version: 66.04
glider: 160
mission: 3
dive: 105
start: 2 25 109 16 2 12
data:
$ID,160
$MISSION,3
$DIVE,105
$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,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,-9156.4502
$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,35
$R_STBD_OVSHOOT,25
$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,146
$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
$GPS1,155607,6344.242,208.278,29,1.6,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-62.1
$GPS2,160149,6344.240,208.458,13,1.8,13,-3.8
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6248.000,415.000
$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,183.0,149412,-13.7,-6.875
$D_GRID,1477
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-8.27,0.000,2,0.000,0.000,121,2294,2216
$GC,26,-0.77,-116.7,3.1,-0.0,1,113,8.45,2.35,-72.75,0.000,4,0.221,0.061,2353,3714,3523
$GC,189,-0.36,-116.7,11.4,-11.6,27,196,0.45,2.22,0.00,0.000,6,0.123,0.034,2496,2293,3524
$GC,531,-0.63,-116.7,32.0,-5.7,88,538,0.22,0.00,0.00,0.000,6,0.058,0.000,2392,2293,3525
$GC,875,-0.47,-116.7,66.4,-9.6,149,882,0.20,2.17,0.00,0.000,4,0.120,0.041,2460,894,3526
$GC,1001,-0.56,-116.7,75.5,-7.0,171,1007,0.00,2.20,0.00,0.000,6,0.000,0.036,2460,2315,3526
$GC,1346,-0.69,-116.7,97.6,-6.4,232,1353,0.20,2.25,0.00,0.000,4,0.057,0.043,2369,881,3526
$GC,1426,-0.40,-116.7,105.9,-10.9,246,1434,0.38,2.20,0.00,0.000,6,0.123,0.039,2487,2300,3526
$GC,1772,-0.66,-116.7,124.8,-5.4,307,1779,0.22,2.20,0.00,0.000,4,0.053,0.042,2385,894,3526
$GC,1844,-0.43,-116.7,131.3,-9.9,319,1851,0.28,2.15,0.00,0.000,6,0.123,0.036,2472,2289,3526
$GC,2186,-0.62,-116.7,152.2,-6.2,377,2191,0.17,2.20,0.00,0.000,4,0.058,0.042,2394,884,3526
$GC,2230,-0.42,-116.7,156.2,-9.6,380,2238,0.22,2.20,0.00,0.000,6,0.117,0.039,2472,2281,3527
$GC,2555,-0.62,-116.7,178.5,-6.9,411,2559,0.17,2.15,0.00,0.000,4,0.058,0.041,2394,889,3527
$GC,2588,-0.43,-116.7,181.7,-10.3,414,2592,0.25,2.15,0.00,0.000,6,0.123,0.037,2473,2288,3527
$GC,2922,-0.64,-116.7,203.5,-6.4,444,2926,0.20,2.20,0.00,0.000,4,0.057,0.042,2380,884,3527
$GC,2970,-0.39,-116.7,208.3,-10.7,447,2975,0.28,2.20,0.00,0.000,6,0.117,0.039,2487,2280,3527
$GC,3296,-0.66,-116.7,225.8,-5.0,468,3301,0.22,2.17,0.00,0.000,4,0.053,0.041,2383,882,3527
$GC,3341,-0.41,-116.7,229.7,-9.8,471,3346,0.30,2.17,0.00,0.000,6,0.123,0.038,2478,2287,3527
$GC,3665,-0.65,-116.7,247.8,-5.3,492,3670,0.20,2.17,0.00,0.000,4,0.057,0.042,2387,889,3527
$GC,3720,-0.44,-116.7,252.8,-9.2,495,3725,0.28,2.15,0.00,0.000,6,0.122,0.037,2475,2284,3527
$GC,4045,-0.67,-116.7,270.6,-5.3,516,4050,0.20,2.17,0.00,0.000,4,0.055,0.041,2383,881,3527
