version: 66.03
glider: 119
mission: 5
dive: 61
start: 10 4 108 4 5 37
data:
$ID,119
$MISSION,5
$DIVE,61
$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,600
$T_MISSION,660
$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,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.130001
$TGT_DEFAULT_LON,-122.366
$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,-210799.8
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,863
$PITCH_MAX,3325
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3772
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3857
$C_VBD,2837
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-2.9385166
$PRESSURE_SLOPE,0.0001159777
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,3
$ALTIM_SENSITIVITY,3
$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,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,2.8000688e-05
$SEABIRD_T_J,3.1833417e-06
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,-0.0012204468
$SEABIRD_C_J,0.00018128238
$GPS1,035908,4659.992,-12801.205,41,1.6,41,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-69.8
$GPS2,040445,4659.930,-12801.191,12,1.2,12,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.171,0.093
$KALMAN_X,79092.9,-213.2,-320.0,-310011.2,2966.9
$KALMAN_Y,121381.2,-293.2,-274.9,-118231.1,3207.8
$MHEAD_RNG_PITCHd_Wd,42.9,216330,-11.5,-5.500
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,94,0.00,0.00,-71.62,0.000,2,0.000,0.000,861,2217,3163
$GC,97,-0.67,-117.3,4.9,-9.1,7,120,12.38,2.33,-2.70,0.000,4,0.147,0.078,2652,3608,3317
$GC,245,-0.40,-117.3,39.8,-12.3,20,250,0.35,2.28,0.00,0.000,6,0.082,0.048,2710,2185,3317
$GC,588,-0.66,-117.3,62.7,-6.1,80,595,0.25,2.38,0.00,0.000,4,0.043,0.067,2649,3613,3319
$GC,738,-0.51,-117.3,74.7,-8.6,106,744,0.22,2.22,0.00,0.000,6,0.080,0.050,2688,2200,3320
$GC,1073,-0.51,-117.3,97.0,-6.8,144,1077,0.00,2.33,0.00,0.000,4,0.000,0.075,2688,801,3321
$GC,1135,-0.57,-117.3,101.4,-7.1,149,1139,0.00,2.25,0.00,0.000,6,0.000,0.058,2688,2201,3321
$GC,1466,-0.57,-117.3,122.4,-5.8,180,1470,0.00,2.35,0.00,0.000,4,0.000,0.080,2687,3603,3321
$GC,1487,-0.61,-117.3,123.9,-6.3,181,1494,0.00,2.28,0.00,0.000,6,0.000,0.057,2688,2183,3321
$GC,1816,-0.67,-117.3,141.4,-5.3,212,1820,0.15,2.30,0.00,0.000,4,0.058,0.074,2651,798,3321
$GC,1911,-0.60,-117.3,148.4,-7.5,220,1915,0.00,2.28,0.00,0.000,6,0.000,0.061,2651,2200,3321
$GC,2227,-0.54,-117.3,171.9,-7.2,236,2229,0.17,0.00,0.00,0.000,6,0.082,0.000,2682,2200,3321
$GC,2537,-0.69,-117.3,188.3,-5.1,251,2542,0.15,2.35,0.00,0.000,4,0.057,0.072,2643,791,3321
$GC,2569,-0.69,-117.3,190.5,-6.5,252,2576,0.00,2.30,0.00,0.000,6,0.000,0.061,2643,2193,3321
$GC,2885,-0.78,-117.3,212.7,-7.5,268,2890,0.00,2.40,0.00,0.000,4,0.000,0.083,2643,3611,3320
$GC,3054,-0.72,-117.3,225.5,-7.1,275,3061,0.00,2.28,0.00,0.000,6,0.000,0.059,2643,2196,3320
