version: 66.04
glider: 160
mission: 3
dive: 8
start: 1 25 109 18 50 33
data:
$ID,160
$MISSION,3
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,480
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51810
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,8
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7101.2954
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2613
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3046
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.900637
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,184454,6346.062,159.918,38,1.8,38,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-61.7
$GPS2,185028,6346.129,159.953,7,2.1,26,-3.9
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6440.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,276.4,174038,-13.7,-6.875
$D_GRID,1587
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.77,-116.7,0.0,0.0,0,47,0.00,0.00,-33.70,0.000,2,0.000,0.000,130,2306,2611
$GC,49,-0.77,-116.7,3.1,-0.6,5,106,8.88,2.40,-41.33,0.000,4,0.246,0.084,2358,890,3523
$GC,345,-0.38,-116.7,30.4,-15.0,59,352,0.35,2.35,0.00,0.000,6,0.120,0.067,2488,2298,3524
$GC,671,-0.65,-116.7,54.1,-8.3,120,679,0.25,2.35,0.00,0.000,4,0.058,0.073,2385,890,3526
$GC,828,-0.44,-116.7,69.8,-9.9,149,834,0.22,2.33,0.00,0.000,6,0.114,0.066,2471,2294,3525
$GC,1154,-0.61,-116.7,86.8,-5.1,210,1161,0.17,2.35,0.00,0.000,4,0.064,0.074,2398,885,3526
$GC,1224,-0.44,-116.7,92.1,-7.8,223,1230,0.20,2.33,0.00,0.000,6,0.122,0.068,2465,2285,3526
$GC,1549,-0.60,-116.7,114.8,-5.4,284,1558,0.15,2.30,0.00,0.000,4,0.066,0.071,2402,890,3526
$GC,1626,-0.45,-116.7,120.6,-7.8,298,1633,0.17,2.30,0.00,0.000,6,0.121,0.066,2464,2287,3526
$GC,1953,-0.59,-116.7,138.1,-5.1,359,1959,0.12,2.28,0.00,0.000,4,0.075,0.072,2408,887,3526
$GC,2016,-0.47,-116.7,143.1,-8.3,371,2023,0.12,2.30,0.00,0.000,6,0.123,0.068,2454,2282,3526
$GC,2335,-0.58,-116.7,164.1,-6.7,412,2340,0.00,2.30,0.00,0.000,4,0.000,0.070,2454,887,3526
$GC,2426,-0.65,-116.7,170.2,-6.4,420,2434,0.12,2.28,0.00,0.000,6,0.058,0.067,2392,2272,3526
$GC,2741,-0.52,-116.7,197.9,-9.2,451,2746,0.17,2.28,0.00,0.000,4,0.130,0.073,2446,891,3527
$GC,2842,-0.52,-116.7,205.4,-7.0,458,2847,0.00,2.25,0.00,0.000,6,0.000,0.067,2445,2265,3526
$GC,3160,-0.60,-116.7,226.0,-6.6,479,3164,0.00,2.28,0.00,0.000,4,0.000,0.071,2446,876,3527
$GC,3202,-0.60,-116.7,229.1,-7.5,481,3209,0.00,2.28,0.00,0.000,6,0.000,0.067,2446,2262,3526
$GC,3514,-0.68,-116.7,249.2,-6.2,502,3519,0.15,2.25,0.00,0.000,4,0.071,0.071,2380,887,3527
$GC,3567,-0.45,-116.7,254.0,-9.3,505,3572,0.22,2.22,0.00,0.000,6,0.125,0.067,2459,2245,3526
$GC,3886,-0.59,-116.7,272.0,-5.6,526,3887,0.12,0.00,0.00,0.000,6,0.071,0.000,2404,2244,3526
