version: 66.04
glider: 5
mission: 5
dive: 393
start: 2 1 109 21 31 2
data:
$ID,5
$MISSION,5
$DIVE,393
$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,-95089.953
$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,36
$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
$GPS1,212337,6034.630,-736.826,28,1.2,28,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.1
$GPS2,213043,6034.500,-736.992,16,1.5,16,-8.2
$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,26.2,20449,-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,-81.53,0.000,2,0.000,0.000,425,1966,3281
$GC,103,-0.97,-146.6,4.3,-4.3,4,126,11.00,2.60,-3.60,0.000,4,0.134,0.073,2526,3408,3431
$GC,302,-0.89,-146.6,31.9,-9.9,12,309,0.12,2.50,0.00,0.000,6,0.094,0.048,2552,2003,3432
$GC,619,-0.84,-146.6,56.6,-8.7,28,624,0.00,2.53,0.00,0.000,4,0.000,0.064,2552,595,3431
$GC,660,-0.84,-146.6,60.0,-8.2,30,664,0.00,2.53,0.00,0.000,6,0.000,0.052,2552,2011,3432
$GC,989,-0.80,-146.6,86.3,-9.2,46,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2024,3432
$GC,1297,-0.80,-146.6,120.7,-10.1,61,1302,0.00,2.60,0.00,0.000,4,0.000,0.065,2552,595,3432
$GC,1330,-0.80,-146.6,123.5,-6.9,62,1337,0.00,2.50,0.00,0.000,6,0.000,0.053,2552,2000,3432
$GC,1647,-0.80,-146.6,142.2,-6.0,78,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2000,3432
$GC,1956,-0.80,-146.6,163.0,-7.8,93,1960,0.00,2.58,0.00,0.000,4,0.000,0.064,2552,591,3432
$GC,1989,-0.80,-146.6,165.8,-8.7,94,1995,0.00,2.50,0.00,0.000,6,0.000,0.053,2552,1998,3432
$GC,2305,-0.80,-146.6,192.6,-9.8,110,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1998,3432
$GC,2615,-0.80,-146.6,217.3,-7.2,125,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1998,3432
$GC,2923,-0.80,-146.6,240.9,-7.8,140,2927,0.00,2.55,0.00,0.000,4,0.000,0.065,2552,597,3432
$GC,2972,-0.80,-146.6,244.9,-7.7,142,2977,0.00,2.47,0.00,0.000,6,0.000,0.052,2552,1989,3432
$GC,3289,-0.80,-146.6,268.6,-7.7,157,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1990,3432
$GC,3597,-0.80,-146.6,292.8,-7.9,172,3602,0.00,2.55,0.00,0.000,4,0.000,0.064,2552,3410,3432
$GC,3631,-0.80,-146.6,295.7,-8.4,173,3637,0.00,2.55,0.00,0.000,6,0.000,0.053,2552,1987,3432
$GC,3947,-0.80,-146.6,320.5,-7.8,189,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1985,3433
$GC,4256,-0.80,-146.6,343.2,-7.7,204,4260,0.00,2.58,0.00,0.000,4,0.000,0.063,2552,3411,3433
$GC,4318,-0.80,-146.6,348.0,-8.2,207,4322,0.00,2.53,0.00,0.000,6,0.000,0.052,2552,1997,3433
$GC,4645,-0.80,-146.6,372.6,-7.1,223,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1998,3433
$GC,4953,-0.80,-146.6,393.8,-7.2,238,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1997,3432
$GC,5262,-0.80,-146.6,416.9,-7.6,253,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1997,3432
$GC,5573,-0.80,-146.6,438.6,-6.4,268,5577,0.00,2.58,0.00,0.000,4,0.000,0.065,2552,3404,3432
$GC,5612,-0.80,-146.6,441.2,-6.4,270,5616,0.00,2.50,0.00,0.000,6,0.000,0.054,2552,2005,3433
$GC,5939,-0.80,-146.6,461.2,-6.3,286,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3432
$GC,6249,-0.80,-146.6,480.7,-6.0,301,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3433
$GC,6557,-0.80,-146.6,498.6,-6.2,316,6561,0.00,2.53,0.00,0.000,4,0.000,0.066,2552,591,3433
$GC,6613,-0.80,-146.6,502.3,-7.2,318,6618,0.00,2.47,0.00,0.000,6,0.000,0.051,2552,1991,3433
$GC,6930,-0.80,-146.6,523.3,-6.2,333,6934,0.00,2.58,0.00,0.000,4,0.000,0.070,2552,597,3433
$GC,6992,-0.80,-146.6,526.9,-6.1,336,6997,0.00,2.47,0.00,0.000,6,0.000,0.054,2552,1987,3433
