version: 66.04
glider: 160
mission: 3
dive: 552
start: 7 12 109 6 36 0
data:
$ID,160
$MISSION,3
$DIVE,552
$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,-18970.871
$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,41
$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
$GPS1,062924,6347.867,153.295,39,1.4,39,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.53
$_SM_ANGLEo,-67.8
$GPS2,063538,6347.858,153.225,15,1.9,15,-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,330.0,197960,-13.7,-6.875
$D_GRID,1611
$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,-6.20,0.000,2,0.000,0.000,138,2197,1938
$GC,28,-0.77,-116.7,3.5,-0.0,1,127,8.18,2.40,-84.57,0.000,4,0.196,0.061,2365,3579,3523
$GC,247,-0.38,-116.7,19.2,-13.2,36,254,0.40,2.22,0.00,0.000,6,0.121,0.033,2489,2176,3524
$GC,595,-0.65,-116.7,36.8,-3.2,97,602,0.22,2.25,0.00,0.000,4,0.054,0.041,2389,776,3525
$GC,655,-0.44,-116.7,40.8,-7.4,107,662,0.28,2.17,0.00,0.000,6,0.119,0.032,2474,2179,3525
$GC,1001,-0.66,-116.7,59.6,-6.2,168,1008,0.20,2.33,0.00,0.000,4,0.053,0.046,2382,3577,3526
$GC,1031,-0.56,-116.7,62.2,-7.5,170,1036,0.17,2.22,0.00,0.000,6,0.120,0.031,2435,2175,3526
$GC,1355,-0.56,-116.7,83.8,-6.7,186,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2175,3527
$GC,1663,-0.56,-116.7,105.8,-7.0,201,1667,0.00,2.35,0.00,0.000,4,0.000,0.045,2434,3593,3527
$GC,1698,-0.64,-116.7,108.2,-6.7,202,1706,0.00,2.25,0.00,0.000,6,0.000,0.031,2435,2187,3527
$GC,2015,-0.64,-116.7,128.1,-6.3,218,2019,0.00,2.30,0.00,0.000,4,0.000,0.044,2434,764,3528
$GC,2077,-0.64,-116.7,132.7,-7.4,220,2084,0.00,2.25,0.00,0.000,6,0.000,0.035,2435,2182,3527
$GC,2393,-0.64,-116.7,157.3,-8.2,236,2397,0.00,2.33,0.00,0.000,4,0.000,0.048,2435,3588,3527
$GC,2435,-0.75,-116.7,160.6,-8.8,238,2440,0.17,2.25,0.00,0.000,6,0.057,0.032,2357,2187,3527
$GC,2762,-0.49,-116.7,198.8,-11.8,254,2767,0.28,2.30,0.00,0.000,4,0.117,0.044,2449,772,3527
$GC,2852,-0.58,-116.7,206.4,-7.6,258,2856,0.00,2.22,0.00,0.000,6,0.000,0.033,2449,2185,3528
$GC,3182,-0.70,-116.7,227.5,-6.0,274,3183,0.17,0.00,0.00,0.000,6,0.057,0.000,2372,2185,3527
$GC,3489,-0.51,-116.7,256.5,-9.6,289,3491,0.25,0.00,0.00,0.000,6,0.114,0.000,2451,2185,3528
$GC,3800,-0.66,-116.7,276.9,-6.5,304,3802,0.15,0.00,0.00,0.000,6,0.062,0.000,2385,2185,3527
$GC,4128,-0.54,-116.7,307.5,-9.2,319,4130,0.17,0.00,0.00,0.000,6,0.117,0.000,2440,2185,3527
$GC,4434,-0.64,-116.7,328.3,-6.6,329,4436,0.10,0.00,0.00,0.000,6,0.077,0.000,2392,2185,3527
