version: 66.04
glider: 160
mission: 3
dive: 6
start: 1 25 109 3 41 25
data:
$ID,160
$MISSION,3
$DIVE,6
$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,-7056.8105
$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,18
$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
$GPS1,033607,6342.113,210.242,31,0.9,31,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-56.3
$GPS2,034120,6342.124,210.186,12,1.2,12,-3.8
$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,299.4,184940,-13.7,-6.875
$D_GRID,1438
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.77,-116.7,0.0,0.0,0,33,0.00,0.00,-19.77,0.000,2,0.000,0.000,133,2296,2195
$GC,35,-0.77,-116.7,3.1,-2.9,3,128,8.30,2.42,-80.28,0.000,4,0.211,0.084,2366,891,3521
$GC,367,-0.42,-116.7,32.6,-8.6,63,374,0.30,2.38,0.00,0.000,6,0.127,0.065,2477,2307,3523
$GC,693,-0.62,-116.7,46.6,-4.4,124,702,0.20,2.38,0.00,0.000,4,0.065,0.071,2396,887,3523
$GC,941,-0.45,-116.7,66.6,-8.4,170,948,0.20,2.35,0.00,0.000,6,0.123,0.067,2464,2301,3523
$GC,1268,-0.60,-116.7,84.3,-4.6,231,1274,0.15,2.35,0.00,0.000,4,0.068,0.071,2402,889,3524
$GC,1438,-0.46,-116.7,99.1,-9.4,263,1445,0.17,2.33,0.00,0.000,6,0.121,0.067,2462,2301,3523
$GC,1764,-0.61,-116.7,119.5,-7.0,324,1773,0.15,2.33,0.00,0.000,4,0.071,0.071,2400,893,3524
$GC,1815,-0.44,-116.7,124.0,-9.5,333,1821,0.17,2.33,0.00,0.000,6,0.123,0.066,2469,2305,3524
$GC,2140,-0.62,-116.7,146.9,-7.0,394,2148,0.17,2.33,0.00,0.000,4,0.064,0.070,2395,891,3524
$GC,2216,-0.45,-116.7,154.1,-10.8,405,2220,0.20,2.30,0.00,0.000,6,0.123,0.065,2464,2294,3524
$GC,2537,-0.60,-116.7,175.5,-6.6,436,2541,0.15,2.33,0.00,0.000,4,0.070,0.073,2400,890,3524
$GC,2595,-0.46,-116.7,180.9,-9.4,441,2602,0.17,2.33,0.00,0.000,6,0.121,0.066,2460,2307,3525
$GC,2911,-0.62,-116.7,199.4,-6.4,472,2915,0.15,2.33,0.00,0.000,4,0.068,0.070,2395,888,3525
$GC,2969,-0.44,-116.7,204.5,-8.7,476,2978,0.20,2.33,0.00,0.000,6,0.123,0.066,2464,2308,3525
$GC,3281,-0.60,-116.7,221.2,-4.8,497,3286,0.15,2.33,0.00,0.000,4,0.069,0.071,2402,890,3525
$GC,3361,-0.46,-116.7,227.3,-7.8,502,3366,0.17,2.30,0.00,0.000,6,0.121,0.065,2463,2301,3525
$GC,3684,-0.62,-116.7,243.7,-5.0,523,3688,0.15,2.33,0.00,0.000,4,0.070,0.072,2398,887,3525
$GC,3748,-0.47,-116.7,248.4,-8.0,527,3752,0.17,2.30,0.00,0.000,6,0.122,0.067,2459,2297,3525
$GC,4071,-0.62,-116.7,264.2,-4.6,548,4075,0.15,2.33,0.00,0.000,4,0.067,0.074,2394,887,3525
$GC,4139,-0.45,-116.7,269.3,-7.9,552,4144,0.20,2.33,0.00,0.000,6,0.121,0.067,2463,2304,3525
$GC,4457,-0.62,-116.7,284.4,-4.4,573,4461,0.15,2.33,0.00,0.000,4,0.070,0.071,2399,890,3525
