version: 66.04
glider: 160
mission: 3
dive: 542
start: 7 9 109 3 35 42
data:
$ID,160
$MISSION,3
$DIVE,542
$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,-18797.244
$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,30
$R_STBD_OVSHOOT,40
$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
$GPS1,032907,6324.577,246.133,35,1.2,35,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.47
$_SM_ANGLEo,-62.5
$GPS2,033520,6324.549,245.961,13,1.2,13,-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,323.1,257577,-13.7,-6.875
$D_GRID,1138
$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,-6.50,0.000,2,0.000,0.000,122,2184,2077
$GC,28,-0.77,-116.7,3.5,-0.0,1,101,8.07,2.35,-56.05,0.000,4,0.185,0.056,2353,3583,3523
$GC,187,-0.26,-116.7,18.7,-14.4,26,194,0.57,2.22,0.00,0.000,6,0.129,0.032,2530,2165,3524
$GC,536,-0.90,-116.7,35.9,-8.2,87,543,0.55,2.33,0.00,0.000,4,0.049,0.043,2309,3583,3525
$GC,552,-1.40,-116.7,37.3,-8.3,89,560,0.40,2.25,0.00,0.000,6,0.057,0.032,2158,2154,3525
$GC,888,-0.34,-116.7,112.4,-21.6,118,893,1.10,2.22,0.00,0.000,4,0.152,0.042,2489,778,3526
$GC,1062,-0.59,-116.7,123.5,-4.5,125,1071,0.20,2.17,0.00,0.000,6,0.055,0.034,2402,2159,3527
$GC,1379,-0.50,-116.7,147.7,-8.1,141,1384,0.17,2.35,0.00,0.000,4,0.115,0.046,2458,3589,3527
$GC,1459,-0.70,-116.7,152.5,-5.6,144,1466,0.20,2.25,0.00,0.000,6,0.050,0.032,2370,2172,3527
$GC,1776,-0.46,-116.7,182.4,-9.7,160,1780,0.25,2.28,0.00,0.000,4,0.117,0.041,2455,763,3527
$GC,1827,-0.58,-116.7,186.2,-6.6,162,1831,0.00,2.22,0.00,0.000,6,0.000,0.034,2455,2181,3527
$GC,2150,-0.73,-116.7,206.4,-6.6,178,2155,0.20,2.30,0.00,0.000,4,0.055,0.046,2359,3590,3527
$GC,2184,-0.48,-116.7,209.7,-10.2,179,2191,0.32,2.28,0.00,0.000,6,0.114,0.032,2461,2157,3527
$GC,2502,-0.66,-116.7,230.9,-6.4,195,2506,0.17,2.25,0.00,0.000,4,0.055,0.044,2384,774,3527
$GC,2535,-0.46,-116.7,234.0,-10.0,196,2542,0.28,2.22,0.00,0.000,6,0.117,0.034,2467,2176,3527
$GC,2853,-0.67,-116.7,252.3,-5.2,212,2858,0.20,2.33,0.00,0.000,4,0.054,0.045,2375,3594,3527
$GC,2887,-0.49,-116.7,254.8,-8.0,213,2895,0.25,2.28,0.00,0.000,6,0.117,0.032,2453,2167,3527
$GC,3204,-0.64,-116.7,273.1,-5.8,229,3205,0.15,0.00,0.00,0.000,6,0.064,0.000,2387,2168,3527
$GC,3513,-0.51,-116.7,301.3,-9.4,244,3515,0.20,0.00,0.00,0.000,6,0.117,0.000,2450,2167,3527
$GC,3819,-0.64,-116.7,321.8,-6.6,254,3821,0.15,0.00,0.00,0.000,6,0.064,0.000,2380,2167,3527
$GC,4125,-0.49,-116.7,350.9,-9.5,264,4127,0.25,0.00,0.00,0.000,6,0.115,0.000,2460,2167,3527
$GC,4433,-0.68,-116.7,368.6,-5.8,274,4438,0.20,2.35,0.00,0.000,4,0.056,0.044,2364,3583,3526
$GC,4462,-0.54,-116.7,371.1,-8.9,275,4467,0.25,2.25,0.00,0.000,6,0.117,0.032,2442,2174,3526
