version: 66.04
glider: 160
mission: 3
dive: 437
start: 6 7 109 2 34 36
data:
$ID,160
$MISSION,3
$DIVE,437
$D_SURF,4
$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,-16505.242
$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,2180
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$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
$GPS1,022831,6454.228,-25.664,40,1.0,40,-5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.94
$_SM_ANGLEo,-64.7
$GPS2,023414,6454.229,-25.621,12,1.0,12,-5.5
$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,286.8,34553,-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,-116.7,0.0,0.0,0,25,0.00,0.00,-8.00,0.000,2,0.000,0.000,123,2182,2052
$GC,29,-0.77,-116.7,4.1,-0.0,1,134,8.25,2.25,-88.43,0.000,4,0.196,0.057,2360,768,3521
$GC,148,-1.47,-116.7,3.1,-0.2,19,155,0.60,2.22,0.00,0.000,6,0.048,0.035,2130,2195,3522
$GC,488,-0.30,-116.7,73.8,-22.3,71,494,1.33,2.25,0.00,0.000,4,0.170,0.048,2501,3579,3523
$GC,557,-0.78,-116.7,79.0,-4.6,74,562,0.40,2.28,0.00,0.000,6,0.049,0.034,2341,2126,3523
$GC,878,-0.44,-116.7,113.2,-11.1,90,883,0.38,2.15,0.00,0.000,4,0.126,0.044,2463,768,3524
$GC,943,-0.64,-116.7,117.7,-6.0,93,948,0.17,2.12,0.00,0.000,6,0.064,0.037,2391,2135,3525
$GC,1271,-0.53,-116.7,145.0,-8.2,109,1276,0.17,2.33,0.00,0.000,4,0.120,0.051,2445,3584,3525
$GC,1305,-0.71,-116.7,147.4,-6.3,110,1310,0.17,2.30,0.00,0.000,6,0.058,0.035,2373,2123,3525
$GC,1623,-0.53,-116.7,173.7,-8.1,125,1627,0.20,2.15,0.00,0.000,4,0.123,0.044,2440,761,3525
$GC,1679,-0.62,-116.7,177.6,-6.1,127,1682,0.00,2.12,0.00,0.000,6,0.000,0.035,2436,2133,3525
$GC,2002,-0.74,-116.7,195.4,-5.6,143,2007,0.17,2.35,0.00,0.000,4,0.064,0.050,2360,3596,3525
$GC,2047,-0.54,-116.7,199.1,-8.7,145,2051,0.25,2.33,0.00,0.000,6,0.117,0.033,2437,2122,3525
$GC,2374,-0.67,-116.7,217.8,-5.6,161,2379,0.12,2.15,0.00,0.000,4,0.075,0.045,2385,772,3525
$GC,2436,-0.52,-116.7,223.0,-9.1,163,2443,0.20,2.15,0.00,0.000,6,0.125,0.038,2443,2148,3525
$GC,2753,-0.69,-116.7,242.1,-6.1,179,2755,0.15,0.00,0.00,0.000,6,0.064,0.000,2377,2148,3525
$GC,3062,-0.54,-116.7,269.0,-8.8,194,3064,0.20,0.00,0.00,0.000,6,0.122,0.000,2440,2149,3525
$GC,3372,-0.70,-116.7,288.3,-6.1,209,3374,0.15,0.00,0.00,0.000,6,0.068,0.000,2376,2149,3525
$GC,3699,-0.55,-116.7,315.5,-8.3,222,3704,0.20,2.35,0.00,0.000,4,0.123,0.051,2436,3583,3524
$GC,3752,-0.72,-116.7,318.8,-6.1,223,3757,0.17,2.30,0.00,0.000,6,0.064,0.038,2363,2142,3524
$GC,4070,-0.52,-116.7,347.1,-9.2,234,4075,0.22,2.22,0.00,0.000,4,0.123,0.048,2439,756,3524
$GC,4168,-0.62,-116.7,353.8,-6.4,237,4172,0.00,2.15,0.00,0.000,6,0.000,0.039,2436,2128,3524
