version: 66.04
glider: 160
mission: 3
dive: 614
start: 7 31 109 16 57 31
data:
$ID,160
$MISSION,3
$DIVE,614
$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,-20074.852
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,165031,6407.575,111.153,40,1.1,40,-4.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.93
$_SM_ANGLEo,-61.6
$GPS2,165708,6407.586,111.266,10,1.1,10,-4.4
$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,132.9,183479,-13.7,-6.875
$D_GRID,2339
$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,-116.7,0.0,0.0,0,24,0.00,0.00,-6.12,0.000,2,0.000,0.000,139,2155,1972
$GC,28,-0.77,-116.7,3.9,-0.0,1,129,7.95,2.47,-83.85,0.000,4,0.186,0.061,2353,3588,3523
$GC,384,-0.40,-116.7,36.9,-12.2,61,391,0.43,2.28,0.00,0.000,6,0.115,0.035,2485,2169,3525
$GC,732,-0.65,-116.7,55.2,-4.9,122,739,0.20,0.00,0.00,0.000,6,0.054,0.000,2392,2169,3527
$GC,1065,-0.48,-116.7,83.8,-8.5,146,1067,0.20,0.00,0.00,0.000,6,0.116,0.000,2455,2169,3528
$GC,1376,-0.59,-116.7,102.9,-6.2,161,1380,0.00,2.30,0.00,0.000,4,0.000,0.048,2455,777,3529
$GC,1417,-0.66,-116.7,105.7,-6.9,162,1425,0.17,2.28,0.00,0.000,6,0.057,0.038,2379,2186,3529
$GC,1735,-0.46,-116.7,135.3,-9.2,178,1739,0.22,2.40,0.00,0.000,4,0.112,0.051,2449,3579,3530
$GC,1776,-0.61,-116.7,138.3,-6.4,180,1780,0.00,2.30,0.00,0.000,6,0.000,0.035,2449,2168,3529
$GC,2104,-0.71,-116.7,157.5,-5.8,196,2108,0.20,2.35,0.00,0.000,4,0.056,0.049,2354,771,3529
$GC,2190,-0.38,-116.7,165.8,-10.5,200,2195,0.45,2.25,0.00,0.000,6,0.120,0.038,2489,2160,3529
$GC,2521,-0.67,-116.7,181.4,-4.5,216,2526,0.22,2.42,0.00,0.000,4,0.052,0.052,2388,3584,3529
$GC,2569,-0.53,-116.7,185.0,-8.6,218,2574,0.17,2.33,0.00,0.000,6,0.117,0.036,2440,2166,3529
$GC,2896,-0.59,-116.7,207.2,-7.0,234,2900,0.00,2.33,0.00,0.000,4,0.000,0.051,2440,778,3529
$GC,2953,-0.59,-116.7,211.6,-7.4,236,2957,0.00,2.22,0.00,0.000,6,0.000,0.039,2441,2160,3529
$GC,3276,-0.67,-116.7,233.6,-6.9,252,3278,0.12,0.00,0.00,0.000,6,0.067,0.000,2383,2160,3529
$GC,3585,-0.49,-116.7,261.6,-9.4,267,3587,0.22,0.00,0.00,0.000,6,0.120,0.000,2453,2161,3528
$GC,3895,-0.63,-116.7,282.8,-6.8,282,3900,0.15,2.45,0.00,0.000,4,0.066,0.054,2390,3594,3527
$GC,3929,-0.51,-116.7,285.7,-9.0,283,3934,0.20,2.38,0.00,0.000,6,0.117,0.037,2449,2156,3527
$GC,4266,-0.65,-116.7,308.8,-6.8,297,4270,0.15,2.35,0.00,0.000,4,0.067,0.051,2386,764,3526
$GC,4300,-0.45,-116.7,312.0,-9.4,298,4306,0.28,2.28,0.00,0.000,6,0.122,0.039,2467,2163,3526
$GC,4631,-0.67,-116.7,331.5,-5.4,309,4636,0.20,2.45,0.00,0.000,4,0.057,0.053,2376,3597,3524
$GC,4677,-0.50,-116.7,335.2,-8.6,310,4682,0.25,2.38,0.00,0.000,6,0.115,0.035,2453,2142,3524
$GC,5003,-0.65,-116.7,354.9,-5.9,321,5005,0.15,0.00,0.00,0.000,6,0.067,0.000,2391,2143,3523
