version: 66.04
glider: 5
mission: 5
dive: 422
start: 2 9 109 22 10 27
data:
$ID,5
$MISSION,5
$DIVE,422
$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,-95638.609
$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,38
$R_STBD_OVSHOOT,23
$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
$GPS1,220320,6147.472,-945.347,47,6.0,66,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-59.8
$GPS2,221008,6147.505,-945.377,13,1.6,13,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_5
$TGT_LATLONG,6140.000,-915.000
$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,127.2,30101,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.40,0.000,2,0.000,0.000,421,1970,3022
$GC,83,-0.97,-146.6,3.0,-3.4,3,114,11.12,2.53,-12.60,0.000,4,0.139,0.071,2527,601,3431
$GC,195,-0.88,-146.6,15.8,-7.4,8,200,0.12,2.53,0.00,0.000,6,0.091,0.050,2553,2011,3431
$GC,523,-0.88,-146.6,45.9,-8.4,24,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2019,3431
$GC,832,-0.88,-146.6,65.4,-7.0,39,836,0.00,2.55,0.00,0.000,4,0.000,0.062,2554,607,3431
$GC,865,-0.88,-146.6,68.4,-8.9,40,871,0.00,2.45,0.00,0.000,6,0.000,0.051,2553,1983,3430
$GC,1182,-0.88,-146.6,96.4,-6.7,56,1186,0.00,2.50,0.00,0.000,4,0.000,0.061,2553,604,3431
$GC,1224,-0.88,-146.6,100.3,-10.0,58,1228,0.00,2.42,0.00,0.000,6,0.000,0.052,2553,1966,3431
$GC,1551,-0.88,-146.6,131.4,-4.7,74,1556,0.00,2.58,0.00,0.000,4,0.000,0.062,2553,3405,3431
$GC,1585,-0.88,-146.6,132.7,-4.4,75,1592,0.00,2.55,0.00,0.000,6,0.000,0.050,2553,1974,3431
$GC,1904,-0.88,-146.6,143.5,-2.3,91,1909,0.00,2.60,0.00,0.000,4,0.000,0.061,2553,3405,3431
$GC,1927,-0.88,-146.6,144.0,-2.0,92,1931,0.00,2.55,0.00,0.000,6,0.000,0.049,2553,1971,3431
$GC,2248,-0.88,-146.6,154.5,-6.1,108,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1971,3431
$GC,2561,-0.88,-146.6,180.3,-7.5,123,2565,0.00,2.62,0.00,0.000,4,0.000,0.061,2553,3415,3431
$GC,2588,-0.88,-146.6,183.1,-9.0,124,2592,0.00,2.53,0.00,0.000,6,0.000,0.051,2553,1995,3431
$GC,2904,-0.88,-146.6,204.5,-4.7,139,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1995,3431
$GC,3214,-0.88,-146.6,214.3,-2.9,154,3219,0.00,2.58,0.00,0.000,4,0.000,0.061,2553,3412,3431
$GC,3247,-0.88,-146.6,215.0,-2.1,155,3254,0.00,2.53,0.00,0.000,6,0.000,0.051,2554,1994,3431
$GC,3566,-0.88,-146.6,225.9,-4.2,171,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1994,3431
$GC,3874,-0.88,-146.6,251.7,-7.9,186,3878,0.00,2.58,0.00,0.000,4,0.000,0.061,2553,3411,3431
$GC,3913,-0.88,-146.6,254.4,-6.6,188,3918,0.00,2.50,0.00,0.000,6,0.000,0.051,2553,2003,3430
$GC,4242,-0.88,-146.6,277.1,-5.9,204,4246,0.00,2.50,0.00,0.000,4,0.000,0.063,2553,595,3431
$GC,4291,-0.88,-146.6,280.6,-6.6,206,4296,0.00,2.47,0.00,0.000,6,0.000,0.050,2553,2003,3431
$GC,4610,-0.88,-146.6,300.8,-7.3,221,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2003,3431
