version: 66.04
glider: 160
mission: 3
dive: 429
start: 6 4 109 14 45 19
data:
$ID,160
$MISSION,3
$DIVE,429
$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,-16311.453
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,143907,6432.335,36.955,36,1.2,36,-4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.77
$_SM_ANGLEo,-64.6
$GPS2,144456,6432.372,36.808,13,1.7,13,-4.8
$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,295.7,97862,-13.7,-6.875
$D_GRID,2592
$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,15,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-7.55,0.000,2,0.000,0.000,124,2164,2151
$GC,28,-0.77,-116.7,3.8,-0.0,1,121,8.20,2.33,-76.35,0.000,4,0.194,0.059,2353,3582,3522
$GC,292,-0.50,-116.7,22.1,-11.3,45,299,0.30,2.20,0.00,0.000,6,0.119,0.034,2446,2189,3524
$GC,639,-0.65,-116.7,45.2,-6.6,106,645,0.15,0.00,0.00,0.000,6,0.065,0.000,2380,2188,3525
$GC,968,-0.51,-116.7,75.0,-8.8,143,970,0.22,0.00,0.00,0.000,6,0.117,0.000,2451,2188,3526
$GC,1278,-0.67,-116.7,92.3,-5.6,158,1280,0.17,0.00,0.00,0.000,6,0.058,0.000,2376,2188,3527
$GC,1587,-0.52,-116.7,119.0,-8.9,173,1591,0.20,2.25,0.00,0.000,4,0.118,0.041,2444,767,3527
$GC,1634,-0.64,-116.7,122.6,-7.3,175,1639,0.12,2.22,0.00,0.000,6,0.065,0.036,2390,2196,3527
$GC,1963,-0.55,-116.7,150.2,-8.7,191,1964,0.15,0.00,0.00,0.000,6,0.120,0.000,2435,2197,3528
$GC,2271,-0.65,-116.7,171.7,-6.9,206,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2197,3528
$GC,2581,-0.76,-116.7,193.0,-7.0,221,2583,0.20,0.00,0.00,0.000,6,0.057,0.000,2349,2198,3528
$GC,2889,-0.52,-116.7,223.9,-9.9,236,2891,0.30,0.00,0.00,0.000,6,0.115,0.000,2444,2197,3528
$GC,3199,-0.69,-116.7,241.9,-5.8,251,3201,0.17,0.00,0.00,0.000,6,0.059,0.000,2368,2198,3528
$GC,3508,-0.54,-116.7,268.8,-8.6,266,3510,0.22,0.00,0.00,0.000,6,0.117,0.000,2440,2197,3528
$GC,3818,-0.68,-116.7,286.4,-5.4,281,3822,0.15,2.33,0.00,0.000,4,0.065,0.043,2375,758,3528
$GC,3858,-0.49,-116.7,289.3,-7.8,283,3863,0.28,2.22,0.00,0.000,6,0.120,0.036,2459,2189,3528
$GC,4195,-0.73,-116.7,304.6,-4.6,298,4200,0.20,2.28,0.00,0.000,4,0.058,0.050,2367,3579,3528
$GC,4251,-0.59,-116.7,308.8,-8.1,299,4258,0.20,2.22,0.00,0.000,6,0.123,0.034,2428,2171,3528
$GC,4565,-0.69,-116.7,328.4,-6.3,310,4570,0.12,2.25,0.00,0.000,4,0.071,0.046,2373,765,3527
$GC,4599,-0.51,-116.7,331.3,-8.6,311,4604,0.25,2.20,0.00,0.000,6,0.121,0.037,2448,2174,3527
$GC,4936,-0.72,-116.7,351.0,-5.8,322,4940,0.20,2.30,0.00,0.000,4,0.057,0.049,2358,3583,3526
$GC,4986,-0.53,-116.7,355.5,-9.5,323,4991,0.28,2.22,0.00,0.000,6,0.117,0.035,2444,2191,3526
$GC,5300,-0.72,-116.7,374.7,-6.0,333,5301,0.20,0.00,0.00,0.000,6,0.058,0.000,2360,2191,3526
