version: 66.03
glider: 5
mission: 3
dive: 37
start: 6 13 108 7 8 33
data:
$ID,5
$MISSION,3
$DIVE,37
$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,-77378.609
$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
$GPS1,070107,6138.158,-931.142,43,1.2,43,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.1
$GPS2,070739,6138.099,-931.319,16,1.3,16,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.122,0.160
$KALMAN_X,-43344.4,-897.2,1146.2,-23188.7,-8727.1
$KALMAN_Y,-18054.2,-193.2,7991.2,34772.6,-29721.2
$MHEAD_RNG_PITCHd_Wd,46.8,18641,-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,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,96,0.00,0.00,-69.57,0.000,6,0.000,0.000,422,2157,3098
$GC,99,-1.03,-117.3,2.2,-3.1,3,116,10.60,2.55,0.00,0.000,4,0.139,0.056,2468,743,3100
$GC,234,-0.69,-117.3,17.1,-9.1,8,239,0.38,2.53,0.00,0.000,6,0.086,0.051,2548,2150,3100
$GC,556,-0.61,-117.3,45.9,-8.4,24,560,0.00,2.58,0.00,0.000,4,0.000,0.060,2548,738,3100
$GC,606,-0.53,-117.3,50.8,-9.7,26,611,0.17,2.55,0.00,0.000,6,0.088,0.051,2583,2161,3100
$GC,922,-0.53,-117.3,69.5,-3.8,41,926,0.00,2.58,0.00,0.000,4,0.000,0.058,2583,741,3101
$GC,1008,-0.58,-117.3,69.2,2.5,45,1013,0.00,2.53,0.00,0.000,6,0.000,0.051,2584,2160,3101
$GC,1336,-0.58,-117.3,57.5,2.9,61,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2157,3101
$GC,1646,-0.64,-117.3,57.2,-2.0,76,1648,0.12,0.00,0.00,0.000,6,0.051,0.000,2548,2157,3102
$GC,1955,-0.56,-117.3,77.7,-8.8,91,1960,0.15,2.58,0.00,0.000,4,0.089,0.060,2582,744,3102
$GC,2027,-0.61,-117.3,85.0,-11.2,94,2032,0.00,2.53,0.00,0.000,6,0.000,0.051,2581,2155,3102
$GC,2346,-0.68,-117.3,104.8,-4.5,109,2351,0.15,2.53,0.00,0.000,4,0.048,0.063,2534,3562,3102
$GC,2566,-0.57,-117.3,117.4,-6.7,119,2571,0.20,2.47,0.00,0.000,6,0.085,0.047,2576,2145,3102
$GC,2893,-0.57,-117.3,135.4,-5.4,135,2898,0.00,2.50,0.00,0.000,4,0.000,0.064,2576,750,3102
$GC,3011,-0.57,-117.3,143.2,-6.1,140,3015,0.00,2.50,0.00,0.000,6,0.000,0.051,2576,2154,3102
$GC,3327,-0.57,-117.3,159.1,-4.7,155,3331,0.00,2.53,0.00,0.000,4,0.000,0.065,2575,3557,3102
$GC,3412,-0.57,-117.3,162.9,-4.7,159,3416,0.00,2.50,0.00,0.000,6,0.000,0.048,2575,2148,3102
$GC,3738,-0.57,-117.3,177.8,-5.9,175,3743,0.00,2.50,0.00,0.000,4,0.000,0.065,2576,750,3102
$GC,3789,-0.57,-117.3,180.6,-5.2,177,3793,0.00,2.53,0.00,0.000,6,0.000,0.053,2575,2156,3102
$GC,4104,-0.57,-117.3,198.6,-6.7,192,4109,0.00,2.53,0.00,0.000,4,0.000,0.066,2576,3558,3102
$GC,4177,-0.57,-117.3,203.7,-7.2,195,4181,0.00,2.50,0.00,0.000,6,0.000,0.049,2575,2147,3102
$GC,4493,-0.57,-117.3,222.8,-5.8,210,4497,0.00,2.53,0.00,0.000,4,0.000,0.065,2576,742,3102
