version: 66.04
glider: 160
mission: 3
dive: 559
start: 7 14 109 11 43 6
data:
$ID,160
$MISSION,3
$DIVE,559
$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,-3
$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,626.98682
$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,-19097.568
$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,26
$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
$GPS1,113606,6408.752,127.438,34,1.4,39,-4.2
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-53.2
$GPS2,114244,6408.847,127.416,11,1.7,11,-4.2
$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,271.8,156259,-13.7,-6.875
$D_GRID,2329
$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,19,-0.77,-116.7,0.0,0.0,0,26,0.00,0.00,-5.80,0.000,2,0.000,0.000,122,2196,624
$GC,30,-0.77,-116.7,3.3,-0.0,1,191,7.78,2.40,-145.82,0.000,4,0.172,0.056,2360,774,3522
$GC,447,-0.39,-116.7,37.0,-12.4,71,455,0.40,2.22,0.00,0.000,6,0.123,0.034,2485,2188,3523
$GC,797,-0.64,-116.7,55.7,-4.4,132,804,0.20,2.30,0.00,0.000,4,0.054,0.043,2391,780,3524
$GC,1057,-0.48,-116.7,77.7,-8.4,151,1062,0.22,2.22,0.00,0.000,6,0.118,0.035,2459,2182,3524
$GC,1374,-0.64,-116.7,96.1,-5.5,166,1376,0.17,0.00,0.00,0.000,6,0.056,0.000,2382,2182,3525
$GC,1684,-0.47,-116.7,123.4,-9.2,181,1686,0.25,0.00,0.00,0.000,6,0.115,0.000,2461,2183,3525
$GC,1993,-0.65,-116.7,141.7,-5.9,196,1995,0.17,0.00,0.00,0.000,6,0.054,0.000,2384,2183,3524
$GC,2303,-0.50,-116.7,168.7,-8.2,211,2305,0.22,0.00,0.00,0.000,6,0.117,0.000,2456,2183,3524
$GC,2611,-0.67,-116.7,184.5,-4.6,226,2613,0.17,0.00,0.00,0.000,6,0.057,0.000,2377,2183,3524
$GC,2920,-0.52,-116.7,208.0,-8.4,241,2922,0.22,0.00,0.00,0.000,6,0.115,0.000,2449,2183,3524
$GC,3231,-0.66,-116.7,228.3,-6.7,256,3236,0.15,2.33,0.00,0.000,4,0.064,0.042,2384,773,3523
$GC,3270,-0.45,-116.7,232.0,-9.5,257,3277,0.28,2.25,0.00,0.000,6,0.117,0.035,2467,2182,3523
$GC,3588,-0.67,-116.7,251.4,-6.0,273,3590,0.20,0.00,0.00,0.000,6,0.058,0.000,2383,2182,3522
$GC,3897,-0.53,-116.7,278.4,-8.4,288,3899,0.20,0.00,0.00,0.000,6,0.121,0.000,2445,2182,3522
$GC,4206,-0.66,-116.7,296.0,-5.3,303,4208,0.15,0.00,0.00,0.000,6,0.065,0.000,2379,2182,3521
$GC,4513,-0.51,-116.7,321.2,-8.7,314,4515,0.22,0.00,0.00,0.000,6,0.118,0.000,2449,2183,3519
$GC,4819,-0.67,-116.7,342.6,-7.1,324,4821,0.17,0.00,0.00,0.000,6,0.061,0.000,2375,2183,3518
$GC,5125,-0.52,-116.7,373.0,-9.8,334,5127,0.22,0.00,0.00,0.000,6,0.117,0.000,2446,2182,3517
$GC,5432,-0.67,-116.7,392.0,-5.9,344,5434,0.15,0.00,0.00,0.000,6,0.066,0.000,2380,2183,3517
$GC,5737,-0.54,-116.7,416.8,-8.3,354,5739,0.20,0.00,0.00,0.000,6,0.120,0.000,2443,2183,3515
$GC,6044,-0.68,-116.7,435.5,-6.1,364,6046,0.15,0.00,0.00,0.000,6,0.065,0.000,2376,2183,3514
