version: 66.04
glider: 5
mission: 5
dive: 86
start: 11 19 108 17 13 39
data:
$ID,5
$MISSION,5
$DIVE,86
$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,412.5
$T_MISSION,440
$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,1
$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,-88913.922
$T_RSLEEP,2
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,16
$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
$GPS1,170638,6157.098,-223.518,34,0.9,35,-5.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-59.4
$GPS2,171250,6157.095,-223.413,15,1.4,15,-5.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.119,-0.214
$KALMAN_X,54050.9,610.7,1032.2,125577.9,-1965.1
$KALMAN_Y,-8470.7,155.3,238.2,-183010.1,1818.5
$MHEAD_RNG_PITCHd_Wd,156.7,101014,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,98,0.00,0.00,-79.40,0.000,6,0.000,0.000,424,1977,3432
$GC,102,-1.22,-146.6,6.2,-7.2,4,117,10.27,2.47,0.00,0.000,4,0.134,0.058,2424,599,3432
$GC,370,-1.00,-146.6,56.0,-14.4,15,375,0.28,2.53,0.00,0.000,6,0.091,0.051,2481,2017,3433
$GC,692,-0.92,-146.6,91.1,-11.0,31,697,0.00,2.60,0.00,0.000,4,0.000,0.065,2481,595,3433
$GC,733,-0.86,-146.6,95.3,-10.7,33,738,0.15,2.50,0.00,0.000,6,0.091,0.051,2513,2005,3433
$GC,1060,-0.86,-146.6,122.2,-8.6,49,1064,0.00,2.58,0.00,0.000,4,0.000,0.065,2513,595,3434
$GC,1123,-0.86,-146.6,128.3,-9.9,52,1127,0.00,2.47,0.00,0.000,6,0.000,0.051,2513,1987,3434
$GC,1449,-0.86,-146.6,158.6,-8.7,68,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1988,3434
$GC,1758,-0.86,-146.6,187.0,-9.3,83,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1988,3434
$GC,2067,-0.86,-146.6,214.9,-8.6,98,2072,0.00,2.55,0.00,0.000,4,0.000,0.069,2514,599,3434
$GC,2112,-0.90,-146.6,219.2,-9.5,100,2117,0.00,2.47,0.00,0.000,6,0.000,0.052,2513,1989,3434
$GC,2434,-0.90,-146.6,247.8,-8.9,116,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1990,3434
$GC,2743,-0.90,-146.6,274.8,-8.5,131,2751,0.00,2.55,0.00,0.000,4,0.000,0.065,2513,3404,3434
$GC,2769,-0.95,-146.6,277.2,-9.3,132,2774,0.00,2.55,0.00,0.000,6,0.000,0.054,2513,1980,3434
$GC,3096,-1.00,-146.6,306.6,-8.8,148,3101,0.15,2.50,0.00,0.000,4,0.054,0.066,2470,589,3434
$GC,3136,-0.92,-146.6,311.0,-11.3,150,3141,0.15,2.47,0.00,0.000,6,0.089,0.052,2502,1967,3434
$GC,3463,-0.92,-146.6,341.4,-8.9,166,3468,0.00,2.60,0.00,0.000,4,0.000,0.067,2502,3403,3435
$GC,3508,-0.92,-146.6,345.5,-9.6,168,3512,0.00,2.58,0.00,0.000,6,0.000,0.056,2502,1972,3435
$GC,3828,-0.92,-146.6,372.7,-8.3,184,3833,0.00,2.62,0.00,0.000,4,0.000,0.067,2502,3404,3434
$GC,3858,-0.92,-146.6,375.0,-8.4,185,3862,0.00,2.58,0.00,0.000,6,0.000,0.056,2502,1972,3434
$GC,4175,-0.92,-146.6,400.9,-8.1,200,4179,0.00,2.65,0.00,0.000,4,0.000,0.068,2502,3412,3434
