version: 66.04
glider: 160
mission: 3
dive: 140
start: 3 7 109 20 15 47
data:
$ID,160
$MISSION,3
$DIVE,140
$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,-9796.5176
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,200506,6300.404,421.851,38,1.4,38,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-55.2
$GPS2,201525,6300.676,422.101,14,1.4,31,-2.5
$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,241.9,24234,-13.7,-6.875
$D_GRID,810
$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,-116.7,0.0,0.0,0,38,0.00,0.00,-22.45,0.000,2,0.000,0.000,120,2301,2252
$GC,41,-0.77,-116.7,3.3,-5.6,3,128,7.95,2.28,-70.93,0.000,4,0.192,0.054,2361,892,3522
$GC,371,-0.42,-116.7,35.1,-11.0,59,378,0.38,2.20,0.00,0.000,6,0.122,0.035,2480,2304,3523
$GC,715,-0.65,-116.7,47.6,-3.0,120,723,0.20,2.20,0.00,0.000,4,0.057,0.040,2391,900,3524
$GC,871,-0.44,-116.7,60.6,-10.8,147,878,0.25,2.17,0.00,0.000,6,0.123,0.036,2469,2300,3524
$GC,1215,-0.59,-116.7,83.9,-3.4,208,1222,0.15,2.20,0.00,0.000,4,0.062,0.038,2399,893,3524
$GC,1396,-0.43,-116.7,98.1,-9.1,240,1403,0.25,2.15,0.00,0.000,6,0.125,0.033,2474,2287,3524
$GC,1741,-0.64,-116.7,112.2,-3.4,301,1750,0.20,2.17,0.00,0.000,4,0.055,0.041,2382,896,3524
$GC,1820,-0.41,-116.7,117.2,-7.4,314,1827,0.30,2.15,0.00,0.000,6,0.118,0.035,2477,2287,3524
$GC,2165,-0.63,-116.7,138.8,-5.3,375,2172,0.20,2.17,0.00,0.000,4,0.054,0.040,2385,894,3524
$GC,2240,-0.43,-116.7,146.9,-11.5,388,2247,0.30,2.12,0.00,0.000,6,0.117,0.035,2479,2278,3524
$GC,2574,-0.66,-116.7,168.2,-8.3,423,2576,0.22,0.00,0.00,0.000,6,0.053,0.000,2382,2278,3524
$GC,2893,-0.48,-116.7,200.0,-8.3,453,2898,0.22,2.15,0.00,0.000,4,0.117,0.039,2459,898,3524
$GC,2993,-0.60,-116.7,206.3,-5.3,459,2998,0.12,2.12,0.00,0.000,6,0.064,0.036,2402,2279,3524
$GC,3317,-0.50,-116.7,223.5,-6.9,480,3319,0.17,0.00,0.00,0.000,6,0.120,0.000,2456,2280,3524
$GC,3630,-0.62,-116.7,244.4,-6.8,500,3634,0.15,2.15,0.00,0.000,4,0.058,0.039,2388,898,3524
$GC,3668,-0.42,-116.7,247.8,-9.2,502,3673,0.22,2.12,0.00,0.000,6,0.114,0.035,2479,2258,3524
$GC,3994,-0.66,-116.7,261.6,-4.6,523,3996,0.22,0.00,0.00,0.000,6,0.054,0.000,2382,2259,3525
$GC,4305,-0.48,-116.7,290.8,-10.7,543,4309,0.20,2.10,0.00,0.000,4,0.117,0.038,2451,896,3525
$GC,4371,-0.58,-116.7,296.6,-8.2,547,4375,0.00,2.10,0.00,0.000,6,0.000,0.035,2450,2262,3524
$GC,4688,-0.68,-116.7,318.7,-6.8,563,4692,0.17,2.12,0.00,0.000,4,0.059,0.038,2372,892,3525
$GC,4732,-0.41,-116.7,322.8,-10.3,565,4737,0.32,2.10,0.00,0.000,6,0.119,0.034,2477,2262,3524
$GC,5059,-0.66,-116.7,338.5,-3.9,581,5063,0.20,2.12,0.00,0.000,4,0.056,0.038,2383,892,3524
$GC,5098,-0.44,-116.7,341.1,-7.7,582,5105,0.28,2.10,0.00,0.000,6,0.119,0.035,2470,2261,3524