$GC,5309,-0.53,-116.7,379.9,-8.4,331,5313,0.17,2.33,0.00,0.000,4,0.123,0.052,2445,773,3523
$GC,5355,-0.60,-116.7,383.3,-7.1,332,5359,0.00,2.25,0.00,0.000,6,0.000,0.041,2445,2164,3523
$GC,5682,-0.71,-116.7,403.3,-6.1,343,5687,0.17,2.40,0.00,0.000,4,0.061,0.054,2365,3597,3522
$GC,5712,-0.56,-116.7,405.8,-9.0,344,5716,0.22,2.30,0.00,0.000,6,0.119,0.036,2433,2157,3521
$GC,6055,-0.62,-116.7,428.6,-6.5,355,6059,0.00,2.28,0.00,0.000,4,0.000,0.052,2433,767,3521
$GC,6100,-0.62,-116.7,431.9,-7.1,356,6104,0.00,2.25,0.00,0.000,6,0.000,0.041,2433,2163,3520
$GC,6431,-0.62,-116.7,453.0,-6.5,367,6435,0.00,2.40,0.00,0.000,4,0.000,0.056,2433,3597,3519
$GC,6462,-0.71,-116.7,455.0,-6.4,368,6467,0.15,2.33,0.00,0.000,6,0.064,0.038,2370,2156,3519
$GC,6804,-0.50,-116.7,485.6,-8.9,379,6808,0.22,2.33,0.00,0.000,4,0.122,0.053,2445,764,3519
$GC,6868,-0.59,-116.7,489.9,-6.1,381,6872,0.00,2.22,0.00,0.000,6,0.000,0.041,2445,2162,3519
$GC,7239,-0.72,-116.7,510.4,-5.5,390,7243,0.20,2.42,0.00,0.000,4,0.058,0.058,2353,3595,3517
$GC,7278,-0.45,-116.7,513.9,-9.2,390,7283,0.38,2.35,0.00,0.000,6,0.115,0.038,2466,2143,3518
$GC,7601,-0.67,-116.7,530.5,-5.0,396,7606,0.20,2.30,0.00,0.000,4,0.062,0.055,2378,765,3517
$GC,7635,-0.46,-116.7,533.2,-9.0,396,7641,0.30,2.25,0.00,0.000,6,0.121,0.041,2466,2162,3516
$GC,7963,-0.69,-116.7,549.6,-4.8,402,7968,0.20,2.42,0.00,0.000,4,0.058,0.057,2376,3597,3516
$GC,7998,-0.53,-116.7,552.1,-7.7,402,8003,0.22,2.35,0.00,0.000,6,0.116,0.038,2443,2144,3516
$GC,8326,-0.66,-116.7,570.5,-5.6,408,8331,0.12,2.28,0.00,0.000,4,0.074,0.055,2391,780,3516
$GC,8361,-0.50,-116.7,573.0,-8.0,408,8366,0.20,2.22,0.00,0.000,6,0.125,0.042,2448,2159,3516
$GC,8690,-0.65,-116.7,591.3,-5.5,414,8695,0.15,2.42,0.00,0.000,4,0.067,0.058,2382,3584,3515
$GC,8735,-0.53,-116.7,594.8,-7.8,414,8740,0.20,2.33,0.00,0.000,6,0.120,0.041,2441,2159,3515
$GC,9052,-0.65,-116.7,612.4,-5.5,420,9057,0.12,2.30,0.00,0.000,4,0.074,0.052,2388,767,3515
$GC,9092,-0.48,-116.7,615.4,-7.6,420,9097,0.25,2.25,0.00,0.000,6,0.123,0.042,2460,2157,3515
$GC,9414,-0.69,-116.7,631.6,-4.9,426,9419,0.20,2.45,0.00,0.000,4,0.056,0.059,2367,3592,3514
$GC,9479,-0.51,-116.7,636.4,-8.6,427,9484,0.28,2.35,0.00,0.000,6,0.115,0.041,2448,2153,3514
$GC,9846,-0.67,-116.7,657.2,-5.6,433,9851,0.17,2.33,0.00,0.000,4,0.067,0.056,2377,764,3514
$GC,9892,-0.46,-116.7,660.9,-9.6,433,9897,0.30,2.28,0.00,0.000,6,0.123,0.042,2464,2166,3513
$GC,10209,-0.70,-116.7,677.3,-5.0,439,10214,0.20,2.42,0.00,0.000,4,0.060,0.055,2376,3599,3513
$GC,10249,-0.54,-116.7,680.3,-7.7,439,10254,0.22,2.33,0.00,0.000,6,0.119,0.038,2443,2162,3513
$GC,10578,-0.69,-116.7,698.9,-5.6,445,10583,0.15,2.30,0.00,0.000,4,0.071,0.052,2379,779,3513
