version: 66.04
glider: 160
mission: 3
dive: 454
start: 6 12 109 9 11 16
data:
$ID,160
$MISSION,3
$DIVE,454
$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,-16884.434
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,090455,6437.235,6.571,39,1.1,39,-5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.04
$_SM_ANGLEo,-62.9
$GPS2,091055,6437.220,6.510,9,1.4,26,-5.1
$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,142.8,260712,-13.7,-6.875
$D_GRID,2644
$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,-6.62,0.000,2,0.000,0.000,123,2178,1961
$GC,28,-0.77,-116.7,4.1,-0.0,1,134,8.10,2.40,-91.47,0.000,4,0.186,0.059,2364,759,3522
$GC,366,-0.48,-116.7,29.7,-13.5,58,374,0.25,2.25,0.00,0.000,6,0.119,0.036,2462,2175,3524
$GC,714,-0.69,-116.7,51.0,-4.8,119,721,0.20,0.00,0.00,0.000,6,0.056,0.000,2373,2176,3525
$GC,1053,-0.52,-116.7,81.2,-8.4,149,1055,0.22,0.00,0.00,0.000,6,0.119,0.000,2444,2176,3527
$GC,1361,-0.66,-116.7,96.7,-5.1,164,1366,0.15,2.33,0.00,0.000,4,0.063,0.049,2377,3588,3527
$GC,1428,-0.53,-116.7,102.1,-8.2,167,1433,0.20,2.25,0.00,0.000,6,0.120,0.034,2439,2176,3528
$GC,1752,-0.66,-116.7,123.2,-6.4,183,1754,0.12,0.00,0.00,0.000,6,0.072,0.000,2386,2176,3528
$GC,2060,-0.53,-116.7,148.9,-8.1,198,2065,0.17,2.28,0.00,0.000,4,0.122,0.045,2441,773,3528
$GC,2087,-0.53,-116.7,150.9,-6.7,199,2091,0.00,2.22,0.00,0.000,6,0.000,0.038,2440,2194,3528
$GC,2411,-0.66,-116.7,169.2,-5.6,215,2415,0.12,2.30,0.00,0.000,4,0.071,0.048,2382,3593,3528
$GC,2457,-0.54,-116.7,172.8,-8.2,217,2462,0.20,2.25,0.00,0.000,6,0.123,0.035,2443,2185,3528
$GC,2788,-0.69,-116.7,194.4,-6.7,233,2789,0.15,0.00,0.00,0.000,6,0.066,0.000,2378,2185,3528
$GC,3094,-0.53,-116.7,222.1,-8.8,248,3096,0.20,0.00,0.00,0.000,6,0.121,0.000,2440,2183,3528
$GC,3403,-0.67,-116.7,241.8,-6.5,263,3405,0.12,0.00,0.00,0.000,6,0.073,0.000,2388,2183,3528
$GC,3713,-0.58,-116.7,268.0,-8.6,278,3715,0.12,0.00,0.00,0.000,6,0.128,0.000,2425,2183,3527
$GC,4022,-0.66,-116.7,288.3,-6.2,293,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2183,3527
$GC,4330,-0.73,-116.7,308.4,-6.7,306,4335,0.15,2.35,0.00,0.000,4,0.067,0.053,2360,3582,3526
$GC,4359,-0.59,-116.7,310.9,-9.5,307,4364,0.22,2.28,0.00,0.000,6,0.124,0.038,2428,2173,3526
$GC,4700,-0.68,-116.7,333.6,-6.6,318,4702,0.12,0.00,0.00,0.000,6,0.074,0.000,2376,2173,3526
$GC,5007,-0.54,-116.7,360.2,-8.9,328,5009,0.20,0.00,0.00,0.000,6,0.124,0.000,2438,2172,3525
$GC,5313,-0.69,-116.7,379.5,-6.1,338,5314,0.15,0.00,0.00,0.000,6,0.069,0.000,2376,2172,3524
$GC,5619,-0.55,-116.7,405.1,-8.5,348,5621,0.20,0.00,0.00,0.000,6,0.122,0.000,2438,2172,3524
$GC,5926,-0.70,-116.7,423.3,-5.6,358,5928,0.15,0.00,0.00,0.000,6,0.068,0.000,2376,2172,3523