$GC,4192,-0.52,-116.7,296.0,-7.4,546,4196,0.15,2.22,0.00,0.000,4,0.127,0.072,2451,888,3526
$GC,4250,-0.58,-116.7,299.6,-5.8,549,4257,0.00,2.22,0.00,0.000,6,0.000,0.067,2450,2247,3527
$GC,4576,-0.69,-116.7,319.3,-6.2,566,4580,0.17,2.22,0.00,0.000,4,0.066,0.073,2376,889,3526
$GC,4650,-0.46,-116.7,326.5,-10.4,569,4655,0.25,2.22,0.00,0.000,6,0.123,0.068,2463,2243,3526
$GC,4966,-0.64,-116.7,347.4,-6.7,585,4971,0.17,2.22,0.00,0.000,4,0.064,0.072,2389,887,3527
$GC,5100,-0.48,-116.7,360.5,-9.7,591,5104,0.17,2.20,0.00,0.000,6,0.120,0.069,2451,2234,3527
$GC,5420,-0.62,-116.7,381.7,-6.9,607,5425,0.12,2.22,0.00,0.000,4,0.074,0.075,2396,884,3527
$GC,5484,-0.49,-116.7,387.5,-9.3,610,5489,0.15,2.22,0.00,0.000,6,0.122,0.071,2450,2239,3526
$GC,5811,-0.62,-116.7,408.1,-6.8,626,5815,0.12,2.22,0.00,0.000,4,0.076,0.074,2394,878,3527
$GC,5896,-0.48,-116.7,416.0,-9.7,630,5901,0.17,2.22,0.00,0.000,6,0.123,0.071,2456,2229,3526
$GC,6222,-0.65,-116.7,436.1,-5.6,646,6227,0.17,2.20,0.00,0.000,4,0.066,0.077,2385,891,3527
$GC,6253,-0.47,-116.7,438.6,-8.8,647,6258,0.20,2.20,0.00,0.000,6,0.124,0.071,2454,2234,3527
$GC,6570,-0.62,-116.7,456.6,-5.5,663,6571,0.12,0.00,0.00,0.000,6,0.076,0.000,2404,2235,3526
$GC,6875,-0.62,-116.7,476.5,-6.4,678,6879,0.00,2.25,0.00,0.000,4,0.000,0.080,2404,877,3526
$GC,6992,-0.53,-116.7,484.6,-7.2,683,6997,0.10,2.22,0.00,0.000,6,0.130,0.074,2440,2219,3526
$GC,7308,-0.63,-116.7,502.5,-5.6,699,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2219,3525
$GC,7613,-0.73,-116.7,518.3,-5.2,714,7614,0.20,0.00,0.00,0.000,6,0.077,0.000,2364,2219,3524
$GC,7918,-0.50,-116.7,545.3,-9.4,729,7923,0.28,2.20,0.00,0.000,4,0.135,0.082,2450,893,3524
$GC,8035,-0.61,-116.7,553.4,-6.6,734,8040,0.00,2.17,0.00,0.000,6,0.000,0.077,2450,2203,3523
$GC,8351,-0.75,-116.7,571.1,-5.6,750,8356,0.22,2.22,0.00,0.000,4,0.079,0.089,2367,879,3523
$GC,8409,-0.51,-116.7,576.3,-10.0,752,8418,0.22,2.22,0.00,0.000,6,0.142,0.081,2442,2207,3522
$GC,8720,-0.61,-116.7,596.0,-6.2,768,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2207,3522
$GC,9044,-0.72,-116.7,614.9,-5.8,780,9045,0.20,0.00,0.00,0.000,6,0.087,0.000,2372,2207,3521
$GC,9347,-0.53,-116.7,640.6,-8.5,790,9352,0.22,2.22,0.00,0.000,4,0.148,0.088,2440,886,3519
$GC,9464,-0.53,-116.7,648.3,-6.9,793,9469,0.00,2.20,0.00,0.000,6,0.000,0.079,2440,2205,3518
$GC,9779,-0.62,-116.7,666.2,-5.7,804,9783,0.00,2.22,0.00,0.000,4,0.000,0.087,2439,887,3518
$GC,9810,-0.62,-116.7,668.2,-6.5,805,9815,0.00,2.17,0.00,0.000,6,0.000,0.082,2439,2189,3518
$GC,10146,-0.72,-116.7,687.6,-5.9,816,10147,0.17,0.00,0.00,0.000,6,0.093,0.000,2377,2189,3518
$GC,10449,-0.56,-116.7,711.5,-7.9,826,10454,0.20,2.20,0.00,0.000,4,0.150,0.091,2436,886,3516