$GC,4918,-0.88,-146.6,320.2,-6.1,236,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2007,3431
$GC,5226,-0.88,-146.6,339.2,-6.3,251,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3431
$GC,5535,-0.88,-146.6,361.8,-8.8,266,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2010,3431
$GC,5846,-0.88,-146.6,384.8,-7.8,281,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2019,3431
$GC,6154,-0.88,-146.6,410.2,-8.7,296,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2018,3431
$GC,6463,-0.88,-146.6,436.6,-8.1,311,6467,0.00,2.55,0.00,0.000,4,0.000,0.063,2553,587,3431
$GC,6508,-0.88,-146.6,439.6,-7.0,313,6512,0.00,2.47,0.00,0.000,6,0.000,0.051,2553,1981,3431
$GC,6829,-0.88,-146.6,460.5,-6.5,329,6833,0.00,2.55,0.00,0.000,4,0.000,0.064,2553,3405,3431
$GC,6861,-0.88,-146.6,463.4,-9.4,330,6868,0.00,2.53,0.00,0.000,6,0.000,0.052,2553,1987,3431
$GC,7179,-0.88,-146.6,484.9,-7.3,346,7183,0.00,2.47,0.00,0.000,4,0.000,0.062,2553,584,3431
$GC,7212,-0.88,-146.6,487.5,-7.7,347,7216,0.00,2.45,0.00,0.000,6,0.000,0.051,2553,1975,3431
$GC,7528,-0.88,-146.6,514.3,-9.8,362,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1995,3431
$GC,7838,-0.88,-146.6,540.2,-8.7,377,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3431
$GC,8146,-0.88,-146.6,563.3,-4.7,392,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3431
$GC,8455,-0.88,-146.6,582.4,-7.5,407,8460,0.00,2.50,0.00,0.000,4,0.000,0.064,2553,593,3431
$GC,8483,-0.88,-146.6,584.7,-7.9,408,8487,0.00,2.45,0.00,0.000,6,0.000,0.051,2553,1981,3431
$GC,8805,-0.88,-146.6,611.1,-8.3,424,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3431
$GC,9113,-0.88,-146.6,635.1,-7.5,439,9117,0.00,2.55,0.00,0.000,4,0.000,0.064,2553,582,3431
$GC,9158,-0.88,-146.6,638.6,-7.4,441,9162,0.00,2.45,0.00,0.000,6,0.000,0.053,2553,1969,3431
$GC,9484,-0.88,-146.6,667.4,-8.6,457,9489,0.00,2.55,0.00,0.000,4,0.000,0.066,2553,3403,3431
$GC,9529,-0.88,-146.6,671.4,-8.0,459,9533,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,1976,3431
$GC,9851,-0.88,-146.6,697.8,-7.7,475,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1975,3431
$GC,10159,-0.88,-146.6,716.0,-6.4,490,10163,0.00,2.60,0.00,0.000,4,0.000,0.064,2553,3405,3431
$GC,10191,-0.88,-146.6,719.0,-9.6,491,10197,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,1978,3431
$GC,10508,-0.88,-146.6,743.3,-6.9,507,10512,0.00,2.47,0.00,0.000,4,0.000,0.067,2553,590,3430
$GC,10615,-0.92,-146.6,750.9,-7.9,512,10620,0.00,2.42,0.00,0.000,6,0.000,0.052,2553,1964,3430
$GC,10944,-0.92,-146.6,767.6,-5.3,528,10948,0.00,2.60,0.00,0.000,4,0.000,0.067,2553,3410,3430
$GC,10972,-0.92,-146.6,769.2,-6.0,529,10976,0.00,2.60,0.00,0.000,6,0.000,0.057,2553,1965,3431
$GC,11287,-0.92,-146.6,790.5,-7.4,544,11292,0.00,2.47,0.00,0.000,4,0.000,0.067,2553,582,3430
