version: 66.04
glider: 5
mission: 5
dive: 383
start: 1 29 109 13 44 2
data:
$ID,5
$MISSION,5
$DIVE,383
$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,-94913.031
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,133530,6020.534,-657.102,38,1.7,38,-7.7
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-48.5
$GPS2,134343,6020.475,-657.031,9,1.7,9,-7.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_3
$TGT_LATLONG,6030.000,-715.000
$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,324.8,24077,-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,-146.6,0.0,0.0,0,159,0.00,0.00,-141.55,0.000,2,0.000,0.000,422,1964,3220
$GC,163,-0.97,-146.6,3.6,-3.2,7,185,10.98,2.47,-5.57,0.000,4,0.133,0.069,2524,598,3430
$GC,440,-0.83,-146.6,35.5,-9.5,19,445,0.20,2.53,0.00,0.000,6,0.083,0.051,2567,2009,3430
$GC,763,-0.83,-146.6,56.5,-6.2,35,767,0.00,2.60,0.00,0.000,4,0.000,0.065,2567,590,3430
$GC,812,-0.83,-146.6,60.6,-8.0,37,817,0.00,2.53,0.00,0.000,6,0.000,0.053,2567,2003,3429
$GC,1131,-0.83,-146.6,81.1,-6.7,52,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3430
$GC,1438,-0.83,-146.6,101.3,-7.2,67,1442,0.00,2.53,0.00,0.000,4,0.000,0.063,2567,3406,3430
$GC,1478,-0.83,-146.6,104.2,-8.3,69,1483,0.00,2.50,0.00,0.000,6,0.000,0.049,2567,2003,3430
$GC,1806,-0.83,-146.6,130.2,-7.7,85,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2003,3430
$GC,2115,-0.83,-146.6,151.5,-6.9,100,2119,0.00,2.58,0.00,0.000,4,0.000,0.062,2567,3415,3430
$GC,2155,-0.87,-146.6,154.6,-7.7,102,2159,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,2000,3430
$GC,2483,-0.87,-146.6,176.5,-6.7,118,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1999,3430
$GC,2791,-0.87,-146.6,195.9,-6.1,133,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1999,3430
$GC,3101,-0.87,-146.6,214.3,-6.4,148,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1999,3430
$GC,3410,-0.87,-146.6,232.6,-5.9,163,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1999,3430
$GC,3719,-0.87,-146.6,252.6,-6.8,178,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1999,3429
$GC,4029,-0.87,-146.6,273.9,-7.8,193,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1999,3430
$GC,4338,-0.87,-146.6,297.0,-7.6,208,4342,0.00,2.58,0.00,0.000,4,0.000,0.065,2567,3404,3429
$GC,4371,-0.92,-146.6,299.5,-7.8,209,4377,0.00,2.53,0.00,0.000,6,0.000,0.054,2566,1995,3429
$GC,4688,-0.92,-146.6,322.3,-7.8,225,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1995,3429
$GC,4996,-0.92,-146.6,346.2,-7.8,240,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1995,3429
$GC,5305,-0.92,-146.6,370.5,-7.8,255,5310,0.00,2.60,0.00,0.000,4,0.000,0.067,2566,3409,3429
$GC,5340,-0.96,-146.6,373.2,-8.0,256,5347,0.15,2.53,0.00,0.000,6,0.058,0.054,2528,1999,3429
$GC,5657,-0.89,-146.6,400.6,-8.3,272,5659,0.10,0.00,0.00,0.000,6,0.097,0.000,2549,1999,3428
$GC,5965,-0.89,-146.6,422.6,-6.9,287,5969,0.00,2.53,0.00,0.000,4,0.000,0.070,2548,595,3428
$GC,6005,-0.89,-146.6,425.7,-8.4,289,6010,0.00,2.50,0.00,0.000,6,0.000,0.056,2549,1992,3428
$GC,6332,-0.89,-146.6,448.9,-7.0,305,6337,0.00,2.58,0.00,0.000,4,0.000,0.071,2548,3405,3428
$GC,6355,-0.89,-146.6,450.7,-7.5,306,6359,0.00,2.58,0.00,0.000,6,0.000,0.060,2549,1989,3428
$GC,6676,-0.89,-146.6,473.7,-7.4,322,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1989,3428
$GC,6985,-0.89,-146.6,497.0,-7.6,337,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1988,3427
$GC,7294,-0.89,-146.6,519.8,-7.1,352,7298,0.00,2.55,0.00,0.000,4,0.000,0.077,2548,592,3427
$GC,7322,-0.89,-146.6,521.7,-6.8,353,7326,0.00,2.53,0.00,0.000,6,0.000,0.064,2549,1984,3427
