version: 66.04
glider: 5
mission: 5
dive: 387
start: 1 30 109 21 24 51
data:
$ID,5
$MISSION,5
$DIVE,387
$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,-94964.992
$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,45
$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
$GPS1,211754,6030.146,-719.194,36,2.0,36,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-53.4
$GPS2,212432,6030.127,-719.231,13,1.9,13,-8.0
$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,348.5,29218,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-118.32,0.000,6,0.000,0.000,425,1996,3430
$GC,142,-0.97,-146.6,6.3,-6.1,6,158,10.93,2.58,0.00,0.000,4,0.133,0.064,2527,3394,3430
$GC,394,-0.89,-146.6,43.5,-10.8,16,399,0.10,2.50,0.00,0.000,6,0.100,0.049,2548,1997,3431
$GC,713,-0.83,-146.6,61.8,-4.5,31,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1979,3431
$GC,1020,-0.76,-146.6,84.9,-11.2,46,1025,0.15,2.53,0.00,0.000,4,0.085,0.062,2579,585,3432
$GC,1083,-0.83,-146.6,90.2,-6.6,49,1088,0.00,2.47,0.00,0.000,6,0.000,0.053,2579,1977,3432
$GC,1413,-0.83,-146.6,114.0,-8.5,65,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1998,3431
$GC,1720,-0.83,-146.6,133.6,-6.2,80,1724,0.00,2.55,0.00,0.000,4,0.000,0.065,2579,588,3431
$GC,1771,-0.88,-146.6,137.3,-7.1,82,1776,0.12,2.53,0.00,0.000,6,0.055,0.052,2545,2006,3432
$GC,2087,-0.82,-146.6,163.7,-9.0,97,2092,0.00,2.58,0.00,0.000,4,0.000,0.067,2545,597,3431
$GC,2132,-0.82,-146.6,167.7,-8.5,99,2137,0.10,2.50,0.00,0.000,6,0.097,0.053,2564,2002,3431
$GC,2454,-0.82,-146.6,186.9,-6.0,115,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2008,3431
$GC,2762,-0.82,-146.6,209.4,-7.1,130,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2008,3431
$GC,3071,-0.82,-146.6,231.1,-7.2,145,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2008,3431
$GC,3382,-0.82,-146.6,252.8,-6.5,160,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2008,3431
$GC,3690,-0.82,-146.6,273.3,-6.9,175,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2008,3431
$GC,3999,-0.82,-146.6,296.7,-7.6,190,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2008,3431
$GC,4309,-0.82,-146.6,321.4,-7.9,205,4314,0.00,2.58,0.00,0.000,4,0.000,0.067,2564,589,3431
$GC,4355,-0.82,-146.6,325.2,-8.9,207,4359,0.00,2.50,0.00,0.000,6,0.000,0.053,2564,1995,3431
$GC,4676,-0.82,-146.6,349.4,-7.4,223,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1996,3431
$GC,4986,-0.82,-146.6,371.7,-7.2,238,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1996,3431
$GC,5294,-0.82,-146.6,393.4,-7.1,253,5298,0.00,2.55,0.00,0.000,4,0.000,0.065,2564,3413,3431
$GC,5321,-0.82,-146.6,395.7,-7.9,254,5325,0.00,2.55,0.00,0.000,6,0.000,0.054,2564,1994,3431
$GC,5638,-0.82,-146.6,418.6,-6.8,269,5642,0.00,2.53,0.00,0.000,4,0.000,0.067,2564,581,3431
$GC,5671,-0.82,-146.6,421.1,-7.3,270,5675,0.00,2.53,0.00,0.000,6,0.000,0.053,2564,2004,3431
$GC,5987,-0.82,-146.6,437.9,-4.8,285,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2005,3431
$GC,6297,-0.82,-146.6,451.9,-4.8,300,6301,0.00,2.58,0.00,0.000,4,0.000,0.067,2564,592,3431
$GC,6330,-0.82,-146.6,453.7,-5.5,301,6336,0.00,2.47,0.00,0.000,6,0.000,0.054,2564,1986,3431
$GC,6646,-0.82,-146.6,470.4,-5.5,317,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1987,3431
$GC,6956,-0.82,-146.6,490.3,-7.1,332,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1987,3431
$GC,7264,-0.82,-146.6,512.4,-7.5,347,7269,0.00,2.55,0.00,0.000,4,0.000,0.067,2564,3403,3431