$GC,4742,-0.55,-116.7,350.0,-6.1,339,4747,0.15,2.33,0.00,0.000,4,0.119,0.041,2438,757,3527
$GC,4776,-0.63,-116.7,351.6,-4.1,340,4780,0.00,2.25,0.00,0.000,6,0.000,0.035,2436,2177,3526
$GC,5113,-0.73,-116.7,361.2,-2.5,351,5118,0.17,2.33,0.00,0.000,4,0.060,0.048,2354,3579,3526
$GC,5148,-0.49,-116.7,362.9,-5.5,352,5154,0.32,2.28,0.00,0.000,6,0.115,0.033,2456,2152,3526
$GC,5485,-0.68,-116.7,374.3,-3.9,363,5490,0.17,2.22,0.00,0.000,4,0.059,0.043,2378,779,3526
$GC,5531,-0.47,-116.7,377.5,-7.5,364,5536,0.28,2.22,0.00,0.000,6,0.118,0.037,2463,2181,3526
$GC,5851,-0.70,-116.7,392.3,-4.8,375,5853,0.22,0.00,0.00,0.000,6,0.055,0.000,2366,2181,3526
$GC,6157,-0.52,-116.7,419.9,-9.6,385,6159,0.25,0.00,0.00,0.000,6,0.114,0.000,2446,2181,3525
$GC,6462,-0.69,-116.7,441.6,-7.1,395,6467,0.17,2.35,0.00,0.000,4,0.061,0.048,2367,3579,3524
$GC,6525,-0.54,-116.7,447.7,-10.4,397,6530,0.22,2.28,0.00,0.000,6,0.119,0.034,2436,2171,3524
$GC,6867,-0.66,-116.7,474.0,-7.5,408,6872,0.12,2.30,0.00,0.000,4,0.075,0.046,2380,766,3523
$GC,6918,-0.50,-116.7,479.0,-9.7,409,6923,0.25,2.22,0.00,0.000,6,0.120,0.038,2456,2163,3523
$GC,7232,-0.71,-116.7,500.1,-6.5,419,7237,0.20,2.38,0.00,0.000,4,0.057,0.048,2369,3597,3522
$GC,7291,-0.56,-116.7,505.2,-9.0,419,7296,0.20,2.30,0.00,0.000,6,0.122,0.034,2430,2175,3522
$GC,7602,-0.66,-116.7,525.6,-6.3,424,7605,0.00,2.30,0.00,0.000,4,0.000,0.046,2430,763,3521
$GC,7652,-0.66,-116.7,529.0,-6.9,424,7657,0.00,2.30,0.00,0.000,6,0.000,0.038,2431,2189,3521
$GC,7970,-0.76,-116.7,547.1,-5.7,430,7974,0.17,2.35,0.00,0.000,4,0.062,0.051,2353,3592,3519
$GC,8009,-0.53,-116.7,550.2,-8.7,430,8014,0.28,2.35,0.00,0.000,6,0.117,0.037,2437,2156,3519
$GC,8332,-0.67,-116.7,567.4,-5.3,436,8336,0.12,2.28,0.00,0.000,4,0.076,0.048,2385,772,3519
$GC,8371,-0.52,-116.7,570.4,-7.8,436,8376,0.20,2.28,0.00,0.000,6,0.124,0.038,2444,2188,3518
$GC,8693,-0.69,-116.7,586.8,-5.0,442,8697,0.17,2.35,0.00,0.000,4,0.061,0.052,2367,3589,3517
$GC,8738,-0.54,-116.7,590.2,-7.9,442,8743,0.25,2.30,0.00,0.000,6,0.118,0.037,2443,2175,3517
$GC,9055,-0.71,-116.7,606.7,-5.0,448,9056,0.17,0.00,0.00,0.000,6,0.064,0.000,2369,2175,3516
$GC,9357,-0.55,-116.7,630.0,-7.9,453,9362,0.20,2.42,0.00,0.000,4,0.123,0.051,2436,3597,3515
$GC,9394,-0.71,-116.7,632.1,-5.7,453,9399,0.15,2.30,0.00,0.000,6,0.068,0.035,2375,2181,3515
$GC,9721,-0.58,-116.7,657.7,-7.9,459,9726,0.17,2.33,0.00,0.000,4,0.123,0.048,2430,771,3514
$GC,9806,-0.64,-116.7,663.6,-6.8,460,9810,0.00,2.28,0.00,0.000,6,0.000,0.038,2430,2183,3514
