version: 66.04
glider: 5
mission: 5
dive: 388
start: 1 31 109 5 29 51
data:
$ID,5
$MISSION,5
$DIVE,388
$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,-94977.516
$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,32
$R_STBD_OVSHOOT,24
$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
$GPS1,052236,6030.625,-718.734,101,1.2,101,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-54.3
$GPS2,052932,6030.593,-718.599,11,1.8,11,-8.0
$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,346.9,28607,-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,-81.55,0.000,2,0.000,0.000,421,1969,3150
$GC,103,-0.97,-146.6,3.2,-3.3,4,129,10.95,2.58,-7.32,0.000,4,0.136,0.074,2526,600,3431
$GC,382,-0.84,-146.6,35.6,-7.3,16,387,0.15,2.50,0.00,0.000,6,0.089,0.051,2558,2003,3431
$GC,699,-0.84,-146.6,56.9,-8.8,31,704,0.00,2.58,0.00,0.000,4,0.000,0.065,2558,595,3431
$GC,807,-0.84,-146.6,66.9,-10.0,36,811,0.00,2.50,0.00,0.000,6,0.000,0.051,2558,2002,3431
$GC,1135,-0.84,-146.6,92.0,-7.4,52,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2003,3431
$GC,1443,-0.84,-146.6,115.3,-7.3,67,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2003,3431
$GC,1754,-0.84,-146.6,137.2,-6.8,82,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2003,3431
$GC,2061,-0.84,-146.6,159.2,-7.8,97,2066,0.00,2.58,0.00,0.000,4,0.000,0.066,2558,591,3431
$GC,2095,-0.84,-146.6,162.0,-8.4,98,2101,0.00,2.50,0.00,0.000,6,0.000,0.052,2558,1998,3431
$GC,2411,-0.84,-146.6,187.4,-8.1,114,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1998,3431
$GC,2720,-0.84,-146.6,210.9,-7.4,129,2725,0.00,2.53,0.00,0.000,4,0.000,0.062,2558,3409,3431
$GC,2762,-0.84,-146.6,213.9,-7.6,131,2766,0.00,2.50,0.00,0.000,6,0.000,0.051,2558,2005,3431
$GC,3088,-0.84,-146.6,236.8,-6.9,147,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2005,3431
$GC,3398,-0.84,-146.6,257.0,-6.7,162,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2005,3431
$GC,3707,-0.84,-146.6,279.6,-7.8,177,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2005,3431
$GC,4016,-0.84,-146.6,304.2,-8.0,192,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2001,3431
$GC,4326,-0.84,-146.6,328.9,-7.8,207,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2001,3431
$GC,4634,-0.84,-146.6,351.9,-7.4,222,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2001,3431
$GC,4944,-0.84,-146.6,374.2,-6.8,237,4948,0.00,2.55,0.00,0.000,4,0.000,0.064,2558,3404,3431
$GC,4976,-0.84,-146.6,376.6,-7.6,238,4982,0.00,2.50,0.00,0.000,6,0.000,0.052,2558,2003,3431
$GC,5294,-0.84,-146.6,400.2,-7.3,254,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2004,3431
$GC,5601,-0.84,-146.6,422.5,-7.4,269,5605,0.00,2.55,0.00,0.000,4,0.000,0.064,2558,3411,3431
$GC,5679,-0.84,-146.6,428.7,-7.9,272,5685,0.00,2.53,0.00,0.000,6,0.000,0.053,2558,1998,3431
$GC,5998,-0.84,-146.6,450.3,-6.7,288,6002,0.00,2.58,0.00,0.000,4,0.000,0.066,2558,3404,3431
$GC,6061,-0.89,-146.6,454.9,-6.7,291,6065,0.00,2.47,0.00,0.000,6,0.000,0.054,2558,2021,3431
$GC,6388,-0.89,-146.6,479.2,-7.7,307,6393,0.00,2.58,0.00,0.000,4,0.000,0.070,2558,593,3431
$GC,6512,-0.89,-146.6,490.1,-8.6,312,6518,0.00,2.55,0.00,0.000,6,0.000,0.054,2558,2025,3431
$GC,6827,-0.89,-146.6,514.0,-6.9,328,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2026,3431
$GC,7138,-0.89,-146.6,532.9,-5.8,343,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2026,3431
$GC,7446,-0.89,-146.6,551.6,-6.2,358,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2026,3430
$GC,7757,-0.89,-146.6,571.8,-6.1,373,7761,0.00,2.65,0.00,0.000,4,0.000,0.076,2558,597,3429
