version: 66.04
glider: 5
mission: 5
dive: 377
start: 1 27 109 13 19 9
data:
$ID,5
$MISSION,5
$DIVE,377
$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,-94830.406
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,131201,6012.023,-612.910,49,1.1,49,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-59.2
$GPS2,131850,6012.000,-612.865,13,1.6,13,-7.3
$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,288.0,30049,-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,-81.53,0.000,2,0.000,0.000,419,1965,3225
$GC,103,-0.97,-146.6,4.2,-5.1,4,126,11.05,2.55,-4.95,0.000,4,0.132,0.078,2526,588,3430
$GC,295,-0.87,-146.6,28.3,-8.3,12,300,0.12,2.55,0.00,0.000,6,0.093,0.054,2552,2008,3430
$GC,612,-0.87,-146.6,53.1,-8.3,27,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2009,3430
$GC,920,-0.87,-146.6,76.6,-7.0,42,924,0.00,2.60,0.00,0.000,4,0.000,0.068,2552,597,3430
$GC,953,-0.87,-146.6,79.5,-8.9,43,959,0.00,2.50,0.00,0.000,6,0.000,0.055,2552,1995,3430
$GC,1271,-0.87,-146.6,106.5,-8.1,59,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3430
$GC,1578,-0.87,-146.6,131.2,-7.7,74,1583,0.00,2.58,0.00,0.000,4,0.000,0.067,2552,591,3430
$GC,1619,-0.87,-146.6,134.4,-7.7,76,1623,0.00,2.50,0.00,0.000,6,0.000,0.054,2552,1990,3430
$GC,1946,-0.87,-146.6,156.2,-6.3,92,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1991,3430
$GC,2254,-0.87,-146.6,177.8,-7.0,107,2259,0.00,2.58,0.00,0.000,4,0.000,0.068,2552,587,3431
$GC,2294,-0.87,-146.6,180.8,-8.1,109,2299,0.00,2.47,0.00,0.000,6,0.000,0.054,2552,1976,3430
$GC,2622,-0.87,-146.6,205.6,-7.7,125,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1976,3431
$GC,2931,-0.87,-146.6,231.3,-8.5,140,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1976,3431
$GC,3240,-0.87,-146.6,255.0,-7.1,155,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1976,3431
$GC,3550,-0.87,-146.6,277.9,-7.2,170,3554,0.00,2.58,0.00,0.000,4,0.000,0.066,2552,3404,3431
$GC,3577,-0.87,-146.6,279.9,-6.8,171,3582,0.00,2.58,0.00,0.000,6,0.000,0.054,2552,1973,3431
$GC,3893,-0.87,-146.6,302.0,-7.3,186,3897,0.00,2.50,0.00,0.000,4,0.000,0.071,2552,586,3431
$GC,3920,-0.87,-146.6,304.1,-7.6,187,3925,0.00,2.47,0.00,0.000,6,0.000,0.057,2552,1967,3431
$GC,4242,-0.87,-146.6,327.2,-7.1,203,4246,0.00,2.62,0.00,0.000,4,0.000,0.070,2552,3413,3431
$GC,4319,-0.87,-146.6,333.3,-7.4,206,4326,0.00,2.60,0.00,0.000,6,0.000,0.058,2552,1979,3431
$GC,4636,-0.87,-146.6,357.4,-8.0,222,4641,0.00,2.62,0.00,0.000,4,0.000,0.069,2552,3406,3431
$GC,4722,-0.87,-146.6,364.3,-7.9,226,4726,0.00,2.55,0.00,0.000,6,0.000,0.057,2552,1993,3431
$GC,5048,-0.87,-146.6,388.7,-7.3,242,5052,0.00,2.62,0.00,0.000,4,0.000,0.071,2552,3412,3431
$GC,5088,-0.87,-146.6,391.6,-7.5,244,5093,0.00,2.55,0.00,0.000,6,0.000,0.059,2552,2005,3431
$GC,5415,-0.87,-146.6,414.3,-6.8,260,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3431
$GC,5724,-0.87,-146.6,435.5,-6.8,275,5729,0.00,2.60,0.00,0.000,4,0.000,0.073,2552,3413,3430
$GC,5775,-0.87,-146.6,439.2,-7.6,277,5779,0.00,2.55,0.00,0.000,6,0.000,0.062,2552,2012,3431
$GC,6091,-0.87,-146.6,461.6,-7.3,292,6095,0.00,2.60,0.00,0.000,4,0.000,0.075,2552,3403,3430
$GC,6130,-0.87,-146.6,464.5,-7.4,294,6134,0.00,2.55,0.00,0.000,6,0.000,0.063,2553,2007,3430
$GC,6457,-0.87,-146.6,488.2,-7.5,310,6462,0.00,2.62,0.00,0.000,4,0.000,0.076,2552,3408,3429
$GC,6490,-0.87,-146.6,490.9,-7.5,311,6497,0.00,2.55,0.00,0.000,6,0.000,0.065,2552,2018,3429
$GC,6806,-0.87,-146.6,515.2,-8.2,327,6811,0.00,2.62,0.00,0.000,4,0.000,0.081,2552,591,3428
