version: 66.04
glider: 160
mission: 3
dive: 118
start: 3 1 109 17 9 12
data:
$ID,160
$MISSION,3
$DIVE,118
$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,-9376.5928
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,170107,6319.712,304.397,27,1.2,27,-3.2
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,1
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-58.7
$GPS2,170850,6319.671,304.345,12,1.1,12,-3.2
$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,135.5,83774,-13.7,-6.875
$D_GRID,1055
$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,-116.7,0.0,0.0,0,38,0.00,0.00,-21.83,0.000,2,0.000,0.000,121,2297,2291
$GC,40,-0.77,-116.7,3.1,-2.4,3,127,8.20,2.33,-70.82,0.000,4,0.203,0.063,2366,3718,3521
$GC,172,-0.48,-116.7,8.2,-13.0,24,180,0.30,2.22,0.00,0.000,6,0.138,0.034,2456,2297,3522
$GC,519,-0.58,-116.7,31.0,-6.1,85,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2297,3522
$GC,860,-0.67,-116.7,50.2,-6.3,146,869,0.17,2.20,0.00,0.000,4,0.061,0.041,2382,888,3523
$GC,948,-0.44,-116.7,58.3,-9.9,161,955,0.30,2.22,0.00,0.000,6,0.121,0.037,2476,2314,3523
$GC,1293,-0.64,-116.7,78.1,-5.8,222,1301,0.20,2.25,0.00,0.000,4,0.058,0.043,2388,890,3523
$GC,1352,-0.42,-116.7,83.2,-9.2,232,1360,0.30,2.17,0.00,0.000,6,0.120,0.037,2484,2291,3523
$GC,1697,-0.67,-116.7,100.3,-4.8,293,1704,0.22,2.20,0.00,0.000,4,0.054,0.044,2381,894,3523
$GC,1748,-0.41,-116.7,104.5,-8.9,302,1757,0.32,2.17,0.00,0.000,6,0.123,0.036,2484,2302,3523
$GC,2094,-0.65,-116.7,121.4,-4.7,363,2101,0.20,2.20,0.00,0.000,4,0.056,0.041,2390,895,3523
$GC,2203,-0.47,-116.7,130.5,-8.9,382,2211,0.22,2.15,0.00,0.000,6,0.124,0.036,2461,2284,3523
$GC,2551,-0.61,-116.7,150.1,-5.3,443,2556,0.12,2.17,0.00,0.000,4,0.065,0.041,2404,890,3523
$GC,2628,-0.47,-116.7,156.5,-8.6,449,2635,0.20,2.15,0.00,0.000,6,0.122,0.035,2466,2283,3523
$GC,2953,-0.63,-116.7,173.8,-5.7,480,2958,0.17,2.17,0.00,0.000,4,0.059,0.040,2390,888,3523
$GC,3019,-0.45,-116.7,179.6,-8.7,485,3026,0.25,2.15,0.00,0.000,6,0.122,0.035,2469,2282,3523
$GC,3344,-0.63,-116.7,198.1,-5.7,516,3349,0.17,2.17,0.00,0.000,4,0.058,0.040,2392,891,3523
$GC,3423,-0.46,-116.7,205.3,-9.9,521,3428,0.22,2.12,0.00,0.000,6,0.122,0.035,2463,2271,3523
$GC,3748,-0.61,-116.7,225.1,-6.1,542,3753,0.15,2.17,0.00,0.000,4,0.063,0.043,2396,885,3523
$GC,3831,-0.45,-116.7,232.9,-10.0,547,3836,0.17,2.15,0.00,0.000,6,0.113,0.038,2471,2257,3523
$GC,4157,-0.65,-116.7,252.7,-6.1,568,4161,0.20,2.12,0.00,0.000,4,0.056,0.042,2379,895,3523
$GC,4223,-0.41,-116.7,259.3,-10.3,572,4228,0.32,2.10,0.00,0.000,6,0.121,0.036,2482,2260,3523
