version: 66.04
glider: 160
mission: 3
dive: 220
start: 4 1 109 15 40 35
data:
$ID,160
$MISSION,3
$DIVE,220
$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,-12280.887
$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,31
$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
$GPS1,153337,6435.438,21.696,34,1.4,34,-4.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,3.70
$_SM_ANGLEo,-66.8
$GPS2,154013,6435.422,21.752,9,1.6,15,-4.9
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$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,145.0,249191,-13.7,-6.875
$D_GRID,2612
$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,-7.38,0.000,2,0.000,0.000,124,2284,2268
$GC,27,-0.77,-116.7,3.7,-0.0,1,122,8.30,2.40,-76.95,0.000,4,0.202,0.064,2366,3707,3522
$GC,371,-0.57,-116.7,23.8,-9.7,59,378,0.22,2.22,0.00,0.000,6,0.121,0.033,2435,2294,3524
$GC,715,-0.63,-116.7,47.6,-7.2,120,722,0.00,2.22,0.00,0.000,4,0.000,0.044,2435,885,3524
$GC,772,-0.63,-116.7,51.8,-7.4,130,780,0.00,2.25,0.00,0.000,6,0.000,0.038,2435,2302,3524
$GC,1119,-0.70,-116.7,77.1,-7.1,191,1125,0.15,2.25,0.00,0.000,4,0.067,0.041,2372,888,3525
$GC,1200,-0.47,-116.7,85.0,-10.1,205,1207,0.32,2.22,0.00,0.000,6,0.126,0.038,2467,2300,3525
$GC,1544,-0.68,-116.7,104.3,-5.4,266,1552,0.20,2.25,0.00,0.000,4,0.060,0.041,2378,884,3525
$GC,1603,-0.45,-116.7,109.5,-9.7,276,1610,0.30,2.22,0.00,0.000,6,0.125,0.039,2469,2295,3525
$GC,1948,-0.69,-116.7,128.3,-5.0,337,1955,0.20,2.25,0.00,0.000,4,0.058,0.044,2378,889,3525
$GC,2033,-0.48,-116.7,135.9,-9.8,352,2041,0.25,2.20,0.00,0.000,6,0.126,0.038,2455,2286,3525
$GC,2372,-0.65,-116.7,155.4,-5.6,404,2376,0.15,2.22,0.00,0.000,4,0.064,0.044,2391,892,3526
$GC,2438,-0.49,-116.7,161.0,-8.8,409,2445,0.20,2.17,0.00,0.000,6,0.127,0.036,2450,2280,3526
$GC,2763,-0.66,-116.7,179.2,-5.2,440,2768,0.15,2.20,0.00,0.000,4,0.064,0.041,2387,890,3526
$GC,2796,-0.50,-116.7,181.8,-8.5,442,2804,0.22,2.17,0.00,0.000,6,0.125,0.036,2452,2279,3526
$GC,3121,-0.68,-116.7,200.3,-5.8,473,3126,0.17,2.20,0.00,0.000,4,0.061,0.041,2378,891,3526
$GC,3154,-0.48,-116.7,203.2,-9.3,475,3158,0.28,2.17,0.00,0.000,6,0.123,0.036,2462,2279,3526
$GC,3475,-0.69,-116.7,220.8,-5.6,495,3479,0.20,2.20,0.00,0.000,4,0.058,0.041,2372,892,3526
$GC,3513,-0.43,-116.7,224.3,-9.6,497,3520,0.32,2.17,0.00,0.000,6,0.125,0.036,2472,2280,3527
$GC,3833,-0.69,-116.7,242.9,-5.9,518,3835,0.25,0.00,0.00,0.000,6,0.055,0.000,2367,2281,3526
$GC,4144,-0.50,-116.7,272.7,-9.7,538,4146,0.28,0.00,0.00,0.000,6,0.120,0.000,2454,2281,3526
$GC,4457,-0.68,-116.7,293.0,-6.3,558,4462,0.17,2.22,0.00,0.000,4,0.061,0.041,2379,894,3526
