version: 66.04
glider: 160
mission: 3
dive: 566
start: 7 16 109 16 12 13
data:
$ID,160
$MISSION,3
$DIVE,566
$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,-19218.074
$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,28
$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
$GPS1,160206,6419.875,56.221,30,0.8,30,-4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.55
$_SM_ANGLEo,-60.8
$GPS2,161150,6419.808,56.220,9,1.2,9,-4.6
$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,306.1,124623,-13.7,-6.875
$D_GRID,2464
$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,15,begin dive
$GC,18,-0.77,-116.7,0.0,0.0,0,26,0.00,0.00,-5.80,0.000,2,0.000,0.000,144,2172,623
$GC,30,-0.77,-116.7,3.6,-0.0,1,190,8.05,2.42,-141.77,0.000,4,0.189,0.059,2362,3590,3522
$GC,362,-0.39,-116.7,26.6,-13.6,56,370,0.40,2.25,0.00,0.000,6,0.121,0.034,2488,2171,3523
$GC,710,-0.64,-116.7,46.8,-4.7,117,716,0.22,0.00,0.00,0.000,6,0.052,0.000,2386,2171,3524
$GC,1054,-0.43,-116.7,78.0,-9.4,154,1059,0.25,2.28,0.00,0.000,4,0.117,0.042,2471,769,3525
$GC,1111,-0.58,-116.7,81.7,-6.3,156,1118,0.15,2.25,0.00,0.000,6,0.061,0.034,2405,2202,3524
$GC,1428,-0.46,-116.7,104.4,-6.9,172,1432,0.20,2.30,0.00,0.000,4,0.116,0.049,2472,3586,3524
$GC,1479,-0.71,-116.7,107.0,-4.4,174,1484,0.25,2.28,0.00,0.000,6,0.049,0.033,2367,2176,3524
$GC,1802,-0.44,-116.7,137.6,-10.4,190,1807,0.30,2.28,0.00,0.000,4,0.120,0.042,2466,769,3524
$GC,1858,-0.58,-116.7,142.2,-7.3,192,1866,0.08,2.25,0.00,0.000,6,0.062,0.035,2421,2179,3524
$GC,2175,-0.58,-116.7,167.7,-7.8,208,2179,0.00,2.30,0.00,0.000,4,0.000,0.049,2420,3585,3524
$GC,2215,-0.58,-116.7,170.9,-8.2,209,2221,0.00,2.28,0.00,0.000,6,0.000,0.035,2420,2174,3524
$GC,2532,-0.58,-116.7,195.4,-7.8,225,2535,0.00,2.28,0.00,0.000,4,0.000,0.044,2420,769,3524
$GC,2572,-0.50,-116.7,198.9,-8.4,226,2581,0.00,2.25,0.00,0.000,6,0.000,0.035,2420,2184,3523
$GC,2889,-0.50,-116.7,222.8,-7.3,242,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2184,3523
$GC,3197,-0.50,-116.7,245.7,-7.3,257,3201,0.00,2.33,0.00,0.000,4,0.000,0.045,2420,768,3522
$GC,3232,-0.44,-116.7,248.4,-7.9,258,3236,0.17,2.25,0.00,0.000,6,0.123,0.035,2472,2184,3522
$GC,3549,-0.67,-116.7,265.5,-5.4,273,3554,0.20,2.35,0.00,0.000,4,0.057,0.050,2382,3586,3521
$GC,3578,-0.57,-116.7,267.7,-8.1,274,3583,0.17,2.30,0.00,0.000,6,0.123,0.035,2434,2168,3521
$GC,3895,-0.57,-116.7,289.2,-6.8,289,3899,0.00,2.30,0.00,0.000,4,0.000,0.048,2433,761,3519
$GC,3929,-0.57,-116.7,291.7,-7.7,290,3933,0.00,2.28,0.00,0.000,6,0.000,0.038,2434,2180,3519
