version: 66.04
glider: 5
mission: 5
dive: 246
start: 12 28 108 17 55 3
data:
$ID,5
$MISSION,5
$DIVE,246
$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,-92110.242
$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,44
$R_STBD_OVSHOOT,17
$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,20
$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,0
$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
$GPS1,174507,6048.444,-452.054,40,0.8,40,-6.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-64.8
$GPS2,175444,6048.417,-452.358,13,1.0,13,-6.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$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,296.7,52221,-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,-81.55,0.000,2,0.000,0.000,421,1956,3352
$GC,102,-0.97,-146.6,4.9,-5.7,4,125,10.80,2.50,-1.80,0.000,4,0.138,0.076,2482,612,3433
$GC,377,-0.77,-146.6,44.6,-11.8,16,383,0.25,2.50,0.00,0.000,6,0.085,0.052,2534,2008,3433
$GC,701,-0.69,-146.6,72.4,-8.4,32,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2009,3433
$GC,1009,-0.61,-146.6,98.4,-8.3,47,1014,0.15,2.58,0.00,0.000,4,0.091,0.067,2565,618,3433
$GC,1049,-0.61,-146.6,101.6,-8.0,49,1054,0.00,2.47,0.00,0.000,6,0.000,0.053,2565,2003,3433
$GC,1377,-0.61,-146.6,125.2,-7.0,65,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2003,3433
$GC,1686,-0.61,-146.6,148.3,-7.7,80,1691,0.00,2.55,0.00,0.000,4,0.000,0.068,2565,617,3433
$GC,1714,-0.61,-146.6,150.5,-7.8,81,1718,0.00,2.45,0.00,0.000,6,0.000,0.053,2565,1989,3434
$GC,2030,-0.61,-146.6,174.1,-7.3,96,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1989,3434
$GC,2340,-0.61,-146.6,196.7,-7.3,111,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1989,3434
$GC,2649,-0.61,-146.6,219.2,-7.0,126,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1989,3434
$GC,2958,-0.61,-146.6,239.7,-6.2,141,2962,0.00,2.55,0.00,0.000,4,0.000,0.066,2565,3404,3434
$GC,3003,-0.68,-146.6,242.7,-7.4,143,3007,0.00,2.50,0.00,0.000,6,0.000,0.052,2565,2008,3434
$GC,3323,-0.68,-146.6,263.6,-6.5,159,3328,0.00,2.58,0.00,0.000,4,0.000,0.071,2565,589,3434
$GC,3374,-0.68,-146.6,266.9,-6.2,161,3378,0.00,2.50,0.00,0.000,6,0.000,0.054,2565,1988,3434
$GC,3691,-0.68,-146.6,285.7,-5.8,176,3695,0.00,2.58,0.00,0.000,4,0.000,0.068,2565,3408,3434
$GC,3731,-0.73,-146.6,288.4,-6.8,178,3736,0.12,2.55,0.00,0.000,6,0.057,0.055,2530,1993,3434
$GC,4059,-0.67,-146.6,313.0,-7.7,194,4060,0.10,0.00,0.00,0.000,6,0.096,0.000,2551,1994,3434
$GC,4367,-0.67,-146.6,334.1,-6.4,209,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1993,3434
$GC,4676,-0.67,-146.6,353.6,-6.4,224,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1993,3434
$GC,4986,-0.67,-146.6,375.8,-7.4,239,4991,0.00,2.62,0.00,0.000,4,0.000,0.074,2550,3405,3433
$GC,5075,-0.67,-146.6,383.0,-7.9,243,5080,0.00,2.55,0.00,0.000,6,0.000,0.062,2550,2005,3433
$GC,5397,-0.67,-146.6,404.3,-6.4,259,5401,0.00,2.62,0.00,0.000,4,0.000,0.075,2550,3408,3432
$GC,5437,-0.67,-146.6,407.1,-6.7,261,5442,0.00,2.58,0.00,0.000,6,0.000,0.066,2550,2004,3432
$GC,5763,-0.67,-146.6,429.6,-7.4,277,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2004,3432
$GC,6073,-0.67,-146.6,451.7,-7.0,292,6077,0.00,2.65,0.00,0.000,4,0.000,0.081,2550,3407,3430
$GC,6123,-0.67,-146.6,455.4,-7.7,294,6127,0.00,2.58,0.00,0.000,6,0.000,0.070,2550,2016,3430
$GC,6441,-0.67,-146.6,475.8,-6.6,309,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2016,3430
$GC,6748,-0.67,-146.6,495.3,-6.3,324,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2016,3428
