version: 66.04
glider: 160
mission: 3
dive: 324
start: 5 3 109 3 34 42
data:
$ID,160
$MISSION,3
$DIVE,324
$D_SURF,4
$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,-14346.216
$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,20
$R_STBD_OVSHOOT,34
$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
$GPS1,031506,6503.626,-55.567,31,0.9,31,-5.8
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-59.1
$GPS2,033420,6503.537,-55.315,8,1.5,8,-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,309.7,5844,-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,15,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-7.22,0.000,2,0.000,0.000,123,2177,2099
$GC,27,-0.77,-116.7,3.6,-0.0,1,132,8.32,2.30,-88.40,0.000,4,0.201,0.060,2362,764,3522
$GC,385,-0.50,-116.7,28.2,-10.4,62,393,0.22,2.28,0.00,0.000,6,0.122,0.038,2454,2183,3523
$GC,733,-0.66,-116.7,48.2,-5.9,123,740,0.17,2.28,0.00,0.000,4,0.062,0.051,2380,3588,3523
$GC,781,-0.55,-116.7,51.8,-8.0,131,788,0.17,2.22,0.00,0.000,6,0.121,0.035,2434,2185,3523
$GC,1127,-0.62,-116.7,73.4,-6.3,192,1133,0.00,2.25,0.00,0.000,4,0.000,0.046,2434,758,3524
$GC,1214,-0.62,-116.7,79.3,-6.8,207,1220,0.00,2.25,0.00,0.000,6,0.000,0.036,2434,2208,3524
$GC,1560,-0.70,-116.7,98.5,-5.6,268,1566,0.15,0.00,0.00,0.000,6,0.067,0.000,2367,2209,3524
$GC,1904,-0.50,-116.7,129.6,-9.6,329,1911,0.25,2.33,0.00,0.000,4,0.121,0.046,2449,765,3524
$GC,1952,-0.60,-116.7,133.1,-7.1,337,1958,0.00,2.22,0.00,0.000,6,0.000,0.038,2449,2190,3524
$GC,2299,-0.75,-116.7,154.3,-6.4,391,2303,0.20,2.25,0.00,0.000,4,0.059,0.051,2360,3596,3524
$GC,2337,-0.53,-116.7,158.0,-10.1,393,2344,0.28,2.22,0.00,0.000,6,0.119,0.033,2445,2168,3524
$GC,2658,-0.68,-116.7,179.6,-6.5,414,2663,0.15,2.20,0.00,0.000,4,0.068,0.045,2382,760,3524
$GC,2719,-0.52,-116.7,185.4,-9.5,417,2726,0.20,2.20,0.00,0.000,6,0.126,0.036,2442,2174,3524
$GC,3045,-0.67,-116.7,205.3,-5.8,437,3049,0.15,2.28,0.00,0.000,4,0.064,0.051,2377,3595,3524
$GC,3072,-0.59,-116.7,207.5,-8.0,438,3077,0.15,2.22,0.00,0.000,6,0.130,0.033,2422,2168,3524
$GC,3388,-0.59,-116.7,228.3,-6.8,453,3392,0.00,2.20,0.00,0.000,4,0.000,0.046,2422,765,3524
$GC,3460,-0.59,-116.7,233.7,-7.4,456,3464,0.00,2.20,0.00,0.000,6,0.000,0.038,2422,2179,3524
$GC,3787,-0.59,-116.7,255.7,-7.1,472,3791,0.00,2.25,0.00,0.000,4,0.000,0.054,2422,3581,3524
$GC,3815,-0.67,-116.7,257.7,-7.6,473,3819,0.00,2.22,0.00,0.000,6,0.000,0.037,2422,2168,3524
$GC,4141,-0.67,-116.7,281.4,-7.3,489,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2167,3525
