version: 66.04
glider: 160
mission: 3
dive: 183
start: 3 21 109 0 33 23
data:
$ID,160
$MISSION,3
$DIVE,183
$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,-10632.556
$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,38
$R_STBD_OVSHOOT,38
$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
$GPS1,002337,6413.753,101.753,33,1.0,33,-4.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,-67.6
$GPS2,003301,6413.814,101.903,9,1.1,14,-4.5
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$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,289.4,135559,-13.7,-6.875
$D_GRID,2355
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.77,-116.7,0.0,0.0,0,26,0.00,0.00,-8.12,0.000,2,0.000,0.000,139,2309,2132
$GC,29,-0.77,-116.7,3.7,-0.0,1,122,8.40,2.35,-79.62,0.000,4,0.208,0.055,2366,894,3521
$GC,213,-0.47,-116.7,12.9,-10.5,31,220,0.32,2.22,0.00,0.000,6,0.123,0.035,2467,2295,3524
$GC,559,-0.65,-116.7,33.3,-5.6,92,566,0.17,2.25,0.00,0.000,4,0.061,0.044,2393,898,3525
$GC,640,-0.47,-116.7,40.7,-9.6,106,647,0.22,2.22,0.00,0.000,6,0.125,0.038,2460,2303,3525
$GC,987,-0.62,-116.7,63.0,-6.3,167,994,0.15,2.25,0.00,0.000,4,0.062,0.040,2394,887,3525
$GC,1062,-0.46,-116.7,69.9,-9.6,180,1069,0.22,2.22,0.00,0.000,6,0.124,0.038,2462,2300,3525
$GC,1407,-0.62,-116.7,91.9,-6.3,241,1415,0.15,2.22,0.00,0.000,4,0.064,0.041,2396,897,3526
$GC,1489,-0.47,-116.7,99.2,-9.4,255,1496,0.22,2.17,0.00,0.000,6,0.124,0.036,2464,2282,3526
$GC,1833,-0.66,-116.7,118.5,-5.3,316,1840,0.20,2.20,0.00,0.000,4,0.058,0.040,2376,891,3526
$GC,1893,-0.41,-116.7,123.5,-9.2,326,1900,0.32,2.17,0.00,0.000,6,0.123,0.035,2477,2283,3526
$GC,2240,-0.67,-116.7,141.6,-5.2,387,2246,0.20,2.20,0.00,0.000,4,0.058,0.041,2387,894,3527
$GC,2298,-0.46,-116.7,146.6,-8.9,397,2306,0.25,2.17,0.00,0.000,6,0.123,0.035,2462,2284,3527
$GC,2628,-0.66,-116.7,165.8,-5.9,432,2633,0.17,2.20,0.00,0.000,4,0.060,0.041,2389,895,3527
$GC,2690,-0.48,-116.7,171.0,-9.1,437,2695,0.22,2.15,0.00,0.000,6,0.124,0.036,2457,2277,3527
$GC,3015,-0.66,-116.7,189.8,-5.6,467,3020,0.17,2.28,0.00,0.000,4,0.059,0.050,2380,3703,3527
$GC,3043,-0.57,-116.7,191.9,-7.9,469,3048,0.17,2.22,0.00,0.000,6,0.127,0.033,2433,2270,3527
$GC,3370,-0.57,-116.7,214.0,-6.9,493,3374,0.00,2.17,0.00,0.000,4,0.000,0.044,2433,882,3527
$GC,3498,-0.57,-116.7,224.0,-7.6,500,3505,0.00,2.20,0.00,0.000,6,0.000,0.039,2433,2260,3527
$GC,3818,-0.63,-116.7,246.9,-7.3,521,3821,0.00,2.17,0.00,0.000,4,0.000,0.043,2433,885,3527
$GC,3856,-0.63,-116.7,250.0,-7.5,523,3860,0.00,2.17,0.00,0.000,6,0.000,0.037,2433,2257,3527
$GC,4181,-0.70,-116.7,271.1,-6.3,544,4185,0.15,2.17,0.00,0.000,4,0.065,0.042,2368,887,3527