$GC,6231,-0.57,-116.7,446.9,-7.9,368,6236,0.17,2.38,0.00,0.000,4,0.124,0.055,2430,3579,3522
$GC,6271,-0.73,-116.7,449.4,-5.6,369,6275,0.17,2.25,0.00,0.000,6,0.061,0.038,2359,2186,3522
$GC,6607,-0.53,-116.7,477.8,-8.6,380,6609,0.28,0.00,0.00,0.000,6,0.123,0.000,2444,2183,3521
$GC,6912,-0.72,-116.7,495.0,-5.7,390,6914,0.17,0.00,0.00,0.000,6,0.064,0.000,2373,2183,3521
$GC,7246,-0.58,-116.7,523.3,-8.7,397,7248,0.17,0.00,0.00,0.000,6,0.123,0.000,2427,2184,3520
$GC,7550,-0.69,-116.7,542.4,-6.2,402,7555,0.12,2.35,0.00,0.000,4,0.074,0.054,2374,3592,3520
$GC,7595,-0.58,-116.7,546.0,-8.0,402,7600,0.17,2.30,0.00,0.000,6,0.127,0.039,2427,2176,3519
$GC,7912,-0.69,-116.7,566.6,-6.5,408,7914,0.12,0.00,0.00,0.000,6,0.077,0.000,2375,2177,3519
$GC,8213,-0.56,-116.7,592.1,-8.5,413,8215,0.17,0.00,0.00,0.000,6,0.126,0.000,2429,2176,3518
$GC,8517,-0.69,-116.7,612.0,-6.5,418,8518,0.12,0.00,0.00,0.000,6,0.074,0.000,2377,2176,3518
$GC,8819,-0.58,-116.7,637.4,-8.5,423,8821,0.17,0.00,0.00,0.000,6,0.127,0.000,2430,2176,3518
$GC,9124,-0.72,-116.7,657.6,-6.6,428,9129,0.15,2.40,0.00,0.000,4,0.070,0.060,2365,3584,3518
$GC,9152,-0.63,-116.7,660.1,-9.1,428,9157,0.15,2.30,0.00,0.000,6,0.132,0.041,2408,2182,3517
$GC,9489,-0.63,-116.7,685.7,-7.6,434,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2182,3517
$GC,9793,-0.63,-116.7,708.1,-7.4,439,9797,0.00,2.35,0.00,0.000,4,0.000,0.054,2408,757,3517
$GC,9831,-0.63,-116.7,711.2,-8.3,439,9835,0.00,2.28,0.00,0.000,6,0.000,0.041,2408,2191,3517
$GC,10163,-0.63,-116.7,735.0,-7.2,445,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2192,3516
$GC,10466,-0.63,-116.7,756.2,-7.0,450,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2192,3516
$GC,10770,-0.63,-116.7,776.5,-6.7,455,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2192,3516
$GC,11074,-0.63,-116.7,795.7,-6.3,460,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2192,3515
$GC,11376,-0.63,-116.7,813.9,-6.0,465,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2192,3515
$GC,11679,-0.63,-116.7,831.8,-5.9,470,11680,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2192,3515
$GC,11982,-0.63,-116.7,850.0,-6.0,475,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2192,3514
$GC,12287,-0.63,-116.7,868.1,-5.9,480,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2192,3514
$GC,12588,-0.63,-116.7,886.2,-6.0,485,12592,0.00,2.35,0.00,0.000,4,0.000,0.060,2408,3579,3514
$GC,12623,-0.72,-116.7,888.3,-6.0,485,12627,0.00,2.28,0.00,0.000,6,0.000,0.040,2408,2181,3514
$GC,12962,-0.80,-116.7,908.6,-6.0,491,12964,0.15,0.00,0.00,0.000,6,0.071,0.000,2349,2181,3514
$GC,13265,-0.60,-116.7,933.1,-8.2,496,13267,0.22,0.00,0.00,0.000,6,0.127,0.000,2418,2179,3513
