version: 66.04
glider: 5
mission: 5
dive: 392
start: 2 1 109 13 20 38
data:
$ID,5
$MISSION,5
$DIVE,392
$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,-95072.5
$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,29
$R_STBD_OVSHOOT,26
$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,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,131338,6034.942,-726.988,43,1.6,43,-8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.4
$GPS2,132019,6034.891,-727.105,12,1.6,12,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_4
$TGT_LATLONG,6045.000,-730.000
$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,0.1,18904,-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,-81.50,0.000,2,0.000,0.000,421,1981,3425
$GC,103,-0.97,-146.6,5.3,-5.5,4,119,11.05,2.60,0.00,0.000,4,0.137,0.060,2527,3412,3426
$GC,126,0.88,-146.6,15.9,-38.1,4,135,1.95,2.53,0.00,0.000,6,0.080,0.049,2936,2002,3426
$GC,453,0.33,-146.6,38.5,-6.8,20,458,0.50,2.50,0.00,0.000,4,0.048,0.062,2813,593,3426
$GC,540,-0.44,-146.6,44.4,-7.4,24,545,0.77,2.25,0.00,0.000,6,0.064,0.050,2646,1865,3426
$GC,868,-0.78,-146.6,66.3,-7.6,40,873,0.30,2.35,0.00,0.000,4,0.052,0.064,2567,588,3426
$GC,890,-0.95,-146.6,68.3,-8.4,41,895,0.12,2.42,0.00,0.000,6,0.058,0.052,2530,1949,3426
$GC,1214,-0.85,-146.6,97.2,-8.6,57,1219,0.12,2.62,0.00,0.000,4,0.091,0.061,2556,3414,3426
$GC,1264,-0.85,-146.6,101.1,-6.9,59,1268,0.00,2.62,0.00,0.000,6,0.000,0.049,2556,1942,3426
$GC,1582,-0.85,-146.6,124.4,-7.8,74,1587,0.00,2.67,0.00,0.000,4,0.000,0.061,2556,3411,3426
$GC,1621,-0.85,-146.6,127.8,-7.9,75,1627,0.00,2.60,0.00,0.000,6,0.000,0.049,2556,1949,3426
$GC,1939,-0.85,-146.6,151.3,-7.8,91,1944,0.00,2.65,0.00,0.000,4,0.000,0.061,2556,3408,3426
$GC,1967,-0.85,-146.6,153.7,-7.3,92,1971,0.00,2.58,0.00,0.000,6,0.000,0.048,2556,1960,3426
$GC,2284,-0.85,-146.6,175.2,-6.9,107,2289,0.00,2.62,0.00,0.000,4,0.000,0.061,2556,3404,3426
$GC,2317,-0.85,-146.6,177.7,-6.8,108,2323,0.00,2.55,0.00,0.000,6,0.000,0.048,2556,1969,3426
$GC,2633,-0.85,-146.6,199.2,-6.9,124,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1969,3426
$GC,2942,-0.85,-146.6,220.9,-7.0,139,2946,0.00,2.62,0.00,0.000,4,0.000,0.061,2556,3411,3426
$GC,2975,-0.85,-146.6,223.3,-7.7,140,2981,0.00,2.55,0.00,0.000,6,0.000,0.051,2556,1979,3426
$GC,3292,-0.85,-146.6,246.1,-7.4,156,3296,0.00,2.47,0.00,0.000,4,0.000,0.065,2556,588,3426
$GC,3342,-0.85,-146.6,249.8,-7.5,158,3347,0.00,2.47,0.00,0.000,6,0.000,0.051,2556,1986,3426
$GC,3668,-0.85,-146.6,272.7,-8.3,174,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1993,3426
$GC,3978,-0.85,-146.6,295.1,-6.9,189,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2001,3426
$GC,4287,-0.85,-146.6,316.4,-7.2,204,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2001,3426
$GC,4596,-0.85,-146.6,338.4,-7.2,219,4600,0.00,2.55,0.00,0.000,4,0.000,0.065,2556,3404,3426
$GC,4636,-0.85,-146.6,341.4,-7.2,221,4641,0.00,2.55,0.00,0.000,6,0.000,0.054,2556,1980,3426
$GC,4963,-0.85,-146.6,363.5,-6.0,237,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1980,3426
$GC,5272,-0.85,-146.6,378.8,-4.8,252,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1979,3426
$GC,5582,-0.85,-146.6,395.1,-5.5,267,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1979,3426
$GC,5891,-0.85,-146.6,412.5,-5.5,282,5895,0.00,2.50,0.00,0.000,4,0.000,0.069,2556,590,3426
$GC,5924,-0.85,-146.6,414.3,-6.1,283,5930,0.00,2.47,0.00,0.000,6,0.000,0.054,2556,1980,3426
$GC,6241,-0.85,-146.6,430.2,-5.0,299,6245,0.00,2.58,0.00,0.000,4,0.000,0.067,2556,3406,3426