$GC,7057,-0.67,-146.6,514.5,-6.1,339,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2016,3427
$GC,7366,-0.67,-146.6,533.2,-6.3,354,7371,0.00,2.62,0.00,0.000,4,0.000,0.086,2550,3402,3426
$GC,7399,-0.67,-146.6,535.4,-6.9,355,7406,0.00,2.58,0.00,0.000,6,0.000,0.074,2550,2023,3426
$GC,7716,-0.67,-146.6,555.5,-6.3,371,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2023,3424
$GC,8024,-0.67,-146.6,574.2,-6.1,386,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2023,3424
$GC,8333,-0.67,-146.6,593.0,-6.3,401,8338,0.00,2.62,0.00,0.000,4,0.000,0.088,2550,3400,3423
$GC,8367,-0.67,-146.6,595.3,-7.2,402,8373,0.00,2.58,0.00,0.000,6,0.000,0.076,2551,2023,3423
$GC,8683,-0.67,-146.6,615.2,-6.5,418,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2024,3422
$GC,8992,-0.67,-146.6,634.9,-6.4,433,8997,0.00,2.65,0.00,0.000,4,0.000,0.088,2550,3405,3421
$GC,9020,-0.67,-146.6,636.9,-7.1,434,9024,0.00,2.58,0.00,0.000,6,0.000,0.076,2550,2029,3421
$GC,9335,-0.67,-146.6,658.2,-6.9,449,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2029,3420
$GC,9645,-0.67,-146.6,679.3,-6.8,464,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2029,3419
$GC,9955,-0.67,-146.6,701.3,-7.1,479,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3418
$GC,10263,-0.67,-146.6,722.0,-6.7,494,10268,0.00,2.65,0.00,0.000,4,0.000,0.090,2551,3407,3418
$GC,10290,-0.67,-146.6,724.0,-7.0,495,10295,0.00,2.60,0.00,0.000,6,0.000,0.077,2550,2023,3418
$GC,10606,-0.67,-146.6,744.8,-6.5,510,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2023,3417
$GC,10915,-0.67,-146.6,764.4,-6.2,525,10919,0.00,2.62,0.00,0.000,4,0.000,0.091,2550,3400,3417
$GC,10948,-0.71,-146.6,766.7,-6.5,526,10954,0.00,2.58,0.00,0.000,6,0.000,0.077,2550,2031,3416
$GC,11265,-0.71,-146.6,785.5,-5.9,542,11266,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2031,3416
$GC,11574,-0.75,-146.6,803.4,-5.6,557,11575,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2031,3415
$GC,11883,-0.75,-146.6,821.2,-5.9,572,11884,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2031,3415
$GC,12193,-0.79,-146.6,839.4,-5.7,587,12195,0.10,0.00,0.00,0.000,6,0.075,0.000,2525,2031,3414
$GC,12501,-0.79,-146.6,859.9,-6.5,602,12505,0.00,2.62,0.00,0.000,4,0.000,0.091,2524,3403,3414
$GC,12533,-0.79,-146.6,862.0,-6.3,603,12540,0.00,2.58,0.00,0.000,6,0.000,0.077,2524,2035,3414
$GC,12850,-0.79,-146.6,882.9,-7.4,619,12854,0.00,2.75,0.00,0.000,4,0.000,0.096,2524,584,3414
$GC,12889,-0.79,-146.6,886.0,-7.8,621,12894,0.00,2.70,0.00,0.000,6,0.000,0.078,2524,2026,3414
$GC,13216,-0.79,-146.6,908.3,-6.8,637,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2027,3414
$GC,13525,-0.79,-146.6,929.9,-7.3,652,13530,0.00,2.80,0.00,0.000,4,0.000,0.098,2524,584,3413
$GC,13575,-0.75,-146.6,933.2,-6.5,654,13580,0.00,2.72,0.00,0.000,6,0.000,0.080,2524,2034,3413
$STATE,13764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13764,begin apogee
$GC,13772,-0.33,0.0,946.2,6.6,663,13908,0.50,0.00,131.10,1.626,6,0.097,0.000,2626,2210,2832
$STATE,13908,end apogee,CONTROL_FINISHED_OK
$STATE,13908,begin climb
$GC,13911,0.97,146.6,949.8,0.0,670,14057,1.35,2.75,133.82,1.575,4,0.078,0.090,2907,3597,2234
$GC,14144,0.89,146.6,939.0,7.5,680,14151,0.00,2.67,0.00,0.000,6,0.000,0.078,2907,2197,2233
$GC,14461,0.89,183.9,921.8,5.0,696,14503,0.00,2.80,34.50,1.516,4,0.000,0.097,2907,790,2082
$GC,14550,0.89,183.9,915.8,6.8,700,14555,0.00,2.70,0.00,0.000,6,0.000,0.077,2907,2203,2082