$GC,4511,-0.77,-116.7,373.8,-5.8,248,4516,0.20,2.38,0.00,0.000,4,0.061,0.050,2346,3589,3523
$GC,4551,-0.51,-116.7,377.2,-9.0,249,4556,0.32,2.33,0.00,0.000,6,0.119,0.038,2447,2121,3523
$GC,4876,-0.72,-116.7,394.9,-5.2,260,4878,0.20,0.00,0.00,0.000,6,0.061,0.000,2363,2121,3523
$GC,5181,-0.52,-116.7,420.5,-8.5,270,5185,0.22,2.17,0.00,0.000,4,0.123,0.047,2439,762,3522
$GC,5226,-0.64,-116.7,423.4,-5.9,271,5230,0.00,2.15,0.00,0.000,6,0.000,0.038,2437,2142,3522
$GC,5551,-0.79,-116.7,440.4,-5.2,282,5556,0.20,2.38,0.00,0.000,4,0.061,0.054,2347,3594,3521
$GC,5590,-0.54,-116.7,443.6,-8.8,283,5595,0.30,2.33,0.00,0.000,6,0.121,0.037,2439,2123,3521
$GC,5915,-0.71,-116.7,461.7,-5.6,294,5920,0.17,2.17,0.00,0.000,4,0.067,0.048,2366,759,3521
$GC,5960,-0.49,-116.7,465.5,-9.0,295,5965,0.30,2.17,0.00,0.000,6,0.123,0.038,2458,2149,3521
$GC,6281,-0.75,-116.7,481.8,-5.1,306,6285,0.22,2.33,0.00,0.000,4,0.058,0.052,2359,3581,3520
$GC,6320,-0.56,-116.7,484.9,-8.2,307,6325,0.25,2.30,0.00,0.000,6,0.118,0.038,2436,2125,3520
$GC,6674,-0.72,-116.7,505.1,-5.6,318,6676,0.17,0.00,0.00,0.000,6,0.067,0.000,2363,2126,3520
$GC,6978,-0.54,-116.7,530.7,-8.6,323,6982,0.20,2.20,0.00,0.000,4,0.123,0.049,2431,757,3519
$GC,7028,-0.63,-116.7,534.5,-7.2,323,7032,0.00,2.17,0.00,0.000,6,0.000,0.041,2431,2135,3519
$GC,7350,-0.78,-116.7,553.7,-5.9,329,7355,0.20,2.38,0.00,0.000,4,0.061,0.055,2340,3592,3519
$GC,7395,-0.51,-116.7,557.7,-9.6,329,7400,0.35,2.33,0.00,0.000,6,0.120,0.039,2447,2124,3518
$GC,7711,-0.74,-116.7,575.2,-5.4,335,7713,0.22,0.00,0.00,0.000,6,0.060,0.000,2354,2124,3518
$GC,8014,-0.53,-116.7,602.2,-9.1,340,8018,0.25,2.17,0.00,0.000,4,0.123,0.048,2438,764,3518
$GC,8065,-0.67,-116.7,605.8,-6.6,340,8070,0.12,2.17,0.00,0.000,6,0.074,0.039,2388,2151,3518
$GC,8375,-0.67,-116.7,629.0,-7.6,345,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2151,3517
$GC,8677,-0.67,-116.7,651.6,-7.5,350,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2151,3517
$GC,8980,-0.67,-116.7,673.2,-7.1,355,8984,0.00,2.25,0.00,0.000,4,0.000,0.051,2388,759,3517
$GC,9026,-0.58,-116.7,676.7,-7.8,355,9031,0.15,2.17,0.00,0.000,6,0.130,0.040,2431,2142,3517
$GC,9348,-0.74,-116.7,695.1,-5.7,361,9353,0.17,2.38,0.00,0.000,4,0.062,0.058,2355,3586,3516
$GC,9393,-0.56,-116.7,698.7,-8.5,361,9398,0.25,2.33,0.00,0.000,6,0.121,0.041,2430,2131,3516
$GC,9709,-0.72,-116.7,717.0,-5.7,367,9711,0.15,0.00,0.00,0.000,6,0.071,0.000,2367,2130,3516
$GC,10011,-0.58,-116.7,740.8,-7.9,372,10016,0.20,2.20,0.00,0.000,4,0.123,0.053,2434,775,3515
$GC,10044,-0.69,-116.7,743.2,-6.9,372,10049,0.12,2.17,0.00,0.000,6,0.077,0.044,2381,2148,3516
