version: 66.04
glider: 160
mission: 3
dive: 341
start: 5 8 109 10 53 21
data:
$ID,160
$MISSION,3
$DIVE,341
$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,-14602.619
$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,39
$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
$GPS1,104537,6425.323,39.523,33,1.3,33,-4.7
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,1
$_SM_DEPTHo,3.39
$_SM_ANGLEo,-62.0
$GPS2,105258,6425.351,39.708,11,1.4,12,-4.7
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$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,156.1,225354,-13.7,-6.875
$D_GRID,2505
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.77,-116.7,0.0,0.0,0,23,0.00,0.00,-6.95,0.000,2,0.000,0.000,123,2161,2236
$GC,27,-0.77,-116.7,3.4,-0.0,1,125,8.38,2.35,-81.47,0.000,4,0.201,0.061,2360,3580,3522
$GC,166,-0.45,-116.7,6.6,-8.2,23,173,0.35,2.20,0.00,0.000,6,0.114,0.032,2470,2182,3523
$GC,513,-0.69,-116.7,22.9,-4.1,84,520,0.20,2.30,0.00,0.000,4,0.058,0.048,2380,3595,3524
$GC,550,-0.69,-116.7,25.2,-6.0,90,556,0.00,2.25,0.00,0.000,6,0.000,0.033,2380,2185,3525
$GC,895,-0.51,-116.7,57.0,-9.5,151,902,0.20,2.30,0.00,0.000,4,0.122,0.048,2446,3596,3525
$GC,993,-0.69,-116.7,63.9,-7.0,161,997,0.17,2.20,0.00,0.000,6,0.060,0.031,2375,2188,3525
$GC,1314,-0.52,-116.7,94.0,-9.5,177,1316,0.22,0.00,0.00,0.000,6,0.120,0.000,2446,2186,3526
$GC,1624,-0.66,-116.7,113.3,-6.4,192,1625,0.15,0.00,0.00,0.000,6,0.067,0.000,2380,2186,3526
$GC,1934,-0.51,-116.7,141.5,-8.9,207,1938,0.20,2.25,0.00,0.000,4,0.120,0.042,2446,772,3526
$GC,1983,-0.64,-116.7,145.3,-7.2,209,1988,0.12,2.22,0.00,0.000,6,0.070,0.035,2391,2201,3526
$GC,2306,-0.55,-116.7,170.7,-7.9,225,2310,0.15,2.30,0.00,0.000,4,0.121,0.044,2437,774,3526
$GC,2384,-0.62,-116.7,176.1,-6.4,228,2391,0.00,2.22,0.00,0.000,6,0.000,0.038,2437,2195,3526
$GC,2700,-0.73,-116.7,194.2,-5.5,244,2705,0.17,2.28,0.00,0.000,4,0.062,0.043,2361,775,3527
$GC,2728,-0.55,-116.7,196.4,-8.5,245,2733,0.25,2.20,0.00,0.000,6,0.125,0.037,2437,2186,3527
$GC,3044,-0.66,-116.7,215.4,-6.0,260,3046,0.12,0.00,0.00,0.000,6,0.072,0.000,2383,2187,3527
$GC,3353,-0.55,-116.7,240.9,-8.2,275,3355,0.17,0.00,0.00,0.000,6,0.122,0.000,2437,2187,3527
$GC,3663,-0.66,-116.7,259.2,-5.8,290,3665,0.12,0.00,0.00,0.000,6,0.073,0.000,2381,2187,3527
$GC,3972,-0.55,-116.7,284.2,-8.1,305,3977,0.17,2.30,0.00,0.000,4,0.122,0.047,2435,777,3527
$GC,4011,-0.64,-116.7,287.0,-7.3,307,4015,0.00,2.20,0.00,0.000,6,0.000,0.038,2435,2173,3526
$GC,4335,-0.75,-116.7,306.5,-6.2,321,4337,0.20,0.00,0.00,0.000,6,0.061,0.000,2351,2173,3527
$GC,4640,-0.52,-116.7,335.6,-9.4,331,4644,0.28,2.28,0.00,0.000,4,0.121,0.043,2442,775,3526
$GC,4759,-0.64,-116.7,343.2,-5.8,334,4764,0.12,2.22,0.00,0.000,6,0.068,0.038,2390,2187,3527
