version: 66.04
glider: 5
mission: 5
dive: 360
start: 1 22 109 3 54 22
data:
$ID,5
$MISSION,5
$DIVE,360
$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,-94465.125
$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,37
$R_STBD_OVSHOOT,25
$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
$GPS1,034454,6044.104,-527.626,81,0.9,81,-7.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-46.2
$GPS2,035402,6044.180,-527.807,11,1.2,11,-7.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$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,144.7,85764,-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,-101.82,0.000,2,0.000,0.000,425,1954,3228
$GC,123,-0.97,-146.6,3.4,-2.9,5,146,11.00,2.50,-5.03,0.000,4,0.138,0.076,2525,600,3429
$GC,286,-0.89,-146.6,22.4,-3.4,12,291,0.10,2.50,0.00,0.000,6,0.100,0.052,2547,2000,3429
$GC,614,-0.83,-146.6,26.9,-0.5,28,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2005,3430
$GC,923,-0.77,-146.6,42.5,-7.1,43,928,0.15,2.58,0.00,0.000,4,0.091,0.064,2578,602,3429
$GC,965,-0.82,-146.6,45.1,-5.5,45,969,0.00,2.53,0.00,0.000,6,0.000,0.053,2578,2018,3430
$GC,1292,-0.82,-146.6,68.0,-5.6,61,1297,0.00,2.60,0.00,0.000,4,0.000,0.064,2578,604,3430
$GC,1337,-0.89,-146.6,71.6,-6.9,63,1342,0.12,2.50,0.00,0.000,6,0.052,0.054,2544,2002,3429
$GC,1660,-0.84,-146.6,99.8,-6.9,79,1664,0.00,2.53,0.00,0.000,4,0.000,0.063,2544,3409,3429
$GC,1682,-0.79,-146.6,101.3,-6.2,80,1687,0.15,2.53,0.00,0.000,6,0.089,0.050,2575,1992,3429
$GC,2005,-0.79,-146.6,118.9,-4.0,96,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1993,3429
$GC,2313,-0.79,-146.6,137.2,-6.9,111,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1993,3429
$GC,2622,-0.79,-146.6,154.1,-6.1,126,2626,0.00,2.58,0.00,0.000,4,0.000,0.062,2575,3406,3429
$GC,2651,-0.84,-146.6,155.9,-5.8,127,2655,0.00,2.53,0.00,0.000,6,0.000,0.048,2574,1984,3429
$GC,2967,-0.84,-146.6,175.9,-6.3,142,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1984,3429
$GC,3276,-0.84,-146.6,194.0,-5.8,157,3280,0.00,2.58,0.00,0.000,4,0.000,0.062,2574,3410,3430
$GC,3310,-0.89,-146.6,196.1,-5.9,158,3317,0.12,2.53,0.00,0.000,6,0.057,0.050,2541,1991,3429
$GC,3626,-0.83,-146.6,221.1,-8.3,174,3628,0.12,0.00,0.00,0.000,6,0.095,0.000,2566,1989,3429
$GC,3936,-0.83,-146.6,243.5,-7.1,189,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1990,3429
$GC,4244,-0.83,-146.6,265.0,-6.5,204,4249,0.00,2.58,0.00,0.000,4,0.000,0.063,2567,3413,3430
$GC,4272,-0.83,-146.6,266.9,-6.6,205,4276,0.00,2.53,0.00,0.000,6,0.000,0.051,2566,1997,3429
$GC,4589,-0.83,-146.6,285.7,-6.1,220,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1996,3429
$GC,4897,-0.83,-146.6,306.8,-7.0,235,4901,0.00,2.58,0.00,0.000,4,0.000,0.065,2567,3408,3429