$GC,11315,-0.92,-146.6,792.6,-7.6,545,11319,0.00,2.47,0.00,0.000,6,0.000,0.054,2553,1978,3430
$GC,11632,-0.92,-146.6,809.4,-2.7,560,11637,0.00,2.58,0.00,0.000,4,0.000,0.067,2553,3412,3430
$GC,11751,-0.97,-146.6,812.5,-1.8,565,11755,0.00,2.55,0.00,0.000,6,0.000,0.056,2553,1991,3429
$GC,12068,-1.02,-146.6,818.5,-4.1,580,12073,0.15,2.53,0.00,0.000,4,0.059,0.070,2513,585,3429
$GC,12113,-0.95,-146.6,822.3,-8.7,582,12118,0.12,2.50,0.00,0.000,6,0.093,0.057,2539,1989,3429
$GC,12437,-0.95,-146.6,857.0,-9.0,598,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1995,3429
$GC,12744,-0.90,-146.6,876.9,-9.6,613,12748,0.00,2.60,0.00,0.000,4,0.000,0.078,2539,587,3429
$GC,12765,-0.90,-146.6,879.3,-9.8,614,12770,0.00,2.58,0.00,0.000,6,0.000,0.066,2539,2002,3429
$STATE,13042,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13042,begin apogee
$GC,13051,-0.33,0.0,899.4,5.3,628,13192,0.62,0.00,137.80,1.467,6,0.076,0.000,2674,2137,2832
$STATE,13193,end apogee,CONTROL_FINISHED_OK
$STATE,13193,begin climb
$GC,13196,0.97,146.6,904.0,0.0,635,13348,1.27,2.83,139.18,1.423,4,0.061,0.084,2952,717,2234
$GC,13591,0.77,146.6,884.3,15.3,653,13596,0.20,2.60,0.00,0.000,6,0.090,0.069,2912,2117,2233
$GC,13922,0.83,226.7,867.6,3.8,669,14006,0.00,2.75,77.03,1.418,4,0.000,0.082,2912,717,1907
$GC,14047,0.83,226.7,858.4,8.0,675,14051,0.00,2.70,0.00,0.000,6,0.000,0.072,2912,2150,1906
$GC,14369,0.83,226.7,835.5,7.2,691,14373,0.00,2.65,0.00,0.000,4,0.000,0.088,2912,3541,1906
$GC,14390,0.83,226.7,833.5,8.2,692,14395,0.00,2.65,0.00,0.000,6,0.000,0.075,2912,2139,1906
$GC,14712,1.02,342.5,817.1,2.8,708,14821,0.20,0.00,106.75,1.443,6,0.061,0.000,2965,2139,1435
$GC,15128,1.02,346.2,791.3,5.9,728,15138,0.00,2.72,5.15,1.032,4,0.000,0.087,2965,713,1420
$GC,15172,0.84,346.2,785.7,18.6,730,15177,0.20,2.67,0.00,0.000,6,0.087,0.067,2925,2147,1420
$GC,15496,0.99,368.8,770.6,5.4,746,15519,0.15,0.00,21.10,1.356,6,0.058,0.000,2965,2170,1328
$GC,15827,0.94,368.8,740.5,7.8,762,15831,0.00,2.72,0.00,0.000,4,0.000,0.075,2965,704,1328
$GC,15893,0.94,368.8,735.6,7.7,765,15898,0.00,2.65,0.00,0.000,6,0.000,0.061,2965,2154,1327
$GC,16217,0.94,368.8,709.6,8.5,781,16221,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,3536,1328
$GC,16238,0.94,368.8,707.7,8.1,782,16243,0.00,2.58,0.00,0.000,6,0.000,0.062,2965,2131,1328
$GC,16560,0.94,368.8,680.5,9.5,798,16561,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2120,1328
$GC,16868,0.94,368.8,648.3,9.8,813,16872,0.00,2.58,0.00,0.000,4,0.000,0.068,2965,708,1329
$GC,16895,0.94,368.8,645.6,8.9,814,16900,0.00,2.60,0.00,0.000,6,0.000,0.056,2965,2152,1329
$GC,17212,0.94,368.8,613.8,10.4,829,17216,0.00,2.65,0.00,0.000,4,0.000,0.068,2965,707,1329
$GC,17245,0.94,368.8,609.8,9.9,830,17251,0.00,2.55,0.00,0.000,6,0.000,0.056,2965,2132,1329