$GC,6840,-0.87,-146.6,517.9,-8.0,328,6847,0.00,2.60,0.00,0.000,6,0.000,0.067,2552,2015,3428
$GC,7156,-0.87,-146.6,541.9,-7.3,344,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2016,3427
$GC,7465,-0.87,-146.6,563.0,-6.3,359,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2016,3426
$GC,7775,-0.87,-146.6,583.7,-6.6,374,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2015,3426
$GC,8084,-0.87,-146.6,603.4,-6.4,389,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2016,3424
$GC,8393,-0.87,-146.6,622.4,-6.1,404,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2016,3424
$GC,8704,-0.87,-146.6,639.8,-5.5,419,8708,0.00,2.72,0.00,0.000,4,0.000,0.091,2552,590,3423
$GC,8732,-0.87,-146.6,641.6,-5.9,420,8736,0.00,2.65,0.00,0.000,6,0.000,0.074,2552,2017,3423
$GC,9048,-0.87,-146.6,659.0,-5.7,435,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3422
$GC,9357,-0.87,-146.6,676.5,-5.8,450,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3421
$GC,9666,-0.87,-146.6,695.4,-6.4,465,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3420
$GC,9976,-0.87,-146.6,716.5,-7.1,480,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3419
$GC,10286,-0.87,-146.6,738.4,-7.0,495,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3418
$GC,10594,-0.87,-146.6,760.9,-7.5,510,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2019,3418
$GC,10904,-0.87,-146.6,783.4,-7.1,525,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3417
$GC,11212,-0.87,-146.6,805.6,-7.1,540,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3416
$GC,11521,-0.87,-146.6,826.4,-6.7,555,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2020,3415
$GC,11832,-0.91,-146.6,845.8,-6.2,570,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3415
$GC,12140,-0.91,-146.6,864.8,-6.1,585,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3414
$GC,12450,-0.95,-146.6,882.5,-5.6,600,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2020,3414
$GC,12760,-1.00,-146.6,899.7,-5.8,615,12762,0.12,0.00,0.00,0.000,6,0.072,0.000,2522,2020,3413
$GC,13068,-0.95,-146.6,920.0,-6.8,630,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2020,3413
$GC,13378,-0.95,-146.6,939.9,-6.7,645,13379,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2020,3413
$GC,13686,-0.95,-146.6,960.4,-6.6,660,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2020,3412
$GC,13996,-0.91,-146.6,981.1,-6.9,675,13998,0.12,0.00,0.00,0.000,6,0.108,0.000,2547,2020,3412
$STATE,14157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14158,begin apogee
$GC,14166,-0.33,0.0,991.1,6.2,683,14305,0.60,0.00,136.73,1.654,6,0.091,0.000,2668,2127,2832
$STATE,14306,end apogee,CONTROL_FINISHED_OK
$STATE,14306,begin climb
$GC,14309,0.97,146.6,995.7,0.0,690,14464,1.35,2.80,142.70,1.586,4,0.075,0.091,2952,3536,2233
$GC,14505,0.74,146.6,987.4,7.5,699,14510,0.22,2.72,0.00,0.000,6,0.100,0.083,2910,2131,2233
$GC,14827,0.69,146.6,967.1,6.4,715,14831,0.00,2.72,0.00,0.000,4,0.000,0.096,2910,711,2233
$GC,14867,0.61,146.6,964.4,7.1,717,14872,0.17,2.67,0.00,0.000,6,0.107,0.080,2876,2121,2233
$GC,15197,0.68,168.6,946.9,5.4,733,15235,0.00,0.00,26.08,1.332,6,0.000,0.000,2876,2121,2144
$GC,15545,0.77,184.9,927.5,5.6,750,15572,0.17,0.00,18.95,1.374,6,0.065,0.000,2917,2121,2078
$GC,15873,0.77,184.9,905.7,6.5,766,15878,0.00,2.75,0.00,0.000,4,0.000,0.094,2917,704,2078
$GC,15907,0.71,184.9,903.3,6.3,767,15913,0.00,2.67,0.00,0.000,6,0.000,0.080,2917,2114,2078
$GC,16223,0.67,184.9,882.2,6.8,783,16225,0.15,0.00,0.00,0.000,6,0.103,0.000,2888,2115,2078
