version: 66.04
glider: 5
mission: 5
dive: 435
start: 2 13 109 8 6 53
data:
$ID,5
$MISSION,5
$DIVE,435
$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,-95919.711
$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
$GPS1,075624,6141.853,-846.226,42,1.5,42,-9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-54.5
$GPS2,080632,6141.869,-846.445,15,1.6,15,-9.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_3
$TGT_LATLONG,6130.000,-828.000
$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,152.6,27365,-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,-81.38,0.000,2,0.000,0.000,418,1960,2809
$GC,102,-0.97,-146.6,3.0,-2.7,4,146,11.00,2.53,-22.52,0.000,4,0.134,0.073,2528,597,3431
$GC,157,-0.81,-146.6,7.3,-8.6,6,162,0.20,2.53,0.00,0.000,6,0.086,0.051,2571,2010,3431
$GC,474,-0.81,-146.6,26.5,-5.2,21,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2016,3431
$GC,783,-0.81,-146.6,46.9,-8.4,36,787,0.00,2.58,0.00,0.000,4,0.000,0.063,2570,595,3431
$GC,824,-0.81,-146.6,50.6,-9.6,38,828,0.00,2.50,0.00,0.000,6,0.000,0.052,2570,2005,3431
$GC,1151,-0.81,-146.6,75.4,-5.6,54,1155,0.00,2.53,0.00,0.000,4,0.000,0.063,2570,3409,3431
$GC,1179,-0.85,-146.6,77.3,-6.0,55,1183,0.00,2.50,0.00,0.000,6,0.000,0.049,2570,2005,3430
$GC,1497,-0.85,-146.6,95.8,-6.5,70,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2005,3430
$GC,1804,-0.85,-146.6,115.9,-6.8,85,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2004,3431
$GC,2113,-0.85,-146.6,135.2,-6.2,100,2118,0.00,2.55,0.00,0.000,4,0.000,0.062,2569,3405,3431
$GC,2136,-0.85,-146.6,136.8,-6.9,101,2141,0.00,2.50,0.00,0.000,6,0.000,0.048,2570,1999,3431
$GC,2458,-0.85,-146.6,159.8,-6.2,117,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1998,3430
$GC,2767,-0.85,-146.6,178.1,-6.9,132,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1998,3431
$GC,3077,-0.85,-146.6,198.7,-6.8,147,3082,0.00,2.58,0.00,0.000,4,0.000,0.062,2570,3415,3431
$GC,3110,-0.90,-146.6,200.9,-6.3,148,3117,0.00,2.50,0.00,0.000,6,0.000,0.049,2570,2006,3431
$GC,3426,-0.90,-146.6,221.2,-6.4,164,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2006,3430
$GC,3736,-0.90,-146.6,241.9,-7.1,179,3741,0.00,2.55,0.00,0.000,4,0.000,0.062,2570,3416,3431
$GC,3777,-0.95,-146.6,245.0,-8.5,181,3782,0.15,2.47,0.00,0.000,6,0.058,0.049,2530,2021,3431
$GC,4108,-0.86,-146.6,275.4,-9.2,197,4113,0.12,2.55,0.00,0.000,4,0.093,0.063,2556,591,3431
$GC,4141,-0.86,-146.6,278.7,-8.4,198,4147,0.00,2.55,0.00,0.000,6,0.000,0.051,2556,2027,3431
$GC,4459,-0.86,-146.6,301.0,-6.7,214,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2028,3431
$GC,4767,-0.86,-146.6,322.9,-7.2,229,4772,0.00,2.60,0.00,0.000,4,0.000,0.063,2556,594,3431
$GC,4817,-0.86,-146.6,326.9,-7.9,231,4822,0.00,2.50,0.00,0.000,6,0.000,0.052,2556,2009,3430
$GC,5139,-0.86,-146.6,350.5,-7.5,247,5144,0.00,2.53,0.00,0.000,4,0.000,0.065,2556,3411,3431
$GC,5161,-0.86,-146.6,352.2,-7.4,248,5166,0.00,2.53,0.00,0.000,6,0.000,0.052,2556,2000,3430
$GC,5484,-0.86,-146.6,376.2,-7.1,264,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2000,3430
$GC,5794,-0.86,-146.6,400.3,-8.3,279,5798,0.00,2.53,0.00,0.000,4,0.000,0.064,2556,584,3430
$GC,5821,-0.86,-146.6,403.2,-10.1,280,5825,0.00,2.53,0.00,0.000,6,0.000,0.052,2556,2011,3430
$GC,6138,-0.86,-146.6,430.0,-7.4,295,6142,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,592,3431
