version: 66.04
glider: 5
mission: 5
dive: 381
start: 1 28 109 21 35 45
data:
$ID,5
$MISSION,5
$DIVE,381
$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,-94887.125
$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,32
$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
$GPS1,212807,6014.230,-645.247,42,1.3,42,-7.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-62.9
$GPS2,213526,6014.308,-645.182,14,1.3,14,-7.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_3
$TGT_LATLONG,6030.000,-715.000
$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,324.5,39801,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,122,0.00,0.00,-101.60,0.000,2,0.000,0.000,421,1975,3369
$GC,126,-0.97,-146.6,4.9,-4.5,5,148,11.07,2.53,-1.40,0.000,4,0.136,0.073,2524,599,3432
$GC,330,-0.85,-146.6,33.2,-8.8,14,335,0.15,2.53,0.00,0.000,6,0.087,0.053,2555,2010,3432
$GC,658,-0.85,-146.6,56.3,-6.7,30,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2011,3432
$GC,966,-0.85,-146.6,77.7,-7.0,45,971,0.00,2.60,0.00,0.000,4,0.000,0.066,2555,591,3432
$GC,1000,-0.85,-146.6,80.3,-7.8,46,1006,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2005,3432
$GC,1318,-0.85,-146.6,104.5,-8.2,62,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2005,3432
$GC,1625,-0.85,-146.6,129.1,-7.8,77,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2005,3432
$GC,1934,-0.85,-146.6,151.9,-7.2,92,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2005,3432
$GC,2244,-0.85,-146.6,174.0,-7.1,107,2248,0.00,2.58,0.00,0.000,4,0.000,0.065,2556,594,3432
$GC,2288,-0.85,-146.6,177.6,-7.5,109,2292,0.00,2.50,0.00,0.000,6,0.000,0.053,2555,1995,3432
$GC,2608,-0.85,-146.6,201.5,-7.2,125,2613,0.00,2.55,0.00,0.000,4,0.000,0.066,2555,599,3432
$GC,2654,-0.85,-146.6,205.0,-7.9,127,2658,0.00,2.47,0.00,0.000,6,0.000,0.053,2556,1990,3432
$GC,2975,-0.85,-146.6,229.5,-8.2,143,2979,0.00,2.55,0.00,0.000,4,0.000,0.067,2555,596,3433
$GC,3019,-0.85,-146.6,233.4,-8.9,145,3023,0.00,2.47,0.00,0.000,6,0.000,0.053,2555,1986,3432
$GC,3341,-0.85,-146.6,260.2,-8.3,161,3346,0.00,2.55,0.00,0.000,4,0.000,0.065,2555,3404,3432
$GC,3375,-0.85,-146.6,263.4,-9.0,162,3381,0.00,2.53,0.00,0.000,6,0.000,0.051,2555,1994,3432
$GC,3691,-0.85,-146.6,288.5,-7.5,178,3695,0.00,2.50,0.00,0.000,4,0.000,0.067,2556,593,3432
$GC,3730,-0.85,-146.6,291.7,-8.1,179,3736,0.00,2.47,0.00,0.000,6,0.000,0.054,2556,1983,3432
$GC,4046,-0.85,-146.6,309.1,-5.0,195,4051,0.00,2.55,0.00,0.000,4,0.000,0.068,2555,590,3432
$GC,4104,-0.85,-146.6,312.3,-5.4,197,4110,0.00,2.47,0.00,0.000,6,0.000,0.054,2555,1980,3432
$GC,4421,-0.85,-146.6,331.1,-6.2,213,4425,0.00,2.55,0.00,0.000,4,0.000,0.067,2555,3405,3432
$GC,4487,-0.85,-146.6,335.2,-6.4,216,4491,0.00,2.58,0.00,0.000,6,0.000,0.055,2555,1976,3432
$GC,4809,-0.85,-146.6,353.8,-5.4,232,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1976,3432
$GC,5119,-0.85,-146.6,371.3,-6.0,247,5123,0.00,2.65,0.00,0.000,4,0.000,0.069,2555,3412,3432
$GC,5163,-0.85,-146.6,374.8,-7.3,249,5168,0.00,2.60,0.00,0.000,6,0.000,0.057,2555,1974,3432
$GC,5492,-0.85,-146.6,400.9,-8.2,265,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1974,3431
$GC,5799,-0.85,-146.6,424.1,-6.6,280,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1973,3431
$GC,6108,-0.85,-146.6,441.0,-5.8,295,6112,0.00,2.65,0.00,0.000,4,0.000,0.071,2555,3402,3431
$GC,6148,-0.85,-146.6,443.6,-6.9,297,6153,0.00,2.58,0.00,0.000,6,0.000,0.059,2555,1980,3431
$GC,6475,-0.85,-146.6,469.2,-8.1,313,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1980,3431