$GC,4548,-0.66,-116.7,278.7,-5.8,593,4552,0.20,2.12,0.00,0.000,4,0.058,0.040,2389,895,3523
$GC,4619,-0.48,-116.7,285.6,-10.1,597,4624,0.15,2.10,0.00,0.000,6,0.118,0.035,2456,2239,3523
$GC,4937,-0.61,-116.7,307.8,-7.1,616,4941,0.12,2.10,0.00,0.000,4,0.064,0.041,2399,890,3524
$GC,4986,-0.47,-116.7,312.4,-9.8,618,4990,0.20,2.10,0.00,0.000,6,0.124,0.035,2462,2258,3523
$GC,5313,-0.63,-116.7,333.7,-6.3,634,5317,0.15,2.12,0.00,0.000,4,0.062,0.041,2394,894,3523
$GC,5351,-0.45,-116.7,336.9,-9.2,635,5358,0.25,2.08,0.00,0.000,6,0.120,0.035,2473,2248,3523
$GC,5667,-0.68,-116.7,353.8,-4.9,651,5671,0.20,2.12,0.00,0.000,4,0.056,0.043,2381,889,3523
$GC,5716,-0.45,-116.7,357.9,-8.8,653,5720,0.22,2.10,0.00,0.000,6,0.118,0.036,2470,2236,3523
$GC,6043,-0.66,-116.7,371.7,-3.7,669,6047,0.20,2.10,0.00,0.000,4,0.056,0.043,2378,891,3523
$GC,6075,-0.42,-116.7,373.9,-7.8,670,6080,0.28,2.10,0.00,0.000,6,0.118,0.035,2472,2238,3523
$GC,6396,-0.65,-116.7,386.1,-3.4,686,6401,0.20,2.10,0.00,0.000,4,0.057,0.040,2380,887,3523
$GC,6435,-0.41,-116.7,388.5,-6.9,687,6442,0.30,2.08,0.00,0.000,6,0.120,0.037,2477,2236,3523
$GC,6751,-0.66,-116.7,398.2,-2.8,703,6755,0.20,2.10,0.00,0.000,4,0.058,0.042,2385,891,3523
$GC,6796,-0.45,-116.7,400.9,-6.8,705,6801,0.25,2.05,0.00,0.000,6,0.122,0.036,2465,2226,3523
$GC,7122,-0.65,-116.7,413.4,-3.9,721,7126,0.17,2.10,0.00,0.000,4,0.060,0.044,2389,888,3523
$GC,7182,-0.49,-116.7,417.5,-7.5,723,7189,0.22,2.05,0.00,0.000,6,0.123,0.037,2461,2219,3523
$GC,7498,-0.68,-116.7,430.7,-4.2,739,7503,0.20,2.08,0.00,0.000,4,0.055,0.041,2369,887,3523
$GC,7577,-0.46,-116.7,437.0,-8.6,742,7582,0.30,2.05,0.00,0.000,6,0.123,0.037,2465,2216,3523
$GC,7893,-0.68,-116.7,453.4,-5.5,757,7895,0.20,0.00,0.00,0.000,6,0.058,0.000,2379,2218,3523
$GC,8201,-0.52,-116.7,482.8,-9.8,772,8206,0.20,2.08,0.00,0.000,4,0.120,0.043,2447,891,3523
$GC,8307,-0.61,-116.7,491.4,-8.1,776,8314,0.00,2.05,0.00,0.000,6,0.000,0.036,2447,2221,3523
$GC,8625,-0.75,-116.7,513.6,-6.8,792,8629,0.20,2.08,0.00,0.000,4,0.058,0.042,2357,891,3523
$GC,8663,-0.44,-116.7,517.5,-10.4,793,8670,0.38,2.05,0.00,0.000,6,0.127,0.037,2472,2219,3523
$GC,8978,-0.70,-116.7,536.1,-5.7,809,8980,0.25,0.00,0.00,0.000,6,0.055,0.000,2368,2219,3522
$GC,9287,-0.50,-116.7,566.4,-10.0,824,9292,0.22,2.08,0.00,0.000,4,0.124,0.043,2443,898,3521
$GC,9372,-0.59,-116.7,573.1,-7.9,827,9378,0.00,2.03,0.00,0.000,6,0.000,0.040,2444,2196,3521
$GC,9688,-0.72,-116.7,595.5,-7.2,843,9690,0.20,0.00,0.00,0.000,6,0.060,0.000,2361,2197,3520
$GC,9994,-0.50,-116.7,627.3,-10.3,854,9999,0.25,2.05,0.00,0.000,4,0.127,0.043,2445,888,3520
