version: 66.04
glider: 160
mission: 3
dive: 541
start: 7 8 109 20 15 53
data:
$ID,160
$MISSION,3
$DIVE,541
$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,-18781.672
$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,40
$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
$GPS1,200825,6321.279,248.640,40,1.3,40,-3.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,3.37
$_SM_ANGLEo,-55.0
$GPS2,201532,6321.214,248.482,19,1.0,19,-3.4
$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,353.9,263442,-13.7,-6.875
$D_GRID,1078
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.77,-116.7,0.0,0.0,0,27,0.00,0.00,-6.78,0.000,2,0.000,0.000,122,2163,1769
$GC,31,-0.77,-116.7,3.3,-0.0,1,138,7.88,2.38,-86.95,0.000,4,0.178,0.055,2357,3586,3523
$GC,321,-0.47,-116.7,27.7,-10.0,49,328,0.32,2.22,0.00,0.000,6,0.113,0.031,2461,2172,3524
$GC,668,-0.61,-116.7,49.1,-4.6,110,674,0.15,0.00,0.00,0.000,6,0.061,0.000,2394,2172,3525
$GC,1016,-0.45,-116.7,75.0,-8.6,147,1021,0.20,2.33,0.00,0.000,4,0.115,0.045,2462,3583,3526
$GC,1067,-0.66,-116.7,78.7,-6.2,149,1072,0.17,2.22,0.00,0.000,6,0.056,0.032,2388,2176,3526
$GC,1384,-0.49,-116.7,109.9,-10.1,164,1388,0.20,2.28,0.00,0.000,4,0.117,0.043,2457,766,3526
$GC,1458,-0.59,-116.7,116.0,-7.2,167,1462,0.12,2.20,0.00,0.000,6,0.064,0.032,2399,2195,3526
$GC,1774,-0.48,-116.7,145.2,-9.5,182,1776,0.20,0.00,0.00,0.000,6,0.111,0.000,2463,2195,3526
$GC,2085,-0.65,-116.7,165.1,-6.3,197,2087,0.17,0.00,0.00,0.000,6,0.056,0.000,2382,2195,3526
$GC,2393,-0.48,-116.7,194.3,-9.3,212,2397,0.20,2.33,0.00,0.000,4,0.114,0.042,2451,773,3526
$GC,2443,-0.58,-116.7,198.2,-6.8,214,2448,0.00,2.22,0.00,0.000,6,0.000,0.033,2450,2176,3526
$GC,2767,-0.70,-116.7,219.8,-6.8,230,2769,0.17,0.00,0.00,0.000,6,0.057,0.000,2367,2175,3526
$GC,3075,-0.47,-116.7,254.0,-11.6,245,3077,0.30,0.00,0.00,0.000,6,0.113,0.000,2463,2175,3526
$GC,3385,-0.67,-116.7,277.1,-7.1,260,3387,0.20,0.00,0.00,0.000,6,0.056,0.000,2376,2176,3526
$GC,3703,-0.48,-116.7,309.7,-10.0,274,3707,0.22,2.30,0.00,0.000,4,0.114,0.041,2452,764,3526
$GC,3759,-0.60,-116.7,314.0,-6.9,275,3765,0.00,2.20,0.00,0.000,6,0.000,0.034,2450,2179,3526
$GC,4074,-0.74,-116.7,331.4,-5.3,286,4076,0.20,0.00,0.00,0.000,6,0.055,0.000,2359,2179,3526
$GC,4379,-0.47,-116.7,359.9,-9.7,296,4383,0.28,2.30,0.00,0.000,4,0.111,0.041,2453,769,3526
$GC,4435,-0.60,-116.7,364.0,-6.6,297,4442,0.12,2.22,0.00,0.000,6,0.067,0.033,2400,2177,3525
$GC,4750,-0.52,-116.7,388.0,-7.7,308,4754,0.15,2.33,0.00,0.000,4,0.117,0.046,2447,3589,3525
$GC,4795,-0.72,-116.7,390.9,-5.5,309,4800,0.20,2.28,0.00,0.000,6,0.054,0.033,2360,2168,3525