$GC,4600,-0.57,-117.3,230.5,-7.5,215,4604,0.00,2.53,0.00,0.000,6,0.000,0.054,2575,2151,3102
$GC,4927,-0.61,-117.3,253.8,-7.0,231,4931,0.00,2.53,0.00,0.000,4,0.000,0.067,2575,3558,3102
$GC,5000,-0.61,-117.3,259.0,-6.6,234,5004,0.00,2.50,0.00,0.000,6,0.000,0.051,2575,2150,3101
$GC,5315,-0.61,-117.3,279.3,-6.5,249,5320,0.00,2.50,0.00,0.000,4,0.000,0.067,2576,746,3101
$GC,5366,-0.65,-117.3,283.0,-6.9,251,5370,0.00,2.53,0.00,0.000,6,0.000,0.054,2575,2150,3101
$GC,5683,-0.73,-117.3,304.1,-7.1,266,5687,0.15,2.55,0.00,0.000,4,0.051,0.067,2526,3560,3101
$GC,5830,-0.58,-117.3,316.6,-9.0,272,5837,0.22,2.50,0.00,0.000,6,0.085,0.050,2574,2150,3101
$GC,6146,-0.58,-117.3,340.3,-7.4,288,6150,0.00,2.53,0.00,0.000,4,0.000,0.067,2574,750,3101
$GC,6212,-0.58,-117.3,345.3,-7.0,291,6217,0.00,2.50,0.00,0.000,6,0.000,0.054,2574,2150,3101
$GC,6534,-0.63,-117.3,371.2,-8.6,307,6538,0.00,2.55,0.00,0.000,4,0.000,0.069,2574,3557,3100
$GC,6601,-0.67,-117.3,377.4,-8.5,310,6605,0.00,2.50,0.00,0.000,6,0.000,0.051,2574,2150,3100
$GC,6923,-0.72,-117.3,406.1,-9.3,326,6928,0.15,2.53,0.00,0.000,4,0.050,0.066,2524,750,3100
$GC,7031,-0.60,-117.3,419.0,-12.1,331,7036,0.22,2.50,0.00,0.000,6,0.085,0.054,2572,2150,3100
$GC,7360,-0.64,-117.3,455.3,-11.5,347,7364,0.00,2.55,0.00,0.000,4,0.000,0.070,2572,3560,3100
$GC,7454,-0.64,-117.3,467.3,-12.2,351,7459,0.00,2.53,0.00,0.000,6,0.000,0.052,2572,2145,3100
$GC,7770,-0.64,-117.3,503.0,-11.2,366,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2127,3100
$GC,8080,-0.69,-117.3,535.3,-10.4,381,8085,0.12,2.62,0.00,0.000,4,0.052,0.068,2535,3565,3100
$GC,8188,-0.60,-117.3,547.9,-12.3,386,8193,0.17,2.50,0.00,0.000,6,0.087,0.052,2571,2150,3099
$GC,8515,-0.60,-117.3,582.5,-10.2,402,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2133,3099
$GC,8824,-0.60,-117.3,612.2,-8.6,417,8829,0.00,2.60,0.00,0.000,4,0.000,0.068,2571,3560,3099
$GC,8891,-0.60,-117.3,618.0,-8.3,420,8895,0.00,2.50,0.00,0.000,6,0.000,0.051,2571,2151,3099
$GC,9213,-0.66,-117.3,636.7,-4.3,436,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2133,3099
$GC,9522,-0.71,-117.3,647.7,-3.3,451,9527,0.12,2.60,0.00,0.000,4,0.054,0.068,2533,3557,3098
$GC,9601,-0.62,-117.3,651.6,-5.0,454,9608,0.15,2.53,0.00,0.000,6,0.091,0.052,2564,2144,3098
$GC,9917,-0.62,-117.3,666.9,-5.2,470,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2126,3098
$GC,10226,-0.62,-117.3,682.9,-5.2,485,10227,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2126,3098
$GC,10536,-0.66,-117.3,706.7,-8.6,500,10540,0.00,2.62,0.00,0.000,4,0.000,0.071,2564,3564,3098
$GC,10586,-0.70,-117.3,711.0,-9.2,502,10590,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2146,3098