$GC,5414,-0.65,-116.7,354.6,-4.7,598,5416,0.20,0.00,0.00,0.000,6,0.053,0.000,2383,2262,3524
$GC,5722,-0.49,-116.7,382.6,-9.4,613,5727,0.20,2.12,0.00,0.000,4,0.117,0.038,2452,893,3524
$GC,5822,-0.59,-116.7,389.7,-6.8,617,5830,0.00,2.08,0.00,0.000,6,0.000,0.034,2450,2254,3524
$GC,6138,-0.71,-116.7,406.9,-5.3,633,6142,0.20,2.12,0.00,0.000,4,0.056,0.042,2356,894,3524
$GC,6215,-0.41,-116.7,414.5,-10.5,636,6220,0.32,2.10,0.00,0.000,6,0.110,0.035,2477,2242,3524
$GC,6537,-0.66,-116.7,429.4,-4.6,652,6541,0.20,2.10,0.00,0.000,4,0.055,0.040,2384,900,3524
$GC,6597,-0.48,-116.7,434.3,-8.9,654,6604,0.20,2.10,0.00,0.000,6,0.114,0.037,2456,2234,3524
$GC,6913,-0.64,-116.7,449.5,-4.6,670,6915,0.15,0.00,0.00,0.000,6,0.059,0.000,2389,2236,3524
$GC,7222,-0.52,-116.7,471.6,-7.7,685,7226,0.17,2.10,0.00,0.000,4,0.120,0.041,2445,894,3524
$GC,7294,-0.62,-116.7,476.3,-6.0,688,7298,0.00,2.05,0.00,0.000,6,0.000,0.035,2445,2233,3524
$GC,7621,-0.73,-116.7,491.5,-4.7,704,7625,0.20,2.10,0.00,0.000,4,0.054,0.042,2351,894,3524
$GC,7675,-0.43,-116.7,496.4,-10.0,706,7680,0.32,2.08,0.00,0.000,6,0.112,0.035,2474,2220,3524
$GC,7997,-0.70,-116.7,514.3,-5.7,722,7999,0.25,0.00,0.00,0.000,6,0.052,0.000,2367,2220,3524
$GC,8305,-0.49,-116.7,541.9,-8.9,737,8310,0.25,2.08,0.00,0.000,4,0.119,0.041,2452,894,3524
$GC,8383,-0.61,-116.7,547.6,-6.8,740,8389,0.12,2.05,0.00,0.000,6,0.071,0.036,2394,2230,3524
$GC,8698,-0.55,-116.7,574.4,-8.0,756,8700,0.15,0.00,0.00,0.000,6,0.123,0.000,2441,2230,3524
$GC,9009,-0.68,-116.7,592.8,-5.7,771,9013,0.15,2.10,0.00,0.000,4,0.061,0.044,2374,895,3524
$GC,9069,-0.47,-116.7,597.6,-7.9,773,9078,0.28,2.08,0.00,0.000,6,0.121,0.037,2461,2239,3524
$GC,9392,-0.69,-116.7,615.1,-5.9,785,9394,0.20,0.00,0.00,0.000,6,0.055,0.000,2375,2239,3523
$GC,9698,-0.54,-116.7,642.3,-8.7,795,9702,0.20,2.10,0.00,0.000,4,0.121,0.041,2444,898,3522
$GC,9770,-0.67,-116.7,647.2,-6.7,797,9774,0.15,2.05,0.00,0.000,6,0.063,0.038,2378,2230,3522
$GC,10104,-0.54,-116.7,675.0,-8.6,808,10108,0.20,2.10,0.00,0.000,4,0.120,0.046,2447,904,3522
$GC,10137,-0.68,-116.7,677.3,-6.9,809,10142,0.15,2.08,0.00,0.000,6,0.064,0.041,2381,2234,3521
$GC,10478,-0.56,-116.7,705.4,-8.4,820,10479,0.17,0.00,0.00,0.000,6,0.124,0.000,2435,2235,3520
$GC,10784,-0.68,-116.7,726.4,-6.9,830,10788,0.12,2.12,0.00,0.000,4,0.072,0.047,2378,894,3519
$GC,10822,-0.50,-116.7,729.8,-9.5,831,10826,0.25,2.08,0.00,0.000,6,0.126,0.040,2457,2223,3519
$GC,11157,-0.71,-116.7,751.1,-6.3,842,11159,0.22,0.00,0.00,0.000,6,0.057,0.000,2363,2225,3518
$GC,11462,-0.53,-116.7,778.5,-9.0,852,11467,0.22,2.12,0.00,0.000,4,0.125,0.048,2440,891,3516
$GC,11540,-0.64,-116.7,784.0,-6.4,854,11544,0.00,2.08,0.00,0.000,6,0.000,0.041,2439,2217,3516
