version: 66.04
glider: 5
mission: 5
dive: 391
start: 2 1 109 5 35 51
data:
$ID,5
$MISSION,5
$DIVE,391
$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,-95059.852
$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,18
$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
$GPS1,052454,6032.104,-723.870,33,1.0,50,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-57.3
$GPS2,053531,6032.021,-723.802,35,1.1,35,-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,354.9,24684,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.90,0.000,6,0.000,0.000,421,1997,3430
$GC,102,-0.97,-146.6,5.8,-6.7,4,118,11.05,2.55,0.00,0.000,4,0.135,0.058,2527,582,3430
$GC,370,-0.85,-146.6,40.1,-8.4,15,375,0.15,2.55,0.00,0.000,6,0.094,0.053,2557,2010,3431
$GC,694,-0.85,-146.6,63.7,-7.3,31,698,0.00,2.60,0.00,0.000,4,0.000,0.066,2558,585,3432
$GC,757,-0.85,-146.6,68.9,-8.9,34,761,0.00,2.55,0.00,0.000,6,0.000,0.054,2557,2005,3432
$GC,1085,-0.85,-146.6,95.2,-8.5,50,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2006,3431
$GC,1393,-0.85,-146.6,120.0,-7.4,65,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2006,3431
$GC,1703,-0.85,-146.6,142.1,-7.2,80,1707,0.00,2.60,0.00,0.000,4,0.000,0.066,2557,583,3431
$GC,1736,-0.85,-146.6,144.6,-7.1,81,1742,0.00,2.53,0.00,0.000,6,0.000,0.053,2558,2001,3431
$GC,2051,-0.85,-146.6,168.8,-8.6,97,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2002,3431
$GC,2361,-0.85,-146.6,192.7,-7.5,112,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2002,3431
$GC,2670,-0.85,-146.6,217.5,-8.3,127,2674,0.00,2.58,0.00,0.000,4,0.000,0.067,2557,584,3431
$GC,2719,-0.85,-146.6,221.9,-9.5,129,2724,0.00,2.50,0.00,0.000,6,0.000,0.052,2557,1991,3432
$GC,3036,-0.85,-146.6,246.9,-7.4,144,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1992,3432
$GC,3344,-0.85,-146.6,270.4,-7.8,159,3349,0.00,2.58,0.00,0.000,4,0.000,0.069,2558,583,3432
$GC,3385,-0.85,-146.6,273.7,-8.5,161,3389,0.00,2.50,0.00,0.000,6,0.000,0.054,2558,1986,3431
$GC,3712,-0.85,-146.6,298.3,-7.4,177,3716,0.00,2.55,0.00,0.000,4,0.000,0.064,2557,3406,3431
$GC,3738,-0.85,-146.6,300.6,-8.7,178,3743,0.00,2.58,0.00,0.000,6,0.000,0.054,2557,1972,3431
$GC,4054,-0.85,-146.6,324.1,-7.0,193,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1972,3432
$GC,4364,-0.85,-146.6,344.5,-6.0,208,4369,0.00,2.62,0.00,0.000,4,0.000,0.064,2557,3413,3431
$GC,4437,-0.85,-146.6,349.2,-6.4,211,4441,0.00,2.58,0.00,0.000,6,0.000,0.054,2557,1976,3432
$GC,4754,-0.85,-146.6,370.2,-7.2,226,4758,0.00,2.50,0.00,0.000,4,0.000,0.068,2557,585,3432
$GC,4787,-0.85,-146.6,372.9,-7.8,227,4793,0.00,2.50,0.00,0.000,6,0.000,0.054,2558,1991,3431
$GC,5103,-0.85,-146.6,395.2,-6.8,243,5107,0.00,2.55,0.00,0.000,4,0.000,0.067,2557,3402,3431
$GC,5142,-0.85,-146.6,397.7,-7.0,245,5147,0.00,2.55,0.00,0.000,6,0.000,0.055,2557,1983,3431
$GC,5471,-0.85,-146.6,420.2,-7.0,261,5475,0.00,2.60,0.00,0.000,4,0.000,0.065,2558,3402,3431
$GC,5515,-0.85,-146.6,423.6,-6.9,263,5519,0.00,2.50,0.00,0.000,6,0.000,0.052,2557,2003,3431
$GC,5836,-0.85,-146.6,447.4,-7.7,279,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2003,3431
$GC,6145,-0.85,-146.6,472.4,-7.7,294,6149,0.00,2.53,0.00,0.000,4,0.000,0.068,2557,597,3432
$GC,6222,-0.85,-146.6,478.3,-7.8,297,6229,0.00,2.47,0.00,0.000,6,0.000,0.055,2557,1987,3431
$GC,6540,-0.85,-146.6,497.2,-6.0,313,6544,0.00,2.55,0.00,0.000,4,0.000,0.071,2557,597,3431
$GC,6583,-0.85,-146.6,500.6,-8.1,315,6587,0.00,2.47,0.00,0.000,6,0.000,0.055,2557,1983,3431