$GC,4471,-0.67,-116.7,305.1,-7.1,504,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2167,3524
$GC,4777,-0.74,-116.7,326.7,-7.2,514,4782,0.15,2.25,0.00,0.000,4,0.068,0.046,2359,761,3524
$GC,4816,-0.48,-116.7,330.5,-10.1,515,4821,0.32,2.22,0.00,0.000,6,0.127,0.038,2458,2173,3524
$GC,5141,-0.71,-116.7,350.2,-5.9,526,5146,0.20,2.30,0.00,0.000,4,0.061,0.051,2372,3597,3524
$GC,5170,-0.63,-116.7,352.4,-8.2,527,5175,0.12,2.25,0.00,0.000,6,0.135,0.035,2407,2166,3524
$GC,5504,-0.63,-116.7,377.7,-7.3,538,5508,0.00,2.22,0.00,0.000,4,0.000,0.047,2407,757,3523
$GC,5565,-0.63,-116.7,382.5,-7.6,539,5571,0.00,2.22,0.00,0.000,6,0.000,0.039,2407,2176,3523
$GC,5877,-0.63,-116.7,405.1,-7.2,550,5881,0.00,2.28,0.00,0.000,4,0.000,0.052,2407,3587,3523
$GC,5904,-0.63,-116.7,407.2,-7.3,550,5912,0.00,2.25,0.00,0.000,6,0.000,0.037,2407,2165,3522
$GC,6217,-0.63,-116.7,429.5,-7.2,561,6221,0.00,2.22,0.00,0.000,4,0.000,0.048,2407,759,3522
$GC,6256,-0.63,-116.7,432.6,-7.8,562,6260,0.00,2.22,0.00,0.000,6,0.000,0.038,2407,2185,3522
$GC,6592,-0.63,-116.7,456.4,-7.1,573,6596,0.00,2.28,0.00,0.000,4,0.000,0.057,2407,3586,3522
$GC,6637,-0.63,-116.7,459.7,-7.7,574,6641,0.00,2.25,0.00,0.000,6,0.000,0.039,2407,2170,3521
$GC,6961,-0.63,-116.7,482.7,-7.1,585,6965,0.00,2.22,0.00,0.000,4,0.000,0.048,2407,765,3521
$GC,7010,-0.63,-116.7,486.5,-7.7,586,7015,0.00,2.22,0.00,0.000,6,0.000,0.040,2407,2173,3520
$GC,7336,-0.63,-116.7,508.6,-6.8,597,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2173,3520
$GC,7642,-0.63,-116.7,529.3,-6.8,607,7646,0.00,2.25,0.00,0.000,4,0.000,0.048,2407,761,3520
$GC,7676,-0.63,-116.7,531.9,-7.6,608,7680,0.00,2.22,0.00,0.000,6,0.000,0.039,2407,2184,3519
$GC,8017,-0.63,-116.7,555.1,-6.8,619,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2184,3519
$GC,8324,-0.63,-116.7,575.5,-6.6,629,8327,0.00,2.30,0.00,0.000,4,0.000,0.051,2407,770,3519
$GC,8368,-0.63,-116.7,579.0,-8.0,630,8372,0.00,2.22,0.00,0.000,6,0.000,0.043,2407,2172,3519
$GC,8697,-0.63,-116.7,600.5,-6.5,641,8701,0.00,2.30,0.00,0.000,4,0.000,0.054,2407,3583,3519
$GC,8731,-0.63,-116.7,602.7,-6.5,641,8735,0.00,2.28,0.00,0.000,6,0.000,0.039,2407,2158,3518
$GC,9064,-0.63,-116.7,623.7,-6.3,647,9068,0.00,2.25,0.00,0.000,4,0.000,0.052,2407,758,3518
$GC,9108,-0.63,-116.7,627.0,-7.5,647,9112,0.00,2.22,0.00,0.000,6,0.000,0.039,2407,2171,3518
$GC,9435,-0.63,-116.7,648.3,-6.6,653,9438,0.00,2.30,0.00,0.000,4,0.000,0.054,2407,3588,3518
$GC,9476,-0.69,-116.7,650.9,-6.6,653,9480,0.00,2.28,0.00,0.000,6,0.000,0.040,2407,2164,3517
$GC,9803,-0.69,-116.7,671.7,-6.4,659,9807,0.00,2.22,0.00,0.000,4,0.000,0.049,2407,764,3518