$GC,16532,0.76,214.0,865.9,5.2,798,16575,0.00,2.85,31.20,1.469,4,0.000,0.093,2888,707,1959
$GC,16588,0.82,224.5,862.9,5.7,800,16605,0.15,2.70,11.60,1.411,6,0.067,0.078,2924,2115,1916
$GC,16922,0.82,224.5,838.4,7.4,817,16923,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2115,1916
$GC,17230,0.82,224.5,815.0,8.1,832,17232,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2115,1916
$GC,17540,0.82,224.5,791.8,7.2,847,17541,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2115,1916
$GC,17850,0.82,224.5,769.9,7.1,862,17851,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2115,1916
$GC,18158,0.82,224.5,747.1,7.4,877,18163,0.00,2.72,0.00,0.000,4,0.000,0.095,2925,711,1916
$GC,18192,0.82,224.5,744.4,7.2,878,18198,0.00,2.65,0.00,0.000,6,0.000,0.079,2924,2115,1916
$GC,18508,0.82,224.5,721.9,6.7,894,18509,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2115,1916
$GC,18817,0.82,224.5,700.4,6.5,909,18818,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2115,1916
$GC,19126,0.83,232.0,681.8,5.8,924,19136,0.00,0.00,8.55,1.299,6,0.000,0.000,2924,2116,1886
$GC,19436,0.84,236.6,663.9,5.9,939,19444,0.00,0.00,6.10,1.182,6,0.000,0.000,2924,2115,1867
$GC,19744,0.84,236.6,645.2,6.3,954,19745,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2115,1867
$GC,20054,0.84,236.6,624.7,6.9,969,20058,0.00,2.72,0.00,0.000,4,0.000,0.092,2925,705,1867
$GC,20087,0.84,236.6,622.1,7.2,970,20094,0.00,2.65,0.00,0.000,6,0.000,0.077,2924,2112,1867
$GC,20403,0.84,236.6,601.1,6.6,986,20404,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2112,1867
$GC,20712,0.84,236.6,582.2,6.0,1001,20714,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2112,1866
$GC,21023,0.87,255.4,565.0,5.5,1016,21043,0.00,0.00,18.38,1.334,6,0.000,0.000,2924,2112,1790
$GC,21351,0.87,255.4,544.3,6.9,1032,21352,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2112,1790
$GC,21663,0.87,255.4,521.4,7.4,1047,21664,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2112,1790
$GC,21970,0.87,255.4,499.2,6.8,1062,21971,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2112,1790
$GC,22278,0.87,255.4,478.2,6.7,1077,22280,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2112,1790
$GC,22588,0.89,270.1,459.9,5.6,1092,22609,0.00,2.75,14.15,1.236,4,0.000,0.085,2924,707,1731
$GC,22628,0.89,272.5,457.6,5.9,1093,22637,0.00,2.65,4.28,0.899,6,0.000,0.073,2924,2108,1720
$GC,22965,0.89,272.5,437.1,6.5,1110,22970,0.00,2.67,0.00,0.000,4,0.000,0.085,2924,706,1721
$GC,22999,0.89,272.5,434.7,7.2,1111,23005,0.00,2.60,0.00,0.000,6,0.000,0.071,2924,2100,1721
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$STATE,28705,end climb,SURFACE_DEPTH_REACHED
$STATE,28705,begin surface coast
$FINISH,0.3,1.027681
$STATE,28747,end surface coast,CONTROL_FINISHED_OK
$STATE,28747,begin surface
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$HUMID,1796
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$XPDR_PINGS,28
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$10V_AH,10.0,32.499
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$DEVICE_SECS,25.750,152.300,449.975,0.000,0.000,37.754,28.413,191.370,15.750,0.000,0.000,13.659,2409.886,22884.400,641.749,2576.578,712.310,0.000,1908.914,0.000,2527.605,0.000,57.163,0.000
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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,69313,1390
$CAP_FILE_SIZE,179573,0
$CFSIZE,254472192,228880384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,4,0
$GPS,270109,212200,6012.007,-621.188,103,1.5,103,-7.4