$GC,6904,-0.85,-146.6,521.0,-6.2,331,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1984,3431
$GC,7215,-0.89,-146.6,539.3,-5.6,346,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1984,3430
$GC,7523,-0.89,-146.6,554.9,-5.1,361,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1984,3430
$GC,7832,-0.89,-146.6,573.2,-5.4,376,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1992,3429
$GC,8143,-0.95,-146.6,592.1,-9.0,391,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2004,3428
$GC,8451,-0.95,-146.6,616.0,-9.7,406,8455,0.00,2.62,0.00,0.000,4,0.000,0.081,2557,3410,3427
$GC,8495,-1.02,-146.6,620.1,-9.5,408,8501,0.17,2.65,0.00,0.000,6,0.064,0.071,2516,1979,3427
$GC,8820,-0.93,-146.6,656.4,-12.3,424,8825,0.12,2.58,0.00,0.000,4,0.103,0.084,2540,588,3426
$GC,8853,-0.93,-146.6,660.4,-10.7,425,8860,0.00,2.55,0.00,0.000,6,0.000,0.070,2540,1981,3426
$GC,9170,-0.93,-146.6,679.2,-6.1,441,9175,0.00,2.65,0.00,0.000,4,0.000,0.083,2540,3405,3425
$GC,9233,-0.93,-146.6,684.0,-8.8,444,9237,0.00,2.65,0.00,0.000,6,0.000,0.073,2539,1979,3424
$GC,9559,-0.93,-146.6,713.7,-9.2,460,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1979,3423
$GC,9869,-0.93,-146.6,740.7,-8.9,475,9874,0.00,2.72,0.00,0.000,4,0.000,0.086,2540,3413,3422
$GC,9909,-0.93,-146.6,744.4,-9.2,477,9913,0.00,2.67,0.00,0.000,6,0.000,0.075,2540,1981,3422
$GC,10235,-0.93,-146.6,770.3,-7.4,493,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1981,3421
$GC,10545,-0.93,-146.6,793.8,-7.6,508,10550,0.00,2.72,0.00,0.000,4,0.000,0.087,2540,3413,3420
$GC,10612,-0.93,-146.6,799.1,-7.8,511,10616,0.00,2.67,0.00,0.000,6,0.000,0.076,2540,1987,3419
$GC,10933,-0.93,-146.6,823.3,-8.3,527,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1985,3419
$GC,11242,-0.93,-146.6,846.9,-6.7,542,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1985,3418
$GC,11551,-0.93,-146.6,874.0,-9.9,557,11555,0.00,2.72,0.00,0.000,4,0.000,0.089,2540,3412,3417
$GC,11585,-0.93,-146.6,877.4,-9.5,558,11591,0.00,2.67,0.00,0.000,6,0.000,0.077,2540,1987,3417
$GC,11902,-0.93,-146.6,902.6,-7.6,574,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1987,3415
$GC,12212,-0.93,-146.6,925.7,-8.1,589,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1987,3415
$GC,12520,-0.93,-146.6,944.5,-7.4,604,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1987,3414
$GC,12829,-0.93,-146.6,970.7,-8.5,619,12833,0.00,2.72,0.00,0.000,4,0.000,0.090,2540,3409,3414
$GC,12856,-0.98,-146.6,973.1,-7.7,620,12861,0.00,2.65,0.00,0.000,6,0.000,0.077,2540,1997,3414
$STATE,13087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13087,begin apogee
$GC,13095,-0.33,0.0,991.7,7.8,631,13234,0.62,0.00,135.62,1.631,6,0.087,0.000,2669,2127,2832
$STATE,13235,end apogee,CONTROL_FINISHED_OK
$STATE,13235,begin climb
$GC,13238,0.97,146.6,998.0,0.0,638,13390,1.35,2.80,139.15,1.574,4,0.074,0.090,2953,3526,2234
$GC,13436,0.79,155.6,991.2,5.8,647,13453,0.20,2.70,10.50,1.353,6,0.103,0.079,2915,2121,2197
$GC,13764,0.81,207.1,975.3,4.6,663,13816,0.00,0.00,50.20,1.524,6,0.000,0.000,2916,2121,1987
$GC,14116,0.81,207.2,954.4,6.0,680,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2121,1988
$GC,14424,0.82,214.8,935.0,5.8,695,14435,0.00,0.00,9.32,1.361,6,0.000,0.000,2916,2121,1956
$GC,14733,0.82,214.8,915.5,6.7,710,14738,0.00,2.75,0.00,0.000,4,0.000,0.091,2916,3530,1956
$GC,14761,0.82,214.8,913.4,7.6,711,14766,0.00,2.67,0.00,0.000,6,0.000,0.079,2916,2123,1956
$GC,15077,0.82,214.8,894.0,6.2,726,15082,0.00,2.70,0.00,0.000,4,0.000,0.092,2916,706,1956
