version: 66.04
glider: 160
mission: 3
dive: 313
start: 4 29 109 16 41 19
data:
$ID,160
$MISSION,3
$DIVE,313
$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,-14152.062
$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,2180
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$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
$GPS1,163558,6443.825,4.606,10,99.0,29,-5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.50
$_SM_ANGLEo,-66.0
$GPS2,164058,6443.850,4.544,13,99.0,32,-5.1
$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,312.9,64929,-13.7,-6.875
$D_GRID,2704
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.77,-116.7,0.0,0.0,0,25,0.00,0.00,-7.38,0.000,2,0.000,0.000,144,2199,2265
$GC,28,-0.77,-116.7,3.5,-0.0,1,116,8.20,2.30,-71.43,0.000,4,0.204,0.064,2364,3593,3522
$GC,359,-0.57,-116.7,24.8,-9.7,57,366,0.20,2.22,0.00,0.000,6,0.123,0.034,2426,2175,3523
$GC,703,-0.57,-116.7,49.3,-7.2,118,709,0.00,2.22,0.00,0.000,4,0.000,0.048,2426,759,3523
$GC,733,-0.57,-116.7,51.5,-7.5,123,740,0.00,2.22,0.00,0.000,6,0.000,0.035,2426,2193,3523
$GC,1079,-0.57,-116.7,76.8,-7.1,184,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2193,3523
$GC,1423,-0.57,-116.7,101.6,-6.8,245,1429,0.00,2.25,0.00,0.000,4,0.000,0.042,2426,771,3523
$GC,1453,-0.57,-116.7,103.9,-7.2,250,1460,0.00,2.20,0.00,0.000,6,0.000,0.036,2426,2177,3524
$GC,1798,-0.57,-116.7,128.2,-7.0,311,1805,0.00,2.28,0.00,0.000,4,0.000,0.053,2426,3592,3523
$GC,1835,-0.64,-116.7,130.7,-6.6,317,1842,0.00,2.22,0.00,0.000,6,0.000,0.034,2426,2167,3523
$GC,2187,-0.64,-116.7,153.2,-6.5,374,2190,0.00,2.20,0.00,0.000,4,0.000,0.044,2426,762,3523
$GC,2264,-0.64,-116.7,158.8,-7.3,378,2271,0.00,2.22,0.00,0.000,6,0.000,0.035,2426,2173,3524
$GC,2583,-0.64,-116.7,179.8,-6.9,399,2587,0.00,2.22,0.00,0.000,4,0.000,0.044,2426,765,3523
$GC,2618,-0.64,-116.7,182.5,-8.0,401,2622,0.00,2.20,0.00,0.000,6,0.000,0.036,2426,2183,3523
$GC,2952,-0.64,-116.7,206.6,-7.4,421,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2184,3523
$GC,3263,-0.70,-116.7,227.7,-6.3,436,3267,0.12,2.28,0.00,0.000,4,0.071,0.047,2368,761,3523
$GC,3307,-0.48,-116.7,231.6,-8.8,438,3312,0.30,2.17,0.00,0.000,6,0.123,0.036,2460,2163,3523
$GC,3628,-0.71,-116.7,248.2,-5.1,454,3633,0.20,2.30,0.00,0.000,4,0.059,0.051,2372,3592,3522
$GC,3684,-0.58,-116.7,252.6,-8.3,456,3691,0.17,2.25,0.00,0.000,6,0.125,0.035,2425,2160,3522
$GC,4001,-0.65,-116.7,273.3,-6.5,472,4005,0.00,2.20,0.00,0.000,4,0.000,0.048,2425,771,3521
$GC,4096,-0.65,-116.7,279.7,-6.8,476,4100,0.00,2.20,0.00,0.000,6,0.000,0.039,2425,2171,3521
$GC,4424,-0.72,-116.7,299.5,-6.0,492,4429,0.12,2.28,0.00,0.000,4,0.074,0.049,2367,3592,3520
$GC,4463,-0.55,-116.7,302.7,-8.3,494,4468,0.22,2.25,0.00,0.000,6,0.123,0.035,2436,2157,3520