$GC,4801,-0.65,-116.7,394.8,-7.2,286,4805,0.12,2.28,0.00,0.000,4,0.068,0.042,2385,765,3526
$GC,4851,-0.48,-116.7,400.0,-10.3,287,4856,0.25,2.22,0.00,0.000,6,0.118,0.034,2459,2182,3526
$GC,5165,-0.69,-116.7,419.4,-5.9,297,5167,0.20,0.00,0.00,0.000,6,0.054,0.000,2372,2182,3525
$GC,5472,-0.50,-116.7,447.7,-9.5,307,5474,0.25,0.00,0.00,0.000,6,0.114,0.000,2451,2182,3525
$GC,5777,-0.67,-116.7,468.3,-6.5,317,5779,0.17,0.00,0.00,0.000,6,0.059,0.000,2375,2183,3525
$GC,6083,-0.52,-116.7,492.1,-6.7,327,6085,0.22,0.00,0.00,0.000,6,0.115,0.000,2446,2183,3525
$GC,6420,-0.69,-116.7,503.9,-4.3,337,6425,0.17,2.33,0.00,0.000,4,0.059,0.044,2366,763,3525
$GC,6465,-0.45,-116.7,507.8,-9.8,337,6470,0.32,2.25,0.00,0.000,6,0.119,0.036,2466,2177,3524
$GC,6782,-0.71,-116.7,526.2,-5.8,343,6787,0.20,2.33,0.00,0.000,4,0.057,0.046,2376,3595,3525
$GC,6821,-0.55,-116.7,529.3,-7.9,343,6826,0.20,2.30,0.00,0.000,6,0.117,0.033,2438,2150,3524
$GC,7143,-0.68,-116.7,549.2,-6.2,349,7148,0.15,2.25,0.00,0.000,4,0.067,0.044,2372,766,3523
$GC,7200,-0.48,-116.7,554.4,-9.9,349,7209,0.28,2.22,0.00,0.000,6,0.120,0.035,2457,2171,3524
$GC,7511,-0.70,-116.7,572.8,-5.6,355,7516,0.20,2.35,0.00,0.000,4,0.057,0.049,2363,3582,3523
$GC,7556,-0.53,-116.7,576.5,-9.3,355,7561,0.25,2.28,0.00,0.000,6,0.115,0.036,2441,2172,3523
$GC,7873,-0.69,-116.7,597.0,-6.5,361,7875,0.15,0.00,0.00,0.000,6,0.067,0.000,2376,2172,3522
$GC,8175,-0.56,-116.7,624.3,-9.1,366,8180,0.17,2.30,0.00,0.000,4,0.121,0.045,2431,767,3521
$GC,8215,-0.64,-116.7,627.3,-7.3,366,8219,0.00,2.20,0.00,0.000,6,0.000,0.036,2431,2171,3521
$GC,8543,-0.75,-116.7,644.7,-5.1,372,8545,0.17,0.00,0.00,0.000,6,0.061,0.000,2354,2172,3520
$GC,8845,-0.53,-116.7,667.3,-7.7,377,8850,0.25,2.33,0.00,0.000,4,0.117,0.049,2438,768,3518
$GC,8891,-0.64,-116.7,670.1,-5.8,377,8895,0.00,2.20,0.00,0.000,6,0.000,0.038,2438,2155,3519
$GC,9214,-0.78,-116.7,686.3,-5.1,383,9218,0.20,2.38,0.00,0.000,4,0.061,0.049,2348,3592,3518
$GC,9258,-0.55,-116.7,689.9,-8.4,383,9263,0.28,2.33,0.00,0.000,6,0.120,0.036,2432,2147,3517
$GC,9585,-0.68,-116.7,706.5,-4.8,389,9590,0.12,2.25,0.00,0.000,4,0.076,0.046,2376,761,3516
$GC,9637,-0.52,-116.7,710.1,-7.4,389,9642,0.22,2.25,0.00,0.000,6,0.122,0.041,2444,2157,3516
$GC,9949,-0.70,-116.7,724.7,-4.7,394,9953,0.17,2.38,0.00,0.000,4,0.061,0.051,2367,3595,3515
$GC,9993,-0.55,-116.7,727.9,-7.1,394,9998,0.22,2.33,0.00,0.000,6,0.119,0.036,2435,2147,3515
$GC,10311,-0.70,-116.7,745.3,-5.5,400,10312,0.15,0.00,0.00,0.000,6,0.071,0.000,2372,2146,3514
$GC,10612,-0.57,-116.7,769.6,-8.2,405,10614,0.17,0.00,0.00,0.000,6,0.122,0.000,2426,2146,3513
$GC,10917,-0.67,-116.7,788.1,-6.0,410,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2146,3512