$GC,4107,-0.45,-116.7,275.9,-9.7,520,4112,0.28,2.15,0.00,0.000,6,0.122,0.038,2470,2277,3527
$GC,4433,-0.65,-116.7,295.2,-5.9,541,4437,0.20,2.17,0.00,0.000,4,0.057,0.044,2377,886,3526
$GC,4487,-0.40,-116.7,300.5,-10.2,544,4494,0.32,2.12,0.00,0.000,6,0.121,0.039,2482,2260,3527
$GC,4803,-0.67,-116.7,319.2,-5.8,560,4807,0.22,2.12,0.00,0.000,4,0.058,0.041,2380,892,3527
$GC,4831,-0.52,-116.7,321.8,-9.8,561,4835,0.20,2.12,0.00,0.000,6,0.128,0.036,2442,2277,3527
$GC,5146,-0.61,-116.7,344.0,-6.7,576,5150,0.00,2.17,0.00,0.000,4,0.000,0.044,2443,889,3527
$GC,5191,-0.61,-116.7,347.2,-6.8,578,5194,0.00,2.10,0.00,0.000,6,0.000,0.038,2443,2256,3527
$GC,5523,-0.69,-116.7,367.2,-5.8,594,5528,0.15,2.15,0.00,0.000,4,0.062,0.044,2376,884,3527
$GC,5617,-0.48,-116.7,375.3,-9.0,598,5622,0.20,2.15,0.00,0.000,6,0.120,0.040,2459,2254,3527
$GC,5938,-0.65,-116.7,393.4,-5.8,614,5940,0.17,0.00,0.00,0.000,6,0.058,0.000,2383,2255,3527
$GC,6247,-0.49,-116.7,420.3,-9.1,629,6252,0.20,2.15,0.00,0.000,4,0.122,0.047,2452,891,3527
$GC,6353,-0.59,-116.7,428.2,-7.4,634,6357,0.00,2.10,0.00,0.000,6,0.000,0.038,2450,2257,3527
$GC,6685,-0.73,-116.7,447.9,-5.9,650,6687,0.20,0.00,0.00,0.000,6,0.061,0.000,2365,2257,3527
$GC,6994,-0.50,-116.7,473.3,-8.3,665,6998,0.25,2.15,0.00,0.000,4,0.124,0.046,2449,891,3527
$GC,7060,-0.60,-116.7,477.5,-5.8,668,7063,0.00,2.08,0.00,0.000,6,0.000,0.038,2449,2237,3527
$GC,7386,-0.75,-116.7,495.3,-5.6,684,7388,0.22,0.00,0.00,0.000,6,0.059,0.000,2353,2239,3526
$GC,7696,-0.47,-116.7,524.9,-9.8,699,7701,0.28,2.10,0.00,0.000,4,0.127,0.044,2446,884,3525
$GC,7796,-0.56,-116.7,532.2,-6.8,703,7802,0.00,2.10,0.00,0.000,6,0.000,0.041,2446,2236,3525
$GC,8112,-0.70,-116.7,551.6,-6.0,719,8113,0.17,0.00,0.00,0.000,6,0.063,0.000,2373,2237,3524
$GC,8420,-0.50,-116.7,579.4,-9.2,734,8425,0.22,2.12,0.00,0.000,4,0.125,0.046,2449,888,3523
$GC,8481,-0.61,-116.7,584.0,-6.9,737,8485,0.00,2.08,0.00,0.000,6,0.000,0.041,2449,2222,3523
$GC,8813,-0.77,-116.7,603.8,-5.8,752,8815,0.25,0.00,0.00,0.000,6,0.059,0.000,2347,2222,3522
$GC,9119,-0.47,-116.7,633.5,-10.0,762,9123,0.32,2.10,0.00,0.000,4,0.130,0.046,2455,886,3521
$GC,9190,-0.62,-116.7,638.6,-6.7,764,9195,0.10,2.10,0.00,0.000,6,0.061,0.042,2405,2216,3521
$GC,9519,-0.62,-116.7,663.9,-7.8,775,9523,0.00,2.08,0.00,0.000,4,0.000,0.048,2405,895,3520
$GC,9546,-0.55,-116.7,666.3,-8.6,775,9553,0.08,2.08,0.00,0.000,6,0.131,0.041,2432,2209,3520
$GC,9859,-0.62,-116.7,686.7,-6.4,786,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2209,3519
$GC,10165,-0.71,-116.7,705.5,-6.0,796,10169,0.15,2.08,0.00,0.000,4,0.071,0.049,2369,896,3517
$GC,10199,-0.48,-116.7,708.2,-8.7,797,10203,0.30,2.05,0.00,0.000,6,0.131,0.043,2461,2211,3517