$GC,4792,-0.68,-116.7,322.1,-5.8,510,4797,0.12,2.22,0.00,0.000,4,0.075,0.049,2382,759,3520
$GC,4825,-0.52,-116.7,324.9,-8.6,511,4834,0.20,2.20,0.00,0.000,6,0.128,0.038,2442,2169,3520
$GC,5142,-0.68,-116.7,343.3,-5.6,527,5143,0.15,0.00,0.00,0.000,6,0.064,0.000,2378,2170,3519
$GC,5451,-0.55,-116.7,368.6,-8.5,542,5453,0.20,0.00,0.00,0.000,6,0.122,0.000,2441,2171,3518
$GC,5760,-0.71,-116.7,387.7,-6.3,557,5762,0.17,0.00,0.00,0.000,6,0.064,0.000,2366,2171,3517
$GC,6069,-0.55,-116.7,416.8,-9.6,572,6071,0.22,0.00,0.00,0.000,6,0.122,0.000,2436,2170,3517
$GC,6378,-0.68,-116.7,439.4,-7.1,587,6383,0.12,2.33,0.00,0.000,4,0.074,0.051,2382,3594,3516
$GC,6422,-0.59,-116.7,443.2,-9.0,589,6427,0.15,2.28,0.00,0.000,6,0.132,0.036,2427,2162,3516
$GC,6743,-0.69,-116.7,467.3,-7.6,605,6748,0.12,2.22,0.00,0.000,4,0.074,0.046,2375,771,3515
$GC,6787,-0.52,-116.7,471.6,-10.2,607,6792,0.25,2.20,0.00,0.000,6,0.128,0.039,2450,2167,3515
$GC,7109,-0.73,-116.7,492.0,-6.0,623,7114,0.20,2.33,0.00,0.000,4,0.062,0.053,2363,3585,3515
$GC,7136,-0.63,-116.7,494.4,-8.9,624,7141,0.17,2.28,0.00,0.000,6,0.127,0.039,2416,2161,3514
$GC,7452,-0.63,-116.7,516.6,-6.9,639,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2161,3514
$GC,7761,-0.63,-116.7,537.4,-6.8,654,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2161,3513
$GC,8071,-0.69,-116.7,558.3,-6.8,669,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2161,3513
$GC,8380,-0.76,-116.7,579.3,-6.9,684,8385,0.15,2.25,0.00,0.000,4,0.071,0.049,2352,759,3512
$GC,8413,-0.50,-116.7,582.4,-10.3,685,8421,0.32,2.22,0.00,0.000,6,0.130,0.039,2451,2170,3512
$GC,8729,-0.71,-116.7,601.0,-5.7,701,8734,0.20,2.30,0.00,0.000,4,0.064,0.052,2369,3589,3512
$GC,8768,-0.57,-116.7,604.2,-8.7,702,8773,0.20,2.28,0.00,0.000,6,0.129,0.039,2430,2155,3512
$GC,9092,-0.71,-116.7,625.2,-6.5,713,9094,0.15,0.00,0.00,0.000,6,0.071,0.000,2366,2156,3511
$GC,9398,-0.55,-116.7,651.7,-8.7,723,9400,0.22,0.00,0.00,0.000,6,0.123,0.000,2436,2154,3511
$GC,9704,-0.72,-116.7,669.7,-5.8,733,9709,0.17,2.38,0.00,0.000,4,0.067,0.058,2364,3590,3511
$GC,9743,-0.57,-116.7,672.8,-8.1,734,9748,0.20,2.28,0.00,0.000,6,0.127,0.041,2424,2166,3510
$GC,10067,-0.69,-116.7,692.3,-5.9,745,10071,0.00,2.25,0.00,0.000,4,0.000,0.050,2425,758,3510
$GC,10102,-0.76,-116.7,694.5,-6.4,746,10106,0.17,2.22,0.00,0.000,6,0.067,0.041,2353,2172,3510
$GC,10438,-0.58,-116.7,722.8,-8.6,757,10440,0.25,0.00,0.00,0.000,6,0.124,0.000,2431,2173,3509
$GC,10745,-0.73,-116.7,740.3,-5.5,767,10746,0.15,0.00,0.00,0.000,6,0.069,0.000,2367,2173,3509
$GC,11050,-0.60,-116.7,763.8,-7.8,777,11052,0.17,0.00,0.00,0.000,6,0.127,0.000,2419,2173,3509
$GC,11357,-0.70,-116.7,782.2,-5.8,787,11361,0.00,2.28,0.00,0.000,4,0.000,0.048,2420,763,3508
$GC,11392,-0.77,-116.7,784.4,-6.4,788,11396,0.17,2.22,0.00,0.000,6,0.068,0.041,2350,2172,3508
