version: 66.04
glider: 5
mission: 5
dive: 378
start: 1 27 109 21 35 51
data:
$ID,5
$MISSION,5
$DIVE,378
$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,-94845.812
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,212200,6012.007,-621.188,103,1.5,103,-7.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-52.6
$GPS2,213532,6012.027,-620.812,14,1.3,14,-7.4
$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,291.3,22900,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,118,0.00,0.00,-92.47,0.000,6,0.000,0.000,423,1966,3430
$GC,121,-0.97,-146.6,6.4,-6.0,5,137,11.10,2.50,0.00,0.000,4,0.135,0.059,2526,594,3431
$GC,155,0.08,-146.6,20.6,-34.8,5,162,1.10,2.53,0.00,0.000,6,0.072,0.054,2762,1996,3432
$GC,474,-0.48,-146.6,38.5,-8.6,21,476,0.55,0.00,0.00,0.000,6,0.051,0.000,2637,1999,3432
$GC,780,-0.77,-146.6,60.1,-7.1,36,785,0.25,2.55,0.00,0.000,4,0.049,0.063,2567,3408,3432
$GC,920,-0.77,-146.6,71.4,-8.0,42,925,0.00,2.50,0.00,0.000,6,0.000,0.049,2567,2010,3433
$GC,1237,-0.77,-146.6,95.1,-7.2,57,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2009,3432
$GC,1545,-0.77,-146.6,117.9,-7.4,72,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2009,3432
$GC,1855,-0.77,-146.6,141.2,-7.3,87,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2009,3433
$GC,2165,-0.77,-146.6,161.1,-6.0,102,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2009,3433
$GC,2473,-0.77,-146.6,178.2,-5.3,117,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2009,3433
$GC,2782,-0.77,-146.6,196.5,-6.1,132,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2009,3433
$GC,3092,-0.77,-146.6,217.0,-6.8,147,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2009,3433
$GC,3401,-0.77,-146.6,241.5,-8.0,162,3405,0.00,2.58,0.00,0.000,4,0.000,0.064,2567,3413,3433
$GC,3456,-0.77,-146.6,246.3,-8.5,164,3462,0.00,2.50,0.00,0.000,6,0.000,0.053,2567,2018,3433
$GC,3772,-0.77,-146.6,269.6,-6.7,180,3777,0.00,2.55,0.00,0.000,4,0.000,0.066,2567,3406,3433
$GC,3823,-0.82,-146.6,273.1,-6.6,182,3827,0.00,2.47,0.00,0.000,6,0.000,0.052,2567,2024,3433
$GC,4140,-0.82,-146.6,291.1,-5.2,197,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2024,3433
$GC,4448,-0.82,-146.6,307.5,-5.8,212,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2023,3432
$GC,4757,-0.82,-146.6,326.6,-6.5,227,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2021,3433
$GC,5067,-0.82,-146.6,348.4,-7.5,242,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2022,3433
$GC,5376,-0.86,-146.6,371.6,-7.4,257,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2022,3433
$GC,5685,-0.90,-146.6,393.0,-6.8,272,5690,0.00,2.58,0.00,0.000,4,0.000,0.072,2567,3412,3432
$GC,5714,-0.96,-146.6,394.9,-6.3,273,5720,0.15,2.47,0.00,0.000,6,0.061,0.059,2527,2044,3432
$GC,6031,-0.89,-146.6,418.4,-7.2,288,6036,0.10,2.55,0.00,0.000,4,0.097,0.073,2548,3406,3432
$GC,6064,-0.89,-146.6,420.7,-6.5,289,6070,0.00,2.47,0.00,0.000,6,0.000,0.061,2548,2045,3432
$GC,6380,-0.89,-146.6,440.7,-6.2,305,6384,0.00,2.65,0.00,0.000,4,0.000,0.075,2548,588,3432
$GC,6435,-0.89,-146.6,444.5,-7.1,307,6441,0.00,2.62,0.00,0.000,6,0.000,0.061,2548,2054,3431
$GC,6751,-0.89,-146.6,465.7,-6.9,323,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2054,3430
$GC,7061,-0.89,-146.6,490.2,-8.1,338,7066,0.00,2.75,0.00,0.000,4,0.000,0.080,2548,583,3430
$GC,7094,-0.89,-146.6,492.9,-7.9,339,7100,0.00,2.67,0.00,0.000,6,0.000,0.066,2548,2050,3430
$GC,7410,-0.89,-146.6,514.8,-6.7,355,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2050,3429
