version: 66.04
glider: 5
mission: 5
dive: 385
start: 1 30 109 5 48 21
data:
$ID,5
$MISSION,5
$DIVE,385
$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,-94937.398
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,054101,6025.124,-711.812,39,1.5,39,-7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-53.2
$GPS2,054802,6025.071,-711.900,11,1.7,11,-7.9
$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,350.7,9557,-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,-81.57,0.000,2,0.000,0.000,421,1985,3278
$GC,103,-0.97,-146.6,4.6,-5.6,4,126,10.85,2.53,-3.70,0.000,4,0.131,0.076,2528,592,3432
$GC,379,-0.86,-146.6,36.9,-8.0,16,384,0.12,2.53,0.00,0.000,6,0.094,0.052,2554,2007,3432
$GC,701,-0.86,-146.6,57.8,-6.6,32,706,0.00,2.60,0.00,0.000,4,0.000,0.064,2554,583,3432
$GC,876,-0.86,-146.6,70.3,-6.8,40,880,0.00,2.53,0.00,0.000,6,0.000,0.052,2554,2000,3433
$GC,1204,-0.86,-146.6,92.9,-6.7,56,1208,0.00,2.53,0.00,0.000,4,0.000,0.062,2554,3411,3433
$GC,1236,-0.86,-146.6,95.4,-7.3,57,1243,0.00,2.53,0.00,0.000,6,0.000,0.049,2555,1995,3433
$GC,1554,-0.86,-146.6,118.4,-7.8,73,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1995,3432
$GC,1863,-0.86,-146.6,139.7,-5.9,88,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1995,3433
$GC,2171,-0.86,-146.6,163.4,-8.0,103,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1995,3433
$GC,2480,-0.86,-146.6,186.8,-7.4,118,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1994,3433
$GC,2790,-0.86,-146.6,210.9,-7.6,133,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1995,3433
$GC,3098,-0.86,-146.6,234.7,-8.0,148,3103,0.00,2.58,0.00,0.000,4,0.000,0.062,2554,3408,3433
$GC,3143,-0.86,-146.6,238.5,-8.2,150,3147,0.00,2.53,0.00,0.000,6,0.000,0.050,2554,1991,3433
$GC,3465,-0.86,-146.6,265.7,-8.8,166,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1991,3433
$GC,3773,-0.86,-146.6,289.5,-7.0,181,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1991,3433
$GC,4083,-0.86,-146.6,311.4,-7.4,196,4087,0.00,2.58,0.00,0.000,4,0.000,0.063,2554,3403,3433
$GC,4123,-0.86,-146.6,314.7,-8.6,198,4127,0.00,2.50,0.00,0.000,6,0.000,0.051,2554,2001,3433
$GC,4449,-0.86,-146.6,340.8,-7.5,214,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3433
$GC,4759,-0.86,-146.6,363.7,-7.3,229,4763,0.00,2.58,0.00,0.000,4,0.000,0.064,2553,3409,3432
$GC,4800,-0.86,-146.6,366.8,-8.2,231,4804,0.00,2.50,0.00,0.000,6,0.000,0.052,2554,2008,3433
$GC,5127,-0.86,-146.6,392.7,-7.9,247,5131,0.00,2.53,0.00,0.000,4,0.000,0.064,2554,592,3432
$GC,5171,-0.86,-146.6,396.9,-9.9,249,5175,0.00,2.50,0.00,0.000,6,0.000,0.051,2554,2001,3432
$GC,5495,-0.86,-146.6,425.3,-8.9,265,5499,0.00,2.53,0.00,0.000,4,0.000,0.066,2554,3404,3433
$GC,5562,-0.86,-146.6,431.9,-9.6,268,5567,0.00,2.47,0.00,0.000,6,0.000,0.054,2554,2024,3433
$GC,5884,-0.86,-146.6,454.8,-6.6,284,5888,0.00,2.58,0.00,0.000,4,0.000,0.067,2554,586,3432
$GC,5928,-0.86,-146.6,457.8,-6.5,286,5933,0.00,2.55,0.00,0.000,6,0.000,0.054,2554,2020,3432
$GC,6250,-0.86,-146.6,479.2,-7.0,302,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2023,3433
$GC,6559,-0.86,-146.6,499.5,-6.0,317,6564,0.00,2.53,0.00,0.000,4,0.000,0.069,2554,3412,3432
$GC,6634,-0.86,-146.6,503.6,-5.0,320,6638,0.00,2.47,0.00,0.000,6,0.000,0.057,2554,2038,3432
$GC,6950,-0.86,-146.6,520.0,-5.7,335,6954,0.00,2.62,0.00,0.000,4,0.000,0.071,2554,583,3432
$GC,6995,-0.86,-146.6,522.8,-6.8,337,6999,0.00,2.60,0.00,0.000,6,0.000,0.058,2554,2031,3432
$GC,7316,-0.86,-146.6,544.1,-7.1,353,7320,0.00,2.53,0.00,0.000,4,0.000,0.074,2553,3406,3432