$GC,6784,-0.85,-146.6,489.9,-6.9,328,6789,0.00,2.62,0.00,0.000,4,0.000,0.071,2555,3402,3430
$GC,6835,-0.85,-146.6,493.4,-6.2,330,6839,0.00,2.55,0.00,0.000,6,0.000,0.060,2555,1996,3430
$GC,7151,-0.85,-146.6,513.5,-6.5,345,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1996,3429
$GC,7460,-0.85,-146.6,536.2,-7.3,360,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1996,3429
$GC,7770,-0.85,-146.6,557.7,-7.1,375,7774,0.00,2.58,0.00,0.000,4,0.000,0.078,2555,587,3429
$GC,7827,-0.85,-146.6,561.9,-7.0,377,7833,0.00,2.55,0.00,0.000,6,0.000,0.063,2555,1994,3429
$GC,8143,-0.85,-146.6,581.6,-5.8,393,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1995,3428
$GC,8453,-0.85,-146.6,603.9,-7.3,408,8457,0.00,2.62,0.00,0.000,4,0.000,0.082,2555,595,3427
$GC,8508,-0.85,-146.6,608.0,-7.7,410,8514,0.00,2.53,0.00,0.000,6,0.000,0.066,2555,1981,3427
$GC,8825,-0.85,-146.6,629.9,-6.7,426,8829,0.00,2.65,0.00,0.000,4,0.000,0.082,2555,3408,3426
$GC,8854,-0.85,-146.6,631.9,-6.8,427,8858,0.00,2.65,0.00,0.000,6,0.000,0.071,2555,1978,3426
$GC,9170,-0.85,-146.6,652.8,-6.5,442,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1978,3426
$GC,9479,-0.85,-146.6,672.9,-6.4,457,9483,0.00,2.70,0.00,0.000,4,0.000,0.084,2555,3405,3425
$GC,9524,-0.91,-146.6,675.9,-6.9,459,9528,0.00,2.65,0.00,0.000,6,0.000,0.072,2555,1978,3424
$GC,9845,-0.91,-146.6,696.0,-6.1,475,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1978,3423
$GC,10155,-0.91,-146.6,715.3,-6.2,490,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1978,3422
$GC,10463,-0.91,-146.6,734.6,-6.3,505,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1978,3421
$GC,10773,-0.95,-146.6,752.3,-5.6,520,10778,0.00,2.72,0.00,0.000,4,0.000,0.087,2555,3405,3421
$GC,10815,-1.01,-146.6,754.7,-6.4,522,10820,0.15,2.67,0.00,0.000,6,0.072,0.074,2521,1973,3420
$GC,11145,-0.95,-146.6,776.5,-7.1,538,11150,0.00,2.75,0.00,0.000,4,0.000,0.089,2521,3407,3419
$GC,11179,-0.90,-146.6,779.3,-7.7,539,11186,0.12,2.67,0.00,0.000,6,0.114,0.077,2546,1982,3420
$GC,11496,-0.90,-146.6,799.9,-6.4,555,11497,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1981,3419
$GC,11804,-0.90,-146.6,820.0,-6.5,570,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1981,3418
$GC,12114,-0.90,-146.6,840.9,-6.6,585,12119,0.00,2.72,0.00,0.000,4,0.000,0.087,2546,3406,3417
$GC,12147,-0.90,-146.6,843.3,-6.9,586,12153,0.00,2.67,0.00,0.000,6,0.000,0.076,2546,1980,3417
$GC,12462,-0.90,-146.6,863.2,-6.1,602,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1980,3416
$GC,12773,-0.90,-146.6,881.3,-5.7,617,12778,0.00,2.75,0.00,0.000,4,0.000,0.088,2546,3414,3415
$GC,12814,-0.90,-146.6,883.7,-5.9,619,12819,0.00,2.67,0.00,0.000,6,0.000,0.076,2546,1988,3415
$GC,13141,-0.90,-146.6,903.5,-6.3,635,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1987,3415
$GC,13450,-0.90,-146.6,924.4,-6.8,650,13452,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1987,3414
$GC,13759,-0.90,-146.6,944.7,-6.4,665,13763,0.00,2.72,0.00,0.000,4,0.000,0.089,2546,3408,3414
$GC,13808,-0.90,-146.6,948.1,-6.9,667,13813,0.00,2.65,0.00,0.000,6,0.000,0.077,2545,1996,3414
$GC,14125,-0.90,-146.6,967.8,-6.4,682,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1996,3413
$GC,14433,-0.90,-146.6,986.6,-6.3,697,14435,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1996,3413
$STATE,14492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14492,begin apogee
$GC,14500,-0.33,0.0,990.3,6.0,700,14638,0.60,0.00,134.88,1.646,6,0.091,0.000,2667,2125,2833
$STATE,14639,end apogee,CONTROL_FINISHED_OK
