version: 66.03
glider: 5
mission: 3
dive: 128
start: 7 6 108 0 6 1
data:
$ID,5
$MISSION,3
$DIVE,128
$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,-79093.234
$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,23
$R_STBD_OVSHOOT,47
$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
$GPS1,235808,6136.936,-928.496,40,1.0,40,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-49.0
$GPS2,000509,6136.934,-928.573,16,1.6,16,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.158,-0.124
$KALMAN_X,-47586.5,1271.2,533.4,58058.9,-10642.4
$KALMAN_Y,89288.5,-1257.8,181.8,-111038.7,1461.4
$MHEAD_RNG_PITCHd_Wd,137.5,17176,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,137,0.00,0.00,-110.15,0.000,6,0.000,0.000,418,2165,3098
$GC,140,-1.03,-117.3,2.1,-1.4,5,157,10.55,2.55,0.00,0.000,4,0.134,0.055,2468,742,3098
$GC,288,-0.69,-117.3,19.0,-7.3,10,295,0.38,2.47,0.00,0.000,6,0.086,0.049,2549,2131,3097
$GC,605,-0.61,-117.3,40.8,-7.1,26,609,0.00,2.55,0.00,0.000,4,0.000,0.059,2549,3556,3096
$GC,645,-0.49,-117.3,44.3,-9.1,28,650,0.20,2.45,0.00,0.000,6,0.083,0.044,2590,2165,3097
$GC,973,-0.55,-117.3,91.8,-18.0,44,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2147,3097
$GC,1283,-0.62,-117.3,131.7,-4.1,59,1288,0.12,2.55,0.00,0.000,4,0.049,0.058,2553,3564,3097
$GC,1328,-0.53,-117.3,131.5,0.7,61,1333,0.15,2.47,0.00,0.000,6,0.086,0.046,2583,2164,3097
$GC,1651,-0.58,-117.3,113.0,2.6,77,1656,0.00,2.53,0.00,0.000,4,0.000,0.061,2583,750,3097
$GC,1697,-0.64,-117.3,113.1,-0.6,79,1701,0.10,2.50,0.00,0.000,6,0.055,0.049,2550,2151,3097
$GC,2018,-0.57,-117.3,130.2,-8.0,95,2023,0.12,2.58,0.00,0.000,4,0.091,0.062,2577,742,3097
$GC,2030,-0.52,-117.3,131.2,-8.4,95,2036,0.00,2.47,0.00,0.000,6,0.000,0.051,2577,2129,3097
$GC,2346,-0.52,-117.3,160.0,-9.3,111,2350,0.00,2.55,0.00,0.000,4,0.000,0.061,2577,3563,3097
$GC,2356,-0.52,-117.3,160.9,-8.7,111,2362,0.00,2.53,0.00,0.000,6,0.000,0.048,2577,2138,3097
$GC,2672,-0.52,-117.3,184.2,-6.2,127,2676,0.00,2.58,0.00,0.000,4,0.000,0.062,2577,3556,3096
$GC,2693,-0.52,-117.3,186.0,-7.3,128,2698,0.00,2.53,0.00,0.000,6,0.000,0.048,2577,2134,3096
$GC,3015,-0.52,-117.3,205.5,-6.6,144,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2130,3096
$GC,3324,-0.52,-117.3,229.0,-8.0,159,3328,0.00,2.60,0.00,0.000,4,0.000,0.061,2577,3560,3096
$GC,3351,-0.52,-117.3,231.6,-8.8,160,3356,0.00,2.53,0.00,0.000,6,0.000,0.050,2576,2141,3096
$GC,3667,-0.52,-117.3,261.0,-9.8,175,3671,0.00,2.58,0.00,0.000,4,0.000,0.062,2577,3557,3096
$GC,3711,-0.52,-117.3,265.5,-10.4,177,3716,0.00,2.47,0.00,0.000,6,0.000,0.050,2576,2164,3095
$GC,4034,-0.56,-117.3,301.2,-11.6,193,4038,0.00,2.53,0.00,0.000,4,0.000,0.063,2577,3560,3095
