version: 66.04
glider: 5
mission: 5
dive: 372
start: 1 25 109 20 31 13
data:
$ID,5
$MISSION,5
$DIVE,372
$D_SURF,4
$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,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,2
$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,250
$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,-94737.867
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$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,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.610077
$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,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,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,202054,6009.274,-542.433,39,1.4,39,-7.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.9
$GPS2,203055,6009.379,-542.315,16,1.7,34,-7.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_2
$TGT_LATLONG,6015.000,-645.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,287.2,58540,-11.0,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.55,0.000,2,0.000,0.000,418,1973,3280
$GC,102,-0.97,-146.6,3.5,-4.5,4,125,11.00,2.47,-3.80,0.000,4,0.131,0.074,2527,604,3431
$GC,378,-0.86,-146.6,36.3,-8.2,16,383,0.12,2.50,0.00,0.000,6,0.093,0.051,2553,2008,3432
$GC,701,-0.86,-146.6,57.5,-7.6,32,706,0.00,2.60,0.00,0.000,4,0.000,0.065,2553,597,3432
$GC,880,-0.82,-146.6,74.4,-9.5,40,884,0.00,2.47,0.00,0.000,6,0.000,0.051,2553,1992,3432
$GC,1207,-0.82,-146.6,98.0,-6.7,56,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1992,3433
$GC,1517,-0.82,-146.6,123.4,-7.8,71,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1992,3433
$GC,1827,-0.82,-146.6,147.1,-7.6,86,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1992,3433
$GC,2135,-0.82,-146.6,170.8,-7.8,101,2139,0.00,2.55,0.00,0.000,4,0.000,0.068,2553,601,3433
$GC,2179,-0.82,-146.6,174.2,-7.8,103,2184,0.00,2.47,0.00,0.000,6,0.000,0.054,2553,1990,3433
$GC,2501,-0.82,-146.6,197.0,-6.6,119,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3433
$GC,2810,-0.82,-146.6,217.9,-7.0,134,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3433
$GC,3120,-0.82,-146.6,239.8,-7.3,149,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3433
$GC,3429,-0.82,-146.6,263.6,-7.9,164,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3433
$GC,3738,-0.82,-146.6,287.7,-7.4,179,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3433
$GC,4048,-0.82,-146.6,312.8,-8.2,194,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1990,3433
$GC,4356,-0.82,-146.6,336.8,-8.1,209,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1992,3433
$GC,4666,-0.82,-146.6,358.8,-6.9,224,4670,0.00,2.55,0.00,0.000,4,0.000,0.071,2553,601,3433
$GC,4706,-0.82,-146.6,361.6,-7.5,226,4711,0.00,2.45,0.00,0.000,6,0.000,0.054,2553,1976,3433
$GC,5033,-0.82,-146.6,383.8,-6.3,242,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1978,3433
$GC,5343,-0.82,-146.6,403.5,-6.0,257,5347,0.00,2.53,0.00,0.000,4,0.000,0.070,2553,600,3432
$GC,5383,-0.82,-146.6,406.0,-6.8,259,5387,0.00,2.45,0.00,0.000,6,0.000,0.056,2553,1974,3433
$GC,5711,-0.82,-146.6,426.0,-5.8,275,5715,0.00,2.58,0.00,0.000,4,0.000,0.068,2553,3409,3433
$GC,5738,-0.82,-146.6,427.9,-6.6,276,5742,0.00,2.60,0.00,0.000,6,0.000,0.060,2553,1975,3432
$GC,6055,-0.82,-146.6,450.3,-7.4,291,6059,0.00,2.50,0.00,0.000,4,0.000,0.074,2553,592,3432
$GC,6106,-0.82,-146.6,454.6,-8.1,293,6110,0.00,2.47,0.00,0.000,6,0.000,0.058,2553,1969,3432
$GC,6428,-0.82,-146.6,475.9,-5.7,309,6432,0.00,2.62,0.00,0.000,4,0.000,0.074,2553,3407,3432
$GC,6461,-0.82,-146.6,478.1,-6.3,310,6468,0.00,2.65,0.00,0.000,6,0.000,0.064,2553,1952,3431
$GC,6780,-0.82,-146.6,501.0,-7.9,326,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1952,3431
$GC,7087,-0.82,-146.6,524.2,-7.3,341,7091,0.00,2.70,0.00,0.000,4,0.000,0.075,2553,3404,3431
