version: 66.04
glider: 160
mission: 3
dive: 569
start: 7 17 109 15 7 54
data:
$ID,160
$MISSION,3
$DIVE,569
$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,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,-19265.17
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,150100,6425.237,42.775,38,1.5,38,-4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.85
$_SM_ANGLEo,-67.3
$GPS2,150732,6425.241,42.726,16,2.0,16,-4.7
$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,303.6,110066,-13.7,-6.875
$D_GRID,2534
$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,-6.12,0.000,2,0.000,0.000,141,2191,1821
$GC,28,-0.77,-116.7,3.9,-0.0,1,132,8.40,2.40,-88.45,0.000,4,0.210,0.060,2366,3586,3523
$GC,310,-0.37,-116.7,27.7,-12.8,47,317,0.40,2.28,0.00,0.000,6,0.123,0.033,2489,2173,3524
$GC,657,-0.64,-116.7,46.5,-6.3,108,665,0.20,2.28,0.00,0.000,4,0.056,0.041,2398,768,3526
$GC,712,-0.44,-116.7,51.8,-10.3,117,719,0.25,2.22,0.00,0.000,6,0.117,0.033,2472,2181,3526
$GC,1050,-0.63,-116.7,71.4,-5.4,150,1055,0.17,2.30,0.00,0.000,4,0.056,0.045,2395,3583,3527
$GC,1100,-0.48,-116.7,75.1,-7.9,152,1105,0.20,2.28,0.00,0.000,6,0.117,0.032,2456,2169,3527
$GC,1419,-0.59,-116.7,91.5,-4.9,167,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2169,3528
$GC,1727,-0.72,-116.7,107.9,-5.9,182,1729,0.22,0.00,0.00,0.000,6,0.054,0.000,2356,2169,3529
$GC,2036,-0.42,-116.7,141.8,-11.6,197,2041,0.35,2.33,0.00,0.000,4,0.120,0.044,2472,763,3528
$GC,2105,-0.58,-116.7,147.4,-7.0,200,2109,0.15,2.28,0.00,0.000,6,0.061,0.037,2407,2185,3528
$GC,2426,-0.49,-116.7,175.7,-9.2,216,2431,0.15,2.33,0.00,0.000,4,0.121,0.048,2449,3585,3528
$GC,2454,-0.58,-116.7,178.2,-8.4,217,2459,0.00,2.28,0.00,0.000,6,0.000,0.034,2449,2179,3528
$GC,2771,-0.68,-116.7,203.6,-7.9,232,2776,0.17,2.30,0.00,0.000,4,0.061,0.045,2376,771,3528
$GC,2845,-0.44,-116.7,211.6,-11.4,235,2850,0.30,2.25,0.00,0.000,6,0.118,0.035,2467,2189,3528
$GC,3162,-0.65,-116.7,230.0,-5.3,250,3164,0.20,0.00,0.00,0.000,6,0.057,0.000,2383,2189,3528
$GC,3471,-0.48,-116.7,255.4,-8.1,265,3473,0.25,0.00,0.00,0.000,6,0.120,0.000,2462,2190,3528
$GC,3781,-0.67,-116.7,270.8,-4.9,280,3786,0.17,2.35,0.00,0.000,4,0.061,0.051,2389,3588,3527
$GC,3821,-0.52,-116.7,273.7,-7.6,282,3826,0.20,2.30,0.00,0.000,6,0.120,0.036,2449,2176,3527
$GC,4152,-0.65,-116.7,293.6,-6.5,298,4157,0.15,2.30,0.00,0.000,4,0.068,0.045,2388,769,3525
$GC,4204,-0.46,-116.7,298.4,-9.4,300,4209,0.25,2.28,0.00,0.000,6,0.120,0.037,2463,2200,3525
$GC,4540,-0.66,-116.7,320.1,-6.3,311,4542,0.20,0.00,0.00,0.000,6,0.061,0.000,2379,2200,3524
$GC,4845,-0.47,-116.7,349.1,-9.6,321,4850,0.22,2.40,0.00,0.000,4,0.120,0.047,2455,766,3523
