version: 66.04
glider: 160
mission: 3
dive: 206
start: 3 28 109 6 54 10
data:
$ID,160
$MISSION,3
$DIVE,206
$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,-11078.966
$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,37
$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
$GPS1,064257,6502.191,-53.992,40,99.0,59,-5.8
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,3.45
$_SM_ANGLEo,-60.7
$GPS2,065349,6502.199,-53.941,15,1.3,32,-5.8
$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,315.4,8478,-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,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,-8.02,0.000,2,0.000,0.000,120,2315,2060
$GC,27,-0.77,-116.7,3.5,-0.0,1,133,8.70,0.00,-93.03,0.000,6,0.221,0.000,2365,2318,3523
$GC,473,-0.51,-116.7,38.3,-11.1,77,480,0.25,2.25,0.00,0.000,4,0.127,0.041,2448,896,3524
$GC,600,-0.58,-116.7,49.9,-7.9,99,607,0.00,2.20,0.00,0.000,6,0.000,0.036,2447,2300,3524
$GC,945,-0.68,-116.7,72.3,-6.4,160,952,0.17,2.22,0.00,0.000,4,0.061,0.041,2375,895,3525
$GC,1055,-0.46,-116.7,83.4,-10.2,179,1063,0.30,2.17,0.00,0.000,6,0.126,0.037,2467,2284,3525
$GC,1402,-0.67,-116.7,103.3,-5.5,240,1409,0.20,2.20,0.00,0.000,4,0.060,0.043,2379,896,3526
$GC,1478,-0.45,-116.7,110.5,-10.0,253,1485,0.28,2.17,0.00,0.000,6,0.125,0.037,2463,2288,3526
$GC,1822,-0.64,-116.7,130.5,-5.3,314,1829,0.17,2.22,0.00,0.000,4,0.062,0.044,2390,887,3526
$GC,1882,-0.46,-116.7,135.3,-9.0,324,1889,0.25,2.17,0.00,0.000,6,0.125,0.038,2468,2279,3526
$GC,2223,-0.70,-116.7,154.4,-5.5,378,2225,0.22,0.00,0.00,0.000,6,0.056,0.000,2375,2280,3527
$GC,2544,-0.52,-116.7,185.1,-10.1,408,2549,0.20,2.20,0.00,0.000,4,0.124,0.041,2442,888,3526
$GC,2617,-0.59,-116.7,191.1,-7.4,414,2620,0.00,2.15,0.00,0.000,6,0.000,0.038,2442,2266,3527
$GC,2950,-0.69,-116.7,214.0,-6.8,439,2955,0.15,2.17,0.00,0.000,4,0.064,0.045,2377,896,3527
$GC,3069,-0.50,-116.7,225.6,-10.1,446,3073,0.25,2.12,0.00,0.000,6,0.127,0.038,2453,2257,3527
$GC,3389,-0.66,-116.7,245.2,-5.6,466,3390,0.15,0.00,0.00,0.000,6,0.066,0.000,2391,2258,3526
$GC,3700,-0.55,-116.7,269.0,-7.4,486,3704,0.15,2.15,0.00,0.000,4,0.126,0.041,2436,895,3527
$GC,3751,-0.61,-116.7,272.3,-6.1,489,3755,0.00,2.12,0.00,0.000,6,0.000,0.038,2436,2260,3526
$GC,4082,-0.69,-116.7,291.3,-6.0,510,4084,0.15,0.00,0.00,0.000,6,0.068,0.000,2372,2260,3526
$GC,4396,-0.51,-116.7,317.7,-8.3,527,4401,0.20,2.15,0.00,0.000,4,0.126,0.042,2441,892,3526
$GC,4474,-0.58,-116.7,322.9,-6.8,530,4480,0.00,2.12,0.00,0.000,6,0.000,0.037,2441,2257,3526
$GC,4790,-0.70,-116.7,340.1,-5.6,546,4795,0.15,2.17,0.00,0.000,4,0.066,0.042,2376,891,3526