$GC,7785,-0.89,-146.6,573.8,-7.0,374,7789,0.00,2.58,0.00,0.000,6,0.000,0.061,2558,2026,3429
$GC,8100,-0.89,-146.6,594.1,-6.6,389,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2026,3429
$GC,8410,-0.89,-146.6,618.1,-8.1,404,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2026,3428
$GC,8720,-0.89,-146.6,645.4,-8.2,419,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2026,3427
$GC,9029,-0.89,-146.6,663.9,-4.7,434,9033,0.00,2.55,0.00,0.000,4,0.000,0.081,2558,3402,3426
$GC,9069,-0.95,-146.6,666.2,-6.4,436,9073,0.00,2.55,0.00,0.000,6,0.000,0.069,2558,2023,3426
$GC,9397,-1.00,-146.6,685.0,-6.2,452,9402,0.15,2.67,0.00,0.000,4,0.065,0.087,2521,585,3425
$GC,9418,-1.00,-146.6,686.9,-7.6,453,9423,0.00,2.65,0.00,0.000,6,0.000,0.070,2521,2025,3425
$GC,9741,-0.94,-146.6,714.2,-8.6,469,9745,0.00,2.72,0.00,0.000,4,0.000,0.087,2521,584,3424
$GC,9796,-0.87,-146.6,719.7,-10.1,471,9803,0.15,2.65,0.00,0.000,6,0.104,0.071,2552,2021,3424
$GC,10112,-0.87,-146.6,740.6,-6.1,487,10113,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2022,3423
$GC,10422,-0.87,-146.6,761.4,-7.1,502,10426,0.00,2.60,0.00,0.000,4,0.000,0.087,2551,3411,3422
$GC,10455,-0.87,-146.6,764.1,-8.1,503,10461,0.00,2.60,0.00,0.000,6,0.000,0.075,2551,2017,3421
$GC,10770,-0.87,-146.6,787.2,-7.0,519,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2017,3420
$GC,11081,-0.87,-146.6,810.3,-7.4,534,11082,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2017,3419
$GC,11389,-0.87,-146.6,832.4,-6.9,549,11393,0.00,2.65,0.00,0.000,4,0.000,0.090,2551,3406,3419
$GC,11429,-0.92,-146.6,835.5,-8.5,551,11434,0.00,2.60,0.00,0.000,6,0.000,0.077,2551,2022,3418
$GC,11757,-0.92,-146.6,858.8,-6.9,567,11761,0.00,2.70,0.00,0.000,4,0.000,0.094,2552,588,3418
$GC,11796,-0.92,-146.6,861.8,-7.1,569,11801,0.00,2.67,0.00,0.000,6,0.000,0.077,2551,2025,3417
$GC,12124,-0.92,-146.6,883.9,-6.2,585,12128,0.00,2.62,0.00,0.000,4,0.000,0.091,2551,3416,3416
$GC,12151,-0.96,-146.6,885.7,-6.5,586,12156,0.00,2.62,0.00,0.000,6,0.000,0.078,2551,2021,3416
$GC,12468,-0.96,-146.6,904.7,-6.1,601,12472,0.00,2.70,0.00,0.000,4,0.000,0.097,2551,589,3415
$GC,12508,-0.96,-146.6,907.0,-6.7,603,12513,0.00,2.65,0.00,0.000,6,0.000,0.077,2551,2015,3415
$GC,12836,-1.01,-146.6,925.6,-5.8,619,12841,0.12,2.65,0.00,0.000,4,0.074,0.092,2520,3413,3414
$GC,12926,-0.96,-146.6,932.8,-8.3,623,12930,0.00,2.62,0.00,0.000,6,0.000,0.079,2520,2023,3414
$GC,13248,-0.91,-146.6,958.2,-8.0,639,13250,0.12,0.00,0.00,0.000,6,0.111,0.000,2544,2022,3413
$GC,13556,-0.91,-146.6,978.8,-7.4,654,13560,0.00,2.72,0.00,0.000,4,0.000,0.098,2544,587,3413
$GC,13597,-0.91,-146.6,981.5,-7.1,656,13601,0.00,2.70,0.00,0.000,6,0.000,0.079,2544,2029,3413
$STATE,13734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13735,begin apogee
$GC,13742,-0.33,0.0,990.9,6.7,663,13878,0.60,0.00,133.52,1.638,6,0.090,0.000,2668,2128,2832
$STATE,13879,end apogee,CONTROL_FINISHED_OK
$STATE,13879,begin climb
$GC,13882,0.97,146.6,996.6,0.0,670,14029,1.33,2.78,136.15,1.585,4,0.072,0.092,2949,3533,2234
$GC,14083,0.75,147.0,990.6,6.0,679,14088,0.20,2.70,0.00,0.000,6,0.099,0.081,2911,2125,2233
$GC,14406,0.69,147.0,969.6,6.3,695,14407,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2125,2233
$GC,14714,0.65,161.0,951.8,5.6,710,14734,0.12,0.00,14.80,1.457,6,0.107,0.000,2887,2126,2175
$GC,15044,0.68,184.1,932.9,5.4,726,15068,0.00,0.00,22.52,1.514,6,0.000,0.000,2887,2125,2081
$GC,15377,0.74,184.1,913.8,6.5,742,15378,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2126,2081
$GC,15684,0.79,184.1,895.6,6.1,757,15689,0.12,2.75,0.00,0.000,4,0.070,0.090,2917,3539,2081
