version: 66.04
glider: 160
mission: 3
dive: 607
start: 7 29 109 11 46 48
data:
$ID,160
$MISSION,3
$DIVE,607
$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,-19943.262
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,113607,6423.440,37.635,37,1.6,37,-4.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,3.77
$_SM_ANGLEo,-59.8
$GPS2,114625,6423.601,37.553,10,1.3,10,-4.8
$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,152.5,224425,-13.7,-6.875
$D_GRID,2505
$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,16,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-6.28,0.000,2,0.000,0.000,131,2158,1909
$GC,29,-0.77,-116.7,3.7,-0.0,1,127,7.93,0.00,-86.72,0.000,6,0.180,0.000,2360,2159,3523
$GC,469,-0.44,-116.7,47.2,-10.6,76,476,0.30,2.45,0.00,0.000,4,0.118,0.052,2462,3590,3525
$GC,537,-0.63,-116.7,51.8,-5.9,87,544,0.15,2.28,0.00,0.000,6,0.058,0.033,2397,2179,3526
$GC,869,-0.47,-116.7,80.2,-8.8,115,874,0.20,2.33,0.00,0.000,4,0.121,0.046,2464,767,3527
$GC,948,-0.60,-116.7,86.5,-6.7,118,955,0.12,2.28,0.00,0.000,6,0.067,0.038,2407,2182,3527
$GC,1265,-0.49,-116.7,112.8,-8.5,134,1267,0.15,0.00,0.00,0.000,6,0.115,0.000,2453,2182,3528
$GC,1576,-0.60,-116.7,133.3,-6.5,149,1578,0.12,0.00,0.00,0.000,6,0.067,0.000,2392,2182,3528
$GC,1884,-0.45,-116.7,160.8,-8.9,164,1886,0.25,0.00,0.00,0.000,6,0.114,0.000,2471,2182,3528
$GC,2194,-0.65,-116.7,177.9,-5.4,179,2199,0.20,2.35,0.00,0.000,4,0.053,0.050,2376,3584,3528
$GC,2223,-0.52,-116.7,180.0,-7.9,180,2228,0.22,2.28,0.00,0.000,6,0.116,0.033,2445,2177,3528
$GC,2545,-0.61,-116.7,199.3,-5.7,196,2549,0.00,2.30,0.00,0.000,4,0.000,0.048,2445,769,3528
$GC,2581,-0.61,-116.7,201.4,-6.0,197,2585,0.00,2.25,0.00,0.000,6,0.000,0.038,2445,2179,3528
$GC,2903,-0.70,-116.7,218.9,-5.3,213,2905,0.17,0.00,0.00,0.000,6,0.056,0.000,2364,2179,3528
$GC,3213,-0.43,-116.7,246.5,-9.3,228,3215,0.35,0.00,0.00,0.000,6,0.114,0.000,2474,2180,3527
$GC,3522,-0.67,-116.7,261.2,-4.6,243,3524,0.22,0.00,0.00,0.000,6,0.051,0.000,2376,2180,3526
$GC,3831,-0.46,-116.7,286.2,-8.4,258,3833,0.28,0.00,0.00,0.000,6,0.117,0.000,2463,2179,3526
$GC,4161,-0.65,-116.7,303.2,-5.1,273,4163,0.17,0.00,0.00,0.000,6,0.059,0.000,2389,2180,3525
$GC,4466,-0.49,-116.7,328.3,-8.4,283,4468,0.22,0.00,0.00,0.000,6,0.117,0.000,2459,2180,3524
$GC,4773,-0.66,-116.7,345.9,-5.5,293,4775,0.17,0.00,0.00,0.000,6,0.059,0.000,2382,2180,3523
$GC,5079,-0.48,-116.7,370.9,-8.2,303,5081,0.25,0.00,0.00,0.000,6,0.117,0.000,2460,2180,3522
$GC,5385,-0.67,-116.7,387.7,-5.5,313,5387,0.17,0.00,0.00,0.000,6,0.059,0.000,2385,2180,3521
$GC,5691,-0.51,-116.7,414.6,-9.0,323,5693,0.20,0.00,0.00,0.000,6,0.119,0.000,2448,2181,3521