$GC,4930,-0.83,-146.6,309.4,-7.6,236,4936,0.00,2.50,0.00,0.000,6,0.000,0.052,2566,2006,3429
$GC,5246,-0.83,-146.6,333.8,-7.6,252,5250,0.00,2.55,0.00,0.000,4,0.000,0.064,2566,3405,3430
$GC,5268,-0.83,-146.6,335.6,-7.4,253,5272,0.00,2.47,0.00,0.000,6,0.000,0.052,2567,2015,3430
$GC,5589,-0.83,-146.6,359.5,-6.8,269,5593,0.00,2.55,0.00,0.000,4,0.000,0.064,2567,585,3429
$GC,5651,-0.83,-146.6,363.9,-6.9,272,5655,0.00,2.53,0.00,0.000,6,0.000,0.054,2566,2007,3430
$GC,5978,-0.83,-146.6,383.9,-5.5,288,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2007,3430
$GC,6287,-0.83,-146.6,398.7,-4.4,303,6291,0.00,2.58,0.00,0.000,4,0.000,0.067,2566,595,3429
$GC,6321,-0.83,-146.6,400.3,-5.0,304,6327,0.00,2.47,0.00,0.000,6,0.000,0.054,2566,1988,3430
$GC,6637,-0.83,-146.6,415.2,-5.4,320,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1988,3429
$GC,6946,-0.83,-146.6,436.5,-7.4,335,6950,0.00,2.55,0.00,0.000,4,0.000,0.070,2566,591,3430
$GC,6991,-0.87,-146.6,439.9,-7.9,337,6996,0.00,2.47,0.00,0.000,6,0.000,0.057,2567,1977,3430
$GC,7312,-0.87,-146.6,465.2,-8.2,353,7317,0.00,2.60,0.00,0.000,4,0.000,0.071,2566,3411,3429
$GC,7352,-0.93,-146.6,468.6,-8.7,355,7358,0.12,2.60,0.00,0.000,6,0.063,0.059,2533,1973,3429
$GC,7683,-0.89,-146.6,495.8,-8.0,371,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1973,3429
$GC,7989,-0.84,-146.6,516.7,-6.8,386,7994,0.12,2.53,0.00,0.000,4,0.100,0.076,2558,588,3428
$GC,8017,-0.84,-146.6,518.6,-6.2,387,8021,0.00,2.53,0.00,0.000,6,0.000,0.062,2558,1985,3428
$GC,8334,-0.84,-146.6,536.7,-5.6,402,8338,0.00,2.62,0.00,0.000,4,0.000,0.078,2558,3412,3427
$GC,8384,-0.89,-146.6,539.8,-6.4,404,8388,0.00,2.60,0.00,0.000,6,0.000,0.066,2558,1992,3427
$GC,8700,-0.89,-146.6,560.0,-6.6,419,8705,0.00,2.58,0.00,0.000,4,0.000,0.079,2558,584,3426
$GC,8745,-0.89,-146.6,563.6,-8.1,421,8749,0.00,2.55,0.00,0.000,6,0.000,0.066,2558,1990,3426
$GC,9066,-0.89,-146.6,587.8,-8.0,437,9070,0.00,2.62,0.00,0.000,4,0.000,0.081,2558,3404,3425
$GC,9088,-0.93,-146.6,589.6,-8.0,438,9093,0.00,2.62,0.00,0.000,6,0.000,0.071,2558,1988,3425
$GC,9410,-0.93,-146.6,613.5,-7.0,454,9414,0.00,2.58,0.00,0.000,4,0.000,0.083,2558,590,3425
$GC,9431,-0.93,-146.6,615.1,-7.2,455,9435,0.00,2.58,0.00,0.000,6,0.000,0.069,2558,1997,3424
$GC,9754,-0.97,-146.6,637.4,-7.0,471,9759,0.12,2.62,0.00,0.000,4,0.071,0.083,2526,3405,3423
$GC,9781,-0.97,-146.6,640.0,-8.8,472,9785,0.00,2.65,0.00,0.000,6,0.000,0.072,2526,1980,3423
$GC,10097,-0.93,-146.6,665.3,-7.6,487,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1979,3422
$GC,10407,-0.88,-146.6,689.1,-7.5,502,10412,0.12,2.72,0.00,0.000,4,0.107,0.085,2551,3412,3421
$GC,10441,-0.88,-146.6,691.9,-7.3,503,10448,0.00,2.65,0.00,0.000,6,0.000,0.074,2551,1990,3421
