version: 66.04
glider: 5
mission: 5
dive: 243
start: 12 27 108 17 14 3
data:
$ID,5
$MISSION,5
$DIVE,243
$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,-92068.133
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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,32
$R_STBD_OVSHOOT,20
$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
$GPS1,165508,6046.631,-421.160,37,0.8,37,-6.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-64.6
$GPS2,171344,6046.521,-421.471,16,0.9,16,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$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,292.0,79760,-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,-81.47,0.000,2,0.000,0.000,424,1961,3143
$GC,102,-0.97,-146.6,3.5,-3.7,4,128,10.70,2.55,-7.97,0.000,4,0.134,0.077,2482,604,3431
$GC,381,-0.76,-146.6,38.7,-12.2,16,386,0.25,2.53,0.00,0.000,6,0.092,0.054,2534,2008,3431
$GC,697,-0.68,-146.6,65.6,-8.3,31,701,0.00,2.60,0.00,0.000,4,0.000,0.068,2534,601,3431
$GC,747,-0.61,-146.6,70.0,-8.7,33,753,0.15,2.53,0.00,0.000,6,0.090,0.054,2566,2006,3431
$GC,1064,-0.61,-146.6,92.2,-7.0,48,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2007,3431
$GC,1373,-0.61,-146.6,114.6,-7.4,63,1377,0.00,2.55,0.00,0.000,4,0.000,0.066,2566,3415,3431
$GC,1400,-0.61,-146.6,116.9,-7.7,64,1405,0.00,2.53,0.00,0.000,6,0.000,0.051,2566,2006,3431
$GC,1717,-0.61,-146.6,140.9,-7.8,79,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2005,3431
$GC,2025,-0.61,-146.6,164.4,-7.5,94,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2006,3431
$GC,2335,-0.61,-146.6,189.4,-8.5,109,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2006,3431
$GC,2644,-0.61,-146.6,216.4,-8.2,124,2648,0.00,2.58,0.00,0.000,4,0.000,0.064,2566,3409,3432
$GC,2699,-0.66,-146.6,221.1,-8.2,126,2705,0.00,2.53,0.00,0.000,6,0.000,0.052,2566,1999,3432
$GC,3015,-0.66,-146.6,242.7,-6.7,142,3019,0.00,2.58,0.00,0.000,4,0.000,0.064,2566,3406,3432
$GC,3043,-0.71,-146.6,244.7,-6.9,143,3047,0.00,2.50,0.00,0.000,6,0.000,0.052,2566,2011,3432
$GC,3358,-0.71,-146.6,266.7,-7.0,158,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2011,3432
$GC,3668,-0.75,-146.6,286.8,-6.3,173,3670,0.15,0.00,0.00,0.000,6,0.055,0.000,2524,2011,3432
$GC,3977,-0.68,-146.6,312.3,-9.0,188,3982,0.12,2.58,0.00,0.000,4,0.089,0.071,2551,592,3432
$GC,4033,-0.68,-146.6,317.4,-8.8,190,4040,0.00,2.55,0.00,0.000,6,0.000,0.056,2551,2018,3432
$GC,4350,-0.68,-146.6,341.3,-6.3,206,4354,0.00,2.53,0.00,0.000,4,0.000,0.071,2551,3405,3432
$GC,4377,-0.68,-146.6,342.9,-5.9,207,4382,0.00,2.53,0.00,0.000,6,0.000,0.059,2551,2015,3432
$GC,4694,-0.68,-146.6,358.3,-6.3,222,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3432
$GC,5002,-0.68,-146.6,382.8,-7.7,237,5007,0.00,2.60,0.00,0.000,4,0.000,0.074,2551,3405,3432
$GC,5088,-0.68,-146.6,389.4,-7.5,241,5092,0.00,2.53,0.00,0.000,6,0.000,0.064,2551,2025,3432
$GC,5415,-0.68,-146.6,409.5,-5.6,257,5420,0.00,2.65,0.00,0.000,4,0.000,0.081,2551,585,3432
$GC,5443,-0.68,-146.6,411.2,-6.7,258,5447,0.00,2.62,0.00,0.000,6,0.000,0.064,2551,2025,3432
$GC,5758,-0.68,-146.6,429.4,-6.1,273,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2025,3430
$GC,6069,-0.68,-146.6,450.1,-7.0,288,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2025,3429
$GC,6377,-0.68,-146.6,471.3,-6.9,303,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2025,3428
$GC,6686,-0.68,-146.6,492.6,-7.3,318,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2025,3427
$GC,6996,-0.68,-146.6,517.3,-8.7,333,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2025,3425
