version: 66.04
glider: 160
mission: 3
dive: 612
start: 7 31 109 2 29 13
data:
$ID,160
$MISSION,3
$DIVE,612
$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,-20039.705
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,021607,6412.873,101.218,41,1.1,41,-4.5
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.34
$_SM_ANGLEo,-56.9
$GPS2,022850,6412.927,101.243,10,1.7,10,-4.5
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$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,147.7,196380,-13.7,-6.875
$D_GRID,2370
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,16,-0.77,-116.7,0.0,0.0,0,23,0.00,0.00,-6.10,0.000,2,0.000,0.000,144,2170,629
$GC,28,-0.77,-116.7,3.3,-0.0,1,190,7.82,2.47,-146.62,0.000,4,0.179,0.063,2358,3584,3522
$GC,202,-1.48,-116.7,2.8,0.2,27,209,0.62,2.30,0.00,0.000,6,0.048,0.035,2119,2165,3522
$GC,545,-0.27,-116.7,82.3,-21.4,74,551,1.38,2.45,0.00,0.000,4,0.162,0.050,2505,3592,3523
$GC,657,-0.68,-116.7,89.3,-4.2,79,663,0.30,2.35,0.00,0.000,6,0.045,0.033,2378,2141,3523
$GC,987,-0.46,-116.7,119.9,-10.1,95,992,0.25,2.28,0.00,0.000,4,0.116,0.047,2462,778,3524
$GC,1100,-0.56,-116.7,128.3,-6.4,100,1104,0.00,2.20,0.00,0.000,6,0.000,0.036,2462,2152,3524
$GC,1429,-0.73,-116.7,145.6,-5.1,116,1431,0.25,0.00,0.00,0.000,6,0.049,0.000,2351,2152,3524
$GC,1738,-0.41,-116.7,176.7,-10.7,131,1743,0.38,2.47,0.00,0.000,4,0.116,0.053,2474,3589,3524
$GC,1768,-0.54,-116.7,179.0,-6.3,132,1773,0.12,2.38,0.00,0.000,6,0.061,0.035,2418,2139,3523
$GC,2085,-0.54,-116.7,203.4,-7.6,147,2088,0.00,2.28,0.00,0.000,4,0.000,0.050,2418,778,3522
$GC,2125,-0.45,-116.7,206.7,-8.5,148,2132,0.17,2.22,0.00,0.000,6,0.123,0.038,2468,2149,3522
$GC,2443,-0.66,-116.7,223.9,-5.3,164,2445,0.20,0.00,0.00,0.000,6,0.054,0.000,2380,2150,3520
$GC,2751,-0.47,-116.7,251.8,-9.4,179,2753,0.28,0.00,0.00,0.000,6,0.118,0.000,2467,2150,3519
$GC,3061,-0.67,-116.7,270.6,-5.5,194,3063,0.20,0.00,0.00,0.000,6,0.057,0.000,2383,2150,3518
$GC,3369,-0.49,-116.7,296.8,-8.6,209,3374,0.22,2.50,0.00,0.000,4,0.120,0.056,2458,3595,3517
$GC,3404,-0.67,-116.7,299.1,-5.7,210,3413,0.20,2.38,0.00,0.000,6,0.055,0.035,2379,2146,3516
$GC,3741,-0.48,-116.7,329.0,-9.5,222,3746,0.22,2.35,0.00,0.000,4,0.123,0.052,2453,767,3515
$GC,3831,-0.59,-116.7,336.2,-7.1,224,3837,0.00,2.25,0.00,0.000,6,0.000,0.041,2454,2145,3514
$GC,4146,-0.74,-116.7,357.0,-6.5,235,4151,0.20,2.45,0.00,0.000,4,0.059,0.053,2361,3588,3513
$GC,4178,-0.56,-116.7,359.6,-9.5,236,4183,0.22,2.38,0.00,0.000,6,0.120,0.037,2429,2139,3513
$GC,4514,-0.56,-116.7,383.7,-6.9,247,4518,0.00,2.28,0.00,0.000,4,0.000,0.052,2429,776,3512