$GC,11863,-0.78,-116.7,803.9,-6.3,865,11865,0.22,0.00,0.00,0.000,6,0.059,0.000,2346,2218,3515
$STATE,11953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11953,begin apogee
$GC,11958,-0.23,0.0,812.2,8.5,868,12055,0.60,0.00,93.68,1.285,6,0.127,0.000,2537,2307,3046
$STATE,12055,end apogee,CONTROL_FINISHED_OK
$STATE,12055,begin climb
$GC,12057,0.77,116.7,815.4,0.0,871,12160,0.98,0.00,99.68,1.262,6,0.084,0.000,2859,2307,2570
$GC,12442,0.47,116.7,790.7,8.2,884,12444,0.32,0.00,0.00,0.000,6,0.131,0.000,2762,2306,2564
$GC,12749,0.60,154.0,774.1,5.4,894,12785,0.15,2.33,30.25,1.241,4,0.071,0.042,2823,902,2418
$GC,12848,0.50,154.0,766.5,8.7,897,12853,0.17,2.22,0.00,0.000,6,0.134,0.034,2773,2298,2415
$GC,13183,0.63,171.3,744.7,6.2,908,13201,0.12,0.00,15.40,1.197,6,0.074,0.000,2825,2299,2347
$GC,13489,0.56,171.3,718.8,8.7,918,13491,0.12,0.00,0.00,0.000,6,0.131,0.000,2789,2299,2343
$GC,13795,0.65,171.3,696.9,6.9,928,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2298,2342
$GC,14102,0.72,171.3,674.8,7.5,938,14107,0.17,2.22,0.00,0.000,4,0.064,0.044,2865,905,2341
$GC,14163,0.51,171.3,668.5,10.1,940,14168,0.30,2.17,0.00,0.000,6,0.131,0.036,2773,2299,2341
$GC,14497,0.66,177.6,645.0,6.6,951,14506,0.17,0.00,5.75,0.992,6,0.066,0.000,2842,2298,2322
$GC,14804,0.55,177.6,619.3,8.4,961,14808,0.17,2.22,0.00,0.000,4,0.127,0.044,2795,901,2321
$GC,14886,0.65,177.6,612.9,8.3,963,14890,0.00,2.17,0.00,0.000,6,0.000,0.036,2795,2283,2320
$GC,15206,0.71,177.6,588.8,7.6,976,15210,0.12,2.28,0.00,0.000,4,0.069,0.051,2850,3708,2320
$GC,15351,0.45,177.6,573.4,10.4,982,15358,0.32,2.20,0.00,0.000,6,0.133,0.032,2757,2283,2320
$GC,15667,0.79,240.4,555.0,4.4,998,15730,0.28,2.35,52.45,1.139,4,0.055,0.046,2878,892,2063
$GC,15830,0.63,240.4,540.0,10.2,1005,15835,0.22,2.25,0.00,0.000,6,0.123,0.033,2810,2285,2057
$GC,16151,0.73,240.4,515.3,7.6,1021,16156,0.12,2.30,0.00,0.000,4,0.071,0.048,2863,3720,2055
$GC,16190,0.52,240.4,511.3,11.5,1023,16195,0.30,2.28,0.00,0.000,6,0.127,0.033,2776,2271,2055
$GC,16518,0.79,262.5,490.9,6.0,1039,16541,0.22,2.28,17.90,1.049,4,0.057,0.042,2878,885,1974
$GC,16613,0.69,262.5,481.2,10.4,1043,16618,0.15,2.20,0.00,0.000,6,0.124,0.035,2834,2282,1970
$GC,16939,0.69,262.5,449.7,9.7,1059,16941,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2282,1969
$GC,17249,0.69,262.5,421.9,8.8,1074,17250,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2282,1969
$GC,17558,0.76,262.5,393.2,9.2,1089,17562,0.00,2.20,0.00,0.000,4,0.000,0.041,2835,885,1968
$GC,17597,0.83,262.5,389.5,9.6,1090,17604,0.15,2.12,0.00,0.000,6,0.064,0.034,2898,2262,1968
