version: 66.04
glider: 160
mission: 3
dive: 46
start: 2 6 109 22 30 33
data:
$ID,160
$MISSION,3
$DIVE,46
$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,-7920.5439
$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,16
$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
$GPS1,222057,6441.401,-103.126,31,4.8,50,-5.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-53.6
$GPS2,223028,6441.378,-103.151,13,3.2,32,-5.8
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6513.400,-239.600
$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,272.7,95502,-13.7,-6.875
$D_GRID,1000
$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,11,-0.77,-116.7,0.0,0.0,0,22,0.00,0.00,-9.38,0.000,2,0.000,0.000,130,2301,1940
$GC,24,-0.77,-116.7,3.1,-0.0,1,139,8.00,2.45,-101.25,0.000,4,0.199,0.098,2361,3713,3522
$GC,351,-0.47,-116.7,19.9,-8.7,60,360,0.28,2.40,0.00,0.000,6,0.121,0.067,2456,2293,3523
$GC,679,-0.56,-116.7,44.4,-5.9,121,685,0.00,2.38,0.00,0.000,4,0.000,0.077,2456,885,3523
$GC,711,-0.56,-116.7,46.4,-6.2,127,717,0.00,2.40,0.00,0.000,6,0.000,0.073,2456,2305,3523
$GC,1036,-0.66,-116.7,63.0,-5.8,188,1045,0.17,2.40,0.00,0.000,4,0.064,0.078,2382,881,3523
$GC,1118,-0.42,-116.7,71.2,-10.4,203,1125,0.28,2.38,0.00,0.000,6,0.122,0.072,2476,2289,3523
$GC,1444,-0.61,-116.7,91.3,-8.1,264,1445,0.17,0.00,0.00,0.000,6,0.065,0.000,2405,2290,3524
$GC,1764,-0.48,-116.7,119.5,-8.8,324,1773,0.17,2.35,0.00,0.000,4,0.123,0.077,2459,884,3524
$GC,1830,-0.58,-116.7,124.4,-7.2,336,1838,0.00,2.38,0.00,0.000,6,0.000,0.074,2459,2303,3524
$GC,2158,-0.70,-116.7,145.1,-6.0,397,2164,0.20,2.35,0.00,0.000,4,0.060,0.078,2375,877,3524
$GC,2253,-0.44,-116.7,154.2,-9.5,411,2258,0.25,2.35,0.00,0.000,6,0.125,0.073,2462,2283,3525
$GC,2574,-0.59,-116.7,172.7,-6.0,442,2576,0.12,0.00,0.00,0.000,6,0.073,0.000,2407,2283,3525
$GC,2885,-0.50,-116.7,198.0,-7.9,472,2889,0.15,2.33,0.00,0.000,4,0.126,0.076,2453,889,3524
$GC,3014,-0.57,-116.7,206.2,-6.6,481,3017,0.00,2.30,0.00,0.000,6,0.000,0.071,2453,2295,3525
$GC,3335,-0.69,-116.7,226.2,-6.9,502,3340,0.17,2.35,0.00,0.000,4,0.064,0.079,2378,890,3525
$GC,3410,-0.47,-116.7,233.6,-10.4,506,3417,0.22,2.30,0.00,0.000,6,0.123,0.071,2457,2278,3525
$GC,3722,-0.60,-116.7,252.9,-5.5,527,3723,0.12,0.00,0.00,0.000,6,0.068,0.000,2403,2279,3525
$GC,4029,-0.52,-116.7,275.8,-7.3,547,4034,0.15,2.33,0.00,0.000,4,0.128,0.080,2449,890,3525
$GC,4146,-0.52,-116.7,283.5,-6.5,554,4151,0.00,2.28,0.00,0.000,6,0.000,0.071,2449,2265,3525
$GC,4474,-0.64,-116.7,302.5,-6.0,575,4479,0.12,2.28,0.00,0.000,4,0.074,0.077,2393,893,3525
$GC,4510,-0.47,-116.7,305.4,-8.3,576,4519,0.17,2.28,0.00,0.000,6,0.125,0.071,2456,2266,3525
