version: 66.04
glider: 5
mission: 5
dive: 368
start: 1 24 109 11 40 1
data:
$ID,5
$MISSION,5
$DIVE,368
$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,-94657.602
$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,23
$R_STBD_OVSHOOT,19
$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,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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
$GPS1,113236,6023.211,-513.164,35,1.2,36,-6.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-55.5
$GPS2,113943,6023.186,-513.193,13,1.1,30,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_1
$TGT_LATLONG,6010.000,-545.000
$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,237.1,38145,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-120.78,0.000,2,0.000,0.000,423,1964,3313
$GC,142,-0.97,-146.6,4.3,-4.2,6,163,11.07,0.00,-2.83,0.000,6,0.135,0.000,2528,1979,3430
$GC,475,-0.84,-146.6,43.6,-9.7,22,480,0.15,2.62,0.00,0.000,4,0.093,0.061,2559,3418,3431
$GC,493,-0.77,-146.6,45.4,-9.7,23,497,0.00,2.55,0.00,0.000,6,0.000,0.051,2559,1995,3431
$GC,821,-0.77,-146.6,68.8,-6.4,39,825,0.00,2.60,0.00,0.000,4,0.000,0.062,2559,3418,3431
$GC,876,-0.77,-146.6,72.9,-7.4,41,882,0.00,2.53,0.00,0.000,6,0.000,0.049,2559,2002,3431
$GC,1192,-0.77,-146.6,94.4,-6.7,57,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2001,3431
$GC,1504,-0.77,-146.6,112.0,-5.6,72,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2001,3431
$GC,1810,-0.77,-146.6,130.5,-6.7,87,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2000,3431
$GC,2119,-0.77,-146.6,151.2,-6.3,102,2124,0.00,2.58,0.00,0.000,4,0.000,0.061,2559,3415,3432
$GC,2153,-0.77,-146.6,153.4,-6.1,103,2159,0.00,2.50,0.00,0.000,6,0.000,0.051,2559,2012,3432
$GC,2469,-0.77,-146.6,173.1,-6.4,119,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2013,3432
$GC,2778,-0.77,-146.6,192.7,-6.3,134,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2012,3432
$GC,3088,-0.77,-146.6,211.4,-6.7,149,3093,0.00,2.55,0.00,0.000,4,0.000,0.066,2559,591,3432
$GC,3173,-0.77,-146.6,218.2,-8.2,153,3178,0.00,2.55,0.00,0.000,6,0.000,0.053,2558,2024,3432
$GC,3500,-0.77,-146.6,242.5,-7.2,169,3505,0.00,2.62,0.00,0.000,4,0.000,0.067,2559,588,3432
$GC,3574,-0.77,-146.6,248.2,-8.1,172,3579,0.00,2.53,0.00,0.000,6,0.000,0.053,2559,2008,3432
$GC,3890,-0.77,-146.6,267.2,-5.3,187,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2008,3432
$GC,4200,-0.77,-146.6,293.6,-10.5,202,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2008,3432
$GC,4509,-0.77,-146.6,325.3,-9.1,217,4514,0.00,2.62,0.00,0.000,4,0.000,0.073,2559,584,3432
$GC,4549,-0.77,-146.6,328.7,-8.1,219,4554,0.00,2.53,0.00,0.000,6,0.000,0.056,2559,1997,3432
$GC,4877,-0.77,-146.6,345.0,-4.8,235,4881,0.00,2.55,0.00,0.000,4,0.000,0.068,2559,3408,3432
$GC,4905,-0.77,-146.6,346.7,-5.7,236,4909,0.00,2.55,0.00,0.000,6,0.000,0.057,2558,1995,3432
$GC,5225,-0.77,-146.6,370.3,-8.6,252,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1994,3432
$GC,5535,-0.77,-146.6,395.4,-7.3,267,5540,0.00,2.60,0.00,0.000,4,0.000,0.069,2559,3405,3432
$GC,5575,-0.77,-146.6,398.0,-6.4,269,5579,0.00,2.55,0.00,0.000,6,0.000,0.059,2558,1995,3432
$GC,5902,-0.77,-146.6,413.7,-4.4,285,5906,0.00,2.58,0.00,0.000,4,0.000,0.074,2559,581,3431
$GC,5959,-0.77,-146.6,416.9,-7.0,287,5966,0.00,2.53,0.00,0.000,6,0.000,0.060,2559,1983,3431
$GC,6275,-0.77,-146.6,444.1,-10.4,303,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1984,3431
$GC,6584,-0.77,-146.6,473.6,-8.2,318,6589,0.00,2.62,0.00,0.000,4,0.000,0.077,2559,3412,3431
$GC,6618,-0.81,-146.6,476.1,-7.5,319,6625,0.00,2.60,0.00,0.000,6,0.000,0.065,2559,1995,3431
