version: 66.04
glider: 5
mission: 5
dive: 397
start: 2 3 109 5 16 39
data:
$ID,5
$MISSION,5
$DIVE,397
$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,-95185.047
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,050907,6038.610,-736.728,32,1.3,32,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.9
$GPS2,051620,6038.597,-737.014,18,0.9,18,-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,36.4,13450,-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,-81.47,0.000,2,0.000,0.000,422,1975,3060
$GC,103,-0.97,-146.6,3.4,-3.7,4,133,11.05,2.62,-10.27,0.000,4,0.137,0.074,2526,3412,3429
$GC,231,-0.89,-146.6,21.8,-12.0,9,238,0.10,2.53,0.00,0.000,6,0.094,0.049,2548,2002,3429
$GC,550,-0.84,-146.6,49.2,-9.5,25,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2001,3429
$GC,857,-0.80,-146.6,78.8,-9.2,40,859,0.12,0.00,0.00,0.000,6,0.092,0.000,2573,2000,3429
$GC,1166,-0.80,-146.6,101.4,-7.3,55,1170,0.00,2.58,0.00,0.000,4,0.000,0.061,2573,3408,3429
$GC,1207,-0.85,-146.6,104.4,-7.9,57,1211,0.00,2.53,0.00,0.000,6,0.000,0.048,2573,1987,3429
$GC,1534,-0.85,-146.6,129.1,-7.0,73,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1986,3429
$GC,1843,-0.85,-146.6,153.2,-8.4,88,1847,0.00,2.60,0.00,0.000,4,0.000,0.061,2573,3414,3429
$GC,1894,-0.90,-146.6,157.4,-8.5,90,1899,0.12,2.53,0.00,0.000,6,0.055,0.048,2540,1992,3429
$GC,2210,-0.83,-146.6,187.5,-9.3,105,2215,0.10,2.60,0.00,0.000,4,0.097,0.061,2560,3409,3429
$GC,2260,-0.83,-146.6,191.8,-8.0,107,2264,0.00,2.50,0.00,0.000,6,0.000,0.049,2560,2006,3429
$GC,2577,-0.83,-146.6,216.2,-7.7,122,2581,0.00,2.55,0.00,0.000,4,0.000,0.065,2560,582,3429
$GC,2616,-0.83,-146.6,219.4,-8.2,124,2621,0.00,2.55,0.00,0.000,6,0.000,0.052,2560,2018,3429
$GC,2944,-0.83,-146.6,241.9,-6.8,140,2948,0.00,2.60,0.00,0.000,4,0.000,0.067,2560,594,3429
$GC,3010,-0.83,-146.6,246.8,-7.8,143,3014,0.00,2.53,0.00,0.000,6,0.000,0.052,2560,2014,3429
$GC,3331,-0.83,-146.6,269.0,-6.8,159,3335,0.00,2.53,0.00,0.000,4,0.000,0.065,2560,3415,3429
$GC,3358,-0.83,-146.6,270.7,-6.4,160,3362,0.00,2.55,0.00,0.000,6,0.000,0.053,2560,1994,3429
$GC,3675,-0.83,-146.6,292.9,-7.1,175,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1992,3429
$GC,3983,-0.83,-146.6,316.7,-7.9,190,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1991,3429
$GC,4293,-0.83,-146.6,340.5,-8.1,205,4297,0.00,2.58,0.00,0.000,4,0.000,0.064,2560,3405,3429
$GC,4343,-0.83,-146.6,344.7,-8.1,207,4347,0.00,2.50,0.00,0.000,6,0.000,0.052,2559,2004,3429
$GC,4658,-0.83,-146.6,371.4,-8.9,222,4663,0.00,2.58,0.00,0.000,4,0.000,0.064,2560,3414,3429
$GC,4693,-0.83,-146.6,374.4,-8.9,223,4699,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,2015,3429
$GC,5009,-0.83,-146.6,402.7,-8.9,239,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2015,3429
$GC,5318,-0.83,-146.6,428.7,-8.2,254,5322,0.00,2.53,0.00,0.000,4,0.000,0.065,2560,3405,3429
$GC,5391,-0.83,-146.6,434.9,-8.4,257,5395,0.00,2.45,0.00,0.000,6,0.000,0.052,2560,2034,3429
$GC,5712,-0.83,-146.6,460.2,-7.6,273,5716,0.00,2.60,0.00,0.000,4,0.000,0.068,2560,584,3429
$GC,5739,-0.83,-146.6,462.4,-8.2,274,5744,0.00,2.58,0.00,0.000,6,0.000,0.054,2560,2032,3429
$GC,6056,-0.83,-146.6,483.9,-6.9,289,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2032,3429
$GC,6364,-0.83,-146.6,505.0,-7.1,304,6368,0.00,2.65,0.00,0.000,4,0.000,0.071,2560,592,3429
$GC,6436,-0.83,-146.6,510.3,-6.8,307,6441,0.00,2.55,0.00,0.000,6,0.000,0.055,2560,2023,3428
