version: 66.04
glider: 5
mission: 5
dive: 292
start: 1 9 109 1 38 32
data:
$ID,5
$MISSION,5
$DIVE,292
$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,-92941.188
$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,34
$R_STBD_OVSHOOT,19
$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
$GPS1,012436,6016.251,-454.429,35,1.4,35,-6.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-59.0
$GPS2,013813,6016.297,-453.583,12,1.2,12,-6.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6008.661,-508.923
$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,231.7,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,101,0.00,0.00,-81.03,0.000,2,0.000,0.000,421,1974,3275
$GC,104,-0.97,-146.6,4.2,-4.6,4,126,10.80,0.00,-3.90,0.000,6,0.135,0.000,2480,1979,3432
$GC,437,-0.73,-146.6,51.5,-12.6,20,439,0.28,0.00,0.00,0.000,6,0.081,0.000,2538,1979,3432
$GC,746,-0.66,-146.6,80.3,-8.9,35,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1979,3432
$GC,1054,-0.58,-146.6,107.7,-8.0,50,1059,0.15,2.60,0.00,0.000,4,0.089,0.061,2570,3412,3433
$GC,1110,-0.63,-146.6,112.0,-7.3,52,1117,0.00,2.50,0.00,0.000,6,0.000,0.048,2570,2004,3433
$GC,1429,-0.63,-146.6,134.4,-7.1,68,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2003,3433
$GC,1735,-0.63,-146.6,156.7,-7.7,83,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2003,3433
$GC,2045,-0.63,-146.6,177.9,-5.8,98,2049,0.00,2.58,0.00,0.000,4,0.000,0.062,2570,3417,3433
$GC,2118,-0.68,-146.6,182.4,-5.9,101,2123,0.00,2.53,0.00,0.000,6,0.000,0.048,2570,1993,3433
$GC,2435,-0.68,-146.6,201.8,-5.4,116,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1994,3433
$GC,2744,-0.68,-146.6,221.6,-7.6,131,2749,0.00,2.60,0.00,0.000,4,0.000,0.063,2570,3419,3433
$GC,2796,-0.73,-146.6,225.3,-7.1,133,2801,0.12,2.50,0.00,0.000,6,0.058,0.049,2534,2007,3433
$GC,3112,-0.64,-146.6,252.8,-8.8,148,3117,0.12,2.55,0.00,0.000,4,0.092,0.067,2560,589,3433
$GC,3152,-0.64,-146.6,256.0,-7.7,150,3157,0.00,2.55,0.00,0.000,6,0.000,0.052,2560,2019,3433
$GC,3479,-0.64,-146.6,280.6,-7.9,166,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2020,3433
$GC,3788,-0.64,-146.6,306.1,-8.5,181,3792,0.00,2.50,0.00,0.000,4,0.000,0.065,2560,3409,3433
$GC,3829,-0.64,-146.6,309.7,-9.1,183,3833,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,2006,3433
$GC,4155,-0.64,-146.6,336.2,-8.3,199,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2005,3433
$GC,4465,-0.64,-146.6,358.8,-7.2,214,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2005,3433
$GC,4774,-0.64,-146.6,380.2,-6.4,229,4779,0.00,2.58,0.00,0.000,4,0.000,0.066,2560,3411,3433
$GC,4830,-0.64,-146.6,384.1,-6.6,231,4836,0.00,2.50,0.00,0.000,6,0.000,0.053,2560,2013,3433
$GC,5147,-0.64,-146.6,404.5,-6.4,247,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2013,3432