$GC,17561,0.94,368.8,580.4,10.3,846,17565,0.00,2.62,0.00,0.000,4,0.000,0.068,2965,704,1330
$GC,17593,0.94,368.8,576.6,11.5,847,17600,0.00,2.55,0.00,0.000,6,0.000,0.054,2965,2127,1330
$GC,17910,0.94,368.8,540.2,12.1,863,17915,0.00,2.55,0.00,0.000,4,0.000,0.065,2965,3535,1330
$GC,17938,0.94,368.8,536.7,11.1,864,17942,0.00,2.58,0.00,0.000,6,0.000,0.055,2965,2109,1330
$GC,18254,0.94,368.8,503.7,9.8,879,18258,0.00,2.53,0.00,0.000,4,0.000,0.065,2965,704,1331
$GC,18282,0.94,368.8,500.8,10.2,880,18286,0.00,2.53,0.00,0.000,6,0.000,0.052,2965,2119,1331
$GC,18598,0.94,368.8,470.0,9.7,895,18599,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2120,1331
$GC,18907,0.94,368.8,443.7,7.7,910,18911,0.00,2.58,0.00,0.000,4,0.000,0.066,2965,710,1332
$GC,18925,0.94,368.8,442.2,8.6,911,18929,0.00,2.50,0.00,0.000,6,0.000,0.052,2965,2113,1332
$GC,19252,0.94,368.8,418.6,7.1,927,19253,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2114,1332
$GC,19561,0.94,368.8,394.5,7.7,942,19565,0.00,2.58,0.00,0.000,4,0.000,0.066,2965,705,1332
$GC,19589,0.94,368.8,392.2,7.4,943,19593,0.00,2.47,0.00,0.000,6,0.000,0.053,2965,2090,1332
$GC,19905,0.94,368.8,364.9,8.8,958,19909,0.00,2.58,0.00,0.000,4,0.000,0.061,2965,3530,1332
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$GC,22558,1.19,499.7,114.1,2.4,1087,22668,0.17,0.00,106.65,0.897,6,0.046,0.000,3013,2090,795
$GC,22973,1.12,499.7,69.0,11.4,1107,22975,0.12,0.00,0.00,0.000,6,0.084,0.000,2986,2091,795
$GC,23277,1.12,499.7,49.1,6.4,1122,23282,0.00,2.50,0.00,0.000,4,0.000,0.064,2986,714,795
$GC,23305,1.12,499.7,46.0,10.1,1123,23309,0.00,2.42,0.00,0.000,6,0.000,0.050,2986,2072,795
$GC,23623,1.12,499.7,14.1,10.2,1138,23627,0.00,2.50,0.00,0.000,4,0.000,0.065,2986,714,796
$GC,23650,1.12,499.7,9.9,12.9,1139,23655,0.00,2.38,0.00,0.000,6,0.000,0.051,2986,2043,795
$STATE,23703,end climb,SURFACE_DEPTH_REACHED
$STATE,23703,begin surface coast
$FINISH,1.5,1.027406
$STATE,23723,end surface coast,CONTROL_FINISHED_OK
$STATE,23723,begin surface
$SM_CCo,23807,0.00,0.000,0,0,794,499.68
$SM_GC,1.25,11.20,0.00,0.00,0.037,0.000,0.000,420,1989,794,-10.60,-0.31,499.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,16.90
$XPDR_PINGS,135
$ALTIM_BOTTOM_PING,825.2,83.6
$24V_AH,23.5,74.936
$10V_AH,10.1,37.299
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$DEVICE_SECS,25.675,214.350,593.650,0.000,0.000,37.760,26.849,204.171,41.250,0.000,0.000,13.781,2067.833,18331.988,726.828,2371.243,711.373,0.000,1951.534,0.000,2314.685,0.000,50.162,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,839.190,771.753,650.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60076,1143
$CAP_FILE_SIZE,172522,0
$CFSIZE,254472192,225353728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,56,0,0
$GPS,100209,044840,6145.908,-944.322,48,1.9,48,-9.7