version: 66.04
glider: 160
mission: 3
dive: 137
start: 3 7 109 4 32 1
data:
$ID,160
$MISSION,3
$DIVE,137
$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,-2
$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,-9711.4238
$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,34
$R_STBD_OVSHOOT,36
$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
$GPS1,042536,6257.384,407.163,32,1.0,33,-2.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-62.1
$GPS2,043138,6257.441,407.391,9,1.5,15,-2.6
$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,207.4,18634,-13.7,-6.875
$D_GRID,736
$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,-116.7,0.0,0.0,0,44,0.00,0.00,-27.30,0.000,2,0.000,0.000,121,2279,2581
$GC,46,-0.77,-116.7,3.2,-2.4,4,100,8.65,2.28,-39.35,0.000,4,0.227,0.055,2358,891,3523
$GC,124,-0.32,-116.7,8.7,-11.1,16,131,0.50,2.22,0.00,0.000,6,0.119,0.035,2513,2303,3523
$GC,468,-0.66,-116.7,30.1,-3.9,77,474,0.30,0.00,0.00,0.000,6,0.060,0.000,2392,2303,3524
$GC,812,-0.49,-116.7,60.6,-14.0,138,819,0.20,2.22,0.00,0.000,4,0.117,0.039,2460,894,3524
$GC,860,-0.56,-116.7,66.2,-11.8,146,866,0.00,2.20,0.00,0.000,6,0.000,0.035,2460,2307,3524
$GC,1205,-0.72,-116.7,90.5,-6.2,207,1212,0.20,0.00,0.00,0.000,6,0.056,0.000,2369,2308,3525
$GC,1550,-0.48,-116.7,126.6,-10.9,268,1557,0.25,2.22,0.00,0.000,4,0.122,0.040,2454,891,3525
$GC,1642,-0.57,-116.7,134.1,-7.8,284,1649,0.00,2.22,0.00,0.000,6,0.000,0.035,2454,2306,3525
$GC,1985,-0.69,-116.7,158.8,-7.2,335,1989,0.17,2.22,0.00,0.000,4,0.059,0.039,2377,881,3525
$GC,2068,-0.45,-116.7,167.5,-10.9,342,2073,0.30,2.22,0.00,0.000,6,0.122,0.037,2471,2308,3525
$GC,2394,-0.65,-116.7,188.6,-6.2,372,2398,0.20,2.22,0.00,0.000,4,0.055,0.040,2378,887,3525
$GC,2459,-0.42,-116.7,195.7,-11.3,377,2467,0.32,2.20,0.00,0.000,6,0.121,0.036,2482,2305,3525
$GC,2791,-0.66,-116.7,213.0,-5.4,401,2796,0.20,2.22,0.00,0.000,4,0.058,0.039,2390,881,3525
$GC,2857,-0.48,-116.7,218.8,-9.0,405,2862,0.22,2.20,0.00,0.000,6,0.123,0.037,2460,2298,3525
$GC,3183,-0.63,-116.7,237.5,-5.4,426,3187,0.15,2.22,0.00,0.000,4,0.061,0.041,2392,879,3525
$GC,3231,-0.45,-116.7,241.6,-8.4,429,3236,0.25,2.20,0.00,0.000,6,0.120,0.037,2471,2297,3525
$GC,3557,-0.67,-116.7,257.9,-4.9,450,3562,0.20,2.22,0.00,0.000,4,0.055,0.041,2377,880,3525
$GC,3612,-0.43,-116.7,262.7,-9.4,453,3619,0.30,2.20,0.00,0.000,6,0.121,0.038,2472,2297,3525
$GC,3932,-0.65,-116.7,279.4,-5.3,474,3937,0.20,2.20,0.00,0.000,4,0.056,0.043,2379,888,3525
$GC,3999,-0.43,-116.7,285.7,-9.8,478,4004,0.30,2.15,0.00,0.000,6,0.120,0.037,2474,2278,3525
$GC,4323,-0.66,-116.7,303.2,-5.1,498,4327,0.20,2.17,0.00,0.000,4,0.055,0.041,2380,892,3525
$GC,4362,-0.42,-116.7,306.5,-9.4,500,4367,0.30,2.15,0.00,0.000,6,0.120,0.035,2475,2283,3525
$GC,4690,-0.65,-116.7,323.5,-5.3,516,4694,0.20,2.17,0.00,0.000,4,0.056,0.039,2383,889,3525
$GC,4774,-0.46,-116.7,331.4,-9.9,520,4779,0.25,2.15,0.00,0.000,6,0.121,0.035,2462,2282,3525
$GC,5101,-0.63,-116.7,353.3,-6.7,536,5106,0.15,2.17,0.00,0.000,4,0.061,0.038,2394,887,3525
$GC,5144,-0.46,-116.7,357.3,-9.9,538,5149,0.22,2.15,0.00,0.000,6,0.123,0.035,2464,2280,3525
$GC,5471,-0.64,-116.7,378.4,-6.0,554,5476,0.17,2.17,0.00,0.000,4,0.060,0.040,2389,888,3525