$GC,17912,0.66,262.5,350.2,11.4,1106,17917,0.22,2.28,0.00,0.000,4,0.124,0.044,2823,3705,1968
$GC,17961,0.72,262.5,345.5,8.1,1108,17965,0.00,2.25,0.00,0.000,6,0.000,0.029,2823,2243,1968
$GC,18283,0.84,264.9,323.9,6.8,1124,18287,0.17,2.12,0.00,0.000,4,0.061,0.045,2895,885,1968
$GC,18395,0.69,264.9,312.1,11.0,1129,18399,0.20,2.12,0.00,0.000,6,0.124,0.034,2834,2268,1968
$GC,18712,0.75,264.9,286.5,8.2,1147,18716,0.00,2.28,0.00,0.000,4,0.000,0.049,2834,3709,1968
$GC,18745,0.75,264.9,283.2,9.8,1149,18749,0.00,2.25,0.00,0.000,6,0.000,0.031,2834,2243,1969
$GC,19075,0.82,264.9,254.1,8.9,1170,19080,0.12,2.10,0.00,0.000,4,0.067,0.044,2891,888,1969
$GC,19169,0.70,264.9,242.9,11.4,1175,19176,0.12,2.10,0.00,0.000,6,0.115,0.031,2834,2245,1968
$GC,19491,0.79,264.9,209.3,10.8,1196,19495,0.10,2.30,0.00,0.000,4,0.075,0.047,2879,3705,1969
$GC,19535,0.61,264.9,203.4,12.7,1199,19540,0.25,2.25,0.00,0.000,6,0.123,0.030,2802,2234,1970
$GC,19865,0.82,264.9,177.3,7.3,1229,19867,0.20,0.00,0.00,0.000,6,0.056,0.000,2886,2231,1970
$GC,20186,0.69,264.9,141.1,11.5,1265,20193,0.17,0.00,0.00,0.000,6,0.121,0.000,2832,2231,1970
$GC,20531,0.79,264.9,106.7,11.3,1326,20538,0.10,2.35,0.00,0.000,4,0.074,0.045,2877,3718,1971
$GC,20589,0.62,264.9,98.9,14.0,1336,20596,0.22,2.28,0.00,0.000,6,0.124,0.031,2809,2233,1971
$GC,20934,0.83,264.9,68.5,9.4,1397,20942,0.20,2.08,0.00,0.000,4,0.056,0.039,2899,884,1971
$GC,21027,0.68,264.9,56.7,13.6,1413,21035,0.22,2.08,0.00,0.000,6,0.120,0.031,2828,2250,1972
$GC,21376,0.78,264.9,30.0,9.8,1474,21383,0.12,2.30,0.00,0.000,4,0.067,0.047,2883,3711,1972
$GC,21440,0.59,264.9,20.4,16.0,1485,21448,0.28,2.25,0.00,0.000,6,0.120,0.030,2800,2249,1972
$STATE,21688,end climb,SURFACE_DEPTH_REACHED
$STATE,21688,begin surface coast
$FINISH,1.9,1.018167
$STATE,21723,end surface coast,CONTROL_FINISHED_OK
$STATE,21723,begin surface
$SM_CCo,21799,0.00,0.000,0,0,1971,263.70
$SM_GC,2.73,6.97,0.00,0.00,0.044,0.000,0.000,137,2311,1971,-7.65,0.25,263.70
$IRIDIUM_FIX,6235.17,420.65,010698,202036
$TT8_MAMPS,0.026845
$HUMID,1655
$INTERNAL_PRESSURE,9.14484
$TCM_TEMP,15.40
$XPDR_PINGS,34
$24V_AH,23.2,26.683
$10V_AH,10.7,18.851
$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,33.100,160.325,315.100,0.000,0.000,57.980,79.258,292.941,8.500,0.000,0.000,33.224,2915.353,15368.486,535.344,2933.079,660.077,0.000,1935.431,0.000,2880.386,0.000,1.136,0.000
$DEVICE_MAMPS,191.750,96.642,1285.492,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1061.543,901.773,630.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75804,1535
$CAP_FILE_SIZE,200436,0
$CFSIZE,260165632,244060160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.482, 33.7,1
$GPS,080309,022024,6303.949,424.279,25,1.2,43,-2.5