version: 66.04
glider: 5
mission: 5
dive: 379
start: 1 28 109 5 48 9
data:
$ID,5
$MISSION,5
$DIVE,379
$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,-94859.656
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,053706,6011.672,-633.197,49,1.1,49,-7.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-58.8
$GPS2,054750,6011.604,-633.343,13,1.5,13,-7.5
$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,307.9,12422,-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,-81.50,0.000,2,0.000,0.000,420,1974,3223
$GC,103,-0.97,-146.6,3.6,-4.0,4,126,11.07,2.53,-5.32,0.000,4,0.136,0.076,2527,593,3429
$GC,323,-0.85,-146.6,34.8,-11.2,13,330,0.15,2.53,0.00,0.000,6,0.093,0.052,2558,2007,3429
$GC,642,-0.85,-146.6,57.6,-6.7,29,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2007,3428
$GC,949,-0.85,-146.6,81.3,-8.8,44,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2007,3429
$GC,1258,-0.85,-146.6,104.4,-7.0,59,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2007,3429
$GC,1568,-0.85,-146.6,127.0,-7.5,74,1572,0.00,2.58,0.00,0.000,4,0.000,0.065,2558,593,3429
$GC,1601,-0.85,-146.6,130.0,-8.5,75,1608,0.00,2.50,0.00,0.000,6,0.000,0.054,2558,1994,3429
$GC,1917,-0.85,-146.6,156.9,-8.5,91,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1995,3429
$GC,2227,-0.85,-146.6,183.7,-8.5,106,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1995,3429
$GC,2537,-0.85,-146.6,209.3,-8.0,121,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1995,3429
$GC,2845,-0.85,-146.6,233.6,-7.5,136,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1995,3429
$GC,3155,-0.85,-146.6,255.8,-7.6,151,3160,0.00,2.58,0.00,0.000,4,0.000,0.068,2558,588,3429
$GC,3195,-0.85,-146.6,259.1,-8.1,153,3200,0.00,2.50,0.00,0.000,6,0.000,0.054,2558,1991,3429
$GC,3522,-0.85,-146.6,284.0,-7.9,169,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1991,3429
$GC,3832,-0.85,-146.6,309.4,-8.2,184,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1993,3429
$GC,4141,-0.85,-146.6,334.8,-8.4,199,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1993,3430
$GC,4450,-0.85,-146.6,356.8,-6.4,214,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1993,3429
$GC,4760,-0.85,-146.6,377.3,-6.9,229,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1993,3429
$GC,5069,-0.85,-146.6,399.8,-7.1,244,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1993,3430
$GC,5378,-0.85,-146.6,419.3,-5.7,259,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1993,3430
$GC,5688,-0.85,-146.6,438.8,-7.3,274,5692,0.00,2.58,0.00,0.000,4,0.000,0.072,2557,594,3430
$GC,5732,-0.85,-146.6,442.6,-8.9,276,5736,0.00,2.47,0.00,0.000,6,0.000,0.058,2557,1976,3429
$GC,6053,-0.85,-146.6,464.6,-6.4,292,6057,0.00,2.60,0.00,0.000,4,0.000,0.071,2558,3405,3429
$GC,6120,-0.85,-146.6,468.9,-6.4,295,6125,0.00,2.60,0.00,0.000,6,0.000,0.061,2557,1977,3429
$GC,6442,-0.85,-146.6,486.3,-5.5,311,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1977,3429
$GC,6750,-0.85,-146.6,505.1,-6.6,326,6755,0.00,2.67,0.00,0.000,4,0.000,0.076,2558,3407,3429
$GC,6796,-0.89,-146.6,508.3,-7.6,328,6800,0.00,2.60,0.00,0.000,6,0.000,0.065,2557,1988,3428
$GC,7117,-0.89,-146.6,533.8,-8.1,344,7121,0.00,2.65,0.00,0.000,4,0.000,0.077,2558,3403,3427
$GC,7167,-0.94,-146.6,538.1,-8.5,346,7171,0.00,2.60,0.00,0.000,6,0.000,0.066,2557,1990,3427
$GC,7484,-0.94,-146.6,562.1,-7.3,361,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1989,3426
$GC,7792,-0.94,-146.6,584.8,-7.4,376,7796,0.00,2.67,0.00,0.000,4,0.000,0.081,2558,3406,3426