$GC,4084,-0.56,-117.3,307.1,-11.0,195,4088,0.00,2.47,0.00,0.000,6,0.000,0.050,2577,2170,3095
$GC,4400,-0.56,-117.3,339.7,-9.7,210,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2169,3095
$GC,4709,-0.56,-117.3,364.8,-7.5,225,4713,0.00,2.55,0.00,0.000,4,0.000,0.067,2577,744,3095
$GC,4736,-0.56,-117.3,367.2,-8.5,226,4740,0.00,2.55,0.00,0.000,6,0.000,0.053,2577,2177,3095
$GC,5053,-0.56,-117.3,384.5,-4.5,241,5057,0.00,2.62,0.00,0.000,4,0.000,0.064,2576,738,3094
$GC,5087,-0.61,-117.3,386.0,-4.1,242,5092,0.00,2.53,0.00,0.000,6,0.000,0.054,2576,2150,3094
$GC,5403,-0.61,-117.3,398.8,-3.6,258,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2150,3094
$GC,5713,-0.66,-117.3,412.7,-5.2,273,5717,0.00,2.55,0.00,0.000,4,0.000,0.065,2576,744,3094
$GC,5735,-0.71,-117.3,413.6,-3.6,274,5740,0.15,2.50,0.00,0.000,6,0.050,0.054,2533,2141,3094
$GC,6059,-0.62,-117.3,427.1,-4.7,290,6064,0.15,2.55,0.00,0.000,4,0.089,0.066,2569,3557,3094
$GC,6070,-0.55,-117.3,427.7,-4.5,290,6077,0.00,2.55,0.00,0.000,6,0.000,0.053,2569,2130,3094
$GC,6387,-0.55,-117.3,438.7,-3.6,306,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2111,3094
$GC,6696,-0.55,-117.3,448.4,-2.8,321,6701,0.00,2.62,0.00,0.000,4,0.000,0.066,2569,3557,3094
$GC,6708,-0.55,-117.3,448.9,-3.1,321,6714,0.00,2.53,0.00,0.000,6,0.000,0.052,2569,2142,3094
$GC,7024,-0.55,-117.3,459.9,-4.0,337,7028,0.00,2.60,0.00,0.000,4,0.000,0.066,2569,3557,3093
$GC,7035,-0.55,-117.3,460.5,-3.8,337,7041,0.00,2.50,0.00,0.000,6,0.000,0.051,2569,2149,3093
$GC,7351,-0.55,-117.3,473.8,-4.3,353,7355,0.00,2.58,0.00,0.000,4,0.000,0.065,2569,3557,3093
$GC,7374,-0.55,-117.3,475.0,-5.0,354,7378,0.00,2.50,0.00,0.000,6,0.000,0.051,2569,2154,3093
$GC,7700,-0.55,-117.3,492.7,-6.0,370,7704,0.00,2.58,0.00,0.000,4,0.000,0.064,2569,3557,3093
$GC,7739,-0.55,-117.3,495.3,-6.7,372,7744,0.00,2.47,0.00,0.000,6,0.000,0.050,2569,2158,3093
$GC,8066,-0.55,-117.3,516.2,-6.5,388,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2140,3093
$GC,8376,-0.55,-117.3,535.8,-6.1,403,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2140,3092
$GC,8685,-0.55,-117.3,553.1,-5.4,418,8689,0.00,2.58,0.00,0.000,4,0.000,0.065,2569,3563,3092
$GC,8696,-0.55,-117.3,553.7,-5.1,418,8702,0.00,2.50,0.00,0.000,6,0.000,0.052,2569,2161,3092
$GC,9012,-0.55,-117.3,570.3,-6.5,434,9016,0.00,2.58,0.00,0.000,4,0.000,0.065,2569,3561,3092
$GC,9039,-0.55,-117.3,572.2,-7.1,435,9043,0.00,2.50,0.00,0.000,6,0.000,0.051,2569,2157,3092
$GC,9355,-0.55,-117.3,591.4,-5.5,450,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2140,3092
$GC,9664,-0.55,-117.3,607.5,-4.9,465,9668,0.00,2.53,0.00,0.000,4,0.000,0.065,2569,750,3092