$GC,10513,-0.56,-116.7,715.7,-6.0,828,10517,0.00,2.17,0.00,0.000,6,0.000,0.082,2436,2188,3516
$GC,10848,-0.65,-116.7,736.1,-6.2,839,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2187,3516
$GC,11152,-0.74,-116.7,754.3,-6.2,849,11156,0.17,2.20,0.00,0.000,4,0.099,0.092,2376,886,3516
$GC,11205,-0.54,-116.7,758.9,-9.8,850,11209,0.17,2.17,0.00,0.000,6,0.150,0.083,2433,2180,3515
$GC,11519,-0.62,-116.7,778.5,-6.2,861,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2180,3515
$GC,11822,-0.70,-116.7,796.9,-6.1,871,11823,0.15,0.00,0.00,0.000,6,0.097,0.000,2382,2181,3514
$GC,12125,-0.57,-116.7,820.6,-7.9,881,12130,0.15,2.17,0.00,0.000,4,0.156,0.091,2423,893,3514
$GC,12157,-0.57,-116.7,823.0,-7.4,882,12162,0.00,2.17,0.00,0.000,6,0.000,0.084,2424,2189,3514
$GC,12492,-0.57,-116.7,844.0,-6.3,893,12497,0.00,2.20,0.00,0.000,4,0.000,0.092,2424,893,3513
$GC,12529,-0.57,-116.7,846.6,-6.6,894,12534,0.00,2.15,0.00,0.000,6,0.000,0.084,2424,2173,3513
$GC,12859,-0.57,-116.7,866.8,-6.2,905,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2174,3513
$GC,13163,-0.57,-116.7,886.2,-6.4,915,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2174,3512
$GC,13466,-0.57,-116.7,905.9,-6.5,925,13471,0.00,2.17,0.00,0.000,4,0.000,0.092,2424,893,3512
$GC,13503,-0.57,-116.7,908.6,-7.4,926,13508,0.00,2.15,0.00,0.000,6,0.000,0.081,2424,2176,3512
$GC,13833,-0.57,-116.7,929.9,-6.3,937,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2176,3512
$GC,14137,-0.57,-116.7,949.0,-6.2,947,14141,0.00,2.20,0.00,0.000,4,0.000,0.093,2424,883,3511
$GC,14174,-0.57,-116.7,951.6,-6.0,948,14178,0.00,2.15,0.00,0.000,6,0.000,0.084,2424,2167,3511
$GC,14504,-0.57,-116.7,972.1,-6.0,959,14505,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2167,3511
$GC,14807,-0.57,-116.7,989.7,-5.8,969,14812,0.00,2.17,0.00,0.000,4,0.000,0.095,2424,893,3511
$STATE,14816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14816,begin apogee
$GC,14821,-0.23,0.0,990.4,5.8,969,14920,0.32,0.00,97.30,1.453,6,0.153,0.000,2529,2301,3047
$STATE,14921,end apogee,CONTROL_FINISHED_OK
$STATE,14921,begin climb
$GC,14922,0.77,116.7,992.6,0.0,972,15034,1.05,2.72,104.15,1.411,4,0.123,0.096,2850,3704,2569
$GC,15055,0.35,116.7,987.2,8.0,976,15060,0.45,2.60,0.00,0.000,6,0.183,0.074,2732,2298,2566
$GC,15380,0.63,162.5,970.5,5.0,987,15426,0.28,2.67,40.05,1.388,4,0.107,0.096,2817,891,2382
$GC,15548,0.63,162.5,956.8,8.4,992,15554,0.00,2.50,0.00,0.000,6,0.000,0.079,2816,2284,2377
$GC,15873,0.63,162.5,929.4,8.4,1003,15874,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2283,2376
$GC,16177,0.63,162.5,903.9,8.4,1013,16177,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2284,2375