$GC,15718,0.73,184.1,893.2,7.1,758,15724,0.00,2.70,0.00,0.000,6,0.000,0.078,2917,2117,2081
$GC,16034,0.73,184.1,873.7,6.1,774,16035,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2117,2081
$GC,16343,0.73,184.1,854.5,6.8,789,16344,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2117,2081
$GC,16652,0.73,184.1,833.9,6.8,804,16653,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2117,2081
$GC,16962,0.73,184.1,813.6,6.7,819,16966,0.00,2.67,0.00,0.000,4,0.000,0.095,2917,708,2080
$GC,16990,0.68,184.1,811.5,7.6,820,16995,0.12,2.67,0.00,0.000,6,0.106,0.077,2894,2128,2081
$GC,17307,0.72,184.1,792.3,6.2,835,17308,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2129,2081
$GC,17615,0.72,184.1,773.5,6.3,850,17616,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2129,2081
$GC,17924,0.77,184.1,751.1,7.5,865,17925,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2129,2080
$GC,18234,0.81,184.1,726.2,8.3,880,18240,0.12,2.75,0.00,0.000,4,0.071,0.091,2925,706,2080
$GC,18256,0.81,184.1,724.0,9.0,881,18261,0.00,2.65,0.00,0.000,6,0.000,0.077,2925,2121,2080
$GC,18577,0.77,184.1,696.6,8.3,897,18579,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2121,2080
$GC,18888,0.73,184.1,673.9,6.9,912,18889,0.12,0.00,0.00,0.000,6,0.105,0.000,2901,2121,2080
$GC,19196,0.73,184.1,655.4,6.3,927,19200,0.00,2.67,0.00,0.000,4,0.000,0.087,2901,3537,2080
$GC,19240,0.73,184.1,652.1,7.7,929,19244,0.00,2.67,0.00,0.000,6,0.000,0.074,2901,2111,2080
$GC,19561,0.73,184.1,631.0,6.2,945,19563,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2112,2080
$GC,19870,0.73,184.1,608.9,7.6,960,19874,0.00,2.72,0.00,0.000,4,0.000,0.086,2901,3532,2080
$GC,19954,0.73,184.1,601.4,9.3,964,19959,0.00,2.62,0.00,0.000,6,0.000,0.071,2901,2122,2080
$GC,20283,0.73,184.1,578.3,6.8,980,20287,0.00,2.70,0.00,0.000,4,0.000,0.084,2901,3534,2080
$GC,20316,0.73,184.1,575.7,6.4,981,20322,0.00,2.60,0.00,0.000,6,0.000,0.069,2901,2135,2080
$GC,20633,0.78,187.0,558.7,5.9,997,20643,0.00,2.70,4.50,0.979,4,0.000,0.083,2901,3535,2069
$GC,20672,0.78,187.0,555.6,7.1,999,20676,0.00,2.60,0.00,0.000,6,0.000,0.068,2901,2141,2068
$GC,20999,0.92,251.4,537.4,4.2,1015,21061,0.17,0.00,57.45,1.324,6,0.064,0.000,2948,2141,1807
$GC,21376,0.87,251.4,510.0,7.0,1033,21380,0.00,2.67,0.00,0.000,4,0.000,0.080,2948,3539,1807
$GC,21432,0.81,251.4,505.2,9.4,1035,21439,0.15,2.58,0.00,0.000,6,0.095,0.064,2918,2145,1807
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$GC,22796,0.99,320.8,403.9,10.3,1102,22800,0.00,2.62,0.00,0.000,4,0.000,0.070,2974,705,1524
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$STATE,27800,end climb,SURFACE_DEPTH_REACHED
$STATE,27800,begin surface coast
$FINISH,0.5,1.026045
$STATE,27842,end surface coast,CONTROL_FINISHED_OK
$STATE,27843,begin surface
$SM_CCo,27927,0.00,0.000,0,0,1530,319.38
$SM_GC,1.24,11.15,0.00,0.00,0.040,0.000,0.000,424,1984,1530,-10.59,-0.45,319.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1801
$TCM_TEMP,16.80
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,951.6,89.7
$24V_AH,23.3,68.121
$10V_AH,10.1,33.790
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$DEVICE_SECS,26.300,188.525,430.200,0.000,0.000,37.759,26.420,198.922,21.750,0.000,0.000,11.887,2390.863,21919.217,602.430,2689.217,725.292,0.000,1941.069,0.000,2634.085,0.000,58.252,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,999.112,912.360,714.858,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69520,1347
$CAP_FILE_SIZE,187131,0
$CFSIZE,254472192,227958784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,310109,131637,6033.683,-717.301,41,1.4,41,-8.0