$GC,5606,-0.55,-116.7,403.0,-9.3,343,5610,0.20,2.30,0.00,0.000,4,0.118,0.045,2429,766,3525
$GC,5656,-0.64,-116.7,407.1,-7.8,344,5660,0.00,2.25,0.00,0.000,6,0.000,0.039,2429,2189,3525
$GC,5976,-0.76,-116.7,428.5,-6.7,355,5978,0.17,0.00,0.00,0.000,6,0.061,0.000,2353,2190,3525
$GC,6282,-0.55,-116.7,456.9,-9.2,365,6284,0.25,0.00,0.00,0.000,6,0.118,0.000,2432,2190,3524
$GC,6587,-0.69,-116.7,475.5,-6.0,375,6589,0.12,0.00,0.00,0.000,6,0.071,0.000,2377,2190,3523
$GC,6894,-0.60,-116.7,498.9,-7.8,385,6896,0.15,0.00,0.00,0.000,6,0.124,0.000,2422,2190,3522
$GC,7227,-0.69,-116.7,518.6,-5.8,391,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2190,3521
$GC,7530,-0.79,-116.7,536.6,-6.0,396,7535,0.20,2.35,0.00,0.000,4,0.061,0.050,2336,763,3521
$GC,7569,-0.45,-116.7,540.1,-9.9,396,7574,0.43,2.22,0.00,0.000,6,0.128,0.040,2464,2169,3520
$GC,7891,-0.74,-116.7,555.1,-4.5,402,7896,0.22,2.35,0.00,0.000,4,0.061,0.052,2366,3594,3520
$GC,7948,-0.61,-116.7,559.1,-7.5,402,7953,0.17,2.28,0.00,0.000,6,0.122,0.037,2419,2178,3520
$GC,8259,-0.70,-116.7,578.7,-6.2,407,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2178,3519
$GC,8562,-0.78,-116.7,597.8,-6.3,412,8564,0.17,0.00,0.00,0.000,6,0.064,0.000,2346,2178,3518
$GC,8865,-0.55,-116.7,625.7,-9.4,417,8870,0.25,2.30,0.00,0.000,4,0.124,0.051,2430,772,3518
$GC,8898,-0.65,-116.7,628.4,-7.0,417,8902,0.00,2.25,0.00,0.000,6,0.000,0.043,2430,2182,3518
$GC,9232,-0.80,-116.7,648.2,-6.0,423,9237,0.20,2.35,0.00,0.000,4,0.061,0.057,2340,3583,3517
$GC,9282,-0.57,-116.7,652.6,-9.2,423,9287,0.30,2.28,0.00,0.000,6,0.124,0.040,2431,2184,3517
$GC,9593,-0.73,-116.7,670.1,-5.5,428,9594,0.17,0.00,0.00,0.000,6,0.066,0.000,2360,2184,3517
$GC,9897,-0.57,-116.7,694.3,-8.1,433,9898,0.22,0.00,0.00,0.000,6,0.121,0.000,2430,2182,3516
$GC,10199,-0.73,-116.7,711.3,-5.5,438,10203,0.17,2.38,0.00,0.000,4,0.064,0.055,2354,3589,3516
$GC,10226,-0.61,-116.7,713.5,-8.1,438,10231,0.20,2.30,0.00,0.000,6,0.127,0.040,2414,2169,3515
$GC,10565,-0.69,-116.7,733.7,-5.9,444,10569,0.00,2.28,0.00,0.000,4,0.000,0.051,2415,770,3515
$GC,10598,-0.69,-116.7,735.9,-6.4,444,10602,0.00,2.28,0.00,0.000,6,0.000,0.043,2415,2195,3515
$GC,10937,-0.77,-116.7,755.4,-5.8,450,10942,0.15,2.30,0.00,0.000,4,0.066,0.053,2350,3585,3514
$GC,10965,-0.63,-116.7,757.4,-7.6,450,10970,0.20,2.28,0.00,0.000,6,0.124,0.038,2409,2184,3514
$GC,11297,-0.69,-116.7,778.0,-6.1,456,11301,0.00,2.33,0.00,0.000,4,0.000,0.052,2409,766,3514
$GC,11331,-0.69,-116.7,780.4,-6.9,456,11334,0.00,2.28,0.00,0.000,6,0.000,0.042,2410,2189,3514
$GC,11670,-0.76,-116.7,801.6,-6.2,462,11675,0.12,2.35,0.00,0.000,4,0.075,0.057,2353,3596,3514
