version: 66.04
glider: 5
mission: 5
dive: 382
start: 1 29 109 5 43 34
data:
$ID,5
$MISSION,5
$DIVE,382
$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,599.02258
$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,-94899.453
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,052254,6017.855,-653.764,25,2.0,43,-7.7
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-51.1
$GPS2,054315,6017.841,-654.182,11,2.0,11,-7.7
$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,327.6,29453,-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,-81.53,0.000,2,0.000,0.000,424,1992,3082
$GC,102,-0.97,-146.6,3.3,-3.1,4,129,10.98,2.58,-9.50,0.000,4,0.133,0.077,2525,3407,3431
$GC,383,-0.89,-146.6,34.1,-9.5,16,390,0.12,2.53,0.00,0.000,6,0.097,0.050,2551,1999,3431
$GC,700,-0.89,-146.6,55.7,-7.5,32,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3431
$GC,1009,-0.89,-146.6,78.2,-7.6,47,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3432
$GC,1317,-0.89,-146.6,100.8,-7.3,62,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3431
$GC,1627,-0.89,-146.6,124.2,-7.6,77,1631,0.00,2.58,0.00,0.000,4,0.000,0.063,2550,3406,3431
$GC,1668,-0.89,-146.6,127.3,-7.7,79,1673,0.00,2.53,0.00,0.000,6,0.000,0.050,2551,1993,3431
$GC,1995,-0.89,-146.6,152.6,-7.8,95,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1992,3431
$GC,2304,-0.89,-146.6,177.2,-7.9,110,2308,0.00,2.60,0.00,0.000,4,0.000,0.064,2551,3413,3431
$GC,2344,-0.89,-146.6,180.4,-8.2,112,2349,0.00,2.53,0.00,0.000,6,0.000,0.051,2551,1999,3432
$GC,2670,-0.89,-146.6,208.0,-8.6,128,2675,0.00,2.53,0.00,0.000,4,0.000,0.067,2551,595,3431
$GC,2750,-0.89,-146.6,215.4,-9.1,131,2756,0.00,2.50,0.00,0.000,6,0.000,0.053,2551,1998,3431
$GC,3067,-0.89,-146.6,242.9,-8.4,147,3071,0.00,2.58,0.00,0.000,4,0.000,0.067,2551,592,3431
$GC,3111,-0.89,-146.6,246.8,-8.4,149,3115,0.00,2.50,0.00,0.000,6,0.000,0.054,2551,1993,3431
$GC,3432,-0.89,-146.6,270.4,-6.8,165,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1993,3431
$GC,3741,-0.89,-146.6,290.9,-5.3,180,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2011,3432
$GC,4050,-0.89,-146.6,310.4,-6.2,195,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3432
$GC,4360,-0.89,-146.6,330.7,-7.2,210,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3431
$GC,4668,-0.89,-146.6,357.1,-8.5,225,4673,0.00,2.60,0.00,0.000,4,0.000,0.071,2551,591,3431
$GC,4724,-0.89,-146.6,362.0,-8.7,227,4730,0.00,2.50,0.00,0.000,6,0.000,0.055,2551,1990,3431
$GC,5041,-0.89,-146.6,385.5,-7.0,243,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1990,3431
$GC,5349,-0.89,-146.6,406.0,-6.7,258,5354,0.00,2.58,0.00,0.000,4,0.000,0.070,2551,3405,3431
$GC,5439,-0.89,-146.6,413.2,-8.4,262,5443,0.00,2.55,0.00,0.000,6,0.000,0.057,2551,1993,3431
$GC,5760,-0.89,-146.6,438.5,-8.0,278,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1993,3431
$GC,6069,-0.89,-146.6,460.7,-6.3,293,6073,0.00,2.60,0.00,0.000,4,0.000,0.067,2551,3404,3431
$GC,6102,-0.89,-146.6,462.7,-5.8,294,6108,0.00,2.55,0.00,0.000,6,0.000,0.057,2551,1993,3431
$GC,6418,-0.89,-146.6,483.7,-6.8,310,6423,0.00,2.55,0.00,0.000,4,0.000,0.073,2551,583,3431
$GC,6452,-0.89,-146.6,486.4,-7.5,311,6458,0.00,2.55,0.00,0.000,6,0.000,0.058,2551,2006,3431
$GC,6767,-0.89,-146.6,507.7,-6.7,327,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2006,3431
$GC,7078,-0.89,-146.6,528.5,-7.1,342,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2006,3430
$GC,7387,-0.89,-146.6,550.8,-7.1,357,7391,0.00,2.58,0.00,0.000,4,0.000,0.077,2551,3405,3430