$GC,6934,-0.81,-146.6,487.6,-1.9,335,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1995,3430
$GC,7244,-0.81,-146.6,495.6,-3.9,350,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1995,3429
$GC,7554,-0.85,-146.6,513.5,-6.4,365,7558,0.00,2.65,0.00,0.000,4,0.000,0.081,2559,3404,3428
$GC,7581,-0.89,-146.6,515.4,-6.4,366,7586,0.00,2.62,0.00,0.000,6,0.000,0.070,2559,1988,3427
$GC,7898,-0.93,-146.6,537.1,-7.1,381,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1988,3427
$GC,8209,-0.97,-146.6,553.6,-3.8,396,8211,0.12,0.00,0.00,0.000,6,0.071,0.000,2529,1988,3426
$GC,8517,-0.92,-146.6,565.9,-4.7,411,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1988,3425
$GC,8826,-0.87,-146.6,586.1,-7.4,426,8832,0.12,2.70,0.00,0.000,4,0.106,0.084,2553,3410,3424
$GC,8877,-0.91,-146.6,589.7,-6.6,428,8881,0.00,2.65,0.00,0.000,6,0.000,0.074,2553,1990,3423
$GC,9193,-0.91,-146.6,611.9,-7.4,443,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1990,3423
$GC,9503,-0.91,-146.6,636.5,-8.1,458,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1990,3422
$GC,9811,-0.91,-146.6,661.5,-8.1,473,9816,0.00,2.70,0.00,0.000,4,0.000,0.086,2553,3411,3421
$GC,9851,-0.91,-146.6,664.7,-8.4,475,9855,0.00,2.65,0.00,0.000,6,0.000,0.075,2553,1995,3421
$GC,10179,-0.95,-146.6,691.1,-7.5,491,10183,0.00,2.65,0.00,0.000,4,0.000,0.094,2553,590,3419
$GC,10206,-0.95,-146.6,693.3,-7.8,492,10210,0.00,2.62,0.00,0.000,6,0.000,0.076,2553,2000,3420
$GC,10522,-0.95,-146.6,715.4,-7.0,507,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2000,3418
$GC,10831,-0.95,-146.6,734.1,-5.7,522,10836,0.00,2.72,0.00,0.000,4,0.000,0.094,2553,587,3417
$GC,10865,-0.95,-146.6,736.4,-6.8,523,10871,0.00,2.62,0.00,0.000,6,0.000,0.077,2552,1995,3417
$GC,11182,-0.99,-146.6,753.5,-4.4,539,11184,0.12,0.00,0.00,0.000,6,0.074,0.000,2522,1995,3416
$GC,11490,-0.94,-146.6,772.3,-6.3,554,11491,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1995,3416
$GC,11800,-0.89,-146.6,789.8,-5.4,569,11805,0.12,2.75,0.00,0.000,4,0.110,0.097,2547,581,3415
$GC,11845,-0.89,-146.6,792.4,-5.6,571,11850,0.00,2.62,0.00,0.000,6,0.000,0.078,2548,1989,3415
$GC,12167,-0.89,-146.6,806.9,-4.5,587,12171,0.00,2.67,0.00,0.000,4,0.000,0.092,2547,3406,3415
$GC,12194,-0.89,-146.6,808.2,-4.7,588,12199,0.00,2.70,0.00,0.000,6,0.000,0.081,2547,1981,3414
$GC,12511,-0.89,-146.6,823.4,-5.1,603,12516,0.00,2.75,0.00,0.000,4,0.000,0.091,2547,3410,3414
$GC,12566,-0.89,-146.6,826.4,-5.4,605,12573,0.00,2.67,0.00,0.000,6,0.000,0.080,2547,1992,3414
$GC,12885,-0.89,-146.6,844.2,-6.1,621,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1992,3413
$GC,13192,-0.89,-146.6,864.2,-6.8,636,13196,0.00,2.75,0.00,0.000,4,0.000,0.094,2547,3412,3413
$GC,13231,-0.89,-146.6,867.1,-7.6,638,13236,0.00,2.67,0.00,0.000,6,0.000,0.081,2547,1998,3413
$GC,13559,-0.89,-146.6,891.8,-8.0,654,13560,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1997,3412
$GC,13868,-0.89,-146.6,914.9,-7.6,669,13872,0.00,2.72,0.00,0.000,4,0.000,0.093,2547,3405,3412
$GC,13900,-0.89,-146.6,917.3,-7.7,670,13907,0.00,2.65,0.00,0.000,6,0.000,0.081,2547,2004,3412
$GC,14217,-0.89,-146.6,938.4,-6.7,686,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2004,3412
$GC,14526,-0.89,-146.6,959.2,-5.5,701,14531,0.00,2.70,0.00,0.000,4,0.000,0.101,2547,591,3412
$GC,14559,-0.89,-146.6,961.7,-8.0,702,14565,0.00,2.65,0.00,0.000,6,0.000,0.079,2547,2004,3412
$STATE,14769,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14769,begin apogee
$GC,14777,-0.33,0.0,975.5,6.3,713,14916,0.60,0.00,136.18,1.634,6,0.093,0.000,2668,2145,2832
$STATE,14917,end apogee,CONTROL_FINISHED_OK
