version: 66.03
glider: 101
mission: 5
dive: 164
start: 5 13 108 21 14 23
data:
$ID,101
$MISSION,5
$DIVE,164
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,570
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$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,0.94999993
$RHO,1.023
$MASS,50300
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,60
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-125.67
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-694100.56
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,180
$ROLL_MAX,3635
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2473
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.435382
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043762224
$SEABIRD_T_H,0.0006433985
$SEABIRD_T_I,2.5567888e-05
$SEABIRD_T_J,2.722762e-06
$SEABIRD_C_G,-10.209094
$SEABIRD_C_H,1.1488034
$SEABIRD_C_I,-0.0015548224
$SEABIRD_C_J,0.00021813136
$GPS1,210655,4720.704,-12725.729,24,1.8,41,18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-62.6
$GPS2,211321,4720.708,-12725.751,15,1.7,15,18.7
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.191,0.013
$KALMAN_X,-8038.9,229.5,230.2,-125380.2,-2145.2
$KALMAN_Y,90811.9,71.2,12.7,-178083.1,2224.4
$MHEAD_RNG_PITCHd_Wd,67.4,158345,-12.5,-6.000
$D_GRID,1001
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.28,-117.3,0.0,0.0,0,78,0.00,0.00,-49.88,0.000,2,0.000,0.000,32,2551,2052
$GC,83,-1.28,-117.3,3.6,-4.2,5,130,11.50,2.05,-28.60,0.000,4,0.133,0.087,2213,3619,2953
$GC,385,-1.10,-117.3,43.7,-12.9,34,392,0.17,1.90,0.00,0.000,6,0.082,0.041,2255,2543,2952
$GC,732,-1.06,-117.3,77.4,-9.8,95,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2543,2952
$GC,1060,-1.06,-117.3,108.4,-8.2,128,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2543,2952
$GC,1378,-1.06,-117.3,131.5,-6.4,158,1382,0.00,2.47,0.00,0.000,4,0.000,0.052,2254,1154,2952
$GC,1418,-1.06,-117.3,134.2,-6.7,161,1424,0.00,2.45,0.00,0.000,6,0.000,0.041,2254,2552,2952
$GC,1741,-1.06,-117.3,156.3,-7.2,188,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2552,2952
$GC,2050,-1.06,-117.3,177.8,-6.6,203,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2552,2952
$GC,2360,-1.06,-117.3,198.0,-6.5,218,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2552,2952
$GC,2669,-1.06,-117.3,216.7,-6.0,233,2673,0.00,2.50,0.00,0.000,4,0.000,0.051,2255,1158,2952
$GC,2732,-1.11,-117.3,220.7,-6.5,236,2736,0.00,2.47,0.00,0.000,6,0.000,0.044,2255,2552,2952
$GC,3059,-1.11,-117.3,242.2,-6.9,252,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2552,2952
$GC,3370,-1.15,-117.3,264.9,-7.4,267,3375,0.00,2.50,0.00,0.000,4,0.000,0.052,2255,1161,2952
$GC,3444,-1.20,-117.3,270.8,-7.7,270,3448,0.00,2.47,0.00,0.000,6,0.000,0.044,2254,2558,2952
$GC,3761,-1.26,-117.3,294.0,-7.4,285,3766,0.12,2.50,0.00,0.000,4,0.073,0.051,2226,1162,2951
