version: 66.04
glider: 5
mission: 5
dive: 369
start: 1 24 109 19 27 27
data:
$ID,5
$MISSION,5
$DIVE,369
$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,-94669.977
$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,42
$R_STBD_OVSHOOT,25
$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
$GPS1,192031,6018.701,-524.609,39,1.3,39,-6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-61.1
$GPS2,192708,6018.706,-524.524,11,1.1,11,-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,236.4,24816,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.75,0.000,2,0.000,0.000,421,1962,3164
$GC,124,-0.97,-146.6,3.1,-2.7,5,149,11.05,2.70,-7.12,0.000,4,0.133,0.074,2527,3411,3432
$GC,264,-0.88,-146.6,24.3,-10.5,11,269,0.12,2.50,0.00,0.000,6,0.094,0.049,2553,2015,3431
$GC,586,-0.88,-146.6,49.2,-7.2,27,591,0.00,2.58,0.00,0.000,4,0.000,0.067,2553,586,3431
$GC,620,-0.88,-146.6,52.1,-8.2,28,626,0.00,2.53,0.00,0.000,6,0.000,0.053,2553,2001,3431
$GC,937,-0.88,-146.6,76.6,-8.8,44,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2001,3432
$GC,1245,-0.88,-146.6,99.6,-7.6,59,1249,0.00,2.58,0.00,0.000,4,0.000,0.067,2553,593,3431
$GC,1296,-0.88,-146.6,103.4,-7.5,61,1300,0.00,2.50,0.00,0.000,6,0.000,0.053,2552,1998,3431
$GC,1612,-0.88,-146.6,127.4,-7.6,76,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3431
$GC,1922,-0.88,-146.6,150.9,-7.7,91,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3431
$GC,2231,-0.88,-146.6,173.7,-7.1,106,2236,0.00,2.58,0.00,0.000,4,0.000,0.067,2553,585,3432
$GC,2259,-0.88,-146.6,176.1,-8.3,107,2263,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2001,3432
$GC,2575,-0.88,-146.6,196.9,-6.3,122,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2002,3432
$GC,2885,-0.88,-146.6,215.6,-7.2,137,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2002,3432
$GC,3193,-0.88,-146.6,241.7,-8.3,152,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2002,3432
$GC,3502,-0.88,-146.6,265.8,-6.8,167,3507,0.00,2.58,0.00,0.000,4,0.000,0.068,2553,594,3432
$GC,3553,-0.88,-146.6,269.1,-6.5,169,3558,0.00,2.50,0.00,0.000,6,0.000,0.054,2553,1998,3432
$GC,3869,-0.88,-146.6,293.1,-9.4,184,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3432
$GC,4178,-0.88,-146.6,318.8,-6.7,199,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2001,3432
$GC,4488,-0.88,-146.6,340.9,-7.7,214,4492,0.00,2.53,0.00,0.000,4,0.000,0.065,2553,3404,3433
$GC,4516,-0.88,-146.6,343.5,-8.9,215,4520,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,1986,3432
$GC,4838,-0.88,-146.6,362.1,-5.0,231,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1987,3432
$GC,5147,-0.88,-146.6,387.5,-8.4,246,5151,0.00,2.50,0.00,0.000,4,0.000,0.070,2553,594,3432
$GC,5209,-0.88,-146.6,392.4,-7.1,248,5215,0.00,2.50,0.00,0.000,6,0.000,0.055,2552,1995,3432
$GC,5525,-0.88,-146.6,409.8,-5.3,264,5529,0.00,2.55,0.00,0.000,4,0.000,0.070,2553,3403,3433
$GC,5569,-0.88,-146.6,412.7,-6.6,266,5574,0.00,2.55,0.00,0.000,6,0.000,0.059,2553,1994,3432
$GC,5890,-0.88,-146.6,437.3,-8.3,282,5895,0.00,2.60,0.00,0.000,4,0.000,0.069,2553,3404,3432
$GC,5953,-0.88,-146.6,442.9,-9.1,285,5957,0.00,2.58,0.00,0.000,6,0.000,0.059,2553,1981,3432
$GC,6280,-0.88,-146.6,467.2,-8.2,301,6284,0.00,2.53,0.00,0.000,4,0.000,0.074,2552,590,3432
$GC,6308,-0.88,-146.6,470.1,-9.4,302,6313,0.00,2.50,0.00,0.000,6,0.000,0.059,2553,1980,3432
$GC,6630,-0.88,-146.6,492.2,-5.1,318,6634,0.00,2.60,0.00,0.000,4,0.000,0.074,2553,3411,3431
