version: 66.04
glider: 5
mission: 5
dive: 418
start: 2 9 109 0 32 42
data:
$ID,5
$MISSION,5
$DIVE,418
$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,-95555.648
$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,27
$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,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
$GPS1,002600,6143.304,-929.690,37,1.3,37,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-58.8
$GPS2,003220,6143.278,-929.812,15,1.4,15,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_6
$TGT_LATLONG,6145.000,-945.000
$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,293.1,13690,-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,-101.72,0.000,2,0.000,0.000,421,1956,3105
$GC,123,-0.97,-146.6,3.5,-2.9,5,149,11.15,2.62,-9.12,0.000,4,0.139,0.073,2527,3414,3432
$GC,401,-0.88,-146.6,34.4,-8.4,17,406,0.12,2.53,0.00,0.000,6,0.091,0.050,2553,2000,3431
$GC,719,-0.88,-146.6,54.4,-7.1,32,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3431
$GC,1027,-0.88,-146.6,75.2,-5.8,47,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3431
$GC,1338,-0.88,-146.6,87.9,-4.8,62,1342,0.00,2.53,0.00,0.000,4,0.000,0.063,2553,583,3431
$GC,1403,-0.88,-146.6,91.1,-6.0,65,1408,0.00,2.55,0.00,0.000,6,0.000,0.053,2553,2017,3431
$GC,1732,-0.88,-146.6,108.6,-5.6,81,1737,0.00,2.50,0.00,0.000,4,0.000,0.062,2554,3414,3431
$GC,1777,-0.88,-146.6,112.7,-10.1,83,1781,0.00,2.50,0.00,0.000,6,0.000,0.049,2553,2007,3431
$GC,2099,-0.88,-146.6,144.3,-10.1,99,2103,0.00,2.53,0.00,0.000,4,0.000,0.064,2553,592,3431
$GC,2165,-0.88,-146.6,152.0,-11.1,102,2170,0.00,2.53,0.00,0.000,6,0.000,0.052,2553,2014,3431
$GC,2487,-0.88,-146.6,174.5,-6.2,118,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2015,3431
$GC,2798,-0.88,-146.6,201.0,-8.2,133,2802,0.00,2.60,0.00,0.000,4,0.000,0.066,2553,585,3431
$GC,2825,-0.88,-146.6,203.4,-8.0,134,2829,0.00,2.53,0.00,0.000,6,0.000,0.053,2553,2007,3431
$GC,3141,-0.88,-146.6,230.0,-8.0,149,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2007,3431
$GC,3451,-0.88,-146.6,255.8,-9.4,164,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2007,3431
$GC,3759,-0.88,-146.6,282.8,-6.7,179,3764,0.00,2.58,0.00,0.000,4,0.000,0.065,2553,589,3431
$GC,3793,-0.88,-146.6,285.4,-7.5,180,3799,0.00,2.50,0.00,0.000,6,0.000,0.052,2553,2000,3430
$GC,4110,-0.88,-146.6,308.4,-7.0,196,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2001,3431
$GC,4418,-0.84,-146.6,335.4,-12.1,211,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2001,3431
$GC,4727,-0.84,-146.6,370.6,-9.3,226,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2001,3431
$GC,5038,-0.84,-146.6,398.5,-9.0,241,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3431
$GC,5346,-0.84,-146.6,421.0,-6.4,256,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2004,3430
$GC,5655,-0.84,-146.6,446.3,-9.2,271,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3431
$GC,5965,-0.84,-146.6,473.8,-8.7,286,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3431
$GC,6274,-0.84,-146.6,497.7,-7.5,301,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2004,3431
$GC,6583,-0.84,-146.6,524.7,-9.5,316,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2004,3431
$GC,6893,-0.84,-146.6,554.7,-9.3,331,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2004,3431
$GC,7201,-0.84,-146.6,582.0,-8.7,346,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3430
$GC,7512,-0.84,-146.6,605.5,-7.0,361,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3431
$GC,7822,-0.84,-146.6,626.2,-7.0,376,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3431