$GC,6350,-0.53,-116.7,462.3,-9.0,374,6352,0.20,0.00,0.00,0.000,6,0.120,0.000,2439,2182,3513
$GC,6656,-0.66,-116.7,481.6,-6.1,384,6658,0.12,0.00,0.00,0.000,6,0.073,0.000,2388,2183,3512
$GC,6961,-0.56,-116.7,505.3,-7.9,393,6966,0.15,2.35,0.00,0.000,4,0.124,0.044,2433,770,3511
$GC,7018,-0.63,-116.7,509.4,-7.5,393,7024,0.00,2.20,0.00,0.000,6,0.000,0.037,2434,2178,3511
$GC,7329,-0.74,-116.7,528.7,-6.2,399,7331,0.17,0.00,0.00,0.000,6,0.064,0.000,2357,2178,3510
$GC,7633,-0.52,-116.7,555.9,-9.1,404,7635,0.28,0.00,0.00,0.000,6,0.120,0.000,2444,2179,3509
$GC,7936,-0.68,-116.7,573.2,-5.6,409,7938,0.15,0.00,0.00,0.000,6,0.066,0.000,2380,2178,3508
$GC,8238,-0.55,-116.7,597.1,-8.0,414,8243,0.17,2.33,0.00,0.000,4,0.123,0.048,2434,785,3507
$GC,8277,-0.64,-116.7,599.9,-5.6,414,8281,0.00,2.20,0.00,0.000,6,0.000,0.041,2434,2165,3507
$GC,8607,-0.76,-116.7,620.1,-6.1,420,8611,0.20,2.42,0.00,0.000,4,0.058,0.052,2340,3597,3506
$GC,8646,-0.47,-116.7,623.7,-9.0,420,8651,0.40,2.33,0.00,0.000,6,0.120,0.035,2463,2173,3506
$GC,8968,-0.72,-116.7,640.7,-5.1,426,8970,0.22,0.00,0.00,0.000,6,0.061,0.000,2373,2173,3505
$GC,9272,-0.57,-116.7,666.0,-8.4,431,9274,0.17,0.00,0.00,0.000,6,0.123,0.000,2427,2172,3505
$GC,9575,-0.66,-116.7,684.5,-6.0,436,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2172,3504
$GC,9877,-0.76,-116.7,701.5,-5.5,441,9879,0.17,0.00,0.00,0.000,6,0.066,0.000,2352,2172,3504
$GC,10181,-0.53,-116.7,725.9,-8.3,446,10185,0.25,2.35,0.00,0.000,4,0.123,0.048,2436,776,3504
$GC,10215,-0.62,-116.7,728.2,-6.0,446,10219,0.00,2.30,0.00,0.000,6,0.000,0.040,2436,2181,3504
$GC,10548,-0.76,-116.7,744.8,-5.0,452,10550,0.20,0.00,0.00,0.000,6,0.064,0.000,2351,2181,3503
$GC,10851,-0.53,-116.7,770.4,-8.6,457,10853,0.30,0.00,0.00,0.000,6,0.119,0.000,2445,2181,3503
$GC,11154,-0.72,-116.7,786.8,-5.3,462,11156,0.20,0.00,0.00,0.000,6,0.061,0.000,2364,2181,3502
$GC,11456,-0.55,-116.7,811.6,-8.3,467,11461,0.20,2.40,0.00,0.000,4,0.120,0.047,2431,769,3502
$GC,11492,-0.63,-116.7,814.1,-6.7,467,11496,0.00,2.28,0.00,0.000,6,0.000,0.040,2431,2182,3501
$GC,11826,-0.76,-116.7,832.8,-5.6,473,11828,0.20,0.00,0.00,0.000,6,0.058,0.000,2348,2182,3501
$GC,12128,-0.54,-116.7,858.0,-8.5,478,12130,0.30,0.00,0.00,0.000,6,0.120,0.000,2442,2182,3501
$GC,12432,-0.72,-116.7,874.0,-5.1,483,12437,0.20,2.42,0.00,0.000,4,0.063,0.053,2352,3597,3500
$GC,12461,-0.58,-116.7,876.0,-7.2,483,12466,0.25,2.35,0.00,0.000,6,0.122,0.038,2428,2169,3500
$GC,12799,-0.70,-116.7,895.1,-5.5,489,12801,0.12,0.00,0.00,0.000,6,0.074,0.000,2377,2169,3501
$GC,13102,-0.59,-116.7,917.4,-7.5,494,13107,0.15,2.35,0.00,0.000,4,0.127,0.051,2422,768,3500
$GC,13166,-0.59,-116.7,921.7,-7.3,495,13170,0.00,2.28,0.00,0.000,6,0.000,0.042,2422,2164,3500