$GC,5072,-0.57,-116.7,365.6,-7.6,344,5074,0.12,0.00,0.00,0.000,6,0.129,0.000,2427,2187,3526
$GC,5379,-0.66,-116.7,384.1,-5.9,354,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2187,3526
$GC,5684,-0.76,-116.7,402.3,-6.0,364,5689,0.17,2.30,0.00,0.000,4,0.064,0.048,2353,777,3524
$GC,5740,-0.50,-116.7,407.5,-9.7,365,5749,0.32,2.20,0.00,0.000,6,0.127,0.039,2451,2169,3524
$GC,6053,-0.71,-116.7,424.7,-5.4,376,6055,0.20,0.00,0.00,0.000,6,0.061,0.000,2369,2169,3523
$GC,6360,-0.57,-116.7,450.4,-8.6,386,6364,0.20,2.28,0.00,0.000,4,0.123,0.047,2436,778,3524
$GC,6399,-0.69,-116.7,453.4,-6.9,387,6403,0.15,2.20,0.00,0.000,6,0.069,0.039,2375,2171,3524
$GC,6724,-0.58,-116.7,480.6,-8.5,398,6726,0.17,0.00,0.00,0.000,6,0.123,0.000,2428,2172,3523
$GC,7029,-0.70,-116.7,499.9,-6.3,408,7034,0.12,2.25,0.00,0.000,4,0.072,0.047,2375,779,3521
$GC,7068,-0.53,-116.7,503.1,-9.1,409,7073,0.22,2.20,0.00,0.000,6,0.127,0.039,2443,2173,3522
$GC,7389,-0.72,-116.7,521.9,-5.8,415,7391,0.17,0.00,0.00,0.000,6,0.061,0.000,2369,2174,3521
$GC,7693,-0.58,-116.7,547.7,-8.6,420,7697,0.20,2.30,0.00,0.000,4,0.123,0.046,2436,766,3520
$GC,7727,-0.70,-116.7,550.2,-7.0,420,7732,0.15,2.22,0.00,0.000,6,0.071,0.041,2375,2168,3521
$GC,8054,-0.60,-116.7,577.5,-8.4,426,8055,0.15,0.00,0.00,0.000,6,0.127,0.000,2421,2167,3520
$GC,8357,-0.68,-116.7,597.8,-6.6,431,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2168,3520
$GC,8659,-0.77,-116.7,617.2,-6.4,436,8661,0.17,0.00,0.00,0.000,6,0.065,0.000,2349,2168,3519
$GC,8962,-0.56,-116.7,643.9,-9.0,441,8967,0.22,2.30,0.00,0.000,4,0.127,0.051,2424,775,3519
$GC,9018,-0.65,-116.7,647.8,-6.2,441,9026,0.00,2.20,0.00,0.000,6,0.000,0.041,2424,2155,3518
$GC,9329,-0.76,-116.7,665.2,-5.5,447,9330,0.17,0.00,0.00,0.000,6,0.067,0.000,2352,2156,3518
$GC,9631,-0.56,-116.7,690.7,-8.5,452,9635,0.22,2.25,0.00,0.000,4,0.127,0.048,2427,780,3517
$GC,9669,-0.66,-116.7,693.5,-7.2,452,9673,0.00,2.17,0.00,0.000,6,0.000,0.040,2427,2154,3517
$GC,9997,-0.78,-116.7,712.8,-5.9,458,9999,0.20,0.00,0.00,0.000,6,0.064,0.000,2346,2154,3517
$GC,10299,-0.56,-116.7,739.8,-9.1,463,10301,0.28,0.00,0.00,0.000,6,0.125,0.000,2431,2153,3516
$GC,10602,-0.71,-116.7,758.3,-6.0,468,10604,0.15,0.00,0.00,0.000,6,0.070,0.000,2367,2154,3516
$GC,10905,-0.59,-116.7,783.6,-8.4,473,10910,0.17,2.25,0.00,0.000,4,0.127,0.048,2420,775,3516
$GC,10938,-0.67,-116.7,786.3,-7.8,473,10942,0.00,2.20,0.00,0.000,6,0.000,0.041,2420,2152,3515
$GC,11271,-0.78,-116.7,807.4,-6.3,479,11273,0.17,0.00,0.00,0.000,6,0.067,0.000,2349,2152,3516
$GC,11574,-0.59,-116.7,834.1,-8.9,484,11576,0.25,0.00,0.00,0.000,6,0.126,0.000,2427,2152,3515
$GC,11877,-0.74,-116.7,852.0,-5.8,489,11879,0.15,0.00,0.00,0.000,6,0.071,0.000,2365,2153,3515
$GC,12180,-0.62,-116.7,875.3,-7.7,494,12182,0.17,0.00,0.00,0.000,6,0.126,0.000,2419,2154,3514