$GC,10533,-0.70,-116.7,724.8,-4.9,808,10535,0.20,0.00,0.00,0.000,6,0.060,0.000,2378,2212,3517
$GC,10839,-0.55,-116.7,748.2,-7.8,818,10841,0.17,0.00,0.00,0.000,6,0.129,0.000,2432,2212,3515
$GC,11145,-0.64,-116.7,767.1,-6.2,828,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2212,3515
$GC,11451,-0.73,-116.7,786.2,-6.3,838,11456,0.17,2.10,0.00,0.000,4,0.066,0.052,2360,893,3515
$GC,11495,-0.47,-116.7,790.2,-9.8,839,11500,0.28,2.08,0.00,0.000,6,0.129,0.043,2464,2196,3514
$GC,11824,-0.71,-116.7,807.8,-5.2,850,11826,0.22,0.00,0.00,0.000,6,0.063,0.000,2373,2196,3514
$GC,12130,-0.55,-116.7,832.5,-8.1,860,12135,0.20,2.08,0.00,0.000,4,0.128,0.048,2440,884,3513
$GC,12164,-0.64,-116.7,834.9,-6.2,861,12169,0.12,2.08,0.00,0.000,6,0.075,0.046,2390,2209,3513
$GC,12504,-0.56,-116.7,859.3,-7.1,872,12506,0.15,0.00,0.00,0.000,6,0.133,0.000,2435,2210,3512
$GC,12811,-0.68,-116.7,876.7,-5.6,882,12812,0.12,0.00,0.00,0.000,6,0.077,0.000,2382,2210,3512
$GC,13117,-0.57,-116.7,899.2,-7.4,892,13121,0.15,2.10,0.00,0.000,4,0.133,0.052,2427,892,3511
$GC,13161,-0.64,-116.7,902.1,-6.5,893,13165,0.00,2.05,0.00,0.000,6,0.000,0.045,2428,2196,3511
$GC,13490,-0.72,-116.7,922.1,-6.2,904,13492,0.15,0.00,0.00,0.000,6,0.071,0.000,2366,2196,3511
$GC,13796,-0.54,-116.7,947.4,-8.3,914,13798,0.22,0.00,0.00,0.000,6,0.129,0.000,2436,2196,3511
$GC,14102,-0.66,-116.7,965.6,-5.9,924,14107,0.12,2.08,0.00,0.000,4,0.078,0.049,2384,887,3510
$GC,14146,-0.52,-116.7,969.2,-8.1,925,14151,0.15,2.08,0.00,0.000,6,0.129,0.047,2435,2189,3510
$GC,14476,-0.65,-116.7,989.3,-6.1,936,14477,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2190,3510
$STATE,14504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14504,begin apogee
$GC,14509,-0.23,0.0,991.3,6.2,937,14607,0.32,0.00,95.32,1.429,6,0.117,0.000,2541,2301,3046
$STATE,14608,end apogee,CONTROL_FINISHED_OK
$STATE,14608,begin climb
$GC,14609,0.77,116.7,994.4,0.0,940,14720,0.95,2.53,103.38,1.411,4,0.084,0.051,2856,3698,2569
$GC,14747,0.28,116.7,990.8,7.7,944,14753,0.57,2.40,0.00,0.000,6,0.141,0.035,2706,2295,2566
$GC,15072,0.75,189.2,978.5,4.0,955,15143,0.40,2.47,62.45,1.404,4,0.052,0.047,2865,889,2272
$GC,15395,0.54,189.2,947.8,9.6,964,15402,0.28,2.22,0.00,0.000,6,0.135,0.038,2784,2266,2264
$GC,15708,0.65,191.6,926.2,6.8,975,15713,0.12,2.35,0.00,0.000,4,0.075,0.054,2835,3709,2263
$GC,15762,0.44,191.6,921.0,9.3,976,15770,0.30,2.28,0.00,0.000,6,0.137,0.035,2751,2268,2263
$GC,16076,0.73,233.3,904.0,5.2,987,16120,0.25,2.35,37.22,1.372,4,0.060,0.050,2855,893,2092
$GC,16188,0.62,233.3,893.6,10.3,990,16193,0.15,2.22,0.00,0.000,6,0.135,0.038,2813,2274,2087