$GC,5114,-0.48,-116.7,418.8,-8.7,320,5119,0.28,2.28,0.00,0.000,4,0.116,0.042,2453,754,3525
$GC,5160,-0.62,-116.7,421.6,-5.2,321,5164,0.12,2.25,0.00,0.000,6,0.070,0.035,2392,2176,3525
$GC,5489,-0.53,-116.7,444.0,-7.1,332,5494,0.17,2.30,0.00,0.000,4,0.113,0.046,2447,3580,3525
$GC,5524,-0.71,-116.7,446.1,-5.0,333,5529,0.20,2.28,0.00,0.000,6,0.053,0.033,2360,2149,3525
$GC,5854,-0.49,-116.7,475.8,-9.4,344,5859,0.28,2.22,0.00,0.000,4,0.116,0.042,2453,774,3524
$GC,5906,-0.64,-116.7,479.7,-6.8,345,5911,0.12,2.20,0.00,0.000,6,0.071,0.035,2394,2163,3525
$GC,6219,-0.56,-116.7,505.6,-8.6,354,6224,0.12,2.38,0.00,0.000,4,0.122,0.049,2432,3593,3524
$GC,6258,-0.71,-116.7,508.8,-7.8,354,6263,0.15,2.33,0.00,0.000,6,0.064,0.034,2364,2144,3524
$GC,6580,-0.52,-116.7,539.7,-9.7,360,6585,0.22,2.25,0.00,0.000,4,0.117,0.044,2441,765,3523
$GC,6644,-0.63,-116.7,544.1,-6.8,361,6648,0.00,2.20,0.00,0.000,6,0.000,0.036,2441,2164,3523
$GC,7017,-0.78,-116.7,564.8,-5.6,367,7022,0.22,2.35,0.00,0.000,4,0.055,0.051,2339,3589,3523
$GC,7053,-0.49,-116.7,567.6,-9.5,367,7058,0.38,2.33,0.00,0.000,6,0.117,0.036,2456,2135,3523
$GC,7381,-0.73,-116.7,585.6,-5.3,373,7386,0.20,2.22,0.00,0.000,4,0.057,0.049,2363,772,3522
$GC,7422,-0.46,-116.7,589.2,-9.7,373,7427,0.32,2.20,0.00,0.000,6,0.120,0.038,2462,2158,3521
$GC,7743,-0.70,-116.7,610.7,-6.5,379,7748,0.20,2.35,0.00,0.000,4,0.057,0.049,2373,3589,3520
$GC,7801,-0.58,-116.7,615.9,-9.2,379,7806,0.17,2.30,0.00,0.000,6,0.118,0.035,2427,2149,3520
$GC,8112,-0.68,-116.7,639.2,-7.4,384,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2149,3519
$GC,8415,-0.77,-116.7,659.1,-6.5,389,8420,0.17,2.40,0.00,0.000,4,0.064,0.050,2350,3593,3518
$GC,8455,-0.55,-116.7,662.6,-9.7,389,8460,0.28,2.30,0.00,0.000,6,0.118,0.036,2435,2153,3518
$GC,8777,-0.68,-116.7,682.3,-6.0,395,8782,0.12,2.25,0.00,0.000,4,0.077,0.049,2381,768,3516
$GC,8811,-0.53,-116.7,685.0,-7.9,395,8816,0.20,2.22,0.00,0.000,6,0.125,0.037,2441,2165,3516
$GC,9145,-0.69,-116.7,703.7,-5.5,401,9149,0.15,2.38,0.00,0.000,4,0.064,0.054,2375,3587,3515
$GC,9208,-0.59,-116.7,708.5,-7.9,402,9213,0.17,2.30,0.00,0.000,6,0.122,0.039,2428,2173,3514
$GC,9580,-0.70,-116.7,733.5,-6.7,408,9582,0.12,0.00,0.00,0.000,6,0.073,0.000,2374,2172,3513
$GC,9884,-0.58,-116.7,758.2,-8.2,413,9886,0.17,0.00,0.00,0.000,6,0.123,0.000,2428,2172,3512
$GC,10187,-0.69,-116.7,776.3,-5.8,418,10189,0.12,0.00,0.00,0.000,6,0.072,0.000,2375,2172,3511
$GC,10489,-0.57,-116.7,798.5,-7.4,423,10491,0.17,0.00,0.00,0.000,6,0.123,0.000,2429,2172,3510
