version: 66.04
glider: 5
mission: 5
dive: 390
start: 1 31 109 21 28 26
data:
$ID,5
$MISSION,5
$DIVE,390
$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,-95023.43
$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,33
$R_STBD_OVSHOOT,24
$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,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,211807,6033.225,-726.528,31,1.2,31,-8.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-60.1
$GPS2,212807,6032.984,-726.517,12,1.1,12,-8.1
$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,0.0,22475,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.88,0.000,2,0.000,0.000,424,1975,3395
$GC,123,-0.97,-146.6,4.8,-4.1,5,145,10.98,2.55,-0.80,0.000,4,0.135,0.073,2525,601,3432
$GC,398,-0.86,-146.6,41.7,-10.0,17,403,0.15,2.50,0.00,0.000,6,0.089,0.051,2556,2005,3433
$GC,721,-0.86,-146.6,68.8,-8.2,33,725,0.00,2.58,0.00,0.000,4,0.000,0.062,2556,590,3433
$GC,822,-0.86,-146.6,78.1,-8.7,37,828,0.00,2.53,0.00,0.000,6,0.000,0.051,2556,2012,3433
$GC,1138,-0.86,-146.6,104.3,-8.2,53,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2012,3433
$GC,1447,-0.86,-146.6,130.2,-8.3,68,1452,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,598,3433
$GC,1511,-0.86,-146.6,136.0,-9.1,71,1515,0.00,2.50,0.00,0.000,6,0.000,0.051,2556,2005,3433
$GC,1837,-0.86,-146.6,163.1,-8.0,87,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2007,3433
$GC,2147,-0.86,-146.6,187.6,-7.8,102,2151,0.00,2.58,0.00,0.000,4,0.000,0.064,2557,592,3433
$GC,2181,-0.86,-146.6,190.4,-8.9,103,2187,0.00,2.50,0.00,0.000,6,0.000,0.051,2556,2000,3433
$GC,2496,-0.86,-146.6,215.5,-8.0,119,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2000,3433
$GC,2805,-0.86,-146.6,240.7,-8.0,134,2810,0.00,2.55,0.00,0.000,4,0.000,0.064,2557,598,3433
$GC,2834,-0.86,-146.6,243.0,-8.6,135,2838,0.00,2.47,0.00,0.000,6,0.000,0.051,2556,1997,3433
$GC,3150,-0.86,-146.6,267.4,-7.5,150,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1997,3433
$GC,3459,-0.86,-146.6,290.3,-6.8,165,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3433
$GC,3769,-0.86,-146.6,312.0,-7.0,180,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2000,3433
$GC,4077,-0.86,-146.6,335.0,-7.8,195,4082,0.00,2.55,0.00,0.000,4,0.000,0.065,2556,601,3433
$GC,4111,-0.86,-146.6,337.9,-8.6,196,4117,0.00,2.47,0.00,0.000,6,0.000,0.051,2556,1998,3433
$GC,4427,-0.86,-146.6,361.1,-7.3,212,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1998,3433
$GC,4736,-0.86,-146.6,382.7,-6.9,227,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3433
$GC,5045,-0.86,-146.6,406.0,-7.6,242,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1998,3433
$GC,5355,-0.86,-146.6,428.9,-7.4,257,5359,0.00,2.55,0.00,0.000,4,0.000,0.066,2556,598,3433
$GC,5394,-0.86,-146.6,432.0,-7.9,259,5399,0.00,2.47,0.00,0.000,6,0.000,0.052,2556,1994,3432
$GC,5721,-0.86,-146.6,455.4,-6.8,275,5726,0.00,2.53,0.00,0.000,4,0.000,0.064,2556,3410,3433
$GC,5785,-0.86,-146.6,459.7,-7.1,278,5789,0.00,2.50,0.00,0.000,6,0.000,0.054,2557,2015,3432
$GC,6111,-0.86,-146.6,477.0,-4.6,294,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2015,3432
$GC,6420,-0.86,-146.6,492.2,-6.6,309,6425,0.00,2.55,0.00,0.000,4,0.000,0.065,2556,587,3432
$GC,6494,-0.86,-146.6,499.0,-10.2,312,6498,0.00,2.53,0.00,0.000,6,0.000,0.054,2556,2007,3432
$GC,6810,-0.86,-146.6,534.0,-10.6,327,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2014,3432
$GC,7119,-0.86,-146.6,563.9,-6.8,342,7123,0.00,2.53,0.00,0.000,4,0.000,0.069,2556,3403,3432
$GC,7159,-0.86,-146.6,566.1,-6.5,344,7164,0.00,2.55,0.00,0.000,6,0.000,0.057,2556,1990,3432
