version: 66.04
glider: 160
mission: 3
dive: 102
start: 2 24 109 17 28 54
data:
$ID,160
$MISSION,3
$DIVE,102
$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,-1
$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,-9109.9414
$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,33
$R_STBD_OVSHOOT,30
$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,146
$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
$GPS1,172237,6347.875,155.624,26,1.0,26,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.30
$_SM_ANGLEo,-66.2
$GPS2,172831,6347.934,155.613,8,1.1,13,-3.9
$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,176.3,162000,-13.7,-6.875
$D_GRID,1578
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-7.88,0.000,2,0.000,0.000,128,2293,2078
$GC,26,-0.77,-116.7,3.3,-0.0,1,123,8.15,2.35,-82.68,0.000,4,0.206,0.063,2366,3710,3522
$GC,376,-0.51,-116.7,27.8,-10.0,60,384,0.20,2.22,0.00,0.000,6,0.119,0.034,2453,2295,3523
$GC,721,-0.60,-116.7,51.7,-6.2,121,727,0.00,2.17,0.00,0.000,4,0.000,0.041,2453,894,3523
$GC,806,-0.60,-116.7,56.7,-5.9,136,812,0.00,2.17,0.00,0.000,6,0.000,0.036,2450,2297,3524
$GC,1151,-0.67,-116.7,80.7,-7.5,197,1158,0.15,2.22,0.00,0.000,4,0.066,0.044,2384,887,3524
$GC,1210,-0.43,-116.7,86.7,-10.7,207,1217,0.30,2.17,0.00,0.000,6,0.123,0.038,2478,2284,3523
$GC,1554,-0.65,-116.7,110.0,-6.1,268,1561,0.20,2.17,0.00,0.000,4,0.058,0.041,2389,887,3524
$GC,1622,-0.44,-116.7,116.6,-9.9,280,1630,0.28,2.17,0.00,0.000,6,0.123,0.038,2476,2294,3524
$GC,1967,-0.65,-116.7,138.4,-5.9,341,1973,0.20,2.20,0.00,0.000,4,0.058,0.044,2388,891,3524
$GC,2025,-0.42,-116.7,143.8,-9.8,351,2032,0.28,2.15,0.00,0.000,6,0.122,0.037,2475,2284,3524
$GC,2356,-0.63,-116.7,164.2,-6.0,390,2361,0.20,2.17,0.00,0.000,4,0.057,0.040,2385,890,3524
$GC,2418,-0.41,-116.7,170.3,-10.7,395,2423,0.30,2.15,0.00,0.000,6,0.122,0.037,2482,2283,3524
$GC,2743,-0.65,-116.7,191.0,-6.0,425,2747,0.20,2.15,0.00,0.000,4,0.058,0.040,2390,896,3524
$GC,2795,-0.45,-116.7,195.8,-10.3,429,2800,0.25,2.15,0.00,0.000,6,0.123,0.038,2470,2288,3524
$GC,3121,-0.63,-116.7,216.8,-6.0,451,3125,0.17,2.17,0.00,0.000,4,0.060,0.041,2392,890,3524
$GC,3175,-0.44,-116.7,221.9,-9.5,454,3184,0.20,2.17,0.00,0.000,6,0.117,0.037,2474,2284,3524
$GC,3496,-0.66,-116.7,240.1,-5.8,475,3500,0.20,2.15,0.00,0.000,4,0.055,0.040,2381,894,3525
$GC,3550,-0.42,-116.7,245.0,-9.4,478,3559,0.25,2.15,0.00,0.000,6,0.118,0.037,2479,2274,3524
$GC,3872,-0.67,-116.7,261.3,-4.9,499,3877,0.20,2.15,0.00,0.000,4,0.057,0.044,2388,895,3524
$GC,3916,-0.46,-116.7,265.1,-9.0,502,3921,0.25,2.12,0.00,0.000,6,0.123,0.038,2468,2281,3524
