version: 66.04
glider: 160
mission: 3
dive: 18
start: 1 28 109 23 5 39
data:
$ID,160
$MISSION,3
$DIVE,18
$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,-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,-7325.8149
$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,12
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$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,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,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
$GPS1,230006,6402.771,108.490,40,1.3,40,-4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.22
$_SM_ANGLEo,-59.2
$GPS2,230534,6402.737,108.540,13,2.4,32,-4.4
$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,309.6,123036,-13.7,-6.875
$D_GRID,2271
$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,-116.7,0.0,0.0,0,21,0.00,0.00,-8.07,0.000,2,0.000,0.000,130,2310,2214
$GC,23,-0.77,-116.7,3.3,-0.0,1,114,8.05,2.47,-78.55,0.000,4,0.209,0.091,2362,874,3522
$GC,353,-0.41,-116.7,29.7,-11.6,60,360,0.32,2.40,0.00,0.000,6,0.127,0.072,2472,2290,3524
$GC,680,-0.58,-116.7,49.4,-5.3,121,686,0.15,2.38,0.00,0.000,4,0.067,0.078,2406,887,3525
$GC,882,-0.44,-116.7,66.8,-8.9,159,889,0.17,2.38,0.00,0.000,6,0.119,0.072,2468,2299,3525
$GC,1208,-0.59,-116.7,85.0,-5.5,220,1215,0.15,2.38,0.00,0.000,4,0.065,0.078,2404,890,3525
$GC,1256,-0.43,-116.7,89.0,-8.4,229,1263,0.17,2.35,0.00,0.000,6,0.120,0.071,2466,2300,3526
$GC,1582,-0.58,-116.7,109.1,-6.1,290,1591,0.12,2.40,0.00,0.000,4,0.072,0.078,2410,888,3526
$GC,1643,-0.46,-116.7,114.0,-8.6,301,1650,0.15,2.33,0.00,0.000,6,0.117,0.071,2463,2282,3526
$GC,1969,-0.60,-116.7,133.2,-6.0,362,1978,0.12,2.33,0.00,0.000,4,0.074,0.075,2407,890,3527
$GC,2035,-0.46,-116.7,138.7,-8.6,374,2044,0.15,2.33,0.00,0.000,6,0.120,0.071,2460,2284,3527
$GC,2364,-0.59,-116.7,157.6,-5.8,423,2368,0.12,2.35,0.00,0.000,4,0.071,0.075,2404,874,3527
$GC,2416,-0.44,-116.7,162.0,-8.7,428,2421,0.17,2.35,0.00,0.000,6,0.120,0.072,2466,2282,3527
$GC,2738,-0.61,-116.7,182.0,-5.9,459,2742,0.15,2.33,0.00,0.000,4,0.065,0.074,2402,881,3528
$GC,2796,-0.48,-116.7,187.0,-8.8,464,2804,0.15,2.33,0.00,0.000,6,0.120,0.074,2456,2268,3528
$GC,3111,-0.60,-116.7,205.1,-4.9,492,3115,0.12,2.30,0.00,0.000,4,0.067,0.079,2400,873,3528
$GC,3158,-0.46,-116.7,208.5,-7.5,495,3163,0.17,2.33,0.00,0.000,6,0.120,0.073,2462,2265,3528
$GC,3481,-0.62,-116.7,226.4,-5.3,516,3486,0.15,2.30,0.00,0.000,4,0.067,0.078,2397,887,3528
$GC,3518,-0.45,-116.7,229.3,-8.2,518,3523,0.20,2.30,0.00,0.000,6,0.119,0.074,2467,2264,3528
$GC,3836,-0.63,-116.7,244.3,-4.3,539,3840,0.17,2.30,0.00,0.000,4,0.069,0.079,2395,868,3528
$GC,3883,-0.47,-116.7,248.0,-8.4,542,3888,0.17,2.33,0.00,0.000,6,0.119,0.073,2457,2261,3528
