version: 66.04
glider: 5
mission: 5
dive: 94
start: 11 21 108 20 9 35
data:
$ID,5
$MISSION,5
$DIVE,94
$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,-89123.656
$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,29
$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
$GPS1,195209,6127.451,-215.644,46,1.1,47,-5.6
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-53.0
$GPS2,200844,6127.231,-215.850,11,1.1,16,-5.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.181,-0.166
$KALMAN_X,71676.9,49.1,-2219.5,118004.1,9589.8
$KALMAN_Y,-21524.0,553.3,553.6,-225977.0,-5820.1
$MHEAD_RNG_PITCHd_Wd,233.1,47234,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.53,0.000,2,0.000,0.000,420,1958,3036
$GC,82,-1.22,-146.6,3.4,-5.0,3,112,10.30,2.65,-10.82,0.000,4,0.133,0.075,2426,3415,3430
$GC,365,-1.01,-146.6,56.1,-20.2,15,372,0.25,2.53,0.00,0.000,6,0.090,0.051,2477,2004,3429
$GC,683,-0.94,-146.6,105.1,-10.5,31,687,0.00,2.58,0.00,0.000,4,0.000,0.061,2477,3417,3430
$GC,733,-0.88,-146.6,111.0,-11.2,33,738,0.15,2.53,0.00,0.000,6,0.091,0.049,2509,2001,3430
$GC,1050,-0.88,-146.6,137.6,-7.7,48,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2001,3429
$GC,1358,-0.88,-146.6,160.9,-7.0,63,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2001,3430
$GC,1667,-0.88,-146.6,188.8,-12.1,78,1671,0.00,2.53,0.00,0.000,4,0.000,0.064,2509,590,3429
$GC,1730,-0.93,-146.6,194.4,-8.8,81,1734,0.00,2.55,0.00,0.000,6,0.000,0.051,2509,2028,3430
$GC,2056,-0.93,-146.6,219.3,-8.2,97,2061,0.00,2.60,0.00,0.000,4,0.000,0.064,2509,593,3430
$GC,2096,-0.93,-146.6,222.7,-8.7,99,2100,0.00,2.50,0.00,0.000,6,0.000,0.051,2509,2014,3429
$GC,2422,-0.93,-146.6,252.1,-10.5,115,2427,0.00,2.60,0.00,0.000,4,0.000,0.065,2509,585,3430
$GC,2485,-0.93,-146.6,259.0,-10.2,118,2489,0.00,2.50,0.00,0.000,6,0.000,0.051,2509,2000,3429
$GC,2812,-0.93,-146.6,285.6,-7.4,134,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2000,3429
$GC,3121,-0.93,-146.6,313.0,-10.1,149,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2001,3430
$GC,3430,-0.93,-146.6,346.3,-10.6,164,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2001,3429
$GC,3739,-0.93,-146.6,377.3,-9.6,179,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2000,3429
$GC,4048,-0.93,-146.6,405.4,-8.3,194,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2000,3429
$GC,4358,-0.93,-146.6,427.5,-7.1,209,4362,0.00,2.55,0.00,0.000,4,0.000,0.065,2509,595,3430
$GC,4458,-0.93,-146.6,436.6,-9.4,213,4464,0.00,2.47,0.00,0.000,6,0.000,0.051,2509,1992,3430
$GC,4774,-0.93,-146.6,469.0,-11.0,229,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1992,3430
$GC,5084,-0.97,-146.6,493.7,-5.3,244,5088,0.00,2.55,0.00,0.000,4,0.000,0.067,2509,3408,3430
$GC,5112,-1.01,-146.6,495.0,-4.3,245,5117,0.12,2.55,0.00,0.000,6,0.058,0.056,2472,1989,3430