$GC,4565,-0.56,-116.7,387.6,-7.0,248,4569,0.00,2.22,0.00,0.000,6,0.000,0.041,2429,2151,3512
$GC,4891,-0.56,-116.7,409.9,-6.9,259,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2151,3510
$GC,5195,-0.56,-116.7,431.2,-6.9,269,5199,0.00,2.45,0.00,0.000,4,0.000,0.057,2429,3582,3509
$GC,5247,-0.65,-116.7,434.7,-6.4,270,5251,0.00,2.38,0.00,0.000,6,0.000,0.038,2429,2144,3509
$GC,5562,-0.65,-116.7,456.0,-6.8,280,5565,0.00,2.33,0.00,0.000,4,0.000,0.054,2429,763,3507
$GC,5590,-0.65,-116.7,458.3,-8.4,280,5596,0.00,2.25,0.00,0.000,6,0.000,0.041,2429,2141,3507
$GC,5904,-0.65,-116.7,480.2,-7.0,291,5908,0.00,2.47,0.00,0.000,4,0.000,0.056,2430,3585,3507
$GC,5961,-0.73,-116.7,484.2,-7.2,292,5968,0.15,2.38,0.00,0.000,6,0.064,0.038,2366,2144,3506
$GC,6275,-0.49,-116.7,512.9,-9.2,301,6280,0.25,2.35,0.00,0.000,4,0.122,0.054,2448,766,3505
$GC,6332,-0.59,-116.7,517.4,-7.4,301,6338,0.00,2.25,0.00,0.000,6,0.000,0.041,2448,2140,3506
$GC,6645,-0.74,-116.7,536.4,-6.1,307,6647,0.22,0.00,0.00,0.000,6,0.058,0.000,2353,2140,3505
$GC,6946,-0.45,-116.7,566.3,-10.1,312,6951,0.32,2.53,0.00,0.000,4,0.120,0.058,2458,3582,3504
$GC,6986,-0.69,-116.7,569.3,-6.1,312,6991,0.20,2.40,0.00,0.000,6,0.054,0.040,2380,2139,3503
$GC,7309,-0.52,-116.7,598.0,-9.0,318,7314,0.20,2.33,0.00,0.000,4,0.124,0.051,2446,764,3503
$GC,7354,-0.62,-116.7,601.6,-7.1,318,7359,0.12,2.25,0.00,0.000,6,0.072,0.041,2394,2141,3502
$GC,7670,-0.52,-116.7,625.7,-7.6,324,7675,0.17,2.50,0.00,0.000,4,0.121,0.057,2448,3587,3502
$GC,7705,-0.69,-116.7,627.9,-5.5,324,7710,0.17,2.42,0.00,0.000,6,0.062,0.040,2378,2126,3502
$GC,8038,-0.52,-116.7,654.6,-8.2,330,8043,0.20,2.30,0.00,0.000,4,0.123,0.055,2445,772,3502
$GC,8078,-0.62,-116.7,657.3,-5.7,330,8082,0.00,2.25,0.00,0.000,6,0.000,0.044,2446,2142,3501
$GC,8406,-0.77,-116.7,675.0,-5.4,336,8411,0.20,2.50,0.00,0.000,4,0.061,0.056,2353,3594,3501
$GC,8440,-0.52,-116.7,677.8,-8.6,336,8446,0.30,2.42,0.00,0.000,6,0.118,0.038,2443,2130,3501
$GC,8768,-0.66,-116.7,696.0,-5.4,342,8773,0.12,2.30,0.00,0.000,4,0.073,0.056,2392,775,3500
$GC,8820,-0.51,-116.7,699.8,-8.3,342,8825,0.20,2.25,0.00,0.000,6,0.126,0.044,2450,2140,3500
$GC,9132,-0.69,-116.7,715.9,-5.0,347,9137,0.17,2.50,0.00,0.000,4,0.064,0.058,2376,3589,3499
$GC,9173,-0.54,-116.7,718.7,-7.2,347,9178,0.22,2.40,0.00,0.000,6,0.117,0.041,2444,2139,3499
$GC,9495,-0.69,-116.7,736.8,-5.5,353,9497,0.17,0.00,0.00,0.000,6,0.065,0.000,2370,2139,3499
$GC,9797,-0.49,-116.7,760.3,-7.9,358,9802,0.22,2.33,0.00,0.000,4,0.122,0.052,2446,772,3498
$GC,9850,-0.61,-116.7,763.3,-4.9,358,9853,0.00,2.25,0.00,0.000,6,0.000,0.044,2446,2143,3498
