version: 66.04
glider: 5
mission: 7
dive: 57
start: 9 6 109 23 39 46
data:
$ID,5
$MISSION,7
$DIVE,57
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,560
$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,990
$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,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-101343.4
$T_RSLEEP,2
$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,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$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,-23.674383
$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,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,0
$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,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,233225,6151.931,-950.927,42,1.4,42,-9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-58.7
$GPS2,233855,6151.889,-950.845,13,1.2,30,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.147,0.166
$KALMAN_X,-105256.8,699.5,3273.1,38696.0,-31670.6
$KALMAN_Y,11681.9,-322.3,1682.2,15235.0,-12320.0
$MHEAD_RNG_PITCHd_Wd,51.4,24292,-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,-81.30,0.000,2,0.000,0.000,418,2129,2609
$GC,103,-0.97,-146.6,2.3,-2.0,4,153,11.40,2.58,-30.73,0.000,4,0.154,0.078,2528,3537,3428
$GC,273,-0.84,-146.6,17.3,-10.9,11,280,0.15,2.50,0.00,0.000,6,0.084,0.048,2562,2112,3429
$GC,589,-0.84,-146.6,41.6,-6.5,27,594,0.00,2.47,0.00,0.000,4,0.000,0.063,2562,714,3429
$GC,675,-0.84,-146.6,48.1,-7.9,31,680,0.00,2.45,0.00,0.000,6,0.000,0.047,2562,2119,3429
$GC,1002,-0.84,-146.6,68.9,-6.2,47,1006,0.00,2.50,0.00,0.000,4,0.000,0.061,2562,723,3429
$GC,1074,-0.84,-146.6,73.7,-6.4,50,1079,0.00,2.40,0.00,0.000,6,0.000,0.048,2562,2099,3429
$GC,1392,-0.84,-146.6,91.7,-4.8,65,1397,0.00,2.58,0.00,0.000,4,0.000,0.065,2561,3528,3429
$GC,1471,-0.84,-146.6,95.4,-4.4,68,1478,0.00,2.50,0.00,0.000,6,0.000,0.050,2562,2104,3429
$GC,1789,-0.84,-146.6,109.3,-4.7,84,1794,0.00,2.60,0.00,0.000,4,0.000,0.067,2562,3530,3429
$GC,1840,-0.84,-146.6,112.1,-5.3,86,1844,0.00,2.50,0.00,0.000,6,0.000,0.050,2562,2109,3429
$GC,2157,-0.84,-146.6,128.8,-5.9,101,2161,0.00,2.47,0.00,0.000,4,0.000,0.065,2562,725,3429
$GC,2207,-0.84,-146.6,132.1,-6.8,103,2211,0.00,2.45,0.00,0.000,6,0.000,0.049,2561,2124,3429
$GC,2522,-0.84,-146.6,153.3,-7.0,118,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2124,3429
$GC,2832,-0.84,-146.6,175.3,-7.2,133,2836,0.00,2.53,0.00,0.000,4,0.000,0.067,2562,727,3429
$GC,2876,-0.84,-146.6,178.8,-7.9,135,2880,0.00,2.45,0.00,0.000,6,0.000,0.051,2562,2120,3429
$GC,3197,-0.84,-146.6,204.5,-8.5,151,3202,0.00,2.53,0.00,0.000,4,0.000,0.065,2562,722,3429
$GC,3242,-0.84,-146.6,208.6,-9.2,153,3246,0.00,2.45,0.00,0.000,6,0.000,0.048,2562,2121,3429
$GC,3563,-0.84,-146.6,237.8,-9.3,169,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2121,3428