$GC,3802,-1.26,-117.3,297.2,-7.7,287,3806,0.00,2.47,0.00,0.000,6,0.000,0.046,2226,2555,2951
$GC,4144,-1.26,-117.3,325.0,-8.0,294,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2555,2951
$GC,4446,-1.26,-117.3,348.3,-7.7,299,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2555,2951
$GC,4749,-1.26,-117.3,370.2,-7.2,304,4754,0.00,2.55,0.00,0.000,4,0.000,0.061,2226,1157,2950
$GC,4800,-1.26,-117.3,374.0,-7.5,304,4804,0.00,2.50,0.00,0.000,6,0.000,0.052,2226,2549,2950
$GC,5110,-1.26,-117.3,395.7,-6.9,309,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2549,2950
$GC,5413,-1.26,-117.3,416.9,-7.1,314,5417,0.00,2.55,0.00,0.000,4,0.000,0.067,2226,1165,2950
$GC,5452,-1.26,-117.3,419.9,-7.1,314,5456,0.00,2.53,0.00,0.000,6,0.000,0.058,2226,2555,2949
$GC,5773,-1.26,-117.3,442.5,-6.9,320,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2555,2949
$GC,6076,-1.26,-117.3,463.0,-6.8,325,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2555,2949
$GC,6379,-1.26,-117.3,483.1,-6.6,330,6383,0.00,2.65,0.00,0.000,4,0.000,0.084,2226,1165,2949
$GC,6457,-1.26,-117.3,488.5,-7.2,331,6461,0.00,2.60,0.00,0.000,6,0.000,0.075,2226,2545,2948
$GC,6807,-1.26,-117.3,510.8,-6.4,337,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2545,2948
$GC,7109,-1.26,-117.3,531.2,-6.8,342,7113,0.00,2.67,0.00,0.000,4,0.000,0.089,2226,1158,2947
$GC,7148,-1.26,-117.3,534.0,-7.4,342,7152,0.00,2.65,0.00,0.000,6,0.000,0.078,2226,2556,2947
$GC,7468,-1.26,-117.3,556.0,-6.9,348,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2555,2947
$GC,7774,-1.26,-117.3,576.6,-6.7,353,7778,0.00,2.67,0.00,0.000,4,0.000,0.087,2226,1161,2947
$GC,7852,-1.26,-117.3,582.2,-7.1,354,7856,0.00,2.65,0.00,0.000,6,0.000,0.078,2226,2557,2947
$GC,8203,-1.26,-117.3,603.3,-6.0,360,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2557,2947
$GC,8504,-1.26,-117.3,621.0,-5.8,365,8509,0.00,2.67,0.00,0.000,4,0.000,0.086,2226,1159,2946
$GC,8578,-1.26,-117.3,625.6,-6.0,366,8582,0.00,2.62,0.00,0.000,6,0.000,0.077,2226,2551,2946
$GC,8933,-1.31,-117.3,646.5,-5.9,372,8937,0.00,2.65,0.00,0.000,4,0.000,0.084,2226,1161,2946
$GC,9134,-1.31,-117.3,659.0,-5.6,375,9139,0.00,2.65,0.00,0.000,6,0.000,0.079,2226,2559,2946
$GC,9496,-1.31,-117.3,681.1,-6.1,381,9501,0.00,2.67,0.00,0.000,4,0.000,0.084,2226,1158,2946
$GC,9586,-1.31,-117.3,687.0,-6.7,382,9591,0.00,2.62,0.00,0.000,6,0.000,0.076,2226,2553,2945
$GC,9926,-1.31,-117.3,708.3,-6.4,388,9930,0.00,2.65,0.00,0.000,4,0.000,0.083,2226,1160,2944
$GC,9977,-1.35,-117.3,711.9,-7.0,388,9981,0.00,2.62,0.00,0.000,6,0.000,0.076,2226,2553,2944
$GC,10288,-1.35,-117.3,732.6,-6.7,393,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2553,2944
$GC,10591,-1.35,-117.3,753.0,-6.8,398,10595,0.00,2.65,0.00,0.000,4,0.000,0.084,2226,1163,2944
$GC,10674,-1.35,-117.3,759.0,-6.8,399,10679,0.00,2.62,0.00,0.000,6,0.000,0.076,2226,2555,2944
