version: 66.04
glider: 160
mission: 3
dive: 540
start: 7 8 109 12 50 18
data:
$ID,160
$MISSION,3
$DIVE,540
$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,-1
$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,-18759.566
$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,38
$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
$GPS1,124301,6318.438,253.144,60,1.4,60,-3.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,3.54
$_SM_ANGLEo,-62.4
$GPS2,124956,6318.421,252.945,11,1.8,11,-3.3
$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,358.2,269608,-13.7,-6.875
$D_GRID,1049
$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,-6.20,0.000,2,0.000,0.000,122,2163,2056
$GC,28,-0.77,-116.7,3.4,-0.0,1,111,8.18,2.42,-68.22,0.000,4,0.191,0.058,2353,3591,3523
$GC,125,-0.09,-116.7,7.4,-9.2,15,132,0.75,2.25,0.00,0.000,6,0.129,0.031,2584,2157,3524
$GC,473,-1.02,-116.7,29.0,-9.3,76,481,0.82,2.33,0.00,0.000,4,0.067,0.045,2280,3578,3525
$GC,545,-0.42,-116.7,39.4,-16.1,88,552,0.65,2.15,0.00,0.000,6,0.131,0.031,2479,2188,3525
$GC,905,-0.65,-116.7,62.5,-4.1,143,909,0.20,2.25,0.00,0.000,4,0.055,0.042,2388,776,3527
$GC,983,-0.45,-116.7,68.8,-8.5,146,988,0.25,2.22,0.00,0.000,6,0.118,0.035,2465,2193,3526
$GC,1302,-0.62,-116.7,85.9,-5.8,161,1303,0.15,0.00,0.00,0.000,6,0.060,0.000,2399,2193,3527
$GC,1609,-0.51,-116.7,112.3,-8.6,176,1611,0.17,0.00,0.00,0.000,6,0.117,0.000,2454,2194,3527
$GC,1920,-0.64,-116.7,132.2,-6.3,191,1924,0.15,2.28,0.00,0.000,4,0.060,0.046,2382,3583,3527
$GC,1954,-0.48,-116.7,135.2,-9.2,192,1961,0.25,2.20,0.00,0.000,6,0.116,0.033,2460,2195,3527
$GC,2271,-0.65,-116.7,155.8,-6.9,208,2275,0.17,2.28,0.00,0.000,4,0.058,0.041,2382,770,3527
$GC,2311,-0.40,-116.7,159.7,-10.5,210,2316,0.32,2.22,0.00,0.000,6,0.120,0.032,2482,2201,3527
$GC,2642,-0.68,-116.7,180.3,-6.0,226,2647,0.22,2.25,0.00,0.000,4,0.054,0.045,2379,3584,3527
$GC,2682,-0.49,-116.7,184.0,-9.6,228,2687,0.25,2.20,0.00,0.000,6,0.116,0.031,2457,2193,3527
$GC,3011,-0.65,-116.7,205.3,-6.2,244,3016,0.17,2.28,0.00,0.000,4,0.057,0.041,2379,758,3527
$GC,3084,-0.43,-116.7,212.2,-10.3,247,3089,0.30,2.28,0.00,0.000,6,0.119,0.035,2471,2202,3527
$GC,3402,-0.67,-116.7,230.0,-5.6,262,3406,0.20,2.25,0.00,0.000,4,0.052,0.046,2378,3595,3527
$GC,3436,-0.49,-116.7,232.8,-9.3,263,3442,0.25,2.20,0.00,0.000,6,0.114,0.031,2456,2189,3527
$GC,3753,-0.66,-116.7,253.5,-6.5,279,3758,0.17,2.25,0.00,0.000,4,0.057,0.043,2376,764,3527
$GC,3806,-0.41,-116.7,258.4,-10.0,281,3811,0.32,2.25,0.00,0.000,6,0.120,0.035,2476,2200,3527
$GC,4128,-0.68,-116.7,277.7,-5.7,297,4133,0.20,2.22,0.00,0.000,4,0.055,0.045,2382,3589,3527
$GC,4185,-0.55,-116.7,282.4,-8.8,299,4192,0.17,2.20,0.00,0.000,6,0.119,0.033,2436,2179,3527