$GC,10901,-0.70,-117.3,738.7,-9.1,517,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2126,3098
$GC,11211,-0.70,-117.3,771.0,-10.4,532,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2126,3098
$GC,11521,-0.70,-117.3,800.7,-6.9,547,11525,0.00,2.60,0.00,0.000,4,0.000,0.070,2564,3556,3097
$GC,11655,-0.70,-117.3,810.3,-6.6,553,11659,0.00,2.53,0.00,0.000,6,0.000,0.052,2564,2143,3097
$GC,11976,-0.70,-117.3,828.5,-4.2,569,11980,0.00,2.60,0.00,0.000,4,0.000,0.071,2564,3557,3097
$GC,12031,-0.70,-117.3,831.1,-4.3,571,12037,0.00,2.53,0.00,0.000,6,0.000,0.054,2563,2147,3098
$GC,12347,-0.70,-117.3,840.9,-2.6,587,12352,0.00,2.53,0.00,0.000,4,0.000,0.069,2564,742,3097
$GC,12488,-0.70,-117.3,846.2,-4.5,593,12492,0.00,2.55,0.00,0.000,6,0.000,0.058,2564,2154,3097
$GC,12804,-0.70,-117.3,854.7,0.2,608,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2155,3097
$GC,13113,-0.70,-117.3,863.6,-3.9,623,13117,0.00,2.58,0.00,0.000,4,0.000,0.070,2564,744,3097
$GC,13298,-0.70,-117.3,871.1,-2.3,631,13302,0.00,2.55,0.00,0.000,6,0.000,0.059,2564,2153,3097
$GC,13614,-0.70,-117.3,891.4,-5.3,646,13619,0.00,2.60,0.00,0.000,4,0.000,0.071,2564,748,3097
$GC,13682,-0.70,-117.3,893.8,-4.0,649,13686,0.00,2.55,0.00,0.000,6,0.000,0.059,2564,2153,3097
$GC,14003,-0.70,-117.3,899.7,-0.9,665,14007,0.00,2.60,0.00,0.000,4,0.000,0.071,2564,749,3096
$GC,14210,-0.74,-117.3,900.3,2.9,674,14215,0.12,2.55,0.00,0.000,6,0.054,0.060,2525,2150,3096
$GC,14527,-0.69,-117.3,906.5,-4.2,689,14532,0.10,2.58,0.00,0.000,4,0.099,0.074,2547,3565,3096
$GC,14650,-0.69,-117.3,912.2,-4.3,694,14656,0.00,2.55,0.00,0.000,6,0.000,0.057,2547,2152,3096
$GC,14966,-0.69,-117.3,931.2,-6.9,710,14970,0.00,2.58,0.00,0.000,4,0.000,0.074,2547,743,3096
$GC,15015,-0.69,-117.3,935.4,-7.7,712,15020,0.00,2.58,0.00,0.000,6,0.000,0.063,2546,2150,3096
$GC,15331,-0.69,-117.3,960.3,-8.8,727,15335,0.00,2.62,0.00,0.000,4,0.000,0.079,2547,747,3096
$GC,15588,-0.69,-117.3,976.2,-0.6,738,15594,0.00,2.60,0.00,0.000,6,0.000,0.067,2547,2154,3096
$GC,15905,-0.64,-117.3,982.5,-3.3,754,15909,0.00,2.67,0.00,0.000,4,0.000,0.085,2547,743,3095
$GC,15945,-0.64,-117.3,984.7,-5.4,756,15950,0.00,2.62,0.00,0.000,6,0.000,0.071,2547,2155,3095
$STATE,16146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16146,begin apogee
$GC,16153,-0.33,0.0,990.4,3.9,766,16259,0.38,0.00,103.45,1.505,6,0.085,0.000,2624,2155,2620
$STATE,16260,end apogee,CONTROL_FINISHED_OK
$STATE,16260,begin climb
$GC,16263,1.03,117.3,996.8,0.0,771,16370,1.38,0.00,103.03,1.486,6,0.070,0.000,2921,2155,2142
$GC,16676,0.95,117.3,979.0,6.8,791,16681,0.00,2.67,0.00,0.000,4,0.000,0.090,2921,3556,2139