$GC,10793,-0.70,-116.7,815.1,-5.5,428,10797,0.12,2.38,0.00,0.000,4,0.073,0.052,2375,3584,3509
$GC,10822,-0.64,-116.7,817.0,-7.4,428,10826,0.12,2.30,0.00,0.000,6,0.130,0.038,2411,2166,3509
$GC,11159,-0.64,-116.7,837.7,-6.1,434,11163,0.00,2.28,0.00,0.000,4,0.000,0.051,2411,768,3508
$GC,11221,-0.64,-116.7,841.9,-6.8,434,11228,0.00,2.25,0.00,0.000,6,0.000,0.039,2410,2176,3508
$GC,11532,-0.64,-116.7,861.0,-6.1,440,11537,0.00,2.33,0.00,0.000,4,0.000,0.054,2410,3587,3508
$GC,11561,-0.64,-116.7,862.8,-6.2,440,11565,0.00,2.33,0.00,0.000,6,0.000,0.039,2410,2151,3507
$GC,11893,-0.64,-116.7,882.5,-5.9,446,11897,0.00,2.25,0.00,0.000,4,0.000,0.051,2410,770,3507
$GC,11956,-0.64,-116.7,886.7,-6.8,446,11963,0.00,2.22,0.00,0.000,6,0.000,0.039,2410,2164,3507
$GC,12267,-0.64,-116.7,905.7,-6.1,452,12271,0.00,2.38,0.00,0.000,4,0.000,0.057,2410,3593,3506
$GC,12307,-0.70,-116.7,908.3,-6.5,452,12311,0.00,2.33,0.00,0.000,6,0.000,0.039,2410,2154,3506
$GC,12629,-0.70,-116.7,928.1,-6.2,458,12633,0.00,2.28,0.00,0.000,4,0.000,0.052,2410,765,3506
$GC,12662,-0.70,-116.7,930.5,-7.2,458,12666,0.00,2.25,0.00,0.000,6,0.000,0.041,2410,2168,3505
$GC,12995,-0.70,-116.7,951.1,-6.2,464,12999,0.00,2.38,0.00,0.000,4,0.000,0.059,2409,3593,3504
$GC,13047,-0.77,-116.7,954.4,-6.1,464,13052,0.15,2.33,0.00,0.000,6,0.070,0.041,2349,2158,3504
$GC,13359,-0.55,-116.7,980.2,-8.5,469,13364,0.25,2.30,0.00,0.000,4,0.124,0.054,2431,769,3504
$GC,13455,-0.65,-116.7,986.6,-6.2,470,13459,0.00,2.22,0.00,0.000,6,0.000,0.040,2432,2157,3504
$STATE,13547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13547,begin apogee
$GC,13556,-0.23,0.0,992.2,5.6,472,13658,0.32,0.00,99.20,1.401,6,0.113,0.000,2538,2287,3046
$STATE,13659,end apogee,CONTROL_FINISHED_OK
$STATE,13659,begin climb
$GC,13662,0.77,116.7,994.2,0.0,473,13780,0.95,2.62,110.57,1.378,4,0.077,0.048,2854,3669,2569
$GC,13804,0.46,137.8,993.8,6.0,474,13847,0.35,2.50,25.20,1.127,6,0.130,0.032,2763,2262,2484
$GC,14150,0.70,184.6,976.5,5.0,480,14200,0.20,2.42,41.75,1.361,4,0.063,0.048,2852,857,2292
$GC,14272,0.61,184.6,967.2,8.1,481,14276,0.15,2.22,0.00,0.000,6,0.121,0.035,2807,2263,2288
$GC,14582,0.69,188.3,945.6,6.7,486,14586,0.00,2.28,0.00,0.000,4,0.000,0.051,2808,3675,2286
$GC,14605,0.69,188.3,943.9,7.2,486,14609,0.00,2.28,0.00,0.000,6,0.000,0.037,2809,2247,2286
$GC,14950,0.77,197.2,921.3,6.5,492,14969,0.15,2.33,11.43,1.247,4,0.065,0.050,2878,857,2240
$GC,14998,0.57,197.2,917.0,9.1,492,15002,0.28,2.22,0.00,0.000,6,0.123,0.036,2794,2263,2239
$GC,15313,0.75,210.6,896.8,6.3,498,15333,0.17,2.40,12.95,1.261,4,0.065,0.054,2868,3677,2186
