version: 66.04
glider: 160
mission: 3
dive: 50
start: 2 8 109 5 19 7
data:
$ID,160
$MISSION,3
$DIVE,50
$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,-8018.8848
$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,20
$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
$GPS1,051337,6446.334,-123.581,34,1.5,34,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-56.3
$GPS2,051902,6446.287,-123.561,15,1.5,15,-6.0
$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,297.9,77488,-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,-7.82,0.000,2,0.000,0.000,129,2306,1751
$GC,23,-0.77,-116.7,3.2,-0.0,1,150,8.15,2.42,-112.28,0.000,4,0.202,0.096,2361,3714,3522
$GC,271,-0.47,-116.7,15.3,-11.6,45,279,0.28,2.40,0.00,0.000,6,0.120,0.067,2455,2297,3523
$GC,598,-0.55,-116.7,37.9,-7.4,106,605,0.00,2.38,0.00,0.000,4,0.000,0.077,2456,892,3523
$GC,636,-0.55,-116.7,40.5,-6.8,113,643,0.00,2.38,0.00,0.000,6,0.000,0.069,2455,2305,3523
$GC,962,-0.65,-116.7,59.9,-5.5,174,970,0.15,2.38,0.00,0.000,4,0.067,0.076,2392,893,3523
$GC,1043,-0.46,-116.7,66.9,-9.4,189,1051,0.20,2.35,0.00,0.000,6,0.124,0.068,2461,2301,3523
$GC,1370,-0.59,-116.7,87.1,-6.2,250,1377,0.12,2.38,0.00,0.000,4,0.071,0.077,2406,891,3523
$GC,1430,-0.44,-116.7,92.0,-8.9,261,1437,0.15,2.33,0.00,0.000,6,0.110,0.070,2471,2285,3523
$GC,1757,-0.62,-116.7,110.8,-6.3,322,1764,0.17,2.35,0.00,0.000,4,0.062,0.075,2399,877,3523
$GC,1805,-0.44,-116.7,115.0,-9.3,331,1812,0.20,2.35,0.00,0.000,6,0.126,0.071,2465,2285,3523
$GC,2131,-0.60,-116.7,135.0,-6.7,392,2132,0.15,0.00,0.00,0.000,6,0.067,0.000,2404,2285,3523
$GC,2446,-0.48,-116.7,162.1,-8.7,439,2451,0.17,2.33,0.00,0.000,4,0.129,0.074,2458,887,3524
$GC,2542,-0.57,-116.7,169.0,-6.9,448,2547,0.00,2.33,0.00,0.000,6,0.000,0.071,2458,2285,3524
$GC,2864,-0.71,-116.7,189.5,-6.7,479,2868,0.20,2.30,0.00,0.000,4,0.061,0.075,2375,878,3524
$GC,2927,-0.46,-116.7,195.6,-9.9,485,2932,0.25,2.33,0.00,0.000,6,0.127,0.071,2462,2275,3524
$GC,3246,-0.63,-116.7,216.4,-6.8,508,3247,0.15,0.00,0.00,0.000,6,0.067,0.000,2398,2275,3524
$GC,3552,-0.51,-116.7,243.4,-8.6,528,3557,0.15,2.33,0.00,0.000,4,0.130,0.080,2445,881,3524
$GC,3594,-0.59,-116.7,246.7,-7.3,530,3601,0.00,2.33,0.00,0.000,6,0.000,0.074,2444,2277,3525
$GC,3907,-0.68,-116.7,267.8,-6.6,551,3911,0.15,2.33,0.00,0.000,4,0.068,0.080,2380,883,3524
$GC,3986,-0.48,-116.7,275.5,-9.9,556,3991,0.20,2.30,0.00,0.000,6,0.130,0.073,2450,2264,3524
$GC,4310,-0.59,-116.7,297.5,-6.7,577,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2264,3524
$GC,4620,-0.71,-116.7,317.6,-6.5,593,4625,0.20,2.28,0.00,0.000,4,0.065,0.077,2369,891,3524