$GC,4835,-0.49,-116.7,343.8,-9.0,548,4840,0.25,2.12,0.00,0.000,6,0.130,0.038,2451,2249,3526
$GC,5168,-0.66,-116.7,361.0,-5.1,564,5172,0.15,2.17,0.00,0.000,4,0.067,0.048,2390,895,3525
$GC,5206,-0.49,-116.7,363.9,-7.6,565,5213,0.22,2.12,0.00,0.000,6,0.129,0.039,2457,2249,3526
$GC,5522,-0.69,-116.7,379.1,-4.9,581,5524,0.20,0.00,0.00,0.000,6,0.060,0.000,2375,2249,3525
$GC,5832,-0.53,-116.7,403.2,-8.0,596,5836,0.20,2.17,0.00,0.000,4,0.127,0.047,2442,895,3524
$GC,5932,-0.62,-116.7,409.5,-6.1,600,5935,0.00,2.10,0.00,0.000,6,0.000,0.039,2442,2235,3524
$GC,6254,-0.75,-116.7,426.9,-5.3,616,6256,0.20,0.00,0.00,0.000,6,0.061,0.000,2362,2236,3524
$GC,6562,-0.53,-116.7,452.9,-8.5,631,6566,0.22,2.15,0.00,0.000,4,0.130,0.045,2435,892,3523
$GC,6652,-0.59,-116.7,458.9,-6.3,635,6656,0.00,2.10,0.00,0.000,6,0.000,0.038,2435,2234,3523
$GC,6979,-0.70,-116.7,477.4,-5.8,651,6984,0.15,2.15,0.00,0.000,4,0.070,0.046,2372,888,3523
$GC,7018,-0.47,-116.7,480.6,-9.0,652,7025,0.30,2.10,0.00,0.000,6,0.130,0.041,2463,2222,3523
$GC,7335,-0.70,-116.7,496.6,-5.1,668,7337,0.22,0.00,0.00,0.000,6,0.062,0.000,2372,2222,3522
$GC,7643,-0.54,-116.7,522.1,-8.4,683,7647,0.20,2.12,0.00,0.000,4,0.129,0.047,2438,895,3522
$GC,7681,-0.64,-116.7,524.7,-6.3,684,7687,0.00,2.10,0.00,0.000,6,0.000,0.041,2438,2231,3522
$GC,7998,-0.77,-116.7,542.4,-5.5,700,8000,0.20,0.00,0.00,0.000,6,0.062,0.000,2354,2233,3521
$GC,8305,-0.54,-116.7,569.6,-8.8,715,8310,0.25,2.17,0.00,0.000,4,0.130,0.049,2436,890,3521
$GC,8400,-0.61,-116.7,575.7,-6.3,719,8404,0.00,2.10,0.00,0.000,6,0.000,0.040,2435,2220,3521
$GC,8727,-0.72,-116.7,593.8,-5.7,735,8731,0.17,2.12,0.00,0.000,4,0.067,0.046,2363,891,3520
$GC,8760,-0.48,-116.7,596.5,-8.8,736,8765,0.30,2.08,0.00,0.000,6,0.134,0.040,2454,2213,3521
$GC,9080,-0.69,-116.7,612.0,-4.7,748,9082,0.17,0.00,0.00,0.000,6,0.066,0.000,2380,2213,3520
$GC,9385,-0.58,-116.7,633.7,-7.2,758,9387,0.15,0.00,0.00,0.000,6,0.131,0.000,2426,2213,3520
$GC,9692,-0.65,-116.7,651.2,-5.8,768,9696,0.00,2.10,0.00,0.000,4,0.000,0.048,2426,898,3520
$GC,9742,-0.65,-116.7,654.5,-6.2,769,9746,0.00,2.08,0.00,0.000,6,0.000,0.042,2426,2213,3519
$GC,10066,-0.72,-116.7,673.3,-5.8,780,10068,0.12,0.00,0.00,0.000,6,0.074,0.000,2372,2214,3519
$GC,10371,-0.58,-116.7,696.9,-7.8,790,10376,0.17,2.12,0.00,0.000,4,0.130,0.047,2425,893,3519
$GC,10416,-0.65,-116.7,699.8,-6.6,791,10420,0.00,2.08,0.00,0.000,6,0.000,0.041,2426,2211,3519
$GC,10746,-0.73,-116.7,718.9,-5.7,802,10748,0.15,0.00,0.00,0.000,6,0.069,0.000,2363,2211,3518
$GC,11052,-0.56,-116.7,743.1,-8.0,812,11057,0.20,2.12,0.00,0.000,4,0.131,0.049,2429,898,3518
$GC,11096,-0.64,-116.7,746.1,-6.2,813,11100,0.00,2.08,0.00,0.000,6,0.000,0.044,2429,2207,3518