$GC,5457,-0.64,-146.6,426.2,-7.4,262,5461,0.00,2.55,0.00,0.000,4,0.000,0.067,2560,3405,3433
$GC,5506,-0.64,-146.6,430.2,-8.0,264,5510,0.00,2.47,0.00,0.000,6,0.000,0.054,2560,2022,3433
$GC,5823,-0.64,-146.6,451.3,-6.3,279,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2022,3433
$GC,6131,-0.64,-146.6,471.5,-6.6,294,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2021,3432
$GC,6440,-0.64,-146.6,493.5,-7.4,309,6445,0.00,2.55,0.00,0.000,4,0.000,0.069,2560,3406,3432
$GC,6519,-0.64,-146.6,498.8,-6.5,312,6525,0.00,2.47,0.00,0.000,6,0.000,0.057,2560,2032,3432
$GC,6835,-0.64,-146.6,515.5,-4.9,328,6840,0.00,2.55,0.00,0.000,4,0.000,0.069,2560,3414,3432
$GC,6863,-0.64,-146.6,517.2,-6.4,329,6867,0.00,2.47,0.00,0.000,6,0.000,0.058,2560,2041,3432
$GC,7179,-0.64,-146.6,537.1,-6.9,344,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2041,3432
$GC,7488,-0.64,-146.6,560.0,-7.1,359,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2040,3431
$GC,7797,-0.69,-146.6,580.7,-6.9,374,7802,0.00,2.67,0.00,0.000,4,0.000,0.080,2560,585,3431
$GC,7832,-0.73,-146.6,583.2,-7.5,375,7839,0.00,2.65,0.00,0.000,6,0.000,0.062,2560,2051,3431
$GC,8149,-0.78,-146.6,603.7,-6.2,391,8151,0.15,0.00,0.00,0.000,6,0.061,0.000,2519,2052,3430
$GC,8460,-0.72,-146.6,625.0,-6.9,406,8462,0.12,0.00,0.00,0.000,6,0.100,0.000,2545,2052,3429
$GC,8767,-0.72,-146.6,645.3,-6.7,421,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2052,3427
$GC,9076,-0.72,-146.6,665.3,-6.3,436,9081,0.00,2.78,0.00,0.000,4,0.000,0.090,2545,593,3426
$GC,9103,-0.72,-146.6,667.3,-6.8,437,9108,0.00,2.67,0.00,0.000,6,0.000,0.071,2545,2048,3426
$GC,9419,-0.72,-146.6,688.2,-6.8,452,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2049,3426
$GC,9728,-0.72,-146.6,710.5,-7.2,467,9732,0.00,2.78,0.00,0.000,4,0.000,0.092,2545,596,3424
$GC,9761,-0.72,-146.6,713.1,-8.3,468,9767,0.00,2.67,0.00,0.000,6,0.000,0.074,2544,2044,3424
$GC,10077,-0.72,-146.6,734.9,-6.9,484,10082,0.00,2.80,0.00,0.000,4,0.000,0.095,2544,586,3423
$GC,10104,-0.72,-146.6,737.0,-7.3,485,10109,0.00,2.70,0.00,0.000,6,0.000,0.075,2545,2041,3423
$GC,10420,-0.72,-146.6,759.1,-7.4,500,10421,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2042,3421
$STATE,10685,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10685,begin apogee
$GC,10693,-0.33,0.0,776.8,6.4,513,10828,0.40,0.00,129.00,1.475,6,0.091,0.000,2626,2205,2831
$STATE,10829,end apogee,CONTROL_FINISHED_OK
$STATE,10829,begin climb
$GC,10832,0.97,146.6,778.9,0.0,520,10970,1.33,2.78,129.30,1.421,4,0.074,0.091,2906,3603,2234
$GC,11058,0.89,146.6,769.5,6.1,530,11062,0.00,2.67,0.00,0.000,6,0.000,0.077,2906,2198,2234
$GC,11374,0.98,197.3,753.1,4.6,545,11424,0.00,2.78,45.10,1.391,4,0.000,0.094,2906,790,2027