$GC,11732,-0.57,-116.7,812.7,-8.2,799,11734,0.25,0.00,0.00,0.000,6,0.123,0.000,2428,2173,3508
$GC,12039,-0.72,-116.7,829.3,-5.6,809,12041,0.15,0.00,0.00,0.000,6,0.070,0.000,2366,2173,3508
$GC,12347,-0.59,-116.7,852.5,-7.8,819,12349,0.17,0.00,0.00,0.000,6,0.124,0.000,2419,2173,3507
$GC,12652,-0.70,-116.7,871.1,-6.1,829,12656,0.00,2.30,0.00,0.000,4,0.000,0.055,2419,3584,3508
$GC,12681,-0.83,-116.7,873.1,-6.7,829,12688,0.22,2.28,0.00,0.000,6,0.063,0.040,2333,2160,3507
$GC,12994,-0.57,-116.7,902.3,-9.5,840,12999,0.28,2.25,0.00,0.000,4,0.133,0.053,2422,771,3507
$GC,13083,-0.65,-116.7,909.0,-7.7,842,13089,0.00,2.20,0.00,0.000,6,0.000,0.044,2422,2154,3507
$GC,13396,-0.78,-116.7,928.7,-6.3,853,13401,0.17,2.35,0.00,0.000,4,0.068,0.054,2351,3596,3506
$GC,13435,-0.60,-116.7,931.9,-9.5,854,13440,0.22,2.30,0.00,0.000,6,0.125,0.038,2418,2142,3506
$GC,13759,-0.71,-116.7,952.2,-6.3,865,13764,0.12,2.20,0.00,0.000,4,0.076,0.048,2366,764,3506
$GC,13792,-0.55,-116.7,955.1,-8.9,866,13797,0.22,2.22,0.00,0.000,6,0.129,0.042,2433,2169,3506
$GC,14122,-0.72,-116.7,974.6,-5.9,877,14127,0.15,2.30,0.00,0.000,4,0.068,0.056,2369,3580,3506
$GC,14160,-0.63,-116.7,977.5,-7.7,878,14165,0.15,2.28,0.00,0.000,6,0.132,0.039,2413,2148,3506
$STATE,14364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14364,begin apogee
$GC,14370,-0.23,0.0,990.4,6.2,885,14473,0.40,0.00,99.78,1.401,6,0.116,0.000,2543,2284,3046
$STATE,14474,end apogee,CONTROL_FINISHED_OK
$STATE,14474,begin climb
$GC,14477,0.77,116.7,993.6,0.0,888,14595,0.98,2.60,108.68,1.355,4,0.075,0.049,2859,3672,2569
$GC,14608,0.46,154.0,992.4,5.4,892,14659,0.38,2.45,37.78,1.262,6,0.147,0.033,2768,2269,2417
$GC,14987,0.65,187.0,971.6,5.6,905,15023,0.17,2.38,29.77,1.330,4,0.064,0.048,2842,866,2283
$GC,15114,0.56,187.0,960.8,8.4,908,15121,0.17,2.25,0.00,0.000,6,0.129,0.036,2791,2264,2278
$GC,15427,0.66,187.0,938.7,7.0,919,15429,0.12,0.00,0.00,0.000,6,0.071,0.000,2843,2264,2276
$GC,15733,0.56,187.0,911.8,8.7,929,15738,0.17,2.30,0.00,0.000,4,0.128,0.049,2792,3683,2276
$GC,15761,0.56,187.0,909.5,8.1,930,15765,0.00,2.28,0.00,0.000,6,0.000,0.035,2795,2237,2276
$GC,16096,0.65,187.0,886.0,7.0,941,16100,0.00,2.20,0.00,0.000,4,0.000,0.048,2795,863,2275
$GC,16146,0.75,187.0,882.5,7.1,942,16151,0.17,2.17,0.00,0.000,6,0.064,0.036,2869,2258,2274
$GC,16465,0.55,187.0,851.4,10.1,953,16469,0.22,2.30,0.00,0.000,4,0.129,0.051,2794,3684,2275
$GC,16491,0.55,187.0,849.0,8.6,953,16498,0.00,2.28,0.00,0.000,6,0.000,0.036,2796,2240,2275
$GC,16805,0.64,188.7,827.6,6.8,964,16809,0.00,2.20,0.00,0.000,4,0.000,0.051,2795,861,2274
$GC,16850,0.75,188.7,824.5,7.1,965,16855,0.17,2.17,0.00,0.000,6,0.064,0.039,2869,2254,2273
$GC,17176,0.55,188.7,793.4,9.7,976,17180,0.22,2.30,0.00,0.000,4,0.128,0.052,2794,3674,2274
