version: 66.04
glider: 160
mission: 3
dive: 5
start: 1 24 109 20 10 7
data:
$ID,160
$MISSION,3
$DIVE,5
$D_SURF,3
$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,-1
$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,300
$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,-7041.6558
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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
$GPS1,200554,6340.442,214.169,23,0.9,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-59.5
$GPS2,201002,6340.448,214.138,11,1.4,11,-3.7
$SPEED_LIMITS,0.119,0.206
$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,309.3,189292,-13.7,-6.875
$D_GRID,1414
$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,10,begin dive
$GC,11,-0.77,-116.7,0.0,0.0,0,95,0.00,0.00,-82.30,0.000,2,0.000,0.000,133,2304,2785
$GC,97,-0.77,-116.7,3.1,-1.2,13,147,8.82,2.42,-31.33,0.000,4,0.240,0.087,2362,891,3523
$GC,385,-0.40,-116.7,33.7,-13.5,66,393,0.35,2.35,0.00,0.000,6,0.121,0.064,2480,2299,3523
$GC,712,-0.62,-116.7,52.5,-5.7,127,719,0.20,2.38,0.00,0.000,4,0.060,0.072,2396,892,3524
$GC,958,-0.45,-116.7,75.4,-10.2,173,965,0.20,2.33,0.00,0.000,6,0.121,0.064,2465,2302,3524
$GC,1284,-0.58,-116.7,96.7,-6.2,234,1291,0.12,2.35,0.00,0.000,4,0.073,0.071,2409,884,3524
$GC,1440,-0.45,-116.7,111.6,-8.9,263,1446,0.20,2.35,0.00,0.000,6,0.129,0.067,2469,2308,3524
$GC,1765,-0.62,-116.7,133.2,-6.8,324,1774,0.17,2.33,0.00,0.000,4,0.062,0.070,2395,891,3524
$GC,1858,-0.45,-116.7,141.8,-9.7,341,1864,0.20,2.30,0.00,0.000,6,0.120,0.064,2464,2300,3524
$GC,2177,-0.59,-116.7,163.9,-5.3,383,2181,0.12,2.33,0.00,0.000,4,0.074,0.071,2408,887,3524
$GC,2267,-0.49,-116.7,171.4,-9.0,391,2274,0.12,2.30,0.00,0.000,6,0.122,0.064,2453,2294,3524
$GC,2583,-0.60,-116.7,190.8,-5.8,422,2588,0.12,2.33,0.00,0.000,4,0.073,0.072,2397,879,3524
$GC,2631,-0.44,-116.7,194.8,-8.7,426,2638,0.20,2.33,0.00,0.000,6,0.121,0.067,2466,2298,3524
$GC,2949,-0.61,-116.7,212.9,-5.6,450,2953,0.15,2.33,0.00,0.000,4,0.068,0.072,2403,886,3525
$GC,3018,-0.48,-116.7,218.7,-9.1,454,3023,0.15,2.30,0.00,0.000,6,0.121,0.066,2456,2294,3525
$GC,3336,-0.60,-116.7,238.0,-6.0,475,3340,0.12,2.30,0.00,0.000,4,0.069,0.071,2400,891,3525
$GC,3404,-0.47,-116.7,243.9,-9.1,479,3409,0.17,2.30,0.00,0.000,6,0.121,0.064,2461,2301,3525
$GC,3722,-0.63,-116.7,262.4,-5.3,500,3727,0.15,2.33,0.00,0.000,4,0.067,0.071,2395,889,3525
$GC,3780,-0.46,-116.7,267.0,-8.5,503,3787,0.17,2.30,0.00,0.000,6,0.120,0.066,2457,2299,3524
$GC,4093,-0.59,-116.7,282.6,-4.7,524,4097,0.12,2.33,0.00,0.000,4,0.070,0.073,2402,889,3525
$GC,4151,-0.46,-116.7,286.9,-7.3,527,4158,0.17,2.33,0.00,0.000,6,0.120,0.066,2463,2308,3525
$GC,4478,-0.63,-116.7,304.5,-6.1,548,4482,0.15,2.33,0.00,0.000,4,0.070,0.070,2398,869,3525