$GC,5526,-0.46,-116.7,383.4,-9.6,556,5533,0.25,2.12,0.00,0.000,6,0.122,0.035,2468,2262,3525
$GC,5842,-0.67,-116.7,402.4,-6.0,572,5846,0.20,2.15,0.00,0.000,4,0.056,0.039,2376,881,3525
$GC,5880,-0.43,-116.7,406.1,-10.5,574,5885,0.32,2.15,0.00,0.000,6,0.120,0.036,2479,2276,3525
$GC,6208,-0.70,-116.7,423.5,-5.0,590,6213,0.22,2.17,0.00,0.000,4,0.055,0.042,2377,891,3525
$GC,6285,-0.49,-116.7,430.6,-9.8,593,6292,0.20,2.12,0.00,0.000,6,0.115,0.035,2458,2251,3525
$GC,6601,-0.67,-116.7,451.3,-7.3,609,6603,0.17,0.00,0.00,0.000,6,0.057,0.000,2381,2252,3526
$GC,6910,-0.53,-116.7,483.2,-10.0,624,6912,0.20,0.00,0.00,0.000,6,0.122,0.000,2444,2252,3525
$GC,7220,-0.64,-116.7,503.3,-5.8,639,7224,0.12,2.15,0.00,0.000,4,0.065,0.044,2388,889,3525
$GC,7269,-0.48,-116.7,507.2,-7.9,641,7274,0.17,2.15,0.00,0.000,6,0.106,0.036,2462,2257,3526
$GC,7596,-0.68,-116.7,525.9,-6.2,657,7598,0.20,0.00,0.00,0.000,6,0.058,0.000,2377,2257,3525
$GC,7906,-0.54,-116.7,554.3,-9.2,672,7910,0.20,2.15,0.00,0.000,4,0.121,0.044,2445,886,3525
$GC,7996,-0.63,-116.7,560.4,-6.5,676,8001,0.12,2.12,0.00,0.000,6,0.067,0.039,2389,2256,3525
$GC,8329,-0.55,-116.7,585.6,-8.4,692,8333,0.15,2.15,0.00,0.000,4,0.127,0.044,2435,895,3525
$GC,8383,-0.65,-116.7,590.2,-8.5,694,8387,0.00,2.12,0.00,0.000,6,0.000,0.038,2435,2240,3525
$GC,8703,-0.77,-116.7,615.0,-7.7,707,8705,0.20,0.00,0.00,0.000,6,0.058,0.000,2350,2240,3525
$GC,9010,-0.50,-116.7,647.2,-11.0,717,9015,0.28,2.12,0.00,0.000,4,0.126,0.042,2443,892,3525
$GC,9076,-0.60,-116.7,652.9,-7.8,719,9080,0.00,2.12,0.00,0.000,6,0.000,0.037,2443,2237,3524
$GC,9412,-0.74,-116.7,674.6,-6.1,730,9414,0.20,0.00,0.00,0.000,6,0.058,0.000,2360,2239,3523
$GC,9718,-0.53,-116.7,703.2,-9.7,740,9722,0.22,2.12,0.00,0.000,4,0.127,0.043,2435,892,3521
$GC,9817,-0.60,-116.7,711.2,-7.5,743,9821,0.00,2.12,0.00,0.000,6,0.000,0.038,2435,2238,3521
$GC,10154,-0.72,-116.7,733.6,-6.5,754,10156,0.15,0.00,0.00,0.000,6,0.069,0.000,2371,2238,3520
$STATE,10180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10181,begin apogee
$GC,10185,-0.23,0.0,736.1,6.9,755,10282,0.52,0.00,93.45,1.229,6,0.123,0.000,2540,2308,3046
$STATE,10282,end apogee,CONTROL_FINISHED_OK
$STATE,10283,begin climb
$GC,10284,0.77,116.7,739.8,0.0,758,10386,0.93,0.00,97.53,1.205,6,0.081,0.000,2854,2308,2570
$GC,10716,0.48,116.7,716.3,7.1,772,10718,0.28,0.00,0.00,0.000,6,0.133,0.000,2773,2308,2564
$GC,11021,0.57,187.9,702.6,4.0,782,11085,0.00,2.45,58.12,1.207,4,0.000,0.043,2773,891,2279
$GC,11119,0.80,239.5,698.4,4.8,785,11170,0.28,2.30,44.33,1.183,6,0.055,0.034,2877,2304,2068
$GC,11490,0.63,239.5,660.1,11.0,797,11492,0.20,0.00,0.00,0.000,6,0.123,0.000,2817,2304,2057
$GC,11795,0.63,239.5,635.7,7.6,807,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2304,2055
$GC,12102,0.73,253.7,615.6,6.3,817,12115,0.00,0.00,10.88,1.100,6,0.000,0.000,2817,2304,2011
$GC,12418,0.81,253.7,589.7,8.6,829,12422,0.17,2.25,0.00,0.000,4,0.061,0.043,2891,894,2007
$GC,12485,0.63,253.7,582.0,12.2,832,12490,0.25,2.20,0.00,0.000,6,0.126,0.034,2814,2302,2006
$GC,12812,0.72,253.7,555.7,8.2,848,12816,0.00,2.25,0.00,0.000,4,0.000,0.051,2814,3711,2005
$GC,12928,0.72,253.7,545.0,9.0,853,12933,0.00,2.22,0.00,0.000,6,0.000,0.033,2814,2298,2005