$GC,4503,-0.62,-116.7,300.5,-5.0,315,4506,0.00,2.22,0.00,0.000,4,0.000,0.045,2436,771,3526
$GC,4565,-0.62,-116.7,303.9,-5.3,316,4571,0.00,2.20,0.00,0.000,6,0.000,0.034,2436,2183,3526
$GC,4880,-0.69,-116.7,321.8,-6.1,327,4885,0.15,2.28,0.00,0.000,4,0.063,0.046,2364,3592,3526
$GC,4909,-0.53,-116.7,324.5,-9.0,328,4914,0.25,2.20,0.00,0.000,6,0.117,0.032,2442,2190,3526
$GC,5248,-0.63,-116.7,349.3,-7.6,339,5251,0.00,2.28,0.00,0.000,4,0.000,0.043,2442,768,3526
$GC,5293,-0.71,-116.7,353.2,-8.1,340,5298,0.17,2.22,0.00,0.000,6,0.057,0.034,2364,2197,3525
$GC,5618,-0.50,-116.7,384.7,-9.3,351,5620,0.28,0.00,0.00,0.000,6,0.113,0.000,2452,2197,3526
$GC,5925,-0.67,-116.7,398.5,-4.3,361,5927,0.17,0.00,0.00,0.000,6,0.058,0.000,2373,2197,3525
$GC,6230,-0.50,-116.7,427.7,-10.8,371,6232,0.25,0.00,0.00,0.000,6,0.114,0.000,2453,2197,3525
$GC,6536,-0.69,-116.7,453.4,-7.8,381,6541,0.17,2.35,0.00,0.000,4,0.058,0.044,2375,765,3525
$GC,6566,-0.55,-116.7,456.2,-10.4,382,6571,0.20,2.20,0.00,0.000,6,0.125,0.035,2435,2178,3525
$GC,6902,-0.65,-116.7,475.7,-4.7,393,6906,0.00,2.30,0.00,0.000,4,0.000,0.048,2434,3590,3525
$GC,6965,-0.80,-116.7,478.6,-4.1,394,6973,0.22,2.28,0.00,0.000,6,0.054,0.034,2340,2171,3525
$GC,7278,-0.49,-116.7,507.7,-10.4,404,7283,0.32,2.28,0.00,0.000,4,0.121,0.043,2448,769,3524
$GC,7391,-0.62,-116.7,517.3,-8.3,405,7396,0.12,2.20,0.00,0.000,6,0.071,0.035,2392,2179,3524
$GC,7708,-0.55,-116.7,545.3,-8.8,411,7713,0.15,2.30,0.00,0.000,4,0.120,0.048,2436,3583,3523
$GC,7764,-0.72,-116.7,549.7,-7.2,411,7771,0.17,2.28,0.00,0.000,6,0.061,0.035,2360,2168,3523
$GC,8075,-0.52,-116.7,577.9,-9.0,417,8079,0.25,2.30,0.00,0.000,4,0.118,0.045,2445,770,3523
$GC,8177,-0.64,-116.7,582.9,-4.0,418,8182,0.12,2.22,0.00,0.000,6,0.067,0.035,2389,2175,3523
$GC,8504,-0.56,-116.7,601.4,-5.8,424,8509,0.15,2.33,0.00,0.000,4,0.119,0.051,2435,3579,3522
$GC,8541,-0.73,-116.7,603.3,-5.5,424,8546,0.17,2.28,0.00,0.000,6,0.061,0.035,2360,2162,3522
$GC,8868,-0.54,-116.7,632.1,-9.2,430,8872,0.22,2.30,0.00,0.000,4,0.121,0.049,2436,763,3520
$GC,8946,-0.63,-116.7,637.9,-7.2,431,8950,0.00,2.22,0.00,0.000,6,0.000,0.038,2436,2157,3520
$GC,9303,-0.77,-116.7,659.6,-6.1,437,9307,0.20,2.35,0.00,0.000,4,0.061,0.050,2340,3593,3519
$GC,9353,-0.51,-116.7,664.2,-9.3,437,9358,0.35,2.30,0.00,0.000,6,0.118,0.037,2448,2152,3519
$GC,9677,-0.71,-116.7,683.7,-6.0,443,9678,0.20,0.00,0.00,0.000,6,0.062,0.000,2363,2151,3517
$GC,9977,-0.54,-116.7,710.7,-9.0,448,9982,0.20,2.28,0.00,0.000,4,0.120,0.048,2433,770,3516
$GC,10022,-0.63,-116.7,714.3,-7.5,448,10026,0.00,2.25,0.00,0.000,6,0.000,0.038,2432,2174,3516
$GC,10339,-0.76,-116.7,734.7,-6.4,454,10343,0.20,2.35,0.00,0.000,4,0.061,0.053,2340,3580,3514
$GC,10379,-0.49,-116.7,738.4,-10.0,454,10384,0.38,2.28,0.00,0.000,6,0.119,0.038,2455,2168,3514