$STATE,14917,begin climb
$GC,14920,0.97,146.6,976.1,0.0,720,15072,1.33,2.83,140.25,1.573,4,0.068,0.092,2953,3544,2234
$GC,15135,0.75,146.6,965.1,9.9,730,15141,0.22,2.75,0.00,0.000,6,0.099,0.081,2910,2118,2234
$GC,15463,0.69,146.6,946.0,6.1,746,15464,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2118,2233
$GC,15774,0.66,158.5,927.9,5.7,761,15796,0.12,2.83,12.50,1.430,4,0.110,0.098,2886,711,2185
$GC,15813,0.74,212.8,925.7,4.5,762,15869,0.00,2.72,50.70,1.558,6,0.000,0.079,2887,2132,1964
$GC,16189,0.81,212.8,902.2,6.6,781,16191,0.15,0.00,0.00,0.000,6,0.067,0.000,2924,2132,1965
$GC,16495,0.81,212.8,876.5,8.7,796,16496,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2132,1965
$GC,16804,0.81,212.8,851.8,7.3,811,16805,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2132,1965
$GC,17114,0.81,212.8,830.4,7.0,826,17115,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2132,1965
$GC,17423,0.81,212.8,808.7,7.2,841,17424,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2132,1965
$GC,17732,0.88,254.8,789.9,4.8,856,17773,0.00,0.00,39.42,1.526,6,0.000,0.000,2923,2132,1793
$GC,18082,0.90,268.1,770.3,5.6,873,18100,0.00,0.00,14.00,1.425,6,0.000,0.000,2924,2132,1738
$GC,18410,0.90,269.9,751.0,6.0,889,18415,0.00,2.78,0.00,0.000,4,0.000,0.097,2924,713,1738
$GC,18438,0.90,269.9,749.2,7.0,890,18443,0.00,2.67,0.00,0.000,6,0.000,0.078,2924,2124,1738
$GC,18755,0.90,269.9,729.4,6.2,905,18756,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2125,1738
$GC,19063,0.90,269.9,708.1,7.1,920,19067,0.00,2.75,0.00,0.000,4,0.000,0.096,2924,715,1737
$GC,19097,0.90,269.9,705.5,8.0,921,19103,0.00,2.65,0.00,0.000,6,0.000,0.077,2924,2119,1738
$GC,19414,0.90,269.9,681.0,7.4,937,19415,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2120,1738
$GC,19722,0.90,269.9,658.4,6.8,952,19723,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2120,1738
$GC,20032,0.94,294.0,639.5,5.3,967,20062,0.10,2.83,24.12,1.415,4,0.074,0.092,2949,705,1633
$GC,20091,0.88,294.0,636.0,6.3,969,20097,0.00,2.67,0.00,0.000,6,0.000,0.077,2949,2105,1632
$GC,20409,0.89,295.4,618.0,6.0,985,20413,0.00,2.72,0.00,0.000,4,0.000,0.090,2949,3531,1632
$GC,20449,0.84,295.4,615.3,7.6,987,20454,0.00,2.72,0.00,0.000,6,0.000,0.077,2948,2095,1632
$GC,20776,0.84,295.4,590.5,8.3,1003,20781,0.00,2.80,0.00,0.000,4,0.000,0.090,2949,3538,1632
$GC,20804,0.80,295.4,587.9,9.1,1004,20810,0.15,2.72,0.00,0.000,6,0.100,0.077,2920,2102,1632
$GC,21121,0.86,295.4,566.5,6.2,1019,21125,0.00,2.65,0.00,0.000,4,0.000,0.092,2921,704,1632
$GC,21149,0.91,299.6,564.7,5.9,1020,21161,0.00,2.65,6.55,1.163,6,0.000,0.074,2920,2119,1610
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$STATE,27426,end climb,SURFACE_DEPTH_REACHED
$STATE,27426,begin surface coast
$FINISH,0.1,1.027289
$STATE,27470,end surface coast,CONTROL_FINISHED_OK
$STATE,27470,begin surface
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$HUMID,1803
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$XPDR_PINGS,47
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$24V_AH,23.3,63.843
$10V_AH,10.0,31.440
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$DEVICE_SECS,26.150,196.050,498.275,0.000,0.000,37.761,29.135,196.104,20.000,0.000,0.000,30.418,2347.938,21633.848,705.501,2564.055,718.415,0.000,2000.074,0.000,2492.984,0.000,55.432,0.000
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$SENSOR_SECS,990.596,898.285,700.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66310,1326
$CAP_FILE_SIZE,185592,0
$CFSIZE,254472192,229629952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,56,0,0
$GPS,240109,192031,6018.701,-524.609,39,1.3,39,-6.9