version: 66.03
glider: 119
mission: 5
dive: 68
start: 10 6 108 22 25 43
data:
$ID,119
$MISSION,5
$DIVE,68
$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,-210911.36
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,221901,4715.394,-12733.546,44,1.9,44,18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-59.3
$GPS2,222451,4715.441,-12733.604,11,1.3,11,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,0.098
$KALMAN_X,69935.5,-352.0,-65.0,-266119.7,-678.1
$KALMAN_Y,126847.6,505.6,161.1,-96213.4,171.2
$MHEAD_RNG_PITCHd_Wd,41.0,171881,-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,20,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-61.92,0.000,2,0.000,0.000,861,2188,2869
$GC,87,-0.67,-117.3,3.4,-7.4,6,113,12.32,2.38,-8.90,0.000,4,0.146,0.081,2650,3606,3317
$GC,367,-0.49,-117.3,43.0,-8.8,33,374,0.25,2.22,0.00,0.000,6,0.081,0.045,2691,2192,3317
$GC,711,-0.49,-117.3,63.9,-6.1,94,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2191,3318
$GC,1049,-0.49,-117.3,84.8,-6.0,148,1053,0.00,2.30,0.00,0.000,4,0.000,0.071,2691,800,3319
$GC,1089,-0.57,-117.3,87.2,-5.7,151,1093,0.00,2.25,0.00,0.000,6,0.000,0.054,2691,2206,3319
$GC,1420,-0.63,-117.3,106.4,-5.9,182,1425,0.15,2.33,0.00,0.000,4,0.055,0.075,2658,3602,3319
$GC,1464,-0.55,-117.3,109.9,-8.2,185,1471,0.12,2.25,0.00,0.000,6,0.088,0.052,2679,2209,3319
$GC,1789,-0.60,-117.3,128.4,-6.0,216,1793,0.00,2.33,0.00,0.000,4,0.000,0.071,2679,794,3319
$GC,1844,-0.70,-117.3,132.0,-6.4,220,1851,0.17,2.25,0.00,0.000,6,0.051,0.055,2641,2208,3319
$GC,2179,-0.62,-117.3,156.2,-6.9,248,2180,0.12,0.00,0.00,0.000,6,0.091,0.000,2663,2208,3319
$GC,2486,-0.62,-117.3,172.4,-4.9,263,2490,0.00,2.33,0.00,0.000,4,0.000,0.077,2662,3603,3319
$GC,2525,-0.62,-117.3,174.4,-5.5,265,2529,0.00,2.25,0.00,0.000,6,0.000,0.054,2663,2199,3319
$GC,2851,-0.62,-117.3,188.8,-4.5,281,2855,0.00,2.30,0.00,0.000,4,0.000,0.072,2663,800,3319
$GC,2907,-0.69,-117.3,191.6,-5.0,283,2913,0.00,2.22,0.00,0.000,6,0.000,0.056,2662,2200,3319
$GC,3223,-0.69,-117.3,206.4,-4.7,299,3227,0.00,2.35,0.00,0.000,4,0.000,0.078,2662,3606,3318
$GC,3255,-0.69,-117.3,208.3,-5.9,300,3262,0.00,2.28,0.00,0.000,6,0.000,0.054,2663,2198,3318
$GC,3571,-0.69,-117.3,224.0,-5.2,316,3575,0.00,2.33,0.00,0.000,4,0.000,0.073,2663,793,3318
$GC,3628,-0.77,-117.3,227.3,-6.1,318,3633,0.15,2.28,0.00,0.000,6,0.058,0.056,2630,2207,3318
$GC,3944,-0.66,-117.3,249.2,-7.1,333,3949,0.12,2.33,0.00,0.000,4,0.094,0.077,2650,3606,3317
$GC,4007,-0.66,-117.3,253.5,-6.9,336,4012,0.00,2.28,0.00,0.000,6,0.000,0.056,2651,2194,3317
