version: 66.04
glider: 160
mission: 3
dive: 24
start: 1 30 109 22 15 43
data:
$ID,160
$MISSION,3
$DIVE,24
$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,-3
$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,-7515.9707
$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,17
$R_STBD_OVSHOOT,18
$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
$GPS1,220907,6407.127,54.927,32,1.2,32,-4.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-36.9
$GPS2,221537,6407.147,55.132,61,1.2,61,-4.5
$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,290.4,109662,-13.7,-6.875
$D_GRID,2308
$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,11,-0.77,-116.7,0.0,0.0,0,59,0.00,0.00,-46.05,0.000,2,0.000,0.000,145,2315,1484
$GC,60,-0.77,-116.7,3.1,-0.8,7,194,7.70,2.45,-119.22,0.000,4,0.179,0.087,2360,883,3523
$GC,433,-0.40,-116.7,24.2,-20.0,74,442,0.35,2.42,0.00,0.000,6,0.123,0.073,2477,2298,3523
$GC,761,-0.61,-116.7,54.1,-11.8,135,767,0.17,2.40,0.00,0.000,4,0.064,0.076,2405,887,3523
$GC,1007,-0.45,-116.7,77.9,-9.7,181,1013,0.15,2.38,0.00,0.000,6,0.124,0.071,2459,2297,3523
$GC,1332,-0.54,-116.7,97.5,-6.4,242,1340,0.00,2.38,0.00,0.000,4,0.000,0.076,2459,891,3523
$GC,1414,-0.62,-116.7,103.2,-6.5,257,1420,0.10,2.35,0.00,0.000,6,0.057,0.069,2405,2298,3523
$GC,1739,-0.52,-116.7,133.1,-9.4,318,1748,0.15,2.40,0.00,0.000,4,0.126,0.077,2450,889,3523
$GC,1783,-0.52,-116.7,136.4,-7.5,326,1792,0.00,2.35,0.00,0.000,6,0.000,0.071,2450,2289,3523
$GC,2113,-0.61,-116.7,157.7,-6.2,376,2117,0.12,2.35,0.00,0.000,4,0.074,0.075,2393,884,3523
$GC,2209,-0.45,-116.7,166.1,-8.8,385,2213,0.20,2.35,0.00,0.000,6,0.120,0.073,2463,2284,3523
$GC,2529,-0.60,-116.7,186.3,-6.3,416,2530,0.12,0.00,0.00,0.000,6,0.073,0.000,2407,2284,3523
$GC,2844,-0.51,-116.7,211.2,-7.8,442,2848,0.15,2.33,0.00,0.000,4,0.127,0.074,2453,890,3523
$GC,2875,-0.60,-116.7,213.3,-6.6,444,2879,0.00,2.33,0.00,0.000,6,0.000,0.071,2453,2284,3523
$GC,3198,-0.71,-116.7,231.1,-5.4,465,3202,0.20,2.33,0.00,0.000,4,0.061,0.074,2367,880,3523
$GC,3267,-0.43,-116.7,236.7,-8.6,469,3272,0.30,2.33,0.00,0.000,6,0.124,0.074,2470,2268,3523
$GC,3585,-0.62,-116.7,251.6,-5.2,490,3589,0.17,2.30,0.00,0.000,4,0.061,0.077,2394,871,3524
$GC,3637,-0.46,-116.7,255.7,-8.6,493,3642,0.17,2.33,0.00,0.000,6,0.122,0.071,2457,2265,3523
$GC,3955,-0.62,-116.7,274.5,-6.2,514,3957,0.12,0.00,0.00,0.000,6,0.069,0.000,2401,2265,3523
$GC,4262,-0.53,-116.7,297.7,-7.4,534,4266,0.15,2.30,0.00,0.000,4,0.128,0.077,2447,883,3523
$GC,4320,-0.61,-116.7,301.3,-5.8,537,4327,0.00,2.30,0.00,0.000,6,0.000,0.075,2447,2261,3523
$GC,4630,-0.73,-116.7,322.0,-7.2,553,4635,0.20,2.30,0.00,0.000,4,0.061,0.077,2363,880,3523