$GC,4250,-0.57,-116.7,313.2,-6.7,303,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2180,3518
$GC,4555,-0.57,-116.7,333.6,-6.6,313,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2180,3516
$GC,4863,-0.57,-116.7,352.4,-5.9,323,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2180,3515
$GC,5168,-0.57,-116.7,370.5,-6.0,333,5171,0.00,2.33,0.00,0.000,4,0.000,0.046,2434,769,3514
$GC,5213,-0.57,-116.7,373.6,-6.6,334,5217,0.00,2.25,0.00,0.000,6,0.000,0.037,2434,2178,3514
$GC,5544,-0.63,-116.7,394.7,-6.4,345,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2178,3513
$GC,5850,-0.70,-116.7,415.1,-6.9,355,5851,0.15,0.00,0.00,0.000,6,0.068,0.000,2372,2178,3512
$GC,6155,-0.48,-116.7,443.3,-9.2,365,6157,0.28,0.00,0.00,0.000,6,0.122,0.000,2458,2179,3512
$GC,6463,-0.68,-116.7,460.7,-5.4,375,6468,0.20,2.38,0.00,0.000,4,0.061,0.052,2372,3589,3511
$GC,6491,-0.55,-116.7,463.1,-8.6,375,6498,0.20,2.33,0.00,0.000,6,0.124,0.038,2432,2169,3510
$GC,6804,-0.55,-116.7,484.5,-7.0,386,6808,0.00,2.28,0.00,0.000,4,0.000,0.048,2432,773,3510
$GC,6841,-0.55,-116.7,487.2,-7.7,387,6844,0.00,2.25,0.00,0.000,6,0.000,0.038,2432,2174,3509
$GC,7211,-0.55,-116.7,512.4,-6.7,396,7215,0.00,2.38,0.00,0.000,4,0.000,0.055,2432,3590,3509
$GC,7252,-0.65,-116.7,515.2,-7.3,396,7256,0.00,2.33,0.00,0.000,6,0.000,0.040,2432,2177,3508
$GC,7574,-0.72,-116.7,536.2,-6.5,402,7579,0.15,2.33,0.00,0.000,4,0.068,0.048,2369,755,3507
$GC,7614,-0.46,-116.7,539.9,-9.9,402,7619,0.32,2.30,0.00,0.000,6,0.123,0.040,2465,2180,3507
$GC,7941,-0.69,-116.7,558.1,-5.4,408,7946,0.20,2.35,0.00,0.000,4,0.060,0.052,2378,3588,3507
$GC,7976,-0.53,-116.7,560.7,-8.5,408,7981,0.22,2.33,0.00,0.000,6,0.121,0.038,2445,2152,3506
$GC,8303,-0.67,-116.7,580.6,-6.0,414,8305,0.15,0.00,0.00,0.000,6,0.070,0.000,2383,2152,3506
$GC,8607,-0.52,-116.7,605.0,-8.1,419,8609,0.20,0.00,0.00,0.000,6,0.126,0.000,2444,2150,3505
$GC,8910,-0.66,-116.7,622.7,-5.8,424,8912,0.15,0.00,0.00,0.000,6,0.068,0.000,2382,2150,3505
$GC,9212,-0.51,-116.7,646.9,-8.1,429,9217,0.20,2.47,0.00,0.000,4,0.123,0.054,2448,3592,3504
$GC,9241,-0.62,-116.7,648.7,-5.8,429,9246,0.12,2.33,0.00,0.000,6,0.073,0.038,2397,2180,3504
$GC,9575,-0.54,-116.7,672.7,-7.3,435,9580,0.15,2.35,0.00,0.000,4,0.127,0.050,2443,758,3504
$GC,9660,-0.63,-116.7,678.2,-5.9,436,9664,0.00,2.28,0.00,0.000,6,0.000,0.042,2443,2181,3504
$GC,10004,-0.77,-116.7,697.3,-5.5,442,10006,0.22,0.00,0.00,0.000,6,0.059,0.000,2351,2182,3503
$GC,10309,-0.49,-116.7,724.8,-9.3,447,10311,0.32,0.00,0.00,0.000,6,0.122,0.000,2453,2182,3502
$GC,10610,-0.68,-116.7,741.8,-5.5,452,10612,0.17,0.00,0.00,0.000,6,0.065,0.000,2381,2182,3502
