version: 66.04
glider: 160
mission: 3
dive: 423
start: 6 2 109 17 27 12
data:
$ID,160
$MISSION,3
$DIVE,423
$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,-16181.58
$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,41
$R_STBD_OVSHOOT,41
$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
$GPS1,172101,6416.526,125.707,40,1.6,40,-4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.89
$_SM_ANGLEo,-62.7
$GPS2,172649,6416.509,125.702,10,1.7,15,-4.3
$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,280.3,145975,-13.7,-6.875
$D_GRID,2459
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-6.38,0.000,2,0.000,0.000,123,2166,2146
$GC,27,-0.77,-116.7,4.0,-0.0,1,124,8.00,2.42,-76.03,0.000,4,0.184,0.061,2361,3580,3523
$GC,200,-0.50,-116.7,11.7,-11.5,28,207,0.22,2.25,0.00,0.000,6,0.116,0.034,2454,2190,3524
$GC,547,-0.65,-116.7,33.5,-5.0,89,554,0.15,2.28,0.00,0.000,4,0.064,0.047,2390,3575,3526
$GC,572,-0.65,-116.7,35.1,-5.7,93,578,0.00,2.20,0.00,0.000,6,0.000,0.031,2391,2180,3525
$GC,912,-0.55,-116.7,63.7,-8.5,148,913,0.15,0.00,0.00,0.000,6,0.124,0.000,2437,2177,3527
$GC,1221,-0.65,-116.7,85.3,-6.8,163,1225,0.00,2.30,0.00,0.000,4,0.000,0.051,2436,3578,3528
$GC,1260,-0.79,-116.7,88.1,-6.8,164,1268,0.17,2.22,0.00,0.000,6,0.050,0.033,2339,2187,3528
$GC,1577,-0.47,-116.7,122.5,-10.9,180,1582,0.35,2.25,0.00,0.000,4,0.122,0.042,2454,760,3528
$GC,1731,-0.62,-116.7,132.9,-6.5,186,1739,0.12,2.17,0.00,0.000,6,0.067,0.035,2401,2171,3529
$GC,2047,-0.62,-116.7,155.9,-7.3,202,2051,0.00,2.30,0.00,0.000,4,0.000,0.048,2396,3591,3529
$GC,2103,-0.62,-116.7,160.4,-7.8,204,2107,0.00,2.22,0.00,0.000,6,0.000,0.034,2396,2188,3529
$GC,2425,-0.62,-116.7,186.1,-8.1,220,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2188,3529
$GC,2735,-0.62,-116.7,210.2,-7.4,235,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2188,3529
$GC,3043,-0.62,-116.7,233.4,-7.5,250,3047,0.00,2.25,0.00,0.000,4,0.000,0.044,2396,766,3529
$GC,3104,-0.54,-116.7,238.4,-8.3,252,3111,0.15,2.22,0.00,0.000,6,0.125,0.036,2441,2191,3529
$GC,3422,-0.69,-116.7,257.1,-5.7,268,3423,0.15,0.00,0.00,0.000,6,0.062,0.000,2374,2192,3529
$GC,3730,-0.55,-116.7,282.4,-8.4,283,3732,0.20,0.00,0.00,0.000,6,0.118,0.000,2437,2192,3529
$GC,4050,-0.69,-116.7,302.4,-6.6,298,4052,0.15,0.00,0.00,0.000,6,0.067,0.000,2373,2192,3529
$GC,4355,-0.56,-116.7,329.7,-8.8,308,4357,0.20,0.00,0.00,0.000,6,0.117,0.000,2435,2193,3528
$GC,4662,-0.70,-116.7,349.6,-6.6,318,4666,0.15,2.28,0.00,0.000,4,0.067,0.051,2372,3588,3527
$GC,4697,-0.59,-116.7,352.3,-8.7,319,4702,0.17,2.25,0.00,0.000,6,0.122,0.037,2425,2173,3527
$GC,5033,-0.68,-116.7,375.2,-6.8,330,5036,0.00,2.25,0.00,0.000,4,0.000,0.050,2424,766,3526
$GC,5089,-0.68,-116.7,379.5,-7.2,331,5092,0.00,2.22,0.00,0.000,6,0.000,0.039,2425,2178,3526