$GC,7305,-0.68,-146.6,544.2,-8.2,348,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2025,3424
$GC,7614,-0.68,-146.6,567.4,-7.0,363,7619,0.00,2.75,0.00,0.000,4,0.000,0.092,2551,594,3424
$GC,7654,-0.68,-146.6,570.2,-7.5,365,7659,0.00,2.65,0.00,0.000,6,0.000,0.074,2551,2022,3424
$GC,7981,-0.68,-146.6,590.4,-6.1,381,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2023,3423
$GC,8290,-0.68,-146.6,608.4,-5.8,396,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2023,3422
$GC,8603,-0.68,-146.6,626.1,-5.7,411,8607,0.00,2.75,0.00,0.000,4,0.000,0.092,2551,589,3421
$GC,8635,-0.68,-146.6,628.3,-6.6,412,8641,0.00,2.65,0.00,0.000,6,0.000,0.075,2551,2014,3421
$GC,8951,-0.68,-146.6,646.2,-5.7,428,8956,0.00,2.65,0.00,0.000,4,0.000,0.091,2551,3415,3420
$GC,8979,-0.68,-146.6,648.0,-6.1,429,8984,0.00,2.62,0.00,0.000,6,0.000,0.077,2551,2016,3420
$GC,9295,-0.68,-146.6,667.8,-6.6,444,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2016,3419
$GC,9604,-0.68,-146.6,690.3,-7.3,459,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2016,3418
$GC,9914,-0.68,-146.6,712.2,-7.0,474,9919,0.00,2.67,0.00,0.000,4,0.000,0.090,2551,3408,3418
$GC,9942,-0.72,-146.6,714.2,-8.1,475,9947,0.00,2.62,0.00,0.000,6,0.000,0.078,2551,2015,3418
$GC,10258,-0.72,-146.6,735.9,-7.0,490,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3417
$GC,10568,-0.72,-146.6,757.0,-6.8,505,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2015,3417
$GC,10877,-0.76,-146.6,777.1,-6.5,520,10881,0.00,2.67,0.00,0.000,4,0.000,0.090,2551,3408,3416
$GC,10905,-0.80,-146.6,779.0,-7.0,521,10910,0.12,2.62,0.00,0.000,6,0.074,0.078,2519,2013,3415
$GC,11222,-0.76,-146.6,802.3,-7.4,536,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2013,3415
$GC,11531,-0.71,-146.6,824.8,-7.2,551,11532,0.10,0.00,0.00,0.000,6,0.114,0.000,2539,2014,3414
$GC,11840,-0.71,-146.6,844.5,-6.2,566,11844,0.00,2.70,0.00,0.000,4,0.000,0.091,2539,3417,3414
$GC,11873,-0.71,-146.6,846.7,-6.3,567,11879,0.00,2.62,0.00,0.000,6,0.000,0.079,2539,2025,3414
$GC,12189,-0.71,-146.6,866.1,-6.3,583,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2025,3413
$GC,12499,-0.71,-146.6,885.1,-6.0,598,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2025,3413
$GC,12808,-0.71,-146.6,902.4,-6.0,613,12809,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2025,3413
$GC,13116,-0.71,-146.6,920.9,-6.2,628,13118,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2024,3413
$GC,13427,-0.71,-146.6,939.1,-5.7,643,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2025,3413
$GC,13735,-0.71,-146.6,957.7,-6.3,658,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2025,3412
$GC,14045,-0.71,-146.6,976.9,-6.2,673,14046,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2025,3412
$STATE,14268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14268,begin apogee
$GC,14275,-0.33,0.0,991.0,6.1,684,14412,0.43,0.00,132.00,1.658,6,0.093,0.000,2626,2207,2832
$STATE,14413,end apogee,CONTROL_FINISHED_OK
$STATE,14413,begin climb
$GC,14416,0.97,146.6,995.5,0.0,691,14560,1.38,2.88,135.38,1.605,4,0.081,0.091,2909,793,2234
$GC,14578,0.89,146.6,989.3,6.7,699,14583,0.00,2.70,0.00,0.000,6,0.000,0.076,2909,2200,2234
$GC,14899,0.83,146.6,969.9,6.2,715,14901,0.15,0.00,0.00,0.000,6,0.104,0.000,2882,2200,2233
$GC,15209,0.87,176.2,953.3,5.2,730,15244,0.00,2.85,27.90,1.542,4,0.000,0.094,2882,795,2113
$GC,15284,0.87,176.2,948.5,6.8,733,15289,0.00,2.67,0.00,0.000,6,0.000,0.079,2881,2190,2113
$GC,15601,0.93,183.9,930.4,5.8,748,15611,0.00,0.00,8.85,1.377,6,0.000,0.000,2881,2190,2082
$GC,15910,0.99,184.5,911.8,6.0,763,15916,0.15,2.75,0.00,0.000,4,0.068,0.095,2917,786,2082
