version: 66.04
glider: 5
mission: 7
dive: 58
start: 9 7 109 6 33 6
data:
$ID,5
$MISSION,7
$DIVE,58
$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,-101358.24
$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,16
$R_STBD_OVSHOOT,40
$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
$GPS1,062154,6150.269,-955.605,41,1.6,41,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-56.5
$GPS2,063214,6150.267,-955.748,14,2.0,14,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.165,0.147
$KALMAN_X,-114646.6,441.2,5080.7,42240.7,-34835.4
$KALMAN_Y,5561.7,-183.8,-578.7,20475.7,-8274.2
$MHEAD_RNG_PITCHd_Wd,58.1,27738,-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,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.07,0.000,2,0.000,0.000,416,2141,2583
$GC,103,-0.97,-146.6,2.4,-2.2,4,154,11.45,2.65,-32.17,0.000,4,0.156,0.075,2527,697,3429
$GC,362,-0.87,-146.6,28.8,-13.1,15,370,0.12,2.50,0.00,0.000,6,0.097,0.050,2553,2125,3430
$GC,681,-0.82,-146.6,66.9,-11.8,31,685,0.00,2.55,0.00,0.000,4,0.000,0.070,2554,3531,3430
$GC,748,-0.77,-146.6,74.8,-11.8,34,753,0.10,2.50,0.00,0.000,6,0.090,0.050,2576,2113,3430
$GC,1070,-0.77,-146.6,103.4,-7.5,50,1074,0.00,2.60,0.00,0.000,4,0.000,0.066,2576,3539,3430
$GC,1114,-0.77,-146.6,107.1,-8.1,52,1119,0.00,2.47,0.00,0.000,6,0.000,0.048,2576,2135,3430
$GC,1437,-0.77,-146.6,136.1,-9.2,68,1442,0.00,2.50,0.00,0.000,4,0.000,0.064,2576,722,3430
$GC,1488,-0.83,-146.6,140.9,-9.0,70,1493,0.00,2.50,0.00,0.000,6,0.000,0.048,2576,2146,3430
$GC,1804,-0.83,-146.6,165.6,-7.0,85,1809,0.00,2.58,0.00,0.000,4,0.000,0.066,2576,724,3430
$GC,1838,-0.91,-146.6,168.3,-7.4,86,1845,0.15,2.50,0.00,0.000,6,0.049,0.048,2531,2148,3430
$GC,2154,-0.82,-146.6,193.5,-7.3,102,2159,0.15,2.53,0.00,0.000,4,0.079,0.071,2566,3538,3431
$GC,2199,-0.82,-146.6,196.5,-5.9,104,2203,0.00,2.47,0.00,0.000,6,0.000,0.052,2566,2140,3431
$GC,2520,-0.82,-146.6,217.0,-6.7,120,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2126,3430
$GC,2829,-0.82,-146.6,238.2,-7.2,135,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2126,3430
$GC,3139,-0.82,-146.6,258.6,-6.0,150,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2125,3430
$GC,3448,-0.82,-146.6,272.4,-3.9,165,3452,0.00,2.58,0.00,0.000,4,0.000,0.069,2566,3541,3430
$GC,3488,-0.82,-146.6,274.1,-4.3,167,3492,0.00,2.50,0.00,0.000,6,0.000,0.054,2566,2134,3430
$GC,3815,-0.82,-146.6,291.4,-6.3,183,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2120,3430
$GC,4124,-0.82,-146.6,315.1,-8.5,198,4128,0.00,2.53,0.00,0.000,4,0.000,0.067,2566,713,3429
$GC,4156,-0.82,-146.6,318.2,-9.5,199,4163,0.00,2.50,0.00,0.000,6,0.000,0.051,2566,2141,3428