$GC,3370,-0.66,-117.3,245.4,-6.3,291,3374,0.00,2.33,0.00,0.000,4,0.000,0.078,2643,796,3320
$GC,3453,-0.62,-117.3,251.0,-7.0,294,3460,0.12,2.28,0.00,0.000,6,0.089,0.061,2664,2202,3319
$GC,3770,-0.62,-117.3,268.2,-5.6,310,3774,0.00,2.38,0.00,0.000,4,0.000,0.084,2664,3606,3319
$GC,3802,-0.62,-117.3,270.3,-6.3,311,3809,0.00,2.30,0.00,0.000,6,0.000,0.061,2665,2201,3319
$GC,4118,-0.66,-117.3,288.4,-5.9,327,4122,0.00,2.33,0.00,0.000,4,0.000,0.078,2664,799,3319
$GC,4168,-0.74,-117.3,291.4,-6.1,329,4173,0.15,2.28,0.00,0.000,6,0.057,0.061,2632,2199,3319
$GC,4486,-0.64,-117.3,312.7,-6.7,339,4491,0.15,2.40,0.00,0.000,4,0.087,0.084,2661,3610,3319
$GC,4529,-0.64,-117.3,315.5,-5.8,339,4533,0.00,2.30,0.00,0.000,6,0.000,0.061,2661,2211,3318
$GC,4852,-0.64,-117.3,332.2,-5.2,345,4856,0.00,2.38,0.00,0.000,4,0.000,0.079,2661,789,3318
$GC,4896,-0.70,-117.3,334.8,-5.8,345,4900,0.00,2.30,0.00,0.000,6,0.000,0.063,2661,2201,3318
$GC,5211,-0.70,-117.3,351.5,-5.3,351,5215,0.00,2.40,0.00,0.000,4,0.000,0.085,2661,3613,3318
$GC,5243,-0.70,-117.3,353.5,-6.0,351,5247,0.00,2.33,0.00,0.000,6,0.000,0.062,2661,2201,3316
$GC,5581,-0.74,-117.3,370.3,-5.0,357,5586,0.12,2.38,0.00,0.000,4,0.066,0.080,2634,790,3316
$GC,5631,-0.69,-117.3,373.3,-6.4,357,5634,0.00,2.33,0.00,0.000,6,0.000,0.064,2633,2210,3316
$GC,5945,-0.61,-117.3,392.0,-5.9,363,5947,0.17,0.00,0.00,0.000,6,0.087,0.000,2663,2210,3315
$GC,6249,-0.66,-117.3,405.9,-4.6,368,6253,0.00,2.40,0.00,0.000,4,0.000,0.080,2663,790,3315
$GC,6282,-0.74,-117.3,407.5,-4.6,368,6286,0.12,2.30,0.00,0.000,6,0.063,0.064,2636,2200,3315
$GC,6608,-0.68,-117.3,426.1,-5.8,374,6612,0.00,2.40,0.00,0.000,4,0.000,0.086,2636,3610,3315
$GC,6652,-0.61,-117.3,429.2,-7.8,374,6657,0.17,2.30,0.00,0.000,6,0.086,0.064,2665,2202,3314
$GC,6966,-0.67,-117.3,445.0,-5.0,380,6970,0.00,2.38,0.00,0.000,4,0.000,0.084,2665,795,3314
$GC,7010,-0.76,-117.3,447.4,-5.6,380,7015,0.17,2.30,0.00,0.000,6,0.056,0.065,2629,2200,3314
$GC,7325,-0.68,-117.3,466.7,-6.2,386,7330,0.12,2.40,0.00,0.000,4,0.094,0.087,2650,3604,3314
$GC,7368,-0.68,-117.3,469.3,-6.0,386,7372,0.00,2.33,0.00,0.000,6,0.000,0.064,2650,2185,3313
$GC,7690,-0.68,-117.3,484.6,-4.8,392,7695,0.00,2.38,0.00,0.000,4,0.000,0.087,2650,787,3313
$GC,7730,-0.68,-117.3,486.8,-5.0,392,7734,0.00,2.33,0.00,0.000,6,0.000,0.067,2650,2202,3313
$GC,8053,-0.68,-117.3,502.6,-5.0,398,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2202,3313
$GC,8354,-0.68,-117.3,517.7,-4.9,403,8358,0.00,2.42,0.00,0.000,4,0.000,0.086,2650,787,3312
$GC,8392,-0.72,-117.3,519.8,-5.1,403,8397,0.00,2.33,0.00,0.000,6,0.000,0.067,2650,2199,3312
$GC,8713,-0.72,-117.3,536.2,-5.2,409,8717,0.00,2.42,0.00,0.000,4,0.000,0.091,2650,3608,3312
$GC,8756,-0.72,-117.3,538.9,-6.7,409,8761,0.00,2.35,0.00,0.000,6,0.000,0.066,2650,2201,3311