$GC,4241,-0.65,-116.7,283.7,-5.8,523,4246,0.20,2.15,0.00,0.000,4,0.057,0.042,2376,897,3524
$GC,4304,-0.41,-116.7,289.2,-9.7,527,4309,0.32,2.10,0.00,0.000,6,0.123,0.038,2481,2264,3525
$GC,4628,-0.68,-116.7,305.9,-4.6,546,4632,0.22,2.12,0.00,0.000,4,0.056,0.041,2379,892,3525
$GC,4671,-0.44,-116.7,309.5,-8.6,548,4676,0.22,2.12,0.00,0.000,6,0.119,0.036,2470,2262,3524
$GC,4998,-0.65,-116.7,326.0,-4.9,564,5000,0.20,0.00,0.00,0.000,6,0.056,0.000,2385,2263,3524
$GC,5307,-0.50,-116.7,351.2,-8.7,579,5312,0.20,2.12,0.00,0.000,4,0.123,0.041,2453,890,3525
$GC,5401,-0.58,-116.7,357.6,-6.5,583,5405,0.00,2.10,0.00,0.000,6,0.000,0.037,2453,2263,3525
$GC,5723,-0.72,-116.7,377.1,-6.1,599,5728,0.20,2.12,0.00,0.000,4,0.058,0.041,2361,890,3525
$GC,5794,-0.44,-116.7,384.0,-10.2,602,5799,0.30,2.12,0.00,0.000,6,0.124,0.038,2475,2259,3525
$GC,6115,-0.68,-116.7,400.0,-5.0,618,6117,0.22,0.00,0.00,0.000,6,0.056,0.000,2378,2260,3525
$GC,6424,-0.51,-116.7,427.6,-9.3,633,6429,0.20,2.12,0.00,0.000,4,0.123,0.044,2447,894,3524
$GC,6467,-0.62,-116.7,430.8,-7.0,635,6472,0.00,2.12,0.00,0.000,6,0.000,0.038,2447,2257,3524
$GC,6795,-0.75,-116.7,451.5,-6.4,651,6800,0.20,2.12,0.00,0.000,4,0.058,0.045,2356,897,3524
$GC,6856,-0.44,-116.7,457.7,-11.3,654,6861,0.38,2.10,0.00,0.000,6,0.130,0.040,2472,2260,3524
$GC,7183,-0.69,-116.7,477.4,-5.6,670,7187,0.20,2.12,0.00,0.000,4,0.060,0.044,2380,895,3524
$GC,7221,-0.47,-116.7,480.7,-9.7,672,7226,0.25,2.10,0.00,0.000,6,0.128,0.040,2459,2260,3524
$GC,7547,-0.65,-116.7,498.6,-5.3,688,7549,0.17,0.00,0.00,0.000,6,0.061,0.000,2385,2260,3523
$GC,7856,-0.52,-116.7,522.2,-7.7,703,7861,0.20,2.12,0.00,0.000,4,0.126,0.046,2454,898,3523
$GC,7951,-0.64,-116.7,528.0,-5.9,707,7955,0.15,2.08,0.00,0.000,6,0.068,0.042,2391,2242,3522
$GC,8271,-0.53,-116.7,552.4,-8.0,723,8275,0.17,2.10,0.00,0.000,4,0.130,0.045,2444,894,3522
$GC,8326,-0.63,-116.7,556.3,-7.0,725,8331,0.08,2.10,0.00,0.000,6,0.064,0.040,2403,2238,3521
$GC,8647,-0.63,-116.7,579.8,-7.3,741,8651,0.00,2.10,0.00,0.000,4,0.000,0.048,2403,897,3520
$GC,8714,-0.54,-116.7,585.3,-8.5,744,8718,0.12,2.08,0.00,0.000,6,0.140,0.042,2439,2238,3520
$GC,9034,-0.66,-116.7,606.1,-6.5,758,9038,0.12,2.10,0.00,0.000,4,0.072,0.048,2386,898,3519
$GC,9077,-0.49,-116.7,609.9,-9.0,759,9082,0.17,2.10,0.00,0.000,6,0.127,0.043,2446,2223,3519
$GC,9406,-0.64,-116.7,630.3,-6.1,770,9408,0.12,0.00,0.00,0.000,6,0.071,0.000,2392,2223,3518
$GC,9712,-0.55,-116.7,655.7,-8.5,780,9717,0.15,2.08,0.00,0.000,4,0.129,0.046,2437,898,3517
$GC,9762,-0.62,-116.7,659.6,-7.8,781,9766,0.00,2.10,0.00,0.000,6,0.000,0.044,2436,2222,3517
$GC,10087,-0.71,-116.7,681.4,-6.6,792,10089,0.15,0.00,0.00,0.000,6,0.071,0.000,2374,2222,3516