$GC,5998,-0.65,-116.7,435.8,-7.0,333,6000,0.12,0.00,0.00,0.000,6,0.071,0.000,2391,2181,3520
$GC,6303,-0.51,-116.7,463.4,-9.0,343,6308,0.20,2.45,0.00,0.000,4,0.121,0.056,2458,3581,3519
$GC,6339,-0.72,-116.7,466.1,-6.7,344,6344,0.22,2.35,0.00,0.000,6,0.053,0.039,2364,2157,3519
$GC,6676,-0.47,-116.7,499.5,-10.1,355,6678,0.30,0.00,0.00,0.000,6,0.117,0.000,2459,2157,3517
$GC,7009,-0.67,-116.7,520.4,-6.1,361,7011,0.20,0.00,0.00,0.000,6,0.058,0.000,2376,2158,3517
$GC,7314,-0.48,-116.7,547.4,-9.0,366,7316,0.25,0.00,0.00,0.000,6,0.119,0.000,2455,2157,3516
$GC,7616,-0.67,-116.7,565.1,-5.7,371,7621,0.17,2.47,0.00,0.000,4,0.063,0.055,2380,3593,3515
$GC,7656,-0.52,-116.7,568.3,-8.6,371,7661,0.22,2.35,0.00,0.000,6,0.119,0.038,2447,2173,3515
$GC,7978,-0.67,-116.7,587.4,-5.8,377,7980,0.15,0.00,0.00,0.000,6,0.067,0.000,2380,2173,3514
$GC,8283,-0.51,-116.7,611.6,-8.1,382,8287,0.20,2.35,0.00,0.000,4,0.120,0.053,2448,775,3514
$GC,8328,-0.63,-116.7,614.7,-5.9,382,8333,0.12,2.25,0.00,0.000,6,0.070,0.041,2394,2163,3513
$GC,8656,-0.53,-116.7,638.0,-7.2,388,8658,0.15,0.00,0.00,0.000,6,0.123,0.000,2440,2163,3513
$GC,8958,-0.65,-116.7,654.6,-5.4,393,8963,0.12,2.45,0.00,0.000,4,0.074,0.054,2382,3586,3512
$GC,8987,-0.58,-116.7,656.5,-7.0,393,8992,0.15,2.38,0.00,0.000,6,0.129,0.039,2425,2157,3512
$GC,9326,-0.58,-116.7,675.5,-5.5,399,9330,0.00,2.33,0.00,0.000,4,0.000,0.054,2426,765,3512
$GC,9360,-0.58,-116.7,677.6,-6.2,399,9364,0.00,2.28,0.00,0.000,6,0.000,0.043,2425,2164,3512
$GC,9698,-0.58,-116.7,696.4,-5.6,405,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2165,3511
$GC,10002,-0.58,-116.7,713.9,-5.8,410,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2165,3511
$GC,10306,-0.58,-116.7,732.6,-6.2,415,10310,0.00,2.45,0.00,0.000,4,0.000,0.056,2425,3591,3510
$GC,10346,-0.66,-116.7,735.3,-6.7,415,10350,0.00,2.38,0.00,0.000,6,0.000,0.039,2425,2159,3510
$GC,10668,-0.73,-116.7,755.0,-6.2,421,10670,0.15,0.00,0.00,0.000,6,0.068,0.000,2361,2160,3510
$GC,10972,-0.51,-116.7,780.9,-8.7,426,10977,0.25,2.35,0.00,0.000,4,0.118,0.054,2445,778,3509
$GC,11024,-0.63,-116.7,784.7,-6.6,426,11028,0.12,2.28,0.00,0.000,6,0.070,0.041,2392,2164,3509
$GC,11334,-0.54,-116.7,807.8,-7.5,431,11336,0.15,0.00,0.00,0.000,6,0.123,0.000,2438,2164,3509
$GC,11639,-0.67,-116.7,826.4,-6.1,436,11644,0.12,2.42,0.00,0.000,4,0.076,0.055,2382,3590,3509
$GC,11678,-0.56,-116.7,829.4,-7.7,436,11683,0.17,2.35,0.00,0.000,6,0.123,0.041,2433,2167,3508
$GC,12001,-0.69,-116.7,849.5,-6.1,442,12006,0.12,2.35,0.00,0.000,4,0.078,0.057,2378,774,3508
$GC,12042,-0.49,-116.7,852.7,-8.4,442,12047,0.25,2.28,0.00,0.000,6,0.123,0.042,2451,2165,3508