$GC,4668,-0.46,-116.7,322.2,-10.5,595,4672,0.28,2.25,0.00,0.000,6,0.126,0.070,2462,2260,3524
$GC,4989,-0.63,-116.7,340.4,-5.6,611,4990,0.15,0.00,0.00,0.000,6,0.069,0.000,2399,2260,3524
$GC,5294,-0.53,-116.7,364.9,-8.1,626,5298,0.15,2.30,0.00,0.000,4,0.130,0.080,2445,877,3524
$GC,5395,-0.59,-116.7,371.9,-6.8,630,5402,0.00,2.28,0.00,0.000,6,0.000,0.073,2445,2246,3524
$GC,5705,-0.69,-116.7,391.0,-6.5,646,5707,0.17,0.00,0.00,0.000,6,0.066,0.000,2375,2245,3524
$GC,6011,-0.49,-116.7,418.2,-9.1,661,6015,0.25,2.25,0.00,0.000,4,0.131,0.078,2453,890,3524
$GC,6090,-0.59,-116.7,423.7,-6.6,664,6097,0.00,2.22,0.00,0.000,6,0.000,0.072,2452,2240,3523
$GC,6401,-0.73,-116.7,442.8,-6.4,680,6402,0.20,0.00,0.00,0.000,6,0.066,0.000,2369,2240,3523
$GC,6706,-0.51,-116.7,471.9,-9.6,695,6710,0.25,2.25,0.00,0.000,4,0.134,0.079,2447,883,3523
$GC,6775,-0.59,-116.7,477.0,-6.7,698,6780,0.00,2.25,0.00,0.000,6,0.000,0.075,2447,2239,3522
$GC,7096,-0.71,-116.7,497.0,-6.3,714,7100,0.17,2.25,0.00,0.000,4,0.067,0.080,2376,890,3522
$GC,7138,-0.48,-116.7,500.8,-9.2,716,7143,0.22,2.22,0.00,0.000,6,0.132,0.074,2453,2235,3522
$GC,7465,-0.64,-116.7,521.1,-6.0,732,7466,0.15,0.00,0.00,0.000,6,0.071,0.000,2392,2235,3521
$GC,7770,-0.52,-116.7,545.6,-7.9,747,7774,0.17,2.25,0.00,0.000,4,0.132,0.082,2446,891,3521
$GC,7844,-0.61,-116.7,550.8,-6.5,750,7849,0.00,2.22,0.00,0.000,6,0.000,0.076,2446,2227,3521
$GC,8160,-0.73,-116.7,570.5,-6.4,766,8165,0.20,2.22,0.00,0.000,4,0.066,0.081,2365,891,3521
$GC,8202,-0.46,-116.7,574.4,-9.6,768,8207,0.28,2.22,0.00,0.000,6,0.133,0.075,2458,2225,3520
$GC,8529,-0.65,-116.7,595.0,-6.3,784,8530,0.17,0.00,0.00,0.000,6,0.066,0.000,2386,2226,3519
$GC,8853,-0.51,-116.7,622.3,-8.4,796,8857,0.20,2.22,0.00,0.000,4,0.131,0.082,2449,891,3519
$GC,8890,-0.64,-116.7,624.8,-6.6,797,8895,0.10,2.22,0.00,0.000,6,0.067,0.077,2398,2225,3519
$GC,9220,-0.56,-116.7,650.8,-7.7,808,9221,0.12,0.00,0.00,0.000,6,0.140,0.000,2434,2225,3519
$GC,9523,-0.65,-116.7,669.7,-6.1,818,9528,0.00,2.25,0.00,0.000,4,0.000,0.081,2435,877,3519
$GC,9576,-0.65,-116.7,673.3,-7.0,819,9581,0.00,2.25,0.00,0.000,6,0.000,0.077,2434,2222,3519
$GC,9891,-0.74,-116.7,691.9,-5.8,830,9892,0.17,0.00,0.00,0.000,6,0.068,0.000,2363,2222,3519
$GC,10194,-0.51,-116.7,717.6,-8.6,840,10199,0.28,2.22,0.00,0.000,4,0.133,0.080,2449,887,3518
$GC,10258,-0.63,-116.7,721.8,-6.7,842,10263,0.10,2.20,0.00,0.000,6,0.067,0.076,2400,2213,3518
$GC,10593,-0.57,-116.7,745.8,-7.2,853,10597,0.00,2.22,0.00,0.000,4,0.000,0.083,2400,889,3517
$GC,10641,-0.48,-116.7,749.4,-8.2,854,10645,0.15,2.20,0.00,0.000,6,0.133,0.076,2452,2209,3518