$GC,4334,-0.66,-117.3,271.7,-5.3,352,4338,0.00,2.33,0.00,0.000,4,0.000,0.074,2651,786,3317
$GC,4396,-0.66,-117.3,275.3,-5.6,355,4400,0.00,2.28,0.00,0.000,6,0.000,0.056,2650,2199,3317
$GC,4722,-0.66,-117.3,291.5,-4.9,371,4726,0.00,2.35,0.00,0.000,4,0.000,0.079,2651,3605,3317
$GC,4755,-0.66,-117.3,293.4,-5.4,372,4762,0.00,2.28,0.00,0.000,6,0.000,0.056,2651,2178,3316
$GC,5087,-0.66,-117.3,311.0,-5.5,383,5091,0.00,2.30,0.00,0.000,4,0.000,0.075,2651,791,3316
$GC,5141,-0.66,-117.3,314.3,-6.2,383,5148,0.00,2.30,0.00,0.000,6,0.000,0.057,2651,2200,3316
$GC,5452,-0.66,-117.3,331.3,-5.5,389,5456,0.00,2.35,0.00,0.000,4,0.000,0.079,2651,3605,3316
$GC,5484,-0.66,-117.3,333.4,-6.2,389,5489,0.00,2.28,0.00,0.000,6,0.000,0.055,2651,2205,3316
$GC,5818,-0.66,-117.3,350.7,-5.1,395,5822,0.00,2.35,0.00,0.000,4,0.000,0.075,2651,789,3315
$GC,5873,-0.66,-117.3,353.9,-5.9,395,5880,0.00,2.30,0.00,0.000,6,0.000,0.058,2651,2197,3315
$GC,6183,-0.66,-117.3,370.0,-5.3,401,6187,0.00,2.35,0.00,0.000,4,0.000,0.080,2651,3605,3315
$GC,6220,-0.66,-117.3,372.4,-6.7,401,6225,0.00,2.30,0.00,0.000,6,0.000,0.057,2651,2198,3314
$GC,6552,-0.66,-117.3,392.0,-6.0,407,6556,0.00,2.33,0.00,0.000,4,0.000,0.077,2651,799,3314
$GC,6596,-0.66,-117.3,394.8,-6.3,407,6600,0.00,2.28,0.00,0.000,6,0.000,0.058,2651,2205,3314
$GC,6916,-0.66,-117.3,413.6,-5.8,413,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2206,3314
$GC,7220,-0.66,-117.3,429.4,-5.2,418,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2206,3313
$GC,7523,-0.66,-117.3,445.3,-5.2,423,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2206,3313
$GC,7826,-0.66,-117.3,461.4,-5.3,428,7830,0.00,2.40,0.00,0.000,4,0.000,0.077,2651,793,3312
$GC,7870,-0.71,-117.3,463.9,-5.8,428,7873,0.00,2.28,0.00,0.000,6,0.000,0.060,2651,2200,3312
$GC,8190,-0.71,-117.3,481.0,-5.3,434,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,3312
$GC,8493,-0.71,-117.3,496.9,-5.3,439,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,3311
$GC,8796,-0.71,-117.3,513.4,-5.5,444,8800,0.00,2.40,0.00,0.000,4,0.000,0.081,2651,800,3311
$GC,8839,-0.77,-117.3,516.2,-6.3,444,8843,0.00,2.28,0.00,0.000,6,0.000,0.061,2650,2208,3311
$GC,9161,-0.81,-117.3,535.6,-6.1,450,9163,0.15,0.00,0.00,0.000,6,0.062,0.000,2619,2208,3311
$GC,9463,-0.70,-117.3,557.0,-7.1,455,9468,0.15,2.42,0.00,0.000,4,0.091,0.082,2644,797,3310
$GC,9501,-0.70,-117.3,559.5,-6.1,455,9505,0.00,2.30,0.00,0.000,6,0.000,0.064,2644,2206,3310
$GC,9827,-0.70,-117.3,578.3,-5.7,461,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,3310
$GC,10130,-0.70,-117.3,594.8,-5.4,466,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,3309