$GC,9864,-0.69,-116.7,676.2,-6.9,659,9870,0.00,2.20,0.00,0.000,6,0.000,0.041,2407,2156,3517
$GC,10174,-0.69,-116.7,695.9,-6.3,665,10178,0.00,2.35,0.00,0.000,4,0.000,0.057,2407,3592,3517
$GC,10224,-0.69,-116.7,699.2,-6.4,665,10228,0.00,2.30,0.00,0.000,6,0.000,0.039,2407,2152,3517
$GC,10533,-0.69,-116.7,719.1,-6.4,670,10537,0.00,2.22,0.00,0.000,4,0.000,0.053,2407,765,3516
$GC,10601,-0.69,-116.7,724.0,-7.2,671,10605,0.00,2.22,0.00,0.000,6,0.000,0.044,2407,2167,3516
$GC,10973,-0.69,-116.7,749.4,-6.8,677,10977,0.00,2.33,0.00,0.000,4,0.000,0.058,2407,3589,3517
$GC,11011,-0.76,-116.7,752.1,-7.6,677,11016,0.12,2.30,0.00,0.000,6,0.078,0.041,2358,2149,3516
$GC,11339,-0.59,-116.7,780.3,-8.8,683,11343,0.20,2.22,0.00,0.000,4,0.130,0.051,2423,766,3515
$GC,11411,-0.67,-116.7,785.9,-7.4,684,11415,0.00,2.22,0.00,0.000,6,0.000,0.043,2423,2168,3516
$GC,11772,-0.79,-116.7,808.9,-6.3,690,11776,0.17,2.33,0.00,0.000,4,0.069,0.056,2351,3592,3516
$GC,11811,-0.60,-116.7,812.1,-7.9,690,11815,0.22,2.30,0.00,0.000,6,0.130,0.040,2418,2152,3515
$GC,12131,-0.69,-116.7,832.3,-6.2,696,12135,0.00,2.22,0.00,0.000,4,0.000,0.054,2418,766,3515
$GC,12176,-0.76,-116.7,835.4,-7.0,696,12181,0.15,2.22,0.00,0.000,6,0.072,0.043,2359,2168,3515
$GC,12497,-0.62,-116.7,861.2,-8.1,702,12499,0.17,0.00,0.00,0.000,6,0.126,0.000,2413,2169,3514
$GC,12801,-0.70,-116.7,880.1,-6.1,707,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2168,3514
$GC,13103,-0.78,-116.7,898.5,-6.1,712,13105,0.15,0.00,0.00,0.000,6,0.074,0.000,2351,2168,3514
$GC,13406,-0.60,-116.7,923.4,-8.3,717,13411,0.20,2.30,0.00,0.000,4,0.128,0.053,2418,764,3514
$GC,13456,-0.68,-116.7,927.0,-7.0,717,13460,0.00,2.22,0.00,0.000,6,0.000,0.044,2418,2159,3514
$GC,13772,-0.79,-116.7,945.1,-5.7,723,13776,0.17,2.35,0.00,0.000,4,0.067,0.059,2348,3583,3514
$GC,13805,-0.60,-116.7,947.7,-8.4,723,13810,0.22,2.30,0.00,0.000,6,0.128,0.042,2416,2145,3514
$GC,14131,-0.70,-116.7,966.2,-5.6,729,14135,0.00,2.20,0.00,0.000,4,0.000,0.051,2417,770,3514
$GC,14165,-0.77,-116.7,968.2,-6.1,729,14170,0.15,2.20,0.00,0.000,6,0.071,0.044,2356,2154,3514
$STATE,14500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14500,begin apogee
$GC,14507,-0.23,0.0,993.7,7.6,735,14611,0.57,0.00,101.40,1.409,6,0.126,0.000,2536,2283,3046
$STATE,14612,end apogee,CONTROL_FINISHED_OK
$STATE,14612,begin climb
$GC,14615,0.77,116.7,995.7,0.0,736,14729,1.00,0.00,109.75,1.367,6,0.079,0.000,2857,2283,2570
$GC,15044,0.49,116.7,970.7,7.9,744,15046,0.30,0.00,0.00,0.000,6,0.135,0.000,2769,2283,2565