$GC,6753,-0.83,-146.6,530.0,-5.5,322,6758,0.00,2.62,0.00,0.000,4,0.000,0.071,2560,596,3428
$GC,6826,-0.89,-146.6,534.8,-6.9,325,6830,0.00,2.53,0.00,0.000,6,0.000,0.057,2560,2007,3428
$GC,7143,-0.94,-146.6,552.0,-5.3,340,7147,0.00,2.55,0.00,0.000,4,0.000,0.073,2560,3406,3428
$GC,7188,-1.00,-146.6,555.7,-8.3,342,7193,0.17,2.53,0.00,0.000,6,0.059,0.058,2516,2008,3428
$GC,7509,-0.86,-146.6,584.7,-8.1,358,7514,0.20,2.60,0.00,0.000,4,0.087,0.076,2560,586,3427
$GC,7566,-0.91,-146.6,589.6,-8.9,360,7572,0.00,2.55,0.00,0.000,6,0.000,0.061,2560,2006,3427
$GC,7882,-0.91,-146.6,611.3,-7.1,376,7887,0.00,2.62,0.00,0.000,4,0.000,0.077,2560,595,3426
$GC,7922,-0.91,-146.6,614.5,-8.4,378,7927,0.00,2.50,0.00,0.000,6,0.000,0.062,2559,1978,3426
$GC,8251,-0.96,-146.6,637.0,-5.8,394,8256,0.12,2.60,0.00,0.000,4,0.061,0.078,2525,595,3425
$GC,8292,-0.89,-146.6,639.9,-7.8,396,8297,0.12,2.50,0.00,0.000,6,0.098,0.064,2551,1969,3425
$GC,8620,-0.89,-146.6,660.3,-6.1,412,8624,0.00,2.60,0.00,0.000,4,0.000,0.083,2551,588,3424
$GC,8663,-0.89,-146.6,663.4,-6.7,414,8668,0.00,2.50,0.00,0.000,6,0.000,0.067,2551,1958,3424
$GC,8984,-0.89,-146.6,683.4,-6.5,430,8989,0.00,2.70,0.00,0.000,4,0.000,0.082,2551,3411,3424
$GC,9025,-0.89,-146.6,686.2,-7.4,432,9030,0.00,2.70,0.00,0.000,6,0.000,0.071,2551,1956,3424
$GC,9352,-0.89,-146.6,708.9,-7.0,448,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1955,3423
$GC,9661,-0.89,-146.6,734.2,-8.3,463,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1955,3422
$GC,9971,-0.89,-146.6,758.4,-7.8,478,9975,0.00,2.75,0.00,0.000,4,0.000,0.085,2551,3405,3420
$GC,10038,-0.93,-146.6,763.8,-7.6,481,10042,0.00,2.70,0.00,0.000,6,0.000,0.073,2551,1956,3420
$GC,10359,-0.93,-146.6,786.4,-7.1,497,10363,0.00,2.78,0.00,0.000,4,0.000,0.087,2551,3407,3419
$GC,10405,-0.98,-146.6,789.4,-6.4,499,10409,0.00,2.67,0.00,0.000,6,0.000,0.074,2551,1977,3419
$GC,10726,-0.98,-146.6,812.3,-6.9,515,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1977,3418
$GC,11036,-0.98,-146.6,832.2,-6.3,530,11040,0.00,2.75,0.00,0.000,4,0.000,0.088,2551,3412,3417
$GC,11075,-1.04,-146.6,834.9,-7.0,532,11081,0.15,2.67,0.00,0.000,6,0.068,0.077,2516,1984,3416
$GC,11405,-0.96,-146.6,859.2,-7.5,548,11409,0.00,2.62,0.00,0.000,4,0.000,0.090,2516,581,3415
$GC,11450,-0.90,-146.6,863.6,-10.0,550,11456,0.15,2.60,0.00,0.000,6,0.098,0.075,2545,1981,3415
$GC,11772,-0.90,-146.6,888.9,-7.8,566,11776,0.00,2.70,0.00,0.000,4,0.000,0.090,2545,3414,3414
$GC,11812,-0.95,-146.6,892.2,-8.3,568,11817,0.00,2.67,0.00,0.000,6,0.000,0.076,2545,1987,3414
$GC,12140,-0.95,-146.6,915.5,-5.5,584,12144,0.00,2.72,0.00,0.000,4,0.000,0.087,2545,3411,3413
$GC,12161,-0.95,-146.6,917.0,-6.3,585,12166,0.00,2.67,0.00,0.000,6,0.000,0.076,2545,1987,3413
$GC,12483,-0.95,-146.6,937.3,-7.4,601,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1985,3413
$GC,12792,-0.95,-146.6,956.7,-6.0,616,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1985,3412
$GC,13101,-0.95,-146.6,972.1,-6.0,631,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1985,3411
$STATE,13407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13407,begin apogee
$GC,13416,-0.33,0.0,991.1,6.4,646,13551,0.60,0.00,132.15,1.633,6,0.087,0.000,2668,2136,2832
$STATE,13552,end apogee,CONTROL_FINISHED_OK
$STATE,13552,begin climb
$GC,13555,0.97,146.6,992.8,0.0,653,13701,1.35,2.85,136.02,1.578,4,0.080,0.093,2951,715,2234
$GC,13761,0.76,146.6,983.4,7.2,662,13766,0.22,2.65,0.00,0.000,6,0.096,0.076,2908,2110,2233