$GC,4821,-0.62,-116.7,323.4,-5.7,592,4822,0.15,0.00,0.00,0.000,6,0.066,0.000,2392,2266,3525
$GC,5126,-0.49,-116.7,348.2,-8.2,607,5131,0.20,2.30,0.00,0.000,4,0.127,0.079,2455,882,3525
$GC,5222,-0.60,-116.7,354.5,-6.5,611,5227,0.08,2.30,0.00,0.000,6,0.067,0.074,2412,2264,3525
$GC,5538,-0.60,-116.7,377.6,-7.3,627,5542,0.00,2.28,0.00,0.000,4,0.000,0.077,2412,893,3525
$GC,5591,-0.52,-116.7,381.9,-7.8,629,5596,0.08,2.25,0.00,0.000,6,0.134,0.073,2439,2250,3525
$GC,5907,-0.60,-116.7,402.0,-6.3,645,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2250,3525
$GC,6212,-0.68,-116.7,420.5,-6.0,660,6217,0.15,2.28,0.00,0.000,4,0.070,0.082,2377,891,3524
$GC,6249,-0.45,-116.7,423.6,-8.8,661,6256,0.25,2.28,0.00,0.000,6,0.127,0.075,2463,2257,3524
$GC,6559,-0.64,-116.7,440.0,-5.2,677,6564,0.17,2.30,0.00,0.000,4,0.068,0.084,2392,883,3523
$GC,6596,-0.46,-116.7,442.7,-8.2,678,6603,0.20,2.28,0.00,0.000,6,0.124,0.074,2462,2255,3523
$GC,6907,-0.65,-116.7,459.2,-5.2,694,6908,0.17,0.00,0.00,0.000,6,0.066,0.000,2391,2256,3522
$GC,7212,-0.53,-116.7,482.5,-7.9,709,7216,0.17,2.30,0.00,0.000,4,0.130,0.084,2445,883,3522
$GC,7276,-0.61,-116.7,486.7,-6.5,712,7280,0.00,2.28,0.00,0.000,6,0.000,0.078,2445,2246,3522
$GC,7602,-0.72,-116.7,506.1,-5.8,728,7603,0.20,0.00,0.00,0.000,6,0.064,0.000,2363,2245,3521
$GC,7907,-0.49,-116.7,533.5,-9.1,743,7912,0.30,2.25,0.00,0.000,4,0.131,0.081,2459,892,3520
$GC,7992,-0.62,-116.7,539.0,-6.6,747,7997,0.10,2.25,0.00,0.000,6,0.063,0.074,2407,2246,3520
$GC,8319,-0.62,-116.7,563.4,-7.6,763,8323,0.00,2.28,0.00,0.000,4,0.000,0.081,2407,885,3520
$GC,8361,-0.55,-116.7,567.0,-8.1,765,8365,0.00,2.25,0.00,0.000,6,0.000,0.077,2406,2239,3520
$GC,8687,-0.55,-116.7,592.6,-7.9,781,8692,0.10,2.25,0.00,0.000,4,0.148,0.082,2435,891,3519
$GC,8729,-0.55,-116.7,595.8,-7.2,783,8734,0.00,2.22,0.00,0.000,6,0.000,0.074,2435,2235,3519
$GC,9055,-0.63,-116.7,617.1,-6.4,795,9059,0.00,2.25,0.00,0.000,4,0.000,0.084,2435,894,3519
$GC,9091,-0.63,-116.7,619.8,-7.9,796,9096,0.00,2.22,0.00,0.000,6,0.000,0.076,2435,2228,3519
$GC,9422,-0.71,-116.7,640.2,-6.2,807,9423,0.15,0.00,0.00,0.000,6,0.075,0.000,2374,2228,3519
$GC,9725,-0.54,-116.7,665.2,-8.2,817,9730,0.22,2.22,0.00,0.000,4,0.130,0.083,2445,893,3518
$GC,9794,-0.63,-116.7,669.6,-6.0,819,9799,0.08,2.22,0.00,0.000,6,0.068,0.077,2405,2225,3518
$GC,10124,-0.63,-116.7,691.5,-6.6,830,10129,0.00,2.22,0.00,0.000,4,0.000,0.082,2405,894,3518
$GC,10166,-0.55,-116.7,694.6,-7.7,831,10172,0.08,2.22,0.00,0.000,6,0.137,0.079,2431,2222,3518
$GC,10491,-0.62,-116.7,712.2,-5.3,842,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2222,3517
$GC,10795,-0.70,-116.7,727.9,-5.3,852,10799,0.15,2.22,0.00,0.000,4,0.073,0.082,2369,891,3517