$GC,4206,-0.62,-116.7,265.5,-5.8,563,4207,0.15,0.00,0.00,0.000,6,0.074,0.000,2395,2261,3528
$GC,4513,-0.47,-116.7,291.4,-8.5,583,4514,0.20,0.00,0.00,0.000,6,0.128,0.000,2457,2261,3528
$GC,4834,-0.62,-116.7,312.4,-6.4,601,4835,0.15,0.00,0.00,0.000,6,0.084,0.000,2399,2261,3528
$GC,5139,-0.50,-116.7,338.3,-8.6,616,5144,0.17,2.33,0.00,0.000,4,0.135,0.084,2452,881,3528
$GC,5187,-0.60,-116.7,342.0,-7.4,618,5191,0.00,2.30,0.00,0.000,6,0.000,0.081,2452,2243,3528
$GC,5508,-0.73,-116.7,361.3,-5.8,634,5512,0.22,2.30,0.00,0.000,4,0.078,0.089,2369,890,3528
$GC,5545,-0.43,-116.7,364.6,-9.4,635,5552,0.30,2.28,0.00,0.000,6,0.140,0.081,2469,2240,3528
$GC,5855,-0.64,-116.7,382.2,-5.4,651,5856,0.17,0.00,0.00,0.000,6,0.089,0.000,2407,2240,3528
$GC,6160,-0.57,-116.7,406.0,-7.8,666,6165,0.00,2.30,0.00,0.000,4,0.000,0.090,2407,891,3527
$GC,6251,-0.46,-116.7,413.6,-8.3,670,6256,0.15,2.28,0.00,0.000,6,0.133,0.080,2458,2239,3527
$GC,6572,-0.61,-116.7,432.9,-6.1,686,6576,0.15,2.30,0.00,0.000,4,0.092,0.091,2406,891,3527
$GC,6603,-0.48,-116.7,435.5,-8.8,687,6608,0.15,2.25,0.00,0.000,6,0.133,0.081,2457,2230,3527
$GC,6919,-0.63,-116.7,454.9,-5.9,703,6921,0.15,0.00,0.00,0.000,6,0.092,0.000,2405,2230,3526
$GC,7224,-0.55,-116.7,480.1,-8.6,718,7229,0.00,2.30,0.00,0.000,4,0.000,0.094,2405,891,3525
$GC,7272,-0.43,-116.7,484.6,-9.7,720,7277,0.17,2.25,0.00,0.000,6,0.137,0.080,2465,2230,3524
$GC,7593,-0.62,-116.7,504.5,-5.9,736,7598,0.17,2.30,0.00,0.000,4,0.095,0.094,2405,890,3525
$GC,7641,-0.51,-116.7,508.3,-8.2,738,7646,0.12,2.25,0.00,0.000,6,0.139,0.081,2446,2219,3523
$GC,7962,-0.62,-116.7,527.7,-6.3,754,7963,0.12,0.00,0.00,0.000,6,0.096,0.000,2404,2219,3523
$GC,8267,-0.54,-116.7,550.3,-7.1,769,8272,0.12,2.28,0.00,0.000,4,0.151,0.091,2438,880,3523
$GC,8304,-0.54,-116.7,552.8,-6.2,770,8313,0.00,2.28,0.00,0.000,6,0.000,0.084,2438,2218,3523
$GC,8615,-0.62,-116.7,571.2,-5.7,786,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2217,3522
$GC,8920,-0.70,-116.7,588.8,-5.8,801,8921,0.15,0.00,0.00,0.000,6,0.097,0.000,2387,2217,3521
$GC,9234,-0.55,-116.7,612.5,-7.8,814,9239,0.17,2.28,0.00,0.000,4,0.150,0.091,2438,877,3521
$GC,9287,-0.55,-116.7,616.0,-6.6,815,9292,0.00,2.28,0.00,0.000,6,0.000,0.084,2437,2217,3521
$GC,9601,-0.62,-116.7,635.0,-6.2,826,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2218,3520
$GC,9905,-0.70,-116.7,654.0,-6.2,836,9909,0.15,2.28,0.00,0.000,4,0.098,0.093,2386,886,3520
$GC,9947,-0.51,-116.7,657.6,-8.6,837,9952,0.17,2.22,0.00,0.000,6,0.146,0.081,2444,2209,3519
$GC,10272,-0.62,-116.7,677.4,-6.1,848,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2209,3520
$GC,10575,-0.73,-116.7,696.0,-6.1,858,10580,0.20,2.28,0.00,0.000,4,0.095,0.095,2376,879,3519
$GC,10607,-0.50,-116.7,698.8,-9.3,859,10612,0.20,2.25,0.00,0.000,6,0.147,0.084,2443,2208,3519