$GC,7419,-0.89,-146.6,553.3,-7.2,358,7426,0.00,2.58,0.00,0.000,6,0.000,0.066,2551,2002,3430
$GC,7738,-0.89,-146.6,575.9,-7.1,374,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2001,3429
$GC,8044,-0.89,-146.6,597.2,-7.3,389,8049,0.00,2.65,0.00,0.000,4,0.000,0.079,2551,3409,3428
$GC,8094,-0.89,-146.6,600.6,-6.8,391,8099,0.00,2.58,0.00,0.000,6,0.000,0.068,2551,2015,3428
$GC,8412,-0.89,-146.6,618.4,-5.5,406,8416,0.00,2.60,0.00,0.000,4,0.000,0.080,2551,3405,3427
$GC,8456,-0.94,-146.6,621.0,-6.1,408,8461,0.00,2.55,0.00,0.000,6,0.000,0.068,2550,2024,3427
$GC,8778,-0.94,-146.6,638.0,-5.7,424,8782,0.00,2.67,0.00,0.000,4,0.000,0.085,2551,581,3426
$GC,8819,-0.94,-146.6,640.6,-6.8,426,8823,0.00,2.65,0.00,0.000,6,0.000,0.070,2551,2026,3426
$GC,9145,-0.94,-146.6,663.3,-7.3,442,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2027,3425
$GC,9455,-0.94,-146.6,687.4,-7.7,457,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2027,3424
$GC,9764,-0.94,-146.6,710.8,-7.6,472,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2027,3423
$GC,10073,-0.94,-146.6,733.4,-6.9,487,10077,0.00,2.75,0.00,0.000,4,0.000,0.090,2551,584,3422
$GC,10106,-0.94,-146.6,735.9,-6.8,488,10113,0.00,2.62,0.00,0.000,6,0.000,0.074,2550,2013,3422
$GC,10422,-0.94,-146.6,756.8,-6.5,504,10427,0.00,2.62,0.00,0.000,4,0.000,0.089,2551,3411,3421
$GC,10463,-0.98,-146.6,759.5,-6.7,506,10468,0.00,2.60,0.00,0.000,6,0.000,0.076,2551,2024,3421
$GC,10791,-0.98,-146.6,780.4,-6.1,522,10795,0.00,2.70,0.00,0.000,4,0.000,0.094,2551,590,3420
$GC,10818,-0.98,-146.6,782.1,-6.1,523,10822,0.00,2.67,0.00,0.000,6,0.000,0.076,2551,2028,3420
$GC,11133,-0.98,-146.6,801.5,-6.1,538,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2028,3419
$GC,11443,-0.98,-146.6,823.5,-7.5,553,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2028,3419
$GC,11752,-0.98,-146.6,846.9,-7.4,568,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2028,3418
$GC,12061,-0.98,-146.6,871.6,-7.6,583,12066,0.00,2.78,0.00,0.000,4,0.000,0.095,2551,584,3417
$GC,12089,-0.98,-146.6,873.8,-8.3,584,12094,0.00,2.67,0.00,0.000,6,0.000,0.077,2550,2020,3417
$GC,12405,-0.98,-146.6,897.6,-7.4,599,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2020,3416
$GC,12714,-0.98,-146.6,920.1,-7.1,614,12715,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2020,3416
$GC,13025,-1.02,-146.6,941.7,-7.0,629,13026,0.12,0.00,0.00,0.000,6,0.074,0.000,2520,2020,3415
$GC,13333,-0.98,-146.6,966.6,-7.9,644,13337,0.00,2.78,0.00,0.000,4,0.000,0.098,2520,587,3414
$GC,13361,-0.93,-146.6,969.1,-7.8,645,13366,0.10,2.67,0.00,0.000,6,0.117,0.078,2539,2016,3414
$STATE,13653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13653,begin apogee
$GC,13661,-0.33,0.0,991.0,7.3,659,13801,0.65,0.00,137.05,1.641,6,0.091,0.000,2672,2130,2832
$STATE,13802,end apogee,CONTROL_FINISHED_OK
$STATE,13802,begin climb
$GC,13805,0.97,146.6,996.8,0.0,666,13957,1.33,2.78,139.68,1.582,4,0.075,0.091,2951,3518,2234
$GC,14008,0.76,146.6,989.4,7.4,675,14014,0.22,2.70,0.00,0.000,6,0.100,0.081,2908,2119,2234
$GC,14326,0.76,176.6,972.9,5.2,690,14364,0.00,2.78,28.90,1.521,4,0.000,0.097,2908,710,2112
$GC,14375,0.69,176.6,970.0,6.2,692,14380,0.00,2.72,0.00,0.000,6,0.000,0.078,2908,2126,2112
$GC,14691,0.73,196.8,952.7,5.4,707,14721,0.00,0.00,22.52,1.408,6,0.000,0.000,2908,2127,2029
$GC,15022,0.75,210.8,934.2,5.6,723,15040,0.00,0.00,14.82,1.479,6,0.000,0.000,2908,2126,1972
$GC,15352,0.77,224.5,915.6,5.6,739,15373,0.00,2.85,14.38,1.480,4,0.000,0.097,2908,709,1916