$GC,4541,-0.49,-116.7,301.0,-10.4,564,4546,0.25,2.20,0.00,0.000,6,0.124,0.037,2456,2285,3526
$GC,4875,-0.69,-116.7,323.2,-6.5,580,4879,0.20,2.22,0.00,0.000,4,0.059,0.043,2365,895,3526
$GC,4919,-0.44,-116.7,327.7,-10.5,582,4924,0.35,2.17,0.00,0.000,6,0.126,0.038,2472,2274,3526
$GC,5253,-0.72,-116.7,347.2,-5.4,598,5258,0.22,2.22,0.00,0.000,4,0.058,0.047,2373,895,3526
$GC,5292,-0.49,-116.7,350.7,-9.6,599,5299,0.28,2.17,0.00,0.000,6,0.126,0.038,2457,2275,3526
$GC,5609,-0.70,-116.7,369.8,-6.0,615,5611,0.20,0.00,0.00,0.000,6,0.058,0.000,2374,2275,3526
$GC,5917,-0.53,-116.7,397.6,-9.1,630,5922,0.20,2.22,0.00,0.000,4,0.125,0.047,2442,897,3525
$GC,5989,-0.64,-116.7,403.1,-7.2,633,5993,0.12,2.17,0.00,0.000,6,0.069,0.040,2390,2277,3525
$GC,6310,-0.55,-116.7,429.5,-8.2,649,6314,0.15,2.22,0.00,0.000,4,0.129,0.047,2435,895,3525
$GC,6342,-0.63,-116.7,432.1,-7.0,650,6350,0.00,2.17,0.00,0.000,6,0.000,0.041,2435,2270,3525
$GC,6659,-0.75,-116.7,452.5,-6.3,666,6660,0.20,0.00,0.00,0.000,6,0.061,0.000,2351,2271,3524
$GC,6967,-0.50,-116.7,482.6,-9.9,681,6972,0.30,2.22,0.00,0.000,4,0.126,0.047,2449,896,3523
$GC,7074,-0.64,-116.7,489.9,-6.4,686,7079,0.12,2.17,0.00,0.000,6,0.074,0.041,2395,2266,3523
$GC,7401,-0.64,-116.7,514.8,-7.6,702,7404,0.00,2.20,0.00,0.000,4,0.000,0.046,2395,892,3522
$GC,7439,-0.54,-116.7,518.2,-8.2,703,7446,0.15,2.17,0.00,0.000,6,0.135,0.039,2439,2267,3523
$GC,7756,-0.68,-116.7,537.7,-6.0,719,7758,0.15,0.00,0.00,0.000,6,0.067,0.000,2377,2268,3522
$GC,8064,-0.55,-116.7,563.3,-8.3,734,8069,0.20,2.22,0.00,0.000,4,0.127,0.048,2444,893,3522
$GC,8119,-0.69,-116.7,567.2,-6.5,736,8126,0.17,2.15,0.00,0.000,6,0.064,0.039,2374,2257,3521
$GC,8435,-0.55,-116.7,593.3,-8.3,752,8440,0.20,2.20,0.00,0.000,4,0.125,0.047,2442,894,3521
$GC,8468,-0.68,-116.7,595.8,-6.7,753,8475,0.15,2.15,0.00,0.000,6,0.067,0.041,2379,2256,3520
$GC,8781,-0.57,-116.7,621.4,-8.2,765,8786,0.17,2.20,0.00,0.000,4,0.125,0.048,2433,893,3520
$GC,8808,-0.57,-116.7,623.5,-7.8,766,8812,0.00,2.15,0.00,0.000,6,0.000,0.041,2433,2256,3520
$GC,9149,-0.69,-116.7,645.1,-6.4,777,9151,0.15,0.00,0.00,0.000,6,0.069,0.000,2369,2257,3520
$GC,9456,-0.54,-116.7,672.0,-9.0,787,9460,0.20,2.20,0.00,0.000,4,0.126,0.048,2435,895,3519
$GC,9528,-0.63,-116.7,677.5,-7.3,789,9532,0.00,2.15,0.00,0.000,6,0.000,0.042,2435,2253,3519
$GC,9857,-0.77,-116.7,699.1,-6.6,800,9859,0.20,0.00,0.00,0.000,6,0.063,0.000,2351,2255,3518
$GC,10163,-0.54,-116.7,728.8,-9.8,810,10168,0.25,2.22,0.00,0.000,4,0.128,0.050,2433,892,3518
$GC,10269,-0.64,-116.7,736.7,-7.2,813,10273,0.00,2.15,0.00,0.000,6,0.000,0.041,2433,2250,3518
