version: 66.04
glider: 160
mission: 3
dive: 59
start: 2 11 109 2 33 43
data:
$ID,160
$MISSION,3
$DIVE,59
$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,-8183.6416
$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,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
$GPS1,022406,6451.986,-139.853,47,2.0,58,-6.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.52
$_SM_ANGLEo,-60.3
$GPS2,023338,6451.952,-139.853,13,0.9,13,-6.2
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6248.000,415.000
$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,154.0,378070,-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,-8.32,0.000,2,0.000,0.000,120,2311,2241
$GC,23,-0.77,-116.7,3.7,-0.0,1,117,8.40,2.47,-79.53,0.000,4,0.220,0.100,2362,3708,3522
$GC,292,-0.48,-116.7,26.8,-11.1,49,299,0.28,2.38,0.00,0.000,6,0.121,0.067,2457,2299,3524
$GC,618,-0.57,-116.7,48.2,-7.3,110,625,0.00,2.38,0.00,0.000,4,0.000,0.077,2457,891,3525
$GC,714,-0.63,-116.7,57.2,-9.9,128,722,0.10,2.38,0.00,0.000,6,0.056,0.071,2404,2306,3525
$GC,1041,-0.51,-116.7,82.8,-8.4,189,1047,0.15,2.38,0.00,0.000,4,0.136,0.077,2447,893,3524
$GC,1137,-0.51,-116.7,89.8,-7.0,207,1144,0.00,2.35,0.00,0.000,6,0.000,0.071,2448,2295,3525
$GC,1464,-0.57,-116.7,110.8,-6.1,268,1471,0.00,2.38,0.00,0.000,4,0.000,0.081,2447,890,3525
$GC,1560,-0.57,-116.7,117.3,-6.9,286,1567,0.00,2.35,0.00,0.000,6,0.000,0.071,2448,2300,3525
$GC,1887,-0.64,-116.7,137.9,-6.5,347,1894,0.12,2.35,0.00,0.000,4,0.074,0.080,2393,877,3525
$GC,1951,-0.45,-116.7,143.7,-9.3,359,1959,0.20,2.35,0.00,0.000,6,0.123,0.073,2462,2282,3525
$GC,2276,-0.61,-116.7,163.2,-5.8,400,2281,0.15,2.33,0.00,0.000,4,0.069,0.078,2400,891,3526
$GC,2324,-0.45,-116.7,167.4,-8.9,404,2331,0.17,2.33,0.00,0.000,6,0.125,0.071,2460,2286,3526
$GC,2639,-0.60,-116.7,185.4,-5.6,435,2641,0.12,0.00,0.00,0.000,6,0.071,0.000,2406,2286,3526
$GC,2949,-0.51,-116.7,210.6,-8.3,461,2953,0.15,2.30,0.00,0.000,4,0.132,0.077,2450,887,3526
$GC,3055,-0.51,-116.7,218.5,-7.3,467,3063,0.00,2.33,0.00,0.000,6,0.000,0.073,2450,2283,3526
$GC,3367,-0.60,-116.7,238.9,-6.0,488,3371,0.00,2.33,0.00,0.000,4,0.000,0.078,2449,891,3526
$GC,3431,-0.60,-116.7,243.0,-6.3,492,3435,0.00,2.30,0.00,0.000,6,0.000,0.072,2449,2279,3526
$GC,3754,-0.71,-116.7,261.9,-5.9,513,3758,0.20,2.33,0.00,0.000,4,0.064,0.079,2366,888,3526
$GC,3780,-0.45,-116.7,264.2,-9.1,514,3787,0.28,2.30,0.00,0.000,6,0.132,0.074,2460,2267,3526
$GC,4093,-0.62,-116.7,281.0,-5.5,535,4097,0.15,2.30,0.00,0.000,4,0.069,0.079,2396,890,3526
$GC,4140,-0.45,-116.7,284.8,-8.4,538,4144,0.20,2.30,0.00,0.000,6,0.124,0.073,2465,2276,3526
