version: 66.04
glider: 5
mission: 5
dive: 386
start: 1 30 109 13 25 14
data:
$ID,5
$MISSION,5
$DIVE,386
$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,-94951.039
$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,28
$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
$GPS1,131755,6028.033,-711.263,40,2.0,40,-7.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-59.1
$GPS2,132455,6028.042,-711.290,13,1.9,13,-7.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_4
$TGT_LATLONG,6045.000,-730.000
$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,339.6,35680,-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,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-80.38,0.000,2,0.000,0.000,423,1969,3192
$GC,102,-0.97,-146.6,3.9,-4.1,4,126,10.90,2.60,-6.12,0.000,4,0.133,0.075,2524,590,3430
$GC,379,-0.85,-146.6,33.5,-8.9,16,384,0.15,2.53,0.00,0.000,6,0.092,0.052,2557,2003,3430
$GC,701,-0.85,-146.6,59.7,-7.9,32,706,0.00,2.58,0.00,0.000,4,0.000,0.066,2557,596,3431
$GC,841,-0.85,-146.6,71.5,-7.8,38,846,0.00,2.50,0.00,0.000,6,0.000,0.051,2557,2002,3431
$GC,1158,-0.85,-146.6,96.4,-8.4,53,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2003,3431
$GC,1467,-0.85,-146.6,122.5,-8.2,68,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2003,3430
$GC,1776,-0.85,-146.6,146.6,-7.5,83,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2003,3430
$GC,2086,-0.85,-146.6,169.2,-7.3,98,2090,0.00,2.58,0.00,0.000,4,0.000,0.067,2557,588,3431
$GC,2130,-0.85,-146.6,172.6,-8.1,100,2134,0.00,2.50,0.00,0.000,6,0.000,0.052,2557,2001,3430
$GC,2457,-0.85,-146.6,196.6,-7.3,116,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2002,3430
$GC,2767,-0.85,-146.6,219.6,-7.8,131,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2002,3430
$GC,3076,-0.85,-146.6,243.2,-7.2,146,3080,0.00,2.58,0.00,0.000,4,0.000,0.067,2557,591,3431
$GC,3125,-0.85,-146.6,247.2,-8.2,148,3130,0.00,2.50,0.00,0.000,6,0.000,0.052,2557,2000,3431
$GC,3442,-0.85,-146.6,270.4,-7.5,163,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2000,3430
$GC,3750,-0.85,-146.6,291.6,-6.7,178,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2000,3430
$GC,4060,-0.85,-146.6,309.9,-5.5,193,4064,0.00,2.58,0.00,0.000,4,0.000,0.066,2557,592,3431
$GC,4093,-0.85,-146.6,311.9,-6.0,194,4099,0.00,2.50,0.00,0.000,6,0.000,0.053,2557,2000,3431
$GC,4409,-0.85,-146.6,330.8,-6.2,210,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2003,3431
$GC,4719,-0.85,-146.6,347.2,-5.2,225,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2003,3431
$GC,5028,-0.85,-146.6,365.8,-6.4,240,5033,0.00,2.53,0.00,0.000,4,0.000,0.064,2557,3405,3431
$GC,5073,-0.85,-146.6,368.6,-6.2,242,5077,0.00,2.53,0.00,0.000,6,0.000,0.054,2557,1992,3431
$GC,5394,-0.85,-146.6,387.1,-5.7,258,5399,0.00,2.58,0.00,0.000,4,0.000,0.064,2557,3402,3431
$GC,5461,-0.85,-146.6,391.1,-6.6,261,5466,0.00,2.53,0.00,0.000,6,0.000,0.052,2557,1991,3431
$GC,5783,-0.85,-146.6,410.4,-6.4,277,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1990,3431
$GC,6093,-0.85,-146.6,430.9,-6.9,292,6097,0.00,2.53,0.00,0.000,4,0.000,0.067,2557,584,3431
$GC,6171,-0.85,-146.6,436.5,-7.2,295,6177,0.00,2.50,0.00,0.000,6,0.000,0.055,2556,1990,3431
$GC,6487,-0.85,-146.6,457.4,-6.6,311,6491,0.00,2.60,0.00,0.000,4,0.000,0.072,2557,587,3431
$GC,6537,-0.85,-146.6,461.2,-7.7,313,6542,0.00,2.50,0.00,0.000,6,0.000,0.058,2557,1981,3431
$GC,6853,-0.85,-146.6,484.9,-7.8,328,6857,0.00,2.60,0.00,0.000,4,0.000,0.072,2557,3409,3431
$GC,6903,-0.90,-146.6,489.1,-8.6,330,6908,0.00,2.60,0.00,0.000,6,0.000,0.063,2557,1983,3431