$GC,4236,-0.92,-146.6,406.4,-8.9,203,4241,0.00,2.58,0.00,0.000,6,0.000,0.058,2502,1985,3434
$GC,4563,-0.92,-146.6,433.7,-8.0,219,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1985,3434
$GC,4872,-0.92,-146.6,458.7,-8.1,234,4877,0.00,2.62,0.00,0.000,4,0.000,0.072,2502,3404,3434
$GC,4899,-0.92,-146.6,461.1,-8.8,235,4904,0.00,2.58,0.00,0.000,6,0.000,0.061,2502,1979,3434
$GC,5215,-0.92,-146.6,487.0,-8.3,250,5220,0.00,2.65,0.00,0.000,4,0.000,0.074,2502,3402,3433
$GC,5266,-0.97,-146.6,491.4,-8.1,252,5270,0.00,2.55,0.00,0.000,6,0.000,0.064,2502,2000,3433
$GC,5582,-1.01,-146.6,517.4,-8.6,267,5586,0.00,2.58,0.00,0.000,4,0.000,0.078,2501,592,3432
$GC,5632,-1.01,-146.6,522.0,-9.3,269,5636,0.00,2.55,0.00,0.000,6,0.000,0.064,2502,1995,3432
$GC,5948,-1.05,-146.6,549.8,-8.8,284,5953,0.15,2.62,0.00,0.000,4,0.063,0.081,2463,3406,3431
$GC,6010,-1.00,-146.6,556.4,-10.2,286,6016,0.00,2.60,0.00,0.000,6,0.000,0.071,2463,2001,3431
$GC,6326,-0.94,-146.6,590.2,-11.3,302,6331,0.15,2.65,0.00,0.000,4,0.102,0.082,2493,3402,3430
$GC,6344,-0.94,-146.6,592.2,-11.3,303,6348,0.00,2.58,0.00,0.000,6,0.000,0.071,2493,2009,3430
$GC,6670,-0.94,-146.6,623.5,-9.5,319,6675,0.00,2.62,0.00,0.000,4,0.000,0.084,2493,592,3428
$GC,6698,-0.94,-146.6,626.3,-10.3,320,6702,0.00,2.60,0.00,0.000,6,0.000,0.069,2493,2006,3428
$GC,7013,-0.94,-146.6,655.2,-9.0,335,7018,0.00,2.62,0.00,0.000,4,0.000,0.087,2493,3408,3426
$GC,7036,-0.94,-146.6,657.3,-9.0,336,7040,0.00,2.62,0.00,0.000,6,0.000,0.074,2493,2001,3426
$GC,7356,-0.94,-146.6,684.9,-8.6,352,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2000,3426
$GC,7666,-0.94,-146.6,710.7,-8.4,367,7670,0.00,2.65,0.00,0.000,4,0.000,0.090,2493,584,3424
$GC,7687,-0.94,-146.6,712.6,-8.6,368,7692,0.00,2.62,0.00,0.000,6,0.000,0.072,2493,2005,3424
$GC,8008,-0.94,-146.6,738.7,-7.8,384,8013,0.00,2.62,0.00,0.000,4,0.000,0.090,2492,3408,3423
$GC,8041,-0.94,-146.6,741.7,-8.7,385,8048,0.00,2.62,0.00,0.000,6,0.000,0.077,2493,2008,3423
$GC,8358,-0.98,-146.6,767.3,-8.2,401,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2008,3422
$GC,8667,-0.98,-146.6,792.9,-8.3,416,8671,0.00,2.70,0.00,0.000,4,0.000,0.089,2493,3415,3421
$GC,8688,-0.98,-146.6,794.8,-8.4,417,8693,0.00,2.62,0.00,0.000,6,0.000,0.077,2493,2015,3421
$GC,9010,-1.02,-146.6,820.7,-7.8,433,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2014,3420
$GC,9319,-1.06,-146.6,845.2,-7.9,448,9324,0.12,2.67,0.00,0.000,4,0.077,0.089,2464,3409,3419
$GC,9359,-1.02,-146.6,849.0,-9.7,450,9363,0.00,2.62,0.00,0.000,6,0.000,0.077,2463,2009,3419
$GC,9686,-1.02,-146.6,878.3,-8.8,466,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2009,3418
$GC,9994,-1.02,-146.6,906.0,-9.0,481,9999,0.00,2.70,0.00,0.000,4,0.000,0.091,2464,3411,3417
$GC,10034,-1.02,-146.6,909.6,-10.1,483,10038,0.00,2.60,0.00,0.000,6,0.000,0.078,2464,2027,3417
