version: 66.04
glider: 5
mission: 5
dive: 374
start: 1 26 109 12 47 21
data:
$ID,5
$MISSION,5
$DIVE,374
$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,-94767.875
$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,43
$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
$GPS1,124007,6007.016,-553.450,30,1.3,30,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.0
$GPS2,124702,6006.970,-553.300,12,1.8,12,-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,294.5,49785,-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,-81.53,0.000,2,0.000,0.000,420,1961,3335
$GC,103,-0.97,-146.6,4.3,-5.0,4,125,11.02,2.53,-2.28,0.000,4,0.133,0.074,2528,611,3432
$GC,159,-0.88,-146.6,17.4,-11.5,6,164,0.12,2.50,0.00,0.000,6,0.087,0.051,2554,2006,3432
$GC,477,-0.88,-146.6,40.2,-7.1,21,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2007,3432
$GC,785,-0.88,-146.6,60.1,-6.4,36,789,0.00,2.55,0.00,0.000,4,0.000,0.064,2554,608,3433
$GC,813,-0.88,-146.6,62.3,-7.3,37,817,0.00,2.47,0.00,0.000,6,0.000,0.051,2554,1998,3432
$GC,1129,-0.88,-146.6,82.8,-6.7,52,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3432
$GC,1439,-0.88,-146.6,103.4,-6.4,67,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3433
$GC,1749,-0.88,-146.6,124.4,-7.4,82,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3433
$GC,2057,-0.88,-146.6,148.7,-7.3,97,2061,0.00,2.53,0.00,0.000,4,0.000,0.064,2554,613,3432
$GC,2099,-0.88,-146.6,151.9,-8.7,99,2103,0.00,2.45,0.00,0.000,6,0.000,0.051,2554,1996,3433
$GC,2426,-0.88,-146.6,176.5,-8.1,115,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3433
$GC,2737,-0.88,-146.6,200.6,-7.8,130,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1996,3432
$GC,3045,-0.88,-146.6,226.0,-8.2,145,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3433
$GC,3353,-0.88,-146.6,249.9,-8.0,160,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3433
$GC,3664,-0.88,-146.6,275.8,-8.8,175,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3433
$GC,3972,-0.88,-146.6,302.1,-9.5,190,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1997,3433
$GC,4281,-0.88,-146.6,328.7,-8.3,205,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3433
$GC,4590,-0.88,-146.6,347.9,-6.0,220,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3433
$GC,4900,-0.88,-146.6,367.8,-6.7,235,4904,0.00,2.55,0.00,0.000,4,0.000,0.069,2554,604,3433
$GC,4955,-0.88,-146.6,371.9,-7.6,237,4961,0.00,2.47,0.00,0.000,6,0.000,0.053,2554,1998,3433
$GC,5271,-0.88,-146.6,392.8,-6.9,253,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3433
$GC,5581,-0.88,-146.6,414.3,-6.9,268,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3433
$GC,5889,-0.88,-146.6,436.1,-7.5,283,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1999,3433
$GC,6199,-0.88,-146.6,461.1,-8.2,298,6203,0.00,2.53,0.00,0.000,4,0.000,0.067,2554,3403,3433
$GC,6249,-0.88,-146.6,465.4,-9.1,300,6254,0.00,2.50,0.00,0.000,6,0.000,0.058,2554,2017,3433
$GC,6565,-0.88,-146.6,488.9,-7.2,315,6569,0.00,2.55,0.00,0.000,4,0.000,0.069,2554,3402,3433
$GC,6627,-0.88,-146.6,493.4,-7.3,318,6631,0.00,2.53,0.00,0.000,6,0.000,0.059,2554,2004,3432
$GC,6954,-0.88,-146.6,515.2,-6.6,334,6958,0.00,2.58,0.00,0.000,4,0.000,0.074,2554,584,3432
$GC,6981,-0.88,-146.6,517.3,-7.4,335,6985,0.00,2.55,0.00,0.000,6,0.000,0.058,2554,2008,3432
$GC,7297,-0.88,-146.6,537.5,-5.9,350,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2008,3432
$GC,7607,-0.88,-146.6,553.2,-4.9,365,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2008,3431