$GC,5429,-0.95,-146.6,510.8,-5.5,260,5433,0.00,2.58,0.00,0.000,4,0.000,0.066,2471,3403,3430
$GC,5456,-0.90,-146.6,512.9,-7.6,261,5461,0.15,2.53,0.00,0.000,6,0.090,0.055,2504,1985,3430
$GC,5773,-0.90,-146.6,540.8,-10.4,276,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1984,3430
$GC,6082,-0.90,-146.6,567.9,-7.5,291,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1985,3429
$GC,6392,-0.94,-146.6,591.5,-9.3,306,6396,0.00,2.62,0.00,0.000,4,0.000,0.071,2504,3404,3428
$GC,6464,-1.00,-146.6,599.8,-10.9,309,6472,0.00,2.55,0.00,0.000,6,0.000,0.061,2504,1998,3428
$GC,6789,-1.05,-146.6,635.4,-10.0,325,6791,0.15,0.00,0.00,0.000,6,0.058,0.000,2463,1998,3427
$GC,7098,-0.98,-146.6,663.3,-7.6,340,7103,0.12,2.58,0.00,0.000,4,0.100,0.079,2487,595,3427
$GC,7143,-0.98,-146.6,666.4,-6.9,342,7148,0.00,2.58,0.00,0.000,6,0.000,0.064,2487,2013,3427
$GC,7464,-0.98,-146.6,688.7,-8.2,358,7468,0.00,2.58,0.00,0.000,4,0.000,0.081,2487,3412,3426
$GC,7491,-0.98,-146.6,691.3,-9.5,359,7495,0.00,2.58,0.00,0.000,6,0.000,0.070,2486,2017,3425
$GC,7806,-0.98,-146.6,724.7,-11.2,374,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2017,3425
$GC,8116,-0.98,-146.6,755.0,-8.9,389,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2017,3423
$GC,8425,-0.98,-146.6,781.3,-8.7,404,8429,0.00,2.65,0.00,0.000,4,0.000,0.087,2487,3409,3422
$GC,8469,-0.98,-146.6,785.6,-10.3,406,8473,0.00,2.58,0.00,0.000,6,0.000,0.074,2487,2027,3421
$GC,8790,-0.98,-146.6,815.5,-9.4,422,8794,0.00,2.67,0.00,0.000,4,0.000,0.087,2486,589,3420
$GC,8817,-0.98,-146.6,818.1,-9.7,423,8821,0.00,2.65,0.00,0.000,6,0.000,0.072,2487,2025,3420
$GC,9133,-0.98,-146.6,845.0,-7.2,438,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2025,3419
$GC,9442,-0.98,-146.6,861.2,-5.2,453,9447,0.00,2.60,0.00,0.000,4,0.000,0.089,2487,3410,3418
$GC,9487,-0.98,-146.6,863.9,-6.3,455,9492,0.00,2.58,0.00,0.000,6,0.000,0.077,2487,2033,3417
$GC,9808,-0.98,-146.6,889.6,-9.2,471,9812,0.00,2.70,0.00,0.000,4,0.000,0.092,2487,590,3416
$GC,9841,-0.98,-146.6,893.2,-10.8,472,9847,0.00,2.67,0.00,0.000,6,0.000,0.075,2487,2032,3416
$GC,10157,-0.98,-146.6,927.5,-11.0,488,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2033,3415
$GC,10466,-0.98,-146.6,957.6,-8.6,503,10470,0.00,2.60,0.00,0.000,4,0.000,0.094,2487,3409,3413
$GC,10499,-0.98,-146.6,960.6,-8.4,504,10505,0.00,2.60,0.00,0.000,6,0.000,0.081,2487,2032,3413
$GC,10815,-0.98,-146.6,983.2,-7.0,520,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2032,3412
$STATE,10915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10915,begin apogee
$GC,10922,-0.33,0.0,990.3,7.0,525,11049,0.68,0.00,123.38,1.641,6,0.095,0.000,2626,2253,2832
$STATE,11049,end apogee,CONTROL_FINISHED_OK
$STATE,11050,begin climb