$GC,7486,-0.86,-146.6,589.4,-8.3,360,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1988,3432
$GC,7796,-0.86,-146.6,610.4,-7.2,375,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1988,3431
$GC,8105,-0.86,-146.6,635.6,-7.2,390,8109,0.00,2.65,0.00,0.000,4,0.000,0.072,2556,3410,3430
$GC,8138,-0.91,-146.6,639.0,-9.6,391,8144,0.00,2.62,0.00,0.000,6,0.000,0.064,2556,1974,3430
$GC,8455,-0.96,-146.6,665.5,-9.1,407,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1960,3429
$GC,8763,-0.96,-146.6,683.4,-5.1,422,8768,0.00,2.67,0.00,0.000,4,0.000,0.077,2556,3402,3429
$GC,8830,-1.00,-146.6,687.1,-6.3,425,8835,0.15,2.58,0.00,0.000,6,0.064,0.066,2519,2000,3428
$GC,9154,-0.92,-146.6,697.6,-2.8,441,9159,0.10,2.65,0.00,0.000,4,0.103,0.077,2539,3407,3428
$GC,9232,-0.92,-146.6,701.8,-5.1,444,9238,0.00,2.55,0.00,0.000,6,0.000,0.067,2539,2019,3428
$GC,9549,-0.92,-146.6,720.5,-6.0,460,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2019,3426
$GC,9857,-0.92,-146.6,740.0,-5.1,475,9862,0.00,2.62,0.00,0.000,4,0.000,0.082,2539,3408,3425
$GC,9925,-0.92,-146.6,743.5,-4.9,478,9929,0.00,2.55,0.00,0.000,6,0.000,0.070,2539,2028,3425
$GC,10247,-0.92,-146.6,760.7,-5.8,494,10251,0.00,2.65,0.00,0.000,4,0.000,0.083,2539,591,3424
$GC,10309,-0.92,-146.6,764.6,-6.6,497,10313,0.00,2.62,0.00,0.000,6,0.000,0.070,2539,2022,3424
$GC,10636,-0.92,-146.6,784.1,-5.6,513,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2024,3423
$GC,10946,-0.92,-146.6,802.1,-5.7,528,10950,0.00,2.72,0.00,0.000,4,0.000,0.087,2539,585,3422
$GC,10990,-0.92,-146.6,804.7,-5.9,530,10994,0.00,2.65,0.00,0.000,6,0.000,0.073,2539,2020,3422
$GC,11313,-0.92,-146.6,824.3,-5.9,546,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2021,3421
$GC,11621,-0.92,-146.6,842.4,-5.9,561,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2021,3420
$GC,11930,-0.92,-146.6,858.7,-5.2,576,11934,0.00,2.75,0.00,0.000,4,0.000,0.092,2539,583,3419
$GC,11980,-0.92,-146.6,862.4,-7.5,578,11985,0.00,2.67,0.00,0.000,6,0.000,0.076,2539,2021,3418
$GC,12297,-0.92,-146.6,881.1,-5.7,593,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2021,3417
$GC,12606,-0.92,-146.6,900.4,-6.4,608,12611,0.00,2.75,0.00,0.000,4,0.000,0.093,2539,586,3416
$GC,12651,-0.92,-146.6,903.9,-8.4,610,12656,0.00,2.65,0.00,0.000,6,0.000,0.077,2539,2006,3416
$GC,12972,-0.92,-146.6,926.2,-6.3,626,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2007,3415
$GC,13281,-0.92,-146.6,946.0,-6.5,641,13286,0.00,2.72,0.00,0.000,4,0.000,0.096,2539,593,3415
$GC,13326,-0.92,-146.6,949.1,-7.4,643,13331,0.00,2.65,0.00,0.000,6,0.000,0.078,2539,2010,3414
$GC,13647,-0.92,-146.6,969.0,-6.1,659,13649,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2010,3414
$GC,13957,-0.92,-146.6,988.9,-6.8,674,13962,0.00,2.75,0.00,0.000,4,0.000,0.097,2539,585,3414
$STATE,13976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13976,begin apogee
$GC,13985,-0.33,0.0,990.1,4.9,675,14125,0.60,0.00,136.25,1.629,6,0.093,0.000,2666,2129,2832
$STATE,14125,end apogee,CONTROL_FINISHED_OK
$STATE,14126,begin climb
$GC,14129,0.97,146.6,994.3,0.0,682,14275,1.40,2.85,138.20,1.576,4,0.076,0.096,2955,715,2233
$GC,14297,0.73,146.6,987.8,6.8,690,14304,0.28,2.70,0.00,0.000,6,0.100,0.077,2903,2125,2233
$GC,14613,0.73,146.6,969.6,6.1,706,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,2232
$GC,14924,0.75,163.2,951.3,5.5,721,14942,0.00,0.00,16.75,1.459,6,0.000,0.000,2903,2125,2166
$GC,15253,0.76,166.7,932.5,5.9,737,15262,0.00,0.00,5.40,1.170,6,0.000,0.000,2903,2124,2152
$GC,15585,0.76,166.7,912.8,6.1,753,15590,0.00,2.75,0.00,0.000,4,0.000,0.095,2903,710,2151