$GC,10049,-0.62,-116.7,631.9,-7.8,855,10053,0.00,2.05,0.00,0.000,6,0.000,0.040,2445,2190,3519
$GC,10367,-0.77,-116.7,655.1,-7.4,866,10369,0.22,0.00,0.00,0.000,6,0.059,0.000,2351,2191,3518
$GC,10674,-0.50,-116.7,687.4,-10.6,876,10678,0.28,2.05,0.00,0.000,4,0.129,0.048,2443,898,3517
$GC,10717,-0.63,-116.7,691.1,-7.9,877,10722,0.08,2.05,0.00,0.000,6,0.063,0.044,2402,2189,3517
$GC,11048,-0.63,-116.7,718.8,-8.5,888,11051,0.00,2.05,0.00,0.000,4,0.000,0.051,2402,892,3515
$GC,11103,-0.56,-116.7,724.0,-9.6,889,11107,0.00,2.03,0.00,0.000,6,0.000,0.041,2402,2192,3515
$GC,11420,-0.56,-116.7,751.4,-8.7,900,11424,0.00,2.05,0.00,0.000,4,0.000,0.049,2402,894,3514
$GC,11454,-0.49,-116.7,754.4,-9.6,901,11458,0.17,2.03,0.00,0.000,6,0.129,0.042,2455,2191,3514
$GC,11794,-0.70,-116.7,777.3,-6.6,912,11796,0.20,0.00,0.00,0.000,6,0.062,0.000,2375,2191,3513
$GC,12099,-0.56,-116.7,805.1,-9.1,922,12104,0.20,2.08,0.00,0.000,4,0.127,0.050,2442,889,3512
$GC,12149,-0.67,-116.7,809.0,-7.0,923,12153,0.10,2.05,0.00,0.000,6,0.058,0.044,2391,2175,3512
$GC,12472,-0.67,-116.7,836.8,-8.7,934,12473,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2175,3511
$GC,12779,-0.61,-116.7,862.6,-8.3,944,12782,0.00,2.03,0.00,0.000,4,0.000,0.048,2391,892,3511
$GC,12847,-0.50,-116.7,868.6,-8.5,946,12852,0.20,2.00,0.00,0.000,6,0.130,0.042,2453,2173,3510
$GC,13188,-0.70,-116.7,890.5,-6.3,957,13190,0.20,0.00,0.00,0.000,6,0.064,0.000,2372,2174,3509
$GC,13494,-0.56,-116.7,917.2,-8.9,967,13496,0.20,0.00,0.00,0.000,6,0.129,0.000,2433,2173,3509
$GC,13800,-0.67,-116.7,937.0,-6.4,977,13805,0.12,2.03,0.00,0.000,4,0.075,0.047,2379,892,3508
$GC,13834,-0.51,-116.7,939.8,-8.3,978,13838,0.22,2.00,0.00,0.000,6,0.133,0.043,2448,2171,3508
$GC,14174,-0.69,-116.7,960.1,-5.8,989,14175,0.17,0.00,0.00,0.000,6,0.065,0.000,2377,2172,3508
$GC,14480,-0.57,-116.7,984.6,-8.1,999,14482,0.17,0.00,0.00,0.000,6,0.130,0.000,2431,2172,3508
$STATE,14569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14569,begin apogee
$GC,14574,-0.23,0.0,990.6,6.8,1002,14671,0.32,0.00,94.35,1.436,6,0.117,0.000,2537,2300,3047
$STATE,14672,end apogee,CONTROL_FINISHED_OK
$STATE,14672,begin climb
$GC,14674,0.77,116.7,993.8,0.0,1005,14784,0.95,2.55,103.03,1.417,4,0.084,0.053,2853,3708,2569
$GC,14828,0.33,116.7,988.4,8.3,1010,14834,0.50,2.35,0.00,0.000,6,0.140,0.032,2721,2302,2565
$GC,15163,0.67,195.4,975.3,3.7,1021,15237,0.28,2.45,67.20,1.411,4,0.060,0.046,2837,877,2248
$GC,15331,0.56,195.4,961.4,9.9,1026,15336,0.15,2.33,0.00,0.000,6,0.136,0.036,2797,2285,2241
$GC,15668,0.56,195.4,935.2,7.7,1037,15672,0.00,2.33,0.00,0.000,4,0.000,0.052,2796,3714,2238