$GC,8129,-0.84,-146.6,646.5,-7.3,391,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3430
$GC,8439,-0.84,-146.6,671.6,-8.2,406,8444,0.00,2.53,0.00,0.000,4,0.000,0.064,2553,3410,3430
$GC,8467,-0.84,-146.6,674.2,-8.6,407,8471,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2000,3430
$GC,8785,-0.84,-146.6,701.1,-8.3,422,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3430
$GC,9092,-0.84,-146.6,722.6,-6.0,437,9096,0.00,2.58,0.00,0.000,4,0.000,0.064,2553,3406,3430
$GC,9120,-0.84,-146.6,724.2,-6.1,438,9125,0.00,2.53,0.00,0.000,6,0.000,0.053,2553,1994,3430
$GC,9436,-0.84,-146.6,740.8,-5.3,453,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3430
$GC,9746,-0.84,-146.6,754.9,-4.4,468,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1980,3430
$GC,10054,-0.84,-146.6,782.3,-11.5,483,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1980,3430
$GC,10364,-0.84,-146.6,793.7,2.2,498,10368,0.00,2.60,0.00,0.000,4,0.000,0.065,2553,3409,3430
$GC,10419,-0.84,-146.6,793.9,-0.8,500,10426,0.00,2.53,0.00,0.000,6,0.000,0.053,2552,1995,3430
$GC,10736,-0.84,-146.6,822.4,-13.2,516,10740,0.00,2.60,0.00,0.000,4,0.000,0.067,2553,3412,3430
$GC,10792,-0.84,-146.6,829.7,-13.1,518,10799,0.00,2.53,0.00,0.000,6,0.000,0.058,2553,2010,3430
$GC,11110,-0.88,-146.6,848.0,-1.1,534,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2009,3430
$GC,11418,-0.94,-146.6,853.7,-5.7,549,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3430
$GC,11728,-0.94,-146.6,882.3,-3.9,564,11732,0.00,2.58,0.00,0.000,4,0.000,0.075,2553,591,3429
$GC,11791,-0.98,-146.6,885.4,-2.8,567,11795,0.00,2.58,0.00,0.000,6,0.000,0.064,2553,2016,3430
$GC,12118,-0.98,-146.6,904.9,-4.9,583,12122,0.00,2.67,0.00,0.000,4,0.000,0.082,2553,597,3429
$GC,12169,-1.03,-146.6,908.0,-6.4,585,12174,0.15,2.55,0.00,0.000,6,0.062,0.068,2515,1994,3428
$GC,12485,-0.98,-146.6,929.6,-9.3,600,12489,0.00,2.62,0.00,0.000,4,0.000,0.086,2515,3408,3427
$GC,12530,-0.98,-146.6,931.9,-6.0,602,12534,0.00,2.65,0.00,0.000,6,0.000,0.077,2515,1995,3426
$STATE,12683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12683,begin apogee
$GC,12691,-0.33,0.0,941.8,6.0,610,12830,0.75,0.00,135.60,1.515,6,0.084,0.000,2671,2129,2832
$STATE,12831,end apogee,CONTROL_FINISHED_OK
$STATE,12831,begin climb
$GC,12834,0.97,146.6,944.0,0.0,617,12974,1.33,0.00,136.05,1.480,6,0.065,0.000,2954,2145,2234
$GC,13278,0.83,146.6,921.7,6.4,639,13279,0.15,0.00,0.00,0.000,6,0.090,0.000,2926,2130,2232
$GC,13587,0.68,146.6,901.5,6.2,654,13592,0.15,2.72,0.00,0.000,4,0.106,0.088,2896,710,2231
$GC,13655,0.79,213.7,898.3,4.2,657,13725,0.00,2.62,62.65,1.470,6,0.000,0.075,2896,2108,1961
$GC,14044,0.84,213.7,871.6,7.8,676,14049,0.15,2.70,0.00,0.000,4,0.061,0.088,2934,714,1960
$GC,14072,0.78,213.7,868.8,10.2,677,14077,0.00,2.60,0.00,0.000,6,0.000,0.074,2934,2100,1961
$GC,14389,0.74,213.7,836.9,11.2,692,14391,0.12,0.00,0.00,0.000,6,0.100,0.000,2908,2101,1961
$GC,14697,0.74,213.7,809.2,6.6,707,14702,0.00,2.70,0.00,0.000,4,0.000,0.085,2908,3532,1960
$GC,14748,0.74,213.7,805.4,7.5,709,14753,0.00,2.65,0.00,0.000,6,0.000,0.071,2908,2114,1960
$GC,15064,0.80,249.1,784.9,5.0,724,15099,0.00,0.00,33.08,1.420,6,0.000,0.000,2908,2115,1816
$GC,15412,0.86,249.1,763.7,7.8,740,15414,0.12,0.00,0.00,0.000,6,0.064,0.000,2943,2114,1816
$GC,15720,0.82,249.1,740.8,6.3,755,15721,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2114,1816
$GC,16029,0.82,249.1,714.8,9.2,770,16030,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2115,1816
$GC,16339,0.82,249.1,689.5,7.8,785,16340,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2114,1817
$GC,16648,0.82,249.1,667.2,8.6,800,16649,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2114,1818
