version: 66.04
glider: 160
mission: 3
dive: 551
start: 7 11 109 23 5 48
data:
$ID,160
$MISSION,3
$DIVE,551
$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,-18952.758
$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,31
$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
$GPS1,225906,6346.214,159.819,38,1.2,44,-3.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.58
$_SM_ANGLEo,-69.7
$GPS2,230525,6346.211,159.757,11,1.3,16,-3.9
$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,312.2,203672,-13.7,-6.875
$D_GRID,1578
$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,-116.7,0.0,0.0,0,25,0.00,0.00,-7.15,0.000,2,0.000,0.000,131,2192,2027
$GC,29,-0.77,-116.7,3.6,-0.0,1,123,8.18,2.35,-79.85,0.000,4,0.195,0.058,2367,3589,3522
$GC,243,-0.35,-116.7,20.0,-14.1,36,251,0.43,2.20,0.00,0.000,6,0.126,0.033,2497,2179,3523
$GC,593,-0.66,-116.7,38.7,-5.9,97,599,0.25,2.25,0.00,0.000,4,0.051,0.041,2386,777,3526
$GC,636,-0.54,-116.7,42.7,-9.0,104,645,0.17,2.20,0.00,0.000,6,0.127,0.035,2438,2191,3526
$GC,987,-0.54,-116.7,67.3,-6.7,152,990,0.00,2.28,0.00,0.000,4,0.000,0.048,2436,3580,3526
$GC,1043,-0.62,-116.7,71.3,-7.2,154,1047,0.00,2.22,0.00,0.000,6,0.000,0.031,2437,2178,3527
$GC,1365,-0.62,-116.7,93.4,-6.7,170,1369,0.00,2.25,0.00,0.000,4,0.000,0.042,2436,770,3527
$GC,1435,-0.62,-116.7,98.3,-7.2,173,1439,0.00,2.22,0.00,0.000,6,0.000,0.033,2436,2187,3527
$GC,1769,-0.62,-116.7,119.0,-6.3,189,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2186,3527
$GC,2077,-0.62,-116.7,140.8,-7.7,204,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2187,3527
$GC,2388,-0.62,-116.7,164.9,-7.7,219,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2187,3527
$GC,2695,-0.62,-116.7,189.0,-7.7,234,2699,0.00,2.33,0.00,0.000,4,0.000,0.049,2436,3596,3527
$GC,2724,-0.72,-116.7,191.2,-7.7,235,2729,0.17,2.28,0.00,0.000,6,0.057,0.031,2357,2165,3528
$GC,3041,-0.45,-116.7,221.1,-8.9,250,3046,0.32,2.28,0.00,0.000,4,0.117,0.045,2465,768,3527
$GC,3094,-0.63,-116.7,224.2,-5.2,252,3099,0.15,2.22,0.00,0.000,6,0.063,0.035,2398,2183,3527
$GC,3417,-0.55,-116.7,245.7,-6.8,268,3422,0.12,2.33,0.00,0.000,4,0.120,0.045,2436,3596,3527
$GC,3451,-0.65,-116.7,247.8,-5.4,269,3458,0.00,2.28,0.00,0.000,6,0.000,0.031,2436,2156,3527
$GC,3769,-0.73,-116.7,265.2,-5.2,285,3773,0.17,2.22,0.00,0.000,4,0.058,0.043,2358,771,3527
$GC,3826,-0.44,-116.7,270.0,-8.8,287,3831,0.38,2.22,0.00,0.000,6,0.119,0.034,2469,2182,3527
$GC,4143,-0.67,-116.7,281.5,-3.3,302,4145,0.20,0.00,0.00,0.000,6,0.053,0.000,2384,2183,3528
$GC,4473,-0.54,-116.7,305.2,-7.5,317,4478,0.17,2.30,0.00,0.000,4,0.118,0.046,2437,3584,3527