$GC,5408,-0.78,-116.7,400.6,-6.6,342,5410,0.17,0.00,0.00,0.000,6,0.063,0.000,2350,2178,3525
$GC,5713,-0.56,-116.7,429.4,-9.3,352,5715,0.28,0.00,0.00,0.000,6,0.118,0.000,2437,2178,3525
$GC,6020,-0.71,-116.7,447.2,-5.6,362,6025,0.17,2.30,0.00,0.000,4,0.064,0.053,2363,3588,3524
$GC,6056,-0.56,-116.7,449.8,-8.3,363,6060,0.22,2.25,0.00,0.000,6,0.122,0.037,2432,2173,3524
$GC,6391,-0.71,-116.7,469.4,-5.7,374,6393,0.15,0.00,0.00,0.000,6,0.070,0.000,2367,2173,3523
$GC,6697,-0.56,-116.7,494.3,-8.2,384,6699,0.22,0.00,0.00,0.000,6,0.119,0.000,2438,2171,3522
$GC,7003,-0.73,-116.7,511.0,-5.4,391,7008,0.17,2.40,0.00,0.000,4,0.064,0.054,2364,3594,3521
$GC,7036,-0.59,-116.7,513.5,-8.2,391,7041,0.20,2.28,0.00,0.000,6,0.123,0.038,2424,2186,3521
$GC,7369,-0.70,-116.7,534.1,-6.2,397,7371,0.12,0.00,0.00,0.000,6,0.074,0.000,2372,2186,3520
$GC,7671,-0.58,-116.7,559.2,-8.4,402,7676,0.17,2.33,0.00,0.000,4,0.122,0.049,2426,757,3520
$GC,7710,-0.68,-116.7,562.2,-6.9,402,7715,0.00,2.28,0.00,0.000,6,0.000,0.040,2426,2194,3520
$GC,8032,-0.80,-116.7,583.3,-6.7,408,8037,0.20,2.30,0.00,0.000,4,0.062,0.052,2337,3595,3519
$GC,8066,-0.54,-116.7,586.4,-9.8,408,8071,0.32,2.28,0.00,0.000,6,0.123,0.037,2436,2172,3519
$GC,8398,-0.71,-116.7,608.3,-6.4,414,8400,0.15,0.00,0.00,0.000,6,0.070,0.000,2375,2172,3519
$GC,8702,-0.61,-116.7,633.2,-8.3,419,8703,0.12,0.00,0.00,0.000,6,0.130,0.000,2413,2171,3519
$GC,9005,-0.68,-116.7,653.5,-6.6,424,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2171,3517
$GC,9307,-0.75,-116.7,673.0,-6.4,429,9309,0.12,0.00,0.00,0.000,6,0.074,0.000,2359,2172,3518
$GC,9610,-0.60,-116.7,698.2,-8.4,434,9612,0.20,0.00,0.00,0.000,6,0.120,0.000,2421,2171,3517
$GC,9915,-0.72,-116.7,716.2,-5.8,439,9920,0.12,2.40,0.00,0.000,4,0.074,0.057,2366,3594,3517
$GC,9954,-0.60,-116.7,719.3,-7.6,439,9959,0.17,2.28,0.00,0.000,6,0.123,0.040,2419,2188,3517
$GC,10275,-0.71,-116.7,737.7,-5.6,445,10277,0.12,0.00,0.00,0.000,6,0.074,0.000,2363,2189,3517
$GC,10579,-0.58,-116.7,760.2,-7.5,450,10580,0.20,0.00,0.00,0.000,6,0.122,0.000,2426,2188,3516
$GC,10882,-0.73,-116.7,776.6,-5.3,455,10884,0.15,0.00,0.00,0.000,6,0.071,0.000,2364,2188,3516
$GC,11184,-0.60,-116.7,799.7,-7.7,460,11186,0.17,0.00,0.00,0.000,6,0.124,0.000,2418,2189,3515
$GC,11488,-0.71,-116.7,818.3,-6.1,465,11490,0.12,0.00,0.00,0.000,6,0.073,0.000,2363,2189,3515
$GC,11790,-0.59,-116.7,842.7,-8.2,470,11792,0.20,0.00,0.00,0.000,6,0.122,0.000,2426,2188,3515
$GC,12094,-0.74,-116.7,860.4,-5.8,475,12099,0.15,2.35,0.00,0.000,4,0.071,0.052,2363,3583,3514
$GC,12129,-0.63,-116.7,863.0,-8.4,475,12134,0.15,2.28,0.00,0.000,6,0.129,0.039,2408,2185,3514
$GC,12457,-0.70,-116.7,883.9,-6.3,481,12461,0.00,2.33,0.00,0.000,4,0.000,0.051,2407,760,3514