$GC,10151,-0.76,-116.7,683.2,-5.6,466,10156,0.17,2.35,0.00,0.000,4,0.061,0.051,2353,3594,3513
$GC,10184,-0.55,-116.7,686.0,-8.4,466,10189,0.28,2.30,0.00,0.000,6,0.117,0.037,2438,2177,3513
$GC,10513,-0.71,-116.7,704.1,-5.4,472,10515,0.15,0.00,0.00,0.000,6,0.071,0.000,2376,2177,3512
$GC,10814,-0.59,-116.7,727.4,-7.8,477,10816,0.15,0.00,0.00,0.000,6,0.125,0.000,2421,2177,3511
$GC,11118,-0.67,-116.7,745.5,-5.9,482,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2176,3510
$GC,11421,-0.75,-116.7,763.6,-5.9,487,11426,0.15,2.40,0.00,0.000,4,0.070,0.051,2354,3594,3510
$GC,11450,-0.60,-116.7,765.7,-8.1,487,11455,0.22,2.33,0.00,0.000,6,0.123,0.038,2421,2173,3510
$GC,11783,-0.68,-116.7,786.2,-6.1,493,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2174,3510
$GC,12086,-0.76,-116.7,804.9,-6.2,498,12088,0.17,0.00,0.00,0.000,6,0.067,0.000,2348,2174,3509
$GC,12391,-0.53,-116.7,832.8,-9.4,503,12395,0.25,2.35,0.00,0.000,4,0.120,0.049,2433,760,3509
$GC,12436,-0.65,-116.7,836.5,-6.9,503,12440,0.00,2.33,0.00,0.000,6,0.000,0.042,2433,2190,3509
$GC,12752,-0.79,-116.7,856.7,-6.5,509,12756,0.20,2.38,0.00,0.000,4,0.062,0.054,2340,3597,3508
$GC,12797,-0.54,-116.7,860.9,-9.4,509,12802,0.32,2.30,0.00,0.000,6,0.122,0.038,2439,2179,3508
$GC,13125,-0.71,-116.7,881.0,-5.9,515,13130,0.17,2.30,0.00,0.000,4,0.068,0.049,2366,773,3508
$GC,13170,-0.51,-116.7,884.9,-8.5,515,13175,0.28,2.28,0.00,0.000,6,0.123,0.040,2447,2192,3507
$GC,13487,-0.73,-116.7,902.4,-5.4,521,13492,0.20,2.35,0.00,0.000,4,0.060,0.055,2357,3585,3508
$GC,13532,-0.55,-116.7,906.0,-8.1,521,13537,0.25,2.28,0.00,0.000,6,0.121,0.041,2431,2197,3507
$GC,13850,-0.70,-116.7,924.7,-5.8,527,13852,0.15,0.00,0.00,0.000,6,0.073,0.000,2369,2198,3507
$GC,14151,-0.58,-116.7,947.8,-7.7,532,14156,0.20,2.38,0.00,0.000,4,0.122,0.048,2436,770,3507
$GC,14196,-0.71,-116.7,950.7,-5.8,532,14201,0.17,2.30,0.00,0.000,6,0.066,0.040,2366,2203,3507
$GC,14524,-0.57,-116.7,974.9,-7.5,538,14526,0.20,0.00,0.00,0.000,6,0.119,0.000,2428,2203,3506
$STATE,14823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14824,begin apogee
$GC,14832,-0.23,0.0,991.1,5.2,543,14934,0.35,0.00,99.95,1.403,6,0.114,0.000,2541,2269,3046
$STATE,14935,end apogee,CONTROL_FINISHED_OK
$STATE,14935,begin climb
$GC,14938,0.77,116.7,992.9,0.0,544,15057,0.95,2.72,111.35,1.378,4,0.075,0.049,2855,3667,2569
$GC,15088,0.40,123.4,991.3,6.6,547,15103,0.45,2.55,7.80,1.127,6,0.135,0.031,2746,2261,2543
