version: 66.04
glider: 5
mission: 5
dive: 370
start: 1 25 109 3 35 50
data:
$ID,5
$MISSION,5
$DIVE,370
$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,-94688.203
$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,38
$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,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
$GPS1,032836,6015.043,-529.431,38,0.9,38,-7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.4
$GPS2,033531,6015.132,-529.193,17,1.2,17,-7.0
$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,243.9,17390,-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,-101.80,0.000,2,0.000,0.000,423,1974,3312
$GC,124,-0.97,-146.6,3.6,-3.0,5,146,11.02,2.53,-2.85,0.000,4,0.133,0.074,2524,614,3431
$GC,365,-0.87,-146.6,37.7,-11.3,15,372,0.15,2.47,0.00,0.000,6,0.087,0.051,2555,2003,3432
$GC,682,-0.87,-146.6,62.6,-6.7,31,687,0.00,2.58,0.00,0.000,4,0.000,0.064,2555,605,3432
$GC,755,-0.87,-146.6,68.3,-7.8,34,759,0.00,2.47,0.00,0.000,6,0.000,0.051,2555,1996,3432
$GC,1072,-0.87,-146.6,91.8,-7.8,49,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2006,3432
$GC,1381,-0.87,-146.6,117.9,-9.1,64,1385,0.00,2.53,0.00,0.000,4,0.000,0.062,2555,3404,3433
$GC,1431,-0.87,-146.6,122.5,-9.0,66,1436,0.00,2.50,0.00,0.000,6,0.000,0.048,2555,1999,3433
$GC,1747,-0.87,-146.6,145.8,-6.8,81,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1999,3433
$GC,2057,-0.87,-146.6,168.3,-7.6,96,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1999,3433
$GC,2366,-0.87,-146.6,192.0,-7.4,111,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1999,3433
$GC,2677,-0.87,-146.6,216.3,-7.8,126,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1999,3433
$GC,2985,-0.87,-146.6,240.7,-7.8,141,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1999,3433
$GC,3293,-0.87,-146.6,265.5,-8.2,156,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1999,3433
$GC,3603,-0.87,-146.6,290.5,-7.8,171,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1999,3433
$GC,3913,-0.87,-146.6,314.3,-7.3,186,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1998,3433
$GC,4221,-0.87,-146.6,334.5,-6.1,201,4226,0.00,2.58,0.00,0.000,4,0.000,0.064,2555,3406,3433
$GC,4261,-0.87,-146.6,337.0,-6.2,203,4266,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,1996,3433
$GC,4589,-0.87,-146.6,357.6,-6.9,219,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1996,3433
$GC,4898,-0.87,-146.6,381.1,-7.6,234,4902,0.00,2.58,0.00,0.000,4,0.000,0.067,2555,3406,3433
$GC,4937,-0.87,-146.6,384.2,-8.4,236,4942,0.00,2.53,0.00,0.000,6,0.000,0.055,2555,2000,3433
$GC,5265,-0.87,-146.6,406.5,-6.4,252,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3432
$GC,5574,-0.87,-146.6,426.1,-6.5,267,5579,0.00,2.60,0.00,0.000,4,0.000,0.067,2555,3412,3432
$GC,5615,-0.91,-146.6,428.8,-6.6,269,5619,0.00,2.53,0.00,0.000,6,0.000,0.057,2555,2008,3432
$GC,5942,-0.91,-146.6,447.6,-5.6,285,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2008,3432
$GC,6250,-0.91,-146.6,466.4,-6.0,300,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2008,3432
$GC,6560,-0.91,-146.6,488.3,-7.0,315,6565,0.00,2.60,0.00,0.000,4,0.000,0.071,2555,3411,3431
$GC,6633,-0.91,-146.6,494.0,-7.9,318,6638,0.00,2.55,0.00,0.000,6,0.000,0.062,2555,2012,3431
$GC,6949,-0.91,-146.6,515.7,-6.5,333,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2011,3431
$GC,7259,-0.91,-146.6,534.7,-5.6,348,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2011,3430
$GC,7568,-0.91,-146.6,551.9,-5.2,363,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2011,3429