$GC,10757,-0.88,-146.6,714.4,-7.2,519,10762,0.00,2.70,0.00,0.000,4,0.000,0.087,2551,3408,3420
$GC,10779,-0.88,-146.6,716.1,-7.6,520,10784,0.00,2.62,0.00,0.000,6,0.000,0.074,2551,2002,3420
$STATE,10830,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10830,begin apogee
$GC,10837,-0.33,0.0,719.7,7.0,523,10973,0.57,0.00,129.90,1.420,6,0.087,0.000,2669,2122,2832
$STATE,10974,end apogee,CONTROL_FINISHED_OK
$STATE,10974,begin climb
$GC,10977,0.97,146.6,723.9,0.0,530,11116,1.33,2.75,131.18,1.367,4,0.074,0.085,2949,3528,2234
$GC,11131,0.80,146.6,718.3,7.1,536,11136,0.17,2.70,0.00,0.000,6,0.098,0.075,2916,2119,2234
$GC,11448,0.76,161.7,699.4,5.6,551,11466,0.00,0.00,14.93,1.256,6,0.000,0.000,2917,2119,2172
$GC,11776,0.75,182.8,681.9,5.4,567,11802,0.00,2.80,20.05,1.305,4,0.000,0.087,2917,3530,2086
$GC,11819,0.71,182.8,679.1,6.4,569,11824,0.00,2.67,0.00,0.000,6,0.000,0.077,2917,2137,2086
$GC,12141,0.72,191.1,660.2,5.8,585,12155,0.00,2.75,9.00,1.203,4,0.000,0.088,2917,713,2053
$GC,12172,0.72,191.1,658.1,6.6,586,12177,0.00,2.70,0.00,0.000,6,0.000,0.073,2916,2142,2053
$GC,12489,0.74,204.0,639.4,5.6,601,12510,0.00,2.72,13.20,1.278,4,0.000,0.085,2917,3527,2000
$GC,12535,0.74,204.0,636.5,6.8,603,12539,0.00,2.65,0.00,0.000,6,0.000,0.075,2917,2138,2000
$GC,12861,0.76,214.1,617.7,5.7,619,12877,0.00,2.72,10.40,1.243,4,0.000,0.088,2917,714,1959
$GC,12895,0.76,217.3,615.7,5.9,619,12905,0.00,2.72,4.82,0.984,6,0.000,0.073,2917,2156,1946
$GC,13228,0.77,223.0,597.1,5.8,636,13242,0.00,2.85,6.90,1.144,4,0.000,0.087,2917,714,1922
$GC,13255,0.77,223.0,595.3,6.8,637,13259,0.00,2.70,0.00,0.000,6,0.000,0.073,2917,2144,1922
$GC,13576,0.77,223.0,573.3,7.6,653,13581,0.00,2.75,0.00,0.000,4,0.000,0.087,2917,707,1922
$GC,13610,0.77,223.0,570.5,7.6,654,13616,0.00,2.65,0.00,0.000,6,0.000,0.074,2917,2126,1922
$GC,13925,0.77,223.0,549.0,6.8,670,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2127,1922
$GC,14235,0.77,223.0,527.8,6.8,685,14236,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2127,1921
$GC,14544,0.77,223.0,506.8,6.8,700,14548,0.00,2.70,0.00,0.000,4,0.000,0.085,2917,709,1921
$GC,14571,0.77,223.0,504.7,7.1,701,14575,0.00,2.62,0.00,0.000,6,0.000,0.071,2917,2122,1920
$GC,14888,0.81,247.1,485.8,5.3,716,14912,0.00,0.00,21.77,1.260,6,0.000,0.000,2917,2122,1824
$GC,15216,0.91,281.7,467.9,5.1,732,15257,0.10,2.75,31.20,1.255,4,0.071,0.079,2944,3529,1683
$GC,15273,0.91,281.7,464.2,6.9,734,15280,0.00,2.70,0.00,0.000,6,0.000,0.069,2944,2102,1683
$GC,15590,0.92,287.9,445.5,5.8,750,15599,0.00,0.00,7.18,1.055,6,0.000,0.000,2944,2101,1658
$GC,15899,0.94,298.9,428.6,5.7,765,15911,0.00,0.00,11.05,1.130,6,0.000,0.000,2944,2101,1613
$GC,16210,0.94,298.9,406.9,7.3,780,16215,0.00,2.70,0.00,0.000,4,0.000,0.073,2944,3535,1613