$GC,13256,0.82,253.7,514.9,9.7,869,13260,0.17,2.20,0.00,0.000,4,0.061,0.043,2891,895,2003
$GC,13378,0.64,253.7,498.7,13.2,874,13386,0.25,2.17,0.00,0.000,6,0.126,0.034,2814,2302,2003
$GC,13694,0.75,253.7,470.5,9.2,890,13698,0.12,2.22,0.00,0.000,4,0.067,0.050,2868,3704,2003
$GC,13771,0.59,253.7,460.2,14.6,893,13778,0.22,2.20,0.00,0.000,6,0.127,0.034,2800,2276,2003
$GC,14086,0.75,253.7,429.8,9.6,909,14091,0.15,2.15,0.00,0.000,4,0.062,0.043,2865,898,2003
$GC,14203,0.69,253.7,415.1,13.4,914,14208,0.00,2.17,0.00,0.000,6,0.000,0.034,2865,2308,2003
$GC,14530,0.60,253.7,375.8,11.5,930,14535,0.20,2.20,0.00,0.000,4,0.122,0.046,2798,3707,2003
$GC,14574,0.73,253.7,371.4,9.6,932,14578,0.15,2.20,0.00,0.000,6,0.064,0.030,2862,2269,2003
$GC,14901,0.67,253.7,336.7,10.3,948,14905,0.12,2.12,0.00,0.000,4,0.127,0.041,2825,899,2003
$GC,14956,0.77,253.7,331.9,8.0,950,14961,0.10,2.17,0.00,0.000,6,0.075,0.033,2870,2312,2003
$GC,15277,0.68,253.7,298.4,11.1,966,15279,0.12,0.00,0.00,0.000,6,0.128,0.000,2833,2314,2003
$GC,15589,0.68,253.7,269.1,9.2,986,15590,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2314,2003
$GC,15901,0.68,253.7,238.6,10.0,1006,15902,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2314,2004
$GC,16214,0.68,253.7,209.4,9.6,1026,16215,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2314,2005
$GC,16536,0.75,253.7,179.5,9.5,1053,16540,0.00,2.20,0.00,0.000,4,0.000,0.041,2835,899,2005
$GC,16574,0.82,253.7,175.9,9.4,1056,16582,0.08,2.17,0.00,0.000,6,0.061,0.031,2880,2297,2005
$GC,16904,0.69,253.7,138.7,10.9,1096,16912,0.15,2.22,0.00,0.000,4,0.127,0.047,2834,3718,2007
$GC,16958,0.69,253.7,133.1,10.1,1105,16965,0.00,2.20,0.00,0.000,6,0.000,0.031,2836,2281,2006
$GC,17301,0.69,253.7,103.6,8.3,1166,17308,0.00,2.15,0.00,0.000,4,0.000,0.042,2836,892,2007
$GC,17343,0.76,253.7,100.4,8.3,1173,17349,0.00,2.15,0.00,0.000,6,0.000,0.031,2835,2304,2007
$GC,17686,0.76,253.7,64.3,10.9,1234,17691,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2303,2007
$GC,18030,0.76,253.7,23.7,12.2,1295,18037,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2304,2008
$STATE,18198,end climb,SURFACE_DEPTH_REACHED
$STATE,18199,begin surface coast
$FINISH,2.0,1.015615
$STATE,18227,end surface coast,CONTROL_FINISHED_OK
$STATE,18227,begin surface
$SM_CCo,18302,0.00,0.000,0,0,2008,254.62
$SM_GC,2.67,7.12,0.00,0.00,0.048,0.000,0.000,142,2311,2008,-7.64,0.31,254.62
$IRIDIUM_FIX,6235.17,357.04,310598,222223
$TT8_MAMPS,0.026845
$HUMID,1642
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,18.80
$XPDR_PINGS,43
$24V_AH,23.1,26.315
$10V_AH,10.7,18.536
$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,29.625,135.775,304.300,0.000,0.000,27.589,33.267,190.985,10.750,0.000,0.000,17.029,2518.578,12680.112,462.876,2546.632,448.645,0.000,1692.874,0.000,2507.983,0.000,0.835,0.000
$DEVICE_MAMPS,227.032,85.904,1228.734,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,916.066,792.454,540.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66309,1330
$CAP_FILE_SIZE,167013,0
$CFSIZE,260165632,244346880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.384, 59.2,1
$GPS,070309,093807,6257.144,412.629,29,2.0,29,-2.5