$GC,10848,-0.48,-116.7,732.1,-8.1,853,10852,0.25,2.20,0.00,0.000,6,0.130,0.074,2454,2218,3517
$GC,11162,-0.66,-116.7,746.4,-4.4,864,11163,0.17,0.00,0.00,0.000,6,0.069,0.000,2383,2218,3517
$GC,11465,-0.54,-116.7,767.5,-7.1,874,11470,0.17,2.22,0.00,0.000,4,0.132,0.083,2437,891,3517
$GC,11502,-0.64,-116.7,769.8,-6.1,875,11507,0.00,2.20,0.00,0.000,6,0.000,0.077,2438,2215,3517
$GC,11832,-0.75,-116.7,787.1,-5.2,886,11834,0.20,0.00,0.00,0.000,6,0.069,0.000,2356,2215,3516
$GC,12136,-0.51,-116.7,812.7,-8.5,896,12140,0.30,2.22,0.00,0.000,4,0.133,0.085,2451,891,3516
$GC,12221,-0.64,-116.7,817.8,-6.4,898,12226,0.10,2.20,0.00,0.000,6,0.067,0.077,2401,2214,3516
$GC,12535,-0.64,-116.7,838.5,-6.5,909,12539,0.00,2.22,0.00,0.000,4,0.000,0.085,2401,893,3515
$GC,12561,-0.56,-116.7,840.3,-7.5,909,12568,0.08,2.20,0.00,0.000,6,0.139,0.078,2428,2209,3515
$GC,12870,-0.63,-116.7,857.4,-5.5,920,12871,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2209,3515
$GC,13173,-0.70,-116.7,875.1,-5.8,930,13174,0.12,0.00,0.00,0.000,6,0.076,0.000,2378,2209,3515
$GC,13477,-0.57,-116.7,897.8,-7.5,940,13481,0.17,2.22,0.00,0.000,4,0.133,0.087,2431,886,3514
$GC,13535,-0.64,-116.7,901.7,-6.6,941,13542,0.00,2.22,0.00,0.000,6,0.000,0.081,2431,2213,3515
$GC,13844,-0.74,-116.7,919.3,-5.6,952,13845,0.17,0.00,0.00,0.000,6,0.070,0.000,2361,2213,3515
$GC,14147,-0.53,-116.7,944.5,-8.3,962,14152,0.25,2.22,0.00,0.000,4,0.134,0.087,2438,893,3514
$GC,14195,-0.64,-116.7,947.6,-5.8,963,14199,0.00,2.20,0.00,0.000,6,0.000,0.080,2439,2202,3514
$GC,14514,-0.78,-116.7,965.0,-5.5,974,14516,0.22,0.00,0.00,0.000,6,0.067,0.000,2350,2202,3515
$STATE,14816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14816,begin apogee
$GC,14820,-0.23,0.0,991.3,8.7,984,14919,0.60,0.00,96.68,1.457,6,0.137,0.000,2542,2310,3046
$STATE,14919,end apogee,CONTROL_FINISHED_OK
$STATE,14919,begin climb
$GC,14920,0.77,116.7,994.0,0.0,987,15029,0.95,2.72,102.60,1.411,4,0.088,0.091,2854,3712,2571
$GC,15091,0.35,116.7,985.5,8.2,992,15096,0.45,2.60,0.00,0.000,6,0.157,0.072,2730,2301,2568
$GC,15406,0.63,177.6,970.9,4.4,1003,15471,0.25,2.70,55.50,1.358,4,0.066,0.088,2822,886,2320
$GC,15576,0.56,177.6,957.6,7.6,1008,15581,0.00,2.53,0.00,0.000,6,0.000,0.077,2823,2282,2315
$GC,15901,0.49,177.6,930.3,8.4,1019,15902,0.17,0.00,0.00,0.000,6,0.147,0.000,2774,2282,2313
$GC,16205,0.63,190.9,911.0,6.3,1029,16218,0.12,0.00,11.50,1.280,6,0.074,0.000,2822,2282,2267
$GC,16508,0.57,190.9,885.7,8.5,1039,16509,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2282,2264
$GC,16811,0.57,190.9,859.6,8.8,1049,16812,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2282,2263