$GC,14877,0.89,183.9,894.8,6.5,716,14881,0.00,2.78,0.00,0.000,4,0.000,0.096,2907,788,2083
$GC,14932,0.84,183.9,890.9,7.2,718,14939,0.12,2.67,0.00,0.000,6,0.107,0.079,2885,2196,2083
$GC,15249,0.94,214.5,873.5,5.2,734,15284,0.00,2.83,29.25,1.523,4,0.000,0.095,2885,791,1957
$GC,15314,1.00,214.5,869.3,6.6,737,15319,0.15,2.67,0.00,0.000,6,0.064,0.077,2921,2190,1956
$GC,15642,1.00,214.5,845.3,6.9,753,15646,0.00,2.75,0.00,0.000,4,0.000,0.095,2921,786,1957
$GC,15669,0.96,214.5,843.4,7.4,754,15674,0.00,2.65,0.00,0.000,6,0.000,0.078,2921,2181,1957
$GC,15985,0.96,214.5,822.5,6.6,769,15986,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2181,1957
$GC,16295,0.96,214.5,801.9,6.5,784,16299,0.00,2.72,0.00,0.000,4,0.000,0.095,2922,786,1956
$GC,16345,0.91,214.5,798.1,7.6,786,16350,0.12,2.62,0.00,0.000,6,0.106,0.078,2898,2172,1956
$GC,16662,0.96,214.5,778.9,6.3,801,16663,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2172,1956
$GC,16971,1.04,236.3,761.3,5.4,816,16998,0.12,2.75,20.62,1.472,4,0.071,0.093,2929,790,1868
$GC,17033,0.98,236.3,756.7,8.1,819,17037,0.00,2.62,0.00,0.000,6,0.000,0.078,2929,2164,1868
$GC,17360,0.98,236.3,732.5,7.2,835,17361,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2163,1868
$GC,17668,0.98,236.3,710.8,6.9,850,17673,0.00,2.67,0.00,0.000,4,0.000,0.094,2929,789,1868
$GC,17713,0.94,236.3,707.5,7.1,852,17718,0.12,2.58,0.00,0.000,6,0.109,0.077,2904,2157,1868
$GC,18036,1.00,240.2,688.7,5.9,868,18043,0.00,0.00,5.45,1.158,6,0.000,0.000,2905,2158,1852
$GC,18344,1.06,242.6,670.4,5.9,883,18354,0.12,2.70,4.03,0.984,4,0.071,0.094,2936,784,1842
$GC,18389,1.00,242.6,667.2,7.5,885,18394,0.00,2.60,0.00,0.000,6,0.000,0.077,2936,2154,1842
$GC,18717,1.00,242.6,644.5,7.0,901,18721,0.00,2.67,0.00,0.000,4,0.000,0.094,2936,781,1842
$GC,18750,0.95,242.6,641.9,7.2,902,18757,0.15,2.58,0.00,0.000,6,0.105,0.077,2906,2144,1842
$GC,19067,1.02,255.1,623.6,5.7,918,19085,0.00,0.00,12.75,1.344,6,0.000,0.000,2906,2145,1791
$GC,19396,1.12,274.2,605.1,5.5,934,19421,0.17,2.75,18.08,1.366,4,0.067,0.093,2952,790,1714
$GC,19444,1.05,274.2,601.4,8.2,936,19449,0.12,2.58,0.00,0.000,6,0.102,0.076,2930,2139,1714
$GC,19765,1.05,274.2,580.0,6.9,952,19770,0.00,2.62,0.00,0.000,4,0.000,0.093,2930,792,1714
$GC,19798,1.05,274.2,577.5,7.5,953,19804,0.00,2.53,0.00,0.000,6,0.000,0.076,2930,2131,1714
$GC,20114,1.05,274.2,556.1,6.6,969,20116,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2132,1715
$GC,20423,1.05,274.2,535.9,6.4,984,20427,0.00,2.60,0.00,0.000,4,0.000,0.093,2930,788,1715
$GC,20464,1.05,274.2,533.2,7.1,986,20468,0.00,2.53,0.00,0.000,6,0.000,0.075,2929,2132,1715
$GC,20791,1.05,274.6,513.3,6.0,1002,20792,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2133,1714
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$STATE,28396,end climb,SURFACE_DEPTH_REACHED
$STATE,28396,begin surface coast
$FINISH,0.5,1.027369
$STATE,28416,end surface coast,CONTROL_FINISHED_OK
$STATE,28416,begin surface
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$10V_AH,10.0,21.339
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$DEVICE_SECS,26.375,229.775,451.775,0.000,0.000,75.522,68.691,217.228,70.000,0.000,0.000,13.924,2456.326,22376.789,639.662,2765.137,825.547,0.000,2038.541,0.000,2704.210,0.000,55.214,0.000
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$DATA_FILE_SIZE,69511,1370
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$CFSIZE,254472192,237051904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,74,0,0
$GPS,291208,015107,6050.818,-457.837,26,1.7,26,-6.9