version: 66.04
glider: 5
mission: 5
dive: 380
start: 1 28 109 13 39 51
data:
$ID,5
$MISSION,5
$DIVE,380
$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,-94872.172
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,133255,6011.614,-639.003,41,1.7,41,-7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-53.6
$GPS2,133932,6011.552,-638.888,11,2.0,11,-7.5
$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,326.2,8505,-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,-81.53,0.000,2,0.000,0.000,422,1970,3159
$GC,103,-0.97,-146.6,3.3,-3.7,4,129,11.07,2.60,-7.10,0.000,4,0.136,0.074,2527,587,3431
$GC,383,-0.86,-146.6,37.1,-7.7,16,388,0.12,2.55,0.00,0.000,6,0.088,0.052,2553,2005,3431
$GC,700,-0.86,-146.6,57.1,-5.7,31,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3431
$GC,1008,-0.86,-146.6,79.1,-8.5,46,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2009,3431
$GC,1319,-0.86,-146.6,102.7,-8.2,61,1323,0.00,2.58,0.00,0.000,4,0.000,0.064,2553,594,3431
$GC,1369,-0.86,-146.6,107.4,-8.7,63,1374,0.00,2.50,0.00,0.000,6,0.000,0.052,2553,1998,3431
$GC,1686,-0.86,-146.6,134.8,-8.9,78,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3431
$GC,1994,-0.86,-146.6,158.9,-7.0,93,1999,0.00,2.53,0.00,0.000,4,0.000,0.063,2553,3403,3431
$GC,2045,-0.86,-146.6,162.6,-7.0,95,2050,0.00,2.53,0.00,0.000,6,0.000,0.049,2553,1988,3431
$GC,2361,-0.86,-146.6,186.5,-7.8,110,2365,0.00,2.60,0.00,0.000,4,0.000,0.062,2553,3414,3431
$GC,2400,-0.86,-146.6,189.7,-8.2,112,2405,0.00,2.53,0.00,0.000,6,0.000,0.051,2553,1999,3431
$GC,2728,-0.86,-146.6,215.7,-8.0,128,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3431
$GC,3036,-0.86,-146.6,243.4,-9.3,143,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3431
$GC,3345,-0.86,-146.6,273.8,-10.2,158,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3431
$GC,3655,-0.86,-146.6,304.0,-9.3,173,3660,0.00,2.58,0.00,0.000,4,0.000,0.065,2553,3404,3431
$GC,3700,-0.86,-146.6,308.5,-9.9,175,3704,0.00,2.50,0.00,0.000,6,0.000,0.052,2553,2005,3432
$GC,4022,-0.86,-146.6,336.9,-8.7,191,4026,0.00,2.53,0.00,0.000,4,0.000,0.066,2553,595,3432
$GC,4062,-0.86,-146.6,340.6,-9.3,193,4067,0.00,2.53,0.00,0.000,6,0.000,0.053,2553,2016,3431
$GC,4389,-0.86,-146.6,367.5,-7.7,209,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2016,3431
$GC,4699,-0.86,-146.6,390.4,-7.3,224,4704,0.00,2.53,0.00,0.000,4,0.000,0.069,2553,3406,3432
$GC,4755,-0.86,-146.6,394.7,-7.3,226,4761,0.00,2.50,0.00,0.000,6,0.000,0.056,2553,2017,3432
$GC,5071,-0.86,-146.6,417.2,-7.1,242,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2017,3432
$GC,5381,-0.86,-146.6,438.3,-6.7,257,5385,0.00,2.58,0.00,0.000,4,0.000,0.069,2553,3414,3431
$GC,5420,-0.86,-146.6,441.2,-7.7,259,5425,0.00,2.50,0.00,0.000,6,0.000,0.058,2553,2026,3431
$GC,5747,-0.86,-146.6,462.7,-6.4,275,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2025,3431
$GC,6057,-0.86,-146.6,483.7,-6.9,290,6062,0.00,2.58,0.00,0.000,4,0.000,0.071,2553,3415,3431
$GC,6108,-0.86,-146.6,487.3,-6.9,292,6112,0.00,2.50,0.00,0.000,6,0.000,0.061,2553,2038,3431
$GC,6424,-0.86,-146.6,508.3,-7.0,307,6428,0.00,2.62,0.00,0.000,4,0.000,0.074,2553,592,3431
$GC,6486,-0.86,-146.6,513.0,-7.9,310,6491,0.00,2.60,0.00,0.000,6,0.000,0.062,2553,2033,3431
$GC,6813,-0.86,-146.6,534.1,-5.9,326,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2033,3430
$GC,7123,-0.86,-146.6,553.1,-6.3,341,7127,0.00,2.70,0.00,0.000,4,0.000,0.080,2553,589,3429
$GC,7152,-0.86,-146.6,555.3,-7.5,342,7157,0.00,2.62,0.00,0.000,6,0.000,0.067,2553,2027,3428