$GC,15636,0.76,166.7,908.9,8.1,755,15640,0.00,2.67,0.00,0.000,6,0.000,0.078,2903,2124,2151
$GC,15951,0.76,166.7,887.0,6.6,770,15956,0.00,2.70,0.00,0.000,4,0.000,0.091,2903,3537,2152
$GC,15979,0.76,166.7,885.1,7.2,771,15984,0.00,2.70,0.00,0.000,6,0.000,0.080,2903,2119,2151
$GC,16296,0.76,166.7,864.8,6.5,786,16300,0.00,2.70,0.00,0.000,4,0.000,0.095,2903,704,2152
$GC,16340,0.76,166.7,861.9,6.2,788,16344,0.00,2.67,0.00,0.000,6,0.000,0.078,2903,2122,2152
$GC,16661,0.79,186.7,843.4,5.5,804,16683,0.00,0.00,20.12,1.493,6,0.000,0.000,2903,2121,2070
$GC,16991,0.79,186.7,823.6,6.0,820,16992,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,2069
$GC,17299,0.79,186.7,803.9,6.2,835,17304,0.00,2.75,0.00,0.000,4,0.000,0.094,2903,704,2070
$GC,17333,0.79,186.7,801.7,6.3,836,17339,0.00,2.67,0.00,0.000,6,0.000,0.077,2903,2121,2069
$GC,17650,0.81,199.5,781.4,5.7,852,17668,0.00,0.00,13.27,1.420,6,0.000,0.000,2903,2121,2018
$GC,17979,0.83,209.2,761.9,5.7,868,17995,0.00,2.80,10.82,1.372,4,0.000,0.092,2903,706,1978
$GC,18023,0.83,211.8,758.9,5.9,869,18033,0.10,2.67,4.10,0.986,6,0.074,0.077,2929,2110,1968
$GC,18350,0.83,211.8,736.3,6.7,885,18351,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2110,1967
$GC,18658,0.83,211.8,716.0,6.7,900,18659,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2110,1967
$GC,18968,0.83,211.8,693.7,7.4,915,18973,0.00,2.70,0.00,0.000,4,0.000,0.093,2929,713,1968
$GC,19026,0.78,211.8,688.8,8.7,917,19032,0.00,2.62,0.00,0.000,6,0.000,0.076,2929,2109,1967
$GC,19342,0.78,211.8,663.7,8.2,933,19346,0.00,2.70,0.00,0.000,4,0.000,0.092,2929,712,1967
$GC,19387,0.73,211.8,659.6,9.4,935,19392,0.12,2.60,0.00,0.000,6,0.106,0.076,2904,2096,1967
$GC,19709,0.73,211.8,634.9,7.6,951,19713,0.00,2.67,0.00,0.000,4,0.000,0.090,2904,708,1967
$GC,19742,0.73,211.8,632.3,7.7,952,19748,0.00,2.58,0.00,0.000,6,0.000,0.075,2904,2080,1967
$GC,20059,0.78,211.8,607.2,8.1,968,20063,0.00,2.72,0.00,0.000,4,0.000,0.086,2904,3534,1967
$GC,20103,0.78,211.8,603.3,8.5,970,20107,0.00,2.75,0.00,0.000,6,0.000,0.074,2904,2068,1967
$GC,20424,0.82,211.8,576.7,7.9,986,20426,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2068,1967
$GC,20735,0.87,211.8,553.2,7.0,1001,20740,0.12,2.55,0.00,0.000,4,0.068,0.088,2936,712,1967
$GC,20768,0.80,211.8,550.3,9.1,1002,20774,0.00,2.55,0.00,0.000,6,0.000,0.072,2936,2079,1967
$GC,21084,0.75,211.8,527.3,7.0,1018,21086,0.12,0.00,0.00,0.000,6,0.100,0.000,2910,2080,1967
$GC,21394,0.78,229.7,510.4,5.5,1033,21417,0.00,2.67,17.08,1.260,4,0.000,0.082,2910,707,1895
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$STATE,28353,end climb,SURFACE_DEPTH_REACHED
$STATE,28353,begin surface coast
$FINISH,0.5,1.015152
$STATE,28416,end surface coast,CONTROL_FINISHED_OK
$STATE,28416,begin surface
$SM_CCo,28500,0.00,0.000,0,0,1722,272.04
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1797
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$XPDR_PINGS,55
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$24V_AH,23.3,68.552
$10V_AH,10.1,34.028
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$DEVICE_SECS,25.350,215.925,409.025,0.000,0.000,75.524,55.556,251.819,22.750,0.000,0.000,11.970,2441.877,22403.270,638.319,2734.730,866.589,0.000,1995.942,0.000,2679.729,0.000,59.823,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.475,928.765,735.413,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69447,1371
$CAP_FILE_SIZE,193935,0
$CFSIZE,254472192,227778560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,68,0,0
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