$GC,16733,0.87,117.3,974.7,7.0,793,16739,0.17,2.67,0.00,0.000,6,0.096,0.077,2887,2150,2139
$GC,17049,0.92,117.3,952.9,8.0,809,17053,0.00,2.70,0.00,0.000,4,0.000,0.093,2887,737,2138
$GC,17092,0.92,117.3,948.9,8.9,811,17097,0.00,2.67,0.00,0.000,6,0.000,0.076,2887,2148,2138
$GC,17414,1.04,117.3,923.7,6.5,827,17419,0.15,2.72,0.00,0.000,4,0.058,0.089,2933,738,2136
$GC,17441,0.97,117.3,921.7,6.2,828,17447,0.10,2.67,0.00,0.000,6,0.104,0.074,2913,2155,2136
$GC,17757,1.08,186.1,907.7,3.6,843,17823,0.00,2.78,59.40,1.480,4,0.000,0.082,2913,739,1861
$GC,17899,1.13,216.2,901.5,5.0,849,17932,0.12,2.65,27.25,1.424,6,0.058,0.069,2947,2150,1738
$GC,18243,1.04,216.2,876.0,7.8,866,18248,0.12,2.67,0.00,0.000,4,0.094,0.076,2922,739,1738
$GC,18299,1.04,216.2,871.9,6.8,868,18305,0.00,2.62,0.00,0.000,6,0.000,0.064,2922,2152,1738
$GC,18614,1.04,216.2,852.3,6.4,884,18619,0.00,2.67,0.00,0.000,4,0.000,0.074,2922,733,1738
$GC,18655,1.04,216.2,848.2,10.8,886,18659,0.00,2.62,0.00,0.000,6,0.000,0.061,2922,2161,1739
$GC,18981,1.04,216.2,822.2,7.8,902,18982,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2162,1739
$GC,19290,1.04,216.2,800.0,6.5,917,19294,0.00,2.65,0.00,0.000,4,0.000,0.072,2922,738,1740
$GC,19307,1.04,216.2,798.9,6.4,918,19311,0.00,2.58,0.00,0.000,6,0.000,0.060,2922,2156,1739
$GC,19633,1.04,216.2,777.6,6.8,934,19638,0.00,2.65,0.00,0.000,4,0.000,0.071,2922,735,1740
$GC,19661,1.04,216.2,775.5,7.2,935,19665,0.00,2.58,0.00,0.000,6,0.000,0.058,2922,2151,1740
$GC,19976,1.04,216.2,755.8,6.6,950,19981,0.00,2.62,0.00,0.000,4,0.000,0.068,2922,738,1741
$GC,19994,1.04,216.2,754.5,6.8,951,19999,0.00,2.58,0.00,0.000,6,0.000,0.058,2922,2156,1741
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$STATE,28502,end climb,SURFACE_DEPTH_REACHED
$STATE,28502,begin surface coast
$FINISH,0.4,1.007102
$STATE,28525,end surface coast,CONTROL_FINISHED_OK
$STATE,28526,begin surface
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$HUMID,1673
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$ALTIM_BOTTOM_PING,951.3,51.7
$24V_AH,23.7,11.100
$10V_AH,10.1,4.047
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$DEVICE_SECS,29.250,314.350,479.700,0.000,0.000,37.764,50.332,169.921,259.500,0.000,0.000,16.129,2596.207,21712.484,678.601,3272.744,731.997,33.354,2326.511,0.000,3192.886,0.000,59.190
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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,69395,1362
$CAP_FILE_SIZE,229984,0
$CFSIZE,254472192,249745408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,130608,150705,6138.230,-938.152,67,1.2,67,-9.6