$GC,12483,-0.72,-116.7,892.8,-5.7,499,12485,0.12,0.00,0.00,0.000,6,0.075,0.000,2364,2153,3514
$GC,12786,-0.60,-116.7,915.1,-7.4,504,12791,0.17,2.25,0.00,0.000,4,0.126,0.048,2418,780,3514
$GC,12820,-0.68,-116.7,917.3,-6.3,504,12823,0.00,2.17,0.00,0.000,6,0.000,0.040,2417,2150,3514
$GC,13152,-0.79,-116.7,935.9,-5.6,510,13154,0.17,0.00,0.00,0.000,6,0.064,0.000,2346,2150,3513
$GC,13455,-0.60,-116.7,961.0,-8.5,515,13457,0.25,0.00,0.00,0.000,6,0.126,0.000,2423,2150,3513
$GC,13758,-0.74,-116.7,978.4,-5.6,520,13760,0.15,0.00,0.00,0.000,6,0.074,0.000,2363,2150,3513
$STATE,13938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13938,begin apogee
$GC,13945,-0.23,0.0,992.2,7.2,523,14049,0.55,0.00,101.70,1.406,6,0.123,0.000,2537,2274,3046
$STATE,14050,end apogee,CONTROL_FINISHED_OK
$STATE,14050,begin climb
$GC,14053,0.77,116.7,994.4,0.0,524,14180,0.98,2.70,111.70,1.355,4,0.077,0.051,2856,3674,2570
$GC,14225,0.35,116.7,991.6,7.2,526,14230,0.50,2.45,0.00,0.000,6,0.137,0.034,2727,2262,2567
$GC,14546,0.73,199.5,979.7,3.6,532,14628,0.30,2.50,73.82,1.379,4,0.057,0.048,2850,871,2230
$GC,14695,0.62,199.5,967.8,9.3,534,14700,0.15,2.33,0.00,0.000,6,0.129,0.034,2811,2264,2225
$GC,15038,0.62,199.5,942.5,7.3,540,15042,0.00,2.33,0.00,0.000,4,0.000,0.050,2810,3684,2221
$GC,15110,0.62,199.5,936.3,9.3,541,15114,0.00,2.25,0.00,0.000,6,0.000,0.034,2810,2259,2221
$GC,15476,0.62,199.5,909.2,7.4,547,15477,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2259,2220
$GC,15780,0.62,199.5,886.1,7.6,552,15783,0.00,2.22,0.00,0.000,4,0.000,0.048,2810,874,2219
$GC,15824,0.68,199.5,882.7,7.5,552,15828,0.00,2.20,0.00,0.000,6,0.000,0.035,2810,2282,2219
$GC,16151,0.68,199.5,857.5,7.7,558,16155,0.00,2.25,0.00,0.000,4,0.000,0.051,2810,3676,2219
$GC,16229,0.68,199.5,850.9,8.1,559,16233,0.00,2.20,0.00,0.000,6,0.000,0.035,2810,2277,2219
$GC,16589,0.68,199.5,823.4,7.6,565,16593,0.00,2.25,0.00,0.000,4,0.000,0.046,2810,864,2219
$GC,16633,0.77,199.5,820.1,8.4,565,16638,0.15,2.20,0.00,0.000,6,0.068,0.036,2874,2274,2218
$GC,16954,0.57,199.5,787.7,10.3,571,16959,0.22,2.30,0.00,0.000,4,0.126,0.051,2800,3687,2218
$GC,17020,0.57,199.5,782.0,6.9,572,17024,0.00,2.22,0.00,0.000,6,0.000,0.034,2799,2269,2218
$GC,17387,0.67,201.2,757.2,6.8,578,17391,0.00,2.25,0.00,0.000,4,0.000,0.049,2800,860,2218
$GC,17444,0.80,202.1,753.3,6.8,578,17448,0.20,2.22,0.00,0.000,6,0.060,0.038,2883,2281,2217
$GC,17753,0.57,202.1,722.1,10.4,583,17758,0.25,2.30,0.00,0.000,4,0.127,0.048,2801,3688,2217
$GC,17810,0.57,202.1,717.1,8.7,583,17813,0.00,2.22,0.00,0.000,6,0.000,0.035,2801,2274,2217
$GC,18125,0.68,202.1,694.3,7.2,589,18129,0.00,2.25,0.00,0.000,4,0.000,0.045,2801,870,2217
$GC,18187,0.80,202.1,689.8,7.2,589,18195,0.20,2.20,0.00,0.000,6,0.058,0.035,2884,2279,2217
$GC,18497,0.58,202.1,658.3,10.4,595,18501,0.25,2.28,0.00,0.000,4,0.124,0.049,2801,3678,2217