$GC,16480,0.63,162.5,878.4,8.4,1023,16485,0.00,2.45,0.00,0.000,4,0.000,0.094,2817,893,2374
$GC,16517,0.63,162.5,875.3,8.8,1024,16522,0.00,2.40,0.00,0.000,6,0.000,0.084,2817,2284,2374
$GC,16847,0.63,162.5,847.6,8.4,1035,16848,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2284,2374
$GC,17151,0.63,162.5,821.7,8.5,1045,17155,0.00,2.42,0.00,0.000,4,0.000,0.092,2817,892,2374
$GC,17188,0.63,162.5,818.6,8.2,1046,17192,0.00,2.38,0.00,0.000,6,0.000,0.084,2816,2280,2373
$GC,17518,0.63,162.5,790.6,8.5,1057,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2280,2373
$GC,17821,0.63,162.5,763.8,8.9,1067,17826,0.00,2.42,0.00,0.000,4,0.000,0.094,2817,885,2373
$GC,17858,0.63,162.5,760.6,9.3,1068,17863,0.00,2.38,0.00,0.000,6,0.000,0.084,2817,2275,2373
$GC,18188,0.63,162.5,730.8,9.0,1079,18189,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2275,2373
$GC,18492,0.63,162.5,704.4,8.5,1089,18496,0.00,2.40,0.00,0.000,4,0.000,0.094,2817,891,2372
$GC,18555,0.63,162.5,699.0,8.7,1091,18560,0.00,2.35,0.00,0.000,6,0.000,0.083,2817,2274,2373
$GC,18891,0.63,162.5,671.7,7.9,1102,18895,0.00,2.40,0.00,0.000,4,0.000,0.094,2817,890,2373
$GC,18922,0.63,162.5,669.1,8.2,1103,18927,0.00,2.35,0.00,0.000,6,0.000,0.083,2816,2276,2373
$GC,19258,0.63,162.5,643.3,7.6,1114,19258,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2276,2372
$GC,19561,0.63,162.5,621.1,7.4,1124,19566,0.00,2.40,0.00,0.000,4,0.000,0.094,2817,891,2372
$GC,19625,0.63,162.5,616.4,7.6,1126,19630,0.00,2.35,0.00,0.000,6,0.000,0.084,2817,2274,2372
$GC,19951,0.63,162.5,593.0,6.9,1138,19951,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2274,2372
$GC,20256,0.63,162.5,572.1,6.9,1153,20260,0.00,2.40,0.00,0.000,4,0.000,0.094,2817,884,2372
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$STATE,27406,end climb,SURFACE_DEPTH_REACHED
$STATE,27406,begin surface coast
$FINISH,2.3,1.027473
$STATE,27444,end surface coast,CONTROL_FINISHED_OK
$STATE,27444,begin surface
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$IRIDIUM_FIX,6317.84,211.22,210498,111122
$TT8_MAMPS,0.051389
$HUMID,1611
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$TCM_TEMP,18.40
$XPDR_PINGS,186
$24V_AH,22.9,7.898
$10V_AH,10.5,3.049
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$DEVICE_SECS,25.400,206.325,320.375,0.000,0.000,25.653,38.185,166.079,46.500,0.000,0.000,29.668,0.000,22679.543,616.280,4127.322,399.116,0.000,2238.056,0.000,3405.553,0.000,0.831,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88251,1786
$CAP_FILE_SIZE,218316,0
$CFSIZE,260165632,257486848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193, 15.4,1
$GPS,260109,023006,6348.918,154.566,35,1.5,35,-3.9