$GC,11018,-1.35,-117.3,780.9,-6.3,405,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2555,2944
$GC,11321,-1.39,-117.3,799.3,-6.1,410,11326,0.15,2.65,0.00,0.000,4,0.074,0.083,2188,1164,2944
$GC,11372,-1.39,-117.3,803.0,-7.3,410,11376,0.00,2.62,0.00,0.000,6,0.000,0.077,2188,2553,2944
$GC,11682,-1.39,-117.3,824.8,-7.1,415,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2553,2943
$GC,11985,-1.39,-117.3,846.6,-7.2,420,11989,0.00,2.65,0.00,0.000,4,0.000,0.084,2188,1164,2943
$GC,12048,-1.39,-117.3,851.3,-7.4,421,12052,0.00,2.62,0.00,0.000,6,0.000,0.076,2188,2552,2943
$GC,12414,-1.39,-117.3,878.5,-7.4,427,12415,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2552,2943
$GC,12717,-1.39,-117.3,901.3,-7.5,432,12718,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2552,2943
$GC,13020,-1.39,-117.3,923.5,-7.3,437,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2552,2943
$GC,13322,-1.39,-117.3,944.2,-6.7,442,13327,0.00,2.65,0.00,0.000,4,0.000,0.084,2188,1162,2943
$GC,13401,-1.39,-117.3,949.4,-5.5,443,13406,0.00,2.62,0.00,0.000,6,0.000,0.076,2188,2556,2943
$GC,13751,-1.39,-117.3,970.3,-5.9,449,13753,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2556,2942
$GC,14054,-1.39,-117.3,987.4,-5.6,454,14059,0.00,2.65,0.00,0.000,4,0.000,0.084,2188,1166,2942
$STATE,14096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14096,begin apogee
$GC,14106,-0.45,0.0,990.1,6.0,454,14212,0.98,0.00,102.78,1.459,6,0.077,0.000,2396,2003,2473
$STATE,14212,end apogee,CONTROL_FINISHED_OK
$STATE,14213,begin climb
$GC,14216,1.28,117.3,991.5,0.0,456,14331,1.77,2.90,104.97,1.414,4,0.055,0.101,2780,622,1995
$GC,14370,1.02,117.3,986.1,7.7,459,14375,0.30,2.60,0.00,0.000,6,0.124,0.064,2726,1998,1994
$GC,14737,0.90,117.3,962.0,6.4,465,14742,0.15,2.80,0.00,0.000,4,0.108,0.099,2694,3410,1994
$GC,14794,0.83,133.8,958.7,5.4,465,14815,0.00,2.58,16.00,1.309,6,0.000,0.058,2694,2020,1927
$GC,15165,0.81,154.0,938.9,5.3,472,15191,0.00,2.83,20.38,1.337,4,0.000,0.093,2694,3411,1844
$GC,15285,0.77,164.5,932.1,5.6,473,15302,0.15,2.62,10.82,1.241,6,0.127,0.059,2668,2000,1802
$GC,15663,0.80,191.9,913.2,5.0,480,15697,0.00,2.88,27.40,1.348,4,0.000,0.092,2669,3408,1690
$GC,15819,0.80,193.7,904.4,5.9,482,15824,0.00,2.60,0.00,0.000,6,0.000,0.058,2668,2000,1690
$GC,16164,0.88,217.7,886.6,5.1,488,16195,0.00,2.85,25.65,1.337,4,0.000,0.091,2669,3410,1585
$GC,16311,0.88,221.0,878.0,5.9,490,16321,0.10,2.62,4.80,0.962,6,0.087,0.058,2688,1991,1572
$GC,16660,0.88,221.0,854.8,6.7,496,16664,0.00,2.80,0.00,0.000,4,0.000,0.091,2688,3413,1571
$GC,16744,0.88,221.0,848.6,7.5,497,16748,0.00,2.62,0.00,0.000,6,0.000,0.058,2688,1996,1571
$GC,17087,0.88,221.0,823.6,7.4,503,17091,0.00,2.78,0.00,0.000,4,0.000,0.091,2688,3409,1571
$GC,17217,0.88,221.0,813.5,7.2,505,17221,0.00,2.60,0.00,0.000,6,0.000,0.059,2688,1997,1571
