version: 66.04
glider: 160
mission: 3
dive: 436
start: 6 6 109 19 23 27
data:
$ID,160
$MISSION,3
$DIVE,436
$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,-16489.963
$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,34
$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
$GPS1,191631,6451.733,-21.474,38,1.2,38,-5.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.92
$_SM_ANGLEo,-66.6
$GPS2,192306,6451.730,-21.526,11,1.3,26,-5.4
$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,302.9,39981,-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,17,-0.77,-116.7,0.0,0.0,0,26,0.00,0.00,-7.12,0.000,2,0.000,0.000,123,2167,2123
$GC,30,-0.77,-116.7,3.9,-0.0,1,129,8.45,2.30,-83.25,0.000,4,0.206,0.061,2366,3581,3522
$GC,261,-0.55,-116.7,14.3,-11.4,39,267,0.22,2.20,0.00,0.000,6,0.120,0.035,2436,2167,3523
$GC,604,-0.55,-116.7,40.7,-7.1,100,612,0.00,2.17,0.00,0.000,4,0.000,0.044,2436,765,3524
$GC,630,-0.55,-116.7,42.6,-7.2,104,637,0.00,2.17,0.00,0.000,6,0.000,0.035,2435,2175,3524
$GC,971,-0.64,-116.7,63.6,-5.9,156,974,0.00,2.25,0.00,0.000,4,0.000,0.050,2436,3596,3525
$GC,1017,-0.76,-116.7,66.4,-6.2,158,1022,0.20,2.17,0.00,0.000,6,0.057,0.031,2350,2188,3525
$GC,1346,-0.49,-116.7,99.5,-10.6,174,1350,0.30,2.22,0.00,0.000,4,0.118,0.042,2450,769,3527
$GC,1447,-0.62,-116.7,107.0,-7.1,178,1454,0.12,2.20,0.00,0.000,6,0.071,0.037,2393,2192,3527
$GC,1763,-0.53,-116.7,134.8,-8.9,194,1765,0.15,0.00,0.00,0.000,6,0.120,0.000,2440,2193,3527
$GC,2074,-0.66,-116.7,157.5,-7.2,209,2076,0.12,0.00,0.00,0.000,6,0.071,0.000,2382,2193,3528
$GC,2382,-0.55,-116.7,185.8,-9.3,224,2384,0.17,0.00,0.00,0.000,6,0.118,0.000,2437,2193,3527
$GC,2692,-0.68,-116.7,208.3,-7.5,239,2696,0.12,2.28,0.00,0.000,4,0.073,0.046,2380,770,3528
$GC,2736,-0.49,-116.7,212.5,-10.0,241,2741,0.25,2.20,0.00,0.000,6,0.120,0.038,2457,2175,3527
$GC,3058,-0.73,-116.7,234.5,-6.9,257,3063,0.22,2.28,0.00,0.000,4,0.054,0.050,2354,3596,3527
$GC,3115,-0.51,-116.7,240.2,-10.6,259,3122,0.30,2.20,0.00,0.000,6,0.119,0.033,2447,2187,3527
$GC,3431,-0.69,-116.7,263.3,-7.2,275,3433,0.17,0.00,0.00,0.000,6,0.060,0.000,2373,2187,3527
$GC,3741,-0.54,-116.7,295.1,-10.6,290,3746,0.20,2.25,0.00,0.000,4,0.121,0.044,2440,763,3527
$GC,3797,-0.66,-116.7,300.2,-8.6,292,3805,0.12,2.22,0.00,0.000,6,0.071,0.036,2388,2196,3527
$GC,4110,-0.58,-116.7,329.8,-9.4,303,4111,0.12,0.00,0.00,0.000,6,0.126,0.000,2425,2196,3526
$GC,4417,-0.67,-116.7,353.2,-7.4,313,4421,0.00,2.28,0.00,0.000,4,0.000,0.046,2425,763,3525
$GC,4455,-0.67,-116.7,356.3,-7.9,314,4459,0.00,2.20,0.00,0.000,6,0.000,0.036,2425,2175,3525
$GC,4791,-0.76,-116.7,379.0,-6.5,325,4793,0.17,0.00,0.00,0.000,6,0.062,0.000,2350,2176,3525