$GC,4458,-0.63,-116.7,303.2,-5.7,558,4462,0.17,2.30,0.00,0.000,4,0.066,0.081,2392,882,3526
$GC,4510,-0.45,-116.7,307.7,-8.8,560,4515,0.20,2.30,0.00,0.000,6,0.125,0.076,2462,2260,3526
$GC,4826,-0.61,-116.7,325.5,-5.2,576,4830,0.15,2.30,0.00,0.000,4,0.068,0.080,2398,886,3526
$GC,4873,-0.46,-116.7,329.2,-8.7,578,4878,0.17,2.28,0.00,0.000,6,0.127,0.074,2457,2252,3526
$GC,5195,-0.61,-116.7,347.4,-5.7,594,5199,0.12,2.28,0.00,0.000,4,0.071,0.081,2405,893,3526
$GC,5242,-0.49,-116.7,351.2,-8.2,596,5247,0.12,2.28,0.00,0.000,6,0.130,0.073,2449,2261,3526
$GC,5564,-0.61,-116.7,370.5,-6.0,612,5568,0.00,2.30,0.00,0.000,4,0.000,0.078,2449,887,3526
$GC,5611,-0.68,-116.7,373.6,-6.4,614,5616,0.12,2.25,0.00,0.000,6,0.061,0.072,2389,2247,3526
$GC,5932,-0.54,-116.7,400.9,-8.5,630,5937,0.17,2.25,0.00,0.000,4,0.137,0.079,2443,893,3526
$GC,5980,-0.54,-116.7,404.4,-7.1,632,5984,0.00,2.25,0.00,0.000,6,0.000,0.073,2443,2245,3526
$GC,6301,-0.62,-116.7,423.6,-5.9,648,6305,0.00,2.25,0.00,0.000,4,0.000,0.079,2443,893,3525
$GC,6332,-0.62,-116.7,425.6,-6.7,649,6337,0.00,2.25,0.00,0.000,6,0.000,0.074,2443,2247,3525
$GC,6649,-0.70,-116.7,444.0,-5.8,665,6653,0.17,2.28,0.00,0.000,4,0.068,0.081,2372,889,3525
$GC,6685,-0.44,-116.7,447.1,-9.3,666,6692,0.28,2.25,0.00,0.000,6,0.133,0.074,2465,2242,3525
$GC,6996,-0.64,-116.7,464.6,-5.7,682,7000,0.17,2.25,0.00,0.000,4,0.067,0.079,2393,891,3525
$GC,7027,-0.46,-116.7,467.4,-9.4,683,7032,0.20,2.25,0.00,0.000,6,0.130,0.073,2461,2244,3525
$GC,7343,-0.64,-116.7,487.2,-6.2,699,7344,0.17,0.00,0.00,0.000,6,0.064,0.000,2390,2245,3524
$GC,7648,-0.51,-116.7,514.1,-9.0,714,7653,0.20,2.25,0.00,0.000,4,0.133,0.081,2452,893,3524
$GC,7728,-0.60,-116.7,520.1,-7.2,717,7735,0.08,2.22,0.00,0.000,6,0.067,0.074,2410,2236,3524
$GC,8038,-0.60,-116.7,544.4,-7.8,733,8043,0.00,2.25,0.00,0.000,4,0.000,0.082,2409,894,3524
$GC,8102,-0.52,-116.7,549.8,-8.3,736,8107,0.08,2.22,0.00,0.000,6,0.138,0.076,2438,2225,3524
$GC,8429,-0.60,-116.7,571.5,-6.5,752,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2225,3524
$GC,8734,-0.68,-116.7,591.3,-6.5,767,8738,0.12,2.25,0.00,0.000,4,0.078,0.083,2386,883,3523
$GC,8787,-0.51,-116.7,595.7,-8.1,769,8791,0.17,2.25,0.00,0.000,6,0.133,0.079,2446,2223,3523
$GC,9101,-0.64,-116.7,615.3,-6.3,781,9106,0.12,2.22,0.00,0.000,4,0.076,0.082,2393,891,3523
$GC,9138,-0.48,-116.7,618.4,-8.5,782,9143,0.17,2.22,0.00,0.000,6,0.129,0.076,2454,2226,3522
$GC,9468,-0.64,-116.7,639.3,-6.4,793,9473,0.15,2.22,0.00,0.000,4,0.071,0.083,2392,893,3522
$GC,9505,-0.48,-116.7,642.5,-9.0,794,9510,0.17,2.20,0.00,0.000,6,0.130,0.077,2453,2216,3522
$GC,9835,-0.65,-116.7,663.7,-6.4,805,9840,0.15,2.22,0.00,0.000,4,0.070,0.082,2392,890,3522