$GC,15348,0.63,154.3,954.2,5.4,749,15387,0.15,2.42,32.42,1.347,4,0.076,0.045,2827,854,2415
$GC,15421,0.54,154.3,948.8,8.1,750,15426,0.15,2.28,0.00,0.000,6,0.140,0.035,2786,2265,2415
$GC,15776,0.62,159.3,925.3,6.7,756,15784,0.00,0.00,5.60,1.053,6,0.000,0.000,2786,2265,2396
$GC,16079,0.72,160.4,904.5,6.8,761,16083,0.17,2.28,0.00,0.000,4,0.067,0.045,2856,857,2395
$GC,16106,0.58,160.4,902.2,8.9,761,16111,0.20,2.22,0.00,0.000,6,0.140,0.036,2798,2266,2395
$GC,16443,0.58,160.4,877.1,7.4,767,16445,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2266,2395
$GC,16746,0.58,160.4,854.8,7.4,772,16747,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2266,2394
$GC,17049,0.58,160.4,833.1,7.1,777,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2266,2394
$GC,17353,0.58,160.4,812.1,6.9,782,17354,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2266,2394
$GC,17656,0.58,164.2,791.7,6.7,787,17664,0.00,0.00,5.75,1.041,6,0.000,0.000,2798,2266,2376
$GC,17958,0.58,164.2,770.5,7.0,792,17960,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2266,2375
$GC,18262,0.64,164.2,749.5,6.9,797,18263,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2266,2375
$GC,18565,0.64,164.2,727.9,7.2,802,18566,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2266,2375
$GC,18869,0.71,164.2,707.0,6.9,807,18874,0.12,2.28,0.00,0.000,4,0.077,0.045,2851,859,2375
$GC,18907,0.55,164.2,703.7,8.0,807,18912,0.20,2.22,0.00,0.000,6,0.137,0.035,2793,2272,2375
$GC,19234,0.65,170.8,682.0,6.6,813,19243,0.00,0.00,7.35,1.071,6,0.000,0.000,2793,2272,2349
$GC,19537,0.77,184.1,662.6,6.3,818,19553,0.20,0.00,13.15,1.146,6,0.067,0.000,2871,2272,2295
$GC,19841,0.58,184.1,635.9,8.9,823,19845,0.22,2.30,0.00,0.000,4,0.131,0.048,2799,859,2293
$GC,19885,0.71,188.8,632.8,6.7,823,19896,0.12,2.22,5.35,0.942,6,0.069,0.037,2854,2259,2276
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$STATE,27550,end climb,SURFACE_DEPTH_REACHED
$STATE,27550,begin surface coast
$FINISH,2.9,1.014632
$STATE,27583,end surface coast,CONTROL_FINISHED_OK
$STATE,27583,begin surface
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$10V_AH,10.5,40.573
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$DEVICE_SECS,29.150,242.650,337.325,0.000,0.000,118.901,143.435,563.173,0.000,0.000,0.000,12.587,2710.373,21414.322,557.045,2842.098,1280.277,0.000,2026.663,0.000,2808.438,0.000,0.532,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66349,1330
$CAP_FILE_SIZE,228913,0
$CFSIZE,260165632,226512896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066, 92.6,1
$GPS,030509,111730,6505.314,-59.100,68,1.0,68,-5.8