version: 66.04
glider: 5
mission: 5
dive: 373
start: 1 26 109 4 31 15
data:
$ID,5
$MISSION,5
$DIVE,373
$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,-94755.047
$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,28
$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
$GPS1,042100,6007.372,-551.635,39,1.2,44,-7.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-56.8
$GPS2,043055,6007.252,-551.648,11,1.9,16,-7.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_2
$TGT_LATLONG,6015.000,-645.000
$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,293.4,51087,-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,-81.72,0.000,2,0.000,0.000,424,1970,3119
$GC,102,-0.97,-146.6,3.2,-3.6,4,128,10.98,2.55,-8.45,0.000,4,0.133,0.075,2528,591,3432
$GC,358,-0.86,-146.6,41.6,-10.3,15,363,0.12,2.53,0.00,0.000,6,0.094,0.051,2553,2007,3432
$GC,677,-0.86,-146.6,66.2,-6.8,30,681,0.00,2.58,0.00,0.000,4,0.000,0.064,2553,597,3431
$GC,762,-0.82,-146.6,73.3,-8.3,34,766,0.00,2.50,0.00,0.000,6,0.000,0.051,2553,2002,3432
$GC,1089,-0.82,-146.6,96.5,-7.1,50,1093,0.00,2.53,0.00,0.000,4,0.000,0.062,2554,3409,3431
$GC,1130,-0.82,-146.6,99.5,-7.3,52,1134,0.00,2.50,0.00,0.000,6,0.000,0.049,2553,2005,3432
$GC,1457,-0.82,-146.6,122.6,-7.6,68,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2003,3432
$GC,1768,-0.82,-146.6,148.3,-8.3,83,1772,0.00,2.55,0.00,0.000,4,0.000,0.061,2553,3405,3432
$GC,1808,-0.82,-146.6,151.8,-8.3,85,1812,0.00,2.50,0.00,0.000,6,0.000,0.049,2554,1998,3432
$GC,2135,-0.82,-146.6,180.7,-9.5,101,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3432
$GC,2444,-0.82,-146.6,211.2,-9.5,116,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3432
$GC,2754,-0.82,-146.6,238.8,-8.2,131,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3432
$GC,3062,-0.82,-146.6,261.2,-6.5,146,3067,0.00,2.58,0.00,0.000,4,0.000,0.063,2554,3409,3432
$GC,3096,-0.82,-146.6,263.5,-6.9,147,3102,0.00,2.50,0.00,0.000,6,0.000,0.051,2554,2010,3432
$GC,3412,-0.82,-146.6,282.1,-6.1,163,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3432
$GC,3721,-0.82,-146.6,302.9,-7.4,178,3725,0.00,2.55,0.00,0.000,4,0.000,0.064,2553,3406,3432
$GC,3748,-0.82,-146.6,305.1,-8.2,179,3752,0.00,2.50,0.00,0.000,6,0.000,0.052,2553,2008,3431
$GC,4064,-0.82,-146.6,329.7,-8.0,194,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2006,3432
$GC,4372,-0.82,-146.6,353.0,-7.3,209,4377,0.00,2.55,0.00,0.000,4,0.000,0.064,2553,3404,3432
$GC,4400,-0.82,-146.6,355.1,-7.6,210,4404,0.00,2.50,0.00,0.000,6,0.000,0.052,2553,2007,3432
$GC,4717,-0.82,-146.6,379.2,-7.9,225,4720,0.00,2.55,0.00,0.000,4,0.000,0.068,2553,584,3432
$GC,4767,-0.82,-146.6,384.1,-9.7,227,4771,0.00,2.55,0.00,0.000,6,0.000,0.054,2554,2019,3432
$GC,5088,-0.82,-146.6,414.8,-8.8,243,5091,0.00,2.50,0.00,0.000,4,0.000,0.067,2553,3406,3432
$GC,5185,-0.82,-146.6,423.0,-8.7,247,5189,0.00,2.47,0.00,0.000,6,0.000,0.054,2553,2029,3432
$GC,5506,-0.82,-146.6,444.5,-6.5,263,5510,0.00,2.60,0.00,0.000,4,0.000,0.070,2553,584,3432
$GC,5556,-0.82,-146.6,448.0,-7.5,265,5560,0.00,2.58,0.00,0.000,6,0.000,0.056,2553,2027,3432
$GC,5872,-0.82,-146.6,471.7,-9.0,280,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2026,3432
$GC,6180,-0.82,-146.6,495.5,-6.6,295,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2026,3432
$GC,6491,-0.82,-146.6,511.1,-5.1,310,6495,0.00,2.53,0.00,0.000,4,0.000,0.072,2553,3414,3430
$GC,6576,-0.82,-146.6,515.3,-5.1,314,6580,0.00,2.55,0.00,0.000,6,0.000,0.061,2553,2010,3430
$GC,6902,-0.82,-146.6,536.0,-7.6,330,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3430