$GC,13538,-0.69,-116.7,944.7,-6.2,501,13542,0.00,2.42,0.00,0.000,4,0.000,0.057,2422,3597,3500
$GC,13575,-0.81,-116.7,946.9,-6.1,501,13580,0.22,2.35,0.00,0.000,6,0.059,0.038,2336,2172,3500
$GC,13902,-0.54,-116.7,977.7,-9.5,507,13907,0.30,2.35,0.00,0.000,4,0.130,0.050,2433,768,3499
$GC,13992,-0.64,-116.7,984.0,-7.4,508,13996,0.00,2.25,0.00,0.000,6,0.000,0.041,2433,2164,3499
$STATE,14091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14091,begin apogee
$GC,14100,-0.23,0.0,990.0,6.0,510,14202,0.32,0.00,99.07,1.389,6,0.113,0.000,2539,2275,3046
$STATE,14202,end apogee,CONTROL_FINISHED_OK
$STATE,14203,begin climb
$GC,14206,0.77,116.7,992.2,0.0,511,14323,0.98,0.00,113.65,1.371,6,0.077,0.000,2858,2275,2570
$GC,14577,0.56,131.9,978.7,6.3,518,14593,0.22,0.00,13.62,1.283,6,0.130,0.000,2791,2275,2508
$GC,14881,0.68,178.4,963.4,5.0,523,14925,0.12,0.00,42.00,1.362,6,0.077,0.000,2841,2275,2318
$GC,15183,0.62,178.4,941.0,7.6,528,15185,0.12,0.00,0.00,0.000,6,0.132,0.000,2805,2275,2312
$GC,15486,0.73,191.3,921.6,6.4,533,15500,0.12,0.00,11.62,1.249,6,0.073,0.000,2861,2275,2266
$GC,15790,0.60,191.3,895.5,8.7,538,15795,0.20,2.35,0.00,0.000,4,0.123,0.051,2796,3683,2263
$GC,15824,0.68,196.4,892.8,6.7,538,15836,0.12,2.33,5.82,1.062,6,0.071,0.035,2852,2245,2245
$GC,16153,0.60,196.4,865.6,8.4,544,16155,0.15,0.00,0.00,0.000,6,0.127,0.000,2807,2246,2243
$GC,16455,0.74,207.0,845.7,6.5,549,16469,0.12,0.00,10.85,1.212,6,0.071,0.000,2865,2244,2202
$GC,16758,0.62,207.0,818.7,9.1,554,16763,0.17,2.40,0.00,0.000,4,0.121,0.050,2811,3689,2200
$GC,16808,0.62,207.0,814.4,9.0,554,16813,0.00,2.30,0.00,0.000,6,0.000,0.035,2811,2260,2199
$GC,17120,0.75,214.6,793.7,6.6,559,17135,0.12,2.33,8.00,1.132,4,0.071,0.048,2869,864,2170
$GC,17192,0.64,214.6,787.4,9.3,560,17197,0.17,2.22,0.00,0.000,6,0.123,0.035,2817,2269,2169
$GC,17559,0.75,214.6,761.4,7.1,566,17564,0.12,2.35,0.00,0.000,4,0.070,0.052,2876,3683,2169
$GC,17604,0.51,214.6,756.9,11.7,566,17609,0.32,2.30,0.00,0.000,6,0.125,0.035,2779,2261,2169
$GC,17921,0.82,242.4,738.2,5.8,572,17952,0.22,2.33,25.52,1.224,4,0.057,0.048,2881,863,2056
$GC,18005,0.70,242.4,730.5,10.8,573,18010,0.15,2.20,0.00,0.000,6,0.123,0.035,2838,2257,2053
$GC,18354,0.70,242.4,701.2,8.4,579,18358,0.00,2.40,0.00,0.000,4,0.000,0.053,2837,3689,2051
$GC,18411,0.70,242.4,695.8,9.8,579,18419,0.00,2.33,0.00,0.000,6,0.000,0.035,2838,2248,2051
$GC,18721,0.70,242.4,669.8,8.4,585,18725,0.00,2.28,0.00,0.000,4,0.000,0.048,2838,863,2051
$GC,18772,0.77,242.4,665.5,8.5,585,18776,0.00,2.25,0.00,0.000,6,0.000,0.035,2838,2270,2050
$GC,19093,0.77,242.4,640.1,7.9,591,19097,0.00,2.35,0.00,0.000,4,0.000,0.051,2838,3680,2050
$GC,19150,0.77,242.4,635.2,9.3,591,19158,0.00,2.33,0.00,0.000,6,0.000,0.037,2838,2255,2050