$GC,5097,-0.53,-116.7,408.3,-9.7,335,5099,0.30,0.00,0.00,0.000,6,0.117,0.000,2445,2177,3525
$GC,5403,-0.72,-116.7,425.5,-5.5,345,5405,0.20,0.00,0.00,0.000,6,0.058,0.000,2361,2177,3524
$GC,5709,-0.53,-116.7,451.9,-8.8,355,5713,0.22,2.30,0.00,0.000,4,0.122,0.046,2436,766,3523
$GC,5738,-0.53,-116.7,453.9,-6.7,356,5742,0.00,2.25,0.00,0.000,6,0.000,0.040,2436,2191,3523
$GC,6079,-0.68,-116.7,473.2,-5.7,367,6081,0.12,0.00,0.00,0.000,6,0.075,0.000,2379,2192,3522
$GC,6386,-0.58,-116.7,497.1,-7.8,377,6388,0.15,0.00,0.00,0.000,6,0.123,0.000,2425,2192,3522
$GC,6690,-0.70,-116.7,515.3,-5.9,383,6692,0.12,0.00,0.00,0.000,6,0.074,0.000,2368,2193,3521
$GC,6992,-0.55,-116.7,539.4,-8.1,388,6997,0.20,2.35,0.00,0.000,4,0.122,0.049,2434,763,3520
$GC,7042,-0.66,-116.7,542.7,-6.3,388,7047,0.12,2.25,0.00,0.000,6,0.073,0.039,2379,2191,3521
$GC,7354,-0.57,-116.7,564.8,-7.2,393,7356,0.15,0.00,0.00,0.000,6,0.122,0.000,2426,2192,3520
$GC,7656,-0.70,-116.7,580.4,-5.0,398,7658,0.12,0.00,0.00,0.000,6,0.074,0.000,2371,2192,3519
$GC,7959,-0.57,-116.7,601.1,-7.0,403,7964,0.20,2.35,0.00,0.000,4,0.121,0.051,2438,760,3519
$GC,7999,-0.72,-116.7,603.5,-5.6,403,8004,0.17,2.25,0.00,0.000,6,0.067,0.040,2366,2186,3519
$GC,8320,-0.57,-116.7,626.6,-7.3,409,8322,0.20,0.00,0.00,0.000,6,0.119,0.000,2428,2186,3518
$GC,8623,-0.71,-116.7,643.0,-5.3,414,8625,0.15,0.00,0.00,0.000,6,0.069,0.000,2363,2186,3517
$GC,8927,-0.55,-116.7,666.4,-7.9,419,8929,0.22,0.00,0.00,0.000,6,0.119,0.000,2433,2186,3517
$GC,9229,-0.72,-116.7,682.7,-5.3,424,9231,0.15,0.00,0.00,0.000,6,0.069,0.000,2370,2186,3517
$GC,9533,-0.60,-116.7,705.7,-7.7,429,9538,0.17,2.35,0.00,0.000,4,0.124,0.052,2424,763,3517
$GC,9561,-0.60,-116.7,707.8,-6.5,429,9565,0.00,2.25,0.00,0.000,6,0.000,0.041,2424,2176,3517
$GC,9899,-0.73,-116.7,727.2,-5.7,435,9903,0.15,2.35,0.00,0.000,4,0.069,0.053,2360,3596,3516
$GC,9938,-0.57,-116.7,730.1,-8.0,435,9943,0.22,2.30,0.00,0.000,6,0.122,0.038,2428,2162,3516
$GC,10266,-0.72,-116.7,747.4,-5.2,441,10268,0.15,0.00,0.00,0.000,6,0.070,0.000,2364,2162,3516
$GC,10567,-0.58,-116.7,770.3,-7.6,446,10569,0.20,0.00,0.00,0.000,6,0.123,0.000,2427,2162,3515
$GC,10871,-0.73,-116.7,786.9,-5.4,451,10873,0.15,0.00,0.00,0.000,6,0.071,0.000,2363,2162,3515
$GC,11174,-0.59,-116.7,809.5,-7.5,456,11176,0.20,0.00,0.00,0.000,6,0.122,0.000,2426,2161,3515
$GC,11478,-0.73,-116.7,826.2,-5.4,461,11480,0.15,0.00,0.00,0.000,6,0.072,0.000,2363,2161,3515
$GC,11780,-0.60,-116.7,849.5,-7.8,466,11781,0.20,0.00,0.00,0.000,6,0.121,0.000,2425,2161,3514
$GC,12083,-0.74,-116.7,866.8,-5.6,471,12085,0.15,0.00,0.00,0.000,6,0.071,0.000,2362,2161,3514