$GC,4874,-0.47,-116.7,351.7,-7.9,322,4878,0.00,2.25,0.00,0.000,6,0.000,0.039,2455,2180,3523
$GC,5216,-0.64,-116.7,371.9,-5.6,333,5221,0.15,2.35,0.00,0.000,4,0.066,0.051,2392,3581,3522
$GC,5257,-0.53,-116.7,374.8,-7.7,334,5261,0.17,2.28,0.00,0.000,6,0.122,0.037,2444,2185,3522
$GC,5583,-0.65,-116.7,393.7,-5.6,345,5587,0.12,2.33,0.00,0.000,4,0.071,0.049,2390,772,3521
$GC,5622,-0.47,-116.7,396.8,-8.3,346,5627,0.25,2.28,0.00,0.000,6,0.123,0.037,2466,2201,3520
$GC,5948,-0.69,-116.7,413.8,-5.3,357,5953,0.20,2.33,0.00,0.000,4,0.061,0.052,2377,3586,3520
$GC,5982,-0.53,-116.7,416.5,-8.6,358,5987,0.22,2.30,0.00,0.000,6,0.118,0.038,2446,2179,3520
$GC,6315,-0.66,-116.7,436.5,-6.0,369,6317,0.15,0.00,0.00,0.000,6,0.070,0.000,2383,2178,3519
$GC,6619,-0.49,-116.7,462.8,-8.8,379,6623,0.20,2.35,0.00,0.000,4,0.125,0.048,2449,769,3518
$GC,6658,-0.60,-116.7,465.8,-6.7,380,6663,0.00,2.30,0.00,0.000,6,0.000,0.038,2449,2202,3518
$GC,6985,-0.75,-116.7,485.3,-6.1,391,6987,0.22,0.00,0.00,0.000,6,0.061,0.000,2353,2202,3517
$GC,7319,-0.46,-116.7,518.9,-10.3,399,7324,0.32,2.40,0.00,0.000,4,0.120,0.048,2460,771,3516
$GC,7359,-0.62,-116.7,522.3,-7.2,399,7364,0.15,2.28,0.00,0.000,6,0.067,0.039,2402,2186,3516
$GC,7681,-0.55,-116.7,549.2,-8.5,405,7683,0.12,0.00,0.00,0.000,6,0.128,0.000,2438,2186,3516
$GC,7983,-0.66,-116.7,571.0,-7.1,410,7985,0.12,0.00,0.00,0.000,6,0.075,0.000,2387,2186,3515
$GC,8287,-0.52,-116.7,598.0,-9.0,415,8292,0.20,2.38,0.00,0.000,4,0.122,0.047,2454,771,3515
$GC,8344,-0.67,-116.7,602.4,-6.8,415,8351,0.17,2.30,0.00,0.000,6,0.064,0.038,2386,2188,3514
$GC,8655,-0.54,-116.7,629.0,-8.7,421,8657,0.17,0.00,0.00,0.000,6,0.123,0.000,2440,2188,3514
$GC,8958,-0.66,-116.7,648.9,-6.4,426,8960,0.12,0.00,0.00,0.000,6,0.076,0.000,2390,2188,3514
$GC,9263,-0.55,-116.7,673.4,-8.2,431,9267,0.15,2.35,0.00,0.000,4,0.128,0.049,2436,773,3513
$GC,9307,-0.55,-116.7,676.9,-7.0,431,9311,0.00,2.28,0.00,0.000,6,0.000,0.039,2436,2181,3513
$GC,9623,-0.65,-116.7,697.0,-6.3,437,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2181,3513
$GC,9927,-0.75,-116.7,715.3,-6.0,442,9929,0.20,0.00,0.00,0.000,6,0.067,0.000,2352,2181,3512
$GC,10229,-0.47,-116.7,742.9,-9.3,447,10234,0.32,2.38,0.00,0.000,4,0.123,0.048,2458,770,3511
$GC,10269,-0.64,-116.7,745.7,-6.4,447,10274,0.15,2.28,0.00,0.000,6,0.067,0.040,2399,2183,3512
$GC,10591,-0.57,-116.7,769.1,-7.4,453,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2183,3511
$GC,10893,-0.57,-116.7,791.7,-7.5,458,10894,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2183,3510
$GC,11197,-0.57,-116.7,813.4,-7.2,463,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2183,3511
