version: 66.04
glider: 160
mission: 3
dive: 3
start: 1 24 109 14 2 33
data:
$ID,160
$MISSION,3
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51810
$NAV_MODE,0
$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,450
$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,-6991.3584
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2608
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,150
$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,2
$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
$GPS1,135846,6339.528,218.862,12,2.3,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-56.7
$GPS2,140228,6339.507,218.833,11,2.4,30,-3.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6440.000,-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,309.1,193333,-17.5,-10.000
$D_GRID,1390
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.98,-145.9,0.0,0.0,0,141,0.00,0.00,-127.93,0.000,2,0.000,0.000,149,2310,3067
$GC,143,-0.98,-145.9,3.2,-5.1,23,177,8.23,2.33,-20.40,0.000,4,0.238,0.090,2284,3712,3640
$GC,288,-0.65,-145.9,21.0,-14.4,50,295,0.32,2.33,0.00,0.000,6,0.135,0.058,2391,2291,3641
$GC,614,-0.76,-145.9,55.0,-9.6,111,621,0.00,2.30,0.00,0.000,4,0.000,0.071,2391,892,3641
$GC,758,-0.84,-145.9,69.6,-9.6,138,765,0.12,2.30,0.00,0.000,6,0.058,0.063,2326,2302,3641
$GC,1085,-0.68,-145.9,109.1,-12.8,199,1091,0.20,2.33,0.00,0.000,4,0.137,0.070,2386,867,3640
$GC,1196,-0.76,-145.9,121.0,-10.3,220,1204,0.00,2.33,0.00,0.000,6,0.000,0.063,2385,2294,3640
$GC,1527,-0.87,-145.9,153.1,-9.4,279,1532,0.17,2.30,0.00,0.000,4,0.067,0.070,2310,891,3640
$GC,1639,-0.63,-145.9,168.3,-14.1,289,1646,0.28,2.30,0.00,0.000,6,0.134,0.063,2402,2304,3640
$GC,1954,-0.80,-145.9,196.0,-8.6,320,1959,0.15,2.30,0.00,0.000,4,0.067,0.067,2336,892,3641
$GC,2039,-0.68,-145.9,206.3,-12.6,327,2044,0.12,2.30,0.00,0.000,6,0.132,0.064,2380,2307,3640
$GC,2358,-0.78,-145.9,235.8,-9.3,348,2361,0.00,2.33,0.00,0.000,4,0.000,0.068,2381,887,3640
$GC,2463,-0.85,-145.9,246.1,-10.0,354,2471,0.10,2.30,0.00,0.000,6,0.064,0.063,2328,2304,3640
$GC,2776,-0.73,-145.9,281.5,-11.1,375,2780,0.15,2.30,0.00,0.000,4,0.143,0.069,2372,893,3640
$GC,2909,-0.73,-145.9,294.6,-9.6,383,2913,0.00,2.28,0.00,0.000,6,0.000,0.064,2371,2294,3640
$GC,3225,-0.80,-145.9,324.2,-9.5,400,3230,0.00,2.30,0.00,0.000,4,0.000,0.070,2371,892,3640
$GC,3283,-0.80,-145.9,330.1,-10.4,402,3290,0.00,2.28,0.00,0.000,6,0.000,0.064,2372,2294,3639
$GC,3594,-0.89,-145.9,360.2,-9.8,418,3598,0.15,2.30,0.00,0.000,4,0.070,0.071,2308,892,3640
$GC,3743,-0.69,-145.9,380.4,-13.4,425,3748,0.22,2.30,0.00,0.000,6,0.133,0.065,2384,2304,3640
$GC,4069,-0.82,-145.9,408.2,-8.5,441,4074,0.12,2.33,0.00,0.000,4,0.077,0.071,2329,886,3640
$GC,4101,-0.67,-145.9,411.7,-11.8,442,4106,0.17,2.30,0.00,0.000,6,0.132,0.066,2386,2294,3640
$GC,4417,-0.82,-145.9,441.0,-9.9,458,4421,0.12,2.30,0.00,0.000,4,0.074,0.073,2332,893,3640
$GC,4534,-0.71,-145.9,456.0,-13.2,463,4539,0.12,2.30,0.00,0.000,6,0.137,0.068,2374,2302,3640
$GC,4850,-0.82,-145.9,488.3,-9.5,479,4854,0.00,2.33,0.00,0.000,4,0.000,0.072,2375,890,3639
$GC,4951,-0.90,-145.9,497.7,-8.9,483,4958,0.12,2.30,0.00,0.000,6,0.058,0.067,2313,2301,3639
$GC,5261,-0.73,-145.9,534.4,-12.2,499,5266,0.20,2.30,0.00,0.000,4,0.145,0.074,2373,896,3638
$STATE,5313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5313,begin apogee
$GC,5318,-0.23,0.0,540.1,9.9,501,5436,0.45,0.00,115.88,1.095,6,0.123,0.000,2527,2303,3046