$GC,17210,0.55,188.7,790.3,8.8,977,17213,0.00,2.25,0.00,0.000,6,0.000,0.038,2796,2253,2273
$GC,17546,0.64,190.6,767.1,6.8,988,17550,0.00,2.22,0.00,0.000,4,0.000,0.047,2795,848,2274
$GC,17619,0.75,190.6,762.1,7.1,990,17623,0.17,2.15,0.00,0.000,6,0.064,0.035,2869,2239,2273
$GC,17953,0.56,190.6,730.5,9.6,1001,17958,0.22,2.30,0.00,0.000,4,0.127,0.048,2794,3674,2273
$GC,17981,0.56,190.6,728.2,7.8,1002,17986,0.00,2.28,0.00,0.000,6,0.000,0.035,2795,2223,2273
$GC,18317,0.67,196.4,705.5,6.6,1013,18331,0.00,2.22,7.93,1.094,4,0.000,0.052,2795,860,2244
$GC,18377,0.79,196.4,701.4,7.0,1014,18384,0.20,2.15,0.00,0.000,6,0.061,0.039,2879,2237,2244
$GC,18690,0.58,196.4,671.2,9.8,1025,18694,0.22,2.33,0.00,0.000,4,0.128,0.050,2804,3677,2244
$GC,18739,0.58,196.4,667.1,7.4,1026,18743,0.00,2.30,0.00,0.000,6,0.000,0.036,2803,2235,2243
$GC,19058,0.68,207.6,646.4,6.4,1037,19074,0.00,2.28,11.48,1.122,4,0.000,0.048,2804,852,2198
$GC,19114,0.82,215.7,642.7,6.5,1038,19130,0.20,2.17,8.82,1.062,6,0.060,0.035,2886,2239,2165
$GC,19462,0.61,215.7,608.2,10.2,1050,19466,0.22,2.33,0.00,0.000,4,0.129,0.048,2813,3674,2162
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$GC,22752,0.80,250.8,355.2,6.6,1207,22766,0.20,2.22,6.97,0.886,4,0.061,0.048,2894,865,2022
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$GC,23494,0.81,257.5,297.6,6.6,1243,23508,0.20,2.25,7.15,0.863,4,0.058,0.045,2888,851,1995
$GC,23531,0.67,257.5,294.0,9.7,1244,23538,0.20,2.17,0.00,0.000,6,0.130,0.035,2829,2249,1994
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$GC,24156,0.88,257.5,244.9,7.8,1275,24158,0.20,0.00,0.00,0.000,6,0.061,0.000,2909,2249,1993
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$GC,26369,0.73,257.5,34.6,9.4,1537,26376,0.12,2.35,0.00,0.000,4,0.132,0.046,2846,3677,1992
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$STATE,26754,end climb,SURFACE_DEPTH_REACHED
$STATE,26755,begin surface coast
$FINISH,3.2,1.027532
$STATE,26861,end surface coast,NO_VERTICAL_VELOCITY
$STATE,26861,begin surface
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$TT8_MAMPS,0.026845
$HUMID,1665
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$TCM_TEMP,13.30
$XPDR_PINGS,0
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$10V_AH,10.5,39.352
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$DEVICE_SECS,35.825,243.625,356.875,285.450,0.000,23.790,32.979,138.218,0.000,0.000,0.000,34.805,3160.918,19756.758,878.742,3181.850,600.302,0.000,2488.279,0.000,3118.415,0.000,0.535,0.000
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$DATA_FILE_SIZE,82048,1623
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$CFSIZE,260165632,227471360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138, 14.6,1
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