$GC,4662,-0.43,-116.7,325.2,-11.1,554,4667,0.30,2.30,0.00,0.000,6,0.128,0.074,2466,2258,3523
$GC,4978,-0.62,-116.7,344.7,-5.7,570,4982,0.15,2.30,0.00,0.000,4,0.067,0.078,2403,881,3523
$GC,5020,-0.50,-116.7,347.8,-8.0,572,5025,0.12,2.30,0.00,0.000,6,0.127,0.075,2447,2259,3523
$GC,5346,-0.61,-116.7,369.5,-6.9,588,5351,0.00,2.30,0.00,0.000,4,0.000,0.077,2448,889,3523
$GC,5378,-0.69,-116.7,372.0,-8.0,589,5383,0.15,2.28,0.00,0.000,6,0.055,0.072,2376,2264,3522
$GC,5694,-0.50,-116.7,402.7,-9.5,605,5699,0.25,2.30,0.00,0.000,4,0.131,0.077,2455,881,3522
$GC,5806,-0.60,-116.7,410.8,-7.4,610,5811,0.08,2.30,0.00,0.000,6,0.067,0.077,2411,2253,3521
$GC,6127,-0.60,-116.7,437.0,-8.0,626,6131,0.00,2.30,0.00,0.000,4,0.000,0.082,2412,885,3521
$GC,6180,-0.53,-116.7,441.5,-8.9,628,6185,0.08,2.28,0.00,0.000,6,0.133,0.077,2438,2242,3521
$GC,6496,-0.60,-116.7,461.8,-6.3,644,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2242,3520
$GC,6801,-0.68,-116.7,480.9,-6.2,659,6805,0.12,2.25,0.00,0.000,4,0.077,0.080,2384,892,3520
$GC,6848,-0.49,-116.7,484.9,-8.3,661,6853,0.20,2.22,0.00,0.000,6,0.128,0.074,2453,2228,3519
$GC,7170,-0.63,-116.7,503.9,-5.7,677,7171,0.12,0.00,0.00,0.000,6,0.077,0.000,2400,2229,3519
$GC,7475,-0.55,-116.7,527.6,-7.9,692,7479,0.12,2.25,0.00,0.000,4,0.134,0.083,2437,889,3519
$GC,7549,-0.55,-116.7,532.9,-7.0,695,7554,0.00,2.25,0.00,0.000,6,0.000,0.077,2436,2235,3518
$GC,7865,-0.63,-116.7,551.9,-5.8,711,7869,0.00,2.25,0.00,0.000,4,0.000,0.082,2436,892,3518
$GC,7902,-0.63,-116.7,554.3,-6.3,712,7909,0.00,2.22,0.00,0.000,6,0.000,0.077,2436,2225,3518
$GC,8212,-0.69,-116.7,572.0,-5.6,728,8213,0.15,0.00,0.00,0.000,6,0.074,0.000,2375,2225,3517
$GC,8517,-0.51,-116.7,596.8,-8.3,743,8522,0.25,2.22,0.00,0.000,4,0.131,0.081,2454,891,3517
$GC,8651,-0.63,-116.7,604.9,-6.0,748,8656,0.10,2.20,0.00,0.000,6,0.064,0.077,2404,2215,3517
$GC,8981,-0.63,-116.7,628.0,-7.1,759,8985,0.00,2.22,0.00,0.000,4,0.000,0.083,2404,888,3516
$GC,9018,-0.53,-116.7,630.9,-7.8,760,9022,0.10,2.20,0.00,0.000,6,0.133,0.075,2440,2214,3516
$GC,9348,-0.63,-116.7,650.5,-6.0,771,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2214,3516
$GC,9651,-0.73,-116.7,667.9,-5.6,781,9656,0.20,2.22,0.00,0.000,4,0.066,0.084,2360,887,3514
$GC,9704,-0.46,-116.7,672.5,-8.9,782,9709,0.30,2.22,0.00,0.000,6,0.133,0.080,2462,2215,3515
$GC,10018,-0.67,-116.7,686.9,-4.2,793,10020,0.20,0.00,0.00,0.000,6,0.067,0.000,2380,2214,3514
$GC,10322,-0.52,-116.7,708.0,-7.0,803,10326,0.22,2.22,0.00,0.000,4,0.129,0.085,2451,891,3514
$GC,10391,-0.64,-116.7,711.5,-4.8,805,10396,0.10,2.20,0.00,0.000,6,0.068,0.079,2399,2200,3514
