version: 66.04
glider: 160
mission: 3
dive: 53
start: 2 9 109 4 20 7
data:
$ID,160
$MISSION,3
$DIVE,53
$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,-8071.4321
$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
$GPS1,041025,6451.082,-136.136,36,1.3,36,-6.1
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,3.53
$_SM_ANGLEo,-67.0
$GPS2,042002,6451.092,-136.049,12,1.3,12,-6.1
$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,283.9,64341,-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,-8.18,0.000,2,0.000,0.000,121,2315,2267
$GC,23,-0.77,-116.7,3.2,-0.0,1,124,8.45,2.45,-83.62,0.000,4,0.221,0.099,2353,3707,3522
$GC,336,-0.44,-116.7,22.1,-11.1,57,344,0.30,2.38,0.00,0.000,6,0.127,0.067,2471,2298,3524
$GC,663,-0.60,-116.7,41.0,-5.5,118,670,0.15,2.38,0.00,0.000,4,0.068,0.077,2407,887,3524
$GC,765,-0.47,-116.7,49.4,-8.2,137,773,0.15,2.38,0.00,0.000,6,0.127,0.072,2459,2295,3524
$GC,1092,-0.57,-116.7,69.3,-6.3,198,1099,0.00,2.38,0.00,0.000,4,0.000,0.080,2459,893,3524
$GC,1204,-0.67,-116.7,77.0,-6.6,219,1211,0.15,2.33,0.00,0.000,6,0.054,0.071,2388,2286,3524
$GC,1531,-0.49,-116.7,108.1,-9.7,280,1537,0.22,2.33,0.00,0.000,4,0.134,0.074,2457,892,3524
$GC,1579,-0.58,-116.7,111.9,-7.6,289,1587,0.00,2.33,0.00,0.000,6,0.000,0.070,2457,2285,3524
$GC,1906,-0.70,-116.7,132.4,-6.6,350,1913,0.20,2.33,0.00,0.000,4,0.061,0.077,2376,893,3524
$GC,1955,-0.43,-116.7,137.1,-10.3,359,1961,0.28,2.30,0.00,0.000,6,0.130,0.070,2469,2278,3524
$GC,2277,-0.61,-116.7,154.7,-5.2,411,2282,0.15,2.33,0.00,0.000,4,0.067,0.077,2406,891,3525
$GC,2357,-0.49,-116.7,160.8,-8.0,418,2364,0.12,2.30,0.00,0.000,6,0.129,0.069,2449,2278,3524
$GC,2673,-0.57,-116.7,178.8,-5.7,449,2677,0.00,2.30,0.00,0.000,4,0.000,0.078,2449,889,3525
$GC,2774,-0.57,-116.7,185.2,-6.4,458,2780,0.00,2.28,0.00,0.000,6,0.000,0.071,2450,2261,3525
$GC,3099,-0.66,-116.7,206.4,-6.7,487,3103,0.15,2.28,0.00,0.000,4,0.070,0.077,2387,873,3525
$GC,3141,-0.47,-116.7,210.3,-9.4,489,3150,0.20,2.30,0.00,0.000,6,0.130,0.070,2456,2259,3525
$GC,3454,-0.60,-116.7,231.3,-6.8,510,3458,0.12,2.28,0.00,0.000,4,0.069,0.078,2403,894,3525
$GC,3485,-0.45,-116.7,234.1,-9.3,512,3489,0.17,2.25,0.00,0.000,6,0.126,0.071,2464,2253,3525
$GC,3808,-0.62,-116.7,255.1,-6.6,533,3812,0.15,2.28,0.00,0.000,4,0.070,0.081,2402,892,3525
$GC,3855,-0.49,-116.7,259.4,-9.3,536,3860,0.12,2.25,0.00,0.000,6,0.130,0.070,2447,2253,3525
$GC,4179,-0.58,-116.7,282.4,-7.0,557,4182,0.00,2.30,0.00,0.000,4,0.000,0.080,2448,886,3525
$GC,4252,-0.65,-116.7,287.9,-7.4,561,4260,0.10,2.25,0.00,0.000,6,0.061,0.073,2394,2243,3525
$GC,4579,-0.53,-116.7,316.8,-8.8,580,4580,0.15,0.00,0.00,0.000,6,0.139,0.000,2439,2243,3525
$GC,4884,-0.59,-116.7,335.6,-6.0,595,4888,0.00,2.25,0.00,0.000,4,0.000,0.078,2439,893,3525
$GC,4942,-0.59,-116.7,339.2,-6.9,597,4950,0.00,2.22,0.00,0.000,6,0.000,0.070,2438,2241,3525
$GC,5253,-0.59,-116.7,358.2,-6.2,613,5257,0.00,2.25,0.00,0.000,4,0.000,0.077,2438,891,3525
$GC,5284,-0.59,-116.7,360.3,-6.7,614,5289,0.00,2.22,0.00,0.000,6,0.000,0.071,2437,2240,3525
$GC,5600,-0.59,-116.7,379.1,-6.1,630,5604,0.00,2.25,0.00,0.000,4,0.000,0.077,2436,888,3525
$GC,5648,-0.59,-116.7,382.3,-6.5,632,5652,0.00,2.22,0.00,0.000,6,0.000,0.072,2436,2237,3524
$GC,5969,-0.59,-116.7,401.1,-5.6,648,5973,0.00,2.25,0.00,0.000,4,0.000,0.081,2436,893,3525
$GC,6022,-0.59,-116.7,404.5,-6.4,650,6026,0.00,2.20,0.00,0.000,6,0.000,0.071,2436,2222,3524
$GC,6338,-0.59,-116.7,423.5,-5.9,666,6342,0.00,2.22,0.00,0.000,4,0.000,0.077,2436,883,3525