$GC,10942,-0.61,-116.7,719.7,-6.2,870,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2208,3519
$GC,11246,-0.72,-116.7,738.7,-6.4,880,11247,0.20,0.00,0.00,0.000,6,0.097,0.000,2376,2208,3519
$GC,11549,-0.53,-116.7,764.7,-8.8,890,11554,0.22,2.25,0.00,0.000,4,0.154,0.094,2442,891,3518
$GC,11597,-0.61,-116.7,768.2,-6.7,891,11601,0.00,2.22,0.00,0.000,6,0.000,0.084,2442,2206,3518
$GC,11916,-0.72,-116.7,786.5,-5.6,902,11921,0.17,2.28,0.00,0.000,4,0.096,0.097,2383,879,3518
$GC,11948,-0.51,-116.7,789.0,-7.7,903,11952,0.17,2.25,0.00,0.000,6,0.151,0.087,2440,2200,3518
$GC,12283,-0.62,-116.7,807.4,-5.1,914,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2200,3517
$GC,12587,-0.73,-116.7,823.7,-5.3,924,12588,0.20,0.00,0.00,0.000,6,0.100,0.000,2374,2201,3518
$GC,12890,-0.54,-116.7,848.1,-8.5,934,12895,0.22,2.25,0.00,0.000,4,0.156,0.094,2440,882,3517
$GC,12948,-0.61,-116.7,852.2,-6.7,935,12955,0.00,2.25,0.00,0.000,6,0.000,0.089,2441,2198,3517
$GC,13257,-0.72,-116.7,870.5,-5.8,946,13262,0.17,2.25,0.00,0.000,4,0.099,0.097,2382,890,3518
$GC,13299,-0.52,-116.7,874.0,-8.3,947,13304,0.17,2.20,0.00,0.000,6,0.155,0.085,2439,2190,3517
$GC,13624,-0.63,-116.7,893.4,-5.8,958,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2190,3517
$GC,13928,-0.74,-116.7,910.9,-5.9,968,13929,0.20,0.00,0.00,0.000,6,0.103,0.000,2372,2191,3517
$GC,14231,-0.55,-116.7,935.9,-8.2,978,14236,0.20,2.25,0.00,0.000,4,0.158,0.098,2430,880,3517
$GC,14295,-0.55,-116.7,940.5,-7.4,980,14299,0.00,2.25,0.00,0.000,6,0.000,0.091,2429,2195,3517
$GC,14630,-0.62,-116.7,960.8,-6.0,991,14631,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2195,3517
$GC,14934,-0.69,-116.7,978.5,-5.8,1001,14935,0.12,0.00,0.00,0.000,6,0.126,0.000,2391,2195,3517
$STATE,15114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15114,begin apogee
$GC,15117,-0.23,0.0,990.9,6.8,1007,15217,0.47,0.00,98.03,1.457,6,0.161,0.000,2536,2304,3046
$STATE,15218,end apogee,CONTROL_FINISHED_OK
$STATE,15218,begin climb
$GC,15219,0.77,116.7,993.2,0.0,1010,15331,1.05,2.83,103.72,1.411,4,0.133,0.100,2851,3707,2568
$GC,15352,0.37,116.7,987.4,7.8,1014,15357,0.45,2.67,0.00,0.000,6,0.196,0.079,2741,2298,2566
$GC,15677,0.62,159.9,970.1,5.2,1025,15722,0.22,2.67,37.70,1.390,4,0.118,0.098,2809,880,2392
$GC,15834,0.62,159.9,958.1,8.6,1030,15839,0.00,2.58,0.00,0.000,6,0.000,0.088,2809,2277,2389
$GC,16169,0.62,159.9,931.6,7.8,1041,16170,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2277,2387
$GC,16473,0.62,159.9,908.8,7.5,1051,16477,0.00,2.53,0.00,0.000,4,0.000,0.102,2808,885,2386
$GC,16499,0.62,159.9,906.7,6.9,1051,16506,0.00,2.47,0.00,0.000,6,0.000,0.090,2809,2281,2386
$GC,16808,0.62,159.9,883.8,7.3,1062,16809,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2282,2386