$GC,4557,-0.47,-116.7,311.8,-9.4,551,4565,0.17,2.35,0.00,0.000,6,0.122,0.065,2459,2307,3525
$GC,4868,-0.63,-116.7,333.9,-7.0,567,4869,0.15,0.00,0.00,0.000,6,0.067,0.000,2392,2306,3525
$GC,5173,-0.52,-116.7,361.9,-9.0,582,5178,0.17,2.33,0.00,0.000,4,0.124,0.070,2447,887,3525
$GC,5296,-0.59,-116.7,370.8,-6.8,587,5303,0.00,2.30,0.00,0.000,6,0.000,0.067,2447,2291,3525
$GC,5606,-0.71,-116.7,389.3,-5.8,603,5607,0.17,0.00,0.00,0.000,6,0.065,0.000,2373,2291,3525
$GC,5911,-0.52,-116.7,415.7,-8.9,618,5913,0.22,0.00,0.00,0.000,6,0.127,0.000,2444,2291,3525
$GC,6217,-0.64,-116.7,435.5,-6.7,633,6221,0.12,2.30,0.00,0.000,4,0.072,0.074,2389,891,3525
$GC,6291,-0.49,-116.7,442.2,-9.4,636,6296,0.17,2.30,0.00,0.000,6,0.124,0.067,2450,2301,3525
$GC,6607,-0.64,-116.7,461.6,-5.9,652,6608,0.15,0.00,0.00,0.000,6,0.070,0.000,2388,2301,3525
$GC,6912,-0.53,-116.7,485.0,-7.7,667,6916,0.17,2.33,0.00,0.000,4,0.129,0.076,2443,892,3524
$GC,7078,-0.61,-116.7,495.7,-6.2,674,7084,0.00,2.30,0.00,0.000,6,0.000,0.069,2443,2295,3523
$GC,7388,-0.72,-116.7,514.3,-6.2,690,7392,0.17,2.33,0.00,0.000,4,0.068,0.076,2370,886,3523
$GC,7451,-0.49,-116.7,519.9,-9.9,693,7456,0.22,2.33,0.00,0.000,6,0.131,0.072,2446,2299,3523
$GC,7778,-0.63,-116.7,539.1,-5.7,709,7782,0.12,2.33,0.00,0.000,4,0.077,0.077,2393,892,3522
$GC,7863,-0.50,-116.7,546.0,-8.2,713,7868,0.15,2.30,0.00,0.000,6,0.128,0.071,2446,2294,3522
$GC,8189,-0.64,-116.7,564.1,-5.3,729,8194,0.12,2.33,0.00,0.000,4,0.077,0.077,2392,887,3521
$GC,8232,-0.50,-116.7,567.3,-8.6,731,8236,0.15,2.33,0.00,0.000,6,0.129,0.074,2445,2295,3520
$GC,8558,-0.63,-116.7,584.9,-5.5,747,8563,0.12,2.33,0.00,0.000,4,0.076,0.078,2393,892,3520
$GC,8638,-0.49,-116.7,591.2,-8.3,750,8645,0.17,2.33,0.00,0.000,6,0.129,0.074,2454,2299,3520
$GC,8958,-0.66,-116.7,609.4,-5.7,764,8962,0.15,2.35,0.00,0.000,4,0.075,0.079,2392,893,3519
$GC,9032,-0.54,-116.7,615.3,-8.3,766,9037,0.12,2.33,0.00,0.000,6,0.133,0.074,2436,2300,3519
$GC,9357,-0.63,-116.7,635.9,-6.3,777,9361,0.00,2.35,0.00,0.000,4,0.000,0.079,2436,890,3518
$GC,9441,-0.63,-116.7,641.7,-7.2,779,9446,0.00,2.33,0.00,0.000,6,0.000,0.074,2436,2299,3518
$GC,9756,-0.72,-116.7,662.0,-6.4,790,9760,0.15,2.35,0.00,0.000,4,0.079,0.079,2375,881,3517
$GC,9814,-0.52,-116.7,667.3,-9.9,791,9821,0.20,2.38,0.00,0.000,6,0.135,0.077,2443,2308,3516
$GC,10123,-0.65,-116.7,686.5,-6.0,802,10127,0.12,2.35,0.00,0.000,4,0.077,0.077,2391,889,3516
$GC,10192,-0.52,-116.7,692.1,-8.1,804,10197,0.15,2.35,0.00,0.000,6,0.133,0.076,2444,2306,3516
$GC,10522,-0.66,-116.7,711.4,-5.7,815,10526,0.15,2.35,0.00,0.000,4,0.073,0.078,2382,890,3515
$GC,10591,-0.51,-116.7,717.0,-8.5,817,10596,0.17,2.35,0.00,0.000,6,0.134,0.077,2442,2304,3514