$GC,16505,0.62,233.3,867.5,8.1,1001,16509,0.00,2.33,0.00,0.000,4,0.000,0.055,2813,3704,2085
$GC,16542,0.62,233.3,864.1,9.1,1002,16547,0.00,2.33,0.00,0.000,6,0.000,0.037,2813,2256,2085
$GC,16871,0.62,233.3,836.7,8.3,1013,16875,0.00,2.17,0.00,0.000,4,0.000,0.048,2813,885,2084
$GC,16960,0.62,233.3,829.0,8.0,1015,16964,0.00,2.17,0.00,0.000,6,0.000,0.037,2813,2255,2083
$GC,17278,0.62,233.3,802.6,8.0,1026,17282,0.00,2.33,0.00,0.000,4,0.000,0.054,2813,3704,2083
$GC,17343,0.62,233.3,796.6,9.5,1028,17348,0.00,2.30,0.00,0.000,6,0.000,0.037,2813,2254,2083
$GC,17680,0.62,233.3,768.6,8.6,1039,17684,0.00,2.15,0.00,0.000,4,0.000,0.049,2812,891,2082
$GC,17757,0.68,233.3,761.8,9.1,1041,17761,0.00,2.12,0.00,0.000,6,0.000,0.037,2813,2259,2082
$GC,18086,0.68,233.3,734.3,8.3,1052,18090,0.00,2.30,0.00,0.000,4,0.000,0.053,2813,3703,2082
$GC,18135,0.68,233.3,729.6,10.9,1053,18140,0.00,2.28,0.00,0.000,6,0.000,0.036,2813,2269,2082
$GC,18460,0.68,233.3,703.0,8.2,1064,18464,0.00,2.17,0.00,0.000,4,0.000,0.050,2813,891,2081
$GC,18532,0.75,233.3,697.1,7.9,1066,18537,0.08,2.15,0.00,0.000,6,0.061,0.036,2856,2259,2081
$GC,18869,0.65,233.3,664.4,9.8,1077,18873,0.12,2.30,0.00,0.000,4,0.136,0.051,2820,3708,2081
$GC,18912,0.65,233.3,660.2,8.1,1078,18916,0.00,2.28,0.00,0.000,6,0.000,0.035,2822,2236,2081
$GC,19235,0.65,233.3,632.8,8.6,1089,19239,0.00,2.12,0.00,0.000,4,0.000,0.049,2822,883,2081
$GC,19340,0.65,233.3,623.4,9.9,1092,19345,0.00,2.15,0.00,0.000,6,0.000,0.037,2822,2246,2080
$GC,19656,0.65,233.3,595.3,9.0,1103,19659,0.00,2.33,0.00,0.000,4,0.000,0.054,2822,3705,2080
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$STATE,26337,end climb,SURFACE_DEPTH_REACHED
$STATE,26337,begin surface coast
$FINISH,2.3,1.013601
$STATE,26365,end surface coast,CONTROL_FINISHED_OK
$STATE,26365,begin surface
$SM_CCo,26440,0.00,0.000,0,0,2086,235.49
$SM_GC,2.91,7.25,0.00,0.00,0.054,0.000,0.000,143,2311,2086,-7.65,0.28,235.49
$IRIDIUM_FIX,6322.64,315.12,220598,080840
$TT8_MAMPS,0.026845
$HUMID,1650
$INTERNAL_PRESSURE,9.13508
$TCM_TEMP,18.80
$XPDR_PINGS,52
$24V_AH,22.6,21.929
$10V_AH,10.6,14.769
$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,32.475,232.250,298.375,0.000,0.000,28.856,31.735,170.306,13.000,0.000,0.000,15.234,3273.757,19034.158,526.800,3460.589,474.690,0.000,2233.261,0.000,3404.170,0.000,0.834,0.000
$DEVICE_MAMPS,220.896,89.739,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1164.878,954.211,619.710,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82051,1678
$CAP_FILE_SIZE,233234,0
$CFSIZE,260165632,247382016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200, 54.1,1
$GPS,250209,232406,6342.772,213.856,38,0.9,38,-3.7