$GC,3872,-0.84,-146.6,267.1,-9.1,184,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2121,3428
$GC,4182,-0.84,-146.6,291.9,-7.7,199,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2121,3428
$GC,4491,-0.84,-146.6,315.1,-7.9,214,4495,0.00,2.53,0.00,0.000,4,0.000,0.067,2562,725,3428
$GC,4535,-0.84,-146.6,319.2,-9.1,216,4539,0.00,2.40,0.00,0.000,6,0.000,0.050,2562,2101,3428
$GC,4863,-0.84,-146.6,346.8,-8.9,232,4867,0.00,2.50,0.00,0.000,4,0.000,0.071,2561,722,3427
$GC,4895,-0.84,-146.6,350.0,-9.1,233,4902,0.00,2.42,0.00,0.000,6,0.000,0.050,2562,2100,3427
$GC,5211,-0.84,-146.6,376.4,-9.0,249,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2100,3427
$GC,5521,-0.84,-146.6,401.2,-8.2,264,5525,0.00,2.50,0.00,0.000,4,0.000,0.069,2562,717,3427
$GC,5548,-0.84,-146.6,403.5,-8.5,265,5552,0.00,2.42,0.00,0.000,6,0.000,0.051,2562,2096,3427
$GC,5863,-0.84,-146.6,429.7,-8.2,280,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2095,3426
$GC,6173,-0.84,-146.6,456.8,-8.9,295,6177,0.00,2.50,0.00,0.000,4,0.000,0.069,2562,718,3426
$GC,6223,-0.84,-146.6,461.2,-8.8,297,6227,0.00,2.40,0.00,0.000,6,0.000,0.050,2562,2083,3425
$GC,6538,-0.84,-146.6,487.7,-7.9,312,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2084,3426
$GC,6848,-0.84,-146.6,509.7,-6.8,327,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2083,3425
$GC,7157,-0.84,-146.6,528.2,-5.4,342,7161,0.00,2.47,0.00,0.000,4,0.000,0.068,2562,719,3426
$GC,7198,-0.88,-146.6,530.3,-5.2,344,7202,0.00,2.40,0.00,0.000,6,0.000,0.051,2561,2083,3426
$GC,7525,-0.88,-146.6,544.2,-4.3,360,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2084,3425
$GC,7834,-0.88,-146.6,559.3,-5.5,375,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2084,3425
$GC,8143,-0.88,-146.6,581.5,-7.7,390,8147,0.00,2.47,0.00,0.000,4,0.000,0.070,2562,719,3424
$GC,8170,-0.88,-146.6,583.9,-8.7,391,8175,0.00,2.40,0.00,0.000,6,0.000,0.051,2562,2080,3424
$GC,8487,-0.88,-146.6,609.5,-7.7,406,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2080,3425
$GC,8796,-0.88,-146.6,631.7,-7.0,421,8800,0.00,2.47,0.00,0.000,4,0.000,0.069,2562,720,3424
$GC,8864,-0.93,-146.6,636.9,-7.6,424,8869,0.00,2.38,0.00,0.000,6,0.000,0.052,2562,2069,3424
$GC,9186,-0.93,-146.6,660.0,-7.8,440,9190,0.00,2.67,0.00,0.000,4,0.000,0.074,2562,3538,3424
$GC,9230,-0.93,-146.6,664.1,-8.9,442,9234,0.00,2.62,0.00,0.000,6,0.000,0.058,2562,2060,3423
$GC,9551,-0.93,-146.6,692.7,-9.1,458,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2044,3423
$GC,9860,-0.97,-146.6,726.0,-11.8,473,9865,0.12,2.40,0.00,0.000,4,0.053,0.072,2522,728,3423
$GC,9923,-0.92,-146.6,734.1,-13.6,476,9928,0.10,2.35,0.00,0.000,6,0.091,0.052,2545,2065,3423
$GC,10250,-0.92,-146.6,764.0,-7.5,492,10254,0.00,2.45,0.00,0.000,4,0.000,0.073,2546,729,3423
$GC,10294,-0.92,-146.6,767.1,-6.7,494,10298,0.00,2.35,0.00,0.000,6,0.000,0.054,2546,2050,3423