$GC,11483,0.98,201.3,746.7,5.9,550,11494,0.00,2.65,5.38,1.039,6,0.000,0.077,2906,2188,2011
$GC,11811,1.02,225.5,727.5,5.3,566,11840,0.00,2.83,23.02,1.362,4,0.000,0.092,2906,789,1912
$GC,11864,1.04,239.3,724.4,5.6,568,11884,0.00,2.67,14.07,1.302,6,0.000,0.077,2906,2190,1855
$GC,12209,1.09,239.8,704.1,6.0,585,12214,0.12,2.70,0.00,0.000,4,0.066,0.092,2939,793,1855
$GC,12255,1.02,239.8,700.2,8.3,587,12259,0.00,2.60,0.00,0.000,6,0.000,0.077,2939,2170,1855
$GC,12576,1.02,239.8,678.1,6.8,603,12580,0.00,2.67,0.00,0.000,4,0.000,0.095,2939,793,1855
$GC,12609,0.95,239.8,675.5,8.1,604,12616,0.15,2.58,0.00,0.000,6,0.100,0.077,2909,2163,1856
$GC,12926,1.02,254.2,656.6,5.6,620,12948,0.00,2.72,14.43,1.335,4,0.000,0.093,2909,790,1795
$GC,12965,1.10,270.6,654.2,5.6,621,12987,0.12,2.60,16.05,1.332,6,0.070,0.076,2940,2156,1728
$GC,13301,1.10,270.6,629.8,7.7,637,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2156,1728
$GC,13606,1.10,270.6,604.6,7.9,652,13610,0.00,2.65,0.00,0.000,4,0.000,0.092,2940,790,1727
$GC,13639,1.10,270.6,601.7,8.3,653,13645,0.00,2.55,0.00,0.000,6,0.000,0.075,2940,2148,1727
$GC,13955,1.10,270.6,579.5,7.0,669,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2148,1727
$GC,14263,1.10,270.6,554.8,8.4,684,14268,0.00,2.60,0.00,0.000,4,0.000,0.086,2940,788,1727
$GC,14325,1.10,270.6,549.1,9.6,687,14330,0.00,2.53,0.00,0.000,6,0.000,0.073,2940,2145,1726
$GC,14653,1.10,270.6,523.3,7.5,703,14657,0.00,2.75,0.00,0.000,4,0.000,0.084,2940,3612,1726
$GC,14697,1.10,270.6,519.5,7.9,705,14701,0.00,2.72,0.00,0.000,6,0.000,0.069,2940,2143,1727
$GC,15018,1.10,270.6,494.8,7.8,721,15019,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2143,1727
$GC,15328,1.10,270.6,471.4,7.8,736,15329,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2143,1727
$GC,15636,1.10,270.6,447.9,7.2,751,15641,0.00,2.50,0.00,0.000,4,0.000,0.076,2940,780,1727
$GC,15676,1.10,270.6,445.1,7.4,753,15681,0.00,2.50,0.00,0.000,6,0.000,0.061,2940,2154,1727
$GC,16004,1.10,270.6,422.9,7.0,769,16005,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2154,1728
$GC,16312,1.10,270.6,398.0,8.2,784,16317,0.00,2.53,0.00,0.000,4,0.000,0.071,2940,787,1728
$GC,16357,1.10,270.6,394.0,9.1,786,16361,0.00,2.45,0.00,0.000,6,0.000,0.058,2940,2146,1729
$GC,16678,1.10,270.6,371.2,6.5,802,16680,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2145,1729
$GC,16987,1.10,270.6,349.7,7.2,817,16991,0.00,2.50,0.00,0.000,4,0.000,0.069,2940,786,1730
$GC,17014,1.10,270.6,347.5,8.0,818,17018,0.00,2.42,0.00,0.000,6,0.000,0.055,2940,2139,1730
$GC,17330,1.10,270.6,325.2,7.2,833,17335,0.00,2.65,0.00,0.000,4,0.000,0.067,2940,3606,1731
$GC,17363,1.10,270.6,322.6,7.5,834,17369,0.00,2.65,0.00,0.000,6,0.000,0.054,2940,2128,1731
$GC,17679,1.10,270.6,301.4,6.5,850,17683,0.00,2.42,0.00,0.000,4,0.000,0.067,2940,783,1732
