version: 66.04
glider: 5
mission: 5
dive: 396
start: 2 2 109 20 59 56
data:
$ID,5
$MISSION,5
$DIVE,396
$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,-95166.141
$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,37
$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
$GPS1,205250,6037.079,-739.137,45,2.3,64,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-62.0
$GPS2,205937,6036.975,-739.302,10,1.5,15,-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,37.7,17080,-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,-81.55,0.000,2,0.000,0.000,419,1968,3064
$GC,103,-0.97,-146.6,3.1,-3.1,4,133,11.05,2.65,-10.65,0.000,4,0.134,0.074,2527,3415,3429
$GC,286,-0.88,-146.6,26.9,-13.9,12,291,0.12,2.53,0.00,0.000,6,0.091,0.049,2553,2003,3429
$GC,608,-0.88,-146.6,48.3,-5.0,28,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2002,3429
$GC,916,-0.88,-146.6,71.2,-9.1,43,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2002,3429
$GC,1227,-0.88,-146.6,100.9,-8.8,58,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2002,3429
$GC,1536,-0.88,-146.6,122.4,-6.6,73,1540,0.00,2.58,0.00,0.000,4,0.000,0.061,2553,3416,3429
$GC,1569,-0.88,-146.6,124.6,-6.8,74,1580,0.00,2.50,0.00,0.000,6,0.000,0.049,2553,2011,3429
$GC,1886,-0.84,-146.6,144.4,-6.5,90,1890,0.00,2.55,0.00,0.000,4,0.000,0.064,2553,584,3429
$GC,1926,-0.84,-146.6,147.9,-9.4,92,1930,0.00,2.55,0.00,0.000,6,0.000,0.052,2553,2022,3429
$GC,2253,-0.80,-146.6,181.2,-11.1,108,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2023,3429
$GC,2562,-0.80,-146.6,207.8,-6.9,123,2567,0.00,2.60,0.00,0.000,4,0.000,0.064,2553,592,3429
$GC,2603,-0.80,-146.6,211.2,-9.2,125,2608,0.00,2.50,0.00,0.000,6,0.000,0.053,2552,2000,3429
$GC,2931,-0.80,-146.6,236.6,-6.9,141,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3429
$GC,3240,-0.80,-146.6,260.4,-8.1,156,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3429
$GC,3550,-0.80,-146.6,284.4,-7.7,171,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2003,3429
$GC,3860,-0.80,-146.6,307.1,-6.9,186,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2002,3429
$GC,4168,-0.80,-146.6,327.7,-6.7,201,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2017,3429
$GC,4478,-0.80,-146.6,345.3,-5.6,216,4483,0.00,2.53,0.00,0.000,4,0.000,0.064,2553,3407,3429
$GC,4523,-0.80,-146.6,348.0,-5.6,218,4528,0.00,2.53,0.00,0.000,6,0.000,0.052,2553,1994,3429
$GC,4845,-0.80,-146.6,367.1,-6.3,234,4849,0.00,2.58,0.00,0.000,4,0.000,0.064,2553,3405,3429
$GC,4878,-0.80,-146.6,369.4,-6.9,235,4885,0.00,2.50,0.00,0.000,6,0.000,0.053,2553,2000,3429
$GC,5195,-0.80,-146.6,392.1,-7.5,251,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3429
$GC,5504,-0.80,-146.6,413.2,-6.5,266,5508,0.00,2.53,0.00,0.000,4,0.000,0.066,2553,585,3429
$GC,5571,-0.80,-146.6,417.4,-6.5,269,5576,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,2019,3429
$GC,5893,-0.80,-146.6,436.2,-6.1,285,5897,0.00,2.60,0.00,0.000,4,0.000,0.066,2553,594,3429
$GC,5955,-0.80,-146.6,440.7,-7.7,288,5959,0.00,2.50,0.00,0.000,6,0.000,0.054,2553,2001,3429
$GC,6282,-0.80,-146.6,466.2,-8.2,304,6286,0.00,2.58,0.00,0.000,4,0.000,0.066,2553,584,3429
$GC,6337,-0.80,-146.6,471.3,-9.4,306,6343,0.00,2.50,0.00,0.000,6,0.000,0.054,2553,1990,3429
$GC,6653,-0.80,-146.6,495.5,-7.0,322,6657,0.00,2.55,0.00,0.000,4,0.000,0.068,2553,595,3429
$GC,6698,-0.80,-146.6,498.8,-7.5,324,6702,0.00,2.47,0.00,0.000,6,0.000,0.054,2553,1987,3429