$GC,4215,-0.44,-116.7,274.1,-10.0,546,4220,0.35,2.15,0.00,0.000,6,0.127,0.038,2474,2260,3527
$GC,4540,-0.68,-116.7,293.2,-5.5,567,4545,0.22,2.17,0.00,0.000,4,0.056,0.042,2375,889,3527
$GC,4612,-0.47,-116.7,300.4,-10.6,571,4619,0.28,2.12,0.00,0.000,6,0.124,0.038,2460,2254,3527
$GC,4928,-0.68,-116.7,322.0,-6.2,587,4932,0.20,2.17,0.00,0.000,4,0.059,0.045,2371,892,3527
$GC,4971,-0.43,-116.7,326.2,-10.4,589,4976,0.32,2.10,0.00,0.000,6,0.126,0.036,2470,2239,3527
$GC,5299,-0.68,-116.7,347.5,-6.5,605,5303,0.20,2.15,0.00,0.000,4,0.060,0.042,2379,889,3526
$GC,5338,-0.46,-116.7,351.3,-10.6,607,5342,0.28,2.12,0.00,0.000,6,0.124,0.039,2463,2242,3526
$GC,5664,-0.68,-116.7,373.7,-6.8,623,5666,0.20,0.00,0.00,0.000,6,0.061,0.000,2379,2243,3525
$GC,5973,-0.53,-116.7,403.2,-9.7,638,5978,0.20,2.15,0.00,0.000,4,0.124,0.044,2446,894,3524
$GC,6050,-0.63,-116.7,409.4,-7.5,641,6059,0.12,2.10,0.00,0.000,6,0.071,0.038,2392,2240,3525
$GC,6367,-0.54,-116.7,436.9,-8.7,657,6368,0.15,0.00,0.00,0.000,6,0.130,0.000,2436,2240,3524
$GC,6677,-0.65,-116.7,458.1,-6.7,672,6681,0.00,2.12,0.00,0.000,4,0.000,0.044,2436,895,3524
$GC,6716,-0.71,-116.7,461.1,-7.8,673,6724,0.15,2.10,0.00,0.000,6,0.068,0.038,2373,2237,3524
$GC,7032,-0.56,-116.7,488.0,-8.4,689,7034,0.20,0.00,0.00,0.000,6,0.127,0.000,2435,2237,3523
$GC,7341,-0.66,-116.7,507.6,-6.3,704,7345,0.12,2.15,0.00,0.000,4,0.074,0.046,2379,891,3522
$GC,7381,-0.47,-116.7,510.7,-8.8,706,7385,0.28,2.10,0.00,0.000,6,0.130,0.039,2463,2229,3522
$GC,7707,-0.70,-116.7,528.6,-5.4,722,7709,0.22,0.00,0.00,0.000,6,0.060,0.000,2368,2230,3522
$GC,8016,-0.52,-116.7,554.9,-8.9,737,8021,0.22,2.17,0.00,0.000,4,0.127,0.048,2443,886,3521
$GC,8094,-0.62,-116.7,560.4,-6.4,740,8098,0.00,2.12,0.00,0.000,6,0.000,0.042,2443,2233,3521
$GC,8416,-0.77,-116.7,579.2,-5.8,756,8418,0.22,0.00,0.00,0.000,6,0.058,0.000,2351,2235,3520
$GC,8735,-0.53,-116.7,609.0,-9.5,770,8739,0.28,2.17,0.00,0.000,4,0.129,0.049,2441,891,3519
$GC,8812,-0.64,-116.7,614.2,-6.0,772,8816,0.12,2.10,0.00,0.000,6,0.071,0.040,2390,2220,3519
$GC,9136,-0.56,-116.7,637.7,-7.2,783,9140,0.15,2.12,0.00,0.000,4,0.130,0.045,2434,890,3519
$GC,9180,-0.64,-116.7,640.8,-6.8,784,9183,0.00,2.08,0.00,0.000,6,0.000,0.040,2434,2213,3519
$GC,9509,-0.76,-116.7,659.8,-5.8,795,9511,0.20,0.00,0.00,0.000,6,0.063,0.000,2352,2215,3518
$GC,9815,-0.52,-116.7,685.9,-8.6,805,9820,0.28,2.15,0.00,0.000,4,0.130,0.048,2442,886,3518
$GC,9870,-0.64,-116.7,689.4,-6.0,806,9877,0.00,2.10,0.00,0.000,6,0.000,0.044,2441,2212,3518
$GC,10183,-0.79,-116.7,706.3,-5.4,817,10185,0.25,0.00,0.00,0.000,6,0.060,0.000,2340,2213,3518