$GC,7365,-0.86,-146.6,548.0,-7.9,355,7370,0.00,2.50,0.00,0.000,6,0.000,0.063,2553,2039,3431
$GC,7682,-0.86,-146.6,570.4,-7.1,370,7686,0.00,2.65,0.00,0.000,4,0.000,0.077,2554,586,3431
$GC,7715,-0.86,-146.6,573.0,-8.2,371,7721,0.00,2.62,0.00,0.000,6,0.000,0.063,2554,2033,3431
$GC,8030,-0.86,-146.6,596.2,-7.6,387,8035,0.00,2.70,0.00,0.000,4,0.000,0.079,2554,587,3430
$GC,8082,-0.86,-146.6,600.2,-8.0,389,8086,0.00,2.62,0.00,0.000,6,0.000,0.065,2554,2027,3430
$GC,8398,-0.86,-146.6,623.2,-7.3,404,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2028,3429
$GC,8707,-0.86,-146.6,645.0,-7.0,419,8711,0.00,2.70,0.00,0.000,4,0.000,0.082,2554,589,3428
$GC,8741,-0.86,-146.6,647.5,-7.4,420,8747,0.00,2.60,0.00,0.000,6,0.000,0.067,2553,2013,3428
$GC,9057,-0.86,-146.6,669.5,-7.0,436,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2014,3427
$GC,9366,-0.86,-146.6,691.4,-7.1,451,9370,0.00,2.60,0.00,0.000,4,0.000,0.084,2554,3407,3426
$GC,9406,-0.86,-146.6,694.3,-7.9,453,9411,0.00,2.62,0.00,0.000,6,0.000,0.072,2554,1996,3425
$GC,9732,-0.86,-146.6,716.4,-6.5,469,9737,0.00,2.62,0.00,0.000,4,0.000,0.088,2553,585,3424
$GC,9777,-0.86,-146.6,719.3,-6.3,471,9781,0.00,2.62,0.00,0.000,6,0.000,0.072,2554,2009,3425
$GC,10099,-0.86,-146.6,738.3,-5.7,487,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2009,3424
$GC,10407,-0.86,-146.6,756.2,-5.9,502,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2009,3422
$GC,10719,-0.91,-146.6,775.2,-6.4,517,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2009,3422
$GC,11027,-0.95,-146.6,796.6,-7.1,532,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2009,3420
$GC,11335,-0.99,-146.6,818.7,-7.2,547,11337,0.12,0.00,0.00,0.000,6,0.071,0.000,2523,2008,3420
$GC,11645,-0.95,-146.6,844.8,-8.5,562,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2009,3419
$GC,11953,-0.95,-146.6,871.9,-8.6,577,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2009,3418
$GC,12263,-0.95,-146.6,897.2,-7.8,592,12267,0.00,2.65,0.00,0.000,4,0.000,0.092,2523,3408,3417
$GC,12304,-0.95,-146.6,900.3,-8.5,594,12308,0.00,2.67,0.00,0.000,6,0.000,0.081,2523,1993,3417
$GC,12631,-0.95,-146.6,926.2,-7.8,610,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1992,3416
$GC,12940,-0.95,-146.6,950.1,-7.7,625,12945,0.00,2.72,0.00,0.000,4,0.000,0.092,2523,3411,3415
$GC,13003,-0.95,-146.6,955.2,-8.6,628,13008,0.00,2.65,0.00,0.000,6,0.000,0.080,2523,2002,3415
$GC,13329,-0.95,-146.6,983.3,-8.9,644,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2001,3414
$STATE,13409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13409,begin apogee
$GC,13417,-0.33,0.0,990.2,8.4,648,13577,0.70,0.00,141.98,1.585,6,0.091,0.000,2668,2132,2832
$STATE,13578,end apogee,CONTROL_FINISHED_OK
$STATE,13578,begin climb
$GC,13581,0.97,146.6,999.2,0.0,656,13732,1.33,2.78,140.27,1.580,4,0.074,0.091,2948,3521,2234
$GC,13842,0.79,155.3,991.6,5.8,668,13858,0.17,2.67,9.98,1.355,6,0.102,0.080,2916,2124,2198
$GC,14171,0.74,164.4,973.6,5.8,683,14187,0.00,0.00,10.25,1.372,6,0.000,0.000,2916,2124,2162
$GC,14498,0.68,164.4,953.8,6.2,699,14500,0.12,0.00,0.00,0.000,6,0.110,0.000,2893,2124,2161
$GC,14806,0.73,195.6,937.9,5.1,714,14839,0.00,0.00,30.67,1.546,6,0.000,0.000,2893,2124,2034
$GC,15137,0.80,209.2,919.3,5.6,730,15161,0.12,0.00,16.48,1.332,6,0.071,0.000,2922,2124,1979
$GC,15465,0.80,209.2,896.7,7.0,746,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2124,1979
$GC,15774,0.81,210.5,877.4,6.0,761,15779,0.00,2.72,0.00,0.000,4,0.000,0.089,2922,3528,1979