$GC,7025,-0.80,-146.6,519.2,-6.6,340,7029,0.00,2.58,0.00,0.000,4,0.000,0.069,2553,3407,3428
$GC,7064,-0.80,-146.6,522.1,-7.7,342,7069,0.00,2.55,0.00,0.000,6,0.000,0.058,2553,1995,3429
$GC,7392,-0.80,-146.6,544.5,-7.1,358,7396,0.00,2.55,0.00,0.000,4,0.000,0.073,2553,588,3429
$GC,7419,-0.80,-146.6,546.7,-7.7,359,7424,0.00,2.53,0.00,0.000,6,0.000,0.058,2553,1998,3429
$GC,7735,-0.80,-146.6,570.3,-7.6,374,7739,0.00,2.58,0.00,0.000,4,0.000,0.073,2553,3408,3429
$GC,7763,-0.80,-146.6,572.5,-8.1,375,7767,0.00,2.55,0.00,0.000,6,0.000,0.061,2553,2004,3429
$GC,8079,-0.80,-146.6,596.0,-7.5,390,8083,0.00,2.58,0.00,0.000,4,0.000,0.077,2553,594,3428
$GC,8106,-0.80,-146.6,597.9,-6.7,391,8110,0.00,2.55,0.00,0.000,6,0.000,0.063,2553,2002,3428
$GC,8423,-0.80,-146.6,612.6,-3.4,406,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2004,3427
$GC,8731,-0.80,-146.6,628.6,-4.4,421,8736,0.00,2.65,0.00,0.000,4,0.000,0.080,2553,592,3425
$GC,8788,-0.80,-146.6,631.1,-2.9,423,8794,0.00,2.55,0.00,0.000,6,0.000,0.067,2553,1995,3425
$GC,9105,-0.80,-146.6,648.0,-5.4,439,9109,0.00,2.62,0.00,0.000,4,0.000,0.080,2553,3412,3424
$GC,9138,-0.80,-146.6,650.3,-7.5,440,9145,0.00,2.60,0.00,0.000,6,0.000,0.070,2553,2003,3425
$GC,9454,-0.80,-146.6,669.8,-6.2,456,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2003,3424
$GC,9765,-0.80,-146.6,690.2,-8.0,471,9769,0.00,2.62,0.00,0.000,4,0.000,0.084,2553,583,3423
$GC,9798,-0.80,-146.6,693.4,-9.0,472,9804,0.00,2.60,0.00,0.000,6,0.000,0.070,2553,2002,3423
$GC,10114,-0.80,-146.6,715.7,-5.8,488,10118,0.00,2.60,0.00,0.000,4,0.000,0.084,2553,3405,3422
$GC,10148,-0.80,-146.6,717.7,-5.6,489,10154,0.00,2.60,0.00,0.000,6,0.000,0.071,2553,2002,3421
$GC,10464,-0.80,-146.6,735.1,-5.4,505,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2002,3420
$GC,10775,-0.80,-146.6,750.2,-4.7,520,10779,0.00,2.67,0.00,0.000,4,0.000,0.086,2553,3408,3420
$GC,10810,-0.84,-146.6,752.2,-6.0,521,10816,0.00,2.62,0.00,0.000,6,0.000,0.074,2553,2002,3419
$GC,11126,-0.84,-146.6,765.6,-3.8,537,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2002,3419
$GC,11436,-0.84,-146.6,779.9,-5.0,552,11440,0.00,2.67,0.00,0.000,4,0.000,0.088,2553,3404,3418
$GC,11481,-0.90,-146.6,782.4,-5.3,554,11485,0.00,2.60,0.00,0.000,6,0.000,0.075,2553,2015,3417
$GC,11802,-0.90,-146.6,798.1,-4.7,570,11806,0.00,2.67,0.00,0.000,4,0.000,0.093,2552,592,3416
$GC,11830,-0.90,-146.6,799.7,-5.2,571,11838,0.00,2.65,0.00,0.000,6,0.000,0.075,2553,2019,3416
$GC,12155,-0.90,-146.6,816.1,-4.7,587,12159,0.00,2.62,0.00,0.000,4,0.000,0.089,2553,3415,3415
$GC,12188,-0.95,-146.6,817.6,-4.8,588,12195,0.00,2.62,0.00,0.000,6,0.000,0.077,2553,2016,3415
$GC,12505,-0.95,-146.6,828.8,-3.5,604,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2016,3413
$GC,12814,-1.00,-146.6,842.2,-3.7,619,12816,0.12,0.00,0.00,0.000,6,0.079,0.000,2523,2016,3413
$GC,13123,-1.00,-146.6,864.0,-8.4,634,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2016,3413
$GC,13432,-0.96,-146.6,885.4,-6.0,649,13437,0.00,2.67,0.00,0.000,4,0.000,0.091,2523,3407,3412
$GC,13466,-0.96,-146.6,888.0,-7.5,650,13472,0.00,2.60,0.00,0.000,6,0.000,0.080,2523,2025,3412
$GC,13783,-0.96,-146.6,907.6,-6.3,666,13787,0.00,2.72,0.00,0.000,4,0.000,0.098,2523,590,3411
$GC,13804,-0.96,-146.6,909.1,-6.6,667,13809,0.00,2.70,0.00,0.000,6,0.000,0.079,2523,2032,3411
$GC,14125,-0.96,-146.6,935.9,-8.7,683,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2042,3410
$GC,14435,-0.96,-146.6,957.4,-7.2,698,14440,0.00,2.80,0.00,0.000,4,0.000,0.098,2523,586,3410