$GC,4515,-0.48,-116.7,288.8,-8.2,576,4524,0.15,2.30,0.00,0.000,6,0.123,0.067,2453,2292,3525
$GC,4842,-0.60,-116.7,307.2,-5.7,596,4846,0.00,2.33,0.00,0.000,4,0.000,0.073,2453,883,3525
$GC,4895,-0.70,-116.7,310.3,-6.1,598,4900,0.15,2.33,0.00,0.000,6,0.056,0.070,2379,2299,3525
$GC,5211,-0.52,-116.7,334.9,-7.7,614,5212,0.22,0.00,0.00,0.000,6,0.128,0.000,2448,2300,3525
$GC,5516,-0.63,-116.7,351.3,-5.7,629,5521,0.12,2.35,0.00,0.000,4,0.075,0.074,2393,889,3525
$GC,5558,-0.47,-116.7,354.8,-8.8,631,5563,0.17,2.33,0.00,0.000,6,0.123,0.069,2455,2302,3525
$GC,5885,-0.63,-116.7,374.8,-6.1,647,5889,0.15,2.33,0.00,0.000,4,0.066,0.072,2391,890,3525
$GC,5954,-0.47,-116.7,380.7,-9.3,650,5959,0.17,2.33,0.00,0.000,6,0.124,0.068,2453,2305,3525
$GC,6275,-0.64,-116.7,400.1,-5.6,666,6276,0.15,0.00,0.00,0.000,6,0.067,0.000,2390,2306,3526
$GC,6580,-0.52,-116.7,423.4,-7.9,681,6585,0.17,2.33,0.00,0.000,4,0.128,0.072,2444,890,3526
$GC,6703,-0.61,-116.7,431.7,-6.6,686,6709,0.00,2.33,0.00,0.000,6,0.000,0.069,2445,2308,3525
$GC,7013,-0.72,-116.7,451.1,-6.4,702,7018,0.17,2.33,0.00,0.000,4,0.066,0.073,2370,890,3526
$GC,7103,-0.48,-116.7,459.7,-9.9,706,7108,0.25,2.33,0.00,0.000,6,0.130,0.068,2455,2305,3526
$GC,7425,-0.66,-116.7,480.4,-6.6,722,7429,0.17,2.33,0.00,0.000,4,0.066,0.073,2382,890,3526
$GC,7477,-0.48,-116.7,485.5,-9.9,724,7482,0.20,2.33,0.00,0.000,6,0.127,0.071,2453,2306,3525
$GC,7793,-0.65,-116.7,506.8,-6.4,740,7798,0.15,2.33,0.00,0.000,4,0.071,0.074,2391,891,3525
$GC,7830,-0.49,-116.7,510.0,-8.9,741,7837,0.17,2.30,0.00,0.000,6,0.125,0.067,2452,2302,3525
$GC,8141,-0.66,-116.7,530.5,-6.8,757,8145,0.15,2.33,0.00,0.000,4,0.071,0.077,2391,893,3523
$GC,8193,-0.52,-116.7,535.3,-9.0,759,8198,0.15,2.33,0.00,0.000,6,0.127,0.071,2444,2305,3523
$GC,8509,-0.66,-116.7,558.1,-7.1,775,8514,0.12,2.35,0.00,0.000,4,0.079,0.077,2392,883,3522
$GC,8552,-0.52,-116.7,561.9,-9.6,777,8557,0.12,2.35,0.00,0.000,6,0.130,0.075,2438,2299,3523
$GC,8878,-0.62,-116.7,586.7,-7.7,793,8882,0.00,2.35,0.00,0.000,4,0.000,0.081,2438,893,3521
$GC,8958,-0.68,-116.7,593.4,-8.7,796,8966,0.10,2.33,0.00,0.000,6,0.075,0.074,2392,2294,3521
$GC,9287,-0.59,-116.7,623.7,-9.2,809,9292,0.00,2.35,0.00,0.000,4,0.000,0.082,2392,891,3520
$GC,9357,-0.46,-116.7,630.2,-9.2,811,9361,0.20,2.33,0.00,0.000,6,0.133,0.074,2460,2297,3520
$GC,9686,-0.65,-116.7,650.7,-6.0,822,9691,0.17,2.38,0.00,0.000,4,0.086,0.087,2396,887,3519
$GC,9766,-0.54,-116.7,657.5,-9.1,824,9771,0.10,2.35,0.00,0.000,6,0.143,0.077,2431,2299,3519
$GC,10086,-0.61,-116.7,678.6,-6.4,835,10090,0.00,2.38,0.00,0.000,4,0.000,0.087,2431,893,3518
$GC,10160,-0.61,-116.7,683.8,-6.9,837,10165,0.00,2.35,0.00,0.000,6,0.000,0.081,2431,2295,3517