$GC,10489,-0.51,-116.7,734.1,-9.2,827,10494,0.32,2.15,0.00,0.000,4,0.132,0.050,2445,889,3517
$GC,10555,-0.65,-116.7,738.5,-6.1,829,10560,0.12,2.08,0.00,0.000,6,0.072,0.042,2392,2199,3518
$GC,10889,-0.65,-116.7,761.5,-6.9,840,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2199,3516
$GC,11196,-0.65,-116.7,781.8,-6.6,850,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2199,3517
$GC,11503,-0.65,-116.7,803.2,-7.0,860,11507,0.00,2.10,0.00,0.000,4,0.000,0.048,2392,887,3516
$GC,11558,-0.56,-116.7,807.5,-7.5,861,11563,0.15,2.08,0.00,0.000,6,0.138,0.044,2434,2195,3516
$GC,11877,-0.70,-116.7,824.6,-5.2,872,11881,0.15,2.47,0.00,0.000,4,0.069,0.056,2373,3708,3515
$GC,11909,-0.57,-116.7,826.9,-7.6,873,11914,0.20,2.38,0.00,0.000,6,0.127,0.038,2433,2207,3515
$GC,12245,-0.70,-116.7,843.7,-4.9,884,12247,0.15,0.00,0.00,0.000,6,0.071,0.000,2372,2208,3515
$GC,12551,-0.56,-116.7,864.3,-6.8,894,12555,0.20,2.10,0.00,0.000,4,0.130,0.048,2437,890,3515
$GC,12624,-0.68,-116.7,868.4,-5.2,896,12628,0.15,2.05,0.00,0.000,6,0.070,0.042,2378,2193,3515
$GC,12958,-0.58,-116.7,890.1,-6.6,907,12960,0.15,0.00,0.00,0.000,6,0.130,0.000,2423,2193,3515
$GC,13264,-0.67,-116.7,906.0,-5.2,917,13265,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2193,3515
$GC,13571,-0.76,-116.7,921.5,-4.9,927,13576,0.17,2.47,0.00,0.000,4,0.069,0.059,2351,3696,3514
$GC,13599,-0.60,-116.7,923.4,-7.7,928,13603,0.22,2.38,0.00,0.000,6,0.134,0.041,2417,2207,3514
$GC,13939,-0.67,-116.7,941.2,-5.1,939,13943,0.00,2.08,0.00,0.000,4,0.000,0.049,2417,896,3514
$GC,13983,-0.67,-116.7,943.7,-5.7,940,13987,0.00,2.08,0.00,0.000,6,0.000,0.043,2417,2206,3514
$GC,14313,-0.73,-116.7,960.7,-5.3,951,14314,0.12,0.00,0.00,0.000,6,0.074,0.000,2365,2207,3514
$GC,14619,-0.59,-116.7,982.7,-7.3,961,14621,0.20,0.00,0.00,0.000,6,0.131,0.000,2426,2207,3514
$STATE,14770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14770,begin apogee
$GC,14775,-0.23,0.0,990.9,5.2,966,14875,0.35,0.00,97.20,1.424,6,0.117,0.000,2539,2304,3046
$STATE,14876,end apogee,CONTROL_FINISHED_OK
$STATE,14876,begin climb
$GC,14878,0.77,116.7,993.1,0.0,969,14991,0.95,2.55,105.12,1.390,4,0.080,0.051,2853,3704,2568
$GC,15024,0.31,116.7,988.1,7.8,973,15029,0.52,2.40,0.00,0.000,6,0.139,0.031,2716,2301,2566
$GC,15337,0.67,177.3,973.6,4.5,983,15399,0.30,2.47,52.10,1.378,4,0.055,0.045,2838,889,2321
$GC,15462,0.54,177.3,963.4,9.0,986,15469,0.17,2.33,0.00,0.000,6,0.132,0.035,2790,2286,2317
$GC,15774,0.62,177.3,940.7,7.0,997,15778,0.00,2.35,0.00,0.000,4,0.000,0.051,2790,3721,2316
$GC,15794,0.62,177.3,939.1,7.3,997,15803,0.00,2.33,0.00,0.000,6,0.000,0.035,2795,2279,2315