$GC,10706,-0.72,-116.7,756.2,-5.2,460,10711,0.20,2.28,0.00,0.000,4,0.061,0.048,2365,768,3513
$GC,10740,-0.50,-116.7,758.7,-8.3,460,10746,0.28,2.25,0.00,0.000,6,0.122,0.039,2448,2176,3513
$GC,11068,-0.71,-116.7,775.2,-4.9,466,11073,0.17,2.33,0.00,0.000,4,0.063,0.051,2376,3593,3511
$GC,11135,-0.62,-116.7,780.0,-7.4,467,11140,0.12,2.30,0.00,0.000,6,0.130,0.038,2412,2157,3511
$GC,11497,-0.62,-116.7,802.5,-6.3,473,11501,0.00,2.28,0.00,0.000,4,0.000,0.053,2412,768,3510
$GC,11548,-0.62,-116.7,806.2,-6.8,473,11552,0.00,2.22,0.00,0.000,6,0.000,0.039,2410,2170,3510
$GC,11869,-0.62,-116.7,828.4,-7.0,479,11873,0.00,2.35,0.00,0.000,4,0.000,0.057,2410,3579,3510
$GC,11905,-0.68,-116.7,830.9,-6.8,479,11909,0.00,2.28,0.00,0.000,6,0.000,0.039,2410,2167,3509
$GC,12243,-0.68,-116.7,854.7,-7.0,485,12246,0.00,2.30,0.00,0.000,4,0.000,0.051,2409,768,3509
$GC,12316,-0.68,-116.7,860.5,-8.3,486,12320,0.00,2.25,0.00,0.000,6,0.000,0.039,2410,2172,3508
$GC,12677,-0.68,-116.7,886.2,-7.0,492,12681,0.00,2.38,0.00,0.000,4,0.000,0.057,2410,3590,3507
$GC,12716,-0.75,-116.7,889.2,-7.3,492,12721,0.12,2.35,0.00,0.000,6,0.074,0.041,2357,2148,3507
$GC,13037,-0.57,-116.7,917.3,-8.8,498,13042,0.20,2.25,0.00,0.000,4,0.127,0.049,2424,768,3507
$GC,13106,-0.64,-116.7,922.1,-6.3,499,13110,0.00,2.22,0.00,0.000,6,0.000,0.039,2424,2159,3507
$GC,13473,-0.75,-116.7,945.6,-6.3,505,13478,0.15,2.38,0.00,0.000,4,0.071,0.054,2360,3594,3506
$GC,13530,-0.60,-116.7,950.3,-8.4,505,13537,0.20,2.33,0.00,0.000,6,0.122,0.038,2419,2147,3506
$GC,13841,-0.70,-116.7,970.1,-6.3,511,13845,0.00,2.22,0.00,0.000,4,0.000,0.049,2420,772,3505
$GC,13877,-0.70,-116.7,972.5,-6.3,511,13881,0.00,2.25,0.00,0.000,6,0.000,0.041,2419,2176,3505
$STATE,14206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14206,begin apogee
$GC,14215,-0.23,0.0,991.7,5.7,517,14317,0.38,0.00,99.47,1.407,6,0.114,0.000,2540,2271,3046
$STATE,14318,end apogee,CONTROL_FINISHED_OK
$STATE,14318,begin climb
$GC,14321,0.77,116.7,993.6,0.0,518,14436,0.95,0.00,110.80,1.379,6,0.077,0.000,2857,2272,2570
$GC,14687,0.54,116.7,976.7,7.1,524,14692,0.20,2.30,0.00,0.000,4,0.134,0.051,2792,3687,2565
$GC,14716,0.51,146.5,974.7,5.7,524,14748,0.00,2.25,26.42,1.339,6,0.000,0.035,2796,2258,2448
$GC,15052,0.54,171.3,954.8,5.9,530,15081,0.00,2.33,22.27,1.322,4,0.000,0.047,2796,864,2346
$GC,15140,0.66,175.8,949.1,6.7,531,15150,0.00,2.22,5.28,1.006,6,0.000,0.037,2795,2270,2329
$GC,15483,0.79,188.8,927.4,6.4,537,15499,0.20,0.00,12.93,1.266,6,0.058,0.000,2881,2270,2276
$GC,15786,0.57,188.8,899.1,9.5,542,15791,0.25,2.28,0.00,0.000,4,0.122,0.050,2798,3684,2274
$GC,15822,0.57,188.8,896.4,6.9,542,15826,0.00,2.25,0.00,0.000,6,0.000,0.035,2798,2255,2273