$GC,4503,-0.61,-116.7,307.1,-6.0,318,4507,0.00,2.25,0.00,0.000,6,0.000,0.034,2436,2175,3527
$GC,4839,-0.70,-116.7,326.4,-5.8,329,4844,0.15,2.25,0.00,0.000,4,0.064,0.042,2369,771,3527
$GC,4890,-0.47,-116.7,330.8,-8.9,330,4895,0.30,2.20,0.00,0.000,6,0.118,0.034,2459,2183,3526
$GC,5216,-0.68,-116.7,349.1,-5.6,341,5217,0.20,0.00,0.00,0.000,6,0.054,0.000,2374,2183,3526
$GC,5522,-0.52,-116.7,377.2,-9.3,351,5524,0.22,0.00,0.00,0.000,6,0.114,0.000,2445,2184,3525
$GC,5827,-0.67,-116.7,399.1,-7.2,361,5832,0.15,2.30,0.00,0.000,4,0.064,0.042,2378,770,3525
$GC,5861,-0.47,-116.7,402.3,-10.6,362,5866,0.28,2.25,0.00,0.000,6,0.120,0.035,2461,2198,3525
$GC,6195,-0.70,-116.7,422.5,-5.8,373,6199,0.20,2.30,0.00,0.000,4,0.054,0.048,2368,3590,3525
$GC,6240,-0.52,-116.7,426.4,-8.5,374,6245,0.25,2.28,0.00,0.000,6,0.116,0.035,2445,2175,3525
$GC,6559,-0.69,-116.7,444.7,-5.5,385,6561,0.17,0.00,0.00,0.000,6,0.061,0.000,2368,2176,3524
$GC,6865,-0.50,-116.7,471.0,-8.7,395,6870,0.22,2.28,0.00,0.000,4,0.117,0.044,2444,770,3523
$GC,6962,-0.61,-116.7,477.8,-7.1,398,6966,0.00,2.25,0.00,0.000,6,0.000,0.035,2444,2199,3523
$GC,7306,-0.77,-116.7,498.3,-6.0,409,7310,0.20,2.30,0.00,0.000,4,0.056,0.051,2350,3592,3522
$GC,7328,-0.69,-116.7,500.2,-7.7,409,7335,0.15,2.28,0.00,0.000,6,0.130,0.036,2393,2175,3522
$GC,7639,-0.62,-116.7,525.0,-7.9,415,7642,0.00,2.28,0.00,0.000,4,0.000,0.046,2393,769,3521
$GC,7730,-0.51,-116.7,533.1,-9.2,416,7735,0.17,2.25,0.00,0.000,6,0.124,0.037,2446,2184,3520
$GC,8075,-0.69,-116.7,555.2,-6.4,422,8080,0.17,2.35,0.00,0.000,4,0.061,0.049,2367,3596,3519
$GC,8142,-0.54,-116.7,561.3,-9.4,423,8147,0.25,2.28,0.00,0.000,6,0.118,0.035,2444,2178,3519
$GC,8510,-0.70,-116.7,584.2,-6.2,429,8512,0.17,0.00,0.00,0.000,6,0.063,0.000,2370,2178,3518
$GC,8812,-0.55,-116.7,610.0,-8.6,434,8816,0.20,2.33,0.00,0.000,4,0.123,0.046,2438,767,3517
$GC,8871,-0.64,-116.7,614.1,-6.7,434,8875,0.00,2.28,0.00,0.000,6,0.000,0.038,2436,2203,3516
$GC,9181,-0.77,-116.7,633.4,-6.2,439,9186,0.20,2.30,0.00,0.000,4,0.061,0.051,2346,3587,3516
$GC,9209,-0.59,-116.7,635.9,-9.3,439,9214,0.25,2.28,0.00,0.000,6,0.123,0.038,2422,2180,3516
$GC,9544,-0.66,-116.7,657.4,-6.3,445,9547,0.00,2.30,0.00,0.000,4,0.000,0.049,2422,770,3515
$GC,9600,-0.66,-116.7,661.4,-6.7,445,9604,0.00,2.30,0.00,0.000,6,0.000,0.038,2422,2205,3514
$GC,9911,-0.73,-116.7,680.5,-6.2,450,9913,0.15,0.00,0.00,0.000,6,0.069,0.000,2358,2205,3513
$GC,10215,-0.53,-116.7,706.9,-8.8,455,10219,0.25,2.38,0.00,0.000,4,0.120,0.046,2442,771,3513
$GC,10271,-0.66,-116.7,710.8,-6.9,455,10278,0.12,2.28,0.00,0.000,6,0.070,0.038,2391,2194,3512
