version: 66.04
glider: 5
mission: 5
dive: 384
start: 1 29 109 21 44 51
data:
$ID,5
$MISSION,5
$DIVE,384
$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,-94925.195
$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,25
$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
$GPS1,213736,6023.301,-704.296,37,1.2,37,-7.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-52.1
$GPS2,214432,6023.272,-704.258,11,1.3,11,-7.8
$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,329.6,15849,-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,-81.45,0.000,2,0.000,0.000,421,1985,3080
$GC,103,-0.97,-146.6,4.4,-5.2,4,128,11.05,2.58,-8.62,0.000,4,0.133,0.077,2528,583,3431
$GC,381,-0.86,-146.6,37.1,-8.5,16,386,0.12,2.55,0.00,0.000,6,0.090,0.052,2554,2010,3431
$GC,698,-0.86,-146.6,62.2,-8.6,31,703,0.00,2.60,0.00,0.000,4,0.000,0.067,2554,595,3431
$GC,754,-0.86,-146.6,67.6,-9.5,33,760,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,2008,3431
$GC,1071,-0.86,-146.6,93.5,-8.4,49,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2008,3431
$GC,1380,-0.86,-146.6,116.5,-7.6,64,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2008,3431
$GC,1688,-0.86,-146.6,143.1,-8.9,79,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2009,3431
$GC,1997,-0.86,-146.6,170.5,-9.2,94,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2009,3431
$GC,2308,-0.86,-146.6,198.4,-8.9,109,2312,0.00,2.60,0.00,0.000,4,0.000,0.067,2554,582,3431
$GC,2348,-0.86,-146.6,201.7,-8.5,111,2352,0.00,2.53,0.00,0.000,6,0.000,0.054,2554,2000,3431
$GC,2675,-0.86,-146.6,226.0,-8.0,127,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2001,3431
$GC,2984,-0.86,-146.6,253.1,-8.9,142,2988,0.00,2.58,0.00,0.000,4,0.000,0.067,2554,594,3431
$GC,3034,-0.86,-146.6,257.8,-9.2,144,3038,0.00,2.50,0.00,0.000,6,0.000,0.052,2554,1998,3431
$GC,3350,-0.86,-146.6,283.5,-6.9,159,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1999,3431
$GC,3659,-0.86,-146.6,303.6,-6.3,174,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3431
$GC,3968,-0.86,-146.6,323.9,-6.6,189,3972,0.00,2.55,0.00,0.000,4,0.000,0.065,2554,3413,3431
$GC,4000,-0.86,-146.6,326.4,-7.5,190,4007,0.00,2.55,0.00,0.000,6,0.000,0.054,2554,1991,3431
$GC,4317,-0.86,-146.6,348.8,-7.0,206,4322,0.00,2.58,0.00,0.000,4,0.000,0.064,2554,3403,3431
$GC,4345,-0.86,-146.6,351.1,-7.6,207,4349,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,1994,3431
$GC,4661,-0.86,-146.6,371.1,-6.0,222,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1994,3431
$GC,4971,-0.86,-146.6,390.5,-6.7,237,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1993,3431
$GC,5279,-0.86,-146.6,412.2,-7.0,252,5283,0.00,2.50,0.00,0.000,4,0.000,0.066,2554,594,3431
$GC,5312,-0.86,-146.6,414.8,-8.2,253,5318,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,2015,3431
$GC,5629,-0.86,-146.6,434.8,-5.4,269,5633,0.00,2.60,0.00,0.000,4,0.000,0.068,2554,588,3431
$GC,5673,-0.86,-146.6,437.4,-5.8,271,5678,0.00,2.55,0.00,0.000,6,0.000,0.054,2554,2019,3431
$GC,5996,-0.86,-146.6,454.9,-6.7,287,6000,0.00,2.60,0.00,0.000,4,0.000,0.067,2554,594,3431
$GC,6108,-0.86,-146.6,463.3,-8.2,292,6113,0.00,2.50,0.00,0.000,6,0.000,0.054,2554,1998,3431
$GC,6430,-0.86,-146.6,487.0,-7.5,308,6434,0.00,2.55,0.00,0.000,4,0.000,0.068,2554,3409,3431
$GC,6520,-0.86,-146.6,495.1,-9.8,312,6524,0.00,2.55,0.00,0.000,6,0.000,0.058,2554,1997,3430
$GC,6840,-0.86,-146.6,521.0,-7.6,328,6845,0.00,2.55,0.00,0.000,4,0.000,0.072,2554,586,3430
$GC,6931,-0.86,-146.6,527.9,-7.6,332,6935,0.00,2.55,0.00,0.000,6,0.000,0.058,2554,2006,3430