$GC,10913,-0.54,-116.7,765.8,-8.0,457,10915,0.20,0.00,0.00,0.000,6,0.123,0.000,2443,2182,3502
$GC,11218,-0.70,-116.7,783.7,-5.8,462,11219,0.17,0.00,0.00,0.000,6,0.065,0.000,2371,2182,3501
$GC,11520,-0.52,-116.7,809.0,-8.5,467,11522,0.22,0.00,0.00,0.000,6,0.123,0.000,2442,2182,3501
$GC,11823,-0.66,-116.7,826.7,-5.7,472,11825,0.12,0.00,0.00,0.000,6,0.072,0.000,2391,2182,3501
$GC,12126,-0.57,-116.7,849.0,-7.5,477,12127,0.12,0.00,0.00,0.000,6,0.130,0.000,2428,2182,3501
$GC,12430,-0.67,-116.7,867.9,-6.2,482,12434,0.00,2.42,0.00,0.000,4,0.000,0.055,2428,3595,3500
$GC,12458,-0.78,-116.7,869.8,-6.9,482,12463,0.20,2.38,0.00,0.000,6,0.061,0.038,2350,2154,3500
$GC,12796,-0.53,-116.7,899.3,-8.8,488,12801,0.28,2.33,0.00,0.000,4,0.125,0.049,2442,768,3500
$GC,12876,-0.62,-116.7,904.4,-5.7,489,12880,0.00,2.22,0.00,0.000,6,0.000,0.040,2442,2160,3499
$GC,13237,-0.79,-116.7,922.6,-5.0,495,13242,0.20,2.45,0.00,0.000,4,0.064,0.053,2353,3585,3499
$GC,13278,-0.55,-116.7,925.5,-7.9,495,13283,0.28,2.35,0.00,0.000,6,0.123,0.039,2434,2156,3499
$GC,13610,-0.68,-116.7,943.0,-5.2,501,13612,0.12,0.00,0.00,0.000,6,0.078,0.000,2383,2156,3499
$GC,13913,-0.57,-116.7,963.9,-7.0,506,13918,0.15,2.33,0.00,0.000,4,0.130,0.051,2428,771,3499
$GC,13959,-0.57,-116.7,966.7,-5.6,506,13963,0.00,2.28,0.00,0.000,6,0.000,0.040,2428,2160,3499
$GC,14281,-0.68,-116.7,984.4,-5.5,512,14285,0.10,2.42,0.00,0.000,4,0.083,0.054,2386,3592,3499
$GC,14326,-0.61,-116.7,987.6,-6.7,512,14331,0.12,2.35,0.00,0.000,6,0.128,0.041,2421,2160,3498
$STATE,14406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14406,begin apogee
$GC,14416,-0.23,0.0,992.6,6.0,514,14517,0.38,0.00,98.85,1.404,6,0.114,0.000,2542,2273,3046
$STATE,14518,end apogee,CONTROL_FINISHED_OK
$STATE,14518,begin climb
$GC,14521,0.77,116.7,994.4,0.0,515,14645,0.98,2.85,113.68,1.374,4,0.075,0.048,2856,3688,2570
$GC,14664,0.51,146.1,992.9,5.7,518,14721,0.30,2.62,35.83,1.133,6,0.129,0.031,2780,2267,2450
$GC,15089,0.71,172.3,968.4,5.8,525,15118,0.17,2.38,23.83,1.333,4,0.064,0.047,2855,863,2343
$GC,15226,0.61,172.3,957.3,8.5,527,15231,0.17,2.25,0.00,0.000,6,0.123,0.036,2803,2273,2339
$GC,15592,0.73,176.4,932.1,6.7,533,15602,0.12,2.33,4.32,0.922,4,0.070,0.051,2859,3682,2327
$GC,15626,0.53,176.4,929.3,8.6,533,15632,0.28,2.30,0.00,0.000,6,0.128,0.035,2781,2243,2327
$GC,15960,0.75,195.9,908.6,6.1,539,15985,0.20,2.28,18.67,1.301,4,0.060,0.046,2876,868,2247
$GC,16055,0.60,195.9,900.0,9.7,540,16060,0.25,2.22,0.00,0.000,6,0.122,0.036,2801,2266,2244
$GC,16393,0.77,198.2,876.4,6.8,546,16398,0.17,2.35,0.00,0.000,4,0.061,0.054,2877,3673,2243