$GC,7220,-0.90,-146.6,511.9,-6.9,345,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1981,3430
$GC,7528,-0.90,-146.6,531.7,-6.3,360,7532,0.00,2.55,0.00,0.000,4,0.000,0.077,2557,584,3429
$GC,7555,-0.90,-146.6,533.6,-6.7,361,7559,0.00,2.55,0.00,0.000,6,0.000,0.064,2556,1992,3429
$GC,7872,-0.90,-146.6,553.9,-6.6,376,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1992,3428
$GC,8183,-0.90,-146.6,575.9,-7.2,391,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1992,3427
$GC,8491,-0.90,-146.6,595.4,-5.8,406,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1992,3426
$GC,8800,-0.90,-146.6,613.2,-6.5,421,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1993,3425
$GC,9109,-0.94,-146.6,634.7,-6.7,436,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1992,3424
$GC,9418,-0.94,-146.6,656.4,-7.0,451,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1993,3423
$GC,9728,-0.99,-146.6,677.1,-6.5,466,9730,0.12,0.00,0.00,0.000,6,0.071,0.000,2525,1993,3422
$GC,10037,-0.94,-146.6,698.9,-6.7,481,10041,0.00,2.65,0.00,0.000,4,0.000,0.088,2525,3401,3421
$GC,10064,-0.90,-146.6,700.8,-7.0,482,10069,0.10,2.65,0.00,0.000,6,0.117,0.077,2544,1990,3421
$GC,10383,-0.90,-146.6,718.8,-5.6,497,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1990,3420
$GC,10689,-0.90,-146.6,739.0,-6.8,512,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1990,3419
$GC,10999,-0.90,-146.6,760.3,-6.7,527,11000,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1990,3418
$GC,11308,-0.90,-146.6,781.7,-7.0,542,11312,0.00,2.70,0.00,0.000,4,0.000,0.088,2544,3402,3417
$GC,11363,-0.90,-146.6,785.7,-7.0,544,11369,0.00,2.65,0.00,0.000,6,0.000,0.076,2544,1988,3417
$GC,11680,-0.90,-146.6,805.8,-6.3,560,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1988,3416
$GC,11989,-0.90,-146.6,825.7,-6.6,575,11993,0.00,2.70,0.00,0.000,4,0.000,0.087,2544,3402,3415
$GC,12021,-0.90,-146.6,828.2,-7.7,576,12027,0.00,2.65,0.00,0.000,6,0.000,0.076,2544,1991,3415
$GC,12338,-0.90,-146.6,849.1,-6.2,592,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1990,3414
$GC,12646,-0.90,-146.6,870.8,-7.4,607,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1990,3413
$GC,12955,-0.90,-146.6,893.0,-7.8,622,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1990,3413
$GC,13266,-0.90,-146.6,916.3,-7.5,637,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1990,3413
$GC,13574,-0.90,-146.6,937.7,-7.2,652,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1990,3412
$GC,13883,-0.90,-146.6,962.2,-7.8,667,13888,0.00,2.70,0.00,0.000,4,0.000,0.089,2544,3401,3411
$GC,13940,-0.90,-146.6,966.1,-6.6,669,13946,0.00,2.65,0.00,0.000,6,0.000,0.078,2544,1995,3411
$GC,14256,-0.90,-146.6,986.3,-7.4,685,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1994,3411
$STATE,14315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14315,begin apogee
$GC,14322,-0.33,0.0,991.0,7.9,688,14489,0.62,0.00,143.95,1.577,6,0.093,0.000,2672,2124,2832
$STATE,14490,end apogee,CONTROL_FINISHED_OK
$STATE,14490,begin climb
$GC,14494,0.97,146.6,998.4,0.0,696,14646,1.33,2.83,141.52,1.585,4,0.079,0.091,2949,715,2234
$GC,14715,0.78,150.2,991.3,5.9,706,14728,0.17,2.67,5.07,1.101,6,0.104,0.077,2917,2121,2219
$GC,15039,0.78,190.1,974.5,4.9,722,15090,0.00,2.80,40.83,1.474,4,0.000,0.089,2917,3540,2056
$GC,15121,0.72,190.1,970.5,6.4,726,15126,0.00,2.72,0.00,0.000,6,0.000,0.081,2917,2132,2056
$GC,15448,0.72,190.1,949.2,6.3,742,15449,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2132,2056
$GC,15757,0.69,193.8,929.0,5.9,757,15769,0.12,2.78,5.43,1.183,4,0.106,0.090,2894,3541,2041
