version: 66.04
glider: 160
mission: 3
dive: 427
start: 6 3 109 23 35 52
data:
$ID,160
$MISSION,3
$DIVE,427
$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,-16266.287
$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,29
$R_STBD_OVSHOOT,35
$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
$GPS1,232924,6425.068,57.462,28,0.9,45,-4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.89
$_SM_ANGLEo,-63.4
$GPS2,233531,6425.078,57.309,12,1.4,29,-4.6
$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,297.7,118789,-13.7,-6.875
$D_GRID,2545
$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,16,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-6.78,0.000,2,0.000,0.000,123,2190,2149
$GC,28,-0.77,-116.7,3.8,-0.0,1,121,8.15,2.30,-75.60,0.000,4,0.189,0.061,2366,3581,3519
$GC,182,-0.55,-116.7,11.0,-11.6,25,189,0.22,2.25,0.00,0.000,6,0.126,0.035,2434,2170,3520
$GC,526,-0.55,-116.7,36.2,-7.2,86,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2170,3521
$GC,873,-0.64,-116.7,60.2,-7.6,147,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2170,3522
$GC,1182,-0.73,-116.7,85.3,-8.2,162,1187,0.17,2.35,0.00,0.000,4,0.059,0.048,2354,3593,3523
$GC,1226,-0.51,-116.7,90.0,-10.8,164,1231,0.30,2.22,0.00,0.000,6,0.118,0.032,2447,2184,3523
$GC,1549,-0.66,-116.7,111.0,-5.6,180,1553,0.15,2.28,0.00,0.000,4,0.064,0.044,2380,761,3524
$GC,1627,-0.50,-116.7,117.7,-8.5,183,1634,0.22,2.20,0.00,0.000,6,0.120,0.035,2448,2177,3524
$GC,1945,-0.67,-116.7,134.6,-5.2,199,1949,0.15,2.30,0.00,0.000,4,0.063,0.049,2382,3581,3524
$GC,1973,-0.67,-116.7,136.7,-7.5,200,1977,0.00,2.25,0.00,0.000,6,0.000,0.035,2382,2164,3524
$GC,2294,-0.56,-116.7,164.9,-9.1,216,2296,0.17,0.00,0.00,0.000,6,0.123,0.000,2436,2162,3525
$GC,2604,-0.68,-116.7,186.7,-7.1,231,2606,0.12,0.00,0.00,0.000,6,0.072,0.000,2379,2162,3525
$GC,2913,-0.56,-116.7,214.6,-9.0,246,2918,0.17,2.35,0.00,0.000,4,0.118,0.048,2434,3585,3525
$GC,2986,-0.72,-116.7,219.7,-6.3,249,2991,0.15,2.25,0.00,0.000,6,0.062,0.035,2367,2166,3525
$GC,3303,-0.55,-116.7,247.5,-8.8,264,3308,0.22,2.25,0.00,0.000,4,0.119,0.044,2443,761,3524
$GC,3415,-0.67,-116.7,254.8,-6.2,269,3420,0.15,2.17,0.00,0.000,6,0.062,0.035,2378,2167,3525
$GC,3737,-0.57,-116.7,280.9,-8.6,285,3739,0.17,0.00,0.00,0.000,6,0.117,0.000,2433,2168,3524
$GC,4056,-0.70,-116.7,303.0,-7.0,300,4061,0.15,2.33,0.00,0.000,4,0.067,0.051,2364,3578,3525
$GC,4084,-0.59,-116.7,305.4,-9.3,301,4089,0.20,2.28,0.00,0.000,6,0.121,0.035,2426,2141,3524
$GC,4421,-0.69,-116.7,328.4,-6.5,312,4425,0.12,2.22,0.00,0.000,4,0.074,0.045,2372,760,3524
$GC,4448,-0.56,-116.7,330.7,-8.6,312,4455,0.20,2.17,0.00,0.000,6,0.125,0.036,2433,2150,3524