$GC,10168,-0.77,-116.7,779.5,-5.1,364,10173,0.20,2.47,0.00,0.000,4,0.061,0.056,2354,3583,3498
$GC,10207,-0.51,-116.7,782.7,-8.8,364,10213,0.30,2.42,0.00,0.000,6,0.118,0.040,2443,2131,3498
$GC,10531,-0.68,-116.7,799.8,-5.2,370,10533,0.15,0.00,0.00,0.000,6,0.071,0.000,2381,2132,3498
$GC,10834,-0.54,-116.7,822.3,-7.6,375,10839,0.20,2.35,0.00,0.000,4,0.122,0.057,2448,768,3497
$GC,10896,-0.67,-116.7,826.4,-6.7,375,10903,0.17,2.25,0.00,0.000,6,0.065,0.044,2379,2140,3497
$GC,11208,-0.53,-116.7,849.5,-7.6,381,11213,0.20,2.55,0.00,0.000,4,0.120,0.060,2446,3592,3498
$GC,11237,-0.65,-116.7,851.5,-5.9,381,11242,0.15,2.47,0.00,0.000,6,0.063,0.041,2387,2121,3497
$GC,11571,-0.54,-116.7,875.9,-7.4,387,11575,0.17,2.33,0.00,0.000,4,0.122,0.055,2442,764,3497
$GC,11628,-0.65,-116.7,879.7,-6.5,387,11635,0.12,2.25,0.00,0.000,6,0.072,0.042,2392,2132,3497
$GC,11939,-0.56,-116.7,902.7,-7.6,393,11944,0.12,2.53,0.00,0.000,4,0.129,0.061,2430,3580,3496
$GC,11974,-0.68,-116.7,905.1,-7.0,393,11979,0.12,2.42,0.00,0.000,6,0.070,0.041,2376,2127,3497
$GC,12302,-0.53,-116.7,931.3,-8.1,399,12307,0.20,2.33,0.00,0.000,4,0.120,0.057,2445,765,3497
$GC,12366,-0.66,-116.7,935.5,-5.8,400,12370,0.15,2.25,0.00,0.000,6,0.067,0.042,2387,2141,3497
$GC,12738,-0.57,-116.7,962.4,-7.2,406,12740,0.15,0.00,0.00,0.000,6,0.120,0.000,2433,2141,3496
$GC,13042,-0.69,-116.7,980.7,-6.0,411,13047,0.15,2.50,0.00,0.000,4,0.071,0.060,2367,3583,3496
$GC,13087,-0.54,-116.7,984.4,-8.9,411,13092,0.25,2.42,0.00,0.000,6,0.117,0.042,2441,2129,3496
$STATE,13217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13218,begin apogee
$GC,13227,-0.23,0.0,992.3,5.9,414,13327,0.30,0.00,97.47,1.403,6,0.114,0.000,2539,2269,3046
$STATE,13328,end apogee,CONTROL_FINISHED_OK
$STATE,13328,begin climb
$GC,13332,0.77,116.7,994.5,0.0,415,13455,0.98,2.85,113.30,1.374,4,0.077,0.058,2854,3686,2570
$GC,13519,0.46,117.5,991.3,6.8,417,13526,0.35,2.60,0.00,0.000,6,0.123,0.033,2764,2268,2566
$GC,13831,0.72,182.5,977.7,4.3,423,13895,0.20,2.53,57.65,1.368,4,0.061,0.053,2855,856,2301
$GC,13975,0.63,182.5,966.8,8.5,425,13980,0.15,2.33,0.00,0.000,6,0.123,0.038,2811,2281,2296
$GC,14331,0.74,189.2,943.2,6.6,431,14343,0.12,2.33,6.30,1.097,4,0.068,0.054,2870,3683,2273
$GC,14390,0.48,189.2,937.6,10.4,431,14397,0.38,2.30,0.00,0.000,6,0.124,0.035,2762,2251,2272
$GC,14701,0.83,222.4,919.7,5.5,437,14737,0.30,2.33,30.25,1.329,4,0.052,0.049,2895,863,2137
$GC,14820,0.63,222.4,908.3,10.2,438,14825,0.25,2.25,0.00,0.000,6,0.120,0.038,2818,2270,2132
$GC,15132,0.76,222.4,884.4,7.5,443,15137,0.12,2.35,0.00,0.000,4,0.070,0.056,2875,3687,2131
$GC,15200,0.54,222.4,877.1,11.4,444,15205,0.30,2.30,0.00,0.000,6,0.120,0.035,2786,2256,2131