$GC,6369,-0.59,-116.7,425.5,-6.7,667,6374,0.00,2.22,0.00,0.000,6,0.000,0.074,2436,2220,3524
$GC,6685,-0.59,-116.7,444.3,-5.9,683,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2220,3524
$GC,6990,-0.66,-116.7,462.4,-6.0,698,6995,0.12,2.20,0.00,0.000,4,0.079,0.079,2384,893,3524
$GC,7022,-0.46,-116.7,465.1,-8.9,699,7026,0.22,2.20,0.00,0.000,6,0.132,0.072,2460,2219,3523
$GC,7338,-0.64,-116.7,481.2,-5.0,715,7342,0.15,2.53,0.00,0.000,4,0.071,0.089,2395,3712,3523
$GC,7363,-0.64,-116.7,483.0,-7.6,716,7369,0.00,2.47,0.00,0.000,6,0.000,0.071,2396,2221,3523
$GC,7685,-0.54,-116.7,506.8,-7.4,732,7689,0.15,2.20,0.00,0.000,4,0.139,0.083,2441,893,3523
$GC,7759,-0.54,-116.7,511.9,-7.5,735,7764,0.00,2.20,0.00,0.000,6,0.000,0.073,2441,2221,3523
$GC,8075,-0.64,-116.7,530.7,-5.9,751,8079,0.00,2.22,0.00,0.000,4,0.000,0.079,2442,887,3522
$GC,8107,-0.70,-116.7,532.6,-6.3,752,8111,0.12,2.20,0.00,0.000,6,0.061,0.075,2380,2216,3522
$GC,8422,-0.53,-116.7,558.5,-8.2,768,8427,0.20,2.22,0.00,0.000,4,0.138,0.082,2442,883,3522
$GC,8470,-0.61,-116.7,561.8,-6.4,770,8474,0.00,2.22,0.00,0.000,6,0.000,0.077,2442,2216,3522
$GC,8791,-0.72,-116.7,581.1,-6.0,786,8793,0.17,0.00,0.00,0.000,6,0.068,0.000,2372,2216,3522
$GC,9106,-0.52,-116.7,608.3,-8.6,800,9110,0.22,2.22,0.00,0.000,4,0.134,0.084,2442,890,3521
$GC,9137,-0.60,-116.7,610.6,-7.2,801,9142,0.00,2.20,0.00,0.000,6,0.000,0.076,2442,2210,3521
$GC,9473,-0.71,-116.7,631.3,-6.2,812,9477,0.17,2.20,0.00,0.000,4,0.070,0.083,2372,894,3521
$GC,9510,-0.45,-116.7,634.5,-9.0,813,9515,0.28,2.17,0.00,0.000,6,0.134,0.075,2462,2198,3521
$GC,9840,-0.66,-116.7,653.6,-5.7,824,9841,0.17,0.00,0.00,0.000,6,0.070,0.000,2392,2199,3521
$GC,10144,-0.56,-116.7,677.5,-7.9,834,10148,0.12,2.17,0.00,0.000,4,0.138,0.081,2429,892,3520
$GC,10175,-0.56,-116.7,679.9,-7.0,835,10180,0.00,2.17,0.00,0.000,6,0.000,0.077,2429,2197,3520
$GC,10510,-0.56,-116.7,702.2,-6.7,846,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2198,3520
$GC,10814,-0.56,-116.7,722.6,-6.7,856,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2198,3520
$GC,11117,-0.56,-116.7,743.3,-6.8,866,11122,0.00,2.20,0.00,0.000,4,0.000,0.082,2429,888,3519
$GC,11170,-0.56,-116.7,747.2,-7.7,867,11175,0.00,2.17,0.00,0.000,6,0.000,0.078,2429,2193,3520
$GC,11484,-0.56,-116.7,768.1,-6.6,878,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2194,3519
$GC,11788,-0.63,-116.7,788.4,-6.5,888,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2193,3519
$GC,12091,-0.69,-116.7,808.0,-6.4,898,12093,0.12,0.00,0.00,0.000,6,0.077,0.000,2379,2193,3519
$GC,12395,-0.55,-116.7,832.3,-8.1,908,12399,0.20,2.20,0.00,0.000,4,0.135,0.086,2441,887,3519
$GC,12459,-0.64,-116.7,836.8,-7.2,910,12463,0.00,2.17,0.00,0.000,6,0.000,0.080,2441,2186,3518
$GC,12794,-0.77,-116.7,859.0,-6.6,921,12795,0.22,0.00,0.00,0.000,6,0.066,0.000,2351,2186,3518
$GC,13097,-0.50,-116.7,888.2,-9.8,931,13102,0.32,2.17,0.00,0.000,4,0.138,0.085,2452,891,3518
$GC,13161,-0.65,-116.7,892.7,-6.8,933,13166,0.10,2.17,0.00,0.000,6,0.065,0.077,2403,2196,3518
$GC,13496,-0.65,-116.7,918.2,-7.5,944,13497,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2196,3518
$GC,13800,-0.65,-116.7,941.1,-7.6,954,13804,0.00,2.20,0.00,0.000,4,0.000,0.085,2403,888,3518
$GC,13832,-0.58,-116.7,943.7,-8.8,955,13836,0.00,2.17,0.00,0.000,6,0.000,0.079,2403,2189,3518
$GC,14167,-0.58,-116.7,968.7,-7.4,966,14171,0.00,2.20,0.00,0.000,4,0.000,0.085,2403,886,3518
$GC,14204,-0.51,-116.7,971.6,-7.1,967,14209,0.10,2.17,0.00,0.000,6,0.136,0.079,2440,2185,3518