$GC,11220,-0.77,-116.7,806.9,-6.3,415,11222,0.17,0.00,0.00,0.000,6,0.067,0.000,2352,2146,3511
$GC,11521,-0.56,-116.7,833.6,-9.0,420,11523,0.25,0.00,0.00,0.000,6,0.123,0.000,2430,2146,3510
$GC,11826,-0.68,-116.7,851.5,-5.7,425,11831,0.12,2.47,0.00,0.000,4,0.075,0.051,2376,3599,3510
$GC,11855,-0.68,-116.7,853.7,-7.2,425,11859,0.00,2.35,0.00,0.000,6,0.000,0.037,2376,2150,3509
$GC,12193,-0.57,-116.7,878.8,-7.4,431,12198,0.17,2.28,0.00,0.000,4,0.130,0.048,2430,777,3508
$GC,12306,-0.65,-116.7,886.1,-6.2,432,12310,0.00,2.25,0.00,0.000,6,0.000,0.042,2430,2160,3508
$GC,12635,-0.79,-116.7,903.8,-5.4,438,12640,0.20,2.40,0.00,0.000,4,0.061,0.053,2340,3597,3508
$GC,12686,-0.55,-116.7,908.0,-8.7,438,12691,0.32,2.33,0.00,0.000,6,0.123,0.037,2438,2150,3507
$GC,12997,-0.72,-116.7,923.5,-4.9,443,13002,0.17,2.25,0.00,0.000,4,0.069,0.048,2365,772,3507
$GC,13032,-0.52,-116.7,926.0,-8.0,443,13037,0.28,2.22,0.00,0.000,6,0.124,0.039,2447,2172,3507
$GC,13360,-0.74,-116.7,941.8,-4.6,449,13364,0.20,2.38,0.00,0.000,4,0.061,0.055,2356,3580,3506
$GC,13405,-0.56,-116.7,945.1,-8.0,449,13411,0.25,2.30,0.00,0.000,6,0.120,0.039,2432,2167,3506
$GC,13722,-0.72,-116.7,961.8,-5.2,455,13724,0.15,0.00,0.00,0.000,6,0.073,0.000,2368,2167,3506
$GC,14024,-0.59,-116.7,984.5,-7.6,460,14029,0.17,2.33,0.00,0.000,4,0.123,0.051,2422,769,3505
$GC,14076,-0.65,-116.7,987.7,-6.4,460,14080,0.00,2.28,0.00,0.000,6,0.000,0.041,2422,2180,3505
$STATE,14148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14148,begin apogee
$GC,14156,-0.23,0.0,991.9,5.7,462,14258,0.38,0.00,99.55,1.403,6,0.114,0.000,2543,2275,3046
$STATE,14259,end apogee,CONTROL_FINISHED_OK
$STATE,14259,begin climb
$GC,14262,0.77,116.7,993.6,0.0,463,14380,0.93,2.70,110.68,1.380,4,0.074,0.051,2853,3683,2569
$GC,14411,0.41,124.3,991.5,6.6,466,14426,0.40,2.53,8.05,1.140,6,0.133,0.034,2749,2266,2540
$GC,14760,0.70,184.6,975.8,4.5,472,14822,0.22,2.40,53.92,1.370,4,0.060,0.048,2851,860,2291
$GC,14913,0.61,184.6,963.5,8.7,474,14917,0.15,2.25,0.00,0.000,6,0.125,0.035,2807,2268,2287
$GC,15257,0.70,184.6,938.5,7.3,480,15261,0.00,2.35,0.00,0.000,4,0.000,0.051,2807,3686,2285
$GC,15274,0.77,184.6,937.1,7.4,480,15279,0.15,2.30,0.00,0.000,6,0.064,0.034,2872,2243,2285
$GC,15618,0.60,184.6,903.7,9.8,486,15623,0.20,2.22,0.00,0.000,4,0.128,0.044,2809,860,2284
$GC,15636,0.53,184.6,902.0,9.7,486,15640,0.00,2.17,0.00,0.000,6,0.000,0.034,2809,2264,2284
$GC,15987,0.61,184.6,876.7,7.2,492,15991,0.00,2.33,0.00,0.000,4,0.000,0.052,2809,3670,2284
$GC,16026,0.61,184.6,873.7,7.2,492,16030,0.00,2.28,0.00,0.000,6,0.000,0.036,2809,2247,2283
$GC,16353,0.69,187.1,851.7,6.8,498,16357,0.00,2.25,0.00,0.000,4,0.000,0.050,2809,860,2283