$GC,10485,-0.68,-116.7,703.7,-6.0,848,10489,0.12,2.38,0.00,0.000,4,0.097,0.089,2388,891,3517
$GC,10575,-0.54,-116.7,710.9,-8.4,850,10582,0.12,2.35,0.00,0.000,6,0.149,0.079,2430,2300,3518
$GC,10884,-0.61,-116.7,729.8,-6.2,861,10888,0.00,2.38,0.00,0.000,4,0.000,0.089,2431,895,3517
$GC,10958,-0.61,-116.7,734.8,-7.1,863,10963,0.00,2.35,0.00,0.000,6,0.000,0.081,2431,2300,3517
$GC,11283,-0.69,-116.7,754.8,-6.0,874,11288,0.12,2.40,0.00,0.000,4,0.098,0.089,2388,893,3516
$GC,11357,-0.55,-116.7,760.9,-7.9,876,11362,0.12,2.35,0.00,0.000,6,0.146,0.080,2430,2298,3515
$GC,11682,-0.63,-116.7,781.3,-6.1,887,11686,0.00,2.40,0.00,0.000,4,0.000,0.089,2430,887,3515
$GC,11778,-0.63,-116.7,787.8,-6.4,890,11782,0.00,2.38,0.00,0.000,6,0.000,0.081,2430,2304,3514
$GC,12113,-0.70,-116.7,808.3,-6.2,901,12118,0.15,2.38,0.00,0.000,4,0.100,0.087,2379,893,3514
$GC,12209,-0.52,-116.7,816.6,-8.5,904,12214,0.17,2.35,0.00,0.000,6,0.151,0.077,2436,2303,3513
$GC,12544,-0.63,-116.7,836.5,-5.8,915,12549,0.00,2.38,0.00,0.000,4,0.000,0.087,2436,896,3513
$GC,12624,-0.63,-116.7,841.4,-6.3,917,12629,0.00,2.35,0.00,0.000,6,0.000,0.081,2436,2301,3513
$GC,12943,-0.73,-116.7,859.8,-5.7,928,12948,0.17,2.40,0.00,0.000,4,0.100,0.091,2376,888,3513
$GC,13045,-0.56,-116.7,868.2,-9.1,931,13049,0.15,2.35,0.00,0.000,6,0.155,0.078,2425,2299,3511
$GC,13375,-0.62,-116.7,888.0,-5.8,942,13379,0.00,2.38,0.00,0.000,4,0.000,0.089,2425,895,3512
$GC,13454,-0.62,-116.7,893.2,-6.6,944,13459,0.00,2.35,0.00,0.000,6,0.000,0.082,2425,2297,3511
$GC,13774,-0.68,-116.7,912.3,-6.0,955,13778,0.00,2.40,0.00,0.000,4,0.000,0.091,2425,887,3511
$GC,13875,-0.68,-116.7,918.8,-6.5,958,13879,0.00,2.35,0.00,0.000,6,0.000,0.080,2425,2294,3511
$GC,14205,-0.75,-116.7,938.1,-5.8,969,14210,0.17,2.38,0.00,0.000,4,0.106,0.093,2367,894,3511
$GC,14295,-0.52,-116.7,945.8,-8.9,971,14302,0.22,2.35,0.00,0.000,6,0.160,0.080,2438,2301,3511
$GC,14604,-0.65,-116.7,963.0,-5.4,982,14609,0.12,2.40,0.00,0.000,4,0.107,0.094,2397,895,3510
$GC,14689,-0.56,-116.7,969.2,-7.6,984,14694,0.10,2.35,0.00,0.000,6,0.156,0.081,2429,2299,3510
$GC,15003,-0.65,-116.7,987.0,-5.5,995,15007,0.00,2.40,0.00,0.000,4,0.000,0.092,2430,891,3510
$STATE,15055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15055,begin apogee
$GC,15060,-0.23,0.0,990.3,5.6,996,15161,0.32,0.00,97.72,1.458,6,0.152,0.000,2537,2308,3046
$STATE,15161,end apogee,CONTROL_FINISHED_OK
$STATE,15161,begin climb
$GC,15162,0.77,116.7,993.1,0.0,1000,15275,1.02,2.72,104.55,1.417,4,0.122,0.094,2850,3711,2568
$GC,15296,0.35,116.7,987.8,7.9,1004,15301,0.45,2.58,0.00,0.000,6,0.186,0.072,2733,2306,2566