$GC,4472,-0.82,-146.6,349.0,-10.4,215,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2142,3428
$GC,4782,-0.82,-146.6,381.2,-10.1,230,4786,0.00,2.58,0.00,0.000,4,0.000,0.067,2566,717,3428
$GC,4837,-0.86,-146.6,386.9,-9.9,232,4843,0.00,2.50,0.00,0.000,6,0.000,0.052,2565,2140,3428
$GC,5153,-0.86,-146.6,411.7,-7.0,248,5157,0.00,2.58,0.00,0.000,4,0.000,0.067,2566,716,3428
$GC,5198,-0.91,-146.6,414.6,-6.5,250,5202,0.00,2.47,0.00,0.000,6,0.000,0.054,2566,2122,3428
$GC,5519,-0.91,-146.6,433.4,-5.5,266,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2122,3428
$GC,5829,-0.91,-146.6,450.2,-5.7,281,5833,0.00,2.53,0.00,0.000,4,0.000,0.066,2566,722,3427
$GC,5879,-0.95,-146.6,453.1,-5.8,283,5884,0.12,2.47,0.00,0.000,6,0.052,0.051,2527,2126,3428
$GC,6196,-0.86,-146.6,475.7,-7.7,298,6201,0.12,2.58,0.00,0.000,4,0.087,0.067,2554,718,3427
$GC,6229,-0.86,-146.6,478.0,-6.7,299,6235,0.00,2.47,0.00,0.000,6,0.000,0.052,2554,2124,3427
$GC,6545,-0.86,-146.6,498.8,-6.4,315,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2123,3427
$GC,6854,-0.86,-146.6,519.1,-6.6,330,6858,0.00,2.53,0.00,0.000,4,0.000,0.068,2554,722,3427
$GC,6909,-0.86,-146.6,522.8,-6.8,332,6914,0.00,2.45,0.00,0.000,6,0.000,0.053,2554,2113,3427
$GC,7225,-0.86,-146.6,542.1,-6.0,347,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2113,3427
$GC,7534,-0.86,-146.6,559.9,-6.0,362,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2113,3426
$GC,7844,-0.86,-146.6,577.4,-5.2,377,7848,0.00,2.53,0.00,0.000,4,0.000,0.067,2554,717,3426
$GC,7884,-0.86,-146.6,579.6,-5.7,379,7888,0.00,2.42,0.00,0.000,6,0.000,0.053,2554,2095,3426
$GC,8212,-0.86,-146.6,595.3,-5.3,395,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2097,3426
$GC,8520,-0.86,-146.6,613.8,-5.9,410,8524,0.00,2.50,0.00,0.000,4,0.000,0.067,2554,715,3426
$GC,8560,-0.86,-146.6,616.4,-6.5,412,8564,0.00,2.42,0.00,0.000,6,0.000,0.051,2554,2094,3426
$GC,8887,-0.86,-146.6,636.3,-6.5,428,8892,0.00,2.50,0.00,0.000,4,0.000,0.067,2554,717,3426
$GC,8921,-0.86,-146.6,638.7,-7.3,429,8927,0.00,2.42,0.00,0.000,6,0.000,0.051,2554,2089,3426
$GC,9237,-0.86,-146.6,660.2,-6.9,445,9240,0.00,2.47,0.00,0.000,4,0.000,0.070,2554,718,3425
$GC,9270,-0.86,-146.6,662.5,-7.4,446,9274,0.00,2.42,0.00,0.000,6,0.000,0.054,2554,2103,3425
$GC,9591,-0.86,-146.6,684.2,-7.0,462,9595,0.00,2.62,0.00,0.000,4,0.000,0.077,2554,3537,3425
$GC,9624,-0.86,-146.6,686.8,-7.4,463,9630,0.00,2.60,0.00,0.000,6,0.000,0.058,2554,2084,3425
$GC,9940,-0.86,-146.6,708.5,-6.7,479,9944,0.00,2.67,0.00,0.000,4,0.000,0.071,2554,3530,3425
$GC,9995,-0.86,-146.6,712.5,-7.4,481,10001,0.00,2.55,0.00,0.000,6,0.000,0.057,2554,2102,3425