$GC,15401,0.77,224.5,912.4,6.8,741,15406,0.00,2.70,0.00,0.000,6,0.000,0.078,2908,2121,1915
$GC,15724,0.80,240.3,894.6,5.6,757,15749,0.00,0.00,18.10,1.367,6,0.000,0.000,2908,2121,1852
$GC,16052,0.80,240.3,875.3,6.0,773,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2121,1852
$GC,16361,0.80,240.3,855.1,6.5,788,16366,0.00,2.78,0.00,0.000,4,0.000,0.097,2908,703,1853
$GC,16396,0.80,240.3,852.7,6.7,789,16402,0.00,2.70,0.00,0.000,6,0.000,0.078,2908,2129,1852
$GC,16711,0.81,247.9,833.4,5.8,805,16722,0.00,0.00,8.48,1.362,6,0.000,0.000,2908,2130,1821
$GC,17022,0.87,261.2,815.8,5.6,820,17041,0.12,0.00,14.23,1.460,6,0.070,0.000,2941,2130,1766
$GC,17350,0.87,261.2,793.5,6.4,836,17351,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2130,1766
$GC,17660,0.88,265.0,774.9,5.9,851,17670,0.00,2.80,4.93,1.127,4,0.000,0.095,2941,709,1751
$GC,17705,0.83,265.0,772.0,6.5,853,17710,0.00,2.67,0.00,0.000,6,0.000,0.078,2941,2119,1751
$GC,18026,0.83,265.0,750.8,6.7,869,18027,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2119,1751
$GC,18335,0.83,265.0,729.0,7.2,884,18339,0.00,2.75,0.00,0.000,4,0.000,0.094,2941,702,1751
$GC,18363,0.78,265.0,726.7,8.2,885,18368,0.12,2.65,0.00,0.000,6,0.102,0.077,2916,2108,1751
$GC,18680,0.83,265.0,702.2,8.6,900,18684,0.00,2.72,0.00,0.000,4,0.000,0.093,2916,702,1751
$GC,18707,0.83,265.0,699.9,9.6,901,18711,0.00,2.62,0.00,0.000,6,0.000,0.076,2916,2100,1752
$GC,19027,0.87,265.0,674.9,8.1,916,19028,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2100,1751
$GC,19332,0.92,265.0,651.6,7.3,931,19334,0.12,0.00,0.00,0.000,6,0.068,0.000,2948,2100,1751
$GC,19643,0.88,265.0,627.1,7.8,946,19647,0.00,2.67,0.00,0.000,4,0.000,0.090,2948,709,1751
$GC,19670,0.82,265.0,624.7,7.9,947,19676,0.12,2.60,0.00,0.000,6,0.105,0.074,2925,2099,1751
$GC,19986,0.82,265.0,602.7,7.0,962,19987,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2098,1751
$GC,20298,0.82,265.0,578.5,8.2,977,20299,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2099,1751
$GC,20604,0.82,265.0,555.2,7.3,992,20609,0.00,2.65,0.00,0.000,4,0.000,0.087,2925,710,1751
$GC,20637,0.82,265.0,552.6,7.8,993,20643,0.00,2.55,0.00,0.000,6,0.000,0.073,2925,2077,1751
$GC,20954,0.82,265.0,532.5,6.6,1009,20955,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2077,1751
$GC,21262,0.82,265.0,510.6,6.7,1024,21263,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2078,1751
$GC,21571,0.82,265.0,491.4,6.3,1039,21573,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2077,1752
$GC,21882,0.86,265.0,469.2,7.6,1054,21883,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2078,1752
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$STATE,27949,end climb,SURFACE_DEPTH_REACHED
$STATE,27949,begin surface coast
$FINISH,0.4,1.027422
$STATE,28012,end surface coast,CONTROL_FINISHED_OK
$STATE,28013,begin surface
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$XPDR_PINGS,47
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$10V_AH,10.1,33.091
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$DEVICE_SECS,25.925,199.700,406.825,191.100,0.000,188.797,211.410,410.058,20.500,0.000,0.000,11.706,2398.220,22288.557,819.538,2638.975,1302.124,0.000,2136.741,0.000,2585.579,0.000,58.000,0.000
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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,69344,1351
$CAP_FILE_SIZE,201116,0
$CFSIZE,254472192,228442112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,62,4,0
$GPS,290109,133530,6020.534,-657.102,38,1.7,38,-7.7