$GC,10433,-0.70,-117.3,610.2,-5.0,471,10438,0.00,2.42,0.00,0.000,4,0.000,0.084,2644,800,3309
$GC,10477,-0.70,-117.3,612.6,-6.5,471,10481,0.00,2.33,0.00,0.000,6,0.000,0.064,2644,2213,3309
$GC,10799,-0.70,-117.3,628.1,-4.8,477,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2213,3309
$GC,11101,-0.70,-117.3,643.1,-4.9,482,11105,0.00,2.45,0.00,0.000,4,0.000,0.085,2645,800,3308
$GC,11150,-0.75,-117.3,645.9,-5.8,482,11154,0.00,2.30,0.00,0.000,6,0.000,0.064,2644,2199,3309
$GC,11459,-0.75,-117.3,662.3,-5.3,487,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2199,3308
$GC,11762,-0.75,-117.3,679.3,-5.6,492,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,3308
$GC,12065,-0.75,-117.3,697.2,-5.9,497,12069,0.00,2.45,0.00,0.000,4,0.000,0.088,2644,792,3307
$GC,12109,-0.79,-117.3,699.8,-6.0,497,12114,0.00,2.30,0.00,0.000,6,0.000,0.066,2644,2198,3307
$GC,12428,-0.79,-117.3,717.9,-5.6,503,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2198,3307
$GC,12731,-0.79,-117.3,734.4,-5.4,508,12736,0.00,2.45,0.00,0.000,4,0.000,0.091,2644,802,3307
$GC,12770,-0.84,-117.3,736.5,-4.9,508,12775,0.15,2.33,0.00,0.000,6,0.061,0.068,2614,2201,3306
$GC,13090,-0.74,-117.3,756.2,-6.2,514,13092,0.15,0.00,0.00,0.000,6,0.093,0.000,2639,2201,3306
$GC,13393,-0.74,-117.3,770.8,-4.8,519,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2201,3306
$GC,13696,-0.74,-117.3,783.8,-4.2,524,13701,0.00,2.47,0.00,0.000,4,0.000,0.095,2639,803,3306
$GC,13735,-0.74,-117.3,785.6,-4.9,524,13739,0.00,2.33,0.00,0.000,6,0.000,0.071,2639,2205,3306
$GC,14055,-0.74,-117.3,798.4,-4.0,530,14056,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2205,3306
$GC,14358,-0.74,-117.3,811.1,-4.2,535,14362,0.00,2.50,0.00,0.000,4,0.000,0.097,2639,805,3306
$GC,14407,-0.74,-117.3,813.4,-4.6,535,14411,0.00,2.33,0.00,0.000,6,0.000,0.072,2639,2199,3306
$GC,14718,-0.74,-117.3,828.0,-4.7,540,14719,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2200,3305
$GC,15019,-0.74,-117.3,842.9,-4.9,545,15023,0.00,2.50,0.00,0.000,4,0.000,0.099,2639,803,3305
$GC,15057,-0.74,-117.3,845.0,-5.5,545,15061,0.00,2.35,0.00,0.000,6,0.000,0.074,2639,2205,3305
$GC,15377,-0.74,-117.3,861.8,-5.3,551,15379,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2205,3305
$GC,15680,-0.74,-117.3,878.9,-5.8,556,15684,0.00,2.53,0.00,0.000,4,0.000,0.102,2639,803,3305
$GC,15735,-0.78,-117.3,882.3,-6.9,556,15741,0.00,2.35,0.00,0.000,6,0.000,0.076,2639,2202,3304
$GC,16045,-0.78,-117.3,900.5,-5.9,562,16049,0.00,2.55,0.00,0.000,4,0.000,0.110,2638,3606,3305
$GC,16082,-0.78,-117.3,903.0,-6.4,562,16086,0.00,2.35,0.00,0.000,6,0.000,0.076,2639,2211,3304