$GC,7640,-0.89,-146.6,539.9,-5.3,368,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1985,3426
$GC,7947,-0.89,-146.6,556.7,-5.8,383,7951,0.00,2.62,0.00,0.000,4,0.000,0.081,2549,3404,3425
$GC,7992,-0.89,-146.6,559.5,-7.0,385,7996,0.00,2.62,0.00,0.000,6,0.000,0.069,2549,1983,3425
$GC,8313,-0.89,-146.6,579.9,-6.3,401,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1983,3424
$GC,8622,-0.89,-146.6,598.6,-6.1,416,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1983,3423
$GC,8934,-0.89,-146.6,619.2,-7.1,431,8938,0.00,2.70,0.00,0.000,4,0.000,0.083,2549,3411,3423
$GC,8978,-0.89,-146.6,622.8,-7.5,433,8983,0.00,2.65,0.00,0.000,6,0.000,0.071,2549,1985,3422
$GC,9299,-0.89,-146.6,645.4,-7.0,449,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1984,3421
$GC,9609,-0.89,-146.6,667.1,-6.9,464,9613,0.00,2.70,0.00,0.000,4,0.000,0.084,2549,3405,3420
$GC,9671,-0.89,-146.6,671.7,-7.2,467,9675,0.00,2.62,0.00,0.000,6,0.000,0.072,2548,1992,3420
$GC,9998,-0.89,-146.6,693.1,-6.7,483,10002,0.00,2.60,0.00,0.000,4,0.000,0.086,2549,590,3419
$GC,10031,-0.89,-146.6,695.3,-6.7,484,10037,0.00,2.60,0.00,0.000,6,0.000,0.072,2548,1997,3419
$GC,10346,-0.89,-146.6,714.6,-6.2,500,10351,0.00,2.62,0.00,0.000,4,0.000,0.087,2549,3405,3418
$GC,10380,-0.89,-146.6,716.8,-6.5,501,10386,0.00,2.65,0.00,0.000,6,0.000,0.074,2548,1991,3418
$GC,10697,-0.89,-146.6,735.8,-6.0,517,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1990,3417
$GC,11005,-0.89,-146.6,753.7,-5.7,532,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1990,3416
$GC,11315,-0.89,-146.6,771.5,-5.8,547,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1990,3415
$GC,11623,-0.89,-146.6,790.5,-6.5,562,11628,0.00,2.70,0.00,0.000,4,0.000,0.087,2548,3405,3414
$GC,11656,-0.89,-146.6,792.8,-6.9,563,11662,0.00,2.65,0.00,0.000,6,0.000,0.075,2549,1991,3414
$GC,11972,-0.89,-146.6,814.1,-6.8,579,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1991,3414
$GC,12281,-0.89,-146.6,837.1,-7.2,594,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1990,3413
$GC,12590,-0.89,-146.6,858.8,-6.8,609,12595,0.00,2.70,0.00,0.000,4,0.000,0.089,2548,3408,3412
$GC,12632,-0.89,-146.6,861.6,-7.4,611,12636,0.00,2.65,0.00,0.000,6,0.000,0.077,2548,1994,3412
$GC,12958,-0.89,-146.6,883.7,-6.6,627,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1995,3412
$GC,13267,-0.89,-146.6,905.2,-6.8,642,13272,0.00,2.72,0.00,0.000,4,0.000,0.092,2549,3407,3411
$GC,13296,-0.89,-146.6,907.1,-7.6,643,13300,0.00,2.65,0.00,0.000,6,0.000,0.079,2549,2001,3411
$GC,13612,-0.89,-146.6,927.6,-6.5,658,13613,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2002,3411
$GC,13921,-0.89,-146.6,946.8,-6.3,673,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2002,3410
$GC,14231,-0.89,-146.6,965.9,-6.7,688,14232,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2001,3410
$GC,14540,-0.89,-146.6,984.5,-5.6,703,14544,0.00,2.72,0.00,0.000,4,0.000,0.094,2549,3409,3410
$GC,14580,-0.93,-146.6,986.9,-6.4,705,14584,0.00,2.65,0.00,0.000,6,0.000,0.081,2548,2005,3410
$STATE,14635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14635,begin apogee
$GC,14643,-0.33,0.0,990.2,5.5,708,14779,0.60,0.00,132.77,1.655,6,0.088,0.000,2671,2135,2832
$STATE,14780,end apogee,CONTROL_FINISHED_OK
$STATE,14780,begin climb
$GC,14783,0.97,146.6,993.9,0.0,715,14929,1.33,2.78,135.77,1.600,4,0.077,0.091,2948,3528,2234
$GC,14988,0.77,146.6,984.0,8.3,724,14994,0.20,2.70,0.00,0.000,6,0.100,0.079,2911,2121,2234
$GC,15305,0.71,146.6,964.2,6.4,739,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2121,2233
