version: 66.04
glider: 160
mission: 3
dive: 4
start: 1 24 109 17 10 27
data:
$ID,160
$MISSION,3
$DIVE,4
$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,-7027.3008
$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,16
$R_STBD_OVSHOOT,24
$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
$GPS1,170427,6339.941,216.234,25,3.3,44,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-59.6
$GPS2,171022,6339.931,216.214,13,3.9,32,-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,309.3,191187,-17.5,-10.000
$D_GRID,1411
$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,-145.9,0.0,0.0,0,92,0.00,0.00,-78.60,0.000,2,0.000,0.000,129,2304,2712
$GC,93,-0.98,-145.9,3.0,-2.5,14,150,8.52,2.42,-40.20,0.000,4,0.240,0.086,2291,886,3644
$GC,389,-0.63,-145.9,40.3,-15.9,69,395,0.32,2.35,0.00,0.000,6,0.134,0.064,2402,2299,3644
$GC,714,-0.79,-145.9,73.2,-11.0,130,722,0.15,2.35,0.00,0.000,4,0.068,0.071,2338,888,3644
$GC,961,-0.67,-145.9,104.3,-12.9,176,968,0.15,2.33,0.00,0.000,6,0.131,0.063,2389,2304,3644
$GC,1287,-0.78,-145.9,137.2,-9.4,237,1294,0.00,2.35,0.00,0.000,4,0.000,0.069,2389,881,3644
$GC,1458,-0.88,-145.9,154.7,-10.0,265,1462,0.12,2.33,0.00,0.000,6,0.045,0.065,2312,2301,3644
$GC,1778,-0.69,-145.9,198.3,-13.5,296,1783,0.25,2.33,0.00,0.000,4,0.138,0.070,2387,886,3644
$GC,1912,-0.78,-145.9,211.6,-9.2,305,1916,0.00,2.33,0.00,0.000,6,0.000,0.067,2387,2306,3645
$GC,2229,-0.90,-145.9,240.3,-9.0,326,2234,0.20,2.33,0.00,0.000,4,0.061,0.067,2303,880,3644
$GC,2303,-0.64,-145.9,250.4,-14.4,330,2311,0.28,2.33,0.00,0.000,6,0.135,0.065,2393,2302,3644
$GC,2616,-0.79,-145.9,276.8,-7.8,351,2620,0.12,2.33,0.00,0.000,4,0.076,0.071,2338,882,3645
$GC,2717,-0.67,-145.9,288.0,-11.6,357,2722,0.15,2.33,0.00,0.000,6,0.131,0.067,2389,2302,3645
$GC,3028,-0.81,-145.9,314.0,-7.9,375,3033,0.12,2.33,0.00,0.000,4,0.073,0.070,2335,884,3645
$GC,3060,-0.67,-145.9,317.3,-11.0,376,3065,0.15,2.30,0.00,0.000,6,0.131,0.064,2386,2296,3645
$GC,3376,-0.80,-145.9,343.9,-8.7,392,3380,0.12,2.30,0.00,0.000,4,0.074,0.071,2330,891,3645
$GC,3434,-0.68,-145.9,350.7,-11.6,394,3441,0.15,2.30,0.00,0.000,6,0.133,0.064,2382,2304,3645
$GC,3744,-0.80,-145.9,379.5,-9.7,410,3749,0.00,2.33,0.00,0.000,4,0.000,0.070,2381,889,3645
$GC,3824,-0.91,-145.9,387.8,-10.7,413,3831,0.15,2.30,0.00,0.000,6,0.059,0.066,2310,2300,3645
$GC,4134,-0.73,-145.9,424.9,-12.0,429,4139,0.20,2.35,0.00,0.000,4,0.144,0.073,2369,883,3645
$GC,4198,-0.73,-145.9,431.1,-9.8,432,4203,0.00,2.33,0.00,0.000,6,0.000,0.070,2369,2299,3645
$GC,4525,-0.81,-145.9,461.6,-9.6,448,4529,0.00,2.33,0.00,0.000,4,0.000,0.074,2369,890,3645
$GC,4652,-0.81,-145.9,474.5,-10.5,454,4657,0.00,2.30,0.00,0.000,6,0.000,0.067,2369,2295,3645
$GC,4979,-0.89,-145.9,504.8,-9.2,470,4984,0.15,2.33,0.00,0.000,4,0.074,0.075,2308,889,3644
$GC,5026,-0.69,-145.9,510.5,-12.3,472,5031,0.20,2.33,0.00,0.000,6,0.138,0.070,2375,2304,3644
$GC,5348,-0.79,-145.9,538.3,-8.3,488,5352,0.00,2.35,0.00,0.000,4,0.000,0.074,2376,881,3643
$STATE,5367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5367,begin apogee
$GC,5372,-0.23,0.0,540.2,8.9,489,5492,0.47,0.00,116.78,1.102,6,0.123,0.000,2532,2308,3046