$GC,16408,-0.78,-117.3,921.2,-5.5,568,16412,0.00,2.55,0.00,0.000,4,0.000,0.109,2639,793,3304
$GC,16480,-0.83,-117.3,925.5,-6.2,569,16484,0.00,2.38,0.00,0.000,6,0.000,0.078,2639,2199,3304
$GC,16840,-0.97,-117.3,947.0,-6.2,575,16845,0.25,2.55,0.00,0.000,4,0.053,0.108,2583,3603,3304
$GC,17063,-0.74,-117.3,964.3,-8.2,578,17068,0.32,2.42,0.00,0.000,6,0.087,0.084,2636,2193,3304
$GC,17400,-0.74,-117.3,981.3,-4.9,584,17404,0.00,2.55,0.00,0.000,4,0.000,0.114,2636,792,3304
$GC,17462,-0.78,-117.3,984.5,-4.7,585,17466,0.00,2.42,0.00,0.000,6,0.000,0.082,2636,2208,3304
$STATE,17588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17588,begin apogee
$GC,17593,-0.23,0.0,990.4,4.5,587,17697,0.65,0.00,101.55,1.483,6,0.075,0.000,2747,2207,2837
$STATE,17698,end apogee,CONTROL_FINISHED_OK
$STATE,17698,begin climb
$GC,17700,0.67,117.3,991.6,0.0,588,17814,1.17,0.00,110.05,1.437,6,0.048,0.000,2948,2208,2358
$GC,18074,0.38,117.3,963.6,9.7,595,18079,0.38,2.58,0.00,0.000,4,0.093,0.107,2886,3605,2358
$GC,18106,0.28,117.3,960.8,7.7,595,18111,0.15,2.45,0.00,0.000,6,0.098,0.082,2863,2204,2358
$GC,18431,0.28,117.3,941.3,5.9,601,18433,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2204,2356
$GC,18734,0.28,117.3,923.8,5.8,606,18739,0.00,2.58,0.00,0.000,4,0.000,0.112,2863,780,2356
$GC,18767,0.29,118.8,921.8,5.5,606,18772,0.00,2.42,0.00,0.000,6,0.000,0.079,2864,2208,2355
$GC,19093,0.30,127.0,904.5,5.2,612,19108,0.00,2.55,9.70,1.282,4,0.000,0.108,2864,780,2319
$GC,19135,0.30,127.0,902.1,5.6,612,19139,0.00,2.40,0.00,0.000,6,0.000,0.078,2863,2202,2318
$GC,19456,0.31,140.1,885.6,5.1,618,19475,0.00,2.58,13.15,1.334,4,0.000,0.107,2864,790,2265
$GC,19486,0.34,161.4,884.1,4.8,618,19511,0.00,2.40,20.12,1.348,6,0.000,0.077,2864,2206,2178
$GC,19821,0.42,161.4,865.5,5.6,624,19826,0.15,2.58,0.00,0.000,4,0.064,0.104,2898,789,2177
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$STATE,32704,end climb,SURFACE_DEPTH_REACHED
$STATE,32704,begin surface coast
$FINISH,1.4,1.024060
$STATE,32712,end surface coast,CONTROL_FINISHED_OK
$STATE,32712,begin surface
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$DEVICE_SECS,31.650,314.075,429.300,0.000,0.000,29.969,27.595,171.657,13.500,0.000,0.000,12.912,2318.026,26576.732,663.333,2996.425,576.102,33.374,2179.561,0.000,2937.123,0.000,59.499
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$DATA_FILE_SIZE,56833,1130
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$CFSIZE,260165632,253632512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,071008,073332,4717.181,-12730.488,38,1.7,38,18.7