$GC,9675,-0.55,-117.3,608.1,-4.7,465,9682,0.00,2.53,0.00,0.000,6,0.000,0.054,2569,2159,3092
$GC,9992,-0.55,-117.3,621.5,-4.5,481,9996,0.00,2.58,0.00,0.000,4,0.000,0.065,2569,750,3092
$GC,10009,-0.55,-117.3,622.3,-4.3,482,10013,0.00,2.53,0.00,0.000,6,0.000,0.054,2569,2162,3092
$GC,10336,-0.55,-117.3,636.2,-3.2,498,10340,0.00,2.58,0.00,0.000,4,0.000,0.067,2569,748,3092
$GC,10375,-0.55,-117.3,638.1,-4.7,500,10380,0.00,2.53,0.00,0.000,6,0.000,0.055,2569,2160,3092
$GC,10703,-0.55,-117.3,655.3,-5.3,516,10707,0.00,2.58,0.00,0.000,4,0.000,0.065,2569,751,3092
$GC,10715,-0.55,-117.3,655.9,-4.8,516,10721,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2155,3092
$GC,11031,-0.55,-117.3,671.5,-5.0,532,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2155,3092
$GC,11341,-0.55,-117.3,687.8,-5.5,547,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2155,3091
$GC,11650,-0.55,-117.3,705.8,-5.7,562,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2155,3091
$GC,11959,-0.55,-117.3,723.4,-5.1,577,11960,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2155,3091
$GC,12268,-0.55,-117.3,739.6,-5.0,592,12272,0.00,2.58,0.00,0.000,4,0.000,0.067,2569,750,3091
$GC,12279,-0.55,-117.3,740.3,-5.6,592,12285,0.00,2.53,0.00,0.000,6,0.000,0.055,2569,2160,3091
$GC,12595,-0.55,-117.3,756.4,-5.0,608,12600,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,751,3091
$GC,12607,-0.55,-117.3,757.1,-5.3,608,12613,0.00,2.53,0.00,0.000,6,0.000,0.055,2569,2154,3091
$GC,12923,-0.59,-117.3,773.4,-4.9,624,12928,0.00,2.58,0.00,0.000,4,0.000,0.067,2569,752,3091
$GC,12996,-0.59,-117.3,777.0,-5.3,627,13001,0.00,2.50,0.00,0.000,6,0.000,0.055,2569,2143,3091
$GC,13312,-0.59,-117.3,794.6,-6.1,642,13316,0.00,2.55,0.00,0.000,4,0.000,0.069,2569,3555,3091
$GC,13333,-0.59,-117.3,796.0,-6.3,643,13338,0.00,2.53,0.00,0.000,6,0.000,0.055,2569,2150,3091
$GC,13655,-0.59,-117.3,818.0,-7.0,659,13659,0.00,2.58,0.00,0.000,4,0.000,0.067,2569,3563,3091
$GC,13665,-0.59,-117.3,818.9,-6.9,659,13671,0.00,2.53,0.00,0.000,6,0.000,0.054,2569,2151,3090
$GC,13981,-0.64,-117.3,843.2,-7.7,675,13982,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2150,3091
$GC,14291,-0.64,-117.3,861.3,-4.6,690,14295,0.00,2.53,0.00,0.000,4,0.000,0.068,2569,744,3091
$GC,14341,-0.64,-117.3,863.4,-4.1,692,14345,0.00,2.53,0.00,0.000,6,0.000,0.056,2569,2147,3091
$GC,14657,-0.71,-117.3,873.0,-2.3,707,14659,0.12,0.00,0.00,0.000,6,0.053,0.000,2530,2147,3091
$GC,14966,-0.64,-117.3,885.2,-5.2,722,14968,0.12,0.00,0.00,0.000,6,0.094,0.000,2556,2147,3091
$GC,15278,-0.64,-117.3,900.6,-4.9,737,15283,0.00,2.60,0.00,0.000,4,0.000,0.072,2556,745,3091
$GC,15329,-0.64,-117.3,903.1,-4.5,739,15334,0.00,2.58,0.00,0.000,6,0.000,0.060,2556,2166,3091