$STATE,5492,end apogee,CONTROL_FINISHED_OK
$STATE,5492,begin climb
$GC,5493,0.98,145.9,544.4,0.0,495,5620,1.15,2.58,119.38,1.045,4,0.090,0.079,2914,3708,2450
$GC,5716,0.63,145.9,528.7,11.4,505,5723,0.35,2.42,0.00,0.000,6,0.156,0.061,2817,2298,2446
$GC,6026,0.88,222.0,507.4,6.5,521,6093,0.22,2.50,61.62,1.049,4,0.074,0.075,2905,890,2140
$GC,6168,0.82,222.0,491.9,13.3,527,6174,0.10,2.42,0.00,0.000,6,0.147,0.066,2874,2299,2135
$GC,6477,0.82,222.0,455.4,11.6,543,6482,0.00,2.45,0.00,0.000,4,0.000,0.084,2874,3712,2132
$GC,6536,0.82,222.0,448.1,13.0,545,6543,0.00,2.38,0.00,0.000,6,0.000,0.064,2879,2296,2131
$GC,6846,0.82,222.0,409.7,13.2,561,6851,0.00,2.35,0.00,0.000,4,0.000,0.075,2878,891,2130
$GC,6969,0.82,222.0,394.6,11.8,566,6976,0.00,2.35,0.00,0.000,6,0.000,0.065,2878,2309,2129
$GC,7279,0.82,222.0,358.5,11.5,582,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2309,2129
$GC,7584,0.82,222.0,323.7,11.5,597,7589,0.00,2.38,0.00,0.000,4,0.000,0.072,2879,886,2128
$GC,7611,0.88,222.0,320.9,10.3,598,7616,0.00,2.33,0.00,0.000,6,0.000,0.064,2879,2298,2128
$GC,7922,0.88,222.0,289.5,10.2,615,7927,0.00,2.35,0.00,0.000,4,0.000,0.074,2878,891,2128
$GC,7991,0.96,222.0,282.0,11.0,619,7996,0.08,2.30,0.00,0.000,6,0.071,0.064,2920,2300,2128
$GC,8309,0.86,222.0,238.4,14.0,640,8310,0.15,0.00,0.00,0.000,6,0.150,0.000,2877,2300,2128
$GC,8616,0.92,222.0,202.5,11.7,660,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2301,2128
$GC,8926,0.99,222.0,166.9,11.6,689,8931,0.15,2.33,0.00,0.000,4,0.077,0.074,2938,891,2128
$GC,8979,0.85,222.0,159.5,13.8,694,8984,0.15,2.30,0.00,0.000,6,0.140,0.062,2887,2308,2128
$GC,9303,0.85,222.0,119.8,11.1,747,9309,0.00,2.33,0.00,0.000,4,0.000,0.068,2891,890,2128
$GC,9339,0.85,222.0,115.5,11.9,754,9347,0.00,2.28,0.00,0.000,6,0.000,0.061,2891,2293,2128
$GC,9666,0.85,222.0,77.7,14.9,815,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2293,2129
$GC,9986,0.85,222.0,38.2,13.3,875,9993,0.00,2.30,0.00,0.000,4,0.000,0.070,2891,890,2129
$GC,10044,0.87,235.1,32.1,9.4,886,10058,0.00,2.28,10.00,0.684,6,0.000,0.061,2891,2301,2086
$STATE,10275,end climb,SURFACE_DEPTH_REACHED
$STATE,10275,begin surface coast
$FINISH,1.7,1.012690
$STATE,10291,end surface coast,CONTROL_FINISHED_OK
$STATE,10291,begin surface
$SM_CCo,10303,165.60,0.694,0,0,1211,450.13
$SM_GC,2.44,0.00,0.00,165.60,0.000,0.000,0.694,144,2301,1211,-7.69,0.03,450.13
$IRIDIUM_FIX,6313.04,215.69,200498,141416
$TT8_MAMPS,0.051389
$HUMID,1645
$INTERNAL_PRESSURE,8.99835
$TCM_TEMP,18.50
$XPDR_PINGS,142
$24V_AH,23.7,7.313
$10V_AH,10.5,2.579
$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,21.675,103.200,307.775,165.600,0.000,22.621,32.978,201.515,35.500,0.000,0.000,35.315,0.000,7658.044,644.762,2158.114,351.011,0.000,1510.501,0.000,1794.987,0.000,0.534,0.000
$DEVICE_MAMPS,240.071,85.904,1102.179,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,647.103,565.352,454.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47487,932
$CAP_FILE_SIZE,107136,0
$CFSIZE,260165632,258002944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240109,200554,6340.442,214.169,23,0.9,40,-3.7