version: 66.03
glider: 5
mission: 3
dive: 80
start: 6 22 108 20 58 38
data:
$ID,5
$MISSION,3
$DIVE,80
$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,240
$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,-78135.469
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,205333,6141.620,-924.101,10,1.8,10,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-60.3
$GPS2,205744,6141.595,-924.087,15,1.8,15,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.169,0.109
$KALMAN_X,-102676.8,289.5,1242.3,41226.4,-39656.1
$KALMAN_Y,-21180.6,904.6,40.5,51137.6,-33962.4
$MHEAD_RNG_PITCHd_Wd,66.8,11549,-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,-117.3,0.0,0.0,0,96,0.00,0.00,-69.57,0.000,6,0.000,0.000,421,2116,3099
$GC,99,-1.03,-117.3,2.0,-2.9,3,116,10.68,2.53,0.00,0.000,4,0.141,0.062,2466,740,3101
$GC,352,-0.71,-117.3,30.3,-10.4,13,357,0.35,2.53,0.00,0.000,6,0.087,0.049,2542,2152,3102
$GC,670,-0.62,-117.3,55.9,-8.5,28,675,0.10,2.50,0.00,0.000,4,0.098,0.061,2562,3554,3103
$GC,890,-0.54,-117.3,75.6,-10.4,38,894,0.00,2.45,0.00,0.000,6,0.000,0.048,2562,2173,3103
$GC,1217,-0.54,-117.3,104.5,-8.0,54,1221,0.00,2.58,0.00,0.000,4,0.000,0.065,2562,746,3103
$GC,1279,-0.54,-117.3,110.2,-9.1,57,1284,0.00,2.55,0.00,0.000,6,0.000,0.050,2562,2176,3103
$GC,1607,-0.54,-117.3,127.6,-0.6,73,1611,0.00,2.47,0.00,0.000,4,0.000,0.061,2562,3560,3103
$GC,1763,-0.49,-117.3,132.7,-4.7,80,1768,0.15,2.45,0.00,0.000,6,0.093,0.048,2591,2174,3103
$GC,2091,-0.58,-117.3,142.8,-3.3,96,2095,0.00,2.53,0.00,0.000,4,0.000,0.064,2591,3553,3103
$GC,2119,-0.67,-117.3,143.2,-1.4,97,2124,0.17,2.42,0.00,0.000,6,0.044,0.049,2543,2190,3103
$GC,2437,-0.58,-117.3,144.5,1.4,112,2442,0.15,2.50,0.00,0.000,4,0.089,0.063,2578,3555,3103
$GC,2523,-0.58,-117.3,141.9,2.3,116,2527,0.00,2.40,0.00,0.000,6,0.000,0.048,2578,2198,3103
$GC,2850,-0.63,-117.3,131.4,4.3,132,2855,0.00,2.62,0.00,0.000,4,0.000,0.067,2578,744,3103
$GC,2914,-0.63,-117.3,129.0,2.2,135,2918,0.00,2.62,0.00,0.000,6,0.000,0.051,2578,2211,3103
$GC,3241,-0.68,-117.3,125.5,0.7,151,3246,0.12,2.42,0.00,0.000,4,0.051,0.062,2539,3564,3103
$GC,3305,-0.58,-117.3,126.4,-2.1,154,3310,0.17,2.40,0.00,0.000,6,0.089,0.048,2575,2206,3103
$GC,3634,-0.58,-117.3,130.8,-1.5,170,3638,0.00,2.62,0.00,0.000,4,0.000,0.064,2575,744,3102
$GC,3689,-0.58,-117.3,131.8,-2.1,172,3696,0.00,2.62,0.00,0.000,6,0.000,0.052,2575,2208,3102
$GC,4006,-0.58,-117.3,141.5,-4.2,188,4010,0.00,2.42,0.00,0.000,4,0.000,0.063,2575,3561,3102
$GC,4062,-0.58,-117.3,144.2,-5.2,190,4068,0.00,2.40,0.00,0.000,6,0.000,0.049,2575,2208,3102
$GC,4378,-0.58,-117.3,161.6,-6.2,206,4382,0.00,2.62,0.00,0.000,4,0.000,0.065,2575,747,3102