$GC,11705,-0.59,-116.7,804.4,-8.9,462,11710,0.22,2.30,0.00,0.000,6,0.123,0.038,2421,2172,3513
$GC,12033,-0.72,-116.7,823.7,-5.8,468,12035,0.12,0.00,0.00,0.000,6,0.077,0.000,2367,2172,3514
$GC,12336,-0.60,-116.7,847.0,-7.7,473,12340,0.17,2.30,0.00,0.000,4,0.123,0.051,2420,767,3513
$GC,12369,-0.69,-116.7,849.3,-6.6,473,12373,0.00,2.28,0.00,0.000,6,0.000,0.043,2420,2190,3513
$GC,12696,-0.82,-116.7,869.0,-6.0,479,12701,0.20,2.33,0.00,0.000,4,0.061,0.057,2334,3580,3513
$GC,12730,-0.57,-116.7,871.8,-9.2,479,12735,0.32,2.25,0.00,0.000,6,0.125,0.040,2432,2191,3513
$GC,13057,-0.75,-116.7,891.0,-5.8,485,13059,0.17,0.00,0.00,0.000,6,0.067,0.000,2361,2191,3512
$GC,13360,-0.62,-116.7,915.6,-8.3,490,13365,0.17,2.33,0.00,0.000,4,0.123,0.049,2416,759,3513
$GC,13399,-0.71,-116.7,918.6,-6.8,490,13403,0.00,2.28,0.00,0.000,6,0.000,0.041,2416,2192,3512
$GC,13727,-0.82,-116.7,939.1,-6.2,496,13731,0.20,2.33,0.00,0.000,4,0.061,0.057,2327,3583,3513
$GC,13755,-0.61,-116.7,941.5,-9.4,496,13760,0.30,2.28,0.00,0.000,6,0.129,0.041,2417,2175,3512
$GC,14087,-0.73,-116.7,962.3,-6.1,502,14089,0.12,0.00,0.00,0.000,6,0.076,0.000,2363,2175,3512
$GC,14390,-0.62,-116.7,985.3,-7.6,507,14395,0.17,2.30,0.00,0.000,4,0.123,0.054,2418,773,3512
$GC,14430,-0.71,-116.7,987.9,-6.6,507,14435,0.12,2.28,0.00,0.000,6,0.074,0.044,2365,2195,3512
$STATE,14505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14506,begin apogee
$GC,14513,-0.23,0.0,993.4,7.2,509,14618,0.55,0.00,102.18,1.402,6,0.120,0.000,2540,2281,3046
$STATE,14619,end apogee,CONTROL_FINISHED_OK
$STATE,14619,begin climb
$GC,14622,0.77,116.7,995.2,0.0,510,14738,0.95,0.00,112.10,1.368,6,0.074,0.000,2854,2281,2570
$GC,14988,0.53,116.7,976.5,7.6,516,14990,0.25,0.00,0.00,0.000,6,0.134,0.000,2780,2281,2566
$GC,15291,0.57,150.1,959.3,5.5,521,15325,0.00,2.42,29.17,1.343,4,0.000,0.048,2781,851,2434
$GC,15362,0.70,177.6,955.2,5.8,522,15393,0.17,2.28,25.83,1.326,6,0.066,0.036,2854,2268,2322
$GC,15723,0.55,177.6,922.7,9.3,528,15727,0.20,2.33,0.00,0.000,4,0.127,0.051,2788,3686,2317
$GC,15761,0.55,177.6,919.3,7.8,528,15765,0.00,2.28,0.00,0.000,6,0.000,0.035,2788,2256,2316
$GC,16082,0.67,177.6,897.2,7.0,534,16087,0.12,2.22,0.00,0.000,4,0.070,0.046,2841,862,2315
$GC,16149,0.59,177.6,891.2,9.3,535,16154,0.15,2.20,0.00,0.000,6,0.129,0.037,2797,2268,2315
$GC,16510,0.67,177.6,864.8,7.2,541,16514,0.00,2.30,0.00,0.000,4,0.000,0.051,2797,3683,2315
$GC,16543,0.67,177.6,862.0,8.5,541,16547,0.00,2.28,0.00,0.000,6,0.000,0.035,2797,2252,2315
$GC,16882,0.76,177.6,837.4,7.3,547,16886,0.17,2.22,0.00,0.000,4,0.063,0.048,2870,863,2314
$GC,16949,0.57,177.6,831.1,8.9,548,16954,0.25,2.17,0.00,0.000,6,0.126,0.037,2794,2259,2314