$GC,10360,-1.02,-146.6,938.5,-8.9,499,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2027,3417
$GC,10670,-1.02,-146.6,965.7,-8.9,514,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2026,3416
$STATE,10955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10955,begin apogee
$GC,10962,-0.33,0.0,990.6,8.6,528,11091,0.77,0.00,124.93,1.666,6,0.097,0.000,2623,2251,2832
$STATE,11091,end apogee,CONTROL_FINISHED_OK
$STATE,11092,begin climb
$GC,11094,1.22,146.6,994.4,0.0,534,11225,1.62,0.00,126.62,1.616,6,0.079,0.000,2964,2252,2234
$GC,11533,1.17,146.6,963.9,8.2,556,11538,0.00,2.75,0.00,0.000,4,0.000,0.089,2964,839,2234
$GC,11578,1.10,146.6,959.7,9.2,558,11583,0.12,2.67,0.00,0.000,6,0.107,0.075,2942,2249,2233
$GC,11900,1.12,162.4,936.1,7.4,574,11922,0.00,2.80,15.20,1.480,4,0.000,0.090,2942,845,2169
$GC,11946,1.14,177.4,932.7,7.5,576,11967,0.00,2.67,14.35,1.462,6,0.000,0.076,2942,2242,2108
$GC,12277,1.16,185.2,907.1,7.7,592,12291,0.00,2.80,8.45,1.365,4,0.000,0.091,2942,847,2076
$GC,12325,1.16,185.2,902.9,8.1,594,12330,0.00,2.65,0.00,0.000,6,0.000,0.076,2942,2236,2076
$GC,12647,1.20,185.2,877.5,8.0,610,12651,0.00,2.70,0.00,0.000,4,0.000,0.092,2942,840,2076
$GC,12686,1.20,185.2,874.1,8.5,612,12691,0.00,2.60,0.00,0.000,6,0.000,0.077,2942,2213,2076
$GC,13014,1.24,185.2,847.7,8.0,628,13016,0.12,0.00,0.00,0.000,6,0.071,0.000,2973,2213,2076
$GC,13322,1.24,185.2,818.7,9.5,643,13327,0.00,2.65,0.00,0.000,4,0.000,0.091,2972,845,2076
$GC,13367,1.17,185.2,814.2,10.6,645,13372,0.00,2.58,0.00,0.000,6,0.000,0.077,2972,2206,2076
$GC,13690,1.17,185.2,784.8,9.0,661,13691,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2206,2076
$GC,13999,1.17,185.2,757.3,8.8,676,14003,0.00,2.65,0.00,0.000,4,0.000,0.091,2972,839,2075
$GC,14039,1.12,185.2,753.5,9.2,678,14044,0.15,2.55,0.00,0.000,6,0.107,0.076,2943,2195,2075
$GC,14368,1.19,202.9,729.2,7.4,694,14391,0.00,2.75,16.48,1.438,4,0.000,0.090,2943,840,2004
$GC,14415,1.21,217.1,725.5,7.5,696,14436,0.00,2.58,13.60,1.394,6,0.000,0.075,2944,2189,1947
$GC,14747,1.31,234.3,701.2,7.4,712,14769,0.17,2.70,16.17,1.407,4,0.067,0.090,2988,840,1876
$GC,14787,1.24,234.3,697.3,9.9,713,14793,0.00,2.55,0.00,0.000,6,0.000,0.074,2988,2175,1875
$GC,15102,1.24,234.3,666.6,10.0,729,15107,0.00,2.58,0.00,0.000,4,0.000,0.091,2988,845,1876
$GC,15125,1.19,234.3,664.3,10.1,730,15130,0.17,2.47,0.00,0.000,6,0.102,0.075,2956,2154,1876
$GC,15447,1.24,234.3,637.5,8.1,746,15452,0.00,2.88,0.00,0.000,4,0.000,0.092,2956,3661,1876
$GC,15476,1.29,234.3,634.9,9.2,747,15481,0.10,2.85,0.00,0.000,6,0.080,0.076,2978,2152,1875
$GC,15792,1.29,234.3,605.4,9.2,762,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2152,1875
$GC,16101,1.29,234.3,575.8,9.8,777,16105,0.00,2.47,0.00,0.000,4,0.000,0.089,2978,843,1875