$GC,7320,-0.80,-146.6,541.9,-4.4,352,7324,0.00,2.58,0.00,0.000,4,0.000,0.069,2552,3409,3433
$GC,7387,-0.80,-146.6,544.1,-2.8,355,7392,0.00,2.55,0.00,0.000,6,0.000,0.058,2552,1998,3433
$GC,7711,-0.80,-146.6,558.3,-4.5,371,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1998,3432
$GC,8020,-0.80,-146.6,573.6,-5.6,386,8024,0.00,2.60,0.00,0.000,4,0.000,0.072,2552,3402,3432
$GC,8042,-0.80,-146.6,575.2,-6.8,387,8046,0.00,2.55,0.00,0.000,6,0.000,0.061,2552,2000,3432
$GC,8363,-0.80,-146.6,599.7,-8.4,403,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2000,3431
$GC,8674,-0.80,-146.6,625.5,-8.1,418,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2000,3431
$GC,8981,-0.80,-146.6,649.2,-8.5,433,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2000,3430
$GC,9290,-0.80,-146.6,671.3,-7.5,448,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2000,3429
$GC,9601,-0.80,-146.6,693.9,-6.0,463,9605,0.00,2.65,0.00,0.000,4,0.000,0.081,2552,3409,3428
$GC,9701,-0.80,-146.6,702.1,-7.3,467,9707,0.00,2.60,0.00,0.000,6,0.000,0.067,2552,1997,3428
$GC,10017,-0.80,-146.6,720.5,-5.3,483,10021,0.00,2.67,0.00,0.000,4,0.000,0.083,2552,3410,3427
$GC,10073,-0.84,-146.6,723.9,-6.5,485,10080,0.00,2.58,0.00,0.000,6,0.000,0.070,2552,2015,3426
$GC,10390,-0.84,-146.6,747.0,-8.1,501,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2015,3426
$GC,10699,-0.84,-146.6,770.5,-6.4,516,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2001,3424
$GC,11009,-0.84,-146.6,792.2,-7.4,531,11013,0.00,2.62,0.00,0.000,4,0.000,0.084,2552,3404,3424
$GC,11049,-0.89,-146.6,795.4,-8.5,533,11053,0.00,2.58,0.00,0.000,6,0.000,0.072,2552,2014,3424
$GC,11375,-0.89,-146.6,817.6,-6.8,549,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2014,3423
$GC,11686,-0.94,-146.6,834.6,-5.5,564,11691,0.00,2.65,0.00,0.000,4,0.000,0.087,2552,3405,3422
$GC,11714,-0.98,-146.6,836.4,-6.3,565,11719,0.00,2.60,0.00,0.000,6,0.000,0.076,2552,2018,3421
$GC,12031,-0.98,-146.6,851.5,-4.0,580,12036,0.00,2.67,0.00,0.000,4,0.000,0.091,2552,594,3421
$GC,12065,-1.03,-146.6,853.4,-5.2,581,12072,0.15,2.62,0.00,0.000,6,0.069,0.076,2517,2006,3420
$GC,12384,-0.98,-146.6,876.0,-8.3,597,12388,0.00,2.65,0.00,0.000,4,0.000,0.091,2517,3408,3419
$GC,12407,-0.93,-146.6,877.9,-7.5,598,12412,0.12,2.62,0.00,0.000,6,0.109,0.079,2541,2013,3419
$GC,12728,-0.93,-146.6,899.1,-6.4,614,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2013,3418
$GC,13037,-0.93,-146.6,920.6,-6.9,629,13042,0.00,2.67,0.00,0.000,4,0.000,0.091,2541,587,3417
$GC,13079,-0.93,-146.6,923.1,-6.9,631,13083,0.00,2.65,0.00,0.000,6,0.000,0.077,2540,2009,3417
$GC,13405,-0.93,-146.6,942.9,-6.2,647,13409,0.00,2.65,0.00,0.000,4,0.000,0.093,2540,3409,3416
$GC,13444,-0.93,-146.6,945.4,-7.3,649,13449,0.00,2.65,0.00,0.000,6,0.000,0.080,2540,2006,3416
$GC,13772,-0.93,-146.6,966.5,-6.2,665,13777,0.00,2.67,0.00,0.000,4,0.000,0.094,2540,587,3415
$GC,13800,-0.93,-146.6,968.3,-6.2,666,13804,0.00,2.67,0.00,0.000,6,0.000,0.078,2540,2020,3415
$GC,14117,-0.93,-146.6,989.2,-6.9,681,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2020,3414
$STATE,14133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14133,begin apogee
$GC,14141,-0.33,0.0,990.7,7.0,682,14280,0.62,0.00,135.88,1.633,6,0.091,0.000,2667,2133,2832
$STATE,14280,end apogee,CONTROL_FINISHED_OK
$STATE,14280,begin climb
$GC,14283,0.97,146.6,994.8,0.0,689,14436,1.33,2.78,139.75,1.575,4,0.072,0.090,2949,3521,2235
$GC,14470,0.75,146.6,986.0,7.3,697,14477,0.22,2.70,0.00,0.000,6,0.100,0.081,2907,2126,2234