$GC,7212,-0.82,-146.6,558.2,-6.9,345,7216,0.00,2.60,0.00,0.000,4,0.000,0.073,2553,3409,3429
$GC,7252,-0.87,-146.6,561.1,-7.5,347,7256,0.00,2.55,0.00,0.000,6,0.000,0.064,2554,2012,3428
$GC,7578,-0.87,-146.6,582.2,-6.4,363,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2011,3428
$GC,7889,-0.91,-146.6,602.5,-6.6,378,7893,0.00,2.60,0.00,0.000,4,0.000,0.076,2553,3412,3426
$GC,7922,-0.95,-146.6,605.1,-7.8,379,7928,0.00,2.53,0.00,0.000,6,0.000,0.065,2553,2032,3426
$GC,8238,-0.95,-146.6,626.2,-6.6,395,8242,0.00,2.65,0.00,0.000,4,0.000,0.078,2553,585,3425
$GC,8283,-1.00,-146.6,629.2,-6.5,397,8288,0.12,2.62,0.00,0.000,6,0.064,0.065,2520,2028,3425
$GC,8608,-0.94,-146.6,651.4,-7.0,413,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2029,3424
$GC,8915,-0.88,-146.6,672.9,-7.3,428,8917,0.15,0.00,0.00,0.000,6,0.100,0.000,2551,2029,3423
$GC,9223,-0.88,-146.6,694.9,-7.2,443,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3422
$GC,9532,-0.88,-146.6,716.5,-6.4,458,9536,0.00,2.72,0.00,0.000,4,0.000,0.088,2551,593,3421
$GC,9566,-0.88,-146.6,718.8,-7.1,459,9572,0.00,2.62,0.00,0.000,6,0.000,0.072,2551,2018,3421
$GC,9882,-0.88,-146.6,737.9,-5.9,475,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2019,3420
$GC,10191,-0.88,-146.6,754.6,-5.0,490,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2019,3419
$GC,10501,-0.88,-146.6,769.4,-4.8,505,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2020,3418
$GC,10810,-0.88,-146.6,786.9,-5.9,520,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2020,3418
$GC,11118,-0.88,-146.6,806.4,-6.5,535,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2020,3417
$GC,11431,-0.88,-146.6,825.6,-6.0,550,11436,0.00,2.75,0.00,0.000,4,0.000,0.095,2551,590,3416
$GC,11459,-0.88,-146.6,827.7,-6.9,551,11464,0.00,2.65,0.00,0.000,6,0.000,0.078,2550,2008,3416
$GC,11775,-0.88,-146.6,846.9,-6.2,566,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3415
$GC,12086,-0.88,-146.6,864.6,-5.4,581,12087,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2009,3414
$GC,12394,-0.88,-146.6,881.0,-5.2,596,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2009,3413
$GC,12703,-0.88,-146.6,897.8,-5.4,611,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2008,3412
$GC,13015,-0.93,-146.6,914.6,-5.3,626,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2008,3412
$GC,13322,-0.93,-146.6,931.5,-5.5,641,13323,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3412
$GC,13632,-0.97,-146.6,949.5,-5.9,656,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2008,3411
$GC,13940,-1.01,-146.6,968.7,-6.2,671,13942,0.12,0.00,0.00,0.000,6,0.073,0.000,2520,2008,3411
$STATE,14248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14248,begin apogee
$GC,14256,-0.33,0.0,991.0,7.1,686,14396,0.73,0.00,136.50,1.647,6,0.093,0.000,2667,2133,2832
$STATE,14397,end apogee,CONTROL_FINISHED_OK
$STATE,14397,begin climb
$GC,14400,0.97,146.6,996.0,0.0,693,14551,1.35,2.80,139.90,1.590,4,0.074,0.093,2952,3523,2234
$GC,14580,0.73,146.6,989.4,7.3,701,14586,0.25,2.72,0.00,0.000,6,0.103,0.084,2905,2129,2234
$GC,14897,0.71,158.9,971.7,5.7,716,14923,0.00,2.80,15.15,1.281,4,0.000,0.096,2905,709,2183
$GC,14951,0.66,158.9,968.2,6.6,718,14958,0.00,2.70,0.00,0.000,6,0.000,0.078,2905,2121,2184
$GC,15268,0.68,175.5,950.3,5.5,734,15287,0.00,0.00,16.83,1.489,6,0.000,0.000,2905,2121,2116
$GC,15598,0.68,175.5,930.5,6.3,750,15602,0.00,2.75,0.00,0.000,4,0.000,0.096,2905,714,2117
$GC,15625,0.68,175.5,928.4,7.0,751,15630,0.00,2.67,0.00,0.000,6,0.000,0.079,2905,2122,2116
$GC,15942,0.68,175.5,907.5,6.7,766,15943,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2122,2116
