version: 66.04
glider: 160
mission: 3
dive: 45
start: 2 6 109 14 48 31
data:
$ID,160
$MISSION,3
$DIVE,45
$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,-7884.9702
$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,19
$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
$GPS1,143836,6439.171,-58.706,35,1.2,40,-5.7
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-63.3
$GPS2,144826,6439.134,-58.641,10,1.4,10,-5.7
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6513.400,-239.600
$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,288.3,100833,-13.7,-6.875
$D_GRID,1000
$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,-116.7,0.0,0.0,0,21,0.00,0.00,-8.23,0.000,2,0.000,0.000,122,2312,2255
$GC,23,-0.77,-116.7,3.3,-0.0,1,118,8.62,2.45,-78.10,0.000,4,0.229,0.096,2353,3707,3522
$GC,261,-0.43,-116.7,20.2,-9.8,43,267,0.35,2.38,0.00,0.000,6,0.125,0.065,2470,2298,3523
$GC,587,-0.59,-116.7,38.0,-5.9,104,594,0.15,2.35,0.00,0.000,4,0.069,0.076,2407,894,3524
$GC,646,-0.45,-116.7,42.7,-8.2,115,652,0.17,2.35,0.00,0.000,6,0.122,0.069,2467,2290,3524
$GC,972,-0.60,-116.7,61.9,-5.3,176,979,0.15,2.38,0.00,0.000,4,0.067,0.077,2405,883,3525
$GC,1084,-0.47,-116.7,71.5,-8.2,197,1092,0.15,2.38,0.00,0.000,6,0.123,0.074,2457,2291,3525
$GC,1412,-0.57,-116.7,93.5,-6.8,258,1418,0.00,2.38,0.00,0.000,4,0.000,0.078,2458,886,3525
$GC,1470,-0.66,-116.7,98.0,-7.6,269,1478,0.12,2.35,0.00,0.000,6,0.057,0.073,2394,2287,3525
$GC,1797,-0.51,-116.7,127.8,-8.8,330,1805,0.17,2.33,0.00,0.000,4,0.131,0.075,2447,891,3526
$GC,1835,-0.51,-116.7,130.6,-7.4,337,1843,0.00,2.33,0.00,0.000,6,0.000,0.070,2447,2288,3526
$GC,2167,-0.57,-116.7,152.1,-6.5,396,2171,0.00,2.35,0.00,0.000,4,0.000,0.076,2447,882,3526
$GC,2220,-0.57,-116.7,155.8,-6.8,401,2224,0.00,2.33,0.00,0.000,6,0.000,0.073,2447,2278,3526
$GC,2541,-0.57,-116.7,176.6,-6.4,432,2545,0.00,2.33,0.00,0.000,4,0.000,0.079,2447,893,3526
$GC,2583,-0.57,-116.7,179.5,-6.9,436,2587,0.00,2.30,0.00,0.000,6,0.000,0.071,2448,2277,3525
$GC,2899,-0.65,-116.7,201.6,-7.4,466,2903,0.15,2.33,0.00,0.000,4,0.067,0.079,2383,888,3526
$GC,2957,-0.43,-116.7,207.1,-10.2,469,2965,0.25,2.33,0.00,0.000,6,0.126,0.071,2468,2283,3526
$GC,3270,-0.63,-116.7,226.0,-5.6,490,3274,0.17,2.30,0.00,0.000,4,0.065,0.076,2394,876,3526
$GC,3311,-0.45,-116.7,229.5,-8.8,492,3318,0.20,2.33,0.00,0.000,6,0.123,0.071,2464,2281,3526
$GC,3624,-0.63,-116.7,247.8,-5.5,513,3628,0.17,2.28,0.00,0.000,4,0.064,0.077,2392,891,3526
$GC,3676,-0.45,-116.7,252.1,-8.6,516,3681,0.20,2.28,0.00,0.000,6,0.123,0.069,2462,2266,3526
$GC,3995,-0.62,-116.7,270.0,-5.6,537,3999,0.15,2.28,0.00,0.000,4,0.067,0.078,2398,893,3526
$GC,4036,-0.46,-116.7,273.5,-8.6,539,4043,0.17,2.28,0.00,0.000,6,0.124,0.071,2458,2265,3526