$GC,12364,-0.69,-116.7,870.9,-5.5,448,12366,0.17,0.00,0.00,0.000,6,0.063,0.000,2378,2165,3508
$GC,12667,-0.55,-116.7,894.0,-7.8,453,12669,0.20,0.00,0.00,0.000,6,0.123,0.000,2440,2166,3508
$GC,12972,-0.70,-116.7,911.3,-5.6,458,12977,0.17,2.47,0.00,0.000,4,0.069,0.056,2365,3587,3508
$GC,13006,-0.53,-116.7,914.1,-7.8,458,13011,0.25,2.38,0.00,0.000,6,0.120,0.039,2440,2157,3508
$GC,13334,-0.69,-116.7,932.1,-5.3,464,13339,0.15,2.33,0.00,0.000,4,0.074,0.053,2379,774,3507
$GC,13374,-0.50,-116.7,934.9,-7.5,464,13379,0.25,2.28,0.00,0.000,6,0.126,0.042,2450,2175,3507
$GC,13697,-0.72,-116.7,951.4,-5.0,470,13699,0.20,0.00,0.00,0.000,6,0.061,0.000,2367,2175,3507
$GC,13999,-0.53,-116.7,974.6,-7.8,475,14001,0.25,0.00,0.00,0.000,6,0.120,0.000,2445,2176,3507
$STATE,14298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14298,begin apogee
$GC,14308,-0.23,0.0,990.5,5.2,480,14410,0.30,0.00,99.85,1.406,6,0.110,0.000,2542,2271,3046
$STATE,14411,end apogee,CONTROL_FINISHED_OK
$STATE,14411,begin climb
$GC,14415,0.77,116.7,992.4,0.0,481,14542,0.95,2.80,114.68,1.358,4,0.077,0.052,2852,3681,2570
$GC,14604,0.48,130.2,990.1,6.3,483,14631,0.32,2.60,16.15,1.123,6,0.130,0.034,2773,2258,2515
$GC,14984,0.71,181.8,971.8,4.8,490,15036,0.20,2.40,46.20,1.368,4,0.058,0.054,2869,864,2302
$GC,15161,0.57,181.8,957.4,8.9,492,15166,0.25,2.25,0.00,0.000,6,0.121,0.037,2793,2274,2297
$GC,15477,0.78,205.6,938.4,5.9,498,15504,0.20,2.35,21.08,1.319,4,0.060,0.053,2884,3682,2206
$GC,15545,0.50,205.6,932.0,10.3,499,15551,0.40,2.30,0.00,0.000,6,0.125,0.035,2768,2247,2204
$GC,15907,0.84,241.0,911.6,5.5,505,15946,0.30,2.35,31.60,1.332,4,0.053,0.048,2904,864,2062
$GC,16019,0.64,241.0,900.5,11.7,506,16024,0.30,2.22,0.00,0.000,6,0.120,0.036,2812,2265,2058
$GC,16340,0.80,241.0,876.2,7.3,512,16345,0.17,2.33,0.00,0.000,4,0.061,0.057,2887,3679,2056
$GC,16404,0.57,241.0,869.2,11.9,513,16410,0.32,2.28,0.00,0.000,6,0.123,0.038,2790,2259,2056
$GC,16772,0.84,248.5,844.2,6.6,519,16786,0.22,2.35,6.85,1.111,4,0.056,0.052,2894,856,2032
$GC,16856,0.69,248.5,835.6,11.0,520,16861,0.20,2.25,0.00,0.000,6,0.122,0.041,2835,2262,2031
$GC,17206,0.78,248.5,807.0,8.0,526,17210,0.00,2.35,0.00,0.000,4,0.000,0.058,2834,3685,2030
$GC,17270,0.78,248.5,801.4,9.0,527,17274,0.00,2.30,0.00,0.000,6,0.000,0.035,2837,2245,2030
$GC,17637,0.86,248.5,771.4,8.2,533,17642,0.15,2.25,0.00,0.000,4,0.064,0.049,2906,864,2030
$GC,17677,0.65,248.5,767.2,10.8,533,17682,0.28,2.22,0.00,0.000,6,0.121,0.037,2823,2266,2029
$GC,17999,0.80,248.5,743.0,7.4,539,18004,0.15,2.35,0.00,0.000,4,0.064,0.056,2886,3675,2029