$GC,15802,0.81,210.5,875.4,6.8,762,15807,0.00,2.65,0.00,0.000,6,0.000,0.077,2922,2131,1979
$GC,16118,0.81,210.5,851.7,7.7,777,16119,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2132,1979
$GC,16427,0.81,210.5,828.9,7.1,792,16428,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2132,1979
$GC,16737,0.81,210.5,808.2,6.6,807,16739,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2131,1978
$GC,17046,0.81,210.5,787.6,6.4,822,17047,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2131,1978
$GC,17355,0.85,238.8,770.5,5.2,837,17386,0.00,0.00,28.77,1.486,6,0.000,0.000,2923,2131,1858
$GC,17686,0.95,299.8,755.4,4.3,853,17745,0.12,0.00,56.65,1.484,6,0.071,0.000,2952,2131,1609
$GC,18055,0.90,299.8,728.0,8.8,871,18056,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2131,1609
$GC,18364,0.85,299.8,699.6,9.0,886,18366,0.12,0.00,0.00,0.000,6,0.100,0.000,2930,2131,1609
$GC,18674,0.85,299.8,676.0,7.4,901,18678,0.00,2.70,0.00,0.000,4,0.000,0.085,2930,3535,1609
$GC,18706,0.85,299.8,673.0,9.3,902,18712,0.00,2.65,0.00,0.000,6,0.000,0.073,2930,2127,1609
$GC,19023,0.85,299.8,646.4,8.6,918,19025,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2127,1609
$GC,19332,0.85,299.8,620.3,8.4,933,19337,0.00,2.65,0.00,0.000,4,0.000,0.084,2930,710,1609
$GC,19365,0.85,299.8,617.2,8.4,934,19372,0.00,2.65,0.00,0.000,6,0.000,0.072,2930,2132,1608
$GC,19681,0.85,299.8,592.0,7.2,950,19682,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2133,1608
$GC,19991,0.85,299.8,568.9,8.0,965,19993,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2133,1609
$GC,20300,0.85,299.8,543.4,8.3,980,20304,0.00,2.67,0.00,0.000,4,0.000,0.083,2930,710,1609
$GC,20339,0.85,299.8,540.0,9.1,982,20344,0.00,2.65,0.00,0.000,6,0.000,0.070,2930,2140,1609
$GC,20666,0.85,299.8,514.3,7.3,998,20671,0.00,2.60,0.00,0.000,4,0.000,0.080,2930,3537,1609
$GC,20700,0.90,299.8,511.8,7.0,999,20706,0.00,2.62,0.00,0.000,6,0.000,0.068,2930,2124,1609
$GC,21016,0.90,299.8,489.1,7.3,1015,21020,0.00,2.67,0.00,0.000,4,0.000,0.079,2930,3534,1610
$GC,21050,0.96,299.8,486.3,8.3,1016,21057,0.10,2.58,0.00,0.000,6,0.071,0.066,2955,2141,1610
$GC,21366,0.96,299.8,462.3,6.6,1032,21370,0.00,2.62,0.00,0.000,4,0.000,0.077,2955,3534,1610
$GC,21387,0.96,299.8,460.9,6.5,1033,21392,0.00,2.55,0.00,0.000,6,0.000,0.064,2955,2148,1610
$GC,21710,0.91,299.8,429.0,10.2,1049,21714,0.00,2.62,0.00,0.000,4,0.000,0.074,2955,711,1610
$GC,21759,0.91,299.8,424.2,11.0,1051,21764,0.00,2.65,0.00,0.000,6,0.000,0.062,2955,2167,1610
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$STATE,26770,end climb,SURFACE_DEPTH_REACHED
$STATE,26770,begin surface coast
$FINISH,0.4,1.014818
$STATE,26813,end surface coast,CONTROL_FINISHED_OK
$STATE,26813,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1797
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$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,975.9,81.6
$24V_AH,23.3,67.469
$10V_AH,10.1,33.437
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$DEVICE_SECS,24.925,187.300,438.900,0.000,0.000,37.755,35.517,193.630,24.250,0.000,0.000,11.582,2304.375,21049.740,640.821,2584.883,722.561,0.000,1919.246,0.000,2531.240,0.000,60.149,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,960.392,878.133,705.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66317,1296
$CAP_FILE_SIZE,178846,0
$CFSIZE,254472192,228220928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,58,4,0
$GPS,300109,131755,6028.033,-711.263,40,2.0,40,-7.9