$GC,11053,1.22,146.6,993.6,0.0,531,11183,1.60,0.00,125.32,1.605,6,0.084,0.000,2962,2253,2234
$GC,11490,1.17,146.6,961.4,8.5,553,11491,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2253,2233
$GC,11800,1.12,146.6,935.6,8.1,568,11804,0.00,2.75,0.00,0.000,4,0.000,0.091,2963,841,2232
$GC,11850,1.04,146.6,931.3,8.6,570,11855,0.20,2.67,0.00,0.000,6,0.100,0.076,2924,2250,2232
$GC,12166,1.17,193.1,911.8,6.3,585,12210,0.12,0.00,40.53,1.565,6,0.071,0.000,2954,2251,2044
$GC,12515,1.17,193.1,884.1,8.1,602,12519,0.00,2.72,0.00,0.000,4,0.000,0.091,2954,845,2044
$GC,12600,1.17,193.5,877.5,8.0,606,12604,0.00,2.65,0.00,0.000,6,0.000,0.077,2954,2250,2044
$GC,12927,1.24,242.8,856.8,6.2,622,12977,0.00,2.85,42.80,1.557,4,0.000,0.091,2953,845,1842
$GC,13000,1.24,242.8,851.0,8.3,625,13004,0.00,2.67,0.00,0.000,6,0.000,0.076,2954,2242,1842
$GC,13316,1.29,242.8,818.5,11.2,640,13322,0.12,2.75,0.00,0.000,4,0.071,0.092,2984,838,1843
$GC,13361,1.23,242.8,812.7,12.5,642,13366,0.00,2.62,0.00,0.000,6,0.000,0.077,2984,2231,1843
$GC,13682,1.23,242.8,772.7,11.6,658,13683,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2231,1843
$GC,13991,1.23,242.8,743.5,9.4,673,13996,0.00,2.67,0.00,0.000,4,0.000,0.090,2984,845,1843
$GC,14055,1.18,242.8,737.1,9.6,676,14060,0.15,2.58,0.00,0.000,6,0.104,0.076,2956,2213,1843
$GC,14382,1.24,242.8,709.6,8.4,692,14387,0.00,2.65,0.00,0.000,4,0.000,0.089,2956,840,1843
$GC,14426,1.24,242.8,705.6,9.0,694,14431,0.00,2.55,0.00,0.000,6,0.000,0.074,2957,2197,1843
$GC,14748,1.29,242.8,677.9,9.5,710,14750,0.10,0.00,0.00,0.000,6,0.076,0.000,2980,2197,1843
$GC,15057,1.29,242.8,644.4,10.6,725,15061,0.00,2.60,0.00,0.000,4,0.000,0.087,2980,840,1843
$GC,15107,1.29,242.8,639.3,9.6,727,15111,0.00,2.55,0.00,0.000,6,0.000,0.073,2980,2203,1843
$GC,15422,1.29,242.8,612.6,8.9,742,15427,0.00,2.58,0.00,0.000,4,0.000,0.085,2980,845,1843
$GC,15468,1.29,242.8,608.3,9.1,744,15473,0.00,2.50,0.00,0.000,6,0.000,0.072,2980,2187,1843
$GC,15790,1.29,242.8,578.9,10.1,760,15794,0.00,2.55,0.00,0.000,4,0.000,0.084,2980,838,1843
$GC,15822,1.29,242.8,575.3,10.5,761,15829,0.00,2.47,0.00,0.000,6,0.000,0.070,2980,2171,1843
$GC,16139,1.30,244.9,548.9,7.9,777,16145,0.00,0.00,4.20,0.943,6,0.000,0.000,2980,2171,1833
$GC,16447,1.30,244.9,515.1,11.1,792,16452,0.00,2.50,0.00,0.000,4,0.000,0.080,2980,841,1833
$GC,16487,1.30,244.9,511.0,10.8,794,16491,0.00,2.47,0.00,0.000,6,0.000,0.067,2980,2180,1833
$GC,16819,1.30,244.9,476.9,11.2,810,16824,0.00,2.53,0.00,0.000,4,0.000,0.076,2980,836,1833
$GC,16853,1.30,244.9,472.8,11.2,811,16859,0.00,2.45,0.00,0.000,6,0.000,0.064,2980,2171,1833
$GC,17168,1.30,244.9,438.9,10.2,827,17172,0.00,2.47,0.00,0.000,4,0.000,0.072,2980,834,1833
$GC,17202,1.30,244.9,435.4,10.3,828,17206,0.00,2.42,0.00,0.000,6,0.000,0.061,2980,2164,1833