$GC,11500,-0.57,-116.7,834.2,-6.8,468,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2183,3510
$GC,11803,-0.57,-116.7,854.9,-6.8,473,11807,0.00,2.38,0.00,0.000,4,0.000,0.049,2399,764,3510
$GC,11832,-0.48,-116.7,856.9,-7.3,473,11837,0.20,2.33,0.00,0.000,6,0.126,0.041,2454,2188,3510
$GC,12171,-0.69,-116.7,873.8,-4.8,479,12176,0.20,2.40,0.00,0.000,4,0.063,0.057,2365,3597,3509
$GC,12199,-0.59,-116.7,875.8,-7.7,479,12204,0.20,2.35,0.00,0.000,6,0.123,0.038,2424,2170,3509
$GC,12533,-0.66,-116.7,895.7,-5.9,485,12537,0.00,2.33,0.00,0.000,4,0.000,0.051,2424,771,3509
$GC,12579,-0.66,-116.7,898.8,-5.8,485,12583,0.00,2.25,0.00,0.000,6,0.000,0.040,2424,2181,3509
$GC,12908,-0.73,-116.7,918.7,-6.1,491,12910,0.15,0.00,0.00,0.000,6,0.073,0.000,2363,2181,3508
$GC,13210,-0.54,-116.7,943.8,-8.4,496,13212,0.25,0.00,0.00,0.000,6,0.122,0.000,2442,2181,3508
$GC,13513,-0.71,-116.7,961.1,-5.6,501,13514,0.17,0.00,0.00,0.000,6,0.066,0.000,2372,2181,3508
$GC,13815,-0.56,-116.7,985.2,-8.1,506,13817,0.20,0.00,0.00,0.000,6,0.125,0.000,2433,2181,3508
$STATE,13933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13933,begin apogee
$GC,13942,-0.23,0.0,992.5,7.1,508,14045,0.32,0.00,100.75,1.408,6,0.112,0.000,2538,2277,3046
$STATE,14046,end apogee,CONTROL_FINISHED_OK
$STATE,14046,begin climb
$GC,14050,0.77,116.7,994.7,0.0,509,14171,0.98,2.78,113.10,1.382,4,0.077,0.051,2856,3670,2569
$GC,14196,0.48,131.8,994.3,6.3,512,14226,0.35,2.58,18.05,1.151,6,0.131,0.031,2774,2264,2508
$GC,14556,0.71,180.9,976.9,4.9,518,14606,0.20,2.42,43.35,1.368,4,0.060,0.047,2867,860,2307
$GC,14667,0.57,180.9,968.4,8.4,519,14672,0.25,2.25,0.00,0.000,6,0.119,0.035,2791,2268,2304
$GC,14994,0.77,198.4,947.6,6.2,525,15016,0.20,2.35,15.82,1.293,4,0.061,0.052,2881,3681,2237
$GC,15039,0.49,198.4,943.4,10.8,525,15044,0.38,2.30,0.00,0.000,6,0.127,0.035,2767,2263,2235
$GC,15357,0.81,226.6,924.5,5.8,531,15389,0.28,2.33,26.00,1.325,4,0.054,0.045,2891,852,2121
$GC,15419,0.63,226.6,918.7,10.5,532,15424,0.25,2.28,0.00,0.000,6,0.120,0.038,2815,2271,2117
$GC,15786,0.76,226.6,891.3,7.3,538,15791,0.12,2.30,0.00,0.000,4,0.072,0.052,2869,3686,2114
$GC,15859,0.56,226.6,883.8,10.4,539,15864,0.28,2.30,0.00,0.000,6,0.125,0.035,2793,2245,2114
$GC,16221,0.82,243.7,860.7,6.2,545,16239,0.25,0.00,15.45,1.263,6,0.056,0.000,2896,2243,2052
$GC,16523,0.65,243.7,829.2,10.6,550,16525,0.25,0.00,0.00,0.000,6,0.119,0.000,2817,2243,2048
$GC,16827,0.80,243.7,807.4,7.0,555,16832,0.15,2.38,0.00,0.000,4,0.064,0.051,2882,3682,2048
$GC,16884,0.59,243.7,801.8,11.1,555,16891,0.25,2.28,0.00,0.000,6,0.123,0.036,2806,2264,2048