$GC,4450,-0.58,-117.3,166.6,-6.6,209,4455,0.00,2.62,0.00,0.000,6,0.000,0.051,2575,2214,3102
$GC,4766,-0.58,-117.3,185.8,-5.9,224,4770,0.00,2.40,0.00,0.000,4,0.000,0.063,2575,3556,3102
$GC,4823,-0.58,-117.3,190.0,-7.6,226,4829,0.00,2.38,0.00,0.000,6,0.000,0.048,2575,2213,3101
$GC,5139,-0.58,-117.3,209.3,-5.8,242,5144,0.00,2.65,0.00,0.000,4,0.000,0.067,2575,744,3101
$GC,5273,-0.58,-117.3,217.7,-6.3,248,5278,0.00,2.60,0.00,0.000,6,0.000,0.052,2575,2194,3101
$GC,5595,-0.58,-117.3,233.0,-4.8,264,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2194,3101
$GC,5904,-0.58,-117.3,248.2,-5.0,279,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2194,3101
$GC,6213,-0.58,-117.3,263.0,-4.9,294,6218,0.00,2.65,0.00,0.000,4,0.000,0.065,2575,749,3101
$GC,6287,-0.58,-117.3,266.7,-5.5,297,6291,0.00,2.60,0.00,0.000,6,0.000,0.053,2575,2198,3101
$GC,6603,-0.63,-117.3,280.4,-4.0,312,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2198,3101
$GC,6912,-0.67,-117.3,292.3,-3.5,327,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2198,3101
$GC,7221,-0.71,-117.3,301.6,-2.8,342,7227,0.15,2.67,0.00,0.000,4,0.050,0.066,2525,744,3100
$GC,7308,-0.60,-117.3,305.0,-4.2,346,7313,0.20,2.58,0.00,0.000,6,0.087,0.054,2568,2182,3101
$GC,7635,-0.60,-117.3,312.2,-2.3,362,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2182,3100
$GC,7944,-0.60,-117.3,320.4,-3.0,377,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2182,3100
$GC,8254,-0.60,-117.3,331.0,-4.0,392,8258,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,748,3100
$GC,8316,-0.60,-117.3,333.8,-5.0,395,8320,0.00,2.58,0.00,0.000,6,0.000,0.054,2568,2187,3100
$GC,8643,-0.60,-117.3,348.2,-4.1,411,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2188,3100
$GC,8952,-0.60,-117.3,359.9,-3.6,426,8957,0.00,2.62,0.00,0.000,4,0.000,0.068,2568,749,3100
$GC,9015,-0.60,-117.3,362.7,-4.2,429,9020,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2175,3100
$GC,9342,-0.60,-117.3,377.4,-4.6,445,9346,0.00,2.50,0.00,0.000,4,0.000,0.067,2568,3558,3099
$GC,9382,-0.60,-117.3,379.6,-5.9,447,9386,0.00,2.45,0.00,0.000,6,0.000,0.051,2568,2173,3100
$GC,9708,-0.60,-117.3,396.3,-5.3,463,9713,0.00,2.55,0.00,0.000,4,0.000,0.067,2568,747,3099
$GC,9793,-0.60,-117.3,401.4,-6.9,467,9798,0.00,2.53,0.00,0.000,6,0.000,0.053,2568,2165,3100
$GC,10121,-0.60,-117.3,419.9,-5.7,483,10125,0.00,2.50,0.00,0.000,4,0.000,0.067,2568,3553,3099
$GC,10165,-0.60,-117.3,422.8,-6.6,485,10169,0.00,2.47,0.00,0.000,6,0.000,0.052,2568,2167,3099
$GC,10487,-0.60,-117.3,440.7,-5.6,501,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2149,3099
$GC,10796,-0.60,-117.3,459.5,-6.3,516,10797,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2149,3099
