version: 66.04
glider: 160
mission: 3
dive: 198
start: 3 25 109 17 37 25
data:
$ID,160
$MISSION,3
$DIVE,198
$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,-10903.653
$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,36
$R_STBD_OVSHOOT,35
$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
$GPS1,173106,6446.895,-21.337,38,2.0,44,-5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.52
$_SM_ANGLEo,-68.6
$GPS2,173702,6446.881,-21.258,11,1.4,11,-5.4
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-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,311.4,46544,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-7.50,0.000,2,0.000,0.000,139,2262,2100
$GC,27,-0.77,-116.7,3.6,-0.0,1,132,8.65,2.42,-91.00,0.000,4,0.220,0.062,2366,3705,3522
$GC,172,-0.77,-116.7,5.1,-6.0,24,178,0.00,2.22,0.00,0.000,6,0.000,0.033,2366,2287,3523
$GC,518,-0.54,-116.7,39.7,-9.8,85,526,0.20,2.22,0.00,0.000,4,0.123,0.045,2434,893,3524
$GC,655,-0.54,-116.7,50.5,-7.7,109,662,0.00,2.20,0.00,0.000,6,0.000,0.036,2434,2298,3524
$GC,1001,-0.54,-116.7,73.5,-6.8,170,1008,0.00,2.25,0.00,0.000,4,0.000,0.044,2434,885,3525
$GC,1093,-0.54,-116.7,80.5,-7.6,186,1099,0.00,2.20,0.00,0.000,6,0.000,0.040,2434,2279,3525
$GC,1437,-0.54,-116.7,104.2,-6.6,247,1443,0.00,2.20,0.00,0.000,4,0.000,0.042,2434,888,3525
$GC,1477,-0.54,-116.7,107.1,-7.2,254,1484,0.00,2.17,0.00,0.000,6,0.000,0.037,2434,2279,3525
$GC,1821,-0.54,-116.7,131.3,-7.1,315,1827,0.00,2.20,0.00,0.000,4,0.000,0.042,2434,890,3525
$GC,1869,-0.54,-116.7,134.8,-7.7,323,1875,0.00,2.15,0.00,0.000,6,0.000,0.036,2434,2269,3525
$GC,2212,-0.54,-116.7,158.8,-6.8,373,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2269,3526
$GC,2530,-0.54,-116.7,180.0,-7.1,403,2533,0.00,2.20,0.00,0.000,4,0.000,0.047,2434,888,3526
$GC,2612,-0.54,-116.7,186.5,-7.8,410,2619,0.00,2.17,0.00,0.000,6,0.000,0.037,2434,2258,3526
$GC,2942,-0.60,-116.7,210.2,-7.1,437,2946,0.00,2.15,0.00,0.000,4,0.000,0.043,2434,885,3526
$GC,3019,-0.60,-116.7,216.0,-7.3,441,3027,0.00,2.17,0.00,0.000,6,0.000,0.040,2434,2256,3526
$GC,3339,-0.66,-116.7,237.4,-6.7,462,3344,0.12,2.17,0.00,0.000,4,0.070,0.044,2378,887,3526
$GC,3394,-0.48,-116.7,242.6,-9.7,465,3403,0.28,2.12,0.00,0.000,6,0.123,0.038,2464,2246,3526
$GC,3715,-0.69,-116.7,260.7,-5.3,486,3717,0.22,0.00,0.00,0.000,6,0.058,0.000,2372,2247,3526
$GC,4026,-0.51,-116.7,288.1,-9.1,506,4031,0.22,2.17,0.00,0.000,4,0.122,0.048,2447,892,3526
$GC,4104,-0.60,-116.7,293.7,-6.9,511,4108,0.00,2.12,0.00,0.000,6,0.000,0.037,2447,2247,3526
$GC,4422,-0.74,-116.7,312.9,-6.1,528,4424,0.20,0.00,0.00,0.000,6,0.059,0.000,2363,2248,3526