$GC,4349,-0.61,-116.7,291.0,-5.5,560,4353,0.12,2.28,0.00,0.000,4,0.069,0.077,2404,891,3526
$GC,4407,-0.50,-116.7,295.5,-8.1,563,4414,0.12,2.28,0.00,0.000,6,0.127,0.071,2448,2264,3526
$GC,4733,-0.60,-116.7,314.9,-5.8,581,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2264,3526
$GC,5038,-0.70,-116.7,332.9,-5.9,596,5043,0.17,2.28,0.00,0.000,4,0.066,0.077,2377,893,3526
$GC,5107,-0.48,-116.7,339.3,-9.5,599,5112,0.22,2.28,0.00,0.000,6,0.127,0.071,2455,2263,3526
$GC,5428,-0.63,-116.7,359.0,-6.0,615,5433,0.15,2.28,0.00,0.000,4,0.067,0.077,2392,893,3526
$GC,5460,-0.44,-116.7,361.4,-8.3,616,5465,0.20,2.25,0.00,0.000,6,0.124,0.071,2463,2258,3525
$GC,5776,-0.62,-116.7,379.9,-5.9,632,5777,0.15,0.00,0.00,0.000,6,0.071,0.000,2402,2258,3525
$GC,6081,-0.54,-116.7,404.7,-8.3,647,6085,0.12,2.28,0.00,0.000,4,0.135,0.081,2439,893,3525
$GC,6155,-0.54,-116.7,410.3,-7.3,650,6160,0.00,2.25,0.00,0.000,6,0.000,0.072,2439,2250,3524
$GC,6471,-0.61,-116.7,431.3,-6.7,666,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2250,3524
$GC,6776,-0.67,-116.7,452.8,-7.2,681,6781,0.12,2.28,0.00,0.000,4,0.077,0.082,2387,887,3523
$GC,6818,-0.50,-116.7,456.6,-9.6,683,6823,0.17,2.28,0.00,0.000,6,0.131,0.075,2447,2253,3523
$GC,7145,-0.61,-116.7,479.4,-7.0,699,7149,0.00,2.30,0.00,0.000,4,0.000,0.082,2447,883,3523
$GC,7182,-0.69,-116.7,482.1,-7.1,700,7189,0.12,2.28,0.00,0.000,6,0.060,0.077,2386,2245,3522
$GC,7492,-0.55,-116.7,509.8,-8.7,716,7497,0.15,2.25,0.00,0.000,4,0.137,0.080,2431,891,3522
$GC,7556,-0.55,-116.7,514.8,-7.4,719,7560,0.00,2.22,0.00,0.000,6,0.000,0.074,2431,2236,3522
$GC,7882,-0.55,-116.7,537.4,-6.9,735,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2236,3522
$GC,8187,-0.55,-116.7,558.5,-6.9,750,8192,0.00,2.28,0.00,0.000,4,0.000,0.084,2432,884,3521
$GC,8224,-0.55,-116.7,561.1,-7.4,751,8232,0.00,2.25,0.00,0.000,6,0.000,0.078,2431,2229,3521
$GC,8535,-0.55,-116.7,581.9,-6.6,767,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2229,3520
$GC,8850,-0.55,-116.7,603.3,-6.9,782,8855,0.00,2.25,0.00,0.000,4,0.000,0.084,2432,891,3520
$GC,8908,-0.55,-116.7,607.6,-7.4,783,8915,0.00,2.22,0.00,0.000,6,0.000,0.077,2432,2225,3520
$GC,9217,-0.55,-116.7,627.7,-6.3,794,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2225,3520
$GC,9520,-0.55,-116.7,646.9,-6.3,804,9525,0.00,2.22,0.00,0.000,4,0.000,0.083,2431,893,3519
$GC,9574,-0.55,-116.7,650.5,-6.8,805,9578,0.00,2.22,0.00,0.000,6,0.000,0.077,2431,2227,3519
$GC,9888,-0.62,-116.7,670.9,-6.6,816,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2227,3519
$GC,10191,-0.69,-116.7,691.2,-6.6,826,10196,0.12,2.22,0.00,0.000,4,0.078,0.084,2379,894,3519
$GC,10228,-0.48,-116.7,694.5,-9.3,827,10233,0.20,2.22,0.00,0.000,6,0.133,0.080,2448,2221,3519