$GC,6674,-0.88,-146.6,495.0,-6.8,320,6679,0.00,2.60,0.00,0.000,6,0.000,0.064,2553,1994,3431
$GC,6995,-0.88,-146.6,516.8,-7.2,336,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3431
$GC,7306,-0.88,-146.6,535.1,-5.8,351,7310,0.00,2.65,0.00,0.000,4,0.000,0.077,2553,3405,3430
$GC,7338,-0.88,-146.6,537.3,-6.9,352,7344,0.00,2.60,0.00,0.000,6,0.000,0.067,2553,1995,3430
$GC,7655,-0.88,-146.6,554.5,-5.0,368,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1994,3429
$GC,7964,-0.88,-146.6,574.7,-7.7,383,7969,0.00,2.67,0.00,0.000,4,0.000,0.081,2553,3413,3428
$GC,7997,-0.88,-146.6,577.7,-9.3,384,8002,0.00,2.60,0.00,0.000,6,0.000,0.069,2552,2005,3428
$GC,8313,-0.88,-146.6,601.3,-7.2,399,8317,0.00,2.62,0.00,0.000,4,0.000,0.081,2553,3404,3426
$GC,8347,-0.88,-146.6,603.8,-6.7,400,8353,0.00,2.58,0.00,0.000,6,0.000,0.071,2553,2018,3426
$GC,8663,-0.88,-146.6,623.5,-6.3,416,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2018,3425
$GC,8972,-0.88,-146.6,643.3,-6.6,431,8977,0.00,2.67,0.00,0.000,4,0.000,0.089,2553,587,3425
$GC,9002,-0.88,-146.6,645.3,-6.6,432,9007,0.00,2.65,0.00,0.000,6,0.000,0.073,2553,2021,3425
$GC,9318,-0.88,-146.6,665.7,-6.1,447,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2021,3424
$GC,9628,-0.88,-146.6,682.2,-5.2,462,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2021,3423
$GC,9938,-0.88,-146.6,696.5,-4.7,477,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2021,3422
$GC,10246,-0.88,-146.6,712.8,-5.9,492,10251,0.00,2.75,0.00,0.000,4,0.000,0.091,2553,581,3420
$GC,10279,-0.88,-146.6,715.0,-6.3,493,10285,0.00,2.65,0.00,0.000,6,0.000,0.076,2553,2007,3420
$GC,10595,-0.88,-146.6,735.1,-6.5,509,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2008,3419
$GC,10904,-0.88,-146.6,755.8,-6.6,524,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2008,3418
$GC,11213,-0.88,-146.6,777.6,-7.0,539,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3418
$GC,11523,-0.88,-146.6,798.2,-6.6,554,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3417
$GC,11832,-0.88,-146.6,818.6,-6.7,569,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3416
$GC,12141,-0.92,-146.6,839.0,-6.5,584,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3415
$GC,12451,-0.97,-146.6,859.1,-6.7,599,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3415
$GC,12760,-1.01,-146.6,878.2,-6.3,614,12765,0.15,2.75,0.00,0.000,4,0.073,0.097,2518,594,3414
$GC,12788,-0.95,-146.6,880.5,-8.2,615,12793,0.00,2.65,0.00,0.000,6,0.000,0.080,2518,2006,3414
$GC,13105,-0.90,-146.6,905.1,-7.5,630,13107,0.15,0.00,0.00,0.000,6,0.107,0.000,2547,2006,3414
$GC,13413,-0.90,-146.6,924.6,-5.8,645,13415,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2006,3413
$GC,13723,-0.90,-146.6,943.0,-6.0,660,13725,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2007,3413
$GC,14032,-0.90,-146.6,961.6,-6.1,675,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2007,3412
$GC,14341,-0.90,-146.6,979.5,-5.9,690,14342,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2007,3412
$STATE,14523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14523,begin apogee
$GC,14532,-0.33,0.0,990.4,5.6,699,14670,0.60,0.00,134.77,1.651,6,0.091,0.000,2669,2131,2832
$STATE,14670,end apogee,CONTROL_FINISHED_OK
$STATE,14670,begin climb
$GC,14673,0.97,146.6,994.4,0.0,706,14825,1.35,2.80,139.55,1.592,4,0.078,0.091,2952,3521,2234
$GC,14876,0.75,146.6,985.3,8.4,715,14882,0.22,2.70,0.00,0.000,6,0.100,0.084,2910,2131,2234
$GC,15192,0.70,146.6,966.1,6.0,730,15194,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2131,2233