$GC,4763,-0.68,-116.7,348.4,-5.3,323,4767,0.12,2.35,0.00,0.000,4,0.071,0.049,2377,3593,3523
$GC,4807,-0.58,-116.7,351.6,-7.5,324,4812,0.17,2.30,0.00,0.000,6,0.120,0.035,2431,2144,3523
$GC,5137,-0.71,-116.7,370.4,-5.6,335,5139,0.15,0.00,0.00,0.000,6,0.068,0.000,2363,2144,3522
$GC,5443,-0.54,-116.7,396.4,-8.6,345,5448,0.20,2.22,0.00,0.000,4,0.119,0.046,2432,767,3521
$GC,5477,-0.63,-116.7,399.1,-7.2,346,5480,0.00,2.20,0.00,0.000,6,0.000,0.040,2432,2160,3521
$GC,5814,-0.76,-116.7,419.4,-6.1,357,5819,0.17,2.38,0.00,0.000,4,0.061,0.054,2353,3594,3520
$GC,5859,-0.57,-116.7,423.4,-9.4,358,5864,0.25,2.30,0.00,0.000,6,0.120,0.037,2431,2150,3520
$GC,6178,-0.69,-116.7,444.7,-6.6,369,6180,0.12,0.00,0.00,0.000,6,0.071,0.000,2378,2149,3519
$GC,6484,-0.59,-116.7,471.9,-9.2,379,6486,0.15,0.00,0.00,0.000,6,0.124,0.000,2423,2149,3518
$GC,6791,-0.68,-116.7,494.4,-7.3,389,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2149,3518
$GC,7124,-0.79,-116.7,517.9,-7.0,396,7129,0.20,2.42,0.00,0.000,4,0.062,0.054,2336,3592,3517
$GC,7169,-0.52,-116.7,522.2,-10.5,396,7174,0.35,2.30,0.00,0.000,6,0.120,0.038,2444,2165,3517
$GC,7485,-0.72,-116.7,541.8,-6.1,402,7487,0.20,0.00,0.00,0.000,6,0.060,0.000,2362,2165,3516
$GC,7788,-0.57,-116.7,568.4,-8.9,407,7793,0.20,2.28,0.00,0.000,4,0.120,0.048,2430,761,3515
$GC,7827,-0.70,-116.7,571.5,-6.7,407,7832,0.12,2.20,0.00,0.000,6,0.071,0.038,2378,2156,3516
$GC,8148,-0.61,-116.7,596.8,-8.0,413,8153,0.12,2.40,0.00,0.000,4,0.124,0.055,2416,3596,3515
$GC,8176,-0.68,-116.7,598.9,-7.3,413,8180,0.00,2.33,0.00,0.000,6,0.000,0.038,2417,2145,3515
$GC,8509,-0.76,-116.7,620.3,-6.5,419,8511,0.15,0.00,0.00,0.000,6,0.066,0.000,2351,2146,3514
$GC,8811,-0.56,-116.7,647.8,-9.2,424,8816,0.22,2.25,0.00,0.000,4,0.124,0.049,2427,770,3514
$GC,8861,-0.67,-116.7,651.6,-7.3,424,8865,0.00,2.22,0.00,0.000,6,0.000,0.041,2426,2154,3514
$GC,9177,-0.79,-116.7,670.4,-5.9,430,9181,0.20,2.40,0.00,0.000,4,0.064,0.054,2337,3585,3513
$GC,9216,-0.53,-116.7,673.8,-9.8,430,9221,0.32,2.30,0.00,0.000,6,0.120,0.039,2437,2159,3513
$GC,9537,-0.72,-116.7,691.3,-5.3,436,9542,0.17,2.28,0.00,0.000,4,0.067,0.051,2365,760,3513
$GC,9577,-0.52,-116.7,694.5,-8.6,436,9582,0.25,2.22,0.00,0.000,6,0.124,0.041,2441,2167,3513
$GC,9898,-0.73,-116.7,712.3,-5.4,442,9903,0.17,2.35,0.00,0.000,4,0.063,0.055,2367,3580,3512
$GC,9948,-0.62,-116.7,716.2,-8.4,442,9953,0.17,2.30,0.00,0.000,6,0.123,0.040,2418,2150,3512
$GC,10270,-0.72,-116.7,735.7,-5.9,448,10272,0.12,0.00,0.00,0.000,6,0.077,0.000,2364,2150,3512
$GC,10572,-0.58,-116.7,758.7,-7.6,453,10577,0.20,2.28,0.00,0.000,4,0.120,0.052,2431,763,3511