$GC,10599,-0.78,-116.7,758.2,-6.5,824,10601,0.20,0.00,0.00,0.000,6,0.063,0.000,2351,2251,3518
$GC,10904,-0.56,-116.7,787.3,-9.6,834,10909,0.22,2.22,0.00,0.000,4,0.129,0.051,2426,889,3518
$GC,10982,-0.64,-116.7,793.4,-7.0,836,10986,0.00,2.15,0.00,0.000,6,0.000,0.041,2426,2223,3518
$GC,11307,-0.75,-116.7,815.2,-6.7,847,11309,0.15,0.00,0.00,0.000,6,0.067,0.000,2363,2223,3517
$GC,11614,-0.59,-116.7,841.2,-8.5,857,11618,0.20,2.15,0.00,0.000,4,0.127,0.048,2429,892,3517
$GC,11664,-0.69,-116.7,844.9,-6.6,858,11668,0.12,2.12,0.00,0.000,6,0.073,0.041,2379,2236,3517
$GC,11987,-0.61,-116.7,869.5,-7.7,869,11988,0.12,0.00,0.00,0.000,6,0.132,0.000,2416,2237,3517
$GC,12293,-0.68,-116.7,889.2,-6.2,879,12297,0.00,2.17,0.00,0.000,4,0.000,0.049,2416,889,3516
$GC,12338,-0.68,-116.7,892.2,-6.7,880,12342,0.00,2.12,0.00,0.000,6,0.000,0.043,2416,2224,3516
$GC,12668,-0.76,-116.7,912.4,-6.0,891,12670,0.15,0.00,0.00,0.000,6,0.067,0.000,2352,2225,3516
$GC,12973,-0.56,-116.7,937.7,-8.4,901,12978,0.22,2.15,0.00,0.000,4,0.133,0.050,2425,899,3516
$GC,13029,-0.66,-116.7,941.6,-6.5,902,13037,0.00,2.10,0.00,0.000,6,0.000,0.044,2425,2216,3516
$GC,13341,-0.78,-116.7,960.1,-5.9,913,13343,0.20,0.00,0.00,0.000,6,0.066,0.000,2343,2218,3516
$GC,13648,-0.54,-116.7,988.1,-9.3,923,13652,0.28,2.15,0.00,0.000,4,0.130,0.047,2432,892,3515
$STATE,13673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13673,begin apogee
$GC,13681,-0.23,0.0,990.2,7.0,924,13783,0.32,0.00,99.07,1.424,6,0.116,0.000,2537,2300,3046
$STATE,13784,end apogee,CONTROL_FINISHED_OK
$STATE,13784,begin climb
$GC,13786,0.77,116.7,993.6,0.0,927,13900,0.98,2.58,106.82,1.403,4,0.080,0.051,2857,3711,2570
$GC,13950,0.33,118.3,989.4,6.8,932,13956,0.52,2.40,0.00,0.000,6,0.139,0.032,2720,2289,2567
$GC,14275,0.70,204.2,977.5,3.4,943,14361,0.30,2.53,77.38,1.394,4,0.052,0.048,2842,892,2211
$GC,14439,0.62,204.2,964.2,9.4,948,14443,0.00,2.35,0.00,0.000,6,0.000,0.034,2842,2302,2205
$GC,14774,0.53,204.2,933.4,9.4,959,14778,0.20,2.30,0.00,0.000,4,0.129,0.051,2778,3708,2202
$GC,14818,0.63,204.2,929.4,8.6,960,14823,0.10,2.28,0.00,0.000,6,0.083,0.035,2821,2276,2202
$GC,15135,0.63,204.2,902.0,8.9,971,15139,0.00,2.17,0.00,0.000,4,0.000,0.044,2822,900,2200
$GC,15173,0.63,204.2,898.6,8.8,972,15177,0.00,2.22,0.00,0.000,6,0.000,0.037,2822,2289,2199
$GC,15511,0.63,204.2,868.3,8.9,983,15514,0.00,2.33,0.00,0.000,4,0.000,0.054,2823,3715,2199
$GC,15572,0.54,204.2,862.1,9.5,984,15579,0.12,2.22,0.00,0.000,6,0.145,0.035,2788,2298,2199
$GC,15885,0.67,204.2,838.6,7.5,995,15889,0.12,2.22,0.00,0.000,4,0.071,0.045,2841,896,2199
$GC,15957,0.60,204.2,831.9,9.6,997,15962,0.12,2.20,0.00,0.000,6,0.130,0.035,2805,2304,2199