$GC,7251,-0.86,-146.6,548.7,-6.4,348,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2007,3430
$GC,7561,-0.86,-146.6,569.8,-7.2,363,7565,0.00,2.58,0.00,0.000,4,0.000,0.077,2554,3408,3429
$GC,7606,-0.90,-146.6,573.2,-7.7,365,7610,0.00,2.58,0.00,0.000,6,0.000,0.066,2554,2003,3428
$GC,7927,-0.90,-146.6,599.6,-8.5,381,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2003,3428
$GC,8236,-0.90,-146.6,622.9,-6.6,396,8241,0.00,2.62,0.00,0.000,4,0.000,0.077,2554,3402,3427
$GC,8278,-0.94,-146.6,625.3,-6.3,398,8282,0.00,2.58,0.00,0.000,6,0.000,0.067,2554,2000,3427
$GC,8604,-0.94,-146.6,645.0,-6.1,414,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2000,3426
$GC,8913,-0.94,-146.6,663.4,-6.4,429,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2000,3425
$GC,9224,-0.94,-146.6,681.4,-5.7,444,9228,0.00,2.62,0.00,0.000,4,0.000,0.085,2554,583,3424
$GC,9264,-0.94,-146.6,684.1,-7.1,446,9268,0.00,2.60,0.00,0.000,6,0.000,0.071,2554,1997,3424
$GC,9591,-0.94,-146.6,704.2,-5.9,462,9595,0.00,2.62,0.00,0.000,4,0.000,0.084,2554,3405,3423
$GC,9625,-0.99,-146.6,706.2,-6.0,463,9632,0.12,2.60,0.00,0.000,6,0.072,0.073,2525,2008,3423
$GC,9941,-0.94,-146.6,726.7,-6.4,479,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2008,3422
$GC,10251,-0.89,-146.6,745.6,-6.3,494,10253,0.12,0.00,0.00,0.000,6,0.108,0.000,2550,2008,3421
$GC,10559,-0.89,-146.6,764.6,-6.5,509,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3421
$GC,10868,-0.89,-146.6,786.3,-7.3,524,10873,0.00,2.67,0.00,0.000,4,0.000,0.086,2550,3411,3419
$GC,10919,-0.89,-146.6,790.1,-7.3,526,10923,0.00,2.62,0.00,0.000,6,0.000,0.075,2550,2001,3419
$GC,11235,-0.89,-146.6,812.2,-6.8,541,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2001,3418
$GC,11544,-0.89,-146.6,831.8,-6.2,556,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2001,3417
$GC,11855,-0.89,-146.6,849.8,-5.7,571,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2001,3416
$GC,12163,-0.89,-146.6,868.3,-6.0,586,12168,0.00,2.70,0.00,0.000,4,0.000,0.092,2550,3412,3415
$GC,12203,-0.94,-146.6,870.6,-5.3,588,12208,0.00,2.65,0.00,0.000,6,0.000,0.079,2550,2005,3414
$GC,12531,-0.94,-146.6,890.0,-6.1,604,12535,0.00,2.67,0.00,0.000,4,0.000,0.093,2550,584,3415
$GC,12563,-0.94,-146.6,892.1,-6.8,605,12570,0.00,2.65,0.00,0.000,6,0.000,0.077,2550,2008,3414
$GC,12881,-0.94,-146.6,910.9,-5.7,621,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3413
$GC,13189,-0.94,-146.6,928.9,-5.9,636,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2009,3413
$GC,13498,-0.94,-146.6,945.9,-5.3,651,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2009,3412
$GC,13809,-0.94,-146.6,961.6,-5.3,666,13813,0.00,2.72,0.00,0.000,4,0.000,0.097,2550,593,3411
$GC,13841,-0.94,-146.6,963.8,-6.4,667,13848,0.00,2.65,0.00,0.000,6,0.000,0.080,2550,2005,3411
$GC,14157,-0.94,-146.6,983.0,-6.5,683,14158,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2006,3411
$STATE,14278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14278,begin apogee
$GC,14286,-0.33,0.0,990.8,5.6,689,14424,0.57,0.00,135.12,1.645,6,0.088,0.000,2669,2130,2832
$STATE,14425,end apogee,CONTROL_FINISHED_OK
$STATE,14425,begin climb
$GC,14428,0.97,146.6,996.5,0.0,696,14589,1.38,2.78,142.70,1.557,4,0.074,0.091,2956,3532,2234
$GC,14701,0.76,146.6,982.6,7.1,709,14706,0.22,2.70,0.00,0.000,6,0.103,0.081,2913,2129,2234
$GC,15023,0.69,146.6,963.3,6.3,725,15027,0.00,2.72,0.00,0.000,4,0.000,0.094,2913,702,2233
$GC,15068,0.62,146.6,960.3,6.8,727,15073,0.17,2.67,0.00,0.000,6,0.100,0.077,2879,2122,2233