$GC,15967,0.92,184.5,907.6,7.5,765,15973,0.00,2.65,0.00,0.000,6,0.000,0.079,2917,2187,2082
$GC,16284,0.94,225.7,887.8,4.9,781,16331,0.00,2.83,39.78,1.562,4,0.000,0.094,2917,797,1911
$GC,16348,0.94,225.7,883.2,7.7,784,16353,0.00,2.65,0.00,0.000,6,0.000,0.077,2917,2180,1910
$GC,16670,0.94,225.7,859.1,7.1,800,16674,0.00,2.72,0.00,0.000,4,0.000,0.097,2917,791,1911
$GC,16697,0.94,225.7,856.8,7.6,801,16702,0.00,2.62,0.00,0.000,6,0.000,0.078,2917,2175,1911
$GC,17013,0.94,225.7,834.7,6.7,816,17015,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2175,1911
$GC,17323,0.94,225.7,814.9,6.2,831,17327,0.00,2.70,0.00,0.000,4,0.000,0.096,2917,793,1911
$GC,17373,0.94,225.7,811.5,6.6,833,17377,0.00,2.60,0.00,0.000,6,0.000,0.078,2917,2168,1911
$GC,17688,0.94,225.7,791.8,6.3,848,17689,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2168,1910
$GC,17998,0.94,231.0,773.8,5.9,863,18011,0.00,2.72,6.68,1.270,4,0.000,0.094,2917,787,1889
$GC,18042,0.94,231.0,771.0,7.4,865,18047,0.00,2.62,0.00,0.000,6,0.000,0.077,2917,2167,1889
$GC,18370,0.94,231.0,750.6,6.5,881,18371,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2167,1889
$GC,18679,0.94,231.0,730.3,6.5,896,18683,0.00,2.67,0.00,0.000,4,0.000,0.095,2917,794,1889
$GC,18719,0.94,231.0,727.4,8.0,898,18723,0.00,2.58,0.00,0.000,6,0.000,0.078,2917,2161,1889
$GC,19045,0.94,231.0,704.8,7.0,914,19046,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2161,1889
$GC,19354,0.94,231.0,682.4,7.4,929,19359,0.00,2.65,0.00,0.000,4,0.000,0.094,2917,794,1888
$GC,19395,0.94,231.0,679.3,7.1,931,19399,0.00,2.55,0.00,0.000,6,0.000,0.077,2917,2150,1888
$GC,19721,0.94,231.0,655.4,7.4,947,19722,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2150,1889
$GC,20030,0.94,231.0,632.5,7.1,962,20034,0.00,2.65,0.00,0.000,4,0.000,0.094,2917,787,1888
$GC,20058,0.94,231.0,630.5,8.2,963,20062,0.00,2.58,0.00,0.000,6,0.000,0.077,2917,2157,1889
$GC,20373,0.94,231.0,609.2,6.5,978,20374,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2157,1888
$GC,20682,0.94,231.0,587.5,7.0,993,20687,0.00,2.65,0.00,0.000,4,0.000,0.094,2917,791,1889
$GC,20716,0.94,231.0,584.8,8.0,994,20722,0.00,2.55,0.00,0.000,6,0.000,0.077,2917,2148,1888
$GC,21031,0.94,231.0,561.2,7.4,1010,21033,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2148,1889
$GC,21340,0.94,231.0,538.4,7.4,1025,21345,0.00,2.62,0.00,0.000,4,0.000,0.091,2917,790,1888
$GC,21375,0.94,231.0,535.8,7.7,1026,21381,0.00,2.53,0.00,0.000,6,0.000,0.076,2917,2137,1889
$GC,21691,0.94,231.0,513.7,6.7,1042,21692,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2137,1888
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$STATE,28794,end climb,SURFACE_DEPTH_REACHED
$STATE,28794,begin surface coast
$FINISH,0.4,1.027488
$STATE,28838,end surface coast,CONTROL_FINISHED_OK
$STATE,28838,begin surface
$SM_CCo,28922,0.00,0.000,0,0,1610,299.51
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1780
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$XPDR_PINGS,191
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.5,42.708
$10V_AH,10.1,20.985
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$DEVICE_SECS,25.325,193.000,417.350,0.000,0.000,188.792,353.820,182.401,56.750,0.000,0.000,16.469,2451.770,23133.396,626.543,2644.072,1169.304,0.000,1930.040,0.000,2587.756,0.000,58.593,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.107,940.713,722.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69389,1385
$CAP_FILE_SIZE,191605,0
$CFSIZE,254472192,237314048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,66,0,0
$GPS,281208,011725,6046.740,-429.092,25,1.0,42,-6.6