$GC,14786,0.77,197.6,969.6,4.6,713,14837,0.00,0.00,48.75,1.530,6,0.000,0.000,2907,2125,2026
$GC,15136,0.77,197.6,948.3,6.4,730,15140,0.00,2.70,0.00,0.000,4,0.000,0.093,2907,709,2026
$GC,15162,0.77,197.6,946.4,6.7,731,15167,0.00,2.67,0.00,0.000,6,0.000,0.077,2907,2121,2026
$GC,15479,0.77,197.6,929.8,6.5,746,15483,0.00,2.75,0.00,0.000,4,0.000,0.093,2907,703,2026
$GC,15519,0.77,197.6,927.1,6.1,748,15523,0.00,2.65,0.00,0.000,6,0.000,0.078,2907,2103,2026
$GC,15845,0.77,197.6,906.3,6.2,764,15850,0.00,2.75,0.00,0.000,4,0.000,0.091,2907,3539,2026
$GC,15885,0.77,197.6,903.8,6.3,766,15890,0.00,2.75,0.00,0.000,6,0.000,0.080,2907,2094,2026
$GC,16213,0.77,197.6,882.6,6.6,782,16214,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2094,2026
$GC,16522,0.77,197.6,864.0,6.0,797,16526,0.00,2.80,0.00,0.000,4,0.000,0.091,2907,3534,2026
$GC,16543,0.77,197.6,862.5,7.2,798,16548,0.00,2.72,0.00,0.000,6,0.000,0.079,2907,2101,2026
$GC,16866,0.77,197.6,842.0,6.3,814,16867,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2101,2026
$GC,17174,0.77,197.6,818.6,8.3,829,17178,0.00,2.78,0.00,0.000,4,0.000,0.089,2907,3536,2025
$GC,17214,0.77,197.6,815.0,10.3,831,17218,0.00,2.70,0.00,0.000,6,0.000,0.077,2907,2110,2025
$GC,17541,0.77,197.6,789.8,7.5,847,17542,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2109,2025
$GC,17849,0.77,197.6,765.3,7.4,862,17850,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2109,2025
$GC,18159,0.77,197.6,744.1,6.9,877,18160,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2109,2025
$GC,18469,0.77,197.6,722.7,7.6,892,18470,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2109,2025
$GC,18778,0.77,197.6,695.6,8.1,907,18779,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2109,2024
$GC,19087,0.73,197.6,676.7,7.5,922,19088,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2097,2024
$GC,19397,0.73,197.6,653.3,6.5,937,19401,0.00,2.72,0.00,0.000,4,0.000,0.084,2907,3535,2024
$GC,19446,0.73,197.6,650.3,6.4,939,19451,0.00,2.65,0.00,0.000,6,0.000,0.073,2907,2115,2024
$GC,19762,0.82,255.9,635.1,4.4,954,19825,0.00,2.78,52.75,1.403,4,0.000,0.086,2907,713,1787
$GC,19837,0.88,255.9,629.0,7.9,957,19843,0.12,2.65,0.00,0.000,6,0.065,0.070,2940,2117,1787
$GC,20153,0.88,255.9,605.6,6.0,972,20158,0.00,2.67,0.00,0.000,4,0.000,0.084,2939,3536,1788
$GC,20198,0.88,255.9,602.8,6.2,974,20202,0.00,2.67,0.00,0.000,6,0.000,0.071,2939,2111,1788
$GC,20520,0.84,255.9,577.2,9.6,990,20524,0.00,2.62,0.00,0.000,4,0.000,0.084,2940,707,1788
$GC,20542,0.79,255.9,575.5,7.3,991,20547,0.10,2.65,0.00,0.000,6,0.106,0.070,2919,2133,1789
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$STATE,28203,end climb,SURFACE_DEPTH_REACHED
$STATE,28203,begin surface coast
$FINISH,0.6,1.027406
$STATE,28267,end surface coast,CONTROL_FINISHED_OK
$STATE,28267,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1799
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$XPDR_PINGS,63
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$10V_AH,10.1,34.382
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$DEVICE_SECS,25.700,220.325,426.900,0.000,0.000,37.761,32.788,192.659,24.750,0.000,0.000,16.829,2430.766,22228.561,624.779,2725.224,750.848,0.000,1986.809,0.000,2663.774,0.000,59.791,0.000
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$DATA_FILE_SIZE,69415,1365
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$CFSIZE,254472192,227516416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,60,0,0
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