$GC,10921,-0.64,-116.7,735.7,-5.6,828,10926,0.12,2.35,0.00,0.000,4,0.081,0.080,2393,891,3513
$GC,11001,-0.54,-116.7,741.8,-7.5,830,11006,0.12,2.33,0.00,0.000,6,0.134,0.075,2436,2297,3513
$GC,11320,-0.64,-116.7,760.8,-5.9,841,11324,0.00,2.35,0.00,0.000,4,0.000,0.082,2436,892,3512
$GC,11394,-0.71,-116.7,765.8,-7.7,843,11399,0.12,2.33,0.00,0.000,6,0.076,0.076,2380,2295,3512
$GC,11719,-0.58,-116.7,792.1,-8.3,854,11724,0.15,2.35,0.00,0.000,4,0.146,0.084,2424,891,3512
$GC,11831,-0.58,-116.7,800.6,-7.7,857,11836,0.00,2.35,0.00,0.000,6,0.000,0.074,2423,2309,3512
$GC,12150,-0.58,-116.7,821.9,-6.6,868,12155,0.00,2.38,0.00,0.000,4,0.000,0.081,2423,886,3512
$GC,12246,-0.58,-116.7,828.7,-7.2,871,12251,0.00,2.35,0.00,0.000,6,0.000,0.077,2424,2301,3511
$GC,12581,-0.58,-116.7,850.0,-6.3,882,12586,0.00,2.38,0.00,0.000,4,0.000,0.084,2424,888,3511
$GC,12672,-0.58,-116.7,856.3,-7.2,884,12680,0.00,2.35,0.00,0.000,6,0.000,0.078,2423,2301,3511
$GC,12980,-0.58,-116.7,875.4,-6.2,895,12985,0.00,2.38,0.00,0.000,4,0.000,0.084,2424,888,3511
$GC,13082,-0.58,-116.7,882.4,-7.0,898,13086,0.00,2.35,0.00,0.000,6,0.000,0.079,2423,2294,3511
$GC,13412,-0.58,-116.7,903.3,-6.5,909,13416,0.00,2.38,0.00,0.000,4,0.000,0.086,2424,889,3511
$GC,13491,-0.58,-116.7,909.0,-7.0,911,13496,0.00,2.35,0.00,0.000,6,0.000,0.081,2424,2292,3510
$GC,13811,-0.58,-116.7,930.4,-6.6,922,13815,0.00,2.38,0.00,0.000,4,0.000,0.087,2424,890,3510
$GC,13912,-0.58,-116.7,937.9,-7.5,925,13917,0.00,2.38,0.00,0.000,6,0.000,0.081,2424,2305,3510
$GC,14242,-0.65,-116.7,959.5,-6.5,936,14246,0.00,2.38,0.00,0.000,4,0.000,0.086,2424,894,3509
$GC,14354,-0.65,-116.7,967.7,-6.9,939,14358,0.00,2.35,0.00,0.000,6,0.000,0.081,2424,2297,3509
$GC,14673,-0.65,-116.7,988.3,-6.4,950,14678,0.00,2.38,0.00,0.000,4,0.000,0.089,2424,894,3509
$STATE,14698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14698,begin apogee
$GC,14703,-0.23,0.0,990.0,7.2,950,14802,0.32,0.00,97.32,1.451,6,0.150,0.000,2530,2311,3046
$STATE,14803,end apogee,CONTROL_FINISHED_OK
$STATE,14803,begin climb
$GC,14804,0.77,116.7,993.3,0.0,954,14916,1.05,2.70,104.50,1.414,4,0.119,0.092,2852,3710,2569
$GC,14964,0.36,116.7,986.1,8.7,959,14969,0.43,2.55,0.00,0.000,6,0.170,0.073,2738,2301,2565
$GC,15294,0.62,173.0,970.4,4.6,970,15350,0.22,2.65,49.20,1.401,4,0.099,0.090,2810,895,2339
$GC,15440,0.62,173.0,959.9,7.9,974,15445,0.00,2.53,0.00,0.000,6,0.000,0.078,2809,2306,2333
$GC,15755,0.62,173.0,935.1,8.0,985,15759,0.00,2.50,0.00,0.000,4,0.000,0.089,2810,896,2332
$GC,15791,0.62,173.0,932.2,8.2,986,15796,0.00,2.45,0.00,0.000,6,0.000,0.079,2809,2304,2331
$GC,16122,0.62,173.0,905.9,8.0,997,16127,0.00,2.47,0.00,0.000,4,0.000,0.091,2810,895,2331