$GC,10616,-0.92,-146.6,782.8,-4.5,510,10619,0.00,2.45,0.00,0.000,4,0.000,0.081,2545,727,3423
$GC,10655,-0.92,-146.6,784.3,-4.2,511,10661,0.00,2.35,0.00,0.000,6,0.000,0.061,2546,2037,3423
$GC,10971,-0.92,-146.6,796.6,-4.9,527,10976,0.00,2.45,0.00,0.000,4,0.000,0.082,2546,730,3423
$GC,11028,-0.92,-146.6,800.6,-8.1,529,11034,0.00,2.35,0.00,0.000,6,0.000,0.062,2546,2031,3423
$GC,11346,-0.92,-146.6,821.6,-8.0,545,11351,0.00,2.80,0.00,0.000,4,0.000,0.091,2546,3530,3421
$GC,11391,-0.92,-146.6,827.0,-12.5,547,11396,0.00,2.72,0.00,0.000,6,0.000,0.077,2546,2057,3421
$GC,11712,-0.92,-146.6,858.2,-9.9,563,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2045,3420
$GC,12021,-0.92,-146.6,881.3,-7.9,578,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2040,3418
$STATE,12101,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12101,begin apogee
$GC,12108,-0.33,0.0,887.8,7.7,582,12244,0.60,0.00,130.98,1.479,6,0.081,0.000,2672,1909,2831
$STATE,12245,end apogee,CONTROL_FINISHED_OK
$STATE,12245,begin climb
$GC,12248,0.97,146.6,895.3,0.0,589,12394,1.30,2.78,133.10,1.440,4,0.071,0.084,2952,3319,2232
$GC,12555,0.84,146.6,884.5,7.7,603,12561,0.15,2.65,0.00,0.000,6,0.100,0.080,2924,1922,2232
$GC,12885,0.90,260.9,876.2,2.9,619,12996,0.00,2.75,103.05,1.432,4,0.000,0.081,2924,3326,1767
$GC,13043,0.94,260.9,867.1,7.2,626,13048,0.10,2.72,0.00,0.000,6,0.067,0.083,2949,1903,1767
$GC,13360,0.87,260.9,840.5,10.2,641,13364,0.00,2.67,0.00,0.000,4,0.000,0.099,2949,509,1767
$GC,13404,0.74,260.9,836.7,9.8,643,13410,0.20,2.58,0.00,0.000,6,0.094,0.070,2908,1897,1767
$GC,13726,0.82,279.9,818.7,5.5,659,13751,0.00,2.75,18.27,1.368,4,0.000,0.084,2909,3322,1689
$GC,13771,0.94,279.9,815.8,6.7,661,13776,0.17,2.72,0.00,0.000,6,0.058,0.078,2951,1893,1689
$GC,14098,0.89,279.9,791.5,6.4,677,14103,0.00,2.67,0.00,0.000,4,0.000,0.101,2952,504,1688
$GC,14143,0.79,279.9,788.5,7.3,679,14148,0.17,2.58,0.00,0.000,6,0.094,0.071,2917,1898,1688
$GC,14465,0.86,279.9,771.2,6.4,695,14470,0.00,2.67,0.00,0.000,4,0.000,0.094,2916,506,1687
$GC,14500,0.86,279.9,768.9,6.5,696,14506,0.00,2.55,0.00,0.000,6,0.000,0.069,2916,1891,1687
$GC,14816,0.94,279.9,744.2,9.5,712,14821,0.12,2.67,0.00,0.000,4,0.061,0.080,2950,3327,1686
$GC,14850,0.94,279.9,740.9,10.5,713,14856,0.00,2.70,0.00,0.000,6,0.000,0.074,2950,1878,1686
$GC,15166,0.88,279.9,716.3,7.2,729,15170,0.00,2.58,0.00,0.000,4,0.000,0.087,2950,503,1686
$GC,15216,0.78,279.9,712.4,7.2,731,15221,0.17,2.50,0.00,0.000,6,0.089,0.062,2914,1883,1686
$GC,15533,0.99,354.0,698.9,4.0,746,15605,0.20,2.67,65.32,1.361,4,0.052,0.081,2971,503,1387
$GC,15630,0.91,354.0,692.1,7.6,750,15637,0.15,2.50,0.00,0.000,6,0.087,0.059,2940,1874,1387
$GC,15947,0.94,371.7,674.5,5.5,766,15972,0.00,2.70,17.70,1.246,4,0.000,0.081,2940,502,1315
$GC,15996,0.98,376.6,671.6,5.9,768,16007,0.00,2.47,6.28,1.029,6,0.000,0.056,2940,1884,1295