$GC,10558,-0.64,-116.7,715.0,-6.2,838,10559,0.12,0.00,0.00,0.000,6,0.077,0.000,2395,2220,3518
$GC,10862,-0.55,-116.7,739.1,-8.0,848,10866,0.12,2.22,0.00,0.000,4,0.137,0.083,2432,891,3518
$GC,10898,-0.55,-116.7,741.8,-7.8,849,10903,0.00,2.20,0.00,0.000,6,0.000,0.076,2432,2218,3518
$GC,11229,-0.62,-116.7,763.6,-6.5,860,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2218,3517
$GC,11532,-0.70,-116.7,783.1,-6.3,870,11537,0.12,2.20,0.00,0.000,4,0.080,0.083,2380,894,3517
$GC,11569,-0.51,-116.7,786.4,-8.8,871,11574,0.17,2.20,0.00,0.000,6,0.133,0.078,2442,2215,3517
$GC,11899,-0.64,-116.7,806.3,-5.9,882,11900,0.12,0.00,0.00,0.000,6,0.074,0.000,2391,2214,3517
$GC,12203,-0.55,-116.7,830.5,-8.2,892,12207,0.15,2.22,0.00,0.000,4,0.133,0.085,2437,887,3516
$GC,12261,-0.62,-116.7,834.9,-7.4,893,12270,0.00,2.22,0.00,0.000,6,0.000,0.079,2436,2219,3516
$GC,12570,-0.71,-116.7,855.6,-6.7,904,12575,0.15,2.22,0.00,0.000,4,0.076,0.083,2376,890,3517
$GC,12607,-0.51,-116.7,858.8,-9.6,905,12611,0.20,2.20,0.00,0.000,6,0.133,0.078,2444,2205,3516
$GC,12937,-0.66,-116.7,878.9,-5.8,916,12938,0.15,0.00,0.00,0.000,6,0.071,0.000,2383,2204,3516
$GC,13240,-0.55,-116.7,902.8,-7.8,926,13245,0.17,2.20,0.00,0.000,4,0.133,0.084,2436,891,3516
$GC,13277,-0.63,-116.7,905.4,-6.4,927,13282,0.00,2.20,0.00,0.000,6,0.000,0.077,2436,2212,3515
$GC,13607,-0.75,-116.7,924.4,-5.8,938,13609,0.20,0.00,0.00,0.000,6,0.070,0.000,2354,2212,3515
$GC,13910,-0.51,-116.7,951.3,-9.0,948,13915,0.30,2.22,0.00,0.000,4,0.133,0.086,2449,888,3515
$GC,13985,-0.64,-116.7,956.2,-6.8,950,13990,0.10,2.20,0.00,0.000,6,0.071,0.077,2400,2206,3515
$GC,14309,-0.64,-116.7,979.1,-7.1,961,14310,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2206,3515
$STATE,14460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14460,begin apogee
$GC,14463,-0.23,0.0,990.0,7.1,966,14562,0.43,0.00,96.72,1.453,6,0.127,0.000,2538,2305,3046
$STATE,14562,end apogee,CONTROL_FINISHED_OK
$STATE,14562,begin climb
$GC,14564,0.77,116.7,992.8,0.0,969,14673,0.95,2.75,102.90,1.417,4,0.090,0.092,2851,3711,2569
$GC,14688,0.39,138.1,988.9,6.0,973,14717,0.45,2.62,20.50,1.326,6,0.161,0.072,2745,2301,2482
$GC,15016,0.64,191.5,972.7,4.7,984,15068,0.22,2.65,46.88,1.389,4,0.071,0.089,2826,879,2266
$GC,15146,0.64,191.5,962.5,8.7,988,15151,0.00,2.55,0.00,0.000,6,0.000,0.076,2826,2279,2260
$GC,15471,0.58,191.5,935.9,8.2,999,15472,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2279,2258
$GC,15775,0.52,191.5,911.2,8.2,1009,15776,0.17,0.00,0.00,0.000,6,0.148,0.000,2777,2279,2257
$GC,16078,0.68,208.3,892.0,6.2,1019,16095,0.17,0.00,14.77,1.317,6,0.071,0.000,2842,2279,2196
$GC,16381,0.57,208.3,864.3,9.3,1029,16383,0.15,0.00,0.00,0.000,6,0.147,0.000,2801,2279,2192