$GC,16250,0.68,175.5,888.1,6.2,781,16251,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2122,2116
$GC,16561,0.70,186.2,869.7,5.7,796,16585,0.00,2.83,14.02,1.286,4,0.000,0.095,2905,704,2072
$GC,16609,0.73,204.4,866.7,5.5,798,16634,0.00,2.72,18.50,1.503,6,0.000,0.079,2905,2127,1998
$GC,16956,0.73,204.4,844.6,6.3,815,16958,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2127,1997
$GC,17267,0.77,232.3,826.8,5.2,830,17296,0.00,0.00,27.08,1.523,6,0.000,0.000,2905,2127,1884
$GC,17596,0.82,236.3,808.2,5.9,846,17607,0.00,2.80,5.78,1.208,4,0.000,0.096,2905,711,1867
$GC,17630,0.84,246.1,806.2,5.7,847,17646,0.10,2.70,10.38,1.382,6,0.072,0.080,2931,2124,1828
$GC,17963,0.84,246.1,784.4,6.3,864,17964,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2124,1828
$GC,18272,0.84,246.1,763.3,7.0,879,18273,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2124,1828
$GC,18582,0.84,246.1,742.5,7.0,894,18583,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2124,1829
$GC,18890,0.84,246.1,720.4,7.0,909,18894,0.00,2.75,0.00,0.000,4,0.000,0.097,2931,712,1829
$GC,18934,0.84,246.1,716.9,7.7,911,18939,0.00,2.65,0.00,0.000,6,0.000,0.078,2931,2118,1829
$GC,19255,0.84,246.1,693.8,6.9,927,19257,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2118,1828
$GC,19564,0.84,246.1,672.3,7.0,942,19565,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2118,1829
$GC,19873,0.84,246.1,649.2,7.8,957,19874,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2118,1828
$GC,20183,0.84,246.1,626.2,7.2,972,20184,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2118,1828
$GC,20492,0.84,246.1,605.0,6.7,987,20496,0.00,2.67,0.00,0.000,4,0.000,0.087,2931,3531,1829
$GC,20513,0.84,246.1,603.4,7.8,988,20518,0.00,2.67,0.00,0.000,6,0.000,0.076,2931,2109,1829
$GC,20835,0.84,246.1,581.8,6.5,1004,20839,0.00,2.62,0.00,0.000,4,0.000,0.090,2931,707,1828
$GC,20875,0.84,246.1,579.0,7.9,1006,20879,0.00,2.62,0.00,0.000,6,0.000,0.074,2931,2114,1829
$GC,21201,0.84,246.1,558.0,6.6,1022,21202,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2115,1828
$GC,21511,0.84,246.1,537.4,6.7,1037,21516,0.00,2.67,0.00,0.000,4,0.000,0.087,2931,708,1829
$GC,21544,0.84,246.1,534.8,8.7,1038,21550,0.00,2.60,0.00,0.000,6,0.000,0.073,2931,2103,1828
$GC,21860,0.84,246.1,513.5,7.3,1054,21861,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2103,1828
$GC,22170,0.84,246.1,491.0,6.7,1069,22171,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2104,1828
$GC,22478,0.84,246.1,471.4,6.2,1084,22482,0.00,2.62,0.00,0.000,4,0.000,0.082,2931,709,1829
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$STATE,29139,end climb,SURFACE_DEPTH_REACHED
$STATE,29139,begin surface coast
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$STATE,29182,end surface coast,CONTROL_FINISHED_OK
$STATE,29182,begin surface
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$HUMID,1792
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$XPDR_PINGS,51
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$10V_AH,10.0,32.034
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$DEVICE_SECS,25.175,177.825,416.875,0.000,0.000,77.081,55.095,245.452,21.500,0.000,0.000,16.554,2478.579,23213.059,592.607,2709.468,854.354,0.000,1932.861,0.000,2652.204,0.000,57.396,0.000
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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,72661,1409
$CAP_FILE_SIZE,191579,0
$CFSIZE,254472192,229199872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,2,0
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