$GC,6182,-0.86,-146.6,434.1,-9.4,297,6186,0.00,2.50,0.00,0.000,6,0.000,0.052,2556,2001,3430
$GC,6504,-0.86,-146.6,458.3,-7.2,313,6508,0.00,2.55,0.00,0.000,4,0.000,0.064,2556,593,3430
$GC,6553,-0.86,-146.6,462.1,-7.6,315,6557,0.00,2.45,0.00,0.000,6,0.000,0.052,2556,1974,3431
$GC,6869,-0.86,-146.6,480.3,-5.6,330,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1993,3430
$GC,7179,-0.86,-146.6,501.9,-7.5,345,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1992,3430
$GC,7488,-0.86,-146.6,523.3,-5.7,360,7492,0.00,2.55,0.00,0.000,4,0.000,0.065,2556,3404,3431
$GC,7528,-0.86,-146.6,525.4,-5.0,362,7532,0.00,2.58,0.00,0.000,6,0.000,0.054,2556,1966,3430
$GC,7855,-0.86,-146.6,538.6,-4.0,378,7860,0.00,2.45,0.00,0.000,4,0.000,0.064,2556,592,3430
$GC,7883,-0.86,-146.6,539.8,-4.3,379,7888,0.00,2.45,0.00,0.000,6,0.000,0.054,2557,1970,3430
$GC,8199,-0.86,-146.6,556.4,-6.7,394,8204,0.00,2.60,0.00,0.000,4,0.000,0.067,2556,3410,3430
$GC,8360,-0.91,-146.6,569.8,-8.7,401,8364,0.00,2.55,0.00,0.000,6,0.000,0.056,2556,1990,3429
$GC,8680,-0.91,-146.6,602.0,-9.4,417,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1976,3429
$GC,8990,-0.91,-146.6,624.4,-6.8,432,8994,0.00,2.53,0.00,0.000,4,0.000,0.069,2555,585,3429
$GC,9023,-0.91,-146.6,627.2,-8.2,433,9028,0.00,2.50,0.00,0.000,6,0.000,0.058,2556,1976,3428
$GC,9339,-0.91,-146.6,647.0,-5.7,448,9344,0.00,2.58,0.00,0.000,4,0.000,0.071,2556,584,3428
$GC,9436,-0.97,-146.6,653.5,-7.1,452,9441,0.12,2.45,0.00,0.000,6,0.060,0.060,2521,1946,3428
$GC,9752,-0.91,-146.6,677.8,-7.7,467,9757,0.12,2.55,0.00,0.000,4,0.094,0.075,2548,583,3428
$GC,9786,-0.91,-146.6,680.2,-7.7,468,9792,0.00,2.47,0.00,0.000,6,0.000,0.062,2548,1948,3428
$GC,10103,-0.91,-146.6,700.8,-6.0,484,10108,0.00,2.67,0.00,0.000,4,0.000,0.077,2547,3404,3427
$GC,10166,-0.91,-146.6,704.9,-6.3,487,10171,0.00,2.65,0.00,0.000,6,0.000,0.066,2547,1959,3427
$GC,10494,-0.91,-146.6,724.4,-5.9,503,10498,0.00,2.72,0.00,0.000,4,0.000,0.080,2547,3409,3426
$GC,10529,-0.91,-146.6,727.0,-7.4,504,10535,0.00,2.65,0.00,0.000,6,0.000,0.068,2547,1970,3426
$GC,10846,-0.97,-146.6,746.5,-3.9,520,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1957,3425
$GC,11155,-0.97,-146.6,768.6,-8.7,535,11159,0.00,2.72,0.00,0.000,4,0.000,0.085,2547,3402,3423
$GC,11233,-1.01,-146.6,775.8,-10.2,538,11239,0.00,2.67,0.00,0.000,6,0.000,0.072,2547,1965,3424
$GC,11550,-1.01,-146.6,800.0,-7.1,554,11555,0.00,2.75,0.00,0.000,4,0.000,0.085,2547,3411,3422
$GC,11583,-1.01,-146.6,802.8,-7.6,555,11589,0.00,2.70,0.00,0.000,6,0.000,0.074,2547,1961,3422
$GC,11899,-1.09,-146.6,825.5,-8.7,571,11905,0.17,2.78,0.00,0.000,4,0.065,0.084,2501,3411,3421
$STATE,11930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11930,begin apogee
$GC,11941,-0.33,0.0,827.4,3.9,572,12081,0.77,0.00,136.73,1.485,6,0.093,0.000,2664,2099,2832
$STATE,12082,end apogee,CONTROL_FINISHED_OK
$STATE,12082,begin climb
$GC,12085,0.97,146.6,831.0,0.0,579,12232,1.35,2.80,137.50,1.426,4,0.074,0.084,2951,3526,2234
$GC,12286,0.76,146.6,822.2,9.7,588,12291,0.20,2.67,0.00,0.000,6,0.100,0.077,2914,2127,2233
$GC,12610,0.69,184.7,800.8,5.0,604,12652,0.00,0.00,36.65,1.377,6,0.000,0.000,2914,2115,2078
$GC,12963,0.69,184.7,773.9,6.4,621,12967,0.00,2.70,0.00,0.000,4,0.000,0.084,2914,3530,2078
$GC,13018,0.75,247.6,770.6,4.3,623,13087,0.00,2.62,58.78,1.401,6,0.000,0.076,2913,2147,1822
