version: 66.04
glider: 5
mission: 5
dive: 375
start: 1 26 109 20 53 57
data:
$ID,5
$MISSION,5
$DIVE,375
$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,-94802.695
$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,22
$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
$GPS1,204625,6008.696,-556.273,43,2.0,43,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-56.6
$GPS2,205340,6008.876,-555.962,14,2.4,33,-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,291.2,46470,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,94,0.00,0.00,-75.85,0.000,2,0.000,0.000,421,1978,3116
$GC,98,-0.97,-146.6,3.6,-3.8,4,124,10.95,2.58,-8.20,0.000,4,0.131,0.075,2526,591,3431
$GC,377,-0.85,-146.6,34.9,-8.4,16,382,0.15,2.53,0.00,0.000,6,0.088,0.051,2557,2008,3431
$GC,694,-0.85,-146.6,61.0,-9.6,31,699,0.00,2.60,0.00,0.000,4,0.000,0.064,2557,582,3431
$GC,772,-0.85,-146.6,70.1,-10.5,34,779,0.00,2.53,0.00,0.000,6,0.000,0.053,2557,1999,3431
$GC,1088,-0.85,-146.6,97.6,-7.2,50,1093,0.00,2.58,0.00,0.000,4,0.000,0.066,2557,588,3431
$GC,1140,-0.81,-146.6,100.7,-6.1,52,1144,0.00,2.50,0.00,0.000,6,0.000,0.051,2557,1999,3431
$GC,1456,-0.81,-146.6,122.3,-6.5,67,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2000,3431
$GC,1765,-0.81,-146.6,143.8,-6.5,82,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2000,3431
$GC,2075,-0.81,-146.6,164.3,-7.5,97,2079,0.00,2.60,0.00,0.000,4,0.000,0.067,2557,584,3431
$GC,2114,-0.81,-146.6,167.2,-7.3,99,2119,0.00,2.50,0.00,0.000,6,0.000,0.053,2557,1991,3431
$GC,2441,-0.81,-146.6,191.0,-6.7,115,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2003,3431
$GC,2752,-0.81,-146.6,210.1,-5.5,130,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2003,3431
$GC,3060,-0.81,-146.6,229.6,-7.3,145,3064,0.00,2.60,0.00,0.000,4,0.000,0.069,2557,582,3431
$GC,3104,-0.81,-146.6,233.4,-8.4,147,3108,0.00,2.50,0.00,0.000,6,0.000,0.053,2557,1988,3431
$GC,3426,-0.81,-146.6,262.5,-8.6,163,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1989,3431
$GC,3734,-0.81,-146.6,286.5,-7.9,178,3738,0.00,2.58,0.00,0.000,4,0.000,0.068,2557,582,3431
$GC,3773,-0.81,-146.6,290.1,-9.2,180,3778,0.00,2.50,0.00,0.000,6,0.000,0.054,2557,1986,3431
$GC,4102,-0.81,-146.6,314.8,-7.5,196,4106,0.00,2.55,0.00,0.000,4,0.000,0.065,2557,3405,3431
$GC,4129,-0.81,-146.6,317.1,-7.1,197,4134,0.00,2.55,0.00,0.000,6,0.000,0.054,2557,1980,3431
$GC,4446,-0.81,-146.6,340.8,-7.3,212,4450,0.00,2.60,0.00,0.000,4,0.000,0.064,2557,3404,3431
$GC,4501,-0.81,-146.6,345.3,-8.1,214,4507,0.00,2.55,0.00,0.000,6,0.000,0.053,2557,1980,3431
$GC,4817,-0.81,-146.6,368.9,-7.3,230,4821,0.00,2.50,0.00,0.000,4,0.000,0.068,2557,589,3431
$GC,4902,-0.81,-146.6,375.5,-8.6,234,4906,0.00,2.47,0.00,0.000,6,0.000,0.053,2557,1983,3431
$GC,5228,-0.81,-146.6,398.8,-6.8,250,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1984,3431
$GC,5538,-0.81,-146.6,420.9,-7.2,265,5542,0.00,2.58,0.00,0.000,4,0.000,0.069,2557,3405,3431
$GC,5571,-0.81,-146.6,423.4,-7.9,266,5577,0.00,2.58,0.00,0.000,6,0.000,0.057,2557,1978,3431
$GC,5887,-0.81,-146.6,444.8,-6.3,282,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1978,3431
$GC,6196,-0.81,-146.6,464.2,-6.5,297,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1977,3431
$GC,6506,-0.81,-146.6,483.8,-6.3,312,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1977,3431
$GC,6815,-0.81,-146.6,502.7,-6.3,327,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1977,3430
$GC,7124,-0.81,-146.6,522.0,-5.9,342,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1977,3430