$GC,11105,-0.60,-117.3,477.4,-5.3,531,11109,0.00,2.55,0.00,0.000,4,0.000,0.068,2568,745,3099
$GC,11172,-0.60,-117.3,481.3,-6.1,534,11176,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2164,3099
$GC,11492,-0.60,-117.3,499.3,-6.2,550,11497,0.00,2.53,0.00,0.000,4,0.000,0.067,2568,3564,3098
$GC,11555,-0.60,-117.3,503.6,-6.7,553,11559,0.00,2.47,0.00,0.000,6,0.000,0.053,2568,2167,3099
$GC,11881,-0.60,-117.3,523.5,-6.2,569,11886,0.00,2.55,0.00,0.000,4,0.000,0.067,2568,750,3099
$GC,11944,-0.60,-117.3,528.0,-7.4,572,11948,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2164,3098
$GC,12271,-0.60,-117.3,546.5,-5.1,588,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2162,3098
$GC,12580,-0.64,-117.3,563.4,-4.5,603,12584,0.00,2.60,0.00,0.000,4,0.000,0.067,2568,746,3098
$GC,12624,-0.64,-117.3,565.4,-4.3,605,12629,0.00,2.55,0.00,0.000,6,0.000,0.055,2568,2164,3098
$GC,12949,-0.64,-117.3,575.4,-3.7,621,12954,0.00,2.60,0.00,0.000,4,0.000,0.067,2568,748,3098
$GC,13017,-0.64,-117.3,579.2,-5.6,624,13021,0.00,2.53,0.00,0.000,6,0.000,0.055,2568,2149,3098
$GC,13338,-0.69,-117.3,602.9,-8.8,640,13342,0.00,2.55,0.00,0.000,4,0.000,0.068,2568,3563,3098
$GC,13477,-0.69,-117.3,613.5,-6.3,646,13482,0.00,2.47,0.00,0.000,6,0.000,0.053,2568,2175,3098
$GC,13795,-0.74,-117.3,633.3,-4.9,661,13800,0.15,2.55,0.00,0.000,4,0.051,0.066,2524,3560,3098
$GC,13890,-0.63,-117.3,640.2,-9.1,665,13895,0.17,2.45,0.00,0.000,6,0.091,0.052,2561,2179,3098
$GC,14206,-0.63,-117.3,663.2,-5.2,680,14211,0.00,2.60,0.00,0.000,4,0.000,0.069,2561,742,3098
$GC,14464,-0.63,-117.3,675.8,-2.8,691,14470,0.00,2.55,0.00,0.000,6,0.000,0.057,2561,2158,3098
$GC,14781,-0.63,-117.3,685.6,-3.9,707,14785,0.00,2.58,0.00,0.000,4,0.000,0.069,2561,749,3097
$GC,15040,-0.63,-117.3,693.2,-1.9,718,15046,0.00,2.47,0.00,0.000,6,0.000,0.058,2561,2117,3098
$GC,15356,-0.70,-117.3,709.3,-7.2,734,15361,0.00,2.58,0.00,0.000,4,0.000,0.077,2561,744,3098
$GC,15592,-0.70,-117.3,723.6,-5.0,744,15598,0.00,2.50,0.00,0.000,6,0.000,0.064,2561,2106,3098
$GC,15909,-0.74,-117.3,735.4,-3.2,760,15914,0.10,2.67,0.00,0.000,4,0.061,0.081,2530,3558,3097
$GC,16068,-0.62,-117.3,743.5,-6.2,767,16074,0.15,2.67,0.00,0.000,6,0.100,0.067,2562,2101,3096
$GC,16392,-0.68,-117.3,777.0,-8.7,783,16397,0.00,2.78,0.00,0.000,4,0.000,0.087,2562,3557,3096
$GC,16532,-0.68,-117.3,790.1,-11.1,789,16536,0.00,2.60,0.00,0.000,6,0.000,0.070,2562,2150,3095
$GC,16848,-0.73,-117.3,815.4,-6.0,804,16853,0.10,2.65,0.00,0.000,4,0.066,0.090,2535,744,3094
$GC,16882,-0.68,-117.3,818.2,-8.0,805,16888,0.00,2.60,0.00,0.000,6,0.000,0.076,2534,2134,3094
$GC,17198,-0.61,-117.3,839.4,-7.9,821,17204,0.15,2.67,0.00,0.000,4,0.104,0.087,2568,3563,3092