$GC,14468,-0.92,-146.6,960.5,-9.2,699,14475,0.10,2.70,0.00,0.000,6,0.111,0.080,2543,2027,3410
$GC,14784,-0.92,-146.6,980.1,-6.4,715,14785,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2027,3410
$STATE,14925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14925,begin apogee
$GC,14933,-0.33,0.0,990.8,6.9,722,15072,0.62,0.00,135.27,1.636,6,0.088,0.000,2671,2139,2832
$STATE,15073,end apogee,CONTROL_FINISHED_OK
$STATE,15073,begin climb
$GC,15076,0.97,146.6,992.4,0.0,729,15229,1.33,2.75,140.93,1.574,4,0.073,0.088,2951,3518,2234
$GC,15303,0.76,146.6,975.7,10.2,739,15308,0.22,2.67,0.00,0.000,6,0.101,0.076,2909,2119,2234
$GC,15620,0.74,161.7,957.7,5.6,754,15641,0.00,2.80,15.25,1.442,4,0.000,0.097,2909,704,2173
$GC,15676,0.69,161.7,953.5,7.2,756,15681,0.00,2.70,0.00,0.000,6,0.000,0.078,2908,2118,2172
$GC,15993,0.73,186.7,935.0,5.3,771,16022,0.00,2.80,24.27,1.513,4,0.000,0.090,2908,3534,2071
$GC,16046,0.73,186.7,931.7,6.3,773,16050,0.00,2.72,0.00,0.000,6,0.000,0.077,2908,2114,2070
$GC,16363,0.73,186.7,910.1,7.3,788,16364,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2114,2070
$GC,16671,0.75,198.1,889.1,5.7,803,16693,0.00,2.83,11.95,1.435,4,0.000,0.097,2908,709,2024
$GC,16704,0.75,198.1,886.6,7.1,804,16708,0.00,2.70,0.00,0.000,6,0.000,0.077,2908,2121,2024
$GC,17021,0.75,198.1,865.0,7.7,819,17025,0.00,2.70,0.00,0.000,4,0.000,0.091,2908,3532,2024
$GC,17053,0.75,198.1,862.1,9.2,820,17060,0.00,2.70,0.00,0.000,6,0.000,0.077,2908,2110,2024
$GC,17369,0.75,198.1,837.3,7.5,836,17371,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2110,2024
$GC,17679,0.75,198.1,814.3,7.3,851,17684,0.00,2.78,0.00,0.000,4,0.000,0.091,2908,3538,2024
$GC,17707,0.75,198.1,812.0,7.9,852,17711,0.00,2.70,0.00,0.000,6,0.000,0.078,2908,2117,2024
$GC,18022,0.75,198.1,789.0,7.5,867,18027,0.00,2.75,0.00,0.000,4,0.000,0.091,2908,3533,2024
$GC,18050,0.75,198.1,786.5,8.2,868,18055,0.00,2.65,0.00,0.000,6,0.000,0.076,2908,2133,2023
$GC,18366,0.75,198.1,760.2,8.4,883,18370,0.00,2.70,0.00,0.000,4,0.000,0.094,2908,714,2023
$GC,18393,0.75,198.1,757.6,8.8,884,18397,0.00,2.67,0.00,0.000,6,0.000,0.076,2908,2140,2023
$GC,18710,0.75,198.1,732.9,8.1,899,18711,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2140,2023
$GC,19018,0.75,198.1,710.4,6.6,914,19019,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2139,2023
$GC,19327,0.75,198.1,688.8,6.8,929,19328,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2140,2023
$GC,19637,0.75,198.1,666.4,7.6,944,19642,0.00,2.72,0.00,0.000,4,0.000,0.091,2908,713,2023
$GC,19665,0.75,198.1,664.0,8.6,945,19670,0.00,2.65,0.00,0.000,6,0.000,0.074,2908,2142,2023
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$STATE,29132,end climb,SURFACE_DEPTH_REACHED
$STATE,29132,begin surface coast
$FINISH,0.6,1.027407
$STATE,29197,end surface coast,CONTROL_FINISHED_OK
$STATE,29197,begin surface
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$HUMID,1792
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$10V_AH,10.0,34.734
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$DEVICE_SECS,25.125,257.175,454.900,0.000,0.000,37.763,29.002,185.395,26.500,0.000,0.000,15.753,2512.778,22895.324,659.485,2840.053,767.443,0.000,2116.397,0.000,2769.400,0.000,58.256,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72663,1404
$CAP_FILE_SIZE,204270,0
$CFSIZE,254472192,227250176
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