$STATE,15519,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,15519,begin apogee
$GC,15526,-0.33,0.0,910.0,3.0,748,15629,0.32,0.00,100.70,1.412,6,0.080,0.000,2624,2069,2620
$STATE,15630,end apogee,CONTROL_FINISHED_OK
$STATE,15630,begin climb
$GC,15634,1.03,117.3,911.2,0.0,753,15744,1.38,2.65,100.78,1.397,4,0.066,0.072,2922,703,2141
$GC,15763,0.95,117.3,902.6,7.8,759,15768,0.00,2.60,0.00,0.000,6,0.000,0.059,2922,2106,2141
$GC,16086,0.89,117.3,881.5,6.0,775,16091,0.15,2.58,0.00,0.000,4,0.086,0.073,2888,3508,2140
$GC,16158,0.96,117.3,877.1,6.0,778,16163,0.00,2.55,0.00,0.000,6,0.000,0.059,2888,2120,2139
$GC,16475,1.06,141.8,863.0,5.2,793,16500,0.20,0.00,21.88,1.328,6,0.045,0.000,2945,2120,2042
$GC,16804,0.97,141.8,835.0,8.5,809,16806,0.15,0.00,0.00,0.000,6,0.085,0.000,2913,2120,2041
$GC,17113,0.99,152.2,817.0,5.6,824,17129,0.00,2.62,10.55,1.223,4,0.000,0.068,2913,3509,1998
$GC,17168,1.00,161.7,813.5,5.7,825,17183,0.00,2.55,9.65,1.197,6,0.000,0.056,2913,2116,1961
$GC,17506,1.07,201.3,798.8,4.6,842,17547,0.00,2.65,34.53,1.333,4,0.000,0.065,2913,3513,1799
$GC,17576,1.13,201.3,795.1,6.3,845,17581,0.12,2.47,0.00,0.000,6,0.050,0.054,2950,2156,1799
$GC,17898,1.05,201.3,771.8,7.7,861,17903,0.00,2.67,0.00,0.000,4,0.000,0.067,2950,682,1798
$GC,17943,0.99,201.3,768.0,7.6,863,17948,0.17,2.67,0.00,0.000,6,0.081,0.056,2913,2160,1799
$GC,18265,1.04,201.3,748.1,6.7,879,18269,0.00,2.45,0.00,0.000,4,0.000,0.065,2913,3509,1798
$GC,18299,1.11,201.3,745.5,7.6,880,18306,0.12,2.47,0.00,0.000,6,0.050,0.053,2952,2143,1798
$GC,18616,1.04,201.3,717.1,9.2,896,18618,0.12,0.00,0.00,0.000,6,0.085,0.000,2926,2144,1799
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$STATE,27411,end climb,SURFACE_DEPTH_REACHED
$STATE,27411,begin surface coast
$FINISH,0.2,1.014940
$STATE,27436,end surface coast,CONTROL_FINISHED_OK
$STATE,27436,begin surface
$SM_CCo,27457,203.95,0.769,0,0,390,547.02
$SM_GC,0.58,0.00,0.00,203.95,0.000,0.000,0.769,420,2144,390,-10.48,-0.17,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1658
$TCM_TEMP,16.90
$XPDR_PINGS,977
$ALTIM_TOP_PING,18.5,17.8
$ALTIM_BOTTOM_PING,900.6,19.2
$24V_AH,23.8,26.887
$10V_AH,10.1,12.883
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$DEVICE_SECS,26.350,290.375,278.075,203.950,0.000,37.760,28.814,205.456,252.500,0.000,0.000,16.012,2429.910,21430.037,764.085,2697.467,749.445,33.364,2147.828,0.000,2637.708,0.000,56.522
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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,66234,1322
$CAP_FILE_SIZE,213221,0
$CFSIZE,254472192,243081216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,060708,074826,6133.842,-923.404,42,1.4,43,-9.4