version: 66.04
glider: 5
mission: 5
dive: 212
start: 12 21 108 0 20 52
data:
$ID,5
$MISSION,5
$DIVE,212
$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,225
$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,-91435.859
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,17
$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,20
$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,0
$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
$GPS1,001338,6052.659,-403.074,39,1.1,39,-6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-56.1
$GPS2,002033,6052.708,-403.119,16,1.1,16,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6045.071,-418.747
$TGT_RADIUS,1852.000
$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,231.4,20000,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.65,0.000,2,0.000,0.000,422,1955,3427
$GC,123,-0.97,-146.6,4.6,-4.0,5,139,10.32,2.53,0.00,0.000,4,0.134,0.067,2428,591,3428
$GC,179,-0.61,-146.6,21.6,-15.8,6,187,0.43,2.55,0.00,0.000,6,0.086,0.055,2517,2005,3428
$GC,496,-0.49,-146.6,51.0,-9.5,22,501,0.12,2.62,0.00,0.000,4,0.094,0.067,2544,588,3429
$GC,529,-0.49,-146.6,53.9,-7.9,23,536,0.00,2.55,0.00,0.000,6,0.000,0.055,2544,2006,3429
$GC,847,-0.44,-146.6,75.7,-7.0,39,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2006,3429
$GC,1155,-0.39,-146.6,101.5,-7.5,54,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2006,3430
$GC,1465,-0.35,-146.6,125.3,-7.8,69,1467,0.15,0.00,0.00,0.000,6,0.089,0.000,2576,2006,3430
$GC,1773,-0.35,-146.6,144.9,-6.8,84,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2006,3430
$GC,2082,-0.39,-146.6,165.3,-6.2,99,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2006,3430
$GC,2392,-0.44,-146.6,184.3,-6.2,114,2394,0.12,0.00,0.00,0.000,6,0.058,0.000,2543,2006,3430
$GC,2701,-0.39,-146.6,206.5,-7.5,129,2703,0.10,0.00,0.00,0.000,6,0.097,0.000,2563,2006,3430
$GC,3011,-0.39,-146.6,225.4,-6.2,144,3015,0.00,2.60,0.00,0.000,4,0.000,0.071,2563,598,3430
$GC,3100,-0.39,-146.6,231.4,-6.4,148,3104,0.00,2.53,0.00,0.000,6,0.000,0.054,2563,2008,3431
$GC,3422,-0.39,-146.6,250.0,-5.3,164,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2009,3430
$GC,3731,-0.39,-146.6,265.7,-5.4,179,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2009,3431
$GC,4039,-0.39,-146.6,283.0,-5.6,194,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2009,3431
$GC,4349,-0.39,-146.6,299.2,-5.7,209,4353,0.00,2.60,0.00,0.000,4,0.000,0.076,2563,600,3431
$GC,4376,-0.39,-146.6,301.0,-6.6,210,4381,0.00,2.55,0.00,0.000,6,0.000,0.060,2563,2009,3431
$GC,4692,-0.39,-146.6,321.5,-6.4,225,4696,0.00,2.62,0.00,0.000,4,0.000,0.077,2563,599,3431
$GC,4736,-0.43,-146.6,324.4,-7.0,227,4741,0.00,2.55,0.00,0.000,6,0.000,0.061,2563,2006,3431
$GC,5059,-0.48,-146.6,341.8,-5.5,243,5063,0.00,2.58,0.00,0.000,4,0.000,0.076,2563,3406,3430
$GC,5099,-0.52,-146.6,344.0,-5.5,245,5105,0.15,2.58,0.00,0.000,6,0.061,0.064,2524,1998,3430
$GC,5430,-0.45,-146.6,368.3,-7.5,261,5435,0.12,2.65,0.00,0.000,4,0.097,0.077,2550,3412,3429
$GC,5463,-0.45,-146.6,371.4,-7.6,262,5469,0.00,2.60,0.00,0.000,6,0.000,0.069,2550,1998,3429
$GC,5779,-0.45,-146.6,393.0,-6.3,278,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1998,3428
$GC,6088,-0.45,-146.6,411.3,-6.1,293,6093,0.00,2.67,0.00,0.000,4,0.000,0.081,2550,3412,3427
$GC,6151,-0.45,-146.6,415.5,-6.8,296,6155,0.00,2.60,0.00,0.000,6,0.000,0.070,2550,2005,3427
$GC,6478,-0.45,-146.6,436.8,-6.8,312,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2005,3427
$GC,6786,-0.45,-146.6,457.9,-6.8,327,6791,0.00,2.65,0.00,0.000,4,0.000,0.083,2550,3406,3425
$GC,6815,-0.45,-146.6,459.9,-7.1,328,6819,0.00,2.60,0.00,0.000,6,0.000,0.071,2550,2005,3425