$GC,17517,1.30,244.9,406.5,8.4,843,17519,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2164,1834
$GC,17827,1.30,244.9,377.7,9.6,858,17828,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2164,1834
$GC,18136,1.30,244.9,348.3,9.3,873,18137,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2164,1835
$GC,18445,1.30,244.9,319.1,9.4,888,18446,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2164,1836
$GC,18754,1.30,244.9,290.3,9.5,903,18756,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2164,1838
$GC,19064,1.30,244.9,260.6,9.4,918,19068,0.00,2.42,0.00,0.000,4,0.000,0.066,2980,838,1839
$GC,19097,1.30,244.9,257.3,10.8,919,19101,0.00,2.38,0.00,0.000,6,0.000,0.053,2980,2165,1839
$GC,19413,1.30,244.9,225.4,10.4,934,19414,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2166,1839
$GC,19722,1.34,244.9,194.4,10.0,949,19723,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2166,1840
$GC,20031,1.34,244.9,166.2,8.7,964,20035,0.00,2.42,0.00,0.000,4,0.000,0.065,2980,841,1841
$GC,20078,1.34,244.9,162.1,8.2,966,20082,0.00,2.35,0.00,0.000,6,0.000,0.053,2980,2156,1841
$GC,20405,1.34,244.9,132.6,9.3,982,20414,0.00,2.75,3.90,0.621,4,0.000,0.063,2980,3660,1833
$GC,20432,1.38,244.9,129.9,10.2,983,20437,0.00,2.70,0.00,0.000,6,0.000,0.050,2980,2145,1833
$GC,20754,1.42,266.8,103.8,7.2,999,20775,0.12,0.00,18.55,0.877,6,0.056,0.000,3016,2145,1744
$GC,21085,1.40,290.9,78.4,7.1,1015,21107,0.00,0.00,20.20,0.864,6,0.000,0.000,3016,2145,1645
$GC,21413,1.40,290.9,52.9,8.7,1031,21418,0.00,2.78,0.00,0.000,4,0.000,0.063,3016,3660,1645
$GC,21440,1.40,290.9,50.3,9.1,1032,21445,0.00,2.70,0.00,0.000,6,0.000,0.049,3016,2148,1645
$GC,21757,1.35,290.9,25.7,12.0,1047,21759,0.12,0.00,0.00,0.000,6,0.091,0.000,2992,2130,1645
$STATE,22022,end climb,SURFACE_DEPTH_REACHED
$STATE,22022,begin surface coast
$FINISH,1.0,1.027323
$STATE,22064,end surface coast,CONTROL_FINISHED_OK
$STATE,22067,begin surface
$SM_CCo,22150,0.00,0.000,0,0,1642,291.66
$SM_GC,1.35,11.23,0.00,0.00,0.041,0.000,0.000,424,1971,1642,-10.39,-0.82,291.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1781
$TCM_TEMP,17.20
$XPDR_PINGS,372
$ALTIM_TOP_PING,18.8,18.0
$24V_AH,23.6,17.315
$10V_AH,10.1,7.688
$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,25.700,166.000,378.875,0.000,0.000,151.053,159.585,361.058,102.000,0.000,0.000,16.278,1924.313,17499.332,530.941,2152.169,1030.728,33.363,1609.922,0.000,2103.282,0.000,58.366,0.000
$DEVICE_MAMPS,133.458,93.574,1641.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,788.760,719.456,561.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53763,1062
$CAP_FILE_SIZE,163889,0
$CFSIZE,254472192,247189504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,221108,022002,6122.581,-224.175,41,1.9,41,-5.7