$GC,15799,0.69,193.8,926.5,6.5,759,15803,0.00,2.70,0.00,0.000,6,0.000,0.080,2893,2134,2041
$GC,16125,0.78,250.5,908.9,4.5,775,16192,0.00,2.83,55.22,1.524,4,0.000,0.092,2893,717,1810
$GC,16217,0.85,250.5,904.5,6.4,779,16222,0.17,2.72,0.00,0.000,6,0.064,0.077,2935,2141,1809
$GC,16538,0.81,250.5,881.1,7.3,795,16543,0.00,2.67,0.00,0.000,4,0.000,0.090,2935,3540,1811
$GC,16566,0.81,250.5,878.7,8.3,796,16570,0.00,2.67,0.00,0.000,6,0.000,0.080,2935,2141,1811
$GC,16883,0.81,250.5,858.3,6.0,811,16887,0.00,2.75,0.00,0.000,4,0.000,0.094,2935,703,1811
$GC,16916,0.75,250.5,855.8,6.4,812,16923,0.12,2.72,0.00,0.000,6,0.106,0.078,2910,2140,1811
$GC,17232,0.84,304.2,840.3,4.5,828,17285,0.00,0.00,50.58,1.541,6,0.000,0.000,2911,2140,1592
$GC,17583,0.98,346.2,823.2,4.8,845,17629,0.20,2.88,39.22,1.508,4,0.064,0.092,2962,717,1420
$GC,17652,0.91,346.2,817.9,8.9,848,17656,0.00,2.72,0.00,0.000,6,0.000,0.077,2962,2140,1419
$GC,17974,0.87,346.2,792.8,8.0,864,17976,0.15,0.00,0.00,0.000,6,0.097,0.000,2933,2140,1419
$GC,18282,0.87,346.2,773.4,6.2,879,18286,0.00,2.78,0.00,0.000,4,0.000,0.093,2933,707,1419
$GC,18331,0.87,346.2,769.5,7.8,881,18336,0.00,2.70,0.00,0.000,6,0.000,0.077,2933,2137,1419
$GC,18648,0.87,346.2,746.8,7.1,896,18653,0.00,2.78,0.00,0.000,4,0.000,0.094,2933,704,1418
$GC,18676,0.87,346.2,744.6,8.1,897,18680,0.00,2.67,0.00,0.000,6,0.000,0.077,2933,2123,1418
$GC,18991,0.87,346.2,723.5,6.1,912,18996,0.00,2.75,0.00,0.000,4,0.000,0.094,2933,704,1418
$GC,19019,0.87,346.2,721.5,6.9,913,19024,0.00,2.65,0.00,0.000,6,0.000,0.077,2933,2108,1419
$GC,19335,0.91,346.2,703.0,6.0,928,19337,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2108,1418
$GC,19645,0.96,346.2,683.5,6.4,943,19649,0.00,2.70,0.00,0.000,4,0.000,0.094,2933,710,1419
$GC,19701,0.96,346.2,679.4,7.3,945,19707,0.00,2.62,0.00,0.000,6,0.000,0.077,2933,2108,1418
$GC,20017,1.00,346.2,658.3,6.9,961,20019,0.15,0.00,0.00,0.000,6,0.066,0.000,2970,2108,1418
$GC,20327,0.95,346.2,633.1,7.9,976,20328,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2109,1418
$GC,20636,0.90,346.2,606.3,8.7,991,20638,0.15,0.00,0.00,0.000,6,0.096,0.000,2940,2109,1418
$GC,20945,0.90,346.2,584.8,6.6,1006,20949,0.00,2.67,0.00,0.000,4,0.000,0.089,2940,711,1418
$GC,20984,0.90,346.2,582.2,6.1,1008,20988,0.00,2.60,0.00,0.000,6,0.000,0.074,2940,2103,1418
$GC,21311,0.90,346.2,557.2,8.9,1024,21316,0.00,2.67,0.00,0.000,4,0.000,0.087,2940,711,1419
$GC,21339,0.90,346.2,554.6,9.8,1025,21343,0.00,2.58,0.00,0.000,6,0.000,0.071,2940,2097,1419
$GC,21655,0.95,346.2,531.1,7.7,1040,21656,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2107,1419
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$STATE,28146,end climb,SURFACE_DEPTH_REACHED
$STATE,28146,begin surface coast
$FINISH,0.3,1.027392
$STATE,28202,end surface coast,CONTROL_FINISHED_OK
$STATE,28202,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1780
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$XPDR_PINGS,65
$ALTIM_BOTTOM_PING,976.1,66.7
$24V_AH,23.3,67.716
$10V_AH,10.0,33.555
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$DEVICE_SECS,26.975,210.075,561.300,0.000,0.000,37.754,27.960,205.402,25.500,0.000,0.000,13.019,2412.861,22066.568,730.099,2736.704,747.668,0.000,2123.679,0.000,2675.822,0.000,63.085,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.760,916.437,706.166,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69480,1354
$CAP_FILE_SIZE,196860,0
$CFSIZE,254472192,228114432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,58,6,0
$GPS,300109,211754,6030.146,-719.194,36,2.0,36,-8.0