$STATE,14502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14502,begin apogee
$GC,14505,-0.23,0.0,990.4,6.2,977,14604,0.30,0.00,97.20,1.458,6,0.120,0.000,2539,2308,3046
$STATE,14605,end apogee,CONTROL_FINISHED_OK
$STATE,14605,begin climb
$GC,14606,0.77,116.7,993.6,0.0,980,14716,1.00,0.00,103.95,1.409,6,0.087,0.000,2863,2308,2568
$GC,15017,0.43,116.7,968.5,7.7,994,15022,0.40,2.55,0.00,0.000,4,0.153,0.085,2756,893,2564
$GC,15044,0.60,175.0,967.2,4.5,994,15100,0.12,2.47,51.12,1.391,6,0.067,0.074,2810,2289,2331
$GC,15414,0.60,175.0,940.9,7.2,1007,15415,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2290,2324
$GC,15718,0.60,176.8,919.6,6.8,1017,15718,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2289,2323
$GC,16021,0.61,182.1,899.0,6.7,1027,16028,0.00,0.00,6.20,1.122,6,0.000,0.000,2810,2289,2302
$GC,16324,0.61,182.1,877.8,6.9,1037,16325,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2290,2302
$GC,16627,0.61,182.1,857.3,6.9,1047,16628,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2290,2301
$GC,16931,0.61,182.1,836.3,6.9,1057,16936,0.00,2.45,0.00,0.000,4,0.000,0.090,2810,3712,2301
$GC,16952,0.53,182.1,834.6,7.4,1057,16957,0.00,2.38,0.00,0.000,6,0.000,0.071,2813,2300,2301
$GC,17266,0.53,182.1,812.3,7.0,1068,17271,0.00,2.38,0.00,0.000,4,0.000,0.083,2813,893,2300
$GC,17335,0.53,182.1,807.5,7.6,1070,17340,0.00,2.35,0.00,0.000,6,0.000,0.071,2813,2291,2300
$GC,17665,0.53,182.1,783.7,7.2,1081,17666,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2291,2300
$GC,17968,0.53,182.1,761.4,7.4,1091,17969,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2291,2300
$GC,18272,0.53,182.1,738.6,7.7,1101,18273,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2291,2300
$GC,18575,0.53,182.1,713.4,8.5,1111,18576,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2291,2299
$GC,18879,0.53,182.1,688.0,8.3,1121,18880,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2291,2299
$GC,19182,0.53,182.1,662.8,8.4,1131,19183,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2291,2299
$GC,19486,0.53,182.1,637.5,8.2,1141,19487,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2291,2299
$GC,19789,0.53,182.1,612.7,8.2,1151,19790,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2290,2299
$GC,20094,0.53,182.1,587.2,8.4,1163,20094,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2291,2299
$GC,20399,0.53,182.1,561.7,8.3,1178,20403,0.00,2.42,0.00,0.000,4,0.000,0.091,2813,3715,2299
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$STATE,27579,end climb,SURFACE_DEPTH_REACHED
$STATE,27579,begin surface coast
$FINISH,2.7,1.014236
$STATE,27589,end surface coast,CONTROL_FINISHED_OK
$STATE,27589,begin surface
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$HUMID,1643
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$TCM_TEMP,14.40
$XPDR_PINGS,0
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$10V_AH,10.4,8.338
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$DEVICE_SECS,26.400,230.925,280.725,14.025,0.000,51.552,66.894,299.511,0.000,0.000,0.000,14.357,0.000,22811.637,662.558,4060.042,628.909,0.000,2252.047,0.000,3348.755,0.000,1.129,0.000
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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,91563,1821
$CAP_FILE_SIZE,230314,0
$CFSIZE,260165632,253034496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145, 41.5,1
$GPS,090209,120136,6453.029,-140.132,52,0.9,52,-6.2