3,799.2,-4.4,733,15321,0.00,2.65,0.00,0.000,4,0.000,0.068,2561,3564,3091
$GC,15349,-0.63,-117.3,801.4,-6.6,734,15355,0.00,2.55,0.00,0.000,6,0.000,0.054,2561,2140,3090
$GC,15665,-0.63,-117.3,823.0,-7.0,750,15670,0.00,2.60,0.00,0.000,4,0.000,0.067,2561,3560,3090
$GC,15756,-0.63,-117.3,827.8,-3.0,754,15760,0.00,2.47,0.00,0.000,6,0.000,0.051,2561,2169,3090
$GC,16077,-0.63,-117.3,837.3,-2.6,770,16081,0.00,2.58,0.00,0.000,4,0.000,0.070,2560,3558,3090
$GC,16088,-0.68,-117.3,837.4,-2.0,770,16095,0.00,2.53,0.00,0.000,6,0.000,0.055,2561,2151,3090
$GC,16405,-0.72,-117.3,851.6,-6.9,786,16407,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2133,3090
$GC,16714,-0.77,-117.3,869.0,-5.4,801,16719,0.12,2.62,0.00,0.000,4,0.056,0.070,2523,3565,3090
$GC,16973,-0.64,-117.3,875.5,-0.7,812,16980,0.17,2.58,0.00,0.000,6,0.091,0.055,2560,2130,3090
$GC,17289,-0.68,-117.3,869.2,2.2,828,17294,0.00,2.50,0.00,0.000,4,0.000,0.073,2560,745,3090
$STATE,17404,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17404,begin apogee
$GC,17414,-0.33,0.0,870.2,3.6,833,17517,0.30,0.00,99.70,1.391,6,0.081,0.000,2624,2100,2620
$STATE,17517,end apogee,CONTROL_FINISHED_OK
$STATE,17517,begin climb
$GC,17520,1.03,117.3,873.8,0.0,838,17628,1.40,2.65,99.97,1.375,4,0.072,0.071,2924,3505,2141
$GC,17741,1.20,275.0,879.6,0.6,848,17885,0.15,2.60,132.48,1.368,6,0.049,0.061,2968,2086,1499
$GC,18208,1.11,275.0,835.9,11.8,871,18209,0.12,0.00,0.00,0.000,6,0.087,0.000,2944,2086,1498
$GC,18516,1.11,275.0,809.7,8.5,886,18517,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2089,1498
$GC,18826,1.11,275.0,777.3,11.8,901,18830,0.00,2.58,0.00,0.000,4,0.000,0.073,2944,692,1498
$GC,18858,1.11,275.0,773.7,10.7,902,18864,0.00,2.58,0.00,0.000,6,0.000,0.060,2943,2108,1498
$GC,19174,1.11,275.0,744.0,9.5,918,19178,0.00,2.55,0.00,0.000,4,0.000,0.067,2943,3514,1498
$GC,19202,1.11,275.0,741.4,9.6,919,19207,0.00,2.53,0.00,0.000,6,0.000,0.056,2944,2128,1498
$GC,19518,1.11,275.0,715.0,7.5,934,19522,0.00,2.60,0.00,0.000,4,0.000,0.071,2943,689,1498
$GC,19545,1.11,275.0,712.8,7.1,935,19549,0.00,2.58,0.00,0.000,6,0.000,0.057,2943,2115,1498
$GC,19861,1.11,275.0,690.6,7.3,950,19862,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2115,1498
$GC,20170,1.11,275.0,666.9,7.8,965,20174,0.00,2.62,0.00,0.000,4,0.000,0.071,2944,681,1498
$GC,20202,1.11,275.0,664.2,8.1,966,20208,0.00,2.58,0.00,0.000,6,0.000,0.056,2944,2114,1498
$GC,20518,1.11,275.0,639.6,7.4,982,20519,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2113,1498
$GC,20827,1.11,275.0,614.7,8.0,997,20832,0.00,2.62,0.00,0.000,4,0.000,0.068,2943,682,1498
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$STATE,27767,end climb,SURFACE_DEPTH_REACHED
$STATE,27767,begin surface coast
$FINISH,1.2,1.026887
$STATE,27772,end surface coast,CONTROL_FINISHED_OK
$STATE,27772,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1657
$TCM_TEMP,19.60
$XPDR_PINGS,1019
$ALTIM_TOP_PING,17.7,999.0
$ALTIM_BOTTOM_PING,850.3,111.5
$24V_AH,23.8,26.481
$10V_AH,10.1,12.638
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$DEVICE_SECS,26.550,258.800,386.525,124.475,0.000,37.764,27.714,220.694,262.500,0.000,0.000,15.369,2444.144,21558.422,735.668,2848.376,753.724,33.350,2176.648,0.000,2788.573,0.000,52.549
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,910.817,985.366,772.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69462,1331
$CAP_FILE_SIZE,209742,0
$CFSIZE,254472192,243269632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,050708,154026,6138.078,-931.539,41,1.0,41,-9.5