$GC,13567,-0.71,-116.7,950.6,-5.7,501,13569,0.12,0.00,0.00,0.000,6,0.074,0.000,2363,2179,3513
$GC,13870,-0.58,-116.7,973.0,-7.4,506,13872,0.20,0.00,0.00,0.000,6,0.123,0.000,2425,2179,3513
$GC,14174,-0.75,-116.7,988.6,-5.1,511,14179,0.15,2.40,0.00,0.000,4,0.072,0.060,2363,3587,3513
$STATE,14193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14193,begin apogee
$GC,14203,-0.23,0.0,990.1,6.3,511,14308,0.52,0.00,102.00,1.405,6,0.120,0.000,2534,2255,3046
$STATE,14308,end apogee,CONTROL_FINISHED_OK
$STATE,14309,begin climb
$GC,14312,0.77,116.7,993.2,0.0,513,14466,1.00,2.70,121.72,1.288,4,0.075,0.049,2856,3672,2568
$GC,14490,0.41,128.5,990.8,6.4,516,14515,0.45,2.53,14.35,1.078,6,0.132,0.034,2745,2257,2522
$GC,14845,0.69,171.7,972.4,5.2,522,14890,0.22,2.38,38.72,1.354,4,0.060,0.048,2841,871,2345
$GC,14980,0.60,171.7,961.4,9.5,524,14984,0.12,2.22,0.00,0.000,6,0.128,0.035,2806,2274,2341
$GC,15345,0.60,171.7,933.2,7.5,530,15349,0.00,2.33,0.00,0.000,4,0.000,0.054,2806,3683,2340
$GC,15390,0.60,171.7,929.7,7.9,530,15394,0.00,2.28,0.00,0.000,6,0.000,0.036,2809,2256,2339
$GC,15717,0.60,171.7,905.5,7.4,536,15720,0.00,2.25,0.00,0.000,4,0.000,0.048,2809,852,2339
$GC,15790,0.60,171.7,900.0,7.4,537,15793,0.00,2.20,0.00,0.000,6,0.000,0.035,2809,2264,2339
$GC,16156,0.60,171.7,874.5,6.9,543,16157,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2264,2338
$GC,16459,0.60,171.7,853.6,6.9,548,16463,0.00,2.33,0.00,0.000,4,0.000,0.051,2809,3676,2339
$GC,16509,0.60,171.7,849.6,8.4,548,16513,0.00,2.28,0.00,0.000,6,0.000,0.036,2809,2257,2338
$GC,16824,0.60,171.8,827.8,6.9,554,16828,0.00,2.25,0.00,0.000,4,0.000,0.048,2809,854,2339
$GC,16897,0.62,194.0,822.9,6.0,555,16921,0.00,2.20,19.45,1.264,6,0.000,0.036,2809,2261,2255
$GC,17261,0.71,196.7,798.5,6.8,561,17265,0.00,2.33,0.00,0.000,4,0.000,0.051,2809,3680,2252
$GC,17301,0.71,196.7,795.5,7.3,561,17305,0.00,2.28,0.00,0.000,6,0.000,0.037,2809,2258,2251
$GC,17622,0.78,202.7,774.1,6.6,567,17637,0.17,2.28,9.02,1.151,4,0.063,0.046,2890,854,2219
$GC,17706,0.54,202.7,766.4,10.2,568,17711,0.32,2.20,0.00,0.000,6,0.124,0.035,2790,2260,2217
$GC,18056,0.73,215.1,743.9,6.4,574,18076,0.17,2.42,12.27,1.183,4,0.064,0.053,2864,3684,2168
$GC,18116,0.50,215.1,738.0,10.6,574,18123,0.30,2.30,0.00,0.000,6,0.126,0.036,2777,2255,2167
$GC,18428,0.76,223.9,717.3,6.5,580,18442,0.20,2.28,9.20,1.124,4,0.059,0.047,2869,854,2132
$GC,18505,0.64,223.9,709.7,12.0,581,18510,0.17,2.20,0.00,0.000,6,0.122,0.036,2816,2250,2130
$GC,18865,0.73,223.9,681.1,7.9,587,18869,0.00,2.38,0.00,0.000,4,0.000,0.054,2816,3683,2130
$GC,18928,0.73,223.9,675.7,8.5,588,18933,0.00,2.30,0.00,0.000,6,0.000,0.036,2816,2245,2130