$GC,7434,-0.81,-146.6,541.9,-6.0,357,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1977,3429
$GC,7743,-0.81,-146.6,559.6,-5.8,372,7747,0.00,2.67,0.00,0.000,4,0.000,0.079,2557,3406,3428
$GC,7798,-0.85,-146.6,563.1,-6.4,374,7805,0.00,2.62,0.00,0.000,6,0.000,0.067,2557,1978,3427
$GC,8115,-0.85,-146.6,582.4,-6.0,390,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1978,3426
$GC,8424,-0.85,-146.6,599.2,-5.1,405,8428,0.00,2.70,0.00,0.000,4,0.000,0.084,2557,3402,3425
$GC,8457,-0.89,-146.6,601.1,-5.7,406,8463,0.00,2.62,0.00,0.000,6,0.000,0.071,2557,1988,3426
$GC,8774,-0.89,-146.6,618.4,-5.9,422,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1988,3424
$GC,9082,-0.89,-146.6,638.2,-6.8,437,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1988,3423
$GC,9392,-0.89,-146.6,658.9,-6.8,452,9397,0.00,2.70,0.00,0.000,4,0.000,0.085,2557,3408,3423
$GC,9420,-0.93,-146.6,661.1,-7.5,453,9424,0.00,2.65,0.00,0.000,6,0.000,0.073,2557,1984,3422
$GC,9736,-0.98,-146.6,682.7,-6.5,468,9738,0.12,0.00,0.00,0.000,6,0.075,0.000,2528,1984,3421
$GC,10046,-0.93,-146.6,704.6,-7.0,483,10051,0.00,2.70,0.00,0.000,4,0.000,0.086,2528,3406,3420
$GC,10092,-0.93,-146.6,708.3,-8.4,485,10096,0.00,2.65,0.00,0.000,6,0.000,0.075,2528,1992,3420
$GC,10413,-0.89,-146.6,731.9,-7.4,501,10419,0.10,2.70,0.00,0.000,4,0.111,0.086,2547,3408,3419
$GC,10454,-0.89,-146.6,734.8,-7.2,503,10459,0.00,2.62,0.00,0.000,6,0.000,0.075,2547,1998,3419
$GC,10782,-0.89,-146.6,755.8,-6.4,519,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1999,3418
$GC,11091,-0.89,-146.6,777.1,-6.8,534,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1999,3417
$GC,11400,-0.89,-146.6,797.7,-6.6,549,11404,0.00,2.70,0.00,0.000,4,0.000,0.091,2547,3403,3416
$GC,11433,-0.89,-146.6,799.9,-6.9,550,11440,0.00,2.62,0.00,0.000,6,0.000,0.079,2547,2010,3416
$GC,11750,-0.89,-146.6,820.3,-6.4,566,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2010,3415
$GC,12058,-0.89,-146.6,839.9,-6.6,581,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2010,3414
$GC,12367,-0.89,-146.6,860.5,-6.7,596,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2010,3414
$GC,12677,-0.89,-146.6,881.5,-6.7,611,12679,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2010,3413
$GC,12986,-0.89,-146.6,902.0,-6.8,626,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2010,3412
$GC,13295,-0.89,-146.6,922.4,-6.6,641,13296,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2010,3412
$GC,13605,-0.89,-146.6,943.6,-6.8,656,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2010,3412
$GC,13914,-0.89,-146.6,964.9,-6.8,671,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2009,3412
$GC,14223,-0.89,-146.6,985.5,-6.5,686,14227,0.00,2.67,0.00,0.000,4,0.000,0.091,2547,3402,3411
$GC,14251,-0.89,-146.6,987.4,-6.6,687,14255,0.00,2.65,0.00,0.000,6,0.000,0.079,2547,1998,3411
$STATE,14295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14295,begin apogee
$GC,14303,-0.33,0.0,990.7,7.0,689,14443,0.60,0.00,136.50,1.646,6,0.091,0.000,2668,2129,2832
$STATE,14443,end apogee,CONTROL_FINISHED_OK
$STATE,14443,begin climb
$GC,14446,0.97,146.6,996.6,0.0,696,14600,1.35,2.78,141.93,1.588,4,0.078,0.091,2950,3529,2234
$GC,14658,0.76,146.6,989.2,6.3,706,14663,0.20,2.70,0.00,0.000,6,0.102,0.080,2913,2126,2234
$GC,14986,0.73,174.6,971.7,5.2,722,15018,0.00,2.80,27.58,1.517,4,0.000,0.093,2913,704,2120
$GC,15031,0.67,192.9,969.1,5.5,723,15056,0.00,2.72,19.00,1.476,6,0.000,0.078,2913,2122,2045
$GC,15372,0.67,192.9,947.8,6.5,740,15374,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2122,2045