$GC,7877,-0.91,-146.6,569.7,-5.8,378,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2011,3428
$GC,8187,-0.91,-146.6,589.0,-6.2,393,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2012,3427
$GC,8495,-0.91,-146.6,607.4,-6.0,408,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2012,3426
$GC,8804,-0.91,-146.6,627.3,-6.9,423,8809,0.00,2.65,0.00,0.000,4,0.000,0.084,2555,3406,3425
$GC,8833,-0.95,-146.6,629.3,-7.3,424,8838,0.00,2.58,0.00,0.000,6,0.000,0.073,2555,2024,3425
$GC,9150,-0.95,-146.6,650.2,-6.4,439,9154,0.00,2.67,0.00,0.000,4,0.000,0.091,2555,592,3424
$GC,9182,-0.95,-146.6,652.5,-6.8,440,9189,0.00,2.65,0.00,0.000,6,0.000,0.074,2555,2022,3424
$GC,9500,-0.99,-146.6,672.0,-5.9,456,9502,0.12,0.00,0.00,0.000,6,0.073,0.000,2524,2023,3423
$GC,9808,-0.94,-146.6,695.7,-7.9,471,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2023,3422
$GC,10118,-0.89,-146.6,717.5,-7.1,486,10119,0.12,0.00,0.00,0.000,6,0.108,0.000,2549,2022,3420
$GC,10427,-0.89,-146.6,738.5,-6.4,501,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2022,3419
$GC,10736,-0.89,-146.6,758.2,-6.5,516,10740,0.00,2.75,0.00,0.000,4,0.000,0.094,2549,591,3418
$GC,10768,-0.89,-146.6,760.5,-7.6,517,10775,0.00,2.67,0.00,0.000,6,0.000,0.077,2549,2025,3418
$GC,11085,-0.89,-146.6,779.6,-6.2,533,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2025,3417
$GC,11393,-0.89,-146.6,798.8,-6.1,548,11394,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2025,3416
$GC,11704,-0.89,-146.6,817.2,-5.8,563,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2025,3415
$GC,12012,-0.89,-146.6,835.5,-6.0,578,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2025,3414
$GC,12321,-0.89,-146.6,853.2,-5.6,593,12326,0.00,2.78,0.00,0.000,4,0.000,0.097,2549,590,3415
$GC,12350,-0.89,-146.6,854.9,-6.4,594,12354,0.00,2.67,0.00,0.000,6,0.000,0.080,2549,2020,3414
$GC,12666,-0.89,-146.6,872.4,-5.6,609,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2020,3413
$GC,12977,-0.89,-146.6,889.3,-5.1,624,12979,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2020,3412
$GC,13285,-0.89,-146.6,904.0,-5.1,639,13286,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2020,3412
$GC,13593,-0.89,-146.6,920.7,-5.2,654,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2020,3412
$GC,13903,-0.89,-146.6,937.6,-5.8,669,13907,0.00,2.78,0.00,0.000,4,0.000,0.098,2549,588,3411
$GC,13931,-0.89,-146.6,939.3,-6.6,670,13935,0.00,2.67,0.00,0.000,6,0.000,0.080,2548,2020,3412
$GC,14247,-0.89,-146.6,957.0,-5.3,685,14248,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2021,3412
$GC,14556,-0.89,-146.6,974.5,-5.5,700,14557,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2021,3411
$STATE,14820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14821,begin apogee
$GC,14829,-0.33,0.0,990.7,6.2,713,14968,0.60,0.00,136.00,1.654,6,0.091,0.000,2672,2132,2832
$STATE,14969,end apogee,CONTROL_FINISHED_OK
$STATE,14969,begin climb
$GC,14972,0.97,146.6,995.5,0.0,720,15124,1.33,2.78,141.02,1.591,4,0.076,0.092,2950,3531,2234
$GC,15187,0.76,146.6,986.5,8.7,730,15192,0.22,2.72,0.00,0.000,6,0.100,0.081,2908,2122,2234
$GC,15509,0.70,146.6,965.8,6.7,746,15513,0.00,2.72,0.00,0.000,4,0.000,0.100,2908,713,2233
$GC,15537,0.63,146.6,963.9,7.0,747,15543,0.15,2.67,0.00,0.000,6,0.105,0.081,2879,2120,2234
$GC,15853,0.66,168.0,946.0,5.4,762,15884,0.00,0.00,23.50,1.411,6,0.000,0.000,2880,2120,2147
$GC,16184,0.73,180.5,926.5,5.7,778,16202,0.12,0.00,13.52,1.459,6,0.071,0.000,2910,2120,2096
$GC,16512,0.73,180.5,905.0,6.9,794,16513,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2120,2096
$GC,16821,0.73,180.5,883.4,6.9,809,16825,0.00,2.75,0.00,0.000,4,0.000,0.097,2909,712,2096