$GC,11422,-0.74,-116.7,764.0,-5.6,824,11424,0.17,0.00,0.00,0.000,6,0.064,0.000,2358,2207,3518
$GC,11728,-0.54,-116.7,788.8,-8.2,834,11732,0.22,2.12,0.00,0.000,4,0.132,0.050,2431,895,3517
$GC,11791,-0.63,-116.7,793.0,-5.7,836,11794,0.00,2.05,0.00,0.000,6,0.000,0.042,2431,2194,3517
$GC,12133,-0.75,-116.7,811.8,-5.4,847,12135,0.17,0.00,0.00,0.000,6,0.064,0.000,2360,2194,3517
$GC,12438,-0.58,-116.7,837.0,-8.4,857,12443,0.20,2.08,0.00,0.000,4,0.133,0.046,2426,901,3517
$GC,12479,-0.67,-116.7,840.0,-6.5,858,12483,0.00,2.05,0.00,0.000,6,0.000,0.043,2425,2194,3517
$GC,12814,-0.76,-116.7,860.5,-6.1,869,12816,0.17,0.00,0.00,0.000,6,0.067,0.000,2352,2194,3516
$GC,13120,-0.55,-116.7,887.0,-8.8,879,13124,0.22,2.10,0.00,0.000,4,0.132,0.046,2425,897,3516
$GC,13163,-0.65,-116.7,890.3,-7.1,880,13167,0.00,2.08,0.00,0.000,6,0.000,0.043,2426,2199,3516
$GC,13493,-0.75,-116.7,910.4,-6.2,891,13495,0.15,0.00,0.00,0.000,6,0.070,0.000,2364,2199,3516
$GC,13799,-0.60,-116.7,935.4,-8.3,901,13803,0.17,2.10,0.00,0.000,4,0.132,0.047,2417,895,3516
$GC,13832,-0.60,-116.7,937.9,-6.5,902,13836,0.00,2.05,0.00,0.000,6,0.000,0.043,2417,2190,3516
$GC,14173,-0.67,-116.7,959.3,-6.3,913,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2190,3516
$GC,14479,-0.74,-116.7,978.0,-6.2,923,14481,0.15,0.00,0.00,0.000,6,0.070,0.000,2354,2191,3515
$STATE,14630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14630,begin apogee
$GC,14635,-0.23,0.0,990.2,8.1,928,14737,0.60,0.00,98.40,1.421,6,0.130,0.000,2540,2303,3046
$STATE,14737,end apogee,CONTROL_FINISHED_OK
$STATE,14737,begin climb
$GC,14740,0.77,116.7,993.0,0.0,931,14855,0.95,2.60,105.85,1.394,4,0.082,0.050,2851,3705,2570
$GC,14883,0.32,116.7,988.8,7.1,935,14888,0.52,2.40,0.00,0.000,6,0.139,0.031,2715,2296,2568
$GC,15201,0.73,178.4,974.9,4.4,946,15266,0.35,2.45,53.78,1.381,4,0.053,0.046,2855,893,2317
$GC,15447,0.55,178.4,952.7,9.3,953,15452,0.22,2.22,0.00,0.000,6,0.129,0.035,2790,2267,2311
$GC,15771,0.62,178.4,928.8,7.3,964,15775,0.00,2.38,0.00,0.000,4,0.000,0.054,2790,3714,2310
$GC,15808,0.62,178.4,925.6,8.4,965,15812,0.00,2.33,0.00,0.000,6,0.000,0.038,2791,2268,2310
$GC,16139,0.70,178.4,901.3,7.5,976,16144,0.15,2.20,0.00,0.000,4,0.064,0.048,2853,895,2310
$GC,16194,0.52,178.4,896.1,9.3,977,16201,0.25,2.15,0.00,0.000,6,0.129,0.035,2778,2264,2310
$GC,16507,0.65,178.4,873.4,7.1,988,16512,0.12,2.33,0.00,0.000,4,0.072,0.051,2831,3705,2310
$GC,16535,0.53,178.4,870.9,9.9,989,16540,0.17,2.28,0.00,0.000,6,0.139,0.034,2785,2249,2309
$GC,16870,0.62,178.4,845.4,7.3,1000,16874,0.00,2.17,0.00,0.000,4,0.000,0.048,2786,887,2309