$GC,9078,-0.72,-117.3,556.7,-5.6,415,9082,0.00,2.42,0.00,0.000,4,0.000,0.094,2650,795,3311
$GC,9128,-0.78,-117.3,559.9,-6.5,415,9132,0.00,2.33,0.00,0.000,6,0.000,0.071,2650,2197,3311
$GC,9439,-0.78,-117.3,578.6,-6.0,420,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2197,3311
$GC,9740,-0.78,-117.3,596.7,-6.0,425,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2197,3311
$GC,10043,-0.78,-117.3,613.9,-5.6,430,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2197,3310
$GC,10346,-0.78,-117.3,630.4,-5.5,435,10351,0.00,2.42,0.00,0.000,4,0.000,0.088,2650,793,3309
$GC,10379,-0.83,-117.3,632.4,-5.7,435,10384,0.17,2.35,0.00,0.000,6,0.058,0.070,2615,2207,3309
$GC,10705,-0.70,-117.3,655.0,-7.1,441,10710,0.15,2.45,0.00,0.000,4,0.092,0.095,2643,3606,3309
$GC,10737,-0.70,-117.3,657.2,-6.4,441,10741,0.00,2.33,0.00,0.000,6,0.000,0.066,2644,2198,3309
$GC,11069,-0.70,-117.3,674.6,-5.2,447,11073,0.00,2.42,0.00,0.000,4,0.000,0.093,2643,790,3308
$GC,11118,-0.70,-117.3,677.3,-5.2,447,11122,0.00,2.35,0.00,0.000,6,0.000,0.069,2643,2205,3308
$GC,11433,-0.70,-117.3,693.6,-5.2,453,11434,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2205,3308
$GC,11736,-0.70,-117.3,708.9,-5.0,458,11740,0.00,2.45,0.00,0.000,4,0.000,0.090,2644,796,3308
$GC,11791,-0.70,-117.3,711.8,-5.4,458,11797,0.00,2.35,0.00,0.000,6,0.000,0.071,2643,2205,3308
$GC,12101,-0.70,-117.3,727.1,-5.0,464,12105,0.00,2.47,0.00,0.000,4,0.000,0.100,2643,3610,3308
$GC,12149,-0.70,-117.3,729.7,-5.8,464,12154,0.00,2.33,0.00,0.000,6,0.000,0.066,2643,2201,3307
$GC,12465,-0.70,-117.3,745.3,-5.0,470,12469,0.00,2.45,0.00,0.000,4,0.000,0.096,2643,796,3307
$GC,12536,-0.75,-117.3,749.3,-5.5,471,12540,0.00,2.35,0.00,0.000,6,0.000,0.072,2643,2210,3307
$GC,12896,-0.75,-117.3,768.6,-5.4,477,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2210,3307
$GC,13199,-0.75,-117.3,785.8,-5.7,482,13203,0.00,2.50,0.00,0.000,4,0.000,0.094,2643,788,3307
$GC,13236,-0.75,-117.3,788.2,-5.9,482,13240,0.00,2.35,0.00,0.000,6,0.000,0.074,2643,2200,3306
$GC,13563,-0.75,-117.3,806.0,-5.4,488,13567,0.00,2.50,0.00,0.000,4,0.000,0.104,2643,3605,3306
$GC,13595,-0.75,-117.3,807.9,-6.1,488,13599,0.00,2.33,0.00,0.000,6,0.000,0.071,2643,2204,3306
$GC,13928,-0.75,-117.3,825.7,-5.3,494,13932,0.00,2.50,0.00,0.000,4,0.000,0.101,2643,788,3306
$GC,13995,-0.81,-117.3,829.5,-5.5,495,13999,0.00,2.38,0.00,0.000,6,0.000,0.076,2643,2207,3306
$GC,14360,-0.81,-117.3,847.7,-4.9,501,14361,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2207,3306
$GC,14663,-0.81,-117.3,861.8,-4.6,506,14667,0.00,2.53,0.00,0.000,4,0.000,0.100,2643,793,3306
$GC,14718,-0.86,-117.3,864.5,-4.5,506,14725,0.17,2.38,0.00,0.000,6,0.061,0.077,2608,2199,3306
$GC,15027,-0.73,-117.3,882.0,-5.7,512,15032,0.15,2.53,0.00,0.000,4,0.094,0.107,2637,3603,3305
$GC,15071,-0.73,-117.3,884.3,-4.7,512,15075,0.00,2.38,0.00,0.000,6,0.000,0.078,2636,2194,3305