$GC,10607,-0.72,-116.7,760.8,-5.6,453,10612,0.15,2.25,0.00,0.000,6,0.068,0.041,2371,2173,3511
$GC,10935,-0.63,-116.7,784.3,-7.2,459,10939,0.12,2.35,0.00,0.000,4,0.125,0.054,2409,3586,3511
$GC,10962,-0.63,-116.7,786.2,-7.0,459,10967,0.00,2.30,0.00,0.000,6,0.000,0.039,2409,2164,3510
$GC,11301,-0.70,-116.7,805.3,-5.6,465,11305,0.00,2.28,0.00,0.000,4,0.000,0.051,2409,758,3510
$GC,11341,-0.70,-116.7,807.8,-5.9,465,11344,0.00,2.25,0.00,0.000,6,0.000,0.041,2409,2174,3510
$GC,11674,-0.76,-116.7,826.5,-5.6,471,11679,0.12,2.35,0.00,0.000,4,0.074,0.054,2352,3593,3510
$GC,11713,-0.60,-116.7,829.4,-7.5,471,11718,0.22,2.30,0.00,0.000,6,0.123,0.039,2420,2162,3510
$GC,12035,-0.71,-116.7,845.9,-5.0,477,12037,0.12,0.00,0.00,0.000,6,0.077,0.000,2365,2163,3510
$GC,12337,-0.60,-116.7,866.7,-6.9,482,12342,0.17,2.28,0.00,0.000,4,0.120,0.051,2419,769,3510
$GC,12376,-0.69,-116.7,869.1,-5.7,482,12380,0.00,2.25,0.00,0.000,6,0.000,0.044,2419,2174,3510
$GC,12704,-0.81,-116.7,884.9,-4.8,488,12709,0.20,2.35,0.00,0.000,4,0.061,0.053,2327,3592,3509
$GC,12743,-0.52,-116.7,887.9,-7.8,488,12748,0.38,2.30,0.00,0.000,6,0.125,0.040,2441,2164,3509
$GC,13064,-0.74,-116.7,901.8,-4.2,494,13069,0.20,2.28,0.00,0.000,4,0.065,0.050,2353,764,3509
$GC,13098,-0.53,-116.7,904.1,-7.7,494,13103,0.30,2.25,0.00,0.000,6,0.124,0.041,2443,2175,3509
$GC,13430,-0.76,-116.7,918.5,-4.2,500,13435,0.20,2.35,0.00,0.000,4,0.061,0.054,2353,3596,3509
$GC,13470,-0.59,-116.7,921.0,-6.8,500,13475,0.22,2.30,0.00,0.000,6,0.122,0.038,2421,2165,3509
$GC,13797,-0.73,-116.7,937.5,-5.0,506,13802,0.15,2.28,0.00,0.000,4,0.073,0.049,2362,762,3508
$GC,13830,-0.56,-116.7,939.9,-7.5,506,13835,0.22,2.25,0.00,0.000,6,0.128,0.041,2428,2175,3508
$GC,14158,-0.74,-116.7,955.5,-4.7,512,14162,0.15,2.35,0.00,0.000,4,0.067,0.054,2365,3593,3508
$GC,14197,-0.63,-116.7,958.2,-7.0,512,14202,0.15,2.30,0.00,0.000,6,0.125,0.039,2409,2165,3508
$GC,14518,-0.72,-116.7,975.5,-5.4,518,14519,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2165,3508
$STATE,14818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14818,begin apogee
$GC,14826,-0.23,0.0,992.2,5.5,523,14930,0.40,0.00,101.20,1.407,6,0.117,0.000,2539,2285,3046
$STATE,14930,end apogee,CONTROL_FINISHED_OK
$STATE,14931,begin climb
$GC,14934,0.77,116.7,993.9,0.0,524,15064,0.95,2.67,113.35,1.355,4,0.075,0.048,2853,3670,2569
$GC,15141,0.41,116.7,988.4,8.7,528,15146,0.40,2.42,0.00,0.000,6,0.134,0.034,2746,2255,2567
$GC,15502,0.67,177.6,971.9,4.4,534,15566,0.22,2.40,53.90,1.372,4,0.062,0.046,2841,853,2319
$GC,15626,0.58,177.6,962.8,8.7,535,15630,0.15,2.28,0.00,0.000,6,0.127,0.035,2799,2259,2316
$GC,15941,0.67,186.8,941.7,6.5,541,15955,0.00,2.38,8.55,1.189,4,0.000,0.051,2799,3670,2284