$GC,10721,-0.64,-116.7,731.0,-6.0,816,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2200,3514
$GC,11024,-0.64,-116.7,749.2,-5.9,826,11029,0.00,2.20,0.00,0.000,4,0.000,0.081,2399,888,3513
$GC,11083,-0.54,-116.7,753.1,-6.7,827,11090,0.10,2.20,0.00,0.000,6,0.134,0.080,2435,2198,3513
$GC,11391,-0.63,-116.7,768.1,-4.8,838,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2198,3513
$GC,11695,-0.72,-116.7,782.3,-4.6,848,11696,0.17,0.00,0.00,0.000,6,0.071,0.000,2364,2198,3512
$GC,11998,-0.51,-116.7,803.8,-7.4,858,12003,0.28,2.17,0.00,0.000,4,0.133,0.083,2451,893,3512
$GC,12051,-0.64,-116.7,806.7,-4.9,859,12056,0.10,2.17,0.00,0.000,6,0.073,0.079,2404,2191,3512
$GC,12365,-0.64,-116.7,825.3,-5.8,870,12370,0.00,2.20,0.00,0.000,4,0.000,0.087,2404,891,3512
$GC,12397,-0.56,-116.7,827.4,-7.4,871,12401,0.00,2.17,0.00,0.000,6,0.000,0.079,2403,2193,3511
$GC,12732,-0.56,-116.7,848.5,-6.3,882,12737,0.00,2.20,0.00,0.000,4,0.000,0.087,2403,892,3511
$GC,12759,-0.48,-116.7,850.3,-7.3,882,12767,0.15,2.15,0.00,0.000,6,0.127,0.078,2457,2178,3511
$GC,13067,-0.69,-116.7,864.3,-4.5,893,13072,0.20,2.60,0.00,0.000,4,0.079,0.095,2382,3706,3512
$GC,13093,-0.61,-116.7,866.0,-7.1,893,13101,0.08,2.53,0.00,0.000,6,0.139,0.073,2410,2189,3511
$GC,13402,-0.61,-116.7,884.8,-6.0,904,13407,0.00,2.17,0.00,0.000,4,0.000,0.089,2411,893,3512
$GC,13498,-0.61,-116.7,891.4,-6.9,907,13502,0.00,2.15,0.00,0.000,6,0.000,0.079,2411,2175,3511
$GC,13833,-0.61,-116.7,913.7,-6.6,918,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2176,3511
$GC,14137,-0.61,-116.7,933.7,-6.5,928,14141,0.00,2.17,0.00,0.000,4,0.000,0.091,2411,896,3511
$GC,14184,-0.61,-116.7,937.1,-7.1,929,14189,0.00,2.20,0.00,0.000,6,0.000,0.084,2411,2188,3511
$GC,14504,-0.61,-116.7,958.8,-6.8,940,14508,0.00,2.22,0.00,0.000,4,0.000,0.094,2411,893,3511
$GC,14546,-0.61,-116.7,961.9,-7.8,941,14551,0.00,2.15,0.00,0.000,6,0.000,0.084,2410,2169,3511
$GC,14871,-0.61,-116.7,983.3,-6.6,952,14872,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2169,3511
$STATE,14991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14991,begin apogee
$GC,14994,-0.23,0.0,991.3,6.6,956,15092,0.40,0.00,96.47,1.450,6,0.140,0.000,2538,2304,3046
$STATE,15093,end apogee,CONTROL_FINISHED_OK
$STATE,15093,begin climb
$GC,15094,0.77,116.7,994.0,0.0,959,15206,1.02,0.00,104.20,1.414,6,0.108,0.000,2855,2304,2569
$GC,15506,0.50,116.7,966.9,8.0,973,15507,0.30,0.00,0.00,0.000,6,0.163,0.000,2774,2304,2563
$GC,15809,0.54,150.4,949.9,5.5,983,15843,0.00,2.70,28.77,1.378,4,0.000,0.095,2775,882,2431
$GC,15884,0.70,183.7,945.4,5.5,985,15919,0.15,2.58,30.88,1.372,6,0.082,0.084,2831,2290,2296