$GC,12386,-0.61,-116.7,890.3,-7.8,476,12388,0.17,0.00,0.00,0.000,6,0.123,0.000,2416,2161,3514
$GC,12690,-0.72,-116.7,908.2,-5.9,481,12695,0.12,2.40,0.00,0.000,4,0.074,0.057,2363,3590,3514
$GC,12725,-0.60,-116.7,910.8,-7.9,481,12730,0.20,2.30,0.00,0.000,6,0.122,0.042,2422,2168,3514
$GC,13053,-0.74,-116.7,930.6,-6.0,487,13054,0.15,0.00,0.00,0.000,6,0.074,0.000,2361,2168,3513
$GC,13355,-0.61,-116.7,955.1,-8.2,492,13359,0.17,2.28,0.00,0.000,4,0.124,0.051,2415,760,3513
$GC,13389,-0.67,-116.7,957.5,-7.2,492,13393,0.00,2.25,0.00,0.000,6,0.000,0.041,2415,2176,3514
$GC,13723,-0.78,-116.7,977.9,-6.0,498,13725,0.17,0.00,0.00,0.000,6,0.064,0.000,2340,2177,3513
$STATE,13901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13901,begin apogee
$GC,13908,-0.23,0.0,993.4,8.0,501,14014,0.62,0.00,102.35,1.406,6,0.123,0.000,2536,2282,3046
$STATE,14014,end apogee,CONTROL_FINISHED_OK
$STATE,14014,begin climb
$GC,14017,0.77,116.7,995.8,0.0,502,14175,0.98,2.60,120.97,1.285,4,0.074,0.051,2858,3664,2569
$GC,14198,0.39,137.4,996.1,6.0,505,14239,0.47,2.45,25.05,1.127,6,0.135,0.032,2738,2258,2485
$GC,14581,0.74,211.4,980.9,3.9,512,14654,0.30,2.40,66.65,1.375,4,0.057,0.048,2865,870,2184
$GC,14722,0.60,211.4,969.0,9.3,514,14727,0.20,2.25,0.00,0.000,6,0.120,0.035,2807,2251,2178
$GC,15078,0.68,211.6,944.3,6.9,520,15082,0.00,2.35,0.00,0.000,4,0.000,0.054,2806,3683,2175
$GC,15140,0.68,211.6,939.5,7.8,521,15144,0.00,2.25,0.00,0.000,6,0.000,0.037,2809,2259,2175
$GC,15512,0.68,211.6,913.2,7.0,527,15516,0.00,2.22,0.00,0.000,4,0.000,0.048,2809,863,2173
$GC,15541,0.78,211.6,911.0,7.1,527,15545,0.17,2.17,0.00,0.000,6,0.064,0.037,2883,2267,2172
$GC,15884,0.56,211.6,877.0,10.1,533,15886,0.30,0.00,0.00,0.000,6,0.121,0.000,2789,2266,2172
$GC,16187,0.76,234.8,858.3,5.9,538,16213,0.20,2.33,20.35,1.289,4,0.060,0.051,2880,3683,2087
$GC,16242,0.49,234.8,852.9,10.9,538,16249,0.38,2.28,0.00,0.000,6,0.125,0.035,2767,2258,2085
$GC,16553,0.83,269.7,835.0,5.5,544,16598,0.28,2.30,34.55,1.241,4,0.055,0.047,2891,864,1945
$GC,16633,0.67,269.7,827.2,10.2,545,16638,0.22,2.22,0.00,0.000,6,0.123,0.036,2824,2264,1942
$GC,16982,0.76,269.7,798.1,8.2,551,16986,0.00,2.28,0.00,0.000,4,0.000,0.051,2824,3683,1937
$GC,17015,0.76,269.7,794.9,8.5,551,17019,0.00,2.25,0.00,0.000,6,0.000,0.035,2824,2257,1937
$GC,17354,0.85,269.7,767.2,8.1,557,17359,0.17,2.20,0.00,0.000,4,0.062,0.046,2897,869,1936
$GC,17417,0.68,269.7,760.4,11.8,558,17421,0.22,2.15,0.00,0.000,6,0.127,0.035,2830,2264,1935
$GC,17788,0.76,269.7,729.1,8.4,564,17791,0.00,2.28,0.00,0.000,4,0.000,0.051,2830,3682,1935
$GC,17812,0.76,269.7,726.9,8.5,564,17816,0.00,2.25,0.00,0.000,6,0.000,0.036,2829,2254,1935