$GC,7298,-0.82,-146.6,515.1,-7.9,348,7304,0.00,2.55,0.00,0.000,6,0.000,0.055,2564,1984,3431
$GC,7615,-0.89,-146.6,535.1,-5.7,364,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1971,3431
$GC,7923,-0.93,-146.6,552.8,-6.1,379,7928,0.12,2.62,0.00,0.000,4,0.059,0.064,2529,3410,3431
$GC,7997,-0.88,-146.6,557.9,-6.6,382,8002,0.12,2.55,0.00,0.000,6,0.094,0.056,2554,1991,3431
$GC,8314,-0.88,-146.6,575.0,-5.5,397,8318,0.00,2.60,0.00,0.000,4,0.000,0.066,2555,3409,3431
$GC,8386,-0.93,-146.6,579.1,-6.1,400,8391,0.00,2.58,0.00,0.000,6,0.000,0.058,2554,1984,3431
$GC,8703,-0.93,-146.6,596.7,-6.0,415,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1984,3430
$GC,9012,-0.93,-146.6,617.1,-5.9,430,9016,0.00,2.62,0.00,0.000,4,0.000,0.071,2554,3405,3429
$GC,9119,-0.93,-146.6,624.7,-6.1,435,9124,0.00,2.55,0.00,0.000,6,0.000,0.061,2554,1997,3429
$GC,9453,-0.93,-146.6,640.5,-5.1,451,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1996,3428
$GC,9762,-0.93,-146.6,656.4,-5.4,466,9766,0.00,2.62,0.00,0.000,4,0.000,0.077,2554,3402,3427
$GC,9807,-0.98,-146.6,659.1,-6.1,468,9812,0.00,2.58,0.00,0.000,6,0.000,0.064,2555,1997,3427
$GC,10129,-0.98,-146.6,677.2,-6.2,484,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3426
$GC,10438,-0.98,-146.6,696.5,-6.2,499,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3426
$GC,10748,-0.98,-146.6,714.4,-5.4,514,10753,0.00,2.65,0.00,0.000,4,0.000,0.082,2555,3402,3425
$GC,10782,-1.02,-146.6,716.3,-5.6,515,10789,0.15,2.58,0.00,0.000,6,0.064,0.069,2517,2003,3424
$GC,11100,-0.95,-146.6,735.6,-6.4,531,11104,0.00,2.62,0.00,0.000,4,0.000,0.084,2517,584,3423
$GC,11156,-0.87,-146.6,740.1,-8.3,533,11162,0.17,2.60,0.00,0.000,6,0.094,0.070,2552,2001,3423
$GC,11472,-0.87,-146.6,758.3,-5.8,549,11476,0.00,2.67,0.00,0.000,4,0.000,0.086,2553,586,3422
$GC,11506,-0.87,-146.6,760.4,-7.0,550,11512,0.00,2.60,0.00,0.000,6,0.000,0.071,2553,2000,3422
$GC,11822,-0.87,-146.6,781.3,-6.6,566,11826,0.00,2.62,0.00,0.000,4,0.000,0.085,2552,3408,3420
$GC,11872,-0.92,-146.6,784.8,-6.8,568,11877,0.00,2.62,0.00,0.000,6,0.000,0.073,2552,1999,3420
$GC,12189,-0.92,-146.6,803.8,-5.6,583,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1999,3419
$GC,12498,-0.97,-146.6,819.3,-4.4,598,12502,0.00,2.65,0.00,0.000,4,0.000,0.094,2553,591,3419
$GC,12525,-0.97,-146.6,820.6,-4.3,599,12530,0.00,2.62,0.00,0.000,6,0.000,0.075,2552,2004,3419
$GC,12842,-0.97,-146.6,836.8,-5.7,614,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3418
$GC,13150,-0.97,-146.6,855.8,-6.7,629,13155,0.00,2.65,0.00,0.000,4,0.000,0.091,2552,3409,3417
$GC,13192,-1.01,-146.6,858.7,-7.2,631,13197,0.15,2.65,0.00,0.000,6,0.072,0.077,2517,1999,3416
$GC,13521,-0.96,-146.6,888.7,-9.9,647,13526,0.00,2.67,0.00,0.000,4,0.000,0.097,2517,588,3415
$GC,13577,-0.88,-146.6,895.1,-10.6,649,13584,0.17,2.65,0.00,0.000,6,0.103,0.078,2551,2007,3415
$GC,13894,-0.88,-146.6,918.4,-6.1,665,13895,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2007,3415
$GC,14202,-0.88,-146.6,933.4,-4.9,680,14204,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2007,3414
$GC,14513,-0.92,-146.6,951.9,-6.2,695,14517,0.00,2.65,0.00,0.000,4,0.000,0.093,2551,3408,3414
$GC,14546,-0.97,-146.6,954.2,-6.5,696,14552,0.00,2.65,0.00,0.000,6,0.000,0.079,2551,2002,3414
$GC,14866,-0.97,-146.6,975.6,-7.0,712,14871,0.00,2.70,0.00,0.000,4,0.000,0.100,2551,585,3413
$GC,14911,-1.03,-146.6,979.9,-9.7,714,14917,0.15,2.65,0.00,0.000,6,0.071,0.077,2515,2005,3413