$GC,16145,1.29,234.3,571.2,10.4,779,16150,0.00,2.45,0.00,0.000,6,0.000,0.072,2978,2149,1875
$GC,16466,1.29,234.3,539.7,9.6,795,16468,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2150,1875
$GC,16776,1.29,234.3,511.0,8.9,810,16777,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2150,1875
$GC,17085,1.29,234.3,482.8,9.1,825,17089,0.00,2.50,0.00,0.000,4,0.000,0.085,2978,840,1875
$GC,17107,1.29,234.3,480.5,9.5,826,17111,0.00,2.47,0.00,0.000,6,0.000,0.071,2979,2164,1875
$GC,17428,1.29,234.3,451.9,9.0,842,17432,0.00,2.50,0.00,0.000,4,0.000,0.084,2978,838,1875
$GC,17467,1.29,234.3,448.4,8.7,843,17473,0.00,2.45,0.00,0.000,6,0.000,0.070,2979,2153,1875
$GC,17783,1.29,234.3,420.5,8.8,859,17787,0.00,2.83,0.00,0.000,4,0.000,0.085,2979,3659,1875
$GC,17804,1.29,234.3,418.4,8.3,860,17809,0.00,2.83,0.00,0.000,6,0.000,0.070,2979,2138,1875
$GC,18125,1.29,234.3,390.4,8.5,876,18126,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2138,1875
$GC,18435,1.29,234.3,363.9,8.9,891,18439,0.00,2.40,0.00,0.000,4,0.000,0.078,2978,839,1876
$GC,18456,1.29,234.3,361.7,10.9,892,18460,0.00,2.35,0.00,0.000,6,0.000,0.064,2979,2129,1876
$GC,18784,1.29,234.3,330.6,9.4,908,18788,0.00,2.83,0.00,0.000,4,0.000,0.076,2978,3660,1876
$GC,18817,1.29,234.3,327.2,10.0,909,18823,0.00,2.83,0.00,0.000,6,0.000,0.061,2979,2110,1876
$GC,19132,1.29,234.3,298.2,9.0,925,19137,0.00,2.88,0.00,0.000,4,0.000,0.073,2979,3662,1877
$GC,19187,1.29,234.3,292.7,9.4,927,19194,0.00,2.78,0.00,0.000,6,0.000,0.061,2979,2130,1876
$GC,19503,1.29,234.3,265.8,8.5,943,19504,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2130,1878
$GC,19812,1.29,234.3,240.2,8.2,958,19817,0.00,2.83,0.00,0.000,4,0.000,0.069,2979,3667,1878
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$STATE,22405,end climb,SURFACE_DEPTH_REACHED
$STATE,22405,begin surface coast
$FINISH,0.3,1.020796
$STATE,22449,end surface coast,CONTROL_FINISHED_OK
$STATE,22449,begin surface
$SM_CCo,22473,9.10,0.764,0,0,1811,250.21
$SM_GC,1.67,0.00,0.00,9.10,0.000,0.000,0.764,420,1977,1811,-10.49,-0.65,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1777
$TCM_TEMP,17.00
$XPDR_PINGS,272
$ALTIM_TOP_PING,18.3,999.0
$24V_AH,23.6,15.738
$10V_AH,10.0,6.916
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.875,226.300,339.425,9.100,0.000,37.758,27.092,176.123,77.000,0.000,0.000,15.628,2000.267,17454.338,564.669,2215.142,613.166,33.363,1692.497,0.000,2163.308,0.000,58.485,0.000
$DEVICE_MAMPS,134.225,92.040,1665.924,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,804.575,734.686,564.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53722,1083
$CAP_FILE_SIZE,168932,0
$CFSIZE,254472192,247771136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,70,0,0
$GPS,191108,233011,6154.838,-218.313,60,1.1,70,-5.8