$GC,15729,0.56,195.4,929.8,8.9,1039,15734,0.00,2.25,0.00,0.000,6,0.000,0.036,2796,2298,2238
$GC,16063,0.56,195.4,904.0,7.8,1050,16067,0.00,2.25,0.00,0.000,4,0.000,0.046,2796,881,2237
$GC,16132,0.64,195.4,899.0,7.9,1052,16136,0.00,2.22,0.00,0.000,6,0.000,0.036,2797,2302,2236
$GC,16473,0.70,195.4,874.6,7.2,1063,16477,0.12,2.25,0.00,0.000,4,0.074,0.054,2848,3703,2236
$GC,16534,0.45,195.4,868.6,10.1,1065,16539,0.32,2.22,0.00,0.000,6,0.137,0.036,2757,2277,2236
$GC,16869,0.72,221.7,849.0,5.8,1076,16895,0.22,2.25,21.20,1.332,4,0.058,0.048,2855,888,2141
$GC,16956,0.59,221.7,840.5,10.3,1077,16964,0.20,2.25,0.00,0.000,6,0.130,0.036,2797,2305,2138
$GC,17271,0.67,221.7,816.1,7.8,1088,17274,0.00,2.25,0.00,0.000,4,0.000,0.053,2797,3705,2136
$GC,17310,0.67,221.7,812.6,8.8,1089,17314,0.00,2.25,0.00,0.000,6,0.000,0.035,2797,2277,2137
$GC,17638,0.77,221.7,786.6,8.1,1100,17642,0.17,2.20,0.00,0.000,4,0.064,0.047,2868,889,2136
$GC,17692,0.59,221.7,780.8,11.7,1101,17700,0.22,2.20,0.00,0.000,6,0.131,0.036,2800,2301,2135
$GC,18005,0.68,221.7,753.0,8.9,1112,18008,0.00,2.25,0.00,0.000,4,0.000,0.054,2800,3708,2135
$GC,18042,0.68,221.7,749.3,8.5,1113,18047,0.00,2.25,0.00,0.000,6,0.000,0.035,2800,2293,2135
$GC,18378,0.77,221.7,721.7,8.4,1124,18383,0.17,2.22,0.00,0.000,4,0.060,0.047,2878,882,2135
$GC,18455,0.56,221.7,712.6,13.7,1126,18460,0.28,2.22,0.00,0.000,6,0.133,0.038,2794,2308,2134
$GC,18779,0.67,221.7,685.7,8.0,1137,18783,0.10,2.22,0.00,0.000,4,0.081,0.051,2837,3707,2134
$GC,18822,0.52,221.7,681.1,10.1,1138,18827,0.20,2.22,0.00,0.000,6,0.138,0.034,2782,2271,2134
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$STATE,26258,end climb,SURFACE_DEPTH_REACHED
$STATE,26258,begin surface coast
$FINISH,2.4,1.027514
$STATE,26293,end surface coast,CONTROL_FINISHED_OK
$STATE,26293,begin surface
$SM_CCo,26368,0.00,0.000,0,0,1769,313.25
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$IRIDIUM_FIX,6254.00,257.49,260598,090938
$TT8_MAMPS,0.026845
$HUMID,1644
$INTERNAL_PRESSURE,9.10578
$TCM_TEMP,16.30
$XPDR_PINGS,57
$24V_AH,22.6,23.748
$10V_AH,10.6,16.348
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$DEVICE_SECS,35.300,238.725,360.525,0.000,0.000,27.549,32.252,292.684,14.250,0.000,0.000,14.716,3348.864,18785.896,592.308,3459.461,630.709,0.000,2314.440,0.000,3416.215,0.000,0.834,0.000
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$SENSOR_SECS,1190.453,992.882,676.418,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85224,1723
$CAP_FILE_SIZE,243376,0
$CFSIZE,260165632,246063104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,323.3,1
$GPS,020309,002955,6318.559,308.294,39,1.6,39,-3.2