$GC,7915,-0.88,-146.6,572.0,-6.7,380,7920,0.00,2.58,0.00,0.000,4,0.000,0.080,2554,3401,3430
$GC,7966,-0.92,-146.6,576.0,-8.2,382,7970,0.00,2.58,0.00,0.000,6,0.000,0.069,2554,2005,3430
$GC,8282,-0.92,-146.6,596.6,-6.5,397,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2005,3429
$GC,8591,-0.92,-146.6,616.1,-6.0,412,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2006,3427
$GC,8901,-0.92,-146.6,635.1,-6.2,427,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2005,3426
$GC,9209,-0.92,-146.6,653.9,-6.3,442,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2006,3425
$GC,9519,-0.92,-146.6,674.2,-6.6,457,9523,0.00,2.65,0.00,0.000,4,0.000,0.085,2554,3409,3423
$GC,9552,-0.97,-146.6,676.7,-7.4,458,9558,0.00,2.62,0.00,0.000,6,0.000,0.075,2554,2005,3423
$GC,9868,-0.97,-146.6,697.5,-6.9,474,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2005,3422
$GC,10177,-0.97,-146.6,718.3,-6.8,489,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2005,3422
$GC,10487,-0.97,-146.6,737.9,-6.2,504,10491,0.00,2.67,0.00,0.000,4,0.000,0.087,2554,3404,3421
$GC,10531,-1.02,-146.6,741.0,-7.1,506,10536,0.15,2.60,0.00,0.000,6,0.074,0.075,2520,2013,3420
$GC,10855,-0.96,-146.6,764.8,-7.4,522,10856,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2013,3419
$GC,11163,-0.90,-146.6,787.5,-7.4,537,11165,0.12,0.00,0.00,0.000,6,0.107,0.000,2545,2013,3418
$GC,11471,-0.90,-146.6,807.6,-6.4,552,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2013,3417
$GC,11780,-0.90,-146.6,827.9,-6.6,567,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2013,3416
$GC,12090,-0.90,-146.6,848.8,-6.6,582,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2013,3415
$GC,12399,-0.90,-146.6,869.0,-6.5,597,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2013,3415
$GC,12708,-0.90,-146.6,889.7,-6.6,612,12712,0.00,2.65,0.00,0.000,4,0.000,0.090,2545,3402,3414
$GC,12736,-0.90,-146.6,891.7,-6.9,613,12740,0.00,2.62,0.00,0.000,6,0.000,0.078,2545,2007,3414
$GC,13051,-0.90,-146.6,912.1,-6.3,628,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2006,3413
$GC,13361,-0.90,-146.6,931.6,-6.1,643,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2006,3413
$GC,13671,-0.90,-146.6,949.9,-5.9,658,13672,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2006,3413
$GC,13979,-0.90,-146.6,968.0,-5.8,673,13984,0.00,2.67,0.00,0.000,4,0.000,0.091,2545,3399,3412
$GC,14025,-0.90,-146.6,970.6,-5.7,675,14029,0.00,2.62,0.00,0.000,6,0.000,0.080,2545,2010,3412
$GC,14348,-0.90,-146.6,988.8,-5.5,691,14352,0.00,2.67,0.00,0.000,4,0.000,0.094,2545,590,3412
$STATE,14366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14366,begin apogee
$GC,14376,-0.33,0.0,990.2,5.8,692,14515,0.57,0.00,135.68,1.651,6,0.094,0.000,2666,2118,2832
$STATE,14516,end apogee,CONTROL_FINISHED_OK
$STATE,14516,begin climb
$GC,14520,0.97,146.6,994.6,0.0,699,14672,1.35,2.80,141.70,1.585,4,0.079,0.090,2949,3537,2234
$GC,14712,0.76,146.6,985.9,8.0,708,14717,0.20,2.72,0.00,0.000,6,0.100,0.081,2912,2128,2234
$GC,15037,0.70,147.4,966.4,6.0,724,15041,0.00,2.72,0.00,0.000,4,0.000,0.095,2911,707,2233
$GC,15070,0.61,147.4,964.1,6.2,725,15077,0.17,2.67,0.00,0.000,6,0.101,0.079,2878,2121,2233
$GC,15388,0.74,202.2,949.6,4.5,741,15466,0.12,0.00,60.08,1.441,6,0.071,0.000,2907,2121,2007
$GC,15775,0.74,202.2,927.0,6.1,760,15776,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2121,2007
$GC,16085,0.74,203.8,908.7,6.0,775,16086,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2121,2008