$GC,15111,0.84,228.2,891.9,5.6,727,15131,0.00,2.70,14.18,1.460,6,0.000,0.077,2916,2135,1901
$GC,15449,0.84,229.3,873.5,6.0,744,15450,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2135,1900
$GC,15757,0.85,231.7,855.4,5.9,759,15763,0.00,0.00,4.82,1.128,6,0.000,0.000,2916,2135,1887
$GC,16067,0.85,231.7,836.1,6.3,774,16068,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2135,1886
$GC,16375,0.87,248.2,816.5,5.5,789,16395,0.00,0.00,16.42,1.460,6,0.000,0.000,2916,2135,1820
$GC,16705,0.88,248.9,797.1,6.0,805,16706,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2135,1820
$GC,17015,0.91,273.7,779.3,5.3,820,17046,0.12,2.83,24.80,1.473,4,0.068,0.090,2946,712,1716
$GC,17069,0.85,273.7,775.4,7.8,822,17073,0.00,2.70,0.00,0.000,6,0.000,0.077,2947,2125,1715
$GC,17385,0.80,273.7,752.7,7.3,837,17387,0.15,0.00,0.00,0.000,6,0.099,0.000,2917,2125,1716
$GC,17695,0.85,273.7,731.3,6.5,852,17696,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2125,1716
$GC,18003,0.89,273.7,711.6,7.0,867,18004,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2125,1716
$GC,18313,0.89,274.7,693.0,6.0,882,18318,0.00,2.72,0.00,0.000,4,0.000,0.091,2917,707,1715
$GC,18341,0.89,274.7,691.1,7.2,883,18346,0.08,2.67,0.00,0.000,6,0.081,0.077,2940,2127,1715
$GC,18656,0.89,274.7,667.2,7.8,898,18661,0.00,2.67,0.00,0.000,4,0.000,0.087,2940,3537,1716
$GC,18702,0.89,274.7,663.6,8.1,900,18707,0.00,2.65,0.00,0.000,6,0.000,0.077,2940,2138,1716
$GC,19025,0.89,274.7,633.2,10.3,916,19026,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2138,1716
$GC,19333,0.89,274.7,602.5,9.5,931,19337,0.00,2.70,0.00,0.000,4,0.000,0.088,2940,704,1716
$GC,19372,0.89,274.7,598.0,11.9,933,19377,0.00,2.72,0.00,0.000,6,0.000,0.074,2940,2162,1716
$GC,19700,0.89,274.7,566.5,8.9,949,19704,0.00,2.58,0.00,0.000,4,0.000,0.084,2940,3531,1716
$GC,19749,0.89,274.7,562.1,8.5,951,19754,0.00,2.55,0.00,0.000,6,0.000,0.070,2940,2160,1716
$GC,20066,0.89,274.7,538.1,7.9,966,20071,0.00,2.70,0.00,0.000,4,0.000,0.083,2940,710,1716
$GC,20106,0.89,274.7,534.5,8.5,968,20111,0.00,2.67,0.00,0.000,6,0.000,0.069,2940,2157,1716
$GC,20433,0.89,274.7,508.8,7.5,984,20437,0.00,2.58,0.00,0.000,4,0.000,0.079,2940,3539,1716
$GC,20513,0.89,274.7,503.1,7.1,987,20519,0.00,2.53,0.00,0.000,6,0.000,0.064,2940,2171,1716
$GC,20829,0.89,274.7,484.0,6.1,1003,20833,0.00,2.67,0.00,0.000,4,0.000,0.075,2940,712,1717
$GC,20884,0.89,274.7,480.1,7.1,1005,20890,0.00,2.65,0.00,0.000,6,0.000,0.062,2940,2168,1716
$GC,21201,0.89,274.7,458.3,7.2,1021,21205,0.00,2.70,0.00,0.000,4,0.000,0.073,2939,713,1718
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$STATE,27261,end climb,SURFACE_DEPTH_REACHED
$STATE,27261,begin surface coast
$FINISH,0.6,1.014515
$STATE,27303,end surface coast,CONTROL_FINISHED_OK
$STATE,27303,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1792
$TCM_TEMP,16.90
$XPDR_PINGS,68
$ALTIM_BOTTOM_PING,975.3,83.9
$24V_AH,23.1,68.756
$10V_AH,10.1,34.144
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$DEVICE_SECS,25.325,209.350,409.075,0.000,0.000,75.516,58.181,258.484,26.000,0.000,0.000,35.799,2352.075,21542.045,591.509,2650.873,873.258,0.000,1909.152,0.000,2571.247,0.000,59.832,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,975.942,891.267,697.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66283,1315
$CAP_FILE_SIZE,188411,0
$CFSIZE,254472192,227704832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,65,0,0
$GPS,010209,131338,6034.942,-726.988,43,1.6,43,-8.1