$GC,7120,-0.82,-146.6,526.9,-7.9,342,7127,0.00,2.65,0.00,0.000,6,0.000,0.065,2553,1957,3431
$GC,7436,-0.82,-146.6,549.0,-7.0,358,7441,0.00,2.72,0.00,0.000,4,0.000,0.077,2553,3413,3430
$GC,7476,-0.82,-146.6,551.9,-7.6,360,7481,0.00,2.65,0.00,0.000,6,0.000,0.067,2553,1971,3430
$GC,7806,-0.82,-146.6,576.1,-7.8,376,7810,0.00,2.70,0.00,0.000,4,0.000,0.081,2553,3404,3428
$GC,7833,-0.82,-146.6,578.4,-8.0,377,7837,0.00,2.65,0.00,0.000,6,0.000,0.070,2553,1973,3428
$GC,8148,-0.82,-146.6,603.0,-7.7,392,8153,0.00,2.72,0.00,0.000,4,0.000,0.084,2553,3410,3426
$GC,8189,-0.82,-146.6,606.2,-7.9,394,8193,0.00,2.62,0.00,0.000,6,0.000,0.072,2553,1995,3426
$GC,8515,-0.82,-146.6,629.8,-6.7,410,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1994,3426
$GC,8825,-0.82,-146.6,650.1,-6.5,425,8830,0.00,2.70,0.00,0.000,4,0.000,0.087,2553,3406,3425
$GC,8870,-0.86,-146.6,653.0,-7.3,427,8875,0.00,2.65,0.00,0.000,6,0.000,0.074,2553,1988,3424
$GC,9192,-0.86,-146.6,672.9,-6.2,443,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1987,3424
$GC,9501,-0.86,-146.6,692.3,-6.4,458,9505,0.00,2.70,0.00,0.000,4,0.000,0.087,2553,3402,3422
$GC,9535,-0.86,-146.6,694.6,-6.7,459,9541,0.00,2.62,0.00,0.000,6,0.000,0.075,2553,1999,3422
$GC,9850,-0.86,-146.6,715.3,-6.7,475,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3421
$GC,10160,-0.86,-146.6,735.2,-6.2,490,10161,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3420
$GC,10470,-0.86,-146.6,754.4,-5.9,505,10475,0.00,2.67,0.00,0.000,4,0.000,0.091,2553,3402,3419
$GC,10503,-0.91,-146.6,756.7,-6.4,506,10509,0.00,2.62,0.00,0.000,6,0.000,0.077,2553,2005,3419
$GC,10822,-0.91,-146.6,775.3,-6.0,522,10824,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2006,3418
$GC,11129,-0.95,-146.6,794.5,-6.2,537,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2006,3417
$GC,11438,-0.99,-146.6,813.6,-6.3,552,11440,0.12,0.00,0.00,0.000,6,0.078,0.000,2524,2006,3417
$GC,11748,-0.95,-146.6,836.3,-7.4,567,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2006,3416
$GC,12056,-0.91,-146.6,859.5,-7.3,582,12058,0.10,0.00,0.00,0.000,6,0.117,0.000,2543,2006,3415
$GC,12365,-0.91,-146.6,881.1,-7.0,597,12370,0.00,2.70,0.00,0.000,4,0.000,0.091,2543,3411,3414
$GC,12394,-0.91,-146.6,883.2,-7.2,598,12398,0.00,2.62,0.00,0.000,6,0.000,0.080,2543,2018,3414
$GC,12709,-0.91,-146.6,906.0,-7.2,613,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2018,3414
$GC,13019,-0.91,-146.6,929.6,-7.7,628,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2018,3413
$GC,13328,-0.91,-146.6,953.7,-7.5,643,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2018,3413
$GC,13638,-0.91,-146.6,975.6,-6.7,658,13639,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2018,3412
$STATE,13861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13861,begin apogee
$GC,13869,-0.33,0.0,991.2,6.7,669,14007,0.62,0.00,134.32,1.656,6,0.090,0.000,2671,2124,2832
$STATE,14007,end apogee,CONTROL_FINISHED_OK
$STATE,14007,begin climb
$GC,14010,0.97,146.6,995.8,0.0,676,14161,1.35,2.80,138.95,1.592,4,0.079,0.088,2952,3520,2234
$GC,14203,0.74,146.6,987.7,7.0,685,14209,0.22,2.70,0.00,0.000,6,0.100,0.080,2910,2121,2234
$GC,14531,0.68,146.6,968.4,6.3,701,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2122,2234
$GC,14840,0.63,146.6,949.9,6.1,716,14842,0.15,0.00,0.00,0.000,6,0.108,0.000,2882,2122,2233
$GC,15150,0.68,178.8,933.4,5.1,731,15208,0.00,0.00,37.38,1.362,6,0.000,0.000,2881,2122,2103
$GC,15520,0.75,190.7,912.3,5.7,749,15543,0.12,0.00,14.95,1.308,6,0.071,0.000,2910,2121,2054
$GC,15848,0.75,190.7,890.1,6.9,765,15849,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2121,2054
$GC,16157,0.75,190.7,868.7,6.9,780,16158,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2121,2054
$GC,16466,0.75,190.7,847.2,6.8,795,16470,0.00,2.75,0.00,0.000,4,0.000,0.091,2910,3534,2054