$GC,10393,-0.55,-116.7,707.4,-8.4,802,10398,0.20,2.08,0.00,0.000,4,0.130,0.046,2442,896,3515
$GC,10461,-0.65,-116.7,712.3,-6.5,804,10465,0.12,2.08,0.00,0.000,6,0.073,0.044,2391,2225,3515
$GC,10803,-0.57,-116.7,737.9,-7.5,815,10807,0.12,2.08,0.00,0.000,4,0.137,0.048,2428,897,3514
$GC,10840,-0.57,-116.7,740.7,-7.2,816,10845,0.00,2.08,0.00,0.000,6,0.000,0.044,2428,2213,3515
$GC,11176,-0.64,-116.7,760.8,-5.9,827,11180,0.00,2.08,0.00,0.000,4,0.000,0.051,2429,894,3514
$GC,11214,-0.64,-116.7,763.4,-7.2,828,11218,0.00,2.08,0.00,0.000,6,0.000,0.044,2428,2210,3514
$GC,11550,-0.71,-116.7,782.7,-5.7,839,11552,0.15,0.00,0.00,0.000,6,0.068,0.000,2366,2211,3513
$GC,11855,-0.52,-116.7,807.4,-8.2,849,11860,0.22,2.08,0.00,0.000,4,0.130,0.051,2441,899,3513
$GC,11905,-0.63,-116.7,810.5,-5.2,850,11909,0.00,2.05,0.00,0.000,6,0.000,0.047,2441,2211,3512
$GC,12229,-0.77,-116.7,827.3,-5.1,861,12231,0.22,0.00,0.00,0.000,6,0.061,0.000,2350,2212,3512
$GC,12535,-0.51,-116.7,852.5,-8.3,871,12540,0.28,2.08,0.00,0.000,4,0.133,0.051,2442,898,3511
$GC,12597,-0.62,-116.7,856.2,-5.6,873,12601,0.00,2.03,0.00,0.000,6,0.000,0.047,2442,2201,3511
$GC,12937,-0.76,-116.7,873.0,-4.9,884,12939,0.22,0.00,0.00,0.000,6,0.063,0.000,2350,2202,3510
$GC,13243,-0.51,-116.7,898.4,-8.6,894,13245,0.32,0.00,0.00,0.000,6,0.132,0.000,2452,2202,3510
$GC,13551,-0.70,-116.7,914.2,-5.1,904,13553,0.20,0.00,0.00,0.000,6,0.066,0.000,2372,2202,3510
$GC,13857,-0.54,-116.7,937.2,-7.6,914,13861,0.20,2.05,0.00,0.000,4,0.132,0.049,2439,901,3510
$GC,13911,-0.65,-116.7,940.9,-6.1,915,13916,0.12,2.05,0.00,0.000,6,0.077,0.048,2387,2210,3510
$GC,14229,-0.57,-116.7,963.2,-7.1,926,14231,0.15,0.00,0.00,0.000,6,0.135,0.000,2431,2210,3509
$GC,14535,-0.67,-116.7,980.8,-5.8,936,14537,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2211,3509
$STATE,14717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14717,begin apogee
$GC,14722,-0.23,0.0,991.6,5.8,942,14819,0.32,0.00,94.93,1.432,6,0.119,0.000,2538,2304,3046
$STATE,14820,end apogee,CONTROL_FINISHED_OK
$STATE,14820,begin climb
$GC,14822,0.77,116.7,994.3,0.0,945,14933,0.95,2.53,103.62,1.417,4,0.085,0.053,2854,3705,2570
$GC,14966,0.28,116.7,989.6,7.9,949,14971,0.57,2.38,0.00,0.000,6,0.144,0.034,2703,2304,2567
$GC,15284,0.74,173.1,975.7,4.6,960,15340,0.40,2.42,48.35,1.397,4,0.054,0.048,2865,903,2339
$GC,15592,0.49,173.1,945.6,10.2,969,15597,0.25,2.20,0.00,0.000,6,0.134,0.039,2774,2259,2332
$GC,15921,0.61,175.9,922.7,6.8,980,15926,0.10,2.17,0.00,0.000,4,0.080,0.048,2812,896,2331
$GC,15970,0.61,175.9,918.7,8.3,981,15975,0.00,2.17,0.00,0.000,6,0.000,0.037,2812,2261,2331