$GC,13397,0.75,248.1,749.2,6.0,642,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2147,1823
$GC,13706,0.80,277.9,732.2,5.2,657,13741,0.00,2.75,29.50,1.382,4,0.000,0.085,2914,3533,1699
$GC,13759,0.80,277.9,729.1,6.4,659,13763,0.00,2.65,0.00,0.000,6,0.000,0.074,2914,2150,1698
$GC,14076,0.92,319.8,712.9,4.9,674,14122,0.12,2.80,39.85,1.391,4,0.067,0.084,2945,704,1528
$GC,14140,0.92,319.8,708.8,6.8,677,14145,0.00,2.72,0.00,0.000,6,0.000,0.072,2945,2143,1527
$GC,14467,0.92,319.8,682.1,9.3,693,14472,0.00,2.65,0.00,0.000,4,0.000,0.087,2945,3541,1526
$GC,14484,0.92,319.8,680.4,9.6,694,14489,0.00,2.65,0.00,0.000,6,0.000,0.074,2945,2141,1526
$GC,14811,0.92,319.8,652.3,8.2,710,14815,0.00,2.70,0.00,0.000,4,0.000,0.084,2945,704,1526
$GC,14855,0.92,319.8,648.2,8.9,712,14860,0.00,2.67,0.00,0.000,6,0.000,0.071,2945,2140,1526
$GC,15177,0.92,319.8,621.7,8.4,728,15181,0.00,2.70,0.00,0.000,4,0.000,0.082,2945,712,1526
$GC,15227,0.92,319.8,616.7,10.3,730,15231,0.00,2.62,0.00,0.000,6,0.000,0.069,2945,2126,1525
$GC,15543,0.92,319.8,588.9,8.5,745,15548,0.00,2.67,0.00,0.000,4,0.000,0.080,2945,707,1525
$GC,15587,0.92,319.8,584.3,10.0,747,15592,0.00,2.58,0.00,0.000,6,0.000,0.067,2945,2105,1525
$GC,15909,0.92,319.8,555.4,8.8,763,15910,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2107,1525
$GC,16219,0.92,319.8,526.6,9.8,778,16223,0.00,2.65,0.00,0.000,4,0.000,0.076,2945,3535,1525
$GC,16240,0.92,319.8,524.2,10.3,779,16245,0.00,2.65,0.00,0.000,6,0.000,0.066,2945,2099,1525
$GC,16561,0.92,319.8,494.7,8.7,795,16566,0.00,2.70,0.00,0.000,4,0.000,0.072,2945,3542,1526
$GC,16579,0.92,319.8,493.1,8.7,796,16584,0.00,2.62,0.00,0.000,6,0.000,0.062,2945,2105,1526
$GC,16907,0.92,319.8,464.0,9.0,812,16911,0.00,2.53,0.00,0.000,4,0.000,0.069,2945,707,1526
$GC,16934,0.92,319.8,461.2,9.5,813,16939,0.00,2.55,0.00,0.000,6,0.000,0.058,2945,2120,1526
$GC,17256,0.92,319.8,434.1,8.1,829,17260,0.00,2.60,0.00,0.000,4,0.000,0.069,2945,705,1527
$GC,17301,0.92,319.8,430.2,7.5,831,17305,0.00,2.50,0.00,0.000,6,0.000,0.057,2945,2092,1527
$GC,17621,0.92,319.8,404.9,7.9,847,17626,0.00,2.62,0.00,0.000,4,0.000,0.067,2945,3537,1527
$GC,17643,0.92,319.8,403.0,7.6,848,17648,0.00,2.62,0.00,0.000,6,0.000,0.057,2945,2087,1528
$GC,17965,0.92,319.8,378.4,7.6,864,17969,0.00,2.47,0.00,0.000,4,0.000,0.066,2945,713,1528
$GC,17992,0.92,319.8,376.0,9.2,865,17997,0.00,2.47,0.00,0.000,6,0.000,0.054,2946,2096,1528
$GC,18308,0.92,319.8,351.7,7.7,880,18309,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2097,1529
$GC,18617,0.92,319.8,327.2,8.0,895,18618,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2096,1530
$GC,18926,0.92,319.8,304.4,6.9,910,18930,0.00,2.53,0.00,0.000,4,0.000,0.065,2945,713,1530
$GC,18954,0.92,319.8,302.3,7.3,911,18958,0.00,2.45,0.00,0.000,6,0.000,0.053,2945,2084,1530
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$STATE,22566,end climb,SURFACE_DEPTH_REACHED
$STATE,22566,begin surface coast
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$STATE,22609,end surface coast,CONTROL_FINISHED_OK
$STATE,22609,begin surface
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$10V_AH,10.1,38.581
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$CAP_FILE_SIZE,174376,0
$CFSIZE,254472192,224395264
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