$GC,16920,0.74,178.4,841.6,8.3,1001,16925,0.20,2.15,0.00,0.000,6,0.061,0.037,2866,2258,2309
$GC,17238,0.51,178.4,808.6,10.7,1012,17243,0.28,2.33,0.00,0.000,4,0.123,0.051,2776,3704,2309
$GC,17259,0.51,178.4,806.5,8.6,1012,17265,0.00,2.30,0.00,0.000,6,0.000,0.038,2779,2262,2309
$GC,17572,0.64,178.4,784.5,6.9,1023,17577,0.12,2.20,0.00,0.000,4,0.070,0.048,2835,883,2308
$GC,17615,0.55,178.4,780.7,8.5,1024,17620,0.17,2.15,0.00,0.000,6,0.128,0.037,2785,2259,2308
$GC,17939,0.67,178.4,757.9,7.0,1035,17943,0.12,2.33,0.00,0.000,4,0.070,0.051,2839,3704,2308
$GC,17954,0.67,178.4,756.6,7.2,1035,17958,0.00,2.30,0.00,0.000,6,0.000,0.035,2839,2231,2308
$GC,18272,0.56,178.4,728.2,8.9,1046,18274,0.15,0.00,0.00,0.000,6,0.137,0.000,2796,2231,2308
$GC,18579,0.63,178.4,706.1,7.2,1056,18580,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2231,2308
$GC,18887,0.71,179.5,685.0,6.8,1066,18889,0.15,0.00,0.00,0.000,6,0.067,0.000,2857,2229,2307
$GC,19193,0.54,179.5,658.1,8.8,1076,19195,0.22,0.00,0.00,0.000,6,0.126,0.000,2788,2230,2307
$GC,19499,0.68,201.5,639.1,6.0,1086,19520,0.15,0.00,18.88,1.176,6,0.065,0.000,2853,2230,2224
$GC,19803,0.55,201.5,612.6,8.8,1096,19808,0.20,2.42,0.00,0.000,4,0.124,0.048,2788,3704,2221
$GC,19841,0.63,201.5,609.7,6.9,1097,19845,0.00,2.33,0.00,0.000,6,0.000,0.035,2788,2234,2221
$GC,20163,0.81,224.3,590.0,6.0,1110,20189,0.20,2.17,20.38,1.143,4,0.059,0.045,2878,881,2130
$GC,20217,0.61,224.3,585.2,9.0,1112,20221,0.22,2.17,0.00,0.000,6,0.123,0.035,2811,2250,2128
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$STATE,27014,end climb,SURFACE_DEPTH_REACHED
$STATE,27014,begin surface coast
$FINISH,2.8,1.026454
$STATE,27050,end surface coast,CONTROL_FINISHED_OK
$STATE,27050,begin surface
$SM_CCo,27127,0.00,0.000,0,0,2124,226.17
$SM_GC,3.77,7.45,0.00,0.00,0.057,0.000,0.000,146,2306,2124,-7.64,0.17,226.17
$IRIDIUM_FIX,6436.42,-56.10,220698,060641
$TT8_MAMPS,0.027612
$HUMID,1692
$INTERNAL_PRESSURE,9.05695
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,22.1,35.891
$10V_AH,10.5,26.897
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$DEVICE_SECS,33.900,220.225,297.275,0.000,0.000,56.763,77.135,297.686,0.000,0.000,0.000,34.013,3275.994,19904.777,532.049,3257.401,790.819,0.000,2146.329,0.000,3201.487,0.000,1.130,0.000
$DEVICE_MAMPS,220.896,70.564,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1227.145,917.689,615.873,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85244,1696
$CAP_FILE_SIZE,236025,0
$CFSIZE,260165632,237502464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 52.8,1
$GPS,280309,142731,6504.897,-57.208,37,1.6,37,-5.8