$GC,4730,-0.54,-116.7,342.3,-9.7,543,4735,0.20,2.17,0.00,0.000,4,0.125,0.048,2431,892,3526
$GC,4813,-0.54,-116.7,348.9,-7.2,546,4819,0.00,2.12,0.00,0.000,6,0.000,0.038,2431,2235,3526
$GC,5130,-0.62,-116.7,369.4,-6.5,562,5134,0.00,2.15,0.00,0.000,4,0.000,0.046,2431,888,3526
$GC,5175,-0.62,-116.7,372.7,-7.0,564,5178,0.00,2.10,0.00,0.000,6,0.000,0.040,2431,2232,3526
$GC,5508,-0.69,-116.7,394.0,-6.5,580,5512,0.12,2.15,0.00,0.000,4,0.071,0.048,2377,892,3524
$GC,5553,-0.49,-116.7,397.9,-9.2,582,5558,0.25,2.08,0.00,0.000,6,0.128,0.038,2454,2218,3524
$GC,5880,-0.68,-116.7,418.0,-6.2,598,5882,0.17,0.00,0.00,0.000,6,0.064,0.000,2380,2219,3524
$GC,6189,-0.55,-116.7,444.7,-8.6,613,6191,0.17,0.00,0.00,0.000,6,0.127,0.000,2433,2219,3523
$GC,6498,-0.65,-116.7,465.0,-6.5,628,6502,0.00,2.10,0.00,0.000,4,0.000,0.045,2434,896,3523
$GC,6537,-0.71,-116.7,467.7,-6.7,629,6545,0.15,2.08,0.00,0.000,6,0.067,0.039,2373,2220,3523
$GC,6852,-0.56,-116.7,495.1,-8.7,645,6857,0.20,2.12,0.00,0.000,4,0.124,0.044,2440,888,3522
$GC,6896,-0.67,-116.7,498.3,-6.7,647,6901,0.15,2.10,0.00,0.000,6,0.069,0.041,2379,2223,3522
$GC,7223,-0.55,-116.7,525.5,-8.5,663,7228,0.20,2.12,0.00,0.000,4,0.124,0.045,2445,890,3522
$GC,7263,-0.68,-116.7,528.3,-6.6,665,7267,0.15,2.08,0.00,0.000,6,0.067,0.039,2381,2218,3522
$GC,7595,-0.57,-116.7,555.2,-8.5,681,7597,0.15,0.00,0.00,0.000,6,0.128,0.000,2426,2219,3521
$GC,7904,-0.65,-116.7,576.1,-6.6,696,7908,0.00,2.10,0.00,0.000,4,0.000,0.046,2427,894,3521
$GC,7936,-0.65,-116.7,578.6,-7.3,697,7941,0.00,2.08,0.00,0.000,6,0.000,0.039,2426,2199,3521
$GC,8259,-0.73,-116.7,599.5,-6.5,713,8261,0.15,0.00,0.00,0.000,6,0.068,0.000,2364,2200,3521
$GC,8585,-0.56,-116.7,627.8,-8.7,724,8589,0.20,2.08,0.00,0.000,4,0.129,0.045,2430,898,3520
$GC,8623,-0.64,-116.7,630.7,-6.6,725,8627,0.00,2.08,0.00,0.000,6,0.000,0.041,2430,2215,3520
$GC,8958,-0.74,-116.7,651.2,-6.1,736,8960,0.17,0.00,0.00,0.000,6,0.066,0.000,2358,2216,3520
$GC,9264,-0.53,-116.7,677.0,-8.4,746,9269,0.22,2.12,0.00,0.000,4,0.129,0.047,2433,891,3519
$GC,9326,-0.62,-116.7,681.2,-6.0,748,9330,0.00,2.05,0.00,0.000,6,0.000,0.040,2433,2199,3519
$GC,9667,-0.73,-116.7,700.2,-5.6,759,9669,0.17,0.00,0.00,0.000,6,0.065,0.000,2362,2201,3518
$GC,9974,-0.55,-116.7,723.4,-7.5,769,9978,0.20,2.10,0.00,0.000,4,0.130,0.046,2428,896,3518
$GC,10043,-0.62,-116.7,727.5,-5.8,771,10046,0.00,2.05,0.00,0.000,6,0.000,0.041,2429,2195,3518
$GC,10385,-0.72,-116.7,744.7,-5.0,782,10387,0.15,0.00,0.00,0.000,6,0.067,0.000,2365,2195,3518
$GC,10691,-0.56,-116.7,766.9,-7.3,792,10695,0.20,2.10,0.00,0.000,4,0.126,0.045,2431,891,3517
$GC,10731,-0.66,-116.7,769.2,-5.2,793,10734,0.00,2.05,0.00,0.000,6,0.000,0.040,2432,2194,3517