$GC,10629,-0.50,-116.7,703.2,-8.9,445,10634,0.25,2.25,0.00,0.000,6,0.124,0.043,2451,2165,3512
$GC,10940,-0.68,-116.7,721.0,-5.6,450,10945,0.17,2.42,0.00,0.000,4,0.063,0.056,2378,3596,3513
$GC,10981,-0.53,-116.7,724.0,-8.5,450,10986,0.22,2.33,0.00,0.000,6,0.117,0.038,2444,2162,3512
$GC,11303,-0.69,-116.7,743.1,-5.8,456,11308,0.17,2.33,0.00,0.000,4,0.066,0.054,2372,768,3512
$GC,11355,-0.48,-116.7,747.6,-9.1,456,11360,0.30,2.28,0.00,0.000,6,0.123,0.044,2454,2163,3511
$GC,11666,-0.68,-116.7,764.6,-5.3,461,11670,0.17,2.45,0.00,0.000,4,0.062,0.058,2380,3598,3511
$GC,11705,-0.56,-116.7,767.5,-7.8,461,11710,0.17,2.35,0.00,0.000,6,0.122,0.038,2431,2158,3511
$GC,12034,-0.65,-116.7,786.6,-5.7,467,12038,0.00,2.30,0.00,0.000,4,0.000,0.054,2430,774,3511
$GC,12080,-0.65,-116.7,789.8,-7.0,467,12083,0.00,2.28,0.00,0.000,6,0.000,0.042,2431,2173,3511
$GC,12408,-0.75,-116.7,808.7,-5.8,473,12413,0.17,2.42,0.00,0.000,4,0.061,0.057,2354,3593,3511
$GC,12437,-0.57,-116.7,811.1,-8.6,473,12442,0.25,2.35,0.00,0.000,6,0.119,0.038,2427,2158,3511
$GC,12771,-0.66,-116.7,832.4,-6.3,479,12775,0.00,2.33,0.00,0.000,4,0.000,0.054,2427,763,3511
$GC,12811,-0.66,-116.7,835.3,-6.1,479,12815,0.00,2.30,0.00,0.000,6,0.000,0.041,2428,2176,3510
$GC,13139,-0.75,-116.7,855.5,-6.1,485,13144,0.17,2.45,0.00,0.000,4,0.066,0.061,2353,3588,3511
$GC,13173,-0.53,-116.7,858.3,-9.0,485,13178,0.30,2.35,0.00,0.000,6,0.117,0.041,2443,2163,3510
$GC,13507,-0.69,-116.7,876.9,-5.5,491,13512,0.17,2.33,0.00,0.000,4,0.066,0.054,2372,775,3510
$GC,13559,-0.49,-116.7,881.1,-8.9,491,13564,0.30,2.28,0.00,0.000,6,0.123,0.044,2455,2165,3510
$GC,13870,-0.71,-116.7,898.0,-5.3,496,13875,0.20,2.45,0.00,0.000,4,0.061,0.056,2365,3589,3510
$GC,13910,-0.53,-116.7,900.9,-7.7,496,13915,0.25,2.38,0.00,0.000,6,0.117,0.041,2440,2156,3510
$GC,14233,-0.68,-116.7,918.5,-5.4,502,14238,0.15,2.35,0.00,0.000,4,0.075,0.056,2379,763,3509
$GC,14284,-0.51,-116.7,922.4,-7.6,502,14289,0.25,2.30,0.00,0.000,6,0.124,0.042,2451,2169,3509
$GC,14597,-0.71,-116.7,938.2,-5.0,507,14601,0.20,2.42,0.00,0.000,4,0.061,0.057,2362,3594,3509
$GC,14636,-0.52,-116.7,941.1,-7.7,507,14641,0.28,2.35,0.00,0.000,6,0.114,0.039,2444,2160,3509
$GC,14964,-0.69,-116.7,958.5,-5.3,513,14969,0.17,2.33,0.00,0.000,4,0.066,0.053,2374,770,3509
$GC,15016,-0.51,-116.7,962.6,-8.1,513,15021,0.28,2.30,0.00,0.000,6,0.125,0.044,2452,2169,3509
$GC,15327,-0.72,-116.7,978.6,-5.0,518,15329,0.20,0.00,0.00,0.000,6,0.061,0.000,2372,2169,3509
$STATE,15504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15504,begin apogee
$GC,15513,-0.23,0.0,992.9,7.2,521,15617,0.52,0.00,101.25,1.404,6,0.120,0.000,2534,2282,3046
$STATE,15618,end apogee,CONTROL_FINISHED_OK