$GC,7842,-1.00,-146.6,588.9,-8.2,378,7847,0.15,2.62,0.00,0.000,6,0.069,0.068,2522,1986,3425
$GC,8159,-0.93,-146.6,618.0,-9.9,393,8164,0.10,2.58,0.00,0.000,4,0.111,0.084,2542,587,3424
$GC,8203,-0.93,-146.6,622.4,-9.9,395,8208,0.00,2.58,0.00,0.000,6,0.000,0.070,2541,1989,3424
$GC,8526,-0.93,-146.6,649.1,-8.0,411,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1989,3423
$GC,8834,-0.93,-146.6,671.6,-7.0,426,8839,0.00,2.65,0.00,0.000,4,0.000,0.087,2541,3410,3422
$GC,8892,-0.93,-146.6,675.6,-7.5,428,8898,0.00,2.67,0.00,0.000,6,0.000,0.076,2541,1981,3422
$GC,9209,-0.93,-146.6,695.1,-5.4,444,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1981,3421
$GC,9517,-0.93,-146.6,713.1,-5.5,459,9521,0.00,2.72,0.00,0.000,4,0.000,0.087,2541,3408,3420
$GC,9550,-0.93,-146.6,714.7,-5.6,460,9556,0.00,2.65,0.00,0.000,6,0.000,0.074,2542,1990,3420
$GC,9867,-0.93,-146.6,729.1,-5.0,476,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1990,3419
$GC,10176,-0.93,-146.6,744.4,-4.8,491,10180,0.00,2.70,0.00,0.000,4,0.000,0.088,2542,3404,3417
$GC,10209,-0.93,-146.6,746.3,-5.3,492,10215,0.00,2.65,0.00,0.000,6,0.000,0.075,2541,1990,3417
$GC,10526,-0.93,-146.6,763.5,-5.4,508,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1990,3416
$GC,10834,-0.93,-146.6,781.2,-5.7,523,10839,0.00,2.72,0.00,0.000,4,0.000,0.089,2541,3412,3416
$GC,10880,-0.93,-146.6,784.2,-7.2,525,10885,0.00,2.65,0.00,0.000,6,0.000,0.077,2541,1999,3416
$GC,11201,-0.93,-146.6,805.1,-6.8,541,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1999,3415
$GC,11512,-0.93,-146.6,826.3,-6.8,556,11516,0.00,2.70,0.00,0.000,4,0.000,0.091,2541,3404,3414
$GC,11552,-0.93,-146.6,829.3,-7.7,558,11557,0.00,2.65,0.00,0.000,6,0.000,0.078,2541,1996,3414
$GC,11880,-0.93,-146.6,850.7,-6.6,574,11881,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1996,3413
$GC,12188,-0.93,-146.6,871.2,-6.6,589,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1996,3413
$GC,12499,-0.93,-146.6,891.5,-6.5,604,12503,0.00,2.72,0.00,0.000,4,0.000,0.093,2541,3409,3412
$GC,12531,-0.93,-146.6,893.9,-7.5,605,12538,0.00,2.65,0.00,0.000,6,0.000,0.080,2541,2002,3412
$GC,12848,-0.93,-146.6,914.8,-6.6,621,12849,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2001,3412
$GC,13158,-0.93,-146.6,936.0,-6.8,636,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2001,3412
$GC,13466,-0.93,-146.6,956.7,-6.5,651,13467,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2001,3411
$GC,13775,-0.93,-146.6,977.1,-6.6,666,13780,0.00,2.72,0.00,0.000,4,0.000,0.094,2541,3408,3411
$GC,13809,-0.93,-146.6,979.6,-7.1,667,13816,0.00,2.65,0.00,0.000,6,0.000,0.081,2541,2008,3411
$STATE,13978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13978,begin apogee
$GC,13986,-0.33,0.0,991.0,6.5,676,14127,0.62,0.00,138.05,1.648,6,0.091,0.000,2669,2123,2832
$STATE,14128,end apogee,CONTROL_FINISHED_OK
$STATE,14128,begin climb
$GC,14131,0.97,146.6,996.0,0.0,683,14313,1.38,2.78,150.82,1.519,4,0.072,0.087,2955,3529,2233
$GC,14349,0.73,146.6,989.2,6.9,694,14354,0.28,2.70,0.00,0.000,6,0.103,0.078,2903,2127,2233
$GC,14679,0.71,159.0,970.7,5.7,710,14701,0.00,2.80,13.12,1.440,4,0.000,0.092,2903,718,2183
$GC,14726,0.67,163.8,967.8,5.9,712,14737,0.00,2.67,6.05,1.210,6,0.000,0.077,2903,2121,2164
$GC,15053,0.67,163.8,948.4,6.1,728,15054,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,2164
$GC,15363,0.67,163.8,928.7,6.8,743,15368,0.00,2.75,0.00,0.000,4,0.000,0.094,2903,708,2164