$GC,11066,-0.78,-116.7,786.0,-5.0,804,11071,0.20,2.47,0.00,0.000,4,0.063,0.053,2340,3711,3517
$GC,11094,-0.59,-116.7,788.0,-7.8,805,11099,0.28,2.40,0.00,0.000,6,0.134,0.038,2422,2198,3517
$GC,11429,-0.66,-116.7,805.9,-5.3,816,11433,0.00,2.08,0.00,0.000,4,0.000,0.051,2422,895,3517
$GC,11490,-0.66,-116.7,809.6,-6.0,817,11498,0.00,2.05,0.00,0.000,6,0.000,0.040,2423,2195,3517
$GC,11805,-0.75,-116.7,825.8,-5.2,828,11806,0.15,0.00,0.00,0.000,6,0.071,0.000,2362,2196,3516
$GC,12110,-0.58,-116.7,847.8,-7.2,838,12114,0.20,2.10,0.00,0.000,4,0.131,0.047,2427,889,3516
$GC,12155,-0.67,-116.7,850.7,-5.7,839,12159,0.00,2.05,0.00,0.000,6,0.000,0.041,2428,2193,3516
$GC,12485,-0.78,-116.7,867.1,-5.0,850,12487,0.20,0.00,0.00,0.000,6,0.062,0.000,2348,2193,3516
$GC,12790,-0.55,-116.7,891.3,-8.1,860,12795,0.25,2.10,0.00,0.000,4,0.132,0.048,2430,901,3516
$GC,12846,-0.65,-116.7,894.7,-5.6,861,12854,0.00,2.05,0.00,0.000,6,0.000,0.042,2430,2191,3516
$GC,13158,-0.78,-116.7,910.5,-5.0,872,13160,0.20,0.00,0.00,0.000,6,0.061,0.000,2349,2192,3515
$GC,13465,-0.57,-116.7,935.2,-8.2,882,13469,0.22,2.10,0.00,0.000,4,0.133,0.050,2422,901,3515
$GC,13499,-0.64,-116.7,937.3,-5.6,883,13503,0.00,2.03,0.00,0.000,6,0.000,0.044,2422,2173,3515
$GC,13840,-0.73,-116.7,956.0,-5.5,894,13842,0.15,0.00,0.00,0.000,6,0.071,0.000,2362,2175,3515
$GC,14146,-0.58,-116.7,979.2,-7.7,904,14148,0.20,0.00,0.00,0.000,6,0.129,0.000,2423,2175,3515
$STATE,14357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14357,begin apogee
$GC,14363,-0.23,0.0,991.2,5.4,911,14464,0.35,0.00,97.88,1.424,6,0.116,0.000,2536,2305,3046
$STATE,14465,end apogee,CONTROL_FINISHED_OK
$STATE,14465,begin climb
$GC,14467,0.77,116.7,993.6,0.0,914,14580,0.98,2.55,105.62,1.393,4,0.078,0.050,2856,3702,2570
$GC,14596,0.38,116.7,990.3,6.9,918,14601,0.47,2.40,0.00,0.000,6,0.138,0.031,2736,2309,2568
$GC,14920,0.66,175.6,975.1,4.5,929,14977,0.22,2.47,51.08,1.380,4,0.061,0.049,2827,893,2329
$GC,15067,0.59,175.6,963.5,8.5,933,15071,0.00,2.30,0.00,0.000,6,0.000,0.034,2827,2294,2324
$GC,15391,0.50,175.6,936.0,8.4,944,15395,0.17,2.30,0.00,0.000,4,0.129,0.047,2777,886,2322
$GC,15423,0.69,201.8,933.6,5.8,945,15453,0.17,2.25,23.05,1.336,6,0.066,0.038,2849,2294,2223
$GC,15756,0.56,201.8,902.6,9.5,956,15758,0.20,0.00,0.00,0.000,6,0.127,0.000,2791,2294,2217
$GC,16063,0.68,209.8,881.6,6.6,966,16077,0.12,2.33,7.68,1.171,4,0.071,0.050,2842,891,2190
$GC,16100,0.59,209.8,878.6,8.5,967,16104,0.15,2.20,0.00,0.000,6,0.123,0.035,2799,2282,2188
$GC,16435,0.66,210.6,855.6,6.8,978,16436,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2282,2187