$GC,16855,0.69,180.5,880.9,7.4,810,16862,0.00,2.67,0.00,0.000,6,0.000,0.080,2909,2126,2097
$GC,17171,0.69,180.5,859.4,6.7,826,17172,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2126,2097
$GC,17480,0.69,180.5,839.2,6.6,841,17481,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2126,2097
$GC,17791,0.69,185.3,820.1,5.9,856,17804,0.00,2.85,6.53,1.277,4,0.000,0.097,2910,712,2076
$GC,17827,0.69,185.3,817.6,6.4,857,17833,0.00,2.67,0.00,0.000,6,0.000,0.080,2910,2115,2076
$GC,18143,0.71,196.6,799.4,5.7,873,18162,0.00,0.00,12.10,1.427,6,0.000,0.000,2910,2115,2030
$GC,18472,0.72,200.6,779.7,5.9,889,18480,0.00,0.00,5.43,1.177,6,0.000,0.000,2910,2116,2014
$GC,18781,0.74,216.3,762.2,5.6,904,18804,0.00,2.85,16.10,1.443,4,0.000,0.096,2910,710,1950
$GC,18824,0.78,239.9,759.7,5.4,906,18853,0.00,2.67,23.17,1.460,6,0.000,0.078,2909,2109,1853
$GC,19179,0.83,246.2,740.0,5.8,923,19188,0.00,0.00,7.40,1.267,6,0.000,0.000,2909,2109,1828
$GC,19486,0.88,246.2,721.7,6.1,938,19491,0.10,2.75,0.00,0.000,4,0.074,0.097,2937,714,1828
$GC,19509,0.88,246.2,719.9,7.2,939,19513,0.00,2.62,0.00,0.000,6,0.000,0.078,2937,2102,1828
$GC,19830,0.88,246.2,696.4,7.6,955,19831,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2102,1829
$GC,20139,0.88,246.2,672.4,7.8,970,20140,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2102,1829
$GC,20449,0.88,246.2,648.9,7.2,985,20450,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2102,1829
$GC,20759,0.88,246.2,625.1,7.8,1000,20763,0.00,2.70,0.00,0.000,4,0.000,0.097,2936,712,1828
$GC,20786,0.84,246.2,622.6,8.5,1001,20791,0.00,2.62,0.00,0.000,6,0.000,0.078,2936,2103,1828
$GC,21103,0.84,246.2,597.6,7.8,1016,21104,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2103,1829
$GC,21412,0.84,246.2,574.2,7.5,1031,21416,0.00,2.72,0.00,0.000,4,0.000,0.089,2936,3537,1828
$GC,21445,0.84,246.2,571.4,7.3,1032,21451,0.00,2.72,0.00,0.000,6,0.000,0.077,2937,2096,1828
$GC,21761,0.84,246.2,548.0,7.1,1048,21762,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2097,1828
$GC,22070,0.84,246.2,525.4,8.0,1063,22071,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2097,1828
$GC,22379,0.84,246.2,501.3,7.4,1078,22383,0.00,2.75,0.00,0.000,4,0.000,0.084,2936,3534,1828
$GC,22425,0.84,246.2,497.7,7.7,1080,22429,0.00,2.67,0.00,0.000,6,0.000,0.071,2936,2100,1828
$GC,22746,0.84,246.2,474.0,7.4,1096,22751,0.00,2.60,0.00,0.000,4,0.000,0.084,2936,707,1828
$GC,22774,0.84,246.2,471.7,8.1,1097,22778,0.00,2.58,0.00,0.000,6,0.000,0.070,2936,2100,1829
$GC,23091,0.84,246.2,449.4,6.8,1112,23095,0.00,2.67,0.00,0.000,4,0.000,0.081,2936,3534,1829
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$STATE,29514,begin surface coast
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$STATE,29539,end surface coast,CONTROL_FINISHED_OK
$STATE,29539,begin surface
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$HUMID,1781
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$XPDR_PINGS,46
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$10V_AH,10.0,31.676
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$DEVICE_SECS,25.500,178.825,466.225,0.000,0.000,37.756,36.436,185.977,20.250,0.000,0.000,17.602,2499.161,23403.564,652.153,2731.888,736.645,0.000,2008.851,0.000,2673.716,0.000,57.153,0.000
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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,72710,1424
$CAP_FILE_SIZE,190055,0
$CFSIZE,254472192,229453824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,52,1,0
$GPS,250109,115054,6013.097,-532.580,43,1.9,43,-7.0