$GC,7131,-0.45,-146.6,481.3,-6.5,343,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2005,3424
$GC,7441,-0.45,-146.6,499.9,-6.1,358,7449,0.00,2.65,0.00,0.000,4,0.000,0.084,2550,3407,3423
$GC,7499,-0.45,-146.6,503.8,-6.6,360,7503,0.00,2.58,0.00,0.000,6,0.000,0.073,2550,2024,3423
$GC,7816,-0.45,-146.6,523.0,-6.0,375,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2024,3422
$GC,8124,-0.45,-146.6,541.7,-6.0,390,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2024,3421
$GC,8433,-0.45,-146.6,560.0,-6.0,405,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2024,3421
$GC,8743,-0.45,-146.6,577.9,-5.9,420,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2024,3420
$GC,9052,-0.45,-146.6,595.4,-5.5,435,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2024,3419
$GC,9361,-0.45,-146.6,613.3,-5.7,450,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2025,3417
$GC,9671,-0.45,-146.6,630.8,-5.8,465,9676,0.00,2.65,0.00,0.000,4,0.000,0.089,2550,3404,3417
$GC,9704,-0.45,-146.6,632.9,-6.4,466,9710,0.00,2.58,0.00,0.000,6,0.000,0.077,2550,2031,3417
$GC,10022,-0.45,-146.6,650.9,-5.7,482,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2031,3417
$GC,10329,-0.45,-146.6,669.3,-6.0,497,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2030,3416
$GC,10638,-0.45,-146.6,688.0,-6.0,512,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2031,3416
$GC,10948,-0.45,-146.6,706.4,-5.8,527,10952,0.00,2.70,0.00,0.000,4,0.000,0.093,2550,587,3414
$GC,10975,-0.45,-146.6,708.2,-6.5,528,10980,0.00,2.67,0.00,0.000,6,0.000,0.076,2550,2022,3414
$GC,11291,-0.45,-146.6,726.6,-5.9,543,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2023,3414
$GC,11600,-0.45,-146.6,743.7,-5.4,558,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2023,3413
$GC,11910,-0.45,-146.6,760.9,-5.6,573,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2023,3413
$GC,12219,-0.45,-146.6,777.9,-5.5,588,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2023,3413
$GC,12528,-0.45,-146.6,795.1,-5.8,603,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2023,3413
$GC,12838,-0.45,-146.6,813.7,-6.2,618,12842,0.00,2.75,0.00,0.000,4,0.000,0.094,2550,594,3413
$GC,12865,-0.45,-146.6,815.5,-6.8,619,12869,0.00,2.67,0.00,0.000,6,0.000,0.077,2550,2025,3413
$GC,13181,-0.45,-146.6,835.1,-6.3,634,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2026,3412
$GC,13491,-0.45,-146.6,855.5,-6.7,649,13492,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2026,3412
$GC,13802,-0.49,-146.6,876.1,-6.7,664,13803,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2025,3412
$GC,14109,-0.54,-146.6,896.7,-6.6,679,14114,0.00,2.78,0.00,0.000,4,0.000,0.098,2549,594,3411
$GC,14142,-0.54,-146.6,899.2,-6.7,680,14148,0.00,2.67,0.00,0.000,6,0.000,0.078,2550,2025,3411
$GC,14459,-0.58,-146.6,920.2,-6.6,696,14461,0.12,0.00,0.00,0.000,6,0.074,0.000,2518,2025,3411
$GC,14768,-0.58,-146.6,943.7,-7.3,711,14773,0.00,2.78,0.00,0.000,4,0.000,0.097,2518,592,3411
$GC,14795,-0.52,-146.6,946.1,-8.3,712,14800,0.00,2.67,0.00,0.000,6,0.000,0.078,2518,2020,3411
$GC,15112,-0.48,-146.6,969.7,-7.5,727,15113,0.12,0.00,0.00,0.000,6,0.113,0.000,2543,2021,3411
$GC,15421,-0.48,-146.6,988.4,-6.2,742,15422,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2021,3411
$STATE,15459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15459,begin apogee
$GC,15466,-0.33,0.0,991.0,6.2,744,15603,0.17,0.00,131.30,1.674,6,0.106,0.000,2578,2211,2833
$STATE,15604,end apogee,CONTROL_FINISHED_OK
$STATE,15604,begin climb
$GC,15607,0.97,146.6,996.9,0.0,751,15752,1.40,2.90,135.73,1.614,4,0.087,0.093,2860,789,2234