$GC,6285,-0.85,-146.6,432.6,-5.4,301,6290,0.00,2.55,0.00,0.000,6,0.000,0.056,2556,1984,3425
$GC,6607,-0.85,-146.6,456.2,-8.6,317,6611,0.00,2.60,0.00,0.000,4,0.000,0.064,2557,3408,3425
$GC,6676,-0.90,-146.6,460.1,-5.6,320,6681,0.00,2.55,0.00,0.000,6,0.000,0.054,2556,1988,3425
$GC,6999,-0.90,-146.6,479.0,-5.1,336,7003,0.00,2.60,0.00,0.000,4,0.000,0.067,2556,3405,3425
$GC,7054,-0.90,-146.6,481.6,-5.7,338,7060,0.00,2.55,0.00,0.000,6,0.000,0.057,2556,1991,3425
$GC,7371,-0.90,-146.6,498.4,-5.9,354,7375,0.00,2.53,0.00,0.000,4,0.000,0.070,2556,590,3425
$GC,7427,-0.90,-146.6,501.5,-6.1,356,7433,0.00,2.53,0.00,0.000,6,0.000,0.058,2556,1999,3425
$GC,7743,-0.90,-146.6,520.1,-7.2,372,7747,0.00,2.55,0.00,0.000,4,0.000,0.071,2556,3410,3424
$GC,7816,-0.90,-146.6,525.3,-6.4,375,7820,0.00,2.58,0.00,0.000,6,0.000,0.061,2556,1994,3424
$GC,8132,-0.94,-146.6,542.5,-5.0,390,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1994,3423
$GC,8442,-0.94,-146.6,561.2,-5.7,405,8446,0.00,2.65,0.00,0.000,4,0.000,0.077,2557,3410,3423
$GC,8475,-0.99,-146.6,563.3,-5.7,406,8482,0.12,2.58,0.00,0.000,6,0.069,0.065,2524,2001,3422
$GC,8792,-0.92,-146.6,586.9,-7.9,422,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2001,3422
$GC,9102,-0.87,-146.6,611.5,-8.1,437,9107,0.15,2.60,0.00,0.000,4,0.097,0.081,2555,591,3421
$GC,9142,-0.91,-146.6,614.8,-8.3,439,9146,0.00,2.55,0.00,0.000,6,0.000,0.067,2555,1990,3421
$GC,9469,-0.91,-146.6,636.8,-5.7,455,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1990,3420
$GC,9778,-0.97,-146.6,656.9,-5.8,470,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1990,3419
$GC,10087,-0.97,-146.6,674.8,-5.8,485,10095,0.00,2.62,0.00,0.000,4,0.000,0.084,2555,596,3419
$GC,10129,-0.97,-146.6,677.4,-6.4,486,10136,0.00,2.58,0.00,0.000,6,0.000,0.070,2555,2000,3418
$GC,10445,-0.97,-146.6,698.4,-6.9,502,10449,0.00,2.62,0.00,0.000,4,0.000,0.084,2555,3409,3416
$GC,10479,-1.03,-146.6,700.7,-7.5,503,10486,0.17,2.62,0.00,0.000,6,0.065,0.072,2513,1997,3417
$GC,10798,-0.95,-146.6,725.6,-7.1,519,10803,0.12,2.62,0.00,0.000,4,0.104,0.087,2537,588,3416
$GC,10915,-0.95,-146.6,733.3,-6.6,524,10920,0.00,2.58,0.00,0.000,6,0.000,0.073,2537,1982,3416
$GC,11235,-0.95,-146.6,750.3,-5.0,539,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1982,3415
$GC,11541,-0.95,-146.6,765.8,-5.1,554,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1983,3414
$GC,11850,-0.95,-146.6,783.5,-6.7,569,11851,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1982,3414
$GC,12161,-0.95,-146.6,800.7,-4.9,584,12165,0.00,2.67,0.00,0.000,4,0.000,0.090,2537,3409,3413
$GC,12218,-0.95,-146.6,803.9,-6.5,586,12224,0.00,2.70,0.00,0.000,6,0.000,0.078,2538,1973,3413
$GC,12534,-0.95,-146.6,819.8,-5.6,602,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1973,3412
$GC,12844,-0.95,-146.6,834.0,-4.1,617,12849,0.00,2.78,0.00,0.000,4,0.000,0.091,2537,3414,3411
$GC,12884,-0.95,-146.6,836.1,-5.0,619,12888,0.00,2.70,0.00,0.000,6,0.000,0.079,2537,1981,3411
$GC,13211,-0.95,-146.6,852.2,-5.8,635,13216,0.00,2.62,0.00,0.000,4,0.000,0.093,2537,585,3410
$GC,13245,-0.95,-146.6,854.6,-7.2,636,13251,0.00,2.60,0.00,0.000,6,0.000,0.077,2537,1980,3410
$GC,13560,-0.95,-146.6,879.2,-7.5,652,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2001,3409
$GC,13871,-0.95,-146.6,906.2,-8.6,667,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2000,3409
$GC,14179,-0.95,-146.6,928.3,-8.6,682,14180,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2001,3408