$GC,10582,-0.66,-116.7,733.4,-7.4,461,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2193,3512
$GC,10884,-0.66,-116.7,755.2,-7.2,466,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2194,3511
$GC,11188,-0.66,-116.7,776.5,-7.0,471,11189,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2193,3511
$GC,11490,-0.66,-116.7,796.6,-6.6,476,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2194,3510
$GC,11794,-0.66,-116.7,816.6,-6.7,481,11798,0.00,2.35,0.00,0.000,4,0.000,0.051,2390,781,3510
$GC,11834,-0.56,-116.7,819.5,-7.5,481,11839,0.15,2.25,0.00,0.000,6,0.130,0.042,2433,2184,3510
$GC,12161,-0.71,-116.7,836.5,-5.1,487,12166,0.15,2.35,0.00,0.000,4,0.068,0.053,2366,3597,3509
$GC,12201,-0.57,-116.7,839.4,-7.6,487,12206,0.22,2.28,0.00,0.000,6,0.120,0.038,2434,2198,3508
$GC,12524,-0.72,-116.7,857.7,-5.6,493,12529,0.15,2.35,0.00,0.000,4,0.072,0.048,2371,755,3508
$GC,12558,-0.54,-116.7,860.5,-8.6,493,12563,0.22,2.33,0.00,0.000,6,0.127,0.041,2435,2198,3508
$GC,12886,-0.70,-116.7,878.9,-5.5,499,12890,0.15,2.33,0.00,0.000,4,0.071,0.056,2373,3587,3507
$GC,12926,-0.59,-116.7,881.9,-7.8,499,12931,0.17,2.30,0.00,0.000,6,0.123,0.041,2425,2179,3508
$GC,13249,-0.70,-116.7,901.1,-5.9,505,13253,0.12,2.33,0.00,0.000,4,0.078,0.048,2372,765,3507
$GC,13288,-0.52,-116.7,904.3,-8.3,505,13293,0.28,2.33,0.00,0.000,6,0.125,0.042,2449,2202,3507
$GC,13616,-0.73,-116.7,921.9,-5.3,511,13621,0.20,2.35,0.00,0.000,4,0.064,0.055,2363,3587,3507
$GC,13644,-0.65,-116.7,924.1,-8.6,511,13649,0.15,2.30,0.00,0.000,6,0.129,0.040,2406,2183,3507
$GC,13977,-0.65,-116.7,946.8,-6.8,517,13981,0.00,2.33,0.00,0.000,4,0.000,0.052,2406,765,3506
$GC,14018,-0.65,-116.7,949.7,-7.3,517,14022,0.00,2.33,0.00,0.000,6,0.000,0.043,2406,2195,3506
$GC,14344,-0.65,-116.7,971.6,-6.7,523,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2195,3506
$STATE,14644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14644,begin apogee
$GC,14652,-0.23,0.0,990.7,6.3,528,14755,0.43,0.00,99.90,1.402,6,0.117,0.000,2542,2274,3046
$STATE,14755,end apogee,CONTROL_FINISHED_OK
$STATE,14755,begin climb
$GC,14760,0.77,116.7,992.5,0.0,529,14875,0.95,0.00,111.70,1.376,6,0.074,0.000,2858,2274,2570
$GC,15126,0.54,118.0,976.3,6.8,535,15131,0.22,2.38,0.00,0.000,4,0.133,0.050,2788,3682,2565
$GC,15149,0.47,142.0,974.8,5.9,535,15178,0.00,2.33,22.40,1.332,6,0.000,0.036,2787,2255,2467
$GC,15492,0.61,178.1,956.3,5.4,541,15531,0.00,2.38,32.72,1.350,4,0.000,0.051,2787,864,2318
$GC,15589,0.81,208.0,950.7,5.7,542,15622,0.25,2.22,27.90,1.332,6,0.054,0.035,2890,2273,2197