$STATE,15045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15045,begin apogee
$GC,15052,-0.33,0.0,990.2,6.2,721,15191,0.75,0.00,135.68,1.638,6,0.092,0.000,2668,2129,2832
$STATE,15192,end apogee,CONTROL_FINISHED_OK
$STATE,15192,begin climb
$GC,15195,0.97,146.6,993.3,0.0,728,15347,1.35,0.00,142.10,1.557,6,0.079,0.000,2952,2128,2234
$GC,15649,0.79,146.6,965.4,8.3,750,15654,0.17,2.78,0.00,0.000,4,0.100,0.097,2914,713,2233
$GC,15683,0.73,146.6,962.6,7.2,751,15690,0.00,2.65,0.00,0.000,6,0.000,0.078,2914,2113,2233
$GC,16000,0.67,146.6,945.8,6.1,767,16001,0.12,0.00,0.00,0.000,6,0.103,0.000,2890,2113,2233
$GC,16309,0.80,226.9,929.9,3.8,782,16389,0.12,0.00,74.80,1.567,6,0.070,0.000,2921,2113,1905
$GC,16701,0.80,226.9,906.4,7.2,801,16702,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2113,1907
$GC,17007,0.80,226.9,884.5,7.1,816,17012,0.00,2.72,0.00,0.000,4,0.000,0.096,2922,714,1907
$GC,17035,0.80,226.9,882.4,7.6,817,17039,0.00,2.65,0.00,0.000,6,0.000,0.078,2921,2116,1907
$GC,17351,0.80,226.9,856.6,8.1,832,17355,0.00,2.70,0.00,0.000,4,0.000,0.091,2921,3532,1907
$GC,17372,0.80,226.9,854.9,7.8,833,17377,0.00,2.72,0.00,0.000,6,0.000,0.078,2921,2100,1907
$GC,17693,0.80,226.9,828.0,8.5,849,17694,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2100,1907
$GC,18003,0.80,226.9,800.5,9.4,864,18008,0.00,2.78,0.00,0.000,4,0.000,0.088,2922,3534,1907
$GC,18036,0.80,226.9,797.1,9.3,865,18043,0.00,2.67,0.00,0.000,6,0.000,0.077,2921,2114,1907
$GC,18352,0.80,226.9,769.0,8.0,881,18353,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2114,1907
$GC,18662,0.80,226.9,744.3,7.7,896,18663,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2114,1907
$GC,18971,0.82,238.9,724.1,5.7,911,18992,0.00,2.85,12.82,1.396,4,0.000,0.089,2921,3531,1857
$GC,19032,0.82,238.9,719.9,6.9,913,19038,0.00,2.70,0.00,0.000,6,0.000,0.076,2922,2114,1856
$GC,19348,0.82,238.9,700.7,6.2,929,19353,0.00,2.67,0.00,0.000,4,0.000,0.095,2921,710,1856
$GC,19376,0.82,238.9,698.7,6.4,930,19380,0.00,2.65,0.00,0.000,6,0.000,0.076,2922,2119,1856
$GC,19691,0.82,238.9,679.0,6.4,945,19692,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2119,1856
$GC,20001,0.82,238.9,656.2,8.1,960,20006,0.00,2.70,0.00,0.000,4,0.000,0.091,2921,714,1856
$GC,20029,0.82,238.9,653.7,8.9,961,20034,0.00,2.62,0.00,0.000,6,0.000,0.075,2921,2120,1856
$GC,20346,0.82,238.9,626.7,8.8,976,20351,0.00,2.67,0.00,0.000,4,0.000,0.087,2921,3531,1855
$GC,20374,0.82,238.9,623.9,9.4,977,20379,0.00,2.62,0.00,0.000,6,0.000,0.074,2921,2110,1856
$GC,20690,0.82,238.9,595.3,9.4,992,20691,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2110,1856
$GC,20999,0.82,238.9,568.9,8.3,1007,21004,0.00,2.72,0.00,0.000,4,0.000,0.084,2921,3534,1856
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$STATE,28397,end climb,SURFACE_DEPTH_REACHED
$STATE,28397,begin surface coast
$FINISH,0.4,1.027347
$STATE,28441,end surface coast,CONTROL_FINISHED_OK
$STATE,28441,begin surface
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$10V_AH,10.1,33.673
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$DEVICE_SECS,26.650,240.625,436.750,0.000,0.000,37.759,28.352,180.496,24.750,0.000,0.000,13.326,2455.330,22289.145,691.039,2732.374,740.719,0.000,2074.434,0.000,2672.654,0.000,60.122,0.000
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$DATA_FILE_SIZE,69541,1365
$CAP_FILE_SIZE,201287,0
$CFSIZE,254472192,228024320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,74,1,0
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