$GC,15503,0.64,146.6,946.7,6.2,745,15505,0.12,0.00,0.00,0.000,6,0.108,0.000,2886,2131,2233
$GC,15811,0.68,169.3,930.0,5.4,760,15842,0.00,0.00,24.58,1.432,6,0.000,0.000,2886,2131,2141
$GC,16140,0.70,180.9,910.6,5.7,776,16159,0.00,0.00,12.60,1.453,6,0.000,0.000,2886,2131,2094
$GC,16471,0.75,188.4,891.1,5.8,792,16482,0.10,0.00,9.00,1.382,6,0.077,0.000,2909,2130,2063
$GC,16778,0.75,188.4,870.8,6.7,807,16779,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2130,2063
$GC,17088,0.75,188.4,850.5,6.4,822,17089,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2130,2063
$GC,17396,0.75,188.4,830.4,6.3,837,17397,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2130,2063
$GC,17706,0.76,191.0,811.5,5.9,852,17712,0.00,0.00,4.18,1.044,6,0.000,0.000,2909,2130,2053
$GC,18016,0.78,202.9,793.9,5.7,867,18034,0.00,0.00,12.77,1.436,6,0.000,0.000,2909,2130,2003
$GC,18344,0.80,218.7,774.8,5.6,883,18374,0.00,2.83,17.85,1.332,4,0.000,0.087,2908,3532,1940
$GC,18392,0.80,218.7,771.8,6.8,885,18396,0.00,2.72,0.00,0.000,6,0.000,0.079,2909,2120,1940
$GC,18714,0.82,231.2,753.3,5.7,901,18732,0.00,0.00,13.20,1.413,6,0.000,0.000,2909,2119,1888
$GC,19042,0.86,253.9,735.1,5.4,917,19072,0.10,2.83,21.85,1.453,4,0.076,0.092,2935,706,1797
$GC,19090,0.88,295.4,732.1,4.9,919,19136,0.00,2.72,38.62,1.467,6,0.000,0.078,2935,2130,1626
$GC,19460,0.88,295.4,706.9,7.6,937,19461,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2130,1627
$GC,19767,0.88,295.4,681.0,9.0,952,19771,0.00,2.75,0.00,0.000,4,0.000,0.094,2935,714,1627
$GC,19807,0.88,295.4,677.4,10.0,954,19812,0.00,2.65,0.00,0.000,6,0.000,0.078,2935,2118,1627
$GC,20134,0.88,295.4,648.9,8.9,970,20136,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2119,1627
$GC,20444,0.88,295.4,622.9,8.0,985,20448,0.00,2.72,0.00,0.000,4,0.000,0.092,2935,708,1627
$GC,20477,0.88,295.4,620.1,8.5,986,20483,0.00,2.65,0.00,0.000,6,0.000,0.077,2935,2118,1627
$GC,20793,0.88,295.4,598.4,6.1,1002,20798,0.00,2.72,0.00,0.000,4,0.000,0.091,2935,706,1627
$GC,20820,0.88,295.4,596.4,6.7,1003,20825,0.00,2.62,0.00,0.000,6,0.000,0.077,2935,2101,1627
$GC,21137,0.88,295.4,576.5,6.6,1018,21138,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2101,1627
$GC,21445,0.88,295.4,555.1,6.5,1033,21449,0.00,2.70,0.00,0.000,4,0.000,0.091,2935,707,1627
$GC,21494,0.88,295.4,551.4,7.6,1035,21499,0.00,2.60,0.00,0.000,6,0.000,0.076,2935,2094,1627
$GC,21810,0.88,295.4,528.7,7.4,1050,21815,0.00,2.72,0.00,0.000,4,0.000,0.086,2936,3538,1627
$GC,21844,0.88,295.4,525.9,7.2,1051,21850,0.00,2.72,0.00,0.000,6,0.000,0.074,2935,2090,1627
$GC,22159,0.88,295.4,503.5,6.8,1067,22164,0.00,2.60,0.00,0.000,4,0.000,0.089,2935,709,1627
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$STATE,28685,begin surface coast
$FINISH,1.3,1.027326
$STATE,28709,end surface coast,CONTROL_FINISHED_OK
$STATE,28709,begin surface
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$XPDR_PINGS,47
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$10V_AH,10.0,31.556
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$DEVICE_SECS,25.875,189.125,484.000,0.000,0.000,37.753,27.889,180.081,20.500,0.000,0.000,11.750,2417.707,22716.738,680.123,2644.659,717.638,0.000,2017.674,0.000,2592.411,0.000,57.159,0.000
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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,69540,1381
$CAP_FILE_SIZE,188615,0
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