$GC,15772,1.07,158.6,991.0,5.7,759,15793,0.10,2.70,12.77,1.434,6,0.074,0.077,2884,2196,2184
$GC,16124,1.19,182.0,971.7,5.4,776,16154,0.10,2.85,22.52,1.521,4,0.075,0.094,2910,796,2089
$GC,16351,1.14,182.0,956.5,6.5,786,16355,0.00,2.55,0.00,0.000,6,0.000,0.078,2910,2137,2089
$GC,16672,1.14,182.0,935.7,6.6,802,16673,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2137,2089
$GC,16981,1.14,182.0,915.9,6.0,817,16982,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2137,2089
$GC,17290,1.15,191.4,897.6,5.7,832,17306,0.00,2.70,10.75,1.445,4,0.000,0.096,2911,793,2050
$GC,17335,1.15,191.4,894.7,6.7,833,17339,0.00,2.55,0.00,0.000,6,0.000,0.078,2910,2129,2050
$GC,17655,1.15,191.4,875.4,6.1,849,17657,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2128,2050
$GC,17965,1.15,191.4,855.9,6.4,864,17966,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2128,2050
$GC,18274,1.15,191.4,835.7,6.5,879,18276,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2128,2050
$GC,18583,1.15,191.4,815.7,6.6,894,18584,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2128,2050
$GC,18892,1.15,191.4,794.7,6.7,909,18894,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2128,2050
$GC,19202,1.15,191.4,773.4,7.0,924,19207,0.00,2.60,0.00,0.000,4,0.000,0.096,2910,792,2049
$GC,19235,1.15,191.4,770.8,7.9,925,19241,0.00,2.53,0.00,0.000,6,0.000,0.078,2911,2134,2049
$GC,19551,1.15,191.4,748.4,7.3,941,19552,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2135,2049
$GC,19861,1.15,191.4,725.8,7.3,956,19862,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2135,2049
$GC,20170,1.15,191.4,703.6,7.1,971,20174,0.00,2.60,0.00,0.000,4,0.000,0.096,2911,789,2049
$GC,20197,1.15,191.4,701.5,7.3,972,20201,0.00,2.53,0.00,0.000,6,0.000,0.078,2911,2128,2049
$GC,20513,1.15,191.4,679.6,6.9,987,20514,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2129,2048
$GC,20821,1.15,191.4,658.3,6.9,1002,20823,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2129,2049
$GC,21131,1.15,191.4,637.5,6.6,1017,21135,0.00,2.58,0.00,0.000,4,0.000,0.095,2911,785,2049
$GC,21158,1.15,191.4,635.6,7.7,1018,21162,0.00,2.53,0.00,0.000,6,0.000,0.077,2911,2127,2049
$GC,21474,1.15,191.4,615.3,6.3,1033,21475,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2127,2049
$GC,21783,1.15,191.4,595.9,6.4,1048,21784,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2127,2049
$GC,22092,1.15,191.4,576.8,6.2,1063,22096,0.00,2.58,0.00,0.000,4,0.000,0.094,2911,786,2049
$GC,22119,1.15,191.4,574.9,6.6,1064,22124,0.00,2.53,0.00,0.000,6,0.000,0.077,2911,2128,2049
$GC,22435,1.15,191.4,554.9,6.3,1079,22436,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2128,2049
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$GC,24021,1.19,215.3,458.4,5.6,1156,24040,0.00,0.00,13.18,1.257,6,0.000,0.000,2911,2122,1954
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$STATE,30674,end climb,SURFACE_DEPTH_REACHED
$STATE,30674,begin surface coast
$FINISH,0.0,1.027545
$STATE,30719,end surface coast,CONTROL_FINISHED_OK
$STATE,30719,begin surface
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$HUMID,1769
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$24V_AH,23.5,37.697
$10V_AH,10.0,18.468
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$DEVICE_SECS,25.300,184.650,446.300,0.000,0.000,37.753,44.289,185.495,51.500,0.000,0.000,16.374,2598.501,24412.867,647.677,2804.205,742.665,0.000,2038.439,0.000,2757.220,0.000,58.619,0.000
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$DATA_FILE_SIZE,75715,1478
$CAP_FILE_SIZE,199251,0
$CFSIZE,254472192,239136768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
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