$GC,7468,-0.86,-146.6,578.3,-7.4,357,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2028,3428
$GC,7778,-0.86,-146.6,600.1,-7.2,372,7782,0.00,2.58,0.00,0.000,4,0.000,0.084,2553,3413,3426
$GC,7825,-0.91,-146.6,603.6,-8.2,374,7829,0.00,2.58,0.00,0.000,6,0.000,0.071,2552,2027,3426
$GC,8146,-0.91,-146.6,627.0,-7.6,390,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2027,3425
$GC,8457,-0.91,-146.6,651.2,-7.6,405,8462,0.00,2.67,0.00,0.000,4,0.000,0.085,2553,585,3424
$GC,8499,-0.95,-146.6,654.4,-7.5,407,8503,0.00,2.65,0.00,0.000,6,0.000,0.071,2553,2025,3424
$GC,8826,-0.95,-146.6,675.9,-6.1,423,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2026,3423
$GC,9135,-0.95,-146.6,695.2,-5.9,438,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2026,3422
$GC,9444,-0.95,-146.6,713.5,-6.2,453,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2026,3421
$GC,9753,-0.95,-146.6,736.0,-7.4,468,9757,0.00,2.75,0.00,0.000,4,0.000,0.091,2553,587,3420
$GC,9780,-0.95,-146.6,738.1,-8.0,469,9785,0.00,2.67,0.00,0.000,6,0.000,0.075,2553,2025,3420
$GC,10096,-0.95,-146.6,758.7,-6.6,484,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2026,3419
$GC,10405,-0.95,-146.6,778.1,-5.7,499,10410,0.00,2.75,0.00,0.000,4,0.000,0.093,2553,587,3418
$GC,10433,-0.95,-146.6,780.0,-7.1,500,10438,0.00,2.67,0.00,0.000,6,0.000,0.077,2553,2023,3419
$GC,10750,-0.99,-146.6,799.3,-6.5,515,10751,0.12,0.00,0.00,0.000,6,0.076,0.000,2523,2023,3417
$GC,11059,-0.95,-146.6,821.8,-7.1,530,11063,0.00,2.75,0.00,0.000,4,0.000,0.094,2523,590,3416
$GC,11105,-0.90,-146.6,825.5,-8.0,532,11110,0.12,2.67,0.00,0.000,6,0.105,0.078,2548,2020,3416
$GC,11426,-0.90,-146.6,846.0,-6.0,548,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2021,3415
$GC,11736,-0.90,-146.6,863.9,-5.5,563,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2021,3415
$GC,12045,-0.90,-146.6,880.8,-5.7,578,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2021,3414
$GC,12354,-0.90,-146.6,897.6,-5.4,593,12355,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2021,3414
$GC,12664,-0.90,-146.6,914.4,-5.3,608,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2021,3413
$GC,12973,-0.90,-146.6,930.5,-5.4,623,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2021,3412
$GC,13282,-0.90,-146.6,946.5,-5.3,638,13286,0.00,2.78,0.00,0.000,4,0.000,0.097,2548,584,3412
$GC,13316,-0.90,-146.6,948.4,-5.5,639,13322,0.00,2.67,0.00,0.000,6,0.000,0.079,2548,2014,3412
$GC,13632,-0.90,-146.6,965.2,-5.5,655,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2015,3412
$GC,13941,-0.90,-146.6,982.0,-5.5,670,13942,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2014,3412
$STATE,14103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14103,begin apogee
$GC,14111,-0.33,0.0,990.9,5.4,678,14250,0.60,0.00,135.50,1.655,6,0.091,0.000,2670,2126,2832
$STATE,14250,end apogee,CONTROL_FINISHED_OK
$STATE,14250,begin climb
$GC,14253,0.97,146.6,995.3,0.0,685,14405,1.33,2.80,140.15,1.595,4,0.074,0.089,2948,3530,2234
$GC,14428,0.77,146.6,988.6,7.0,693,14434,0.17,2.72,0.00,0.000,6,0.102,0.081,2915,2126,2234
$GC,14750,0.70,146.6,967.0,7.0,709,14751,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2126,2234
$GC,15060,0.62,146.6,946.8,6.4,724,15062,0.17,0.00,0.00,0.000,6,0.104,0.000,2882,2126,2233
$GC,15368,0.67,172.6,929.9,5.3,739,15410,0.00,0.00,29.83,1.378,6,0.000,0.000,2882,2126,2128
$GC,15718,0.77,207.5,911.8,5.0,756,15778,0.12,0.00,40.65,1.379,6,0.072,0.000,2912,2126,1985