$GC,15615,0.66,146.6,943.2,6.9,754,15617,0.12,0.00,0.00,0.000,6,0.108,0.000,2888,2121,2233
$GC,15923,0.66,146.6,923.4,6.6,769,15924,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2121,2233
$GC,16232,0.66,146.6,903.1,6.7,784,16233,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2121,2232
$GC,16542,0.66,146.6,882.1,6.6,799,16543,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2121,2232
$GC,16851,0.72,181.5,865.1,5.0,814,16890,0.00,0.00,33.00,1.549,6,0.000,0.000,2888,2120,2092
$GC,17201,0.81,208.4,847.5,5.3,831,17243,0.15,2.85,28.35,1.440,4,0.068,0.089,2925,3528,1982
$GC,17273,0.76,208.4,842.4,8.2,834,17277,0.00,2.70,0.00,0.000,6,0.000,0.077,2925,2122,1982
$GC,17594,0.77,212.7,822.2,5.9,850,17607,0.00,2.72,6.25,1.236,4,0.000,0.090,2925,709,1963
$GC,17648,0.70,212.7,818.4,7.3,852,17653,0.12,2.67,0.00,0.000,6,0.106,0.077,2901,2121,1964
$GC,17964,0.85,278.7,803.2,4.2,867,18028,0.12,0.00,61.12,1.520,6,0.069,0.000,2933,2121,1695
$GC,18334,0.85,278.7,781.0,6.1,885,18335,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2121,1695
$GC,18642,0.85,278.7,757.2,8.2,900,18644,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2121,1696
$GC,18952,0.85,278.7,731.6,8.0,915,18956,0.00,2.72,0.00,0.000,4,0.000,0.091,2933,709,1696
$GC,18986,0.85,278.7,728.6,8.3,916,18992,0.00,2.65,0.00,0.000,6,0.000,0.077,2933,2115,1696
$GC,19303,0.85,278.7,703.8,7.5,932,19304,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2115,1696
$GC,19611,0.85,278.7,677.7,8.8,947,19612,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2114,1696
$GC,19920,0.85,278.7,650.0,8.5,962,19925,0.00,2.70,0.00,0.000,4,0.000,0.091,2933,710,1696
$GC,19948,0.85,278.7,647.6,8.5,963,19952,0.00,2.62,0.00,0.000,6,0.000,0.076,2933,2112,1696
$GC,20264,0.85,278.7,623.3,6.9,978,20268,0.00,2.70,0.00,0.000,4,0.000,0.087,2933,3538,1696
$GC,20291,0.85,278.7,621.4,7.1,979,20295,0.00,2.70,0.00,0.000,6,0.000,0.074,2933,2105,1696
$GC,20607,0.85,278.7,600.6,6.4,994,20609,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2105,1696
$GC,20916,0.85,278.7,580.7,6.8,1009,20917,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2105,1696
$GC,21225,0.85,278.7,558.9,7.1,1024,21229,0.00,2.72,0.00,0.000,4,0.000,0.084,2933,3531,1696
$GC,21266,0.85,278.7,555.6,7.7,1026,21270,0.00,2.65,0.00,0.000,6,0.000,0.071,2933,2112,1696
$GC,21592,0.85,278.7,529.6,8.4,1042,21596,0.00,2.60,0.00,0.000,4,0.000,0.083,2933,709,1696
$GC,21619,0.85,278.7,527.1,9.0,1043,21624,0.00,2.62,0.00,0.000,6,0.000,0.070,2933,2124,1696
$GC,21936,0.85,278.7,502.4,7.5,1058,21940,0.00,2.62,0.00,0.000,4,0.000,0.084,2933,3533,1696
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$STATE,28213,end climb,SURFACE_DEPTH_REACHED
$STATE,28213,begin surface coast
$FINISH,0.9,1.027385
$STATE,28256,end surface coast,CONTROL_FINISHED_OK
$STATE,28256,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1799
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$XPDR_PINGS,49
$24V_AH,23.3,67.057
$10V_AH,10.0,33.208
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$DEVICE_SECS,25.675,188.775,459.350,0.000,0.000,37.766,34.484,268.472,21.000,0.000,0.000,12.956,2402.654,22264.580,693.183,2643.244,813.701,0.000,2015.436,0.000,2593.116,0.000,57.126,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.275,922.371,723.863,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69444,1362
$CAP_FILE_SIZE,187769,0
$CFSIZE,254472192,228376576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,1,0
$GPS,290109,213736,6023.301,-704.296,37,1.2,37,-7.8