$GC,17315,0.68,177.6,805.3,6.9,554,17316,0.12,0.00,0.00,0.000,6,0.074,0.000,2847,2260,2314
$GC,17618,0.57,177.6,780.1,8.4,559,17623,0.17,2.33,0.00,0.000,4,0.127,0.052,2794,3680,2314
$GC,17646,0.57,177.6,777.7,7.5,559,17650,0.00,2.28,0.00,0.000,6,0.000,0.038,2796,2254,2314
$GC,17979,0.67,177.6,754.8,6.9,565,17983,0.10,2.22,0.00,0.000,4,0.078,0.047,2841,854,2313
$GC,18034,0.58,177.6,750.3,7.7,565,18041,0.15,2.17,0.00,0.000,6,0.130,0.036,2798,2250,2314
$GC,18345,0.70,190.7,730.3,6.4,571,18364,0.12,2.42,11.55,1.169,4,0.074,0.055,2854,3684,2267
$GC,18393,0.47,190.7,726.4,9.5,571,18398,0.30,2.30,0.00,0.000,6,0.130,0.035,2765,2235,2267
$GC,18709,0.79,240.0,710.5,4.9,577,18760,0.25,2.28,44.83,1.222,4,0.057,0.046,2878,854,2066
$GC,18814,0.66,240.0,701.5,10.1,578,18818,0.17,2.22,0.00,0.000,6,0.124,0.035,2827,2250,2061
$GC,19140,0.73,240.0,677.4,7.2,584,19144,0.00,2.35,0.00,0.000,4,0.000,0.054,2826,3683,2058
$GC,19190,0.73,240.0,673.3,7.9,584,19194,0.00,2.28,0.00,0.000,6,0.000,0.036,2827,2243,2058
$GC,19501,0.79,240.0,651.0,7.2,589,19505,0.12,2.20,0.00,0.000,4,0.071,0.050,2881,862,2057
$GC,19556,0.65,240.0,645.7,8.9,589,19563,0.20,2.15,0.00,0.000,6,0.122,0.038,2821,2241,2056
$GC,19867,0.74,240.0,623.5,7.1,595,19871,0.00,2.35,0.00,0.000,4,0.000,0.051,2820,3670,2056
$GC,19917,0.74,240.0,619.3,7.8,595,19921,0.00,2.28,0.00,0.000,6,0.000,0.036,2822,2237,2056
$GC,20239,0.83,240.0,595.4,7.4,601,20243,0.17,2.20,0.00,0.000,4,0.063,0.046,2896,856,2055
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$GC,22485,0.82,265.2,423.8,6.3,653,22506,0.20,2.25,15.82,1.015,4,0.058,0.048,2891,857,1963
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$STATE,27133,end climb,SURFACE_DEPTH_REACHED
$STATE,27133,begin surface coast
$FINISH,3.1,1.014254
$STATE,27197,end surface coast,CONTROL_FINISHED_OK
$STATE,27197,begin surface
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$IRIDIUM_FIX,6401.59,44.90,290898,070748
$TT8_MAMPS,0.026845
$HUMID,1766
$INTERNAL_PRESSURE,9.12531
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,21.3,67.780
$10V_AH,10.4,50.169
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$DEVICE_SECS,36.700,217.875,364.075,0.000,0.000,29.547,32.612,154.386,0.000,0.000,0.000,14.925,2144.691,22017.951,538.032,2255.519,661.852,0.000,1769.626,0.000,2212.369,0.000,0.531,0.000
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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,47396,939
$CAP_FILE_SIZE,207507,0
$CFSIZE,260165632,218247168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.228,333.2,1
$GPS,040609,222107,6436.574,26.450,32,1.0,32,-4.9