$GC,17115,0.57,190.9,833.3,8.6,1059,17116,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2282,2263
$GC,17418,0.57,190.9,807.0,8.7,1069,17419,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2282,2263
$GC,17722,0.57,190.9,780.2,8.9,1079,17722,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2282,2262
$GC,18025,0.57,190.9,753.0,9.0,1089,18026,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2282,2262
$GC,18329,0.57,190.9,725.1,9.2,1099,18330,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2282,2262
$GC,18632,0.57,190.9,697.7,8.9,1109,18633,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2282,2262
$GC,18936,0.57,190.9,670.1,9.2,1119,18941,0.00,2.42,0.00,0.000,4,0.000,0.087,2822,3708,2262
$GC,18962,0.45,190.9,667.4,9.7,1119,18969,0.20,2.38,0.00,0.000,6,0.138,0.070,2759,2281,2262
$GC,19271,0.69,203.2,647.0,6.4,1130,19286,0.22,2.35,10.95,1.157,4,0.064,0.084,2854,880,2216
$GC,19350,0.53,203.2,639.5,11.2,1132,19355,0.20,2.38,0.00,0.000,6,0.130,0.074,2788,2281,2215
$GC,19669,0.66,203.2,615.8,7.1,1143,19674,0.12,2.45,0.00,0.000,4,0.073,0.092,2838,3707,2214
$GC,19701,0.46,203.2,612.9,8.2,1144,19706,0.22,2.42,0.00,0.000,6,0.140,0.071,2768,2266,2214
$GC,20017,0.69,217.3,592.3,6.3,1156,20040,0.20,2.40,12.98,1.154,4,0.064,0.083,2853,882,2158
$GC,20097,0.57,217.3,584.6,10.8,1159,20104,0.15,2.35,0.00,0.000,6,0.130,0.074,2802,2260,2156
$GC,20407,0.65,217.3,559.4,7.9,1175,20411,0.00,2.50,0.00,0.000,4,0.000,0.090,2802,3708,2156
$GC,20433,0.65,217.3,557.1,8.8,1176,20438,0.00,2.45,0.00,0.000,6,0.000,0.071,2802,2255,2156
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$STATE,26694,end climb,SURFACE_DEPTH_REACHED
$STATE,26694,begin surface coast
$FINISH,2.5,1.013753
$STATE,26705,end surface coast,CONTROL_FINISHED_OK
$STATE,26705,begin surface
$SM_CCo,26780,0.00,0.000,0,0,1893,282.83
$SM_GC,3.27,7.38,0.00,0.00,0.051,0.000,0.000,136,2305,1893,-7.66,0.14,282.83
$IRIDIUM_FIX,6416.43,-100.39,030598,222214
$TT8_MAMPS,0.052156
$HUMID,1643
$INTERNAL_PRESSURE,8.98859
$TCM_TEMP,13.30
$XPDR_PINGS,1
$24V_AH,22.5,13.376
$10V_AH,10.5,7.527
$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,30.375,228.925,341.950,0.000,0.000,47.722,62.730,279.168,0.250,0.000,0.000,34.947,0.000,22027.047,676.027,4034.792,579.183,0.000,2274.582,0.000,3303.220,0.000,1.127,0.000
$DEVICE_MAMPS,198.653,98.176,1456.533,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.415,946.328,640.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85063,1731
$CAP_FILE_SIZE,232753,0
$CFSIZE,260165632,253734912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082, 28.7,1
$GPS,070209,055800,6442.190,-109.117,48,1.4,48,-5.8