$GC,7719,-0.89,-146.6,534.8,-6.1,370,7723,0.00,2.75,0.00,0.000,4,0.000,0.084,2548,587,3428
$GC,7751,-0.89,-146.6,537.0,-6.6,371,7758,0.00,2.67,0.00,0.000,6,0.000,0.068,2548,2047,3428
$GC,8068,-0.89,-146.6,553.9,-5.2,387,8072,0.00,2.75,0.00,0.000,4,0.000,0.084,2548,590,3428
$GC,8108,-0.89,-146.6,556.4,-6.0,389,8112,0.00,2.67,0.00,0.000,6,0.000,0.071,2548,2044,3428
$GC,8434,-0.89,-146.6,577.3,-7.0,405,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2045,3427
$GC,8744,-0.89,-146.6,598.4,-6.9,420,8748,0.00,2.78,0.00,0.000,4,0.000,0.088,2548,583,3424
$GC,8788,-0.89,-146.6,601.7,-7.6,422,8793,0.00,2.67,0.00,0.000,6,0.000,0.073,2548,2028,3425
$GC,9109,-0.89,-146.6,623.7,-6.9,438,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2028,3424
$GC,9418,-0.89,-146.6,647.6,-8.2,453,9423,0.00,2.75,0.00,0.000,4,0.000,0.091,2548,591,3423
$GC,9469,-0.89,-146.6,652.1,-9.0,455,9473,0.00,2.65,0.00,0.000,6,0.000,0.075,2548,2021,3422
$GC,9785,-0.89,-146.6,676.3,-7.5,470,9790,0.00,2.62,0.00,0.000,4,0.000,0.089,2548,3415,3421
$GC,9825,-0.89,-146.6,679.5,-7.9,472,9830,0.00,2.62,0.00,0.000,6,0.000,0.078,2548,2022,3421
$GC,10153,-0.89,-146.6,702.1,-7.1,488,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2022,3420
$GC,10461,-0.89,-146.6,723.4,-6.9,503,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2022,3419
$GC,10771,-0.89,-146.6,745.0,-7.0,518,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2022,3418
$GC,11080,-0.89,-146.6,766.4,-6.6,533,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2022,3418
$GC,11389,-0.89,-146.6,787.4,-6.9,548,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2022,3417
$GC,11699,-0.89,-146.6,810.9,-7.6,563,11703,0.00,2.72,0.00,0.000,4,0.000,0.097,2548,584,3416
$GC,11726,-0.89,-146.6,813.1,-7.8,564,11731,0.00,2.70,0.00,0.000,6,0.000,0.079,2548,2028,3416
$GC,12042,-0.89,-146.6,837.6,-7.9,579,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2028,3416
$GC,12352,-0.89,-146.6,862.0,-7.6,594,12356,0.00,2.80,0.00,0.000,4,0.000,0.098,2548,583,3415
$GC,12384,-0.89,-146.6,864.8,-8.4,595,12391,0.00,2.70,0.00,0.000,6,0.000,0.080,2548,2026,3415
$GC,12701,-0.89,-146.6,887.1,-6.7,611,12702,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2026,3415
$GC,13011,-0.89,-146.6,908.6,-6.8,626,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2026,3414
$GC,13319,-0.89,-146.6,927.2,-5.6,641,13321,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2026,3414
$GC,13629,-0.89,-146.6,943.7,-5.6,656,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2026,3414
$GC,13939,-0.89,-146.6,963.6,-6.3,671,13940,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2026,3414
$GC,14247,-0.89,-146.6,985.2,-7.1,686,14248,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2026,3413
$STATE,14326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14326,begin apogee
$GC,14333,-0.33,0.0,990.4,6.3,690,14473,0.60,0.00,137.07,1.652,6,0.089,0.000,2670,2122,2832
$STATE,14474,end apogee,CONTROL_FINISHED_OK
$STATE,14474,begin climb
$GC,14478,0.97,146.6,995.0,0.0,697,14633,1.33,2.80,142.80,1.586,4,0.074,0.089,2948,3538,2234
$GC,14673,0.76,146.6,986.5,6.6,706,14678,0.20,2.75,0.00,0.000,6,0.101,0.081,2912,2119,2234
$GC,14996,0.70,146.6,963.2,7.5,722,14997,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2119,2234
$GC,15304,0.65,153.1,942.1,5.8,737,15315,0.12,0.00,7.93,1.322,6,0.107,0.000,2888,2118,2207
$GC,15614,0.70,183.2,927.4,5.2,752,15667,0.00,0.00,35.62,1.343,6,0.000,0.000,2888,2118,2085