$GC,17195,0.81,259.2,781.6,6.3,561,17214,0.20,0.00,14.70,1.219,6,0.060,0.000,2895,2263,1989
$GC,17565,0.66,259.2,742.7,10.7,567,17567,0.22,0.00,0.00,0.000,6,0.122,0.000,2825,2263,1985
$GC,17869,0.81,259.2,719.9,7.4,572,17873,0.15,2.35,0.00,0.000,4,0.065,0.051,2892,3686,1985
$GC,17925,0.58,259.2,713.5,11.1,572,17932,0.30,2.28,0.00,0.000,6,0.120,0.033,2800,2260,1985
$GC,18236,0.87,272.5,693.3,6.3,578,18251,0.25,0.00,12.57,1.154,6,0.052,0.000,2906,2259,1934
$GC,18540,0.70,272.5,659.5,11.5,583,18542,0.22,0.00,0.00,0.000,6,0.120,0.000,2836,2258,1931
$GC,18842,0.82,272.5,634.3,8.2,588,18846,0.12,2.38,0.00,0.000,4,0.071,0.051,2891,3684,1930
$GC,18870,0.70,272.5,631.4,10.7,588,18875,0.17,2.28,0.00,0.000,6,0.129,0.034,2840,2264,1930
$GC,19203,0.81,272.5,603.0,8.4,594,19208,0.10,2.28,0.00,0.000,4,0.077,0.045,2891,858,1930
$GC,19267,0.72,272.5,596.6,10.1,595,19272,0.17,2.22,0.00,0.000,6,0.133,0.035,2842,2274,1929
$GC,19634,0.83,272.5,566.1,8.2,601,19639,0.12,2.33,0.00,0.000,4,0.072,0.050,2893,3683,1929
$GC,19673,0.64,272.5,561.7,13.1,601,19678,0.25,2.28,0.00,0.000,6,0.123,0.033,2819,2262,1929
$GC,19996,0.86,272.5,538.6,7.0,607,20000,0.20,2.30,0.00,0.000,4,0.059,0.044,2909,865,1929
$GC,20030,0.70,272.5,535.4,9.7,607,20035,0.25,2.22,0.00,0.000,6,0.120,0.034,2833,2269,1928
$GC,20364,0.84,272.5,509.4,7.7,613,20369,0.15,2.33,0.00,0.000,4,0.067,0.049,2895,3674,1928
$GC,20409,0.64,272.5,504.3,13.1,613,20414,0.25,2.28,0.00,0.000,6,0.123,0.033,2819,2263,1929
$GC,20729,0.86,272.5,479.0,7.9,623,20733,0.20,2.30,0.00,0.000,4,0.058,0.044,2910,862,1929
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$STATE,25999,end climb,SURFACE_DEPTH_REACHED
$STATE,25999,begin surface coast
$FINISH,3.4,1.025933
$STATE,26068,end surface coast,CONTROL_FINISHED_OK
$STATE,26068,begin surface
$SM_CCo,26150,0.00,0.000,0,0,1766,313.98
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$IRIDIUM_FIX,6356.67,49.75,111098,070737
$TT8_MAMPS,0.026845
$HUMID,1852
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$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,20.0,89.346
$10V_AH,10.3,62.955
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$DEVICE_SECS,38.150,208.425,394.400,0.000,0.000,30.220,38.039,174.297,0.000,0.000,0.000,18.215,2080.402,20964.051,576.371,2134.107,773.206,0.000,1751.595,0.000,2093.616,0.000,0.532,0.000
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$SENSOR_SECS,667.760,668.165,363.637,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47426,932
$CAP_FILE_SIZE,198710,0
$CFSIZE,260165632,207192064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041, 11.0,1
$GPS,170709,222501,6427.307,36.455,36,1.5,36,-4.8