$GC,15984,0.67,186.8,938.6,7.5,541,15988,0.00,2.28,0.00,0.000,6,0.000,0.036,2799,2254,2283
$GC,16306,0.78,202.4,918.5,6.3,547,16327,0.20,2.25,15.48,1.289,4,0.059,0.045,2891,861,2219
$GC,16384,0.54,202.4,911.1,9.3,548,16389,0.35,2.20,0.00,0.000,6,0.128,0.035,2785,2264,2217
$GC,16739,0.74,229.1,890.0,5.8,554,16770,0.20,2.35,24.77,1.312,4,0.063,0.051,2873,3674,2111
$GC,16793,0.51,229.1,885.0,10.6,554,16801,0.35,2.30,0.00,0.000,6,0.127,0.035,2773,2251,2108
$GC,17103,0.79,254.8,866.2,5.8,560,17137,0.28,0.00,26.02,1.225,6,0.055,0.000,2883,2250,2006
$GC,17406,0.65,254.8,833.6,11.0,565,17411,0.20,2.22,0.00,0.000,4,0.123,0.046,2816,862,2000
$GC,17428,0.65,254.8,831.4,9.2,565,17432,0.00,2.17,0.00,0.000,6,0.000,0.037,2816,2252,2000
$GC,17772,0.76,254.8,804.4,7.9,571,17777,0.12,2.35,0.00,0.000,4,0.071,0.054,2867,3674,1999
$GC,17817,0.59,254.8,799.7,11.8,571,17822,0.22,2.28,0.00,0.000,6,0.127,0.040,2800,2255,1999
$GC,18132,0.77,254.8,776.8,7.0,577,18137,0.17,2.25,0.00,0.000,4,0.060,0.046,2878,851,1998
$GC,18195,0.66,254.8,770.8,10.5,578,18200,0.20,2.17,0.00,0.000,6,0.123,0.035,2817,2254,1998
$GC,18561,0.76,254.8,742.3,7.7,584,18566,0.12,2.35,0.00,0.000,4,0.071,0.054,2870,3684,1997
$GC,18617,0.59,254.8,736.3,11.4,584,18624,0.25,2.28,0.00,0.000,6,0.127,0.035,2801,2248,1997
$GC,18928,0.77,254.8,713.8,7.1,590,18932,0.17,2.22,0.00,0.000,4,0.060,0.049,2878,861,1997
$GC,18978,0.65,254.8,708.8,9.5,590,18982,0.20,2.17,0.00,0.000,6,0.122,0.038,2816,2248,1997
$GC,19298,0.77,254.8,682.6,8.2,596,19303,0.12,2.38,0.00,0.000,4,0.072,0.053,2871,3688,1997
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$STATE,27037,end climb,SURFACE_DEPTH_REACHED
$STATE,27037,begin surface coast
$FINISH,3.1,1.004210
$STATE,27086,end surface coast,CONTROL_FINISHED_OK
$STATE,27087,begin surface
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$SM_GC,4.09,7.35,0.00,0.00,0.048,0.000,0.000,135,2181,1996,-7.65,0.03,257.57
$IRIDIUM_FIX,6356.67,59.69,280898,161642
$TT8_MAMPS,0.026845
$HUMID,1764
$INTERNAL_PRESSURE,9.13508
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,20.9,67.489
$10V_AH,10.4,49.990
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$DEVICE_SECS,36.125,254.825,343.275,0.000,0.000,31.011,32.006,154.995,0.000,0.000,0.000,31.343,2191.078,21651.283,552.899,2446.191,678.772,0.000,1881.334,0.000,2379.314,0.000,0.531,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,688.740,670.399,370.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47544,948
$CAP_FILE_SIZE,217228,0
$CFSIZE,260165632,218398720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.167,330.1,1
$GPS,040609,070954,6428.494,47.657,36,1.2,36,-4.7