$GC,10311,-0.86,-146.6,740.3,-10.7,497,10315,0.00,2.47,0.00,0.000,4,0.000,0.071,2554,719,3425
$GC,10360,-0.86,-146.6,746.5,-12.9,499,10365,0.00,2.42,0.00,0.000,6,0.000,0.054,2554,2098,3425
$GC,10677,-0.86,-146.6,783.9,-11.1,514,10681,0.00,2.50,0.00,0.000,4,0.000,0.071,2554,723,3425
$GC,10832,-0.94,-146.6,802.2,-13.0,521,10836,0.00,2.38,0.00,0.000,6,0.000,0.054,2554,2069,3424
$GC,11159,-0.94,-146.6,842.9,-10.2,537,11163,0.00,2.67,0.00,0.000,4,0.000,0.077,2554,3528,3424
$GC,11237,-0.94,-146.6,848.0,-5.8,540,11244,0.00,2.58,0.00,0.000,6,0.000,0.064,2554,2100,3424
$GC,11554,-0.94,-146.6,863.3,-5.2,556,11558,0.00,2.50,0.00,0.000,4,0.000,0.081,2554,721,3424
$GC,11611,-1.00,-146.6,866.2,-5.0,558,11616,0.12,2.45,0.00,0.000,6,0.058,0.060,2519,2095,3424
$GC,11927,-0.95,-146.6,890.6,-8.6,573,11931,0.00,2.67,0.00,0.000,4,0.000,0.082,2518,3535,3423
$GC,11977,-0.95,-146.6,895.4,-9.3,575,11981,0.00,2.58,0.00,0.000,6,0.000,0.062,2519,2109,3423
$STATE,12125,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12125,begin apogee
$GC,12132,-0.33,0.0,905.9,6.5,582,12268,0.73,0.00,132.57,1.445,6,0.078,0.000,2675,2021,2831
$STATE,12269,end apogee,CONTROL_FINISHED_OK
$STATE,12269,begin climb
$GC,12272,0.97,146.6,909.5,0.0,589,12415,1.30,2.95,134.77,1.411,4,0.061,0.090,2956,520,2233
$GC,12476,0.76,146.6,899.7,7.5,599,12482,0.22,2.58,0.00,0.000,6,0.094,0.062,2911,1920,2233
$GC,12804,0.77,154.6,882.8,5.8,615,12818,0.00,2.67,8.55,1.187,4,0.000,0.081,2911,3317,2200
$GC,12886,0.77,154.6,876.9,6.9,618,12892,0.00,2.60,0.00,0.000,6,0.000,0.074,2911,1933,2199
$GC,13202,0.94,259.9,863.2,3.1,634,13305,0.15,0.00,95.07,1.425,6,0.056,0.000,2950,1933,1771
$GC,13618,0.88,259.9,843.9,6.1,654,13623,0.00,2.65,0.00,0.000,4,0.000,0.079,2950,3330,1771
$GC,13640,0.83,259.9,842.0,6.6,655,13645,0.12,2.62,0.00,0.000,6,0.097,0.074,2926,1927,1771
$GC,13962,0.83,259.9,817.6,8.4,671,13963,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1927,1770
$GC,14271,0.83,259.9,789.9,8.3,686,14276,0.00,2.67,0.00,0.000,4,0.000,0.087,2927,506,1769
$GC,14311,0.83,259.9,786.7,8.2,688,14316,0.00,2.58,0.00,0.000,6,0.000,0.061,2926,1927,1768
$GC,14638,1.35,579.9,781.7,-2.8,704,14935,0.47,2.78,287.33,1.365,4,0.048,0.079,3041,515,466
$GC,14973,1.07,579.9,743.3,19.0,720,14978,0.32,2.50,0.00,0.000,6,0.084,0.056,2977,1887,467
$GC,15301,1.12,579.9,708.9,10.0,736,15305,0.00,2.60,0.00,0.000,4,0.000,0.079,2977,511,470
$GC,15334,1.12,579.9,705.0,11.0,737,15340,0.00,2.45,0.00,0.000,6,0.000,0.053,2977,1878,470
$GC,15650,1.19,579.9,670.5,11.5,753,15655,0.12,2.58,0.00,0.000,4,0.055,0.075,3013,511,472