$GC,16957,0.82,249.1,645.4,6.4,815,16961,0.00,2.62,0.00,0.000,4,0.000,0.066,2942,3538,1818
$GC,17002,0.82,249.1,642.2,6.6,817,17006,0.00,2.60,0.00,0.000,6,0.000,0.055,2942,2097,1819
$GC,17322,0.82,249.1,617.4,7.2,833,17327,0.00,2.65,0.00,0.000,4,0.000,0.064,2943,3540,1819
$GC,17350,0.82,249.1,615.5,6.9,834,17354,0.00,2.55,0.00,0.000,6,0.000,0.054,2943,2118,1819
$GC,17666,0.88,284.4,599.7,5.0,849,17702,0.00,0.00,33.20,1.219,6,0.000,0.000,2942,2110,1672
$GC,17997,0.88,284.4,568.3,9.3,865,17998,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2109,1672
$GC,18306,0.88,284.4,537.8,10.8,880,18311,0.00,2.60,0.00,0.000,4,0.000,0.062,2943,3535,1672
$GC,18334,0.88,284.4,534.4,13.2,881,18339,0.00,2.53,0.00,0.000,6,0.000,0.052,2942,2124,1672
$GC,18651,0.88,284.4,507.8,7.1,896,18655,0.00,2.53,0.00,0.000,4,0.000,0.064,2943,715,1673
$GC,18685,0.88,284.4,505.2,7.8,897,18691,0.00,2.53,0.00,0.000,6,0.000,0.051,2943,2132,1673
$GC,19002,0.98,351.5,489.8,4.2,913,19063,0.00,0.00,58.75,1.147,6,0.000,0.000,2942,2134,1399
$GC,19371,1.04,351.5,461.5,7.5,931,19376,0.12,2.62,0.00,0.000,4,0.052,0.064,2980,712,1399
$GC,19427,0.98,351.5,457.1,8.9,933,19433,0.00,2.53,0.00,0.000,6,0.000,0.051,2980,2122,1398
$GC,19744,0.93,351.5,427.6,10.7,949,19746,0.17,0.00,0.00,0.000,6,0.077,0.000,2944,2122,1399
$GC,20052,1.03,372.7,409.4,5.4,964,20077,0.12,2.62,19.60,1.042,4,0.052,0.064,2981,716,1312
$GC,20107,0.98,372.7,405.2,8.9,966,20112,0.12,2.53,0.00,0.000,6,0.082,0.051,2956,2117,1312
$GC,20423,0.98,372.7,377.5,7.9,981,20424,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2118,1312
$GC,20732,0.98,372.7,349.6,10.4,996,20737,0.00,2.58,0.00,0.000,4,0.000,0.063,2956,714,1312
$GC,20761,1.02,372.7,346.4,11.9,997,20766,0.00,2.50,0.00,0.000,6,0.000,0.051,2956,2117,1312
$GC,21077,1.14,445.1,332.2,4.0,1012,21147,0.17,2.65,61.83,1.035,4,0.049,0.064,3005,715,1016
$GC,21166,1.04,445.1,325.4,8.4,1016,21171,0.17,2.50,0.00,0.000,6,0.077,0.051,2970,2100,1016
$GC,21487,1.04,445.1,292.6,11.7,1032,21488,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2117,1017
$GC,21796,1.04,445.1,252.3,14.0,1047,21800,0.00,2.58,0.00,0.000,4,0.000,0.067,2970,708,1017
$GC,21837,1.11,445.1,247.3,11.0,1049,21841,0.00,2.47,0.00,0.000,6,0.000,0.053,2970,2089,1017
$GC,22164,1.15,445.1,215.8,10.0,1065,22169,0.12,2.55,0.00,0.000,4,0.051,0.065,3006,707,1017
$GC,22191,1.15,445.1,212.4,12.0,1066,22195,0.00,2.45,0.00,0.000,6,0.000,0.052,3007,2078,1017
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$GC,23518,1.13,445.1,50.3,12.7,1130,23522,0.00,2.50,0.00,0.000,4,0.000,0.065,2976,709,1017
$GC,23558,1.17,445.1,45.3,14.0,1132,23563,0.10,2.42,0.00,0.000,6,0.055,0.051,3007,2071,1018
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$STATE,23902,end climb,SURFACE_DEPTH_REACHED
$STATE,23903,begin surface coast
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$STATE,23925,begin surface
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$HUMID,1836
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$XPDR_PINGS,116
$ALTIM_BOTTOM_PING,876.5,73.8
$24V_AH,23.4,74.384
$10V_AH,10.1,36.947
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$DEVICE_SECS,26.775,149.125,540.750,0.000,0.000,37.761,34.590,166.714,37.000,0.000,0.000,15.057,2038.483,18742.518,675.961,2277.655,650.167,0.000,1828.000,0.000,2225.621,0.000,53.313,0.000
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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,56843,1150
$CAP_FILE_SIZE,161368,0
$CFSIZE,254472192,225648640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,090209,071409,6145.135,-942.992,38,1.7,41,-9.7