$STATE,5436,end apogee,CONTROL_FINISHED_OK
$STATE,5436,begin climb
$GC,5437,0.98,145.9,544.5,0.0,507,5561,1.17,0.00,119.65,1.042,6,0.088,0.000,2919,2303,2451
$GC,5863,0.74,145.9,505.5,11.3,528,5868,0.25,2.40,0.00,0.000,4,0.158,0.082,2849,3702,2444
$GC,5922,0.66,145.9,499.7,10.2,530,5929,0.10,2.35,0.00,0.000,6,0.150,0.064,2824,2308,2444
$GC,6232,0.87,203.9,477.1,7.3,546,6284,0.20,2.47,46.70,1.049,4,0.074,0.076,2906,890,2213
$GC,6326,0.77,203.9,466.8,12.4,550,6333,0.15,2.40,0.00,0.000,6,0.146,0.063,2859,2294,2209
$GC,6636,0.86,203.9,434.9,10.4,566,6641,0.00,2.42,0.00,0.000,4,0.000,0.083,2859,3709,2206
$GC,6646,0.86,203.9,433.8,10.2,566,6651,0.00,2.38,0.00,0.000,6,0.000,0.064,2865,2294,2206
$GC,6962,0.86,203.9,402.4,10.4,582,6967,0.00,2.35,0.00,0.000,4,0.000,0.076,2865,891,2205
$GC,6999,0.93,203.9,398.6,10.5,583,7006,0.08,2.33,0.00,0.000,6,0.074,0.063,2907,2301,2204
$GC,7309,0.84,203.9,362.5,11.6,599,7314,0.00,2.38,0.00,0.000,4,0.000,0.072,2914,878,2203
$GC,7341,0.73,203.9,358.8,12.2,600,7346,0.20,2.35,0.00,0.000,6,0.143,0.063,2848,2309,2203
$GC,7657,0.89,208.9,328.5,9.8,616,7662,0.15,2.35,0.00,0.000,4,0.079,0.071,2908,890,2202
$GC,7694,0.79,208.9,324.3,12.1,617,7701,0.12,2.30,0.00,0.000,6,0.140,0.063,2866,2301,2202
$GC,8005,0.86,208.9,291.9,10.4,634,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2301,2202
$GC,8311,0.94,208.9,260.6,10.2,654,8316,0.12,2.33,0.00,0.000,4,0.081,0.072,2918,890,2202
$GC,8338,0.84,208.9,257.6,12.4,655,8345,0.10,2.30,0.00,0.000,6,0.143,0.063,2883,2304,2201
$GC,8650,0.84,208.9,222.2,11.4,676,8654,0.00,2.35,0.00,0.000,4,0.000,0.073,2883,880,2202
$GC,8676,0.84,208.9,219.4,10.7,677,8683,0.00,2.33,0.00,0.000,6,0.000,0.065,2883,2304,2202
$GC,8990,0.84,208.9,184.7,11.1,702,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2303,2202
$GC,9300,0.84,208.9,149.9,11.0,732,9307,0.00,2.33,0.00,0.000,4,0.000,0.072,2883,891,2202
$GC,9338,0.84,208.9,145.8,11.3,739,9345,0.00,2.28,3.62,0.543,6,0.000,0.062,2883,2296,2194
$GC,9664,0.84,208.9,109.9,10.7,800,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2296,2194
$GC,9985,0.84,208.9,73.7,10.7,860,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2296,2194
$GC,10306,0.84,208.9,38.7,11.3,920,10313,0.00,2.30,0.00,0.000,4,0.000,0.071,2883,891,2194
$GC,10349,0.90,208.9,33.7,11.2,928,10356,0.00,2.28,0.00,0.000,6,0.000,0.062,2883,2301,2194
$STATE,10631,end climb,SURFACE_DEPTH_REACHED
$STATE,10631,begin surface coast
$FINISH,1.7,1.013802
$STATE,10653,end surface coast,CONTROL_FINISHED_OK
$STATE,10653,begin surface
$SM_CCo,10665,184.80,0.690,0,0,1210,450.13
$SM_GC,2.47,0.00,0.00,184.80,0.000,0.000,0.690,135,2305,1210,-7.71,0.08,450.13
$IRIDIUM_FIX,6313.04,235.05,200498,141455
$TT8_MAMPS,0.052156
$HUMID,1670
$INTERNAL_PRESSURE,9.00812
$TCM_TEMP,16.30
$XPDR_PINGS,138
$24V_AH,23.8,7.169
$10V_AH,10.6,2.511
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.525,106.900,285.850,184.800,0.000,0.000,0.000,0.000,34.500,0.000,0.000,32.764,0.000,7924.188,683.017,2231.997,72.453,0.000,1577.860,0.000,1856.890,0.000,0.534,0.000
$DEVICE_MAMPS,237.770,89.739,1094.509,690.300,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,684.221,602.716,492.783,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50550,985
$CAP_FILE_SIZE,119517,0
$CFSIZE,260165632,258027520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240109,170427,6339.941,216.234,25,3.3,44,-3.7