$GC,9872,-0.49,-116.7,667.0,-9.7,806,9877,0.17,2.22,0.00,0.000,6,0.129,0.077,2453,2221,3522
$GC,10202,-0.65,-116.7,689.4,-6.7,817,10207,0.15,2.22,0.00,0.000,4,0.071,0.081,2392,890,3522
$GC,10244,-0.50,-116.7,693.1,-9.5,818,10250,0.15,2.20,0.00,0.000,6,0.130,0.077,2445,2210,3521
$GC,10569,-0.63,-116.7,715.7,-6.7,829,10574,0.12,2.22,0.00,0.000,4,0.075,0.084,2392,882,3521
$GC,10596,-0.52,-116.7,717.9,-9.3,829,10602,0.12,2.22,0.00,0.000,6,0.134,0.078,2437,2216,3521
$GC,10904,-0.62,-116.7,737.7,-6.2,840,10908,0.00,2.22,0.00,0.000,4,0.000,0.084,2437,893,3521
$GC,10931,-0.68,-116.7,739.5,-6.9,840,10937,0.10,2.20,0.00,0.000,6,0.066,0.076,2388,2218,3521
$GC,11239,-0.57,-116.7,762.5,-7.4,851,11244,0.15,2.22,0.00,0.000,4,0.142,0.082,2432,885,3521
$GC,11292,-0.57,-116.7,766.0,-6.7,852,11296,0.00,2.20,0.00,0.000,6,0.000,0.077,2432,2201,3521
$GC,11606,-0.66,-116.7,783.0,-5.2,863,11607,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2200,3521
$GC,11909,-0.74,-116.7,798.4,-5.3,873,11911,0.17,0.00,0.00,0.000,6,0.071,0.000,2362,2201,3520
$GC,12213,-0.52,-116.7,823.1,-8.3,883,12217,0.28,2.17,0.00,0.000,4,0.136,0.081,2448,893,3520
$GC,12261,-0.65,-116.7,826.1,-6.0,884,12265,0.10,2.17,0.00,0.000,6,0.064,0.077,2397,2199,3520
$GC,12580,-0.58,-116.7,847.7,-6.7,895,12581,0.12,0.00,0.00,0.000,6,0.142,0.000,2432,2199,3520
$GC,12884,-0.66,-116.7,864.7,-5.6,905,12888,0.00,2.20,0.00,0.000,4,0.000,0.084,2433,891,3520
$GC,12920,-0.66,-116.7,867.1,-6.1,906,12925,0.00,2.20,0.00,0.000,6,0.000,0.079,2433,2201,3520
$GC,13250,-0.75,-116.7,885.9,-5.7,917,13252,0.17,0.00,0.00,0.000,6,0.070,0.000,2362,2202,3520
$GC,13554,-0.54,-116.7,910.7,-8.2,927,13558,0.25,2.20,0.00,0.000,4,0.137,0.083,2440,883,3519
$GC,13591,-0.65,-116.7,913.1,-6.1,928,13596,0.08,2.20,0.00,0.000,6,0.071,0.081,2399,2196,3519
$GC,13921,-0.65,-116.7,935.4,-6.7,939,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2196,3519
$GC,14224,-0.65,-116.7,955.6,-6.7,949,14229,0.00,2.20,0.00,0.000,4,0.000,0.084,2399,890,3519
$GC,14277,-0.57,-116.7,959.4,-7.1,950,14282,0.08,2.17,0.00,0.000,6,0.143,0.078,2423,2193,3519
$GC,14591,-0.57,-116.7,977.1,-5.6,961,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2193,3519
$STATE,14833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14833,begin apogee
$GC,14836,-0.23,0.0,990.6,5.6,969,14935,0.35,0.00,97.40,1.447,6,0.125,0.000,2537,2304,3045
$STATE,14936,end apogee,CONTROL_FINISHED_OK
$STATE,14936,begin climb
$GC,14937,0.77,116.7,992.7,0.0,972,15047,0.98,2.78,103.30,1.410,4,0.091,0.089,2856,3705,2570
$GC,15090,0.33,116.7,984.7,9.8,977,15095,0.50,2.60,0.00,0.000,6,0.157,0.070,2726,2303,2567