$GC,17266,-0.61,-117.3,841.9,-4.4,824,17270,0.00,2.70,0.00,0.000,6,0.000,0.074,2568,2107,3092
$STATE,17419,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17419,begin apogee
$GC,17426,-0.33,0.0,852.6,9.1,832,17530,0.28,0.00,101.43,1.470,6,0.091,0.000,2623,2082,2620
$STATE,17531,end apogee,CONTROL_FINISHED_OK
$STATE,17531,begin climb
$GC,17534,1.03,117.3,857.6,0.0,837,17644,1.40,2.83,100.57,1.438,4,0.077,0.094,2921,690,2141
$GC,17797,0.98,118.5,840.5,6.0,849,17801,0.00,2.67,0.00,0.000,6,0.000,0.076,2920,2100,2139
$GC,18118,0.98,118.5,819.4,6.1,865,18122,0.00,2.67,0.00,0.000,4,0.000,0.087,2921,3511,2138
$GC,18175,0.95,153.3,817.2,4.8,867,18214,0.00,2.65,31.65,1.404,6,0.000,0.077,2921,2110,1994
$GC,18533,0.87,165.7,820.5,5.6,885,18551,0.17,0.00,11.80,1.328,6,0.098,0.000,2887,2085,1943
$GC,18861,0.92,165.7,790.6,15.7,901,18865,0.00,2.70,0.00,0.000,4,0.000,0.087,2887,3515,1942
$GC,18888,0.97,165.7,786.0,17.6,902,18893,0.10,2.67,0.00,0.000,6,0.065,0.074,2913,2096,1942
$GC,19204,0.97,165.7,738.8,11.4,917,19209,0.00,2.72,0.00,0.000,4,0.000,0.087,2913,3515,1942
$GC,19221,0.97,165.7,737.2,8.9,918,19226,0.00,2.65,0.00,0.000,6,0.000,0.072,2913,2104,1941
$GC,19548,1.09,242.1,721.0,3.4,934,19619,0.10,2.78,64.85,1.432,4,0.067,0.085,2942,3510,1633
$GC,19653,1.09,242.1,713.1,9.5,939,19657,0.00,2.65,0.00,0.000,6,0.000,0.074,2942,2122,1633
$GC,19974,1.11,256.1,698.6,5.5,955,19996,0.00,2.80,13.68,1.329,4,0.000,0.096,2942,691,1576
$GC,20020,1.11,256.1,695.4,7.6,957,20024,0.00,2.75,0.00,0.000,6,0.000,0.075,2941,2139,1576
$GC,20346,1.11,256.1,673.9,7.6,973,20351,0.00,2.78,0.00,0.000,4,0.000,0.085,2942,689,1575
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$STATE,27318,end climb,SURFACE_DEPTH_REACHED
$STATE,27318,begin surface coast
$FINISH,0.1,1.014115
$STATE,27340,end surface coast,CONTROL_FINISHED_OK
$STATE,27340,begin surface
$SM_CCo,27362,24.83,0.766,0,0,1397,300.00
$SM_GC,0.98,0.00,0.00,24.83,0.000,0.000,0.766,423,2132,1397,-10.47,-0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1690
$TCM_TEMP,17.50
$XPDR_PINGS,803
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,801.0,81.7
$24V_AH,23.7,17.718
$10V_AH,10.1,7.828
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$DEVICE_SECS,26.300,262.300,327.725,24.825,0.000,37.757,26.884,90.019,208.000,0.000,0.000,15.909,2508.848,20886.648,553.376,3117.481,587.535,33.353,2078.829,0.000,3049.602,0.000,49.242
$DEVICE_MAMPS,141.128,95.875,1469.572,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,904.712,973.835,817.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69328,1314
$CAP_FILE_SIZE,210181,0
$CFSIZE,254472192,246910976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,230608,043626,6141.025,-920.236,40,1.7,41,-9.5