$STATE,14639,begin climb
$GC,14643,0.97,146.6,994.9,0.0,707,14794,1.35,2.80,139.27,1.587,4,0.079,0.088,2948,3523,2233
$GC,14835,0.76,146.6,986.6,8.0,716,14840,0.20,2.70,0.00,0.000,6,0.100,0.078,2912,2120,2233
$GC,15164,0.73,162.1,967.3,5.6,732,15193,0.00,2.80,17.77,1.328,4,0.000,0.093,2911,713,2171
$GC,15222,0.66,162.1,963.4,6.8,734,15229,0.12,2.70,0.00,0.000,6,0.104,0.077,2888,2127,2171
$GC,15539,0.72,200.5,947.8,5.0,750,15586,0.00,0.00,39.60,1.488,6,0.000,0.000,2888,2127,2014
$GC,15888,0.85,242.3,930.4,4.9,767,15939,0.20,0.00,42.88,1.493,6,0.064,0.000,2937,2127,1844
$GC,16238,0.81,242.3,906.4,7.2,784,16243,0.00,2.75,0.00,0.000,4,0.000,0.095,2937,716,1845
$GC,16271,0.74,242.3,903.5,7.6,785,16278,0.15,2.67,0.00,0.000,6,0.100,0.078,2907,2127,1845
$GC,16588,0.78,242.3,883.9,6.0,801,16589,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2127,1845
$GC,16898,0.78,242.3,864.8,6.5,816,16899,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2127,1845
$GC,17206,0.78,242.3,843.7,7.2,831,17210,0.00,2.75,0.00,0.000,4,0.000,0.094,2907,714,1845
$GC,17233,0.78,242.3,841.5,7.7,832,17237,0.00,2.65,0.00,0.000,6,0.000,0.077,2907,2117,1845
$GC,17550,0.82,242.3,819.6,7.0,847,17551,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2118,1845
$GC,17858,0.87,242.3,798.6,6.8,862,17860,0.12,0.00,0.00,0.000,6,0.071,0.000,2939,2118,1845
$GC,18168,0.82,242.3,773.7,8.3,877,18172,0.00,2.72,0.00,0.000,4,0.000,0.093,2939,709,1845
$GC,18190,0.77,242.3,771.7,9.3,878,18196,0.15,2.65,0.00,0.000,6,0.100,0.077,2909,2117,1845
$GC,18512,0.81,242.3,747.4,7.6,894,18516,0.00,2.70,0.00,0.000,4,0.000,0.088,2909,3538,1845
$GC,18539,0.81,242.3,745.2,8.2,895,18544,0.00,2.72,0.00,0.000,6,0.000,0.077,2909,2100,1845
$GC,18856,0.86,242.3,723.8,6.4,910,18861,0.10,2.65,0.00,0.000,4,0.077,0.094,2935,706,1844
$GC,18878,0.86,242.3,721.9,7.8,911,18882,0.00,2.65,0.00,0.000,6,0.000,0.076,2935,2118,1845
$GC,19199,0.86,242.3,697.9,7.7,927,19203,0.00,2.70,0.00,0.000,4,0.000,0.089,2934,3538,1845
$GC,19228,0.86,242.3,695.5,8.1,928,19233,0.00,2.70,0.00,0.000,6,0.000,0.076,2935,2108,1845
$GC,19544,0.86,242.3,670.8,7.7,943,19548,0.00,2.65,0.00,0.000,4,0.000,0.092,2935,708,1845
$GC,19565,0.86,242.3,669.0,8.5,944,19570,0.00,2.62,0.00,0.000,6,0.000,0.075,2935,2112,1845
$GC,19887,0.86,242.3,646.7,7.2,960,19888,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2112,1845
$GC,20195,0.86,242.3,625.0,6.8,975,20197,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2112,1845
$GC,20505,0.94,293.9,608.2,4.6,990,20554,0.00,0.00,47.65,1.402,6,0.000,0.000,2935,2112,1633
$GC,20855,0.94,293.9,588.9,6.4,1007,20859,0.00,2.70,0.00,0.000,4,0.000,0.089,2935,710,1633
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$STATE,27821,end climb,SURFACE_DEPTH_REACHED
$STATE,27821,begin surface coast
$FINISH,0.5,1.027451
$STATE,27864,end surface coast,CONTROL_FINISHED_OK
$STATE,27864,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1808
$TCM_TEMP,16.60
$XPDR_PINGS,30
$24V_AH,23.3,66.576
$10V_AH,10.0,32.966
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$DEVICE_SECS,25.825,210.425,458.250,0.000,0.000,37.762,26.512,223.235,16.250,0.000,0.000,14.329,2389.906,21917.818,682.290,2617.337,766.138,0.000,2000.323,0.000,2561.014,0.000,57.131,0.000
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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,69458,1344
$CAP_FILE_SIZE,189463,0
$CFSIZE,254472192,228536320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,68,3,0
$GPS,290109,052254,6017.855,-653.764,25,2.0,43,-7.7