$GC,19461,0.77,242.4,611.3,7.6,597,19464,0.00,2.30,0.00,0.000,4,0.000,0.051,2838,853,2050
$GC,19512,0.86,242.4,607.4,7.5,597,19516,0.15,2.25,0.00,0.000,6,0.064,0.038,2904,2252,2049
$GC,19828,0.66,242.4,574.6,10.6,603,19833,0.22,2.38,0.00,0.000,4,0.122,0.048,2829,3683,2049
$GC,19867,0.66,242.4,570.9,8.4,603,19871,0.00,2.33,0.00,0.000,6,0.000,0.034,2829,2244,2049
$GC,20194,0.77,242.4,546.8,7.4,609,20197,0.00,2.25,0.00,0.000,4,0.000,0.046,2829,859,2049
$GC,20234,0.90,242.4,543.7,7.2,609,20239,0.22,2.22,0.00,0.000,6,0.054,0.035,2922,2267,2049
$GC,20562,0.64,242.4,506.5,11.6,615,20564,0.32,0.00,0.00,0.000,6,0.121,0.000,2820,2267,2049
$GC,20866,0.80,242.4,484.7,7.1,623,20871,0.15,2.38,0.00,0.000,4,0.064,0.051,2885,3674,2049
$GC,20912,0.58,242.4,480.0,10.2,624,20917,0.30,2.33,0.00,0.000,6,0.122,0.036,2800,2247,2048
$GC,21231,0.83,242.4,457.2,7.2,635,21236,0.20,2.28,0.00,0.000,4,0.055,0.046,2893,861,2049
$GC,21293,0.70,242.4,450.7,11.5,636,21300,0.20,2.20,0.00,0.000,6,0.119,0.034,2832,2250,2049
$GC,21608,0.79,242.4,423.1,8.8,647,21612,0.10,2.38,0.00,0.000,4,0.080,0.050,2879,3677,2049
$GC,21697,0.62,242.4,412.4,12.1,649,21704,0.22,2.33,0.00,0.000,6,0.123,0.036,2812,2245,2049
$GC,22013,0.81,242.4,387.9,7.3,660,22017,0.17,2.25,0.00,0.000,4,0.061,0.044,2891,861,2049
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$GC,25307,0.85,270.1,115.5,6.1,801,25330,0.12,2.33,17.67,0.789,4,0.067,0.041,2906,860,1943
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$GC,25699,0.85,270.1,79.6,9.8,820,25701,0.10,0.00,0.00,0.000,6,0.077,0.000,2899,2228,1939
$GC,26022,0.85,270.1,41.8,10.5,856,26028,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2228,1938
$GC,26369,0.85,270.1,7.5,9.6,917,26375,0.00,2.45,0.00,0.000,4,0.000,0.046,2898,3685,1938
$STATE,26403,end climb,SURFACE_DEPTH_REACHED
$STATE,26403,begin surface coast
$FINISH,3.2,1.018271
$STATE,26442,end surface coast,CONTROL_FINISHED_OK
$STATE,26442,begin surface
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$IRIDIUM_FIX,6337.14,133.42,081098,040428
$TT8_MAMPS,0.027612
$HUMID,1728
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$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.1,87.440
$10V_AH,10.3,62.006
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$DEVICE_SECS,34.075,162.000,355.225,285.150,0.000,28.699,32.887,195.053,0.000,0.000,0.000,13.606,2017.897,21432.115,906.560,2032.845,750.885,0.000,1987.278,0.000,2009.808,0.000,0.534,0.000
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$SENSOR_SECS,666.438,662.862,356.980,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47450,930
$CAP_FILE_SIZE,185063,0
$CFSIZE,260165632,208023552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222, 22.1,1
$GPS,140709,191007,6411.559,123.152,25,1.0,25,-4.3