$GC,16239,0.70,183.7,914.1,9.0,997,16240,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2290,2288
$GC,16542,0.64,183.7,885.7,9.5,1007,16546,0.00,2.50,0.00,0.000,4,0.000,0.094,2836,894,2287
$GC,16563,0.57,183.7,883.7,9.1,1007,16568,0.10,2.47,0.00,0.000,6,0.147,0.085,2802,2299,2287
$GC,16877,0.57,183.7,855.7,9.0,1018,16878,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2300,2287
$GC,17180,0.57,183.7,828.8,8.8,1028,17185,0.00,2.50,0.00,0.000,4,0.000,0.097,2804,892,2286
$GC,17201,0.64,183.7,826.8,8.1,1028,17206,0.00,2.42,0.00,0.000,6,0.000,0.084,2804,2286,2286
$GC,17515,0.64,183.7,799.4,8.6,1039,17516,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2286,2286
$GC,17819,0.64,183.7,774.3,8.3,1049,17819,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2286,2285
$GC,18122,0.64,183.7,750.3,7.7,1059,18127,0.00,2.47,0.00,0.000,4,0.000,0.095,2804,3711,2285
$GC,18148,0.64,183.7,748.1,8.1,1059,18156,0.00,2.40,0.00,0.000,6,0.000,0.076,2809,2297,2285
$GC,18457,0.64,183.7,723.8,7.9,1070,18462,0.00,2.42,0.00,0.000,4,0.000,0.089,2809,882,2285
$GC,18499,0.64,183.7,720.4,7.8,1071,18504,0.00,2.40,0.00,0.000,6,0.000,0.079,2809,2289,2285
$GC,18824,0.64,183.7,695.2,7.8,1082,18825,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2289,2284
$GC,19127,0.64,183.7,671.2,7.8,1092,19132,0.00,2.40,0.00,0.000,4,0.000,0.087,2809,892,2284
$GC,19154,0.64,183.7,669.2,8.6,1092,19161,0.00,2.38,0.00,0.000,6,0.000,0.079,2809,2290,2284
$GC,19463,0.64,183.7,644.7,7.9,1103,19464,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2290,2284
$GC,19766,0.64,183.7,620.6,8.0,1113,19767,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2289,2284
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$STATE,27926,end climb,SURFACE_DEPTH_REACHED
$STATE,27926,begin surface coast
$FINISH,2.6,1.027620
$STATE,28033,end surface coast,CONTROL_FINISHED_OK
$STATE,28033,begin surface
$SM_CCo,28046,7.43,0.673,0,0,2127,225.19
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$TT8_MAMPS,0.052923
$HUMID,1612
$INTERNAL_PRESSURE,9.04718
$TCM_TEMP,18.20
$XPDR_PINGS,5
$24V_AH,22.7,10.215
$10V_AH,10.5,4.944
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$DEVICE_SECS,24.375,227.350,287.875,7.425,0.000,30.344,39.632,178.813,1.250,0.000,0.000,63.812,0.000,22980.781,714.692,4283.672,433.876,0.000,2338.837,0.000,3517.531,0.000,0.830,0.000
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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,91445,1842
$CAP_FILE_SIZE,228112,0
$CFSIZE,260165632,255893504
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129, 85.3,1
$GPS,310109,060425,6407.913,52.799,48,1.1,48,-4.6