$GC,12490,-0.70,-116.7,886.3,-7.0,481,12495,0.00,2.28,0.00,0.000,6,0.000,0.041,2407,2192,3514
$GC,12829,-0.78,-116.7,906.9,-6.1,487,12834,0.15,2.33,0.00,0.000,4,0.071,0.056,2340,3586,3514
$GC,12863,-0.57,-116.7,909.7,-8.7,487,12868,0.30,2.30,0.00,0.000,6,0.124,0.041,2431,2177,3513
$GC,13195,-0.76,-116.7,927.4,-5.3,493,13197,0.17,0.00,0.00,0.000,6,0.065,0.000,2360,2177,3513
$GC,13498,-0.62,-116.7,951.7,-8.1,498,13503,0.17,2.33,0.00,0.000,4,0.123,0.053,2415,766,3513
$GC,13533,-0.69,-116.7,954.2,-6.8,498,13537,0.00,2.28,0.00,0.000,6,0.000,0.044,2415,2181,3513
$GC,13865,-0.81,-116.7,974.9,-6.3,504,13870,0.17,2.38,0.00,0.000,4,0.064,0.059,2340,3595,3513
$GC,13899,-0.60,-116.7,977.8,-8.9,504,13904,0.25,2.30,0.00,0.000,6,0.124,0.040,2416,2173,3513
$STATE,14107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14107,begin apogee
$GC,14114,-0.23,0.0,991.4,6.3,508,14219,0.38,0.00,102.18,1.404,6,0.111,0.000,2539,2270,3045
$STATE,14220,end apogee,CONTROL_FINISHED_OK
$STATE,14220,begin climb
$GC,14223,0.77,116.7,993.6,0.0,509,14374,0.95,0.00,120.45,1.293,6,0.074,0.000,2852,2270,2569
$GC,14723,0.53,116.7,972.9,6.9,518,14728,0.20,2.38,0.00,0.000,4,0.133,0.050,2788,3691,2564
$GC,14791,0.49,143.5,968.7,5.8,519,14820,0.00,2.30,23.88,1.335,6,0.000,0.035,2795,2259,2459
$GC,15154,0.52,166.7,947.3,5.9,525,15179,0.00,2.30,20.67,1.324,4,0.000,0.048,2795,854,2367
$GC,15248,0.61,181.7,941.6,6.3,526,15268,0.00,2.25,14.95,1.282,6,0.000,0.036,2796,2268,2305
$GC,15579,0.73,191.7,920.3,6.5,532,15591,0.15,0.00,10.18,1.225,6,0.066,0.000,2860,2269,2264
$GC,15881,0.57,191.7,893.7,8.9,537,15886,0.20,2.33,0.00,0.000,4,0.125,0.053,2792,3680,2261
$GC,15920,0.63,191.7,890.6,7.1,537,15924,0.00,2.28,0.00,0.000,6,0.000,0.037,2796,2258,2261
$GC,16242,0.76,205.0,870.2,6.3,543,16262,0.17,2.30,13.05,1.257,4,0.064,0.048,2870,869,2209
$GC,16313,0.60,205.0,863.5,9.5,544,16318,0.22,2.20,0.00,0.000,6,0.123,0.036,2801,2266,2207
$GC,16674,0.72,209.3,839.0,6.7,550,16684,0.12,2.30,5.07,0.996,4,0.073,0.051,2855,3681,2193
$GC,16724,0.52,209.3,834.3,9.1,550,16729,0.25,2.28,0.00,0.000,6,0.128,0.036,2780,2255,2193
$GC,17035,0.76,230.6,815.1,6.0,555,17062,0.20,2.28,20.88,1.270,4,0.061,0.047,2869,856,2105
$GC,17102,0.64,230.6,808.9,10.6,556,17107,0.17,2.22,0.00,0.000,6,0.122,0.036,2815,2259,2101
$GC,17462,0.73,230.6,779.9,8.0,562,17466,0.00,2.33,0.00,0.000,4,0.000,0.052,2815,3678,2100
$GC,17532,0.73,230.6,773.9,9.0,563,17536,0.00,2.28,0.00,0.000,6,0.000,0.037,2815,2255,2100
$GC,17897,0.81,230.6,743.9,8.1,569,17902,0.17,2.25,0.00,0.000,4,0.063,0.045,2891,859,2099
$GC,17965,0.61,230.6,736.6,10.1,570,17969,0.28,2.20,0.00,0.000,6,0.125,0.036,2806,2266,2098
$GC,18330,0.75,230.6,708.3,7.6,576,18335,0.15,2.33,0.00,0.000,4,0.070,0.051,2870,3674,2098