$GC,10960,-0.65,-116.7,766.3,-5.1,865,10961,0.15,0.00,0.00,0.000,6,0.073,0.000,2391,2210,3517
$GC,11263,-0.57,-116.7,788.2,-7.3,875,11265,0.12,0.00,0.00,0.000,6,0.138,0.000,2428,2210,3517
$GC,11567,-0.64,-116.7,805.2,-5.4,885,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2210,3517
$GC,11870,-0.70,-116.7,821.6,-5.5,895,11875,0.12,2.22,0.00,0.000,4,0.075,0.085,2377,883,3517
$GC,11913,-0.51,-116.7,824.6,-7.8,896,11917,0.20,2.22,0.00,0.000,6,0.133,0.080,2446,2208,3517
$GC,12238,-0.67,-116.7,840.1,-4.8,907,12239,0.15,0.00,0.00,0.000,6,0.072,0.000,2385,2209,3516
$GC,12541,-0.56,-116.7,860.4,-6.8,917,12545,0.15,2.22,0.00,0.000,4,0.137,0.086,2431,880,3516
$GC,12583,-0.62,-116.7,863.1,-5.6,918,12588,0.00,2.20,0.00,0.000,6,0.000,0.079,2431,2196,3516
$GC,12908,-0.71,-116.7,879.6,-5.0,929,12909,0.15,0.00,0.00,0.000,6,0.074,0.000,2369,2196,3515
$GC,13211,-0.53,-116.7,901.8,-7.3,939,13216,0.22,2.20,0.00,0.000,4,0.136,0.084,2439,878,3516
$GC,13254,-0.63,-116.7,904.3,-5.2,940,13258,0.00,2.20,0.00,0.000,6,0.000,0.078,2438,2198,3515
$GC,13578,-0.76,-116.7,921.3,-5.4,951,13580,0.20,0.00,0.00,0.000,6,0.069,0.000,2356,2197,3515
$GC,13882,-0.52,-116.7,946.8,-8.6,961,13886,0.28,2.17,0.00,0.000,4,0.139,0.082,2441,891,3515
$GC,13935,-0.64,-116.7,950.2,-6.5,962,13940,0.08,2.17,0.00,0.000,6,0.072,0.077,2402,2198,3515
$GC,14249,-0.64,-116.7,971.7,-6.8,973,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2199,3515
$STATE,14521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14521,begin apogee
$GC,14524,-0.23,0.0,990.3,6.8,982,14622,0.43,0.00,96.60,1.456,6,0.127,0.000,2539,2311,3046
$STATE,14623,end apogee,CONTROL_FINISHED_OK
$STATE,14623,begin climb
$GC,14624,0.77,116.7,992.8,0.0,985,14733,0.98,2.72,103.10,1.413,4,0.089,0.089,2860,3707,2569
$GC,14753,0.32,116.7,987.9,8.0,989,14758,0.55,2.62,0.00,0.000,6,0.160,0.069,2718,2304,2567
$GC,15078,0.64,174.1,972.7,4.6,1000,15133,0.30,2.67,49.83,1.399,4,0.058,0.087,2829,889,2335
$GC,15245,0.54,174.1,958.6,8.7,1005,15250,0.12,2.50,0.00,0.000,6,0.141,0.071,2790,2283,2330
$GC,15570,0.61,174.1,932.8,8.0,1016,15571,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2283,2328
$GC,15873,0.61,174.1,909.2,7.7,1026,15874,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2283,2328
$GC,16177,0.61,174.1,885.3,7.9,1036,16178,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2283,2327
$GC,16481,0.61,174.1,860.8,8.1,1046,16481,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2283,2327
$GC,16784,0.61,174.1,836.7,7.8,1056,16785,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2283,2327
$GC,17088,0.67,174.1,812.5,7.9,1066,17089,0.12,0.00,0.00,0.000,6,0.073,0.000,2840,2284,2326