$GC,15425,0.63,166.6,967.8,4.9,988,15475,0.28,2.65,43.15,1.394,4,0.061,0.085,2828,893,2366
$GC,15593,0.52,166.6,953.6,8.4,993,15598,0.15,2.50,0.00,0.000,6,0.140,0.074,2782,2289,2362
$GC,15918,0.60,166.6,930.0,7.1,1004,15918,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2289,2360
$GC,16221,0.67,166.6,908.3,7.2,1014,16222,0.15,0.00,0.00,0.000,6,0.070,0.000,2840,2289,2359
$GC,16525,0.51,166.6,880.0,9.3,1024,16526,0.22,0.00,0.00,0.000,6,0.142,0.000,2774,2289,2359
$GC,16828,0.62,167.3,859.1,6.8,1034,16829,0.12,0.00,0.00,0.000,6,0.072,0.000,2826,2290,2359
$GC,17131,0.52,167.3,833.4,8.4,1044,17133,0.15,0.00,0.00,0.000,6,0.138,0.000,2783,2289,2359
$GC,17435,0.62,178.3,813.2,6.4,1054,17446,0.00,0.00,9.95,1.230,6,0.000,0.000,2783,2289,2319
$GC,17738,0.73,193.1,794.1,6.3,1064,17754,0.20,0.00,14.00,1.265,6,0.067,0.000,2862,2290,2258
$GC,18068,0.52,193.1,761.7,10.0,1075,18072,0.28,2.40,0.00,0.000,4,0.137,0.081,2782,893,2255
$GC,18110,0.68,197.2,758.5,6.7,1076,18120,0.10,2.40,4.88,0.988,6,0.063,0.073,2835,2301,2242
$GC,18434,0.58,197.2,730.6,8.7,1087,18439,0.12,2.42,0.00,0.000,4,0.139,0.089,2800,3711,2240
$GC,18487,0.58,197.2,726.0,10.1,1088,18492,0.00,2.40,0.00,0.000,6,0.000,0.070,2800,2291,2240
$GC,18801,0.58,197.2,702.3,7.7,1099,18806,0.00,2.38,0.00,0.000,4,0.000,0.084,2800,894,2240
$GC,18854,0.65,197.2,698.4,7.4,1100,18859,0.00,2.35,0.00,0.000,6,0.000,0.071,2800,2287,2239
$GC,19168,0.65,197.2,675.2,7.4,1111,19173,0.00,2.42,0.00,0.000,4,0.000,0.087,2800,3707,2239
$GC,19221,0.65,197.2,670.7,9.2,1112,19226,0.00,2.38,0.00,0.000,6,0.000,0.069,2800,2291,2239
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$STATE,27417,end climb,SURFACE_DEPTH_REACHED
$STATE,27418,begin surface coast
$FINISH,2.8,1.021838
$STATE,27423,end surface coast,CONTROL_FINISHED_OK
$STATE,27423,begin surface
$SM_CCo,27497,0.00,0.000,0,0,2041,246.28
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$TT8_MAMPS,0.052156
$HUMID,1659
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$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,22.4,15.212
$10V_AH,10.5,9.047
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$DEVICE_SECS,29.925,245.925,318.625,0.000,0.000,53.691,65.430,295.808,0.500,0.000,0.000,15.470,0.000,22592.344,644.955,4187.824,612.283,0.000,2305.444,0.000,3443.069,0.000,1.127,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1279.115,975.666,665.890,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88334,1790
$CAP_FILE_SIZE,243642,0
$CFSIZE,260165632,252424192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069, 88.1,1
$GPS,110209,101254,6449.353,-133.057,35,1.7,35,-6.1