$GC,16740,0.74,211.5,834.8,6.8,988,16742,0.15,0.00,0.00,0.000,6,0.065,0.000,2862,2282,2187
$GC,17047,0.58,211.5,806.0,9.6,998,17052,0.20,2.22,0.00,0.000,4,0.126,0.044,2796,892,2187
$GC,17075,0.65,211.5,803.7,7.5,999,17078,0.00,2.17,0.00,0.000,6,0.000,0.035,2797,2284,2186
$GC,17415,0.76,211.5,780.0,7.0,1010,17417,0.17,0.00,0.00,0.000,6,0.062,0.000,2868,2285,2186
$GC,17721,0.59,211.5,749.4,10.2,1020,17723,0.22,0.00,0.00,0.000,6,0.123,0.000,2798,2285,2186
$GC,18027,0.69,211.5,726.3,7.5,1030,18029,0.12,0.00,0.00,0.000,6,0.071,0.000,2853,2285,2185
$GC,18333,0.56,211.5,695.8,10.2,1040,18335,0.20,0.00,0.00,0.000,6,0.124,0.000,2792,2285,2185
$GC,18642,0.71,211.5,671.7,7.6,1050,18646,0.15,2.22,0.00,0.000,4,0.064,0.045,2855,890,2185
$GC,18669,0.65,211.5,669.1,9.5,1051,18674,0.12,2.15,0.00,0.000,6,0.132,0.035,2819,2278,2185
$GC,19010,0.65,211.5,639.7,8.5,1062,19011,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2278,2185
$GC,19316,0.65,211.5,614.3,8.3,1072,19320,0.00,2.22,0.00,0.000,4,0.000,0.047,2822,892,2185
$GC,19360,0.65,211.5,610.4,8.5,1073,19364,0.00,2.15,0.00,0.000,6,0.000,0.035,2822,2274,2185
$GC,19691,0.65,211.5,582.8,8.3,1087,19692,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2274,2185
$GC,20001,0.65,211.5,557.0,8.4,1102,20002,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2274,2185
$GC,20310,0.65,211.5,531.0,8.3,1117,20311,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2274,2184
$GC,20619,0.65,211.5,505.8,8.1,1132,20620,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2274,2184
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$STATE,27021,end climb,SURFACE_DEPTH_REACHED
$STATE,27022,begin surface coast
$FINISH,2.7,1.014555
$STATE,27068,end surface coast,CONTROL_FINISHED_OK
$STATE,27068,begin surface
$SM_CCo,27084,12.38,0.715,0,0,2128,225.19
$SM_GC,5.21,0.00,0.00,12.38,0.000,0.000,0.715,142,2315,2128,-7.72,0.42,225.19
$IRIDIUM_FIX,6421.40,-20.19,190698,101037
$TT8_MAMPS,0.026845
$HUMID,1679
$INTERNAL_PRESSURE,9.08625
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.2,34.683
$10V_AH,10.6,25.893
$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,26.850,201.425,285.300,12.375,0.000,31.457,33.447,171.218,0.000,0.000,0.000,13.414,3241.762,19892.352,530.469,3232.788,542.898,0.000,2123.138,0.000,3188.720,0.000,0.831,0.000
$DEVICE_MAMPS,220.129,72.865,1423.552,714.844,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1233.935,961.666,648.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85129,1733
$CAP_FILE_SIZE,216731,0
$CFSIZE,260165632,238329856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 73.0,1
$GPS,260309,011007,6449.188,-23.857,26,1.7,26,-5.4