$GC,18161,0.83,269.7,698.1,8.1,570,18166,0.15,2.20,0.00,0.000,4,0.065,0.047,2894,865,1935
$GC,18267,0.68,269.7,686.5,10.7,571,18272,0.22,2.12,0.00,0.000,6,0.123,0.038,2825,2238,1934
$GC,18590,0.78,269.7,661.1,7.8,577,18594,0.12,2.33,0.00,0.000,4,0.075,0.054,2881,3669,1934
$GC,18640,0.58,269.7,655.7,10.7,577,18645,0.28,2.28,0.00,0.000,6,0.124,0.036,2797,2226,1934
$GC,18951,0.82,280.7,635.3,6.4,582,18966,0.20,2.20,9.62,1.098,4,0.059,0.050,2891,856,1900
$GC,18994,0.67,280.7,631.1,10.0,582,18999,0.22,2.15,0.00,0.000,6,0.121,0.038,2822,2237,1898
$GC,19315,0.80,280.7,605.8,7.8,588,19320,0.15,2.35,0.00,0.000,4,0.070,0.054,2885,3678,1897
$GC,19366,0.60,280.7,599.9,12.0,588,19371,0.28,2.30,0.00,0.000,6,0.123,0.038,2801,2236,1897
$GC,19677,0.84,280.7,577.1,7.1,593,19681,0.20,2.22,0.00,0.000,4,0.058,0.047,2894,853,1896
$GC,19710,0.70,280.7,573.6,12.6,593,19715,0.20,2.17,0.00,0.000,6,0.123,0.035,2834,2248,1896
$GC,20042,0.79,280.7,544.1,8.8,599,20046,0.00,2.35,0.00,0.000,4,0.000,0.052,2834,3680,1896
$GC,20065,0.85,280.7,541.8,8.9,599,20070,0.15,2.30,0.00,0.000,6,0.064,0.036,2897,2236,1896
$GC,20403,0.70,280.7,501.9,12.0,605,20408,0.20,2.22,0.00,0.000,4,0.129,0.046,2830,850,1896
$GC,20448,0.85,280.7,497.4,8.5,605,20453,0.17,2.15,0.00,0.000,6,0.060,0.035,2906,2238,1895
$GC,20766,0.67,280.7,459.2,12.1,616,20768,0.25,0.00,0.00,0.000,6,0.123,0.000,2827,2239,1895
$GC,21073,0.80,280.7,432.8,8.5,626,21078,0.12,2.35,0.00,0.000,4,0.070,0.051,2884,3671,1896
$GC,21108,0.64,280.7,428.9,11.6,627,21112,0.22,2.30,0.00,0.000,6,0.128,0.038,2817,2227,1895
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$STATE,25294,end climb,SURFACE_DEPTH_REACHED
$STATE,25294,begin surface coast
$FINISH,3.3,1.019480
$STATE,25345,end surface coast,CONTROL_FINISHED_OK
$STATE,25346,begin surface
$SM_CCo,25425,0.00,0.000,0,0,1894,282.83
$SM_GC,4.39,7.38,0.00,0.00,0.050,0.000,0.000,140,2185,1894,-7.65,0.14,282.83
$IRIDIUM_FIX,6421.40,-15.17,310898,111128
$TT8_MAMPS,0.026845
$HUMID,1809
$INTERNAL_PRESSURE,9.09601
$TCM_TEMP,17.60
$XPDR_PINGS,1
$24V_AH,20.4,68.820
$10V_AH,10.3,50.809
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$DEVICE_SECS,34.750,181.075,379.550,0.000,0.000,30.543,37.023,183.791,0.250,0.000,0.000,28.158,1967.296,20531.770,559.660,2084.004,664.118,0.000,1703.452,0.000,2032.178,0.000,0.532,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.155,623.699,349.690,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44311,892
$CAP_FILE_SIZE,185993,0
$CFSIZE,260165632,217714688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.097, 46.9,1
$GPS,070609,022831,6454.228,-25.664,40,1.0,40,-5.5