$GC,14078,0.75,173.9,964.8,5.3,677,14109,0.00,2.80,26.20,1.494,4,0.000,0.088,2908,3533,2123
$GC,14150,0.73,190.2,960.9,5.6,680,14172,0.00,2.72,16.62,1.445,6,0.000,0.078,2908,2114,2056
$GC,14488,0.73,190.2,935.7,7.4,697,14493,0.00,2.75,0.00,0.000,4,0.000,0.088,2908,3531,2056
$GC,14523,0.73,190.2,932.7,9.2,698,14529,0.00,2.70,0.00,0.000,6,0.000,0.078,2908,2114,2056
$GC,14838,0.73,190.2,911.5,6.7,714,14839,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2114,2056
$GC,15149,0.73,190.2,890.4,6.0,729,15154,0.00,2.75,0.00,0.000,4,0.000,0.089,2908,3531,2056
$GC,15178,0.73,190.2,888.1,8.2,730,15182,0.00,2.67,0.00,0.000,6,0.000,0.077,2908,2122,2056
$GC,15494,0.73,190.2,865.5,7.6,745,15499,0.00,2.67,0.00,0.000,4,0.000,0.091,2908,712,2056
$GC,15522,0.73,190.2,863.1,7.6,746,15526,0.00,2.65,0.00,0.000,6,0.000,0.076,2908,2120,2056
$GC,15838,0.73,190.2,840.8,7.4,761,15842,0.00,2.70,0.00,0.000,4,0.000,0.089,2908,3538,2056
$GC,15872,0.73,190.2,838.0,8.2,762,15878,0.00,2.70,0.00,0.000,6,0.000,0.076,2908,2111,2056
$GC,16188,0.73,190.2,817.1,6.7,778,16189,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2111,2056
$GC,16497,0.74,194.7,797.7,5.9,793,16504,0.00,0.00,5.65,1.187,6,0.000,0.000,2908,2111,2038
$GC,16807,0.75,201.9,780.5,5.8,808,16821,0.00,2.83,8.30,1.311,4,0.000,0.088,2908,3526,2009
$GC,16839,0.75,201.9,778.2,7.1,809,16844,0.00,2.67,0.00,0.000,6,0.000,0.075,2908,2123,2009
$GC,17156,0.77,212.6,759.6,5.7,824,17174,0.00,0.00,11.68,1.374,6,0.000,0.000,2908,2121,1965
$GC,17484,0.78,217.2,740.8,5.9,840,17492,0.00,0.00,5.88,1.175,6,0.000,0.000,2908,2121,1946
$GC,17793,0.81,236.4,722.6,5.5,855,17814,0.00,0.00,18.98,1.414,6,0.000,0.000,2908,2121,1868
$GC,18124,0.85,261.2,704.4,5.3,871,18153,0.00,2.78,23.35,1.420,4,0.000,0.088,2908,713,1767
$GC,18177,0.89,261.2,700.9,6.8,873,18183,0.12,2.67,0.00,0.000,6,0.064,0.074,2941,2125,1767
$GC,18493,0.89,261.2,678.5,6.9,888,18498,0.00,2.72,0.00,0.000,4,0.000,0.091,2941,713,1767
$GC,18535,0.83,261.2,675.4,7.5,890,18539,0.00,2.62,0.00,0.000,6,0.000,0.075,2941,2111,1767
$GC,18863,0.83,261.2,652.6,6.9,906,18867,0.00,2.70,0.00,0.000,4,0.000,0.090,2941,712,1767
$GC,18903,0.78,261.2,649.4,7.9,908,18908,0.12,2.60,0.00,0.000,6,0.102,0.074,2915,2097,1767
$GC,19231,0.87,283.9,630.2,5.4,924,19260,0.00,2.75,21.75,1.371,4,0.000,0.087,2915,709,1673
$GC,19284,0.91,285.3,627.0,6.0,926,19289,0.12,2.60,0.00,0.000,6,0.068,0.073,2947,2081,1674
$GC,19601,0.91,285.3,600.9,8.5,941,19605,0.00,2.75,0.00,0.000,4,0.000,0.086,2947,3536,1674
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$STATE,27105,end climb,SURFACE_DEPTH_REACHED
$STATE,27105,begin surface coast
$FINISH,1.1,1.027396
$STATE,27150,end surface coast,CONTROL_FINISHED_OK
$STATE,27150,begin surface
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$HUMID,1795
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$XPDR_PINGS,65
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$24V_AH,23.3,69.992
$10V_AH,10.1,34.850
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$DEVICE_SECS,26.275,267.750,435.600,0.000,0.000,37.759,26.858,202.921,25.250,0.000,0.000,18.280,2390.798,21134.926,635.596,2718.998,770.099,0.000,2031.146,0.000,2645.907,0.000,61.091,0.000
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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,66414,1305
$CAP_FILE_SIZE,201714,0
$CFSIZE,254472192,227164160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,79,0,0
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