$GC,16416,0.67,198.2,874.3,9.9,546,16420,0.17,2.30,0.00,0.000,6,0.131,0.037,2827,2250,2243
$GC,16760,0.67,198.2,848.6,7.4,552,16764,0.00,2.28,0.00,0.000,4,0.000,0.050,2828,857,2242
$GC,16800,0.75,204.9,845.5,6.6,552,16814,0.00,2.22,8.95,1.178,6,0.000,0.036,2827,2253,2209
$GC,17131,0.83,204.9,821.0,7.3,558,17136,0.15,2.38,0.00,0.000,4,0.064,0.052,2892,3684,2208
$GC,17166,0.52,204.9,817.5,10.4,558,17171,0.38,2.30,0.00,0.000,6,0.126,0.033,2780,2241,2208
$GC,17494,0.82,232.0,797.9,5.8,564,17524,0.22,2.28,25.00,1.261,4,0.057,0.047,2882,859,2099
$GC,17588,0.69,232.0,789.3,9.2,565,17593,0.15,2.20,0.00,0.000,6,0.122,0.036,2838,2244,2095
$GC,17926,0.69,232.0,762.2,7.8,571,17930,0.00,2.35,0.00,0.000,4,0.000,0.053,2838,3674,2094
$GC,17988,0.69,232.0,756.7,9.8,571,17994,0.00,2.30,0.00,0.000,6,0.000,0.037,2838,2243,2094
$GC,18299,0.69,232.0,732.6,7.8,577,18303,0.00,2.25,0.00,0.000,4,0.000,0.047,2838,861,2093
$GC,18344,0.77,232.0,729.0,7.7,577,18348,0.00,2.20,0.00,0.000,6,0.000,0.034,2838,2244,2092
$GC,18672,0.77,232.0,703.8,7.7,583,18676,0.00,2.38,0.00,0.000,4,0.000,0.052,2838,3677,2092
$GC,18734,0.77,232.0,698.5,7.8,584,18738,0.00,2.33,0.00,0.000,6,0.000,0.038,2838,2243,2092
$GC,19101,0.77,232.0,669.7,7.9,590,19105,0.00,2.25,0.00,0.000,4,0.000,0.047,2838,856,2092
$GC,19146,0.85,232.0,665.8,9.2,590,19151,0.15,2.20,0.00,0.000,6,0.064,0.035,2905,2243,2092
$GC,19467,0.65,232.0,632.0,10.7,596,19472,0.25,2.40,0.00,0.000,4,0.121,0.051,2821,3683,2092
$GC,19496,0.65,232.0,629.2,10.4,596,19500,0.00,2.35,0.00,0.000,6,0.000,0.035,2822,2222,2092
$GC,19834,0.78,232.0,604.2,7.4,602,19839,0.12,2.22,0.00,0.000,4,0.071,0.048,2881,858,2092
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$STATE,26796,end climb,SURFACE_DEPTH_REACHED
$STATE,26796,begin surface coast
$FINISH,3.3,1.014910
$STATE,26856,end surface coast,CONTROL_FINISHED_OK
$STATE,26859,begin surface
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$IRIDIUM_FIX,6351.77,49.60,101098,161612
$TT8_MAMPS,0.027612
$HUMID,1723
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$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,19.6,88.873
$10V_AH,10.2,62.675
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$DEVICE_SECS,33.800,240.200,368.850,279.675,0.000,59.198,66.096,254.499,0.000,0.000,0.000,11.796,2111.729,21467.938,882.195,2325.442,951.355,0.000,2188.232,0.000,2281.315,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47374,938
$CAP_FILE_SIZE,209956,0
$CFSIZE,260165632,207429632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.053, 82.6,1
$GPS,160709,234607,6421.557,51.797,25,1.1,25,-4.6