$GC,16394,0.74,203.8,890.1,6.2,790,16399,0.00,2.72,0.00,0.000,4,0.000,0.094,2907,714,2008
$GC,16421,0.74,203.8,888.2,6.0,791,16426,0.00,2.65,0.00,0.000,6,0.000,0.078,2907,2118,2008
$GC,16738,0.75,204.4,869.2,6.0,806,16744,0.00,0.00,4.43,1.085,6,0.000,0.000,2907,2118,1998
$GC,17048,0.77,219.0,851.5,5.6,821,17066,0.00,0.00,15.02,1.479,6,0.000,0.000,2907,2118,1939
$GC,17376,0.79,233.7,832.3,5.6,837,17397,0.00,2.88,15.38,1.473,4,0.000,0.094,2907,705,1879
$GC,17413,0.79,233.7,829.7,6.7,838,17420,0.00,2.70,0.00,0.000,6,0.000,0.078,2907,2115,1878
$GC,17730,0.79,233.7,810.0,6.5,854,17734,0.00,2.72,0.00,0.000,4,0.000,0.091,2907,3540,1879
$GC,17757,0.79,233.7,807.8,7.9,855,17762,0.00,2.72,0.00,0.000,6,0.000,0.078,2908,2110,1879
$GC,18073,0.79,233.7,786.0,7.0,870,18074,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2110,1879
$GC,18383,0.79,233.7,764.0,7.0,885,18384,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2110,1879
$GC,18692,0.84,233.7,742.3,6.7,900,18693,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2110,1879
$GC,19001,0.88,233.7,721.7,6.8,915,19003,0.12,0.00,0.00,0.000,6,0.071,0.000,2940,2110,1879
$GC,19311,0.83,233.7,697.7,7.8,930,19312,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2110,1879
$GC,19619,0.78,233.7,673.8,7.7,945,19621,0.12,0.00,0.00,0.000,6,0.106,0.000,2915,2110,1879
$GC,19929,0.78,233.7,652.0,6.9,960,19934,0.00,2.75,0.00,0.000,4,0.000,0.090,2915,3534,1880
$GC,19964,0.78,233.7,649.4,7.2,961,19970,0.00,2.67,0.00,0.000,6,0.000,0.077,2915,2116,1879
$GC,20280,0.78,233.7,629.8,6.1,977,20284,0.00,2.67,0.00,0.000,4,0.000,0.092,2915,704,1879
$GC,20313,0.78,233.7,627.5,6.3,978,20319,0.00,2.65,0.00,0.000,6,0.000,0.076,2915,2119,1879
$GC,20631,0.79,235.9,608.4,5.9,994,20637,0.00,0.00,3.88,0.927,6,0.000,0.000,2915,2119,1870
$GC,20938,0.80,242.0,590.0,5.8,1009,20953,0.00,2.78,7.35,1.205,4,0.000,0.088,2914,715,1845
$GC,20984,0.80,242.0,587.3,6.6,1011,20989,0.00,2.65,0.00,0.000,6,0.000,0.074,2915,2121,1844
$GC,21312,0.87,261.4,569.5,5.5,1027,21337,0.00,2.80,18.67,1.335,4,0.000,0.088,2915,717,1766
$GC,21356,0.92,261.4,566.8,6.1,1029,21361,0.12,2.62,0.00,0.000,6,0.067,0.073,2946,2108,1765
$GC,21686,0.87,261.4,541.5,8.2,1045,21687,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2107,1765
$GC,21992,0.87,261.4,517.0,7.8,1060,21996,0.00,2.70,0.00,0.000,4,0.000,0.086,2946,3532,1765
$GC,22032,0.83,261.4,513.7,7.9,1062,22037,0.00,2.70,0.00,0.000,6,0.000,0.072,2946,2093,1765
$GC,22359,0.83,261.4,488.3,7.8,1078,22360,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2093,1766
$GC,22668,0.83,261.4,464.4,7.2,1093,22669,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2093,1766
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$STATE,28560,end climb,SURFACE_DEPTH_REACHED
$STATE,28560,begin surface coast
$FINISH,1.6,1.027381
$STATE,28581,end surface coast,CONTROL_FINISHED_OK
$STATE,28581,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1798
$TCM_TEMP,18.90
$XPDR_PINGS,42
$24V_AH,23.3,65.086
$10V_AH,10.0,32.149
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$DEVICE_SECS,25.750,157.075,435.250,0.000,0.000,37.761,35.704,191.080,19.250,0.000,0.000,12.200,2391.973,22795.781,613.519,2543.735,720.301,0.000,1874.388,0.000,2499.575,0.000,57.128,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.077,935.477,736.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69557,1379
$CAP_FILE_SIZE,179076,0
$CFSIZE,254472192,229134336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,3,0
$GPS,260109,204625,6008.696,-556.273,43,2.0,43,-7.2