$GC,18069,0.58,248.5,735.7,11.4,540,18074,0.30,2.28,0.00,0.000,6,0.122,0.038,2801,2265,2029
$GC,18436,0.83,260.2,711.3,6.4,546,18455,0.20,2.38,11.43,1.153,4,0.056,0.049,2895,847,1984
$GC,18518,0.69,260.2,703.2,9.8,547,18523,0.20,2.25,0.00,0.000,6,0.120,0.037,2835,2266,1982
$GC,18874,0.80,260.2,675.2,7.7,553,18878,0.12,2.35,0.00,0.000,4,0.068,0.055,2891,3678,1981
$GC,18938,0.59,260.2,668.5,9.9,554,18942,0.30,2.28,0.00,0.000,6,0.120,0.035,2799,2264,1981
$GC,19304,0.88,279.5,645.1,6.1,560,19336,0.25,2.33,20.42,1.078,4,0.052,0.048,2919,847,1905
$GC,19413,0.69,279.5,633.6,12.0,561,19418,0.28,2.25,0.00,0.000,6,0.121,0.035,2835,2265,1902
$GC,19736,0.84,279.5,608.0,7.7,567,19741,0.15,2.38,0.00,0.000,4,0.062,0.056,2897,3683,1901
$GC,19792,0.63,279.5,601.4,10.9,567,19799,0.30,2.30,0.00,0.000,6,0.121,0.033,2813,2259,1901
$GC,20104,0.87,279.5,579.4,6.9,573,20109,0.20,2.33,0.00,0.000,4,0.057,0.051,2908,861,1900
$GC,20177,0.74,279.5,571.5,11.3,574,20182,0.20,2.28,0.00,0.000,6,0.121,0.038,2848,2269,1899
$GC,20534,0.83,279.5,540.1,8.7,580,20538,0.00,2.35,0.00,0.000,4,0.000,0.055,2848,3682,1899
$GC,20573,0.83,279.5,536.1,9.3,580,20577,0.00,2.33,0.00,0.000,6,0.000,0.035,2850,2248,1900
$GC,20900,0.91,279.5,506.4,9.1,586,20905,0.15,2.28,0.00,0.000,4,0.062,0.048,2921,867,1899
$GC,20980,0.71,279.5,496.7,11.5,587,20985,0.28,2.22,0.00,0.000,6,0.120,0.035,2839,2270,1898
$GC,21304,0.85,279.5,468.0,8.7,598,21309,0.15,2.38,0.00,0.000,4,0.062,0.052,2905,3689,1898
$GC,21368,0.62,279.5,460.3,12.7,600,21373,0.32,2.30,0.00,0.000,6,0.117,0.031,2813,2247,1898
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$STATE,26363,end climb,SURFACE_DEPTH_REACHED
$STATE,26364,begin surface coast
$FINISH,3.2,1.004773
$STATE,26440,end surface coast,CONTROL_FINISHED_OK
$STATE,26440,begin surface
$SM_CCo,26523,0.00,0.000,0,0,1834,297.30
$SM_GC,3.99,7.43,0.00,0.00,0.041,0.000,0.000,131,2171,1834,-7.66,-0.25,297.30
$IRIDIUM_FIX,6356.67,44.77,231098,111117
$TT8_MAMPS,0.026845
$HUMID,1844
$INTERNAL_PRESSURE,9.17414
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,19.8,95.311
$10V_AH,10.2,66.503
$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,36.975,200.725,382.425,0.000,0.000,61.784,76.954,268.164,0.000,0.000,0.000,12.230,2073.120,21261.908,545.950,2281.729,966.886,0.000,1785.742,0.000,2239.507,0.000,0.534,0.000
$DEVICE_MAMPS,180.245,79.001,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,650.889,654.090,342.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47437,910
$CAP_FILE_SIZE,201714,0
$CFSIZE,260165632,204091392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.089, 16.5,1
$GPS,290709,191007,6422.098,42.174,35,1.3,35,-4.7