$GC,15437,0.70,176.9,974.8,4.7,553,15492,0.22,2.45,47.58,1.374,4,0.061,0.047,2841,861,2323
$GC,15559,0.64,176.9,965.8,8.4,554,15563,0.00,2.25,0.00,0.000,6,0.000,0.035,2842,2260,2320
$GC,15875,0.64,176.9,938.8,8.5,560,15879,0.00,2.33,0.00,0.000,4,0.000,0.054,2841,3682,2318
$GC,15926,0.48,176.9,933.9,9.3,560,15931,0.25,2.28,0.00,0.000,6,0.132,0.036,2768,2260,2318
$GC,16248,0.74,200.3,914.4,5.9,566,16274,0.20,2.30,20.62,1.316,4,0.060,0.048,2856,859,2228
$GC,16331,0.65,200.3,907.3,8.5,567,16336,0.12,2.22,0.00,0.000,6,0.127,0.035,2821,2262,2226
$GC,16681,0.65,200.3,879.8,7.9,573,16685,0.00,2.35,0.00,0.000,4,0.000,0.054,2821,3680,2224
$GC,16708,0.65,200.3,877.4,7.2,573,16712,0.00,2.33,0.00,0.000,6,0.000,0.037,2822,2243,2224
$GC,17047,0.65,200.3,851.4,7.6,579,17051,0.00,2.25,0.00,0.000,4,0.000,0.047,2822,851,2224
$GC,17098,0.71,200.3,847.5,8.5,579,17102,0.00,2.22,0.00,0.000,6,0.000,0.036,2822,2251,2223
$GC,17420,0.71,200.3,823.9,7.3,585,17424,0.00,2.35,0.00,0.000,4,0.000,0.051,2822,3683,2223
$GC,17436,0.71,200.3,822.5,7.2,585,17441,0.00,2.30,0.00,0.000,6,0.000,0.034,2823,2242,2223
$GC,17781,0.71,200.3,797.7,7.3,591,17784,0.00,2.22,0.00,0.000,4,0.000,0.046,2822,858,2223
$GC,17833,0.78,200.3,793.9,7.1,591,17837,0.12,2.20,0.00,0.000,6,0.069,0.036,2878,2247,2222
$GC,18148,0.60,200.3,765.3,9.2,597,18153,0.20,2.38,0.00,0.000,4,0.121,0.048,2812,3682,2223
$GC,18193,0.60,200.3,761.6,7.7,597,18197,0.00,2.33,0.00,0.000,6,0.000,0.035,2812,2232,2223
$GC,18510,0.71,204.9,740.3,6.7,603,18520,0.00,2.22,4.75,0.945,4,0.000,0.050,2812,865,2210
$GC,18561,0.85,213.7,736.5,6.5,603,18578,0.20,2.17,9.38,1.138,6,0.058,0.035,2894,2253,2174
$GC,18883,0.64,213.7,705.1,10.0,609,18887,0.22,2.38,0.00,0.000,4,0.120,0.048,2818,3686,2172
$GC,18916,0.64,213.7,702.0,7.6,609,18921,0.00,2.33,0.00,0.000,6,0.000,0.034,2822,2239,2173
$GC,19244,0.72,214.8,679.5,6.8,615,19248,0.00,2.22,0.00,0.000,4,0.000,0.047,2822,860,2172
$GC,19291,0.83,221.6,676.4,6.6,615,19306,0.17,2.20,8.38,1.091,6,0.061,0.035,2895,2251,2141
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$STATE,26922,end climb,SURFACE_DEPTH_REACHED
$STATE,26922,begin surface coast
$FINISH,2.8,1.009087
$STATE,26964,end surface coast,CONTROL_FINISHED_OK
$STATE,26964,begin surface
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$10V_AH,10.3,61.322
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$DATA_FILE_SIZE,50652,983
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