$GC,16260,0.94,298.9,402.8,7.9,782,16265,0.00,2.62,0.00,0.000,6,0.000,0.062,2944,2109,1613
$GC,16576,0.94,298.9,377.3,7.8,797,16580,0.00,2.67,0.00,0.000,4,0.000,0.071,2944,3538,1614
$GC,16604,0.94,298.9,375.1,7.8,798,16608,0.00,2.58,0.00,0.000,6,0.000,0.060,2944,2129,1614
$GC,16919,0.94,298.9,348.2,8.3,813,16924,0.00,2.58,0.00,0.000,4,0.000,0.070,2944,713,1614
$GC,16937,0.94,298.9,346.8,8.1,814,16942,0.00,2.60,0.00,0.000,6,0.000,0.059,2944,2148,1614
$GC,17264,0.94,298.9,324.3,6.2,830,17265,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2148,1615
$GC,17573,0.94,298.9,305.7,6.0,845,17577,0.00,2.65,0.00,0.000,4,0.000,0.068,2944,710,1617
$GC,17600,0.94,298.9,303.9,6.9,846,17604,0.00,2.60,0.00,0.000,6,0.000,0.058,2944,2149,1616
$GC,17917,0.94,298.9,284.1,6.4,861,17921,0.00,2.65,0.00,0.000,4,0.000,0.069,2944,711,1617
$GC,17956,0.94,298.9,281.3,8.1,863,17961,0.00,2.53,0.00,0.000,6,0.000,0.056,2944,2121,1617
$GC,18283,0.98,324.7,263.4,5.3,879,18309,0.00,0.00,24.02,1.024,6,0.000,0.000,2944,2121,1508
$GC,18613,1.03,333.5,242.4,5.8,895,18628,0.12,2.65,9.07,0.907,4,0.054,0.069,2981,706,1472
$GC,18651,0.96,333.5,239.6,7.8,896,18657,0.15,2.55,0.00,0.000,6,0.080,0.055,2952,2111,1471
$GC,18966,0.96,333.5,216.5,8.3,912,18971,0.00,2.60,0.00,0.000,4,0.000,0.069,2951,712,1471
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$GC,20395,1.05,381.7,95.5,10.6,981,20399,0.00,2.62,0.00,0.000,6,0.000,0.051,2962,2066,1277
$GC,20714,1.10,381.7,65.9,7.4,996,20719,0.10,2.45,0.00,0.000,4,0.060,0.064,2992,703,1277
$GC,20736,1.10,381.7,63.5,8.8,997,20740,0.00,2.50,0.00,0.000,6,0.000,0.053,2992,2099,1277
$GC,21058,1.05,381.7,27.1,10.3,1013,21062,0.00,2.58,0.00,0.000,4,0.000,0.064,2992,3528,1277
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$STATE,21340,end climb,SURFACE_DEPTH_REACHED
$STATE,21340,begin surface coast
$FINISH,-0.2,1.002680
$STATE,21384,end surface coast,CONTROL_FINISHED_OK
$STATE,21385,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1805
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$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,650.3,78.5
$24V_AH,23.6,61.981
$10V_AH,10.1,30.582
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$DEVICE_SECS,26.450,219.000,484.725,0.000,0.000,75.521,56.231,217.077,15.250,0.000,0.000,13.383,1894.770,16566.281,668.749,2120.942,760.725,0.000,1781.517,0.000,2073.698,0.000,39.606,0.000
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$SENSOR_SECS,759.190,693.166,619.992,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53734,1028
$CAP_FILE_SIZE,168134,0
$CFSIZE,254472192,230289408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$GPS,220109,095331,6042.085,-520.754,44,1.1,44,-7.0