$GC,16148,0.62,173.0,903.9,7.5,997,16155,0.00,2.42,0.00,0.000,6,0.000,0.078,2809,2306,2330
$GC,16456,0.62,173.0,879.6,7.7,1008,16457,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2306,2330
$GC,16760,0.62,173.0,856.8,7.4,1018,16765,0.00,2.45,0.00,0.000,4,0.000,0.089,2810,894,2330
$GC,16818,0.62,173.0,852.5,7.8,1019,16825,0.00,2.40,0.00,0.000,6,0.000,0.079,2809,2304,2330
$GC,17127,0.62,173.0,829.5,7.4,1030,17132,0.00,2.45,0.00,0.000,4,0.000,0.092,2810,893,2330
$GC,17153,0.63,186.1,827.6,6.4,1030,17169,0.00,2.40,10.95,1.262,6,0.000,0.081,2810,2305,2286
$GC,17494,0.63,186.1,802.5,7.4,1042,17499,0.00,2.45,0.00,0.000,4,0.000,0.091,2810,894,2284
$GC,17520,0.63,186.1,800.6,8.0,1042,17527,0.00,2.40,0.00,0.000,6,0.000,0.082,2809,2293,2284
$GC,17829,0.63,186.1,776.9,7.7,1053,17833,0.00,2.42,0.00,0.000,4,0.000,0.090,2810,894,2283
$GC,17860,0.63,186.1,774.3,8.3,1054,17865,0.00,2.40,0.00,0.000,6,0.000,0.080,2809,2305,2284
$GC,18196,0.63,186.1,748.4,7.8,1065,18201,0.00,2.42,0.00,0.000,4,0.000,0.090,2810,895,2284
$GC,18227,0.63,186.1,746.0,7.2,1066,18232,0.00,2.40,0.00,0.000,6,0.000,0.082,2809,2305,2283
$GC,18563,0.63,186.1,719.8,7.8,1077,18567,0.00,2.42,0.00,0.000,4,0.000,0.090,2810,895,2283
$GC,18600,0.63,186.1,716.8,7.6,1078,18605,0.00,2.40,0.00,0.000,6,0.000,0.081,2810,2306,2283
$GC,18930,0.63,186.1,690.6,8.0,1089,18934,0.00,2.42,0.00,0.000,4,0.000,0.090,2810,894,2283
$GC,18956,0.66,207.5,688.5,6.0,1089,18981,0.00,2.40,19.00,1.249,6,0.000,0.082,2809,2306,2200
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$GC,22345,0.69,212.0,391.6,6.7,1240,22351,0.12,0.00,4.65,0.834,6,0.082,0.000,2840,2308,2181
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$STATE,26597,end climb,SURFACE_DEPTH_REACHED
$STATE,26597,begin surface coast
$FINISH,2.0,0.999869
$STATE,26629,end surface coast,CONTROL_FINISHED_OK
$STATE,26629,begin surface
$SM_CCo,26641,68.12,0.710,0,0,1823,300.00
$SM_GC,2.83,0.00,0.00,68.12,0.000,0.000,0.710,146,2296,1823,-7.71,-0.11,300.00
$IRIDIUM_FIX,6313.04,215.69,200498,171726
$TT8_MAMPS,0.052923
$HUMID,1651
$INTERNAL_PRESSURE,9.03742
$TCM_TEMP,18.60
$XPDR_PINGS,197
$24V_AH,23.0,7.459
$10V_AH,10.5,2.697
$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,26.875,283.750,285.625,68.125,0.000,30.072,35.153,114.940,49.250,0.000,0.000,13.730,0.000,21548.713,767.970,4263.152,367.039,0.000,2489.095,0.000,3537.166,0.000,0.533,0.000
$DEVICE_MAMPS,240.071,92.040,1451.164,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1193.035,955.431,624.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85076,1716
$CAP_FILE_SIZE,233837,0
$CFSIZE,260165632,257773568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057, 87.2,1
$GPS,250109,033607,6342.113,210.242,31,0.9,31,-3.8