$GC,15562,0.82,232.8,853.0,6.5,450,15577,0.22,2.30,9.12,1.184,4,0.054,0.051,2891,861,2097
$GC,15662,0.65,232.8,842.7,10.6,451,15667,0.22,2.22,0.00,0.000,6,0.120,0.038,2823,2256,2094
$GC,15996,0.77,232.8,816.9,7.6,457,16001,0.12,2.38,0.00,0.000,4,0.070,0.054,2880,3686,2094
$GC,16069,0.55,232.8,809.0,11.0,458,16074,0.30,2.30,0.00,0.000,6,0.121,0.034,2789,2252,2094
$GC,16431,0.85,254.1,786.2,6.0,464,16457,0.25,2.30,20.12,1.244,4,0.053,0.049,2909,859,2009
$GC,16534,0.66,254.1,775.7,10.2,465,16539,0.28,2.25,0.00,0.000,6,0.120,0.037,2825,2260,2005
$GC,16862,0.79,254.1,751.3,7.1,471,16867,0.12,2.38,0.00,0.000,4,0.069,0.053,2881,3687,2004
$GC,16920,0.62,254.1,745.6,9.7,471,16926,0.25,2.30,0.00,0.000,6,0.122,0.032,2813,2250,2004
$GC,17231,0.84,267.8,725.3,6.3,477,17250,0.20,2.30,12.77,1.173,4,0.056,0.048,2916,872,1952
$GC,17309,0.65,267.8,717.4,11.1,478,17314,0.32,2.22,0.00,0.000,6,0.120,0.037,2815,2269,1950
$GC,17670,0.87,280.2,693.8,6.4,484,17690,0.20,2.42,12.23,1.153,4,0.058,0.056,2907,3687,1902
$GC,17730,0.62,280.2,687.2,12.1,484,17737,0.35,2.30,0.00,0.000,6,0.118,0.032,2807,2245,1901
$GC,18042,0.92,297.3,666.8,6.2,490,18064,0.25,2.25,15.82,1.158,4,0.054,0.050,2921,867,1834
$GC,18138,0.75,297.3,656.3,11.9,491,18143,0.22,2.22,0.00,0.000,6,0.120,0.038,2853,2256,1830
$GC,18471,0.83,297.3,626.2,9.1,497,18476,0.00,2.38,0.00,0.000,4,0.000,0.053,2853,3689,1829
$GC,18511,0.83,297.3,622.1,9.7,497,18515,0.00,2.33,0.00,0.000,6,0.000,0.034,2855,2240,1828
$GC,18833,0.90,297.3,592.8,9.1,503,18838,0.15,2.25,0.00,0.000,4,0.064,0.052,2924,869,1827
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$STATE,25185,end climb,SURFACE_DEPTH_REACHED
$STATE,25185,begin surface coast
$FINISH,3.4,1.025951
$STATE,25256,end surface coast,CONTROL_FINISHED_OK
$STATE,25257,begin surface
$SM_CCo,25338,0.00,0.000,0,0,1803,304.91
$SM_GC,4.50,7.53,0.00,0.00,0.041,0.000,0.000,139,2165,1803,-7.65,-0.42,304.91
$IRIDIUM_FIX,6346.88,59.35,251098,020216
$TT8_MAMPS,0.026845
$HUMID,1891
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,20.5,96.319
$10V_AH,10.2,67.002
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$DEVICE_SECS,38.275,267.575,380.850,0.000,0.000,57.432,74.460,420.678,0.000,0.000,0.000,12.146,1979.141,19984.061,634.985,2357.533,1130.898,0.000,1955.657,0.000,2302.020,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,587.570,581.984,277.224,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41061,822
$CAP_FILE_SIZE,216965,0
$CFSIZE,260165632,203665408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,104.8,1
$GPS,310709,093254,6410.336,106.297,24,1.1,41,-4.4