$GC,16494,0.75,190.7,844.9,8.6,796,16498,0.00,2.67,0.00,0.000,6,0.000,0.078,2910,2124,2054
$GC,16810,0.75,190.7,823.4,6.7,811,16811,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2124,2054
$GC,17119,0.75,190.7,802.8,6.5,826,17120,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2124,2054
$GC,17429,0.76,194.0,783.4,5.9,841,17436,0.00,0.00,4.95,1.142,6,0.000,0.000,2910,2123,2041
$GC,17738,0.80,222.1,766.6,5.2,856,17767,0.00,0.00,27.45,1.498,6,0.000,0.000,2910,2122,1926
$GC,18067,0.83,238.0,748.9,5.6,872,18086,0.00,0.00,16.12,1.436,6,0.000,0.000,2910,2123,1860
$GC,18397,0.83,238.0,729.1,6.3,888,18398,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2123,1860
$GC,18705,0.83,238.0,707.7,7.0,903,18706,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2123,1861
$GC,19014,0.83,238.0,686.5,6.7,918,19015,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2123,1861
$GC,19326,0.87,238.0,666.9,6.2,933,19328,0.10,0.00,0.00,0.000,6,0.077,0.000,2936,2123,1861
$GC,19633,0.87,238.0,645.4,6.7,948,19634,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2123,1861
$GC,19942,0.87,238.0,624.4,6.9,963,19943,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2123,1861
$GC,20252,0.87,238.0,601.0,7.8,978,20257,0.00,2.70,0.00,0.000,4,0.000,0.087,2936,3524,1861
$GC,20279,0.87,238.0,598.6,8.5,979,20284,0.00,2.65,0.00,0.000,6,0.000,0.075,2936,2120,1861
$GC,20595,0.87,238.0,575.6,7.1,994,20596,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2120,1860
$GC,20905,0.87,238.0,553.2,7.7,1009,20906,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2119,1860
$GC,21213,0.87,238.0,529.7,7.6,1024,21215,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2119,1860
$GC,21523,0.87,238.0,508.2,6.8,1039,21524,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2119,1860
$GC,21833,0.87,238.0,487.1,7.2,1054,21834,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2119,1861
$GC,22141,0.87,238.0,463.3,8.0,1069,22142,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2119,1861
$GC,22450,0.87,238.0,440.6,7.4,1084,22455,0.00,2.67,0.00,0.000,4,0.000,0.081,2936,3527,1861
$GC,22518,0.87,238.0,435.3,7.1,1087,22522,0.00,2.58,0.00,0.000,6,0.000,0.065,2936,2128,1862
$GC,22839,0.98,306.6,418.5,4.1,1103,22905,0.00,2.75,60.25,1.240,4,0.000,0.075,2937,3521,1581
$GC,22929,1.02,306.6,412.3,7.4,1107,22934,0.15,2.58,0.00,0.000,6,0.062,0.063,2974,2141,1581
$GC,23251,0.94,306.6,380.3,10.5,1123,23253,0.12,0.00,0.00,0.000,6,0.096,0.000,2949,2141,1581
$GC,23560,0.94,306.6,354.7,7.6,1138,23561,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2141,1582
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$GC,27880,1.01,313.3,15.2,9.1,1348,27885,0.00,2.58,0.00,0.000,4,0.000,0.067,2949,711,1558
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$STATE,27998,end climb,SURFACE_DEPTH_REACHED
$STATE,27998,begin surface coast
$FINISH,1.5,1.027376
$STATE,28021,end surface coast,CONTROL_FINISHED_OK
$STATE,28022,begin surface
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$SM_GC,0.88,11.23,0.00,0.00,0.041,0.000,0.000,425,1992,1556,-10.58,-0.20,313.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1791
$TCM_TEMP,17.00
$XPDR_PINGS,42
$24V_AH,23.3,64.681
$10V_AH,10.0,31.914
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$DEVICE_SECS,25.525,146.625,444.825,0.000,0.000,75.531,49.160,238.685,19.250,0.000,0.000,34.133,2357.064,22316.697,614.907,2591.420,809.850,0.000,1877.262,0.000,2520.404,0.000,57.437,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.174,918.894,704.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69280,1355
$CAP_FILE_SIZE,177646,0
$CFSIZE,254472192,229298176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,52,4,0
$GPS,260109,042100,6007.372,-551.635,39,1.2,44,-7.1