$GC,18397,0.55,230.6,700.9,11.9,577,18402,0.30,2.28,0.00,0.000,6,0.127,0.035,2786,2248,2098
$GC,18759,0.77,234.9,676.2,6.7,583,18769,0.20,2.28,4.38,0.884,4,0.058,0.051,2878,853,2087
$GC,18803,0.62,234.9,671.9,10.3,583,18808,0.22,2.20,0.00,0.000,6,0.122,0.036,2810,2263,2086
$GC,19124,0.74,234.9,648.0,7.3,589,19129,0.12,2.33,0.00,0.000,4,0.072,0.051,2866,3683,2086
$GC,19187,0.57,234.9,641.6,10.6,590,19192,0.25,2.25,0.00,0.000,6,0.127,0.037,2792,2263,2086
$GC,19553,0.78,238.6,616.6,6.7,596,19562,0.20,2.25,4.80,0.904,4,0.057,0.049,2890,864,2072
$GC,19586,0.59,238.6,613.5,9.8,596,19591,0.28,2.20,0.00,0.000,6,0.127,0.037,2805,2267,2072
$GC,19918,0.76,238.6,588.8,7.4,602,19923,0.15,2.33,0.00,0.000,4,0.070,0.051,2869,3684,2072
$GC,19969,0.57,238.6,583.5,10.5,602,19974,0.25,2.25,0.00,0.000,6,0.127,0.035,2792,2260,2072
$GC,20280,0.78,238.6,561.2,7.0,607,20284,0.20,2.22,0.00,0.000,4,0.058,0.047,2888,864,2071
$GC,20319,0.59,238.6,557.2,11.7,607,20324,0.28,2.20,0.00,0.000,6,0.123,0.035,2804,2277,2071
$GC,20640,0.76,238.6,532.2,7.7,613,20644,0.15,2.28,0.00,0.000,4,0.069,0.054,2868,3671,2071
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$GC,22893,0.57,247.3,351.5,9.6,677,22897,0.28,2.22,0.00,0.000,6,0.126,0.037,2795,2278,2041
$GC,23222,0.82,256.1,329.0,6.5,688,23238,0.20,2.25,10.45,0.937,4,0.060,0.044,2890,863,2001
$GC,23279,0.69,256.1,323.4,11.5,689,23285,0.20,2.22,0.00,0.000,6,0.127,0.035,2830,2285,1999
$GC,23602,0.79,256.1,296.4,8.5,701,23607,0.12,2.28,0.00,0.000,4,0.071,0.050,2885,3676,1998
$GC,23636,0.59,256.1,292.7,11.5,702,23641,0.30,2.22,0.00,0.000,6,0.124,0.034,2799,2273,1998
$GC,23953,0.85,273.9,271.0,6.2,717,23976,0.22,2.33,16.67,0.919,4,0.055,0.044,2906,861,1928
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$STATE,26963,end climb,SURFACE_DEPTH_REACHED
$STATE,26966,begin surface coast
$FINISH,3.2,1.027348
$STATE,27004,end surface coast,CONTROL_FINISHED_OK
$STATE,27005,begin surface
$SM_CCo,27083,0.00,0.000,0,0,1921,275.96
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$TT8_MAMPS,0.026845
$HUMID,1778
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$TCM_TEMP,18.10
$XPDR_PINGS,3
$24V_AH,21.1,66.867
$10V_AH,10.4,49.607
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$DEVICE_SECS,34.325,222.700,375.475,0.000,0.000,23.314,32.821,158.462,0.750,0.000,0.000,17.695,2143.279,21708.637,569.912,2343.739,656.224,0.000,1854.268,0.000,2295.337,0.000,0.532,0.000
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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,47465,942
$CAP_FILE_SIZE,206752,0
$CFSIZE,260165632,218734592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.101, 10.5,1
$GPS,030609,005954,6418.393,119.064,22,1.1,39,-4.4