$GC,19295,0.82,223.9,646.3,8.1,594,19299,0.17,2.25,0.00,0.000,4,0.061,0.051,2891,861,2129
$GC,19345,0.62,223.9,640.9,11.4,594,19350,0.28,2.20,0.00,0.000,6,0.123,0.038,2806,2264,2129
$GC,19667,0.77,223.9,614.6,8.0,600,19672,0.15,2.33,0.00,0.000,4,0.071,0.050,2869,3679,2129
$GC,19729,0.55,223.9,607.5,12.4,601,19734,0.25,2.30,0.00,0.000,6,0.127,0.038,2793,2238,2129
$GC,20101,0.76,223.9,576.8,8.1,607,20106,0.17,2.22,0.00,0.000,4,0.061,0.048,2868,854,2129
$GC,20186,0.66,223.9,567.8,11.0,608,20190,0.15,2.17,0.00,0.000,6,0.126,0.036,2824,2243,2128
$GC,20530,0.72,223.9,537.2,8.8,614,20533,0.00,2.35,0.00,0.000,4,0.000,0.049,2825,3682,2128
$GC,20591,0.72,223.9,531.2,8.9,614,20597,0.00,2.30,0.00,0.000,6,0.000,0.035,2824,2236,2128
$GC,20902,0.80,223.9,505.6,8.2,620,20907,0.15,2.22,0.00,0.000,4,0.065,0.046,2891,852,2128
$GC,20953,0.60,223.9,500.4,11.4,620,20958,0.28,2.20,0.00,0.000,6,0.123,0.035,2807,2267,2128
$GC,21266,0.77,223.9,477.7,7.1,630,21271,0.15,2.33,0.00,0.000,4,0.068,0.051,2870,3682,2128
$GC,21316,0.57,223.9,472.5,11.0,631,21321,0.28,2.30,0.00,0.000,6,0.126,0.035,2792,2238,2128
$GC,21630,0.80,223.9,450.4,6.9,641,21635,0.20,2.22,0.00,0.000,4,0.059,0.047,2882,856,2128
$GC,21698,0.64,223.9,443.9,10.0,643,21703,0.20,2.17,0.00,0.000,6,0.120,0.036,2821,2243,2128
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$GC,23189,0.82,252.6,335.2,6.2,691,23208,0.22,0.00,16.35,0.959,6,0.056,0.000,2893,2253,2016
$GC,23495,0.68,252.6,302.8,11.0,701,23497,0.20,0.00,0.00,0.000,6,0.122,0.000,2831,2253,2011
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$GC,24485,0.88,256.5,219.2,8.4,748,24490,0.17,2.33,0.00,0.000,4,0.060,0.048,2916,3683,1998
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$GC,25587,0.75,299.3,122.7,10.5,800,25589,0.15,0.00,0.00,0.000,6,0.128,0.000,2853,2266,1814
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$STATE,26794,end climb,SURFACE_DEPTH_REACHED
$STATE,26794,begin surface coast
$FINISH,3.5,1.027143
$STATE,26823,end surface coast,CONTROL_FINISHED_OK
$STATE,26823,begin surface
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$TT8_MAMPS,0.027612
$HUMID,1828
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$TCM_TEMP,15.00
$XPDR_PINGS,0
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$10V_AH,10.3,52.444
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$DEVICE_SECS,31.675,164.950,396.500,0.000,0.000,25.744,34.335,152.688,0.000,0.000,0.000,28.876,2039.118,21826.406,573.918,2165.340,646.991,0.000,1734.715,0.000,2119.741,0.000,0.532,0.000
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$CFSIZE,260165632,216289280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
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