$GC,15341,0.63,210.6,894.5,9.3,498,15346,0.17,2.30,0.00,0.000,6,0.131,0.038,2817,2258,2186
$GC,15679,0.71,210.6,868.0,7.7,504,15682,0.00,2.25,0.00,0.000,4,0.000,0.047,2817,860,2184
$GC,15707,0.81,210.6,865.8,7.2,504,15712,0.17,2.20,0.00,0.000,6,0.061,0.035,2891,2253,2184
$GC,16052,0.60,210.6,828.1,11.2,510,16056,0.25,2.35,0.00,0.000,4,0.120,0.054,2808,3687,2183
$GC,16079,0.60,210.6,825.1,10.0,510,16083,0.00,2.30,0.00,0.000,6,0.000,0.036,2808,2239,2183
$GC,16418,0.72,210.6,797.7,8.2,516,16422,0.10,2.22,0.00,0.000,4,0.077,0.048,2855,856,2183
$GC,16463,0.65,210.6,793.4,9.4,516,16468,0.12,2.22,0.00,0.000,6,0.130,0.035,2820,2257,2182
$GC,16779,0.74,210.6,767.9,8.0,522,16783,0.00,2.35,0.00,0.000,4,0.000,0.054,2819,3675,2182
$GC,16823,0.74,210.6,764.2,8.3,522,16827,0.00,2.30,0.00,0.000,6,0.000,0.038,2822,2241,2182
$GC,17140,0.74,210.6,740.3,7.5,528,17143,0.00,2.22,0.00,0.000,4,0.000,0.048,2822,861,2182
$GC,17185,0.83,210.6,736.7,7.3,528,17190,0.17,2.22,0.00,0.000,6,0.061,0.035,2895,2265,2181
$GC,17506,0.61,210.6,703.8,10.4,534,17511,0.25,2.30,0.00,0.000,4,0.122,0.048,2812,3684,2182
$GC,17529,0.54,210.6,701.7,8.8,534,17533,0.00,2.28,0.00,0.000,6,0.000,0.035,2811,2252,2181
$GC,17873,0.66,210.6,676.2,7.5,540,17876,0.00,2.25,0.00,0.000,4,0.000,0.048,2812,859,2181
$GC,17912,0.80,210.6,673.0,7.9,540,17917,0.17,2.17,0.00,0.000,6,0.060,0.035,2885,2247,2181
$GC,18240,0.62,210.6,641.6,9.7,546,18245,0.20,2.38,0.00,0.000,4,0.120,0.048,2818,3685,2181
$GC,18285,0.62,210.6,637.8,7.5,546,18289,0.00,2.30,0.00,0.000,6,0.000,0.035,2817,2242,2181
$GC,18601,0.74,227.7,618.1,6.2,552,18622,0.10,2.28,15.65,1.125,4,0.077,0.048,2868,859,2116
$GC,18635,0.63,227.7,615.6,7.4,552,18640,0.17,2.22,0.00,0.000,6,0.119,0.035,2815,2246,2115
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$GC,22504,0.85,251.7,298.1,6.7,652,22514,0.22,2.20,4.30,0.644,4,0.053,0.042,2906,853,2019
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$STATE,25801,end climb,SURFACE_DEPTH_REACHED
$STATE,25801,begin surface coast
$FINISH,2.8,1.026354
$STATE,25837,end surface coast,CONTROL_FINISHED_OK
$STATE,25837,begin surface
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$10V_AH,10.3,60.283
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$DEVICE_SECS,35.200,264.625,360.925,0.000,0.000,23.231,48.568,205.748,0.000,0.000,0.000,21.478,2080.288,20520.398,566.330,2350.912,810.286,0.000,1872.672,0.000,2293.538,0.000,0.534,0.000
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$DATA_FILE_SIZE,47365,887
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$GPS,090709,032907,6324.577,246.133,35,1.2,35,-3.4