$GC,17391,0.53,174.1,782.9,9.9,1076,17392,0.20,0.00,0.00,0.000,6,0.142,0.000,2781,2284,2326
$GC,17695,0.63,174.1,760.0,7.5,1086,17696,0.10,0.00,0.00,0.000,6,0.085,0.000,2823,2284,2326
$GC,17998,0.56,174.1,733.2,8.8,1096,17999,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2284,2326
$GC,18302,0.49,174.1,707.1,8.5,1106,18303,0.17,0.00,0.00,0.000,6,0.137,0.000,2772,2284,2325
$GC,18605,0.65,185.9,687.4,6.4,1116,18620,0.15,2.40,9.43,1.158,4,0.071,0.080,2838,881,2287
$GC,18646,0.53,185.9,683.9,9.0,1117,18651,0.15,2.38,0.00,0.000,6,0.134,0.071,2788,2287,2286
$GC,18972,0.62,185.9,660.1,7.3,1128,18972,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2288,2286
$GC,19275,0.71,185.9,638.3,7.1,1138,19279,0.15,2.35,0.00,0.000,4,0.068,0.081,2853,892,2286
$GC,19306,0.53,185.9,635.6,8.2,1139,19311,0.20,2.33,0.00,0.000,6,0.132,0.071,2786,2285,2286
$GC,19642,0.65,189.3,612.8,6.7,1150,19652,0.12,2.45,4.43,0.897,4,0.074,0.087,2837,3709,2274
$GC,19668,0.49,189.3,610.5,9.0,1150,19675,0.20,2.40,0.00,0.000,6,0.140,0.068,2775,2273,2273
$GC,19977,0.67,203.9,590.4,6.3,1163,19999,0.15,2.38,13.88,1.157,4,0.071,0.079,2838,892,2213
$GC,20035,0.58,203.9,585.5,7.9,1165,20044,0.10,2.33,0.00,0.000,6,0.136,0.067,2803,2266,2211
$GC,20345,0.58,203.9,561.0,7.9,1181,20350,0.00,2.47,0.00,0.000,4,0.000,0.086,2803,3706,2210
$GC,20393,0.58,203.9,556.8,9.5,1183,20398,0.00,2.40,0.00,0.000,6,0.000,0.069,2803,2276,2210
$GC,20714,0.58,203.9,530.8,8.2,1199,20719,0.00,2.35,0.00,0.000,4,0.000,0.081,2803,888,2210
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$STATE,26963,end climb,SURFACE_DEPTH_REACHED
$STATE,26963,begin surface coast
$FINISH,2.5,1.027322
$STATE,26991,end surface coast,CONTROL_FINISHED_OK
$STATE,26991,begin surface
$SM_CCo,27063,0.00,0.000,0,0,2080,236.71
$SM_GC,3.33,7.28,0.00,0.00,0.057,0.000,0.000,142,2315,2080,-7.66,0.42,236.71
$IRIDIUM_FIX,6416.43,-40.26,040598,212127
$TT8_MAMPS,0.051389
$HUMID,1640
$INTERNAL_PRESSURE,9.00812
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.5,13.952
$10V_AH,10.5,7.986
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$DEVICE_SECS,30.425,214.700,304.675,0.000,0.000,29.643,33.445,168.293,0.000,0.000,0.000,16.993,0.000,22292.258,636.645,3998.953,428.885,0.000,2219.928,0.000,3289.982,0.000,0.828,0.000
$DEVICE_MAMPS,202.488,105.079,1455.766,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1254.026,970.446,665.953,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88257,1767
$CAP_FILE_SIZE,229685,0
$CFSIZE,260165632,253337600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129, 58.8,1
$GPS,080209,125107,6448.371,-126.707,38,1.1,38,-6.0