$GC,16317,1.07,376.6,653.4,6.1,783,16322,0.17,2.58,0.00,0.000,4,0.049,0.077,2990,501,1296
$GC,16363,0.95,376.6,649.2,10.9,785,16368,0.20,2.38,0.00,0.000,6,0.081,0.055,2949,1830,1296
$GC,16686,0.99,376.6,626.1,7.4,801,16690,0.00,2.65,0.00,0.000,4,0.000,0.068,2949,3308,1297
$GC,16713,1.08,376.6,623.9,7.1,802,16718,0.15,2.67,0.00,0.000,6,0.051,0.061,2990,1840,1297
$GC,17029,0.98,376.6,592.0,10.6,817,17035,0.17,2.70,0.00,0.000,4,0.081,0.064,2954,3314,1298
$GC,17057,0.98,376.6,589.3,8.9,818,17062,0.00,2.65,0.00,0.000,6,0.000,0.062,2954,1856,1298
$GC,17373,0.98,376.6,563.9,7.8,833,17374,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1856,1298
$GC,17682,0.98,376.6,539.9,7.9,848,17687,0.00,2.65,0.00,0.000,4,0.000,0.064,2954,3312,1299
$GC,17705,1.05,376.6,537.9,8.6,849,17710,0.00,2.62,0.00,0.000,6,0.000,0.059,2954,1858,1299
$GC,18026,1.05,376.6,511.2,8.6,865,18027,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1859,1300
$GC,18335,1.05,376.6,484.9,8.3,880,18340,0.00,2.65,0.00,0.000,4,0.000,0.064,2954,3318,1301
$GC,18369,1.16,376.6,482.1,7.8,881,18375,0.20,2.62,0.00,0.000,6,0.045,0.059,3009,1859,1301
$GC,18685,1.02,376.6,445.6,11.7,897,18690,0.17,2.45,0.00,0.000,4,0.080,0.074,2969,507,1301
$GC,18712,0.96,376.6,442.5,11.3,898,18717,0.00,2.38,0.00,0.000,6,0.000,0.054,2969,1854,1301
$GC,19029,0.96,376.6,415.3,8.8,913,19030,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1868,1302
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$GC,22819,1.12,477.0,122.7,3.3,1096,22904,0.00,0.00,82.53,0.873,6,0.000,0.000,2969,1864,886
$GC,23210,1.23,477.0,99.5,8.8,1115,23215,0.17,2.50,0.00,0.000,4,0.044,0.070,3021,501,887
$GC,23251,1.14,477.0,94.3,13.1,1117,23256,0.15,2.35,0.00,0.000,6,0.079,0.051,2991,1841,888
$GC,23578,1.14,477.0,52.2,13.0,1133,23582,0.00,2.60,0.00,0.000,4,0.000,0.062,2991,3314,888
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$STATE,23942,end climb,SURFACE_DEPTH_REACHED
$STATE,23942,begin surface coast
$FINISH,0.4,1.010195
$STATE,23966,end surface coast,CONTROL_FINISHED_OK
$STATE,23966,begin surface
$SM_CCo,24050,0.00,0.000,0,0,887,476.86
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,17.70
$XPDR_PINGS,92
$ALTIM_BOTTOM_PING,821.6,75.9
$24V_AH,23.7,12.052
$10V_AH,10.1,5.549
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$DEVICE_SECS,27.900,208.550,560.750,0.000,0.000,39.307,25.795,174.517,30.500,0.000,0.000,30.599,2084.091,18529.320,715.855,2458.317,645.675,33.355,1980.717,0.000,2385.678,0.000,50.565,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,789.551,856.670,665.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59935,1151
$CAP_FILE_SIZE,176726,0
$CFSIZE,254472192,248639488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,72,0,0
$GPS,070909,062154,6150.269,-955.605,41,1.6,41,-9.8