$GC,15621,0.63,175.1,972.2,4.5,1015,15676,0.28,2.67,50.95,1.394,4,0.114,0.097,2815,893,2331
$GC,15788,0.63,175.1,959.7,7.5,1020,15794,0.00,2.53,0.00,0.000,6,0.000,0.079,2816,2301,2326
$GC,16113,0.63,175.1,933.6,7.9,1031,16118,0.00,2.55,0.00,0.000,4,0.000,0.096,2816,888,2324
$GC,16140,0.63,175.1,931.5,7.8,1031,16146,0.00,2.47,0.00,0.000,6,0.000,0.081,2816,2305,2324
$GC,16448,0.63,175.1,907.1,8.0,1042,16453,0.00,2.50,0.00,0.000,4,0.000,0.094,2816,892,2323
$GC,16469,0.63,175.1,905.3,8.5,1042,16474,0.00,2.42,0.00,0.000,6,0.000,0.081,2816,2294,2322
$GC,16783,0.63,175.1,879.1,8.3,1053,16784,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2294,2323
$GC,17086,0.63,175.1,853.3,8.6,1063,17091,0.00,2.47,0.00,0.000,4,0.000,0.095,2816,887,2322
$GC,17123,0.63,175.1,850.0,8.8,1064,17128,0.00,2.42,0.00,0.000,6,0.000,0.083,2816,2302,2322
$GC,17454,0.63,175.1,821.7,8.6,1075,17458,0.00,2.47,0.00,0.000,4,0.000,0.095,2816,888,2321
$GC,17480,0.63,175.1,819.5,7.5,1075,17487,0.00,2.42,0.00,0.000,6,0.000,0.083,2816,2305,2321
$GC,17788,0.63,175.1,793.2,8.6,1086,17793,0.00,2.45,0.00,0.000,4,0.000,0.092,2816,894,2321
$GC,17820,0.63,175.1,790.6,7.7,1087,17825,0.00,2.40,0.00,0.000,6,0.000,0.082,2816,2302,2321
$GC,18155,0.63,175.1,763.3,8.0,1098,18160,0.00,2.45,0.00,0.000,4,0.000,0.094,2816,893,2321
$GC,18176,0.63,175.1,761.5,8.8,1098,18181,0.00,2.40,0.00,0.000,6,0.000,0.082,2816,2305,2321
$GC,18490,0.63,175.1,736.2,8.2,1109,18495,0.00,2.45,0.00,0.000,4,0.000,0.093,2816,891,2321
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$STATE,26768,end climb,SURFACE_DEPTH_REACHED
$STATE,26768,begin surface coast
$FINISH,2.0,1.027685
$STATE,26790,end surface coast,CONTROL_FINISHED_OK
$STATE,26790,begin surface
$SM_CCo,26862,0.00,0.000,0,0,1596,355.68
$SM_GC,2.78,7.60,0.00,0.00,0.051,0.000,0.000,143,2312,1596,-7.66,0.34,355.68
$IRIDIUM_FIX,6313.04,206.01,200498,202057
$TT8_MAMPS,0.050622
$HUMID,1612
$INTERNAL_PRESSURE,9.01789
$TCM_TEMP,18.50
$XPDR_PINGS,157
$24V_AH,22.9,7.615
$10V_AH,10.5,2.817
$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,29.350,299.350,394.100,0.000,0.000,27.887,30.565,164.310,39.250,0.000,0.000,14.529,0.000,21664.285,766.764,4300.374,411.656,0.000,2522.230,0.000,3557.243,0.000,0.533,0.000
$DEVICE_MAMPS,210.925,96.642,1458.067,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1196.641,958.758,628.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85064,1726
$CAP_FILE_SIZE,242663,0
$CFSIZE,260165632,257662976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 55.2,1
$GPS,250109,111006,6343.882,205.918,34,1.1,40,-3.8