$GC,10371,-0.62,-116.7,766.3,-7.1,378,10373,0.12,0.00,0.00,0.000,6,0.127,0.000,2419,2148,3515
$GC,10674,-0.73,-116.7,783.7,-5.7,383,10679,0.12,2.38,0.00,0.000,4,0.074,0.058,2361,3593,3515
$GC,10708,-0.60,-116.7,786.2,-7.7,383,10713,0.20,2.33,0.00,0.000,6,0.123,0.041,2421,2132,3515
$GC,11041,-0.73,-116.7,804.6,-5.5,389,11043,0.15,0.00,0.00,0.000,6,0.074,0.000,2358,2132,3514
$GC,11343,-0.56,-116.7,828.0,-7.9,394,11348,0.20,2.22,0.00,0.000,4,0.126,0.054,2426,769,3514
$GC,11388,-0.66,-116.7,830.9,-6.8,394,11392,0.00,2.20,0.00,0.000,6,0.000,0.044,2425,2151,3514
$GC,11710,-0.80,-116.7,848.7,-5.5,400,11715,0.20,2.38,0.00,0.000,4,0.064,0.057,2337,3598,3514
$GC,11738,-0.62,-116.7,850.8,-7.9,400,11742,0.25,2.33,0.00,0.000,6,0.127,0.039,2412,2126,3514
$GC,12076,-0.70,-116.7,871.1,-5.9,406,12080,0.00,2.17,0.00,0.000,4,0.000,0.053,2412,776,3513
$GC,12121,-0.70,-116.7,874.5,-7.0,406,12125,0.00,2.17,0.00,0.000,6,0.000,0.043,2410,2151,3513
$GC,12448,-0.78,-116.7,895.6,-6.5,412,12450,0.15,0.00,0.00,0.000,6,0.071,0.000,2347,2151,3513
$GC,12752,-0.56,-116.7,922.3,-9.0,417,12754,0.28,0.00,0.00,0.000,6,0.123,0.000,2432,2151,3513
$GC,13055,-0.75,-116.7,940.8,-6.0,422,13057,0.17,0.00,0.00,0.000,6,0.067,0.000,2361,2151,3513
$GC,13357,-0.61,-116.7,965.7,-8.4,427,13359,0.17,0.00,0.00,0.000,6,0.125,0.000,2415,2151,3513
$GC,13660,-0.73,-116.7,985.3,-6.3,432,13662,0.12,0.00,0.00,0.000,6,0.074,0.000,2362,2151,3513
$STATE,13778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13778,begin apogee
$GC,13786,-0.23,0.0,995.0,7.1,434,13891,0.55,0.00,102.38,1.404,6,0.123,0.000,2536,2281,3046
$STATE,13892,end apogee,CONTROL_FINISHED_OK
$STATE,13892,begin climb
$GC,13895,0.77,116.7,997.4,0.0,435,14021,0.98,2.62,113.85,1.356,4,0.077,0.051,2854,3681,2570
$GC,14053,0.37,139.5,997.5,6.0,437,14098,0.45,2.47,27.17,1.156,6,0.133,0.035,2736,2275,2476
$GC,14462,0.76,199.3,980.0,4.5,444,14526,0.32,2.42,53.75,1.368,4,0.053,0.051,2869,3681,2232
$GC,14779,0.47,199.3,948.2,10.3,448,14784,0.38,2.38,0.00,0.000,6,0.127,0.037,2762,2209,2226
$GC,15095,0.78,234.6,930.5,5.5,454,15135,0.25,2.55,31.60,1.333,4,0.056,0.052,2869,3681,2088
$GC,15175,0.52,234.6,922.5,11.5,455,15180,0.30,2.40,0.00,0.000,6,0.121,0.038,2778,2208,2085
$GC,15524,0.78,246.5,899.6,6.4,461,15546,0.22,2.25,11.25,1.205,4,0.058,0.048,2878,856,2040
$GC,15576,0.61,246.5,894.8,10.4,461,15580,0.22,2.15,0.00,0.000,6,0.119,0.037,2809,2218,2039
$GC,15886,0.72,246.5,870.0,7.8,466,15890,0.12,2.40,0.00,0.000,4,0.077,0.053,2864,3682,2037
$GC,15953,0.52,246.5,862.6,11.2,467,15958,0.30,2.35,0.00,0.000,6,0.125,0.037,2776,2208,2037
$GC,16314,0.82,260.2,839.3,6.3,473,16340,0.25,2.17,15.45,1.118,4,0.057,0.047,2891,854,1985