$GC,16417,0.78,187.1,847.4,7.9,498,16424,0.17,2.17,0.00,0.000,6,0.062,0.035,2882,2254,2282
$GC,16727,0.57,187.1,818.3,9.5,504,16732,0.25,2.38,0.00,0.000,4,0.121,0.051,2798,3683,2283
$GC,16772,0.57,187.1,814.6,7.0,504,16776,0.00,2.30,0.00,0.000,6,0.000,0.036,2798,2258,2282
$GC,17089,0.72,198.9,794.5,6.4,510,17108,0.12,2.35,11.88,1.203,4,0.069,0.047,2855,854,2234
$GC,17165,0.63,198.9,788.1,8.3,511,17170,0.15,2.22,0.00,0.000,6,0.124,0.037,2811,2251,2233
$GC,17527,0.74,199.1,763.2,6.9,517,17532,0.12,2.35,0.00,0.000,4,0.071,0.051,2868,3678,2232
$GC,17561,0.52,199.1,760.1,10.5,517,17566,0.30,2.33,0.00,0.000,6,0.127,0.036,2777,2238,2233
$GC,17888,0.79,221.1,740.1,6.0,523,17923,0.22,2.33,22.90,1.147,4,0.057,0.046,2878,856,2142
$GC,17959,0.65,221.1,733.5,10.5,524,17963,0.20,2.20,0.00,0.000,6,0.120,0.035,2817,2252,2141
$GC,18320,0.74,221.1,705.7,7.6,530,18324,0.10,2.38,0.00,0.000,4,0.079,0.050,2863,3681,2139
$GC,18389,0.57,221.1,698.9,9.8,531,18394,0.22,2.33,0.00,0.000,6,0.125,0.037,2798,2238,2139
$GC,18755,0.77,225.5,673.9,6.7,537,18766,0.17,2.22,4.80,0.917,4,0.061,0.045,2878,859,2126
$GC,18807,0.65,225.5,669.2,10.2,537,18812,0.20,2.20,0.00,0.000,6,0.121,0.035,2817,2249,2125
$GC,19122,0.77,225.5,645.3,7.5,543,19127,0.12,2.35,0.00,0.000,4,0.071,0.049,2872,3680,2125
$GC,19178,0.58,225.5,639.8,9.4,543,19185,0.28,2.30,0.00,0.000,6,0.124,0.035,2794,2239,2125
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$GC,19523,0.64,239.6,616.7,9.0,549,19528,0.25,2.20,0.00,0.000,6,0.123,0.034,2815,2248,2067
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$STATE,25818,end climb,SURFACE_DEPTH_REACHED
$STATE,25819,begin surface coast
$FINISH,2.9,1.026391
$STATE,25870,end surface coast,CONTROL_FINISHED_OK
$STATE,25871,begin surface
$SM_CCo,25951,0.00,0.000,0,0,1840,295.83
$SM_GC,3.33,7.30,0.00,0.00,0.042,0.000,0.000,133,2165,1840,-7.65,-0.42,295.83
$IRIDIUM_FIX,6254.00,252.70,021098,202023
$TT8_MAMPS,0.026845
$HUMID,1754
$INTERNAL_PRESSURE,9.21321
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,20.2,84.529
$10V_AH,10.3,60.373
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$DEVICE_SECS,37.175,242.850,375.275,0.000,0.000,23.808,36.762,169.741,0.000,0.000,0.000,14.948,2031.337,20734.619,550.309,2235.970,760.027,0.000,1801.580,0.000,2195.322,0.000,0.534,0.000
$DEVICE_MAMPS,184.847,84.370,1402.843,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,597.255,640.665,308.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44256,862
$CAP_FILE_SIZE,205127,0
$CFSIZE,260165632,209412096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047, 32.4,1
$GPS,090709,104936,6327.446,242.413,36,1.4,41,-3.4