$GC,15391,-0.73,-117.3,899.3,-4.7,518,15396,0.00,2.50,0.00,0.000,4,0.000,0.107,2637,793,3305
$GC,15441,-0.73,-117.3,901.8,-5.0,518,15445,0.00,2.38,0.00,0.000,6,0.000,0.079,2637,2198,3305
$GC,15756,-0.73,-117.3,916.1,-4.5,524,15757,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2199,3305
$GC,16059,-0.73,-117.3,931.1,-4.9,529,16063,0.00,2.55,0.00,0.000,4,0.000,0.107,2637,792,3305
$GC,16108,-0.73,-117.3,933.9,-5.8,529,16112,0.00,2.40,0.00,0.000,6,0.000,0.081,2637,2209,3305
$GC,16424,-0.73,-117.3,950.6,-5.3,535,16425,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2208,3305
$GC,16726,-0.73,-117.3,966.7,-5.3,540,16727,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2209,3305
$GC,17029,-0.73,-117.3,981.8,-5.0,545,17034,0.00,2.60,0.00,0.000,4,0.000,0.113,2637,795,3304
$GC,17084,-0.73,-117.3,984.9,-5.6,545,17091,0.00,2.42,0.00,0.000,6,0.000,0.084,2637,2208,3304
$STATE,17210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17210,begin apogee
$GC,17215,-0.23,0.0,991.4,5.2,548,17319,0.65,0.00,101.53,1.486,6,0.078,0.000,2747,2209,2838
$STATE,17320,end apogee,CONTROL_FINISHED_OK
$STATE,17320,begin climb
$GC,17322,0.67,117.3,993.0,0.0,549,17441,1.17,2.92,109.70,1.442,4,0.051,0.117,2947,793,2358
$GC,17469,0.31,117.3,988.7,7.5,552,17474,0.50,2.60,0.00,0.000,6,0.096,0.086,2872,2202,2357
$GC,17817,0.31,117.3,968.7,5.6,558,17821,0.00,2.62,0.00,0.000,4,0.000,0.114,2872,787,2356
$GC,17855,0.27,117.3,966.4,6.3,558,17859,0.00,2.45,0.00,0.000,6,0.000,0.084,2872,2201,2356
$GC,18174,0.27,118.2,948.9,5.5,564,18176,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2201,2356
$GC,18477,0.27,120.8,932.5,5.4,569,18486,0.00,2.53,4.35,0.966,4,0.000,0.113,2872,793,2344
$GC,18504,0.27,120.8,930.8,6.1,569,18508,0.00,2.40,0.00,0.000,6,0.000,0.082,2872,2206,2344
$GC,18847,0.27,120.8,910.9,5.9,575,18851,0.00,2.58,0.00,0.000,4,0.000,0.110,2872,788,2344
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$STATE,32982,end climb,SURFACE_DEPTH_REACHED
$STATE,32982,begin surface coast
$FINISH,-0.4,1.024104
$STATE,33016,end surface coast,CONTROL_FINISHED_OK
$STATE,33016,begin surface
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$TCM_TEMP,18.40
$XPDR_PINGS,18
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$10V_AH,10.6,29.026
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$DEVICE_SECS,31.400,359.175,342.500,39.725,0.000,27.277,27.951,164.159,13.250,0.000,0.000,14.143,2384.823,26699.279,672.570,3055.022,591.008,33.373,2234.993,0.000,3002.367,0.000,56.643
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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,56951,1135
$CAP_FILE_SIZE,241564,0
$CFSIZE,260165632,254287872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,041008,131828,4701.979,-12757.054,36,2.9,55,18.7