$GC,17583,0.88,221.0,786.5,7.4,511,17587,0.00,2.78,0.00,0.000,4,0.000,0.090,2688,3415,1571
$GC,17694,0.88,221.0,777.6,8.6,512,17699,0.00,2.62,0.00,0.000,6,0.000,0.058,2688,1990,1571
$GC,18009,0.88,221.0,753.2,7.8,518,18014,0.00,2.78,0.00,0.000,4,0.000,0.091,2689,3410,1571
$GC,18088,0.88,221.0,746.6,7.9,519,18093,0.00,2.60,0.00,0.000,6,0.000,0.058,2688,1998,1571
$GC,18437,0.88,221.0,719.5,7.8,525,18441,0.00,2.75,0.00,0.000,4,0.000,0.089,2689,3410,1571
$GC,18509,0.88,221.0,713.5,8.0,526,18514,0.00,2.58,0.00,0.000,6,0.000,0.057,2689,1998,1571
$GC,18865,0.88,221.0,685.8,7.7,532,18869,0.00,2.75,0.00,0.000,4,0.000,0.089,2689,3410,1571
$GC,18937,0.88,221.0,679.9,7.9,533,18942,0.00,2.60,0.00,0.000,6,0.000,0.057,2688,1991,1571
$GC,19292,0.88,221.0,655.5,6.7,539,19296,0.00,2.75,0.00,0.000,4,0.000,0.089,2688,3410,1571
$GC,19387,0.88,221.0,649.2,7.1,540,19391,0.00,2.58,0.00,0.000,6,0.000,0.056,2688,2001,1571
$GC,19719,0.88,221.0,628.8,6.1,546,19723,0.00,2.75,0.00,0.000,4,0.000,0.089,2689,3414,1571
$GC,19781,0.88,221.0,624.9,6.6,547,19785,0.00,2.58,0.00,0.000,6,0.000,0.055,2688,1998,1571
$GC,20147,0.92,221.0,602.0,6.3,553,20152,0.00,2.75,0.00,0.000,4,0.000,0.088,2689,3415,1571
$GC,20232,0.92,221.0,596.1,7.3,554,20236,0.00,2.58,0.00,0.000,6,0.000,0.054,2688,2001,1571
$GC,20575,0.97,221.0,573.4,6.7,560,20580,0.00,2.72,0.00,0.000,4,0.000,0.086,2688,3409,1571
$GC,20682,0.97,221.0,565.6,6.9,561,20686,0.00,2.58,0.00,0.000,6,0.000,0.054,2688,1997,1571
$GC,21003,1.01,221.0,543.0,7.0,567,21008,0.15,2.72,0.00,0.000,4,0.060,0.084,2731,3411,1570
$GC,21076,0.95,221.0,536.5,9.2,568,21082,0.12,2.55,0.00,0.000,6,0.133,0.052,2711,1998,1571
$GC,21431,0.95,221.0,508.1,8.0,574,21436,0.00,2.70,0.00,0.000,4,0.000,0.081,2711,3411,1571
$GC,21550,0.95,221.0,498.4,8.3,575,21554,0.00,2.55,0.00,0.000,6,0.000,0.050,2711,1998,1570
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$STATE,28975,end climb,SURFACE_DEPTH_REACHED
$STATE,28975,begin surface coast
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$STATE,29008,end surface coast,CONTROL_FINISHED_OK
$STATE,29008,begin surface
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$IRIDIUM_FIX,4700.70,-12732.18,070897,121245
$TT8_MAMPS,0.026078
$HUMID,1810
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.2,29.857
$10V_AH,10.2,19.019
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$DEVICE_SECS,28.925,265.450,382.475,42.750,0.000,28.408,29.125,166.981,8.750,0.000,0.000,15.667,2134.056,22650.082,620.310,3259.284,805.046,33.375,2193.005,0.000,3183.340,0.000,56.630
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,705.103,799.817,1132.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50524,995
$CAP_FILE_SIZE,204713,0
$CFSIZE,260165632,246808576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,140508,052052,4722.022,-12722.142,38,3.1,57,18.7