$GC,15390,0.67,163.8,926.6,6.8,744,15395,0.00,2.67,0.00,0.000,6,0.000,0.079,2903,2121,2164
$GC,15706,0.67,163.8,906.2,6.4,759,15707,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,2164
$GC,16016,0.67,163.8,886.9,6.1,774,16017,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,2164
$GC,16325,0.68,168.3,868.3,5.9,789,16338,0.00,2.78,6.25,1.283,4,0.000,0.094,2903,711,2144
$GC,16369,0.68,173.1,865.5,5.9,791,16380,0.00,2.70,5.90,1.246,6,0.000,0.079,2903,2127,2126
$GC,16697,0.68,173.1,845.2,6.3,807,16698,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,2126
$GC,17005,0.70,183.5,827.6,5.7,822,17025,0.00,0.00,13.43,1.260,6,0.000,0.000,2903,2127,2083
$GC,17335,0.71,192.1,808.7,5.8,838,17350,0.00,2.83,9.73,1.394,4,0.000,0.094,2903,711,2048
$GC,17367,0.71,192.1,806.7,6.3,838,17373,0.00,2.70,0.00,0.000,6,0.000,0.078,2903,2121,2048
$GC,17683,0.76,219.2,789.2,5.3,854,17711,0.00,0.00,25.95,1.510,6,0.000,0.000,2903,2120,1938
$GC,18014,0.82,232.4,771.5,5.6,870,18032,0.00,0.00,13.98,1.429,6,0.000,0.000,2903,2120,1883
$GC,18343,0.93,266.7,753.7,5.1,886,18377,0.20,0.00,31.88,1.492,6,0.063,0.000,2955,2120,1743
$GC,18698,0.87,266.7,723.5,8.9,903,18702,0.00,2.75,0.00,0.000,4,0.000,0.094,2955,711,1744
$GC,18725,0.77,266.7,721.0,8.4,904,18731,0.20,2.65,0.00,0.000,6,0.101,0.078,2916,2108,1744
$GC,19042,0.89,313.1,703.9,4.7,919,19087,0.10,0.00,42.22,1.471,6,0.074,0.000,2942,2108,1555
$GC,19392,0.89,313.1,681.1,7.4,936,19396,0.00,2.72,0.00,0.000,4,0.000,0.095,2942,709,1555
$GC,19436,0.89,313.1,677.2,8.2,938,19440,0.00,2.65,0.00,0.000,6,0.000,0.077,2942,2108,1555
$GC,19758,0.89,313.1,649.6,8.2,954,19759,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2108,1555
$GC,20066,0.89,313.1,627.9,6.6,969,20070,0.00,2.72,0.00,0.000,4,0.000,0.094,2942,704,1555
$GC,20099,0.89,313.1,625.4,7.5,970,20105,0.00,2.65,0.00,0.000,6,0.000,0.077,2942,2107,1554
$GC,20417,0.89,313.1,602.1,7.7,986,20418,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2106,1554
$GC,20724,0.89,313.1,574.6,9.0,1001,20725,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2106,1554
$GC,21033,0.89,313.1,546.2,9.3,1016,21038,0.00,2.67,0.00,0.000,4,0.000,0.091,2942,712,1554
$GC,21073,0.89,313.1,542.4,9.5,1018,21077,0.00,2.62,0.00,0.000,6,0.000,0.076,2942,2110,1554
$GC,21400,0.89,313.1,516.9,6.9,1034,21401,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2111,1554
$GC,21708,0.89,313.1,494.8,7.5,1049,21713,0.00,2.70,0.00,0.000,4,0.000,0.087,2942,702,1554
$GC,21742,0.89,313.1,492.1,7.6,1050,21748,0.00,2.60,0.00,0.000,6,0.000,0.073,2942,2100,1554
$GC,22059,0.89,313.1,469.8,6.7,1066,22060,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2100,1554
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$STATE,27680,end climb,SURFACE_DEPTH_REACHED
$STATE,27680,begin surface coast
$FINISH,0.5,1.027409
$STATE,27723,end surface coast,CONTROL_FINISHED_OK
$STATE,27723,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1800
$TCM_TEMP,16.90
$XPDR_PINGS,38
$24V_AH,23.3,66.136
$10V_AH,10.0,32.736
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$DEVICE_SECS,25.850,200.800,461.025,0.000,0.000,75.521,65.288,286.187,18.250,0.000,0.000,13.219,2372.594,21887.184,661.763,2615.148,901.084,0.000,1981.858,0.000,2560.340,0.000,57.440,0.000
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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,69456,1338
$CAP_FILE_SIZE,191043,0
$CFSIZE,254472192,228704256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,66,5,0
$GPS,280109,133255,6011.614,-639.003,41,1.7,41,-7.5