$GC,16088,0.77,207.5,888.1,6.6,774,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2126,1985
$GC,16396,0.77,207.5,866.3,7.2,789,16397,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2125,1986
$GC,16706,0.77,207.5,842.2,8.4,804,16710,0.00,2.70,0.00,0.000,4,0.000,0.094,2912,708,1986
$GC,16733,0.77,207.5,839.8,8.7,805,16738,0.00,2.70,0.00,0.000,6,0.000,0.078,2912,2134,1986
$GC,17049,0.77,207.5,813.9,8.1,820,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2135,1985
$GC,17358,0.77,207.5,789.6,7.6,835,17359,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2135,1985
$GC,17668,0.77,207.5,766.2,7.3,850,17673,0.00,2.75,0.00,0.000,4,0.000,0.094,2912,712,1986
$GC,17718,0.77,207.5,762.2,7.5,852,17722,0.00,2.67,0.00,0.000,6,0.000,0.079,2912,2126,1985
$GC,18034,0.77,207.5,740.8,6.7,867,18035,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2126,1986
$GC,18344,0.77,207.5,720.6,6.4,882,18348,0.00,2.75,0.00,0.000,4,0.000,0.095,2912,706,1986
$GC,18388,0.77,207.5,717.4,7.4,884,18392,0.00,2.67,0.00,0.000,6,0.000,0.080,2912,2121,1985
$GC,18708,0.77,207.5,696.4,7.0,900,18713,0.00,2.70,0.00,0.000,4,0.000,0.091,2912,3539,1985
$GC,18742,0.77,207.5,693.8,7.7,901,18748,0.00,2.70,0.00,0.000,6,0.000,0.077,2912,2112,1985
$GC,19058,0.77,207.5,670.9,7.6,917,19059,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2111,1985
$GC,19367,0.77,207.5,648.5,7.0,932,19368,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2112,1985
$GC,19677,0.77,207.5,627.4,6.6,947,19682,0.00,2.75,0.00,0.000,4,0.000,0.091,2912,3533,1985
$GC,19727,0.77,207.5,623.8,6.7,949,19731,0.00,2.67,0.00,0.000,6,0.000,0.076,2912,2116,1985
$GC,20043,0.85,260.0,607.3,4.6,964,20092,0.00,0.00,47.85,1.418,6,0.000,0.000,2912,2115,1772
$GC,20394,0.98,316.3,589.6,4.5,981,20451,0.17,2.83,51.08,1.382,4,0.068,0.087,2959,3533,1541
$GC,20476,0.94,316.3,583.7,7.3,984,20481,0.00,2.70,0.00,0.000,6,0.000,0.076,2959,2128,1541
$GC,20805,0.89,316.3,556.6,9.1,1000,20806,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2128,1541
$GC,21113,0.89,316.3,529.4,8.8,1015,21114,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2128,1541
$GC,21422,0.89,316.3,501.8,8.9,1030,21426,0.00,2.65,0.00,0.000,4,0.000,0.084,2959,713,1541
$GC,21456,0.83,316.3,498.7,9.5,1031,21463,0.17,2.65,0.00,0.000,6,0.097,0.070,2925,2137,1541
$GC,21772,0.93,330.7,478.9,5.6,1047,21791,0.10,0.00,14.45,1.237,6,0.071,0.000,2949,2138,1483
$GC,22102,0.93,330.7,457.5,7.3,1063,22103,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2138,1483
$GC,22410,0.93,330.7,433.2,7.7,1078,22414,0.00,2.70,0.00,0.000,4,0.000,0.080,2949,708,1482
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$STATE,27889,end climb,SURFACE_DEPTH_REACHED
$STATE,27890,begin surface coast
$FINISH,0.3,1.027460
$STATE,27932,end surface coast,CONTROL_FINISHED_OK
$STATE,27932,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1801
$TCM_TEMP,16.80
$XPDR_PINGS,40
$24V_AH,23.3,66.360
$10V_AH,10.0,32.851
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$DEVICE_SECS,25.900,173.350,496.575,0.000,0.000,37.760,27.110,182.949,18.750,0.000,0.000,11.892,2361.558,22064.967,676.972,2596.543,700.711,0.000,1972.077,0.000,2549.091,0.000,57.139,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.170,912.570,711.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69447,1346
$CAP_FILE_SIZE,182022,0
$CFSIZE,254472192,228630528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,53,5,0
$GPS,280109,212807,6014.230,-645.247,42,1.3,42,-7.6