$GC,17723,1.10,270.6,298.4,6.6,852,17727,0.00,2.42,0.00,0.000,6,0.000,0.053,2941,2140,1733
$GC,18050,1.10,270.6,277.8,6.3,868,18055,0.00,2.65,0.00,0.000,4,0.000,0.066,2940,3608,1733
$GC,18077,1.10,270.6,275.8,7.5,869,18082,0.00,2.65,0.00,0.000,6,0.000,0.051,2940,2124,1734
$GC,18393,1.10,270.6,253.1,7.3,884,18394,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2123,1734
$GC,18703,1.10,270.6,230.4,7.5,899,18704,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2123,1735
$GC,19011,1.10,270.6,208.1,7.1,914,19012,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2123,1735
$GC,19321,1.12,282.1,188.3,5.7,929,19339,0.00,0.00,12.55,0.876,6,0.000,0.000,2940,2124,1682
$GC,19650,1.15,298.9,165.5,5.5,945,19669,0.00,0.00,15.00,0.877,6,0.000,0.000,2941,2123,1613
$GC,19981,1.19,298.9,145.8,7.1,961,19982,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2124,1613
$GC,20289,1.19,298.9,124.7,6.7,976,20293,0.00,2.40,0.00,0.000,4,0.000,0.064,2940,787,1614
$GC,20322,1.23,298.9,121.8,8.2,977,20329,0.12,2.42,0.00,0.000,6,0.053,0.051,2978,2147,1614
$GC,20640,1.16,298.9,96.5,8.0,993,20642,0.12,0.00,0.00,0.000,6,0.083,0.000,2952,2148,1614
$GC,20948,1.16,298.9,70.7,9.0,1008,20952,0.00,2.50,0.00,0.000,4,0.000,0.063,2952,784,1615
$GC,20975,1.16,298.9,67.9,8.3,1009,20979,0.00,2.42,0.00,0.000,6,0.000,0.051,2952,2147,1615
$GC,21291,1.16,298.9,40.8,9.4,1024,21295,0.00,2.47,0.00,0.000,4,0.000,0.063,2952,787,1615
$GC,21319,1.16,298.9,38.5,7.5,1025,21323,0.00,2.40,0.00,0.000,6,0.000,0.051,2951,2135,1615
$GC,21637,1.16,298.9,11.1,11.4,1040,21641,0.00,2.65,0.00,0.000,4,0.000,0.062,2952,3617,1615
$GC,21664,1.24,298.9,8.0,9.2,1041,21669,0.00,2.65,0.00,0.000,6,0.000,0.048,2951,2122,1616
$STATE,21730,end climb,SURFACE_DEPTH_REACHED
$STATE,21730,begin surface coast
$FINISH,0.6,1.027424
$STATE,21794,end surface coast,CONTROL_FINISHED_OK
$STATE,21794,begin surface
$SM_CCo,21877,0.00,0.000,0,0,1614,298.78
$SM_GC,1.16,11.10,0.00,0.00,0.041,0.000,0.000,425,1994,1614,-10.39,-0.20,298.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1769
$TCM_TEMP,17.30
$XPDR_PINGS,63
$ALTIM_BOTTOM_PING,700.1,86.2
$24V_AH,23.6,51.348
$10V_AH,10.1,25.510
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.225,166.050,403.900,0.000,0.000,113.273,89.791,340.232,22.000,0.000,0.000,12.036,1874.384,17221.551,556.777,2099.415,930.678,0.000,1626.490,0.000,2055.395,0.000,43.105,0.000
$DEVICE_MAMPS,134.992,95.108,1474.941,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,773.465,707.482,589.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53660,1047
$CAP_FILE_SIZE,157015,0
$CFSIZE,254472192,233988096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
$GPS,090109,074425,6015.029,-446.359,40,1.1,40,-6.6