$GC,16107,0.62,177.3,916.9,7.1,1008,16111,0.00,2.22,0.00,0.000,4,0.000,0.048,2796,892,2315
$GC,16157,0.69,177.3,913.1,6.9,1009,16162,0.12,2.22,0.00,0.000,6,0.072,0.035,2851,2305,2314
$GC,16483,0.52,177.3,883.2,9.4,1020,16485,0.22,0.00,0.00,0.000,6,0.125,0.000,2783,2306,2314
$GC,16789,0.63,180.1,862.1,6.8,1030,16793,0.00,2.28,0.00,0.000,4,0.000,0.045,2783,890,2313
$GC,16823,0.76,180.1,859.6,6.9,1031,16828,0.22,2.20,0.00,0.000,6,0.058,0.036,2872,2288,2313
$GC,17163,0.51,180.1,826.1,9.9,1042,17165,0.30,0.00,0.00,0.000,6,0.123,0.000,2779,2288,2313
$GC,17469,0.65,192.8,806.3,6.4,1052,17484,0.12,0.00,13.10,1.246,6,0.072,0.000,2831,2289,2259
$GC,17775,0.59,192.8,780.7,8.4,1062,17777,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2289,2256
$GC,18081,0.52,192.8,755.2,8.3,1072,18083,0.17,0.00,0.00,0.000,6,0.127,0.000,2779,2288,2255
$GC,18388,0.71,208.5,735.7,6.2,1082,18405,0.17,0.00,14.40,1.220,6,0.063,0.000,2851,2289,2196
$GC,18693,0.59,208.5,707.6,9.4,1092,18695,0.17,0.00,0.00,0.000,6,0.120,0.000,2799,2289,2193
$GC,19000,0.68,208.5,685.3,7.3,1102,19005,0.10,2.33,0.00,0.000,4,0.077,0.053,2842,3712,2192
$GC,19055,0.50,208.5,680.0,10.2,1103,19062,0.22,2.25,0.00,0.000,6,0.133,0.034,2775,2274,2192
$GC,19369,0.72,224.0,660.1,6.3,1114,19389,0.20,2.22,14.25,1.175,4,0.058,0.046,2868,893,2132
$GC,19434,0.58,224.0,654.0,10.4,1116,19439,0.22,2.22,0.00,0.000,6,0.118,0.035,2799,2299,2130
$GC,19768,0.70,224.0,629.0,7.3,1127,19773,0.12,2.30,0.00,0.000,4,0.068,0.053,2851,3708,2129
$GC,19807,0.50,224.0,625.2,10.7,1128,19812,0.28,2.25,0.00,0.000,6,0.128,0.033,2773,2274,2128
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$STATE,27286,end climb,SURFACE_DEPTH_REACHED
$STATE,27286,begin surface coast
$FINISH,2.9,1.014171
$STATE,27313,end surface coast,CONTROL_FINISHED_OK
$STATE,27313,begin surface
$SM_CCo,27388,0.00,0.000,0,0,2085,235.73
$SM_GC,3.82,7.47,0.00,0.00,0.054,0.000,0.000,143,2261,2085,-7.64,-1.07,235.73
$IRIDIUM_FIX,6346.88,59.35,150698,000016
$TT8_MAMPS,0.027612
$HUMID,1670
$INTERNAL_PRESSURE,9.06672
$TCM_TEMP,17.80
$XPDR_PINGS,1
$24V_AH,22.3,32.580
$10V_AH,10.6,24.044
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$DEVICE_SECS,36.250,238.825,310.300,0.000,0.000,56.606,65.668,254.898,0.250,0.000,0.000,16.576,3359.844,19970.637,575.168,3314.295,718.042,0.000,2231.245,0.000,3273.890,0.000,1.130,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1236.709,971.854,647.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85125,1738
$CAP_FILE_SIZE,245165,0
$CFSIZE,260165632,239792128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101, 35.6,1
$GPS,210309,081106,6415.755,56.777,38,0.8,38,-4.6