$GC,15390,0.72,184.9,943.9,5.0,743,15430,0.10,0.00,36.92,1.552,6,0.075,0.000,2903,2121,2078
$GC,15739,0.72,184.9,921.8,6.7,760,15741,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,2078
$GC,16048,0.72,184.9,900.7,7.1,775,16052,0.00,2.75,0.00,0.000,4,0.000,0.093,2903,704,2078
$GC,16075,0.72,184.9,898.3,7.5,776,16079,0.00,2.67,0.00,0.000,6,0.000,0.078,2903,2117,2078
$GC,16392,0.72,184.9,875.3,7.3,791,16393,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2117,2078
$GC,16700,0.72,184.9,852.1,7.6,806,16705,0.00,2.72,0.00,0.000,4,0.000,0.093,2903,710,2078
$GC,16728,0.72,184.9,849.7,9.3,807,16732,0.00,2.65,0.00,0.000,6,0.000,0.077,2903,2116,2078
$GC,17044,0.72,184.9,827.2,6.8,822,17045,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2115,2078
$GC,17354,0.72,184.9,804.9,7.5,837,17355,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2115,2078
$GC,17662,0.72,184.9,782.8,7.2,852,17663,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2115,2078
$GC,17971,0.72,184.9,761.0,6.9,867,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2115,2077
$GC,18281,0.72,184.9,740.1,6.6,882,18283,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2115,2077
$GC,18590,0.72,184.9,720.9,6.2,897,18591,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2115,2077
$GC,18899,0.72,184.9,701.1,6.1,912,18904,0.00,2.72,0.00,0.000,4,0.000,0.093,2903,704,2077
$GC,18934,0.74,198.2,698.9,5.6,913,18954,0.00,2.65,13.60,1.384,6,0.000,0.077,2903,2117,2023
$GC,19271,0.74,198.2,678.3,6.2,930,19275,0.00,2.70,0.00,0.000,4,0.000,0.089,2903,3534,2023
$GC,19298,0.74,198.2,676.3,6.3,931,19302,0.00,2.70,0.00,0.000,6,0.000,0.075,2903,2107,2023
$GC,19615,0.74,198.2,655.9,6.5,946,19616,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2106,2023
$GC,19923,0.74,198.2,637.4,6.2,961,19928,0.00,2.75,0.00,0.000,4,0.000,0.087,2903,3535,2023
$GC,19963,0.74,198.2,634.4,6.9,963,19967,0.00,2.67,0.00,0.000,6,0.000,0.074,2903,2112,2023
$GC,20290,0.74,198.2,612.3,6.5,979,20291,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2112,2023
$GC,20599,0.81,238.5,595.1,4.9,994,20639,0.00,0.00,37.60,1.388,6,0.000,0.000,2903,2112,1859
$GC,20950,0.96,290.8,579.4,4.6,1011,21000,0.22,0.00,47.85,1.366,6,0.063,0.000,2957,2112,1646
$GC,21298,0.91,290.8,553.1,8.0,1028,21302,0.00,2.65,0.00,0.000,4,0.000,0.087,2957,707,1647
$GC,21325,0.85,290.8,550.4,9.7,1029,21330,0.15,2.65,0.00,0.000,6,0.098,0.073,2929,2121,1647
$GC,21642,0.85,290.8,525.0,8.4,1044,21646,0.00,2.70,0.00,0.000,4,0.000,0.084,2929,706,1648
$GC,21674,0.85,290.8,521.9,8.4,1045,21681,0.00,2.62,0.00,0.000,6,0.000,0.072,2929,2112,1648
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$STATE,28367,end climb,SURFACE_DEPTH_REACHED
$STATE,28367,begin surface coast
$FINISH,0.6,1.027387
$STATE,28410,end surface coast,CONTROL_FINISHED_OK
$STATE,28410,begin surface
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$HUMID,1785
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$XPDR_PINGS,59
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$24V_AH,23.3,67.260
$10V_AH,10.1,33.325
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$DEVICE_SECS,25.375,193.725,428.175,0.000,0.000,37.764,27.777,200.947,23.750,0.000,0.000,11.535,2426.733,22406.945,630.562,2696.578,734.579,0.000,1961.287,0.000,2643.251,0.000,60.140,0.000
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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,69530,1372
$CAP_FILE_SIZE,188518,0
$CFSIZE,254472192,228294656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,59,2,0
$GPS,300109,054101,6025.124,-711.812,39,1.5,39,-7.9