$GC,16285,0.60,204.2,805.0,8.2,1008,16289,0.00,2.25,0.00,0.000,4,0.000,0.051,2806,3701,2199
$GC,16340,0.60,204.2,800.0,8.3,1009,16344,0.00,2.22,0.00,0.000,6,0.000,0.035,2809,2276,2199
$GC,16658,0.60,204.2,774.6,7.8,1020,16662,0.00,2.20,0.00,0.000,4,0.000,0.046,2808,892,2199
$GC,16713,0.68,204.2,770.3,7.4,1021,16717,0.00,2.17,0.00,0.000,6,0.000,0.035,2808,2287,2199
$GC,17032,0.68,204.2,745.6,7.9,1032,17035,0.00,2.28,0.00,0.000,4,0.000,0.051,2809,3708,2199
$GC,17086,0.68,204.2,740.5,9.3,1033,17091,0.00,2.22,0.00,0.000,6,0.000,0.033,2809,2296,2199
$GC,17405,0.68,204.2,714.9,8.0,1044,17408,0.00,2.22,0.00,0.000,4,0.000,0.045,2809,892,2198
$GC,17474,0.75,204.2,709.5,7.9,1046,17479,0.12,2.20,0.00,0.000,6,0.074,0.035,2862,2307,2198
$GC,17808,0.60,204.2,676.5,9.8,1057,17813,0.20,2.25,0.00,0.000,4,0.129,0.048,2797,3711,2198
$GC,17863,0.60,204.2,671.7,9.2,1058,17871,0.00,2.25,0.00,0.000,6,0.000,0.034,2797,2278,2198
$GC,18176,0.71,204.2,649.6,7.0,1069,18181,0.15,2.17,0.00,0.000,4,0.067,0.045,2863,902,2198
$GC,18248,0.58,204.2,643.0,10.2,1071,18253,0.22,2.17,0.00,0.000,6,0.126,0.038,2796,2288,2198
$GC,18572,0.70,204.2,620.7,6.9,1082,18576,0.12,2.30,0.00,0.000,4,0.071,0.051,2851,3717,2198
$GC,18621,0.50,204.2,616.0,10.4,1083,18626,0.28,2.25,0.00,0.000,6,0.132,0.036,2773,2279,2198
$GC,18944,0.75,226.3,596.3,6.0,1094,18969,0.20,2.28,17.27,1.142,4,0.058,0.047,2865,895,2122
$GC,19038,0.64,226.3,587.7,10.2,1098,19042,0.17,2.20,0.00,0.000,6,0.123,0.035,2813,2285,2120
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$STATE,25783,end climb,SURFACE_DEPTH_REACHED
$STATE,25783,begin surface coast
$FINISH,3.0,1.027678
$STATE,25811,end surface coast,CONTROL_FINISHED_OK
$STATE,25811,begin surface
$SM_CCo,25887,0.00,0.000,0,0,1900,281.11
$SM_GC,3.69,7.32,0.00,0.00,0.044,0.000,0.000,135,2298,1900,-7.66,-0.06,281.11
$IRIDIUM_FIX,6411.46,10.05,260698,080838
$TT8_MAMPS,0.026845
$HUMID,1684
$INTERNAL_PRESSURE,9.05695
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,22.0,37.860
$10V_AH,10.5,28.632
$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,34.000,240.100,345.525,0.000,0.000,27.701,31.538,209.455,0.000,0.000,0.000,17.186,3203.522,18590.496,580.538,3274.625,617.391,0.000,2224.995,0.000,3231.781,0.000,0.831,0.000
$DEVICE_MAMPS,202.488,116.584,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1178.668,933.221,627.894,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81891,1664
$CAP_FILE_SIZE,233400,0
$CFSIZE,260165632,236146688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,151.8,1
$GPS,010409,225307,6432.327,27.870,28,1.4,28,-4.9