$GC,18541,0.58,202.1,654.5,8.1,595,18545,0.00,2.22,0.00,0.000,6,0.000,0.036,2801,2273,2217
$GC,18862,0.69,202.3,632.3,6.9,601,18867,0.10,2.25,0.00,0.000,4,0.076,0.045,2851,854,2217
$GC,18925,0.60,202.3,627.0,8.3,602,18930,0.15,2.22,0.00,0.000,6,0.131,0.036,2807,2284,2216
$GC,19291,0.70,202.3,600.6,7.1,608,19295,0.00,2.25,0.00,0.000,4,0.000,0.050,2807,3683,2217
$GC,19359,0.70,202.3,595.2,8.4,609,19363,0.00,2.22,0.00,0.000,6,0.000,0.035,2809,2258,2217
$GC,19731,0.79,202.3,568.4,7.2,615,19735,0.17,2.25,0.00,0.000,4,0.063,0.047,2886,866,2217
$GC,19825,0.58,202.3,558.7,10.6,616,19830,0.30,2.20,0.00,0.000,6,0.128,0.035,2795,2281,2217
$GC,20164,0.73,202.8,535.1,6.9,622,20168,0.15,2.28,0.00,0.000,4,0.070,0.051,2859,3671,2217
$GC,20247,0.53,202.8,526.8,9.9,623,20252,0.28,2.20,0.00,0.000,6,0.131,0.036,2782,2277,2217
$GC,20596,0.77,220.9,504.9,6.2,629,20621,0.20,2.33,17.17,1.075,4,0.059,0.045,2875,870,2143
$GC,20663,0.63,220.9,498.8,10.3,630,20668,0.20,2.20,0.00,0.000,6,0.130,0.034,2816,2270,2141
$GC,20997,0.72,220.9,471.7,7.9,641,21001,0.00,2.30,0.00,0.000,4,0.000,0.052,2816,3683,2141
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$GC,21455,0.61,220.9,434.8,10.3,655,21460,0.28,2.20,0.00,0.000,6,0.130,0.034,2808,2287,2140
$GC,21768,0.74,220.9,411.4,7.2,665,21773,0.12,2.25,0.00,0.000,4,0.075,0.050,2863,3673,2140
$GC,21852,0.57,220.9,403.1,9.9,667,21857,0.25,2.20,0.00,0.000,6,0.129,0.035,2792,2280,2140
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$GC,23008,0.66,249.2,320.0,9.8,704,23013,0.22,2.28,0.00,0.000,6,0.126,0.037,2824,2304,2026
$GC,23332,0.78,249.2,294.8,7.3,716,23337,0.12,2.22,0.00,0.000,4,0.073,0.050,2879,3677,2025
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$STATE,26425,end climb,SURFACE_DEPTH_REACHED
$STATE,26425,begin surface coast
$FINISH,2.7,1.014641
$STATE,26471,end surface coast,CONTROL_FINISHED_OK
$STATE,26471,begin surface
$SM_CCo,26549,0.00,0.000,0,0,1925,274.98
$SM_GC,3.49,7.43,0.00,0.00,0.050,0.000,0.000,139,2162,1925,-7.65,-0.51,274.98
$IRIDIUM_FIX,6401.59,29.89,020898,030344
$TT8_MAMPS,0.027612
$HUMID,1749
$INTERNAL_PRESSURE,9.10578
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.4,55.136
$10V_AH,10.5,42.222
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$DEVICE_SECS,34.850,194.300,353.800,0.000,0.000,28.408,35.879,259.078,0.000,0.000,0.000,14.198,2121.344,21331.559,527.209,2307.343,696.570,0.000,1770.053,0.000,2270.147,0.000,0.531,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,688.796,663.324,363.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47361,945
$CAP_FILE_SIZE,199730,0
$CFSIZE,260165632,225193984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042, 83.8,1
$GPS,080509,181707,6422.670,44.825,39,0.9,39,-4.7