$STATE,15618,begin climb
$GC,15623,0.77,116.7,995.1,0.0,522,15741,1.00,0.00,114.62,1.371,6,0.083,0.000,2852,2282,2570
$GC,15994,0.61,129.4,979.1,6.4,529,16013,0.15,2.55,12.12,1.247,4,0.129,0.048,2811,852,2518
$GC,16083,0.65,164.1,973.9,5.5,530,16125,0.00,2.33,32.40,1.339,6,0.000,0.036,2810,2278,2375
$GC,16430,0.75,184.0,953.2,6.1,536,16451,0.12,0.00,18.23,1.306,6,0.072,0.000,2868,2279,2295
$GC,16732,0.61,184.0,928.4,8.3,541,16734,0.20,0.00,0.00,0.000,6,0.123,0.000,2807,2279,2290
$GC,17036,0.76,204.0,909.6,6.1,546,17057,0.15,0.00,18.27,1.303,6,0.062,0.000,2877,2279,2214
$GC,17338,0.61,204.0,881.9,9.3,551,17343,0.20,2.33,0.00,0.000,4,0.120,0.047,2812,851,2210
$GC,17389,0.76,204.0,877.9,7.4,551,17394,0.15,2.25,0.00,0.000,6,0.064,0.037,2879,2275,2209
$GC,17701,0.61,204.0,848.8,9.6,556,17703,0.22,0.00,0.00,0.000,6,0.117,0.000,2809,2275,2209
$GC,18003,0.77,204.0,827.1,7.1,561,18004,0.15,0.00,0.00,0.000,6,0.064,0.000,2877,2275,2209
$GC,18306,0.63,204.0,798.0,9.8,566,18308,0.20,0.00,0.00,0.000,6,0.119,0.000,2814,2275,2208
$GC,18610,0.77,204.0,775.9,7.1,571,18614,0.15,2.38,0.00,0.000,4,0.064,0.051,2884,851,2208
$GC,18660,0.62,204.0,771.1,9.1,571,18666,0.25,2.28,0.00,0.000,6,0.124,0.038,2810,2270,2208
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$GC,22640,0.87,252.5,463.1,6.3,644,22659,0.25,2.28,14.23,1.032,4,0.053,0.048,2908,862,2014
$GC,22749,0.72,252.5,452.0,12.1,647,22754,0.22,2.22,0.00,0.000,6,0.119,0.036,2840,2259,2012
$GC,23079,0.84,252.5,425.0,7.8,658,23084,0.12,2.38,0.00,0.000,4,0.068,0.054,2895,3687,2011
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$GC,23479,0.87,254.1,393.9,6.8,671,23484,0.20,2.28,0.00,0.000,4,0.056,0.048,2906,857,2011
$GC,23553,0.73,254.1,386.1,8.8,673,23558,0.20,2.22,0.00,0.000,6,0.118,0.036,2845,2251,2010
$GC,23879,0.83,254.1,358.5,8.3,684,23884,0.10,2.42,0.00,0.000,4,0.077,0.054,2892,3686,2010
$GC,23935,0.64,254.1,352.4,11.3,685,23942,0.25,2.30,0.00,0.000,6,0.118,0.032,2819,2250,2010
$GC,24251,0.86,264.8,331.0,6.5,696,24267,0.20,2.25,11.20,0.938,4,0.056,0.046,2919,863,1965
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$GC,25126,0.73,264.8,257.4,10.4,731,25135,0.25,2.22,0.00,0.000,6,0.118,0.036,2846,2250,1962
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$GC,27952,0.85,275.2,24.0,6.8,924,27958,0.00,2.45,0.00,0.000,4,0.000,0.055,2861,3687,1930
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$STATE,28174,end climb,SURFACE_DEPTH_REACHED
$STATE,28175,begin surface coast
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$STATE,28217,end surface coast,CONTROL_FINISHED_OK
$STATE,28217,begin surface
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