$GC,15963,0.75,188.5,908.4,5.9,769,15971,0.00,0.00,7.05,1.299,6,0.000,0.000,2888,2118,2063
$GC,16272,0.81,196.3,889.9,5.8,784,16287,0.15,2.83,9.15,1.384,4,0.071,0.092,2924,3533,2031
$GC,16312,0.74,196.3,887.1,7.1,785,16316,0.00,2.72,0.00,0.000,6,0.000,0.080,2924,2120,2031
$GC,16639,0.70,196.3,865.6,6.4,801,16641,0.12,0.00,0.00,0.000,6,0.102,0.000,2899,2120,2031
$GC,16949,0.74,225.8,849.7,5.2,816,16988,0.00,0.00,31.00,1.464,6,0.000,0.000,2900,2120,1911
$GC,17298,0.84,249.8,831.1,5.3,833,17331,0.12,0.00,25.83,1.422,6,0.071,0.000,2930,2119,1813
$GC,17627,0.84,249.8,808.6,6.8,849,17628,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2119,1813
$GC,17936,0.84,249.8,785.6,7.7,864,17937,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2119,1813
$GC,18245,0.84,249.8,760.7,8.1,879,18246,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2119,1813
$GC,18555,0.84,249.8,735.2,8.1,894,18556,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2119,1813
$GC,18863,0.84,249.8,711.5,7.2,909,18865,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2119,1813
$GC,19173,0.84,249.8,690.3,6.5,924,19177,0.00,2.70,0.00,0.000,4,0.000,0.097,2930,708,1813
$GC,19200,0.84,249.8,688.4,6.8,925,19204,0.00,2.70,0.00,0.000,6,0.000,0.078,2930,2137,1813
$GC,19516,0.84,249.8,668.4,6.4,940,19517,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2139,1813
$GC,19825,0.84,249.8,647.7,6.7,955,19829,0.00,2.78,0.00,0.000,4,0.000,0.093,2930,703,1813
$GC,19852,0.84,249.8,645.6,6.8,956,19856,0.00,2.67,0.00,0.000,6,0.000,0.077,2929,2123,1813
$GC,20169,0.84,249.8,623.7,6.9,971,20170,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2124,1813
$GC,20477,0.84,249.8,601.0,7.6,986,20478,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2124,1813
$GC,20786,0.84,249.8,580.0,6.2,1001,20787,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2123,1813
$GC,21096,0.84,249.8,560.4,6.8,1016,21101,0.00,2.72,0.00,0.000,4,0.000,0.092,2930,706,1813
$GC,21124,0.84,249.8,558.4,7.0,1017,21128,0.00,2.67,0.00,0.000,6,0.000,0.077,2930,2127,1813
$GC,21439,0.84,249.8,537.9,6.5,1032,21440,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2128,1813
$GC,21751,0.84,249.8,517.0,7.1,1047,21752,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2128,1813
$GC,22058,0.84,249.8,492.7,8.1,1062,22062,0.00,2.72,0.00,0.000,4,0.000,0.090,2930,707,1813
$GC,22102,0.84,249.8,488.4,9.0,1064,22106,0.00,2.65,0.00,0.000,6,0.000,0.075,2930,2124,1813
$GC,22423,0.84,249.8,461.1,8.4,1080,22428,0.00,2.65,0.00,0.000,4,0.000,0.086,2930,3536,1813
$GC,22451,0.84,249.8,458.6,10.3,1081,22456,0.00,2.67,0.00,0.000,6,0.000,0.072,2930,2104,1813
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$STATE,28641,end climb,SURFACE_DEPTH_REACHED
$STATE,28641,begin surface coast
$FINISH,0.4,1.023638
$STATE,28705,end surface coast,CONTROL_FINISHED_OK
$STATE,28705,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1804
$TCM_TEMP,15.60
$XPDR_PINGS,32
$24V_AH,23.2,65.912
$10V_AH,10.0,32.620
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$DEVICE_SECS,27.825,158.625,438.675,0.000,0.000,113.285,87.990,329.215,16.750,0.000,0.000,14.782,2412.486,22962.104,639.369,2578.228,995.334,0.000,1908.985,0.000,2528.001,0.000,57.766,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.870,939.453,730.401,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69507,1384
$CAP_FILE_SIZE,186836,0
$CFSIZE,254472192,228790272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,5,0
$GPS,280109,053706,6011.672,-633.197,49,1.1,49,-7.5