$GC,16685,0.57,208.3,840.0,8.0,1039,16686,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2279,2192
$GC,16988,0.57,208.3,815.6,8.0,1049,16989,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2279,2191
$GC,17292,0.57,208.3,791.0,8.1,1059,17293,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2280,2191
$GC,17595,0.57,208.3,766.2,8.1,1069,17600,0.00,2.47,0.00,0.000,4,0.000,0.092,2801,3714,2191
$GC,17622,0.57,208.3,763.7,10.5,1069,17630,0.00,2.40,0.00,0.000,6,0.000,0.072,2808,2287,2191
$GC,17930,0.57,208.3,737.0,8.7,1080,17935,0.00,2.38,0.00,0.000,4,0.000,0.086,2808,883,2190
$GC,17994,0.57,208.3,731.5,7.3,1082,17999,0.00,2.35,0.00,0.000,6,0.000,0.075,2809,2279,2189
$GC,18329,0.57,208.3,702.5,8.6,1093,18334,0.00,2.45,0.00,0.000,4,0.000,0.091,2809,3708,2190
$GC,18350,0.57,208.3,700.6,8.6,1093,18355,0.00,2.40,0.00,0.000,6,0.000,0.071,2809,2273,2190
$GC,18664,0.57,208.3,673.6,8.6,1104,18669,0.00,2.33,0.00,0.000,4,0.000,0.081,2809,891,2190
$GC,18712,0.57,208.3,669.6,8.6,1105,18717,0.00,2.30,0.00,0.000,6,0.000,0.071,2809,2265,2190
$GC,19031,0.57,208.3,643.3,8.1,1116,19036,0.00,2.47,0.00,0.000,4,0.000,0.089,2809,3715,2189
$GC,19057,0.57,208.3,641.0,7.7,1116,19064,0.00,2.40,0.00,0.000,6,0.000,0.072,2809,2276,2190
$GC,19366,0.57,208.3,616.3,8.0,1127,19371,0.00,2.33,0.00,0.000,4,0.000,0.082,2809,891,2189
$GC,19424,0.57,208.3,611.6,8.4,1128,19432,0.00,2.28,0.00,0.000,6,0.000,0.071,2809,2262,2190
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$GC,26001,0.72,234.1,91.2,7.4,1591,26007,0.00,2.47,0.00,0.000,6,0.000,0.068,2816,2226,2091
$GC,26326,0.82,234.1,63.6,8.3,1652,26333,0.17,2.22,0.00,0.000,4,0.065,0.079,2891,889,2090
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$STATE,26976,end climb,SURFACE_DEPTH_REACHED
$STATE,26976,begin surface coast
$FINISH,2.6,1.015859
$STATE,27003,end surface coast,CONTROL_FINISHED_OK
$STATE,27003,begin surface
$SM_CCo,27076,0.00,0.000,0,0,1764,314.47
$SM_GC,3.16,7.38,0.00,0.00,0.058,0.000,0.000,147,2302,1764,-7.64,0.06,314.47
$IRIDIUM_FIX,6411.46,-100.22,030598,141455
$TT8_MAMPS,0.051389
$HUMID,1628
$INTERNAL_PRESSURE,8.98859
$TCM_TEMP,15.00
$XPDR_PINGS,1
$24V_AH,22.5,13.224
$10V_AH,10.5,7.409
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$DEVICE_SECS,28.325,257.025,367.700,0.000,0.000,60.345,73.255,304.708,0.250,0.000,0.000,11.886,0.000,22195.760,716.967,4076.168,646.958,0.000,2356.369,0.000,3361.771,0.000,1.128,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1252.127,987.040,665.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88372,1777
$CAP_FILE_SIZE,237807,0
$CFSIZE,260165632,253825024
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 36.9,1
$GPS,060209,222057,6441.401,-103.126,31,4.8,50,-5.8