$GC,14488,-0.95,-146.6,953.4,-8.6,697,14489,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2001,3407
$GC,14801,-0.95,-146.6,976.3,-6.7,712,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2001,3407
$STATE,15001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15001,begin apogee
$GC,15008,-0.33,0.0,990.3,7.0,722,15146,0.65,0.00,134.85,1.630,6,0.090,0.000,2674,2143,2832
$STATE,15147,end apogee,CONTROL_FINISHED_OK
$STATE,15147,begin climb
$GC,15150,0.97,146.6,996.6,0.0,729,15303,1.30,2.72,141.55,1.575,4,0.073,0.090,2949,3522,2234
$GC,15388,0.77,146.6,990.9,10.5,740,15393,0.20,2.67,0.00,0.000,6,0.104,0.077,2912,2126,2234
$GC,15711,0.72,155.2,971.2,5.8,756,15726,0.00,2.78,9.65,1.356,4,0.000,0.087,2912,3522,2199
$GC,15790,0.65,155.2,966.1,6.4,758,15796,0.12,2.65,0.00,0.000,6,0.107,0.077,2889,2138,2199
$GC,16106,0.76,222.3,950.3,4.2,774,16175,0.00,2.83,63.75,1.559,4,0.000,0.093,2889,706,1925
$GC,16205,0.82,222.3,944.3,6.3,778,16212,0.15,2.72,0.00,0.000,6,0.066,0.077,2926,2131,1925
$GC,16521,0.82,222.3,920.6,7.5,794,16522,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2132,1926
$GC,16831,0.82,222.3,896.3,7.4,809,16835,0.00,2.78,0.00,0.000,4,0.000,0.095,2926,705,1927
$GC,16858,0.82,222.3,894.1,6.6,810,16862,0.00,2.72,0.00,0.000,6,0.000,0.078,2925,2142,1927
$GC,17174,0.82,222.3,866.7,8.7,825,17178,0.00,2.65,0.00,0.000,4,0.000,0.090,2925,3536,1927
$GC,17218,0.82,222.3,862.5,9.0,827,17223,0.00,2.62,0.00,0.000,6,0.000,0.078,2925,2153,1927
$GC,17539,0.82,222.3,841.2,6.4,843,17544,0.00,2.75,0.00,0.000,4,0.000,0.092,2925,706,1927
$GC,17580,0.82,222.3,838.0,8.0,845,17584,0.00,2.72,0.00,0.000,6,0.000,0.077,2925,2149,1927
$GC,17908,0.87,254.7,820.1,5.1,861,17945,0.00,0.00,31.38,1.509,6,0.000,0.000,2925,2150,1793
$GC,18255,0.87,254.7,801.2,6.2,878,18256,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2165,1793
$GC,18564,0.87,254.7,777.8,8.1,893,18569,0.00,2.80,0.00,0.000,4,0.000,0.092,2925,710,1793
$GC,18632,0.87,254.7,771.5,8.9,896,18637,0.00,2.70,0.00,0.000,6,0.000,0.077,2925,2140,1793
$GC,18953,0.87,254.7,748.6,7.0,912,18954,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2140,1793
$GC,19262,0.87,254.7,722.5,9.4,927,19267,0.00,2.78,0.00,0.000,4,0.000,0.093,2925,706,1793
$GC,19326,0.87,254.7,717.2,7.6,930,19330,0.00,2.67,0.00,0.000,6,0.000,0.077,2925,2125,1793
$GC,19653,0.87,254.7,695.1,6.1,946,19657,0.00,2.75,0.00,0.000,4,0.000,0.092,2925,704,1793
$GC,19692,0.87,254.7,692.5,6.7,948,19697,0.00,2.67,0.00,0.000,6,0.000,0.077,2925,2124,1793
$GC,20019,0.87,254.7,671.1,7.9,964,20024,0.00,2.72,0.00,0.000,4,0.000,0.091,2925,710,1792
$GC,20114,0.81,254.7,661.6,7.2,968,20119,0.00,2.60,0.00,0.000,6,0.000,0.077,2925,2091,1793
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$STATE,28766,end climb,SURFACE_DEPTH_REACHED
$STATE,28766,begin surface coast
$FINISH,0.6,1.020645
$STATE,28829,end surface coast,CONTROL_FINISHED_OK
$STATE,28829,begin surface
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$XPDR_PINGS,63
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$24V_AH,23.3,68.962
$10V_AH,10.1,34.264
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$DEVICE_SECS,29.725,262.150,429.000,0.000,0.000,37.759,30.151,181.815,24.750,0.000,0.000,12.027,2506.734,22529.648,656.358,2852.786,754.505,0.000,2106.833,0.000,2786.723,0.000,59.868,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72629,1388
$CAP_FILE_SIZE,207818,0
$CFSIZE,254472192,227594240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,74,0,0
$GPS,010209,212337,6034.630,-736.826,28,1.2,28,-8.2