$GC,15695,1.11,579.9,664.1,14.7,755,15700,0.12,2.38,0.00,0.000,6,0.085,0.051,2986,1843,471
$GC,16017,1.11,579.9,629.1,9.8,771,16021,0.00,2.50,0.00,0.000,4,0.000,0.076,2986,505,472
$GC,16061,1.11,579.9,624.6,8.9,773,16065,0.00,2.33,0.00,0.000,6,0.000,0.051,2986,1817,473
$GC,16382,1.11,579.9,600.9,7.4,789,16386,0.00,2.42,0.00,0.000,4,0.000,0.074,2986,511,474
$GC,16405,1.11,579.9,599.0,8.2,790,16409,0.00,2.30,0.00,0.000,6,0.000,0.050,2986,1813,474
$GC,16733,1.11,579.9,575.1,6.8,806,16737,0.00,2.42,0.00,0.000,4,0.000,0.074,2985,504,474
$GC,16760,1.11,579.9,573.0,8.3,807,16764,0.00,2.28,0.00,0.000,6,0.000,0.050,2986,1792,474
$GC,17077,1.20,611.5,553.9,5.1,822,17099,0.00,0.00,19.77,1.125,6,0.000,0.000,2985,1808,390
$GC,17406,1.30,635.4,535.4,5.3,838,17415,0.17,2.42,3.25,0.617,4,0.048,0.072,3037,505,390
$GC,17467,1.12,635.4,529.1,12.3,840,17475,0.25,2.25,0.93,0.146,6,0.077,0.049,2986,1780,391
$GC,17784,1.17,635.4,506.4,7.2,856,17788,0.00,0.00,2.60,0.439,6,0.000,0.000,2986,1795,390
$GC,18093,1.23,635.4,486.3,6.8,871,18102,0.12,2.42,2.22,0.291,4,0.052,0.073,3022,501,390
$GC,18120,1.18,635.4,483.7,10.6,872,18124,0.00,2.25,0.00,0.000,6,0.000,0.049,3022,1775,390
$GC,18442,0.99,635.4,440.6,14.1,888,18451,0.28,2.80,2.20,0.277,4,0.080,0.062,2962,3321,390
$GC,18468,0.99,635.4,437.4,12.0,889,18473,0.00,2.83,0.00,0.000,6,0.000,0.060,2962,1767,390
$GC,18790,1.23,660.7,421.3,5.3,905,18792,0.22,0.00,0.00,0.000,6,0.042,0.000,3024,1767,390
$GC,19099,1.04,660.7,378.8,15.7,920,19108,0.22,2.85,2.17,0.261,4,0.081,0.061,2975,3316,389
$GC,19122,0.96,660.7,375.6,14.2,921,19127,0.12,2.80,0.00,0.000,6,0.077,0.058,2946,1768,390
$GC,19450,1.50,660.7,346.8,12.0,937,19455,0.52,2.28,0.03,0.160,4,0.045,0.074,3073,510,390
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$STATE,22166,end climb,SURFACE_DEPTH_REACHED
$STATE,22166,begin surface coast
$FINISH,0.5,1.013272
$STATE,22186,end surface coast,CONTROL_FINISHED_OK
$STATE,22186,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1826
$TCM_TEMP,17.80
$XPDR_PINGS,97
$ALTIM_BOTTOM_PING,845.3,70.5
$24V_AH,23.7,12.346
$10V_AH,10.1,5.652
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$DEVICE_SECS,30.000,223.850,698.400,0.000,0.000,75.524,65.887,277.046,32.000,0.000,0.000,14.218,1974.968,16895.654,842.242,2350.145,818.211,33.355,2105.191,0.000,2291.096,0.000,52.571,0.000
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$SENSOR_SECS,730.262,798.120,552.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53619,1068
$CAP_FILE_SIZE,182576,0
$CFSIZE,254472192,248553472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,73,0,0
$GPS,070909,124556,6151.745,-948.492,43,2.9,62,-9.8