$GC,15683,0.67,192.9,927.3,6.6,755,15684,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2122,2045
$GC,15991,0.67,192.9,906.0,6.8,770,15992,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2122,2045
$GC,16300,0.67,192.9,885.6,6.7,785,16301,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2122,2045
$GC,16610,0.67,192.9,865.9,6.3,800,16611,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2122,2045
$GC,16919,0.68,194.2,847.2,6.0,815,16920,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2122,2045
$GC,17228,0.68,198.2,827.9,5.9,830,17242,0.00,2.83,6.45,1.270,4,0.000,0.092,2913,709,2024
$GC,17261,0.68,198.2,825.8,6.6,831,17265,0.00,2.70,0.00,0.000,6,0.000,0.078,2914,2125,2023
$GC,17577,0.68,198.2,806.2,6.4,846,17578,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2125,2024
$GC,17886,0.71,214.1,788.1,5.6,861,17912,0.00,0.00,18.50,1.345,6,0.000,0.000,2913,2125,1959
$GC,18216,0.75,241.4,770.4,5.3,877,18244,0.00,0.00,25.90,1.499,6,0.000,0.000,2913,2125,1848
$GC,18545,0.77,251.6,752.4,5.7,893,18565,0.00,2.83,11.15,1.381,4,0.000,0.094,2913,706,1805
$GC,18582,0.78,256.1,750.0,5.9,894,18593,0.00,2.70,5.90,1.178,6,0.000,0.077,2913,2119,1788
$GC,18919,0.82,256.1,729.9,6.2,911,18920,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2119,1788
$GC,19225,0.86,256.1,711.0,6.1,926,19230,0.00,2.72,0.00,0.000,4,0.000,0.093,2913,714,1788
$GC,19253,0.86,256.1,709.2,6.2,927,19257,0.00,2.65,0.00,0.000,6,0.000,0.077,2913,2115,1788
$GC,19569,0.95,279.6,691.7,5.4,942,19595,0.17,0.00,23.02,1.433,6,0.064,0.000,2956,2115,1692
$GC,19898,0.89,279.6,666.9,7.9,958,19903,0.00,2.72,0.00,0.000,4,0.000,0.093,2956,713,1692
$GC,19927,0.81,279.6,664.3,8.3,959,19933,0.17,2.65,0.00,0.000,6,0.101,0.077,2923,2115,1692
$GC,20243,0.81,281.8,644.6,5.9,974,20249,0.00,0.00,3.70,0.901,6,0.000,0.000,2922,2115,1683
$GC,20555,0.85,281.8,626.5,6.0,989,20556,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2115,1683
$GC,20862,0.90,281.8,607.0,6.3,1004,20863,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2115,1683
$GC,21171,0.95,281.8,584.8,7.6,1019,21173,0.12,0.00,0.00,0.000,6,0.069,0.000,2952,2115,1684
$GC,21481,0.90,281.8,556.0,9.8,1034,21486,0.00,2.70,0.00,0.000,4,0.000,0.091,2953,711,1683
$GC,21515,0.83,281.8,552.5,10.5,1035,21522,0.15,2.62,0.00,0.000,6,0.102,0.076,2924,2110,1683
$GC,21833,0.87,281.8,527.3,7.7,1051,21834,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2110,1684
$GC,22141,0.92,281.8,505.6,6.7,1066,22143,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2110,1684
$GC,22449,0.92,281.8,484.8,6.9,1081,22454,0.00,2.67,0.00,0.000,4,0.000,0.088,2924,710,1683
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$STATE,28282,end climb,SURFACE_DEPTH_REACHED
$STATE,28282,begin surface coast
$FINISH,0.1,1.014009
$STATE,28323,end surface coast,CONTROL_FINISHED_OK
$STATE,28323,begin surface
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$HUMID,1806
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$XPDR_PINGS,36
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$10V_AH,10.0,32.264
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$DEVICE_SECS,25.925,173.975,423.300,0.000,0.000,37.762,37.821,184.306,17.750,0.000,0.000,34.196,2402.246,22464.107,596.800,2639.285,724.169,0.000,1897.625,0.000,2566.323,0.000,57.132,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69426,1364
$CAP_FILE_SIZE,186032,0
$CFSIZE,254472192,229040128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,1,0
$GPS,270109,044837,6011.297,-605.461,36,1.6,36,-7.2