$GC,16363,0.61,260.2,834.3,10.9,473,16368,0.28,2.15,0.00,0.000,6,0.120,0.036,2806,2222,1983
$GC,16674,0.77,260.2,810.4,7.5,478,16679,0.17,2.38,0.00,0.000,4,0.069,0.051,2878,3684,1981
$GC,16736,0.53,260.2,803.1,12.7,478,16743,0.32,2.33,0.00,0.000,6,0.124,0.036,2778,2213,1981
$GC,17047,0.84,267.2,782.0,6.6,484,17061,0.25,2.22,7.50,1.117,4,0.058,0.047,2891,845,1956
$GC,17079,0.66,267.2,778.9,12.1,484,17083,0.22,2.17,0.00,0.000,6,0.123,0.036,2822,2243,1954
$GC,17411,0.76,267.2,750.8,8.3,490,17415,0.12,2.33,0.00,0.000,4,0.077,0.051,2876,3681,1953
$GC,17474,0.55,267.2,743.7,12.5,491,17479,0.30,2.30,0.00,0.000,6,0.123,0.037,2786,2225,1953
$GC,17841,0.84,281.0,719.6,6.3,497,17860,0.22,2.25,13.75,1.183,4,0.057,0.051,2891,861,1899
$GC,17884,0.68,281.0,715.3,9.9,497,17889,0.20,2.17,0.00,0.000,6,0.123,0.038,2830,2239,1898
$GC,18205,0.76,281.0,687.7,8.5,503,18209,0.00,2.35,0.00,0.000,4,0.000,0.051,2830,3676,1896
$GC,18244,0.76,281.0,684.2,9.4,503,18248,0.00,2.33,0.00,0.000,6,0.000,0.038,2831,2217,1896
$GC,18566,0.85,281.0,657.9,8.2,509,18571,0.15,2.17,0.00,0.000,4,0.064,0.048,2896,862,1895
$GC,18629,0.69,281.0,651.0,10.5,509,18635,0.20,2.12,0.00,0.000,6,0.127,0.037,2836,2225,1894
$GC,18939,0.76,281.0,623.5,8.8,515,18943,0.00,2.35,0.00,0.000,4,0.000,0.051,2836,3674,1894
$GC,18989,0.76,281.0,618.4,10.4,515,18994,0.00,2.30,0.00,0.000,6,0.000,0.037,2838,2228,1894
$GC,19299,0.76,281.0,589.9,9.3,520,19303,0.00,2.22,0.00,0.000,4,0.000,0.050,2838,854,1894
$GC,19372,0.84,281.0,583.2,9.4,521,19376,0.12,2.12,0.00,0.000,6,0.071,0.036,2893,2217,1894
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$STATE,25635,end climb,SURFACE_DEPTH_REACHED
$STATE,25635,begin surface coast
$FINISH,3.2,1.002231
$STATE,25688,end surface coast,CONTROL_FINISHED_OK
$STATE,25688,begin surface
$SM_CCo,25767,0.00,0.000,0,0,1892,283.08
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$IRIDIUM_FIX,6426.39,-131.11,310898,191929
$TT8_MAMPS,0.026845
$HUMID,1802
$INTERNAL_PRESSURE,9.09601
$TCM_TEMP,15.20
$XPDR_PINGS,2
$24V_AH,20.4,68.975
$10V_AH,10.4,50.898
$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,39.800,244.700,376.700,0.000,0.000,23.220,34.502,152.665,0.500,0.000,0.000,14.657,2009.936,20585.715,583.031,2257.265,665.188,0.000,1848.763,0.000,2207.401,0.000,0.532,0.000
$DEVICE_MAMPS,195.585,92.807,1404.377,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,625.054,592.584,295.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44239,849
$CAP_FILE_SIZE,207519,0
$CFSIZE,260165632,217612288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.079, 44.5,1
$GPS,070609,094524,6455.615,-30.722,24,1.4,41,-5.5