$GC,17111,0.62,159.9,861.3,7.4,1072,17116,0.00,2.47,0.00,0.000,4,0.000,0.100,2809,892,2385
$GC,17132,0.65,182.4,859.7,6.0,1072,17157,0.00,2.42,19.35,1.335,6,0.000,0.088,2809,2281,2302
$GC,17477,0.65,182.4,833.2,7.6,1084,17477,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2281,2298
$GC,17780,0.65,182.4,810.9,7.3,1094,17781,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2281,2297
$GC,18084,0.65,182.4,789.0,7.1,1104,18084,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2281,2296
$GC,18387,0.65,182.4,767.3,7.2,1114,18388,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2281,2296
$GC,18691,0.65,182.4,745.4,7.3,1124,18695,0.00,2.47,0.00,0.000,4,0.000,0.101,2809,880,2296
$GC,18717,0.65,182.4,743.5,7.2,1124,18724,0.00,2.42,0.00,0.000,6,0.000,0.088,2809,2277,2295
$GC,19026,0.65,183.1,721.9,6.8,1135,19027,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2277,2295
$GC,19329,0.65,183.1,700.4,7.1,1145,19334,0.00,2.42,0.00,0.000,4,0.000,0.097,2809,894,2295
$GC,19350,0.65,183.1,699.0,7.6,1145,19355,0.00,2.38,0.00,0.000,6,0.000,0.087,2809,2265,2295
$GC,19664,0.66,194.0,678.4,6.4,1156,19675,0.00,0.00,10.15,1.182,6,0.000,0.000,2809,2265,2255
$GC,19967,0.66,194.6,658.1,6.8,1166,19972,0.00,2.42,0.00,0.000,4,0.000,0.096,2809,890,2253
$GC,19994,0.77,220.5,656.2,5.8,1166,20022,0.12,2.40,23.77,1.233,6,0.099,0.087,2858,2271,2147
$GC,20330,0.67,220.5,623.5,9.9,1178,20334,0.12,2.47,0.00,0.000,4,0.156,0.099,2826,871,2141
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$GC,20665,0.67,220.5,593.4,9.2,1190,20666,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2262,2140
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$STATE,27648,end climb,SURFACE_DEPTH_REACHED
$STATE,27648,begin surface coast
$FINISH,2.5,1.014772
$STATE,27686,end surface coast,CONTROL_FINISHED_OK
$STATE,27686,begin surface
$SM_CCo,27697,4.03,0.558,0,0,2128,225.19
$SM_GC,4.21,0.00,0.00,4.03,0.000,0.000,0.558,146,2313,2128,-7.71,0.42,225.19
$IRIDIUM_FIX,6332.30,113.55,240498,151528
$TT8_MAMPS,0.052156
$HUMID,1624
$INTERNAL_PRESSURE,9.03742
$TCM_TEMP,18.10
$XPDR_PINGS,38
$24V_AH,22.7,9.302
$10V_AH,10.5,4.212
$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,26.525,202.350,292.725,4.025,0.000,29.149,31.471,158.063,9.500,0.000,0.000,34.758,0.000,22992.941,602.546,4004.154,401.663,0.000,2161.173,0.000,3279.341,0.000,0.829,0.000
$DEVICE_MAMPS,209.391,104.312,1456.533,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1276.201,1019.205,686.350,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91394,1820
$CAP_FILE_SIZE,220533,0
$CFSIZE,260165632,256503808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,122.2,1
$GPS,290109,064807,6403.697,105.271,26,1.0,26,-4.4