$GC,16294,0.61,175.9,892.2,8.2,992,16297,0.00,2.33,0.00,0.000,4,0.000,0.054,2813,3706,2330
$GC,16343,0.46,175.9,887.7,8.8,993,16348,0.17,2.30,0.00,0.000,6,0.144,0.035,2763,2233,2330
$GC,16669,0.65,193.8,867.1,6.2,1004,16693,0.17,2.22,17.38,1.316,4,0.067,0.048,2837,884,2254
$GC,16768,0.54,193.8,858.5,8.2,1007,16772,0.17,2.17,0.00,0.000,6,0.137,0.036,2787,2262,2252
$GC,17101,0.63,193.8,833.7,7.3,1018,17105,0.00,2.33,0.00,0.000,4,0.000,0.054,2787,3707,2250
$GC,17168,0.63,193.8,828.1,8.5,1020,17173,0.00,2.30,0.00,0.000,6,0.000,0.037,2787,2250,2250
$GC,17498,0.73,193.8,804.4,7.0,1031,17502,0.17,2.17,0.00,0.000,4,0.062,0.048,2856,876,2250
$GC,17575,0.55,193.8,796.8,10.6,1033,17579,0.22,2.15,0.00,0.000,6,0.135,0.038,2789,2254,2249
$GC,17899,0.65,193.8,773.2,7.1,1044,17903,0.00,2.33,0.00,0.000,4,0.000,0.055,2789,3702,2249
$GC,17942,0.65,193.8,769.5,7.4,1045,17946,0.00,2.30,0.00,0.000,6,0.000,0.039,2789,2242,2249
$GC,18266,0.73,193.8,746.6,7.1,1056,18270,0.17,2.15,0.00,0.000,4,0.063,0.051,2862,882,2249
$GC,18337,0.53,193.8,739.6,9.6,1058,18342,0.20,2.17,0.00,0.000,6,0.133,0.040,2784,2253,2249
$GC,18672,0.65,193.8,715.0,7.3,1069,18677,0.12,2.35,0.00,0.000,4,0.073,0.057,2838,3710,2249
$GC,18734,0.44,193.8,708.7,10.7,1071,18739,0.30,2.30,0.00,0.000,6,0.138,0.038,2751,2231,2249
$GC,19070,0.73,213.9,687.5,6.1,1082,19094,0.25,2.20,17.40,1.224,4,0.060,0.048,2855,888,2172
$GC,19161,0.59,213.9,678.3,11.3,1084,19169,0.17,2.15,0.00,0.000,6,0.132,0.038,2804,2256,2169
$GC,19474,0.65,213.9,652.7,8.2,1095,19478,0.00,2.35,0.00,0.000,4,0.000,0.054,2803,3710,2168
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$STATE,26721,end climb,SURFACE_DEPTH_REACHED
$STATE,26721,begin surface coast
$FINISH,2.6,1.027554
$STATE,26763,end surface coast,CONTROL_FINISHED_OK
$STATE,26763,begin surface
$SM_CCo,26837,0.00,0.000,0,0,2065,240.64
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$IRIDIUM_FIX,6322.64,151.95,210598,090942
$TT8_MAMPS,0.026845
$HUMID,1653
$INTERNAL_PRESSURE,9.11555
$TCM_TEMP,16.20
$XPDR_PINGS,48
$24V_AH,22.5,21.507
$10V_AH,10.6,14.398
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$DEVICE_SECS,34.575,248.750,303.325,0.000,0.000,28.727,35.434,176.924,12.000,0.000,0.000,15.310,3317.308,19346.289,534.777,3493.084,485.026,0.000,2267.663,0.000,3436.261,0.000,0.832,0.000
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$SENSOR_SECS,1156.994,934.488,595.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81945,1667
$CAP_FILE_SIZE,243855,0
$CFSIZE,260165632,247676928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166, 28.6,1
$GPS,250209,005724,6346.961,159.358,37,1.5,37,-3.9