$GC,16149,0.72,207.0,876.0,6.1,548,16173,0.15,2.33,17.15,1.280,4,0.065,0.048,2865,858,2201
$GC,16219,0.60,207.0,870.1,9.1,549,16224,0.20,2.22,0.00,0.000,6,0.121,0.035,2804,2269,2199
$GC,16581,0.75,212.5,845.6,6.7,555,16593,0.15,2.33,6.20,1.077,4,0.067,0.050,2870,3685,2178
$GC,16616,0.55,212.5,842.4,9.5,555,16621,0.28,2.28,0.00,0.000,6,0.129,0.034,2791,2249,2178
$GC,16944,0.75,226.5,821.3,6.3,561,16964,0.20,2.30,13.75,1.233,4,0.058,0.050,2882,860,2121
$GC,16999,0.60,226.5,816.2,10.1,561,17003,0.25,2.22,0.00,0.000,6,0.118,0.036,2804,2263,2119
$GC,17309,0.76,226.5,793.7,7.2,566,17314,0.15,2.33,0.00,0.000,4,0.069,0.054,2868,3685,2118
$GC,17360,0.57,226.5,788.5,11.3,566,17365,0.25,2.25,0.00,0.000,6,0.123,0.035,2792,2257,2118
$GC,17672,0.79,226.5,766.5,6.9,571,17676,0.22,2.22,0.00,0.000,4,0.057,0.046,2892,859,2118
$GC,17705,0.61,226.5,763.2,11.8,571,17710,0.28,2.20,0.00,0.000,6,0.119,0.035,2806,2264,2117
$GC,18039,0.76,230.2,739.9,6.7,577,18049,0.15,2.33,4.15,0.870,4,0.069,0.053,2870,3664,2107
$GC,18100,0.57,230.2,734.2,9.9,577,18107,0.28,2.22,0.00,0.000,6,0.120,0.035,2793,2256,2107
$GC,18413,0.82,254.7,715.4,5.9,583,18443,0.20,2.33,23.48,1.219,4,0.058,0.046,2891,857,2006
$GC,18472,0.68,254.7,709.6,10.3,583,18478,0.20,2.20,0.00,0.000,6,0.120,0.035,2831,2260,2003
$GC,18782,0.78,254.7,684.1,8.2,589,18787,0.10,2.33,0.00,0.000,4,0.077,0.054,2876,3669,2001
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$GC,19151,0.81,266.5,657.3,6.4,595,19168,0.17,2.33,11.30,1.128,4,0.062,0.046,2889,858,1958
$GC,19209,0.69,266.5,652.1,9.8,595,19216,0.20,2.20,0.00,0.000,6,0.122,0.035,2829,2269,1956
$GC,19520,0.84,288.5,632.5,6.0,601,19546,0.17,2.33,20.73,1.156,4,0.064,0.049,2902,3678,1869
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$STATE,26072,end climb,SURFACE_DEPTH_REACHED
$STATE,26076,begin surface coast
$FINISH,2.6,1.010590
$STATE,26126,end surface coast,CONTROL_FINISHED_OK
$STATE,26126,begin surface
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$SM_GC,3.55,7.35,0.00,0.00,0.043,0.000,0.000,134,2164,1615,-7.65,-0.45,351.02
$IRIDIUM_FIX,6249.28,306.55,021098,050505
$TT8_MAMPS,0.026845
$HUMID,1779
$INTERNAL_PRESSURE,9.19367
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,21.5,84.227
$10V_AH,10.3,60.189
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$DEVICE_SECS,39.475,272.050,422.475,0.000,0.000,28.279,33.540,210.952,0.250,0.000,0.000,13.466,2162.361,20568.908,630.250,2423.921,821.856,0.000,1966.958,0.000,2378.050,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.084,690.173,381.103,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47397,930
$CAP_FILE_SIZE,220777,0
$CFSIZE,260165632,209571840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,256.2,1
$GPS,080709,200825,6321.279,248.640,40,1.3,40,-3.4