$GC,15925,0.59,208.0,916.8,10.4,548,15930,0.25,2.33,0.00,0.000,4,0.120,0.049,2807,3685,2189
$GC,15959,0.59,208.0,913.6,8.3,548,15963,0.00,2.28,0.00,0.000,6,0.000,0.034,2809,2264,2189
$GC,16287,0.70,208.0,890.9,7.0,554,16291,0.00,2.28,0.00,0.000,4,0.000,0.047,2809,861,2188
$GC,16338,0.84,208.0,887.2,6.9,554,16343,0.20,2.20,0.00,0.000,6,0.061,0.035,2892,2257,2188
$GC,16660,0.62,208.0,855.0,10.2,560,16665,0.25,2.35,0.00,0.000,4,0.120,0.049,2809,3683,2187
$GC,16693,0.62,211.5,852.0,6.7,560,16697,0.00,2.28,0.00,0.000,6,0.000,0.035,2809,2261,2187
$GC,17022,0.74,219.6,830.4,6.6,566,17037,0.12,2.30,10.07,1.192,4,0.071,0.048,2866,851,2149
$GC,17072,0.65,219.6,826.1,8.8,566,17077,0.15,2.25,0.00,0.000,6,0.122,0.038,2822,2264,2148
$GC,17383,0.72,219.6,803.2,7.3,571,17387,0.00,2.33,0.00,0.000,4,0.000,0.053,2822,3679,2147
$GC,17456,0.72,219.6,797.1,8.1,572,17461,0.00,2.30,0.00,0.000,6,0.000,0.038,2822,2250,2147
$GC,17812,0.80,219.6,770.6,7.5,578,17816,0.15,2.25,0.00,0.000,4,0.064,0.048,2891,862,2146
$GC,17846,0.61,219.6,767.4,9.2,578,17851,0.28,2.22,0.00,0.000,6,0.124,0.035,2807,2275,2146
$GC,18179,0.75,219.6,743.1,7.2,584,18184,0.15,2.30,0.00,0.000,4,0.069,0.051,2871,3671,2146
$GC,18252,0.54,219.6,735.3,11.1,585,18257,0.30,2.25,0.00,0.000,6,0.126,0.036,2787,2264,2146
$GC,18608,0.78,219.6,709.8,7.1,591,18613,0.20,2.25,0.00,0.000,4,0.056,0.045,2879,864,2146
$GC,18665,0.63,219.6,704.1,11.0,591,18672,0.22,2.20,0.00,0.000,6,0.118,0.035,2811,2270,2145
$GC,18977,0.76,219.6,679.7,7.7,597,18981,0.15,2.33,0.00,0.000,4,0.067,0.052,2878,3671,2145
$GC,19033,0.52,219.6,673.5,12.7,597,19040,0.32,2.28,0.00,0.000,6,0.125,0.036,2780,2254,2145
$GC,19344,0.80,220.8,651.8,6.8,603,19348,0.22,2.28,0.00,0.000,4,0.055,0.051,2881,860,2145
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$STATE,26419,end climb,SURFACE_DEPTH_REACHED
$STATE,26419,begin surface coast
$FINISH,2.8,1.018932
$STATE,26454,end surface coast,CONTROL_FINISHED_OK
$STATE,26454,begin surface
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$TCM_TEMP,19.00
$XPDR_PINGS,0
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$10V_AH,10.3,61.224
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$DEVICE_SECS,34.925,250.950,378.575,0.000,0.000,27.702,33.086,172.181,0.000,0.000,0.000,18.578,2106.200,21150.246,583.659,2284.666,776.603,0.000,1848.610,0.000,2238.036,0.000,0.534,0.000
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$DATA_FILE_SIZE,47367,918
$CAP_FILE_SIZE,208158,0
$CFSIZE,260165632,208666624
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$CURRENT,0.033,235.2,1
$GPS,120709,062924,6347.867,153.295,39,1.4,39,-3.9