version: 66.04
glider: 160
mission: 3
dive: 638
start: 8 8 109 5 55 54
data:
$ID,160
$MISSION,3
$DIVE,638
$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,-1
$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,-20600.783
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,054906,6310.302,331.304,32,0.8,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-65.9
$GPS2,055531,6310.370,331.257,11,1.7,11,-3.0
$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,161.1,25185,-13.7,-6.875
$D_GRID,933
$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,11,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,-6.12,0.000,2,0.000,0.000,131,2166,2045
$GC,28,-0.77,-116.7,3.6,-0.0,1,110,7.93,2.30,-66.82,0.000,4,0.179,0.058,2368,767,3522
$GC,158,-0.10,-116.7,12.8,-16.2,21,165,0.70,2.22,0.00,0.000,6,0.132,0.037,2577,2178,3522
$GC,506,-0.71,-116.7,38.0,-9.8,82,513,0.50,2.35,0.00,0.000,4,0.044,0.046,2372,3594,3524
$GC,546,-0.63,-116.7,42.7,-11.9,88,553,0.12,2.25,0.00,0.000,6,0.134,0.029,2407,2177,3524
$GC,893,-0.36,-116.7,88.3,-11.0,119,898,0.25,2.33,0.00,0.000,4,0.119,0.044,2491,773,3526
$GC,1152,-0.43,-116.7,104.6,-6.3,130,1158,0.00,2.20,0.00,0.000,6,0.000,0.034,2491,2169,3527
$GC,1469,-0.53,-116.7,125.1,-7.7,146,1471,0.15,0.00,0.00,0.000,6,0.058,0.000,2421,2170,3527
$GC,1779,-0.34,-116.7,160.4,-11.5,161,1781,0.28,0.00,0.00,0.000,6,0.118,0.000,2508,2169,3528
$GC,2088,-0.54,-116.7,184.1,-7.1,176,2090,0.20,0.00,0.00,0.000,6,0.052,0.000,2420,2170,3528
$GC,2398,-0.36,-116.7,217.0,-11.0,191,2399,0.25,0.00,0.00,0.000,6,0.117,0.000,2499,2170,3528
$GC,2706,-0.52,-116.7,238.7,-6.5,206,2708,0.17,0.00,0.00,0.000,6,0.054,0.000,2420,2170,3528
$GC,3015,-0.35,-116.7,270.8,-10.8,221,3020,0.22,2.45,0.00,0.000,4,0.118,0.051,2492,3595,3527
$GC,3046,-0.44,-116.7,273.5,-8.8,222,3050,0.00,2.33,0.00,0.000,6,0.000,0.032,2492,2158,3527
$GC,3365,-0.59,-116.7,297.7,-7.5,237,3370,0.20,2.33,0.00,0.000,4,0.053,0.049,2397,773,3527
$GC,3406,-0.28,-116.7,302.3,-12.0,239,3411,0.43,2.22,0.00,0.000,6,0.124,0.036,2522,2175,3527
$GC,3732,-0.56,-116.7,323.9,-6.2,250,3734,0.25,0.00,0.00,0.000,6,0.048,0.000,2416,2176,3527
$GC,4037,-0.39,-116.7,353.6,-9.7,260,4039,0.22,0.00,0.00,0.000,6,0.118,0.000,2487,2176,3526
$GC,4344,-0.52,-116.7,369.9,-4.5,270,4346,0.12,0.00,0.00,0.000,6,0.065,0.000,2427,2176,3526
$GC,4650,-0.40,-116.7,393.2,-7.8,280,4652,0.20,0.00,0.00,0.000,6,0.119,0.000,2489,2176,3526
$GC,4956,-0.55,-116.7,407.4,-4.0,290,4957,0.15,0.00,0.00,0.000,6,0.061,0.000,2419,2177,3524
$GC,5263,-0.39,-116.7,430.4,-7.7,300,5265,0.22,0.00,0.00,0.000,6,0.119,0.000,2489,2177,3524
$GC,5568,-0.56,-116.7,447.1,-5.6,310,5570,0.17,0.00,0.00,0.000,6,0.059,0.000,2416,2177,3523
$GC,5874,-0.41,-116.7,475.3,-9.8,320,5876,0.22,0.00,0.00,0.000,6,0.119,0.000,2486,2177,3522
$GC,6181,-0.56,-116.7,495.6,-6.9,330,6183,0.17,0.00,0.00,0.000,6,0.058,0.000,2409,2178,3521
$GC,6484,-0.38,-116.7,525.2,-9.9,336,6486,0.25,0.00,0.00,0.000,6,0.119,0.000,2487,2178,3520
$GC,6787,-0.54,-116.7,545.5,-6.5,341,6789,0.15,0.00,0.00,0.000,6,0.062,0.000,2419,2179,3519
$GC,7091,-0.42,-116.7,570.7,-8.3,346,7093,0.20,0.00,0.00,0.000,6,0.120,0.000,2481,2179,3518
$GC,7393,-0.55,-116.7,588.7,-5.8,351,7395,0.15,0.00,0.00,0.000,6,0.063,0.000,2416,2179,3516
$GC,7697,-0.41,-116.7,615.1,-8.9,356,7699,0.20,0.00,0.00,0.000,6,0.123,0.000,2477,2179,3515
$GC,7999,-0.53,-116.7,634.2,-6.2,361,8001,0.12,0.00,0.00,0.000,6,0.071,0.000,2420,2179,3514
$GC,8303,-0.41,-116.7,659.7,-8.5,366,8305,0.20,0.00,0.00,0.000,6,0.123,0.000,2482,2179,3513
$GC,8606,-0.56,-116.7,678.8,-6.2,371,8607,0.15,0.00,0.00,0.000,6,0.064,0.000,2417,2179,3512
$GC,8909,-0.43,-116.7,705.3,-8.9,376,8911,0.20,0.00,0.00,0.000,6,0.123,0.000,2478,2179,3511
$GC,9212,-0.57,-116.7,726.5,-6.9,381,9214,0.15,0.00,0.00,0.000,6,0.063,0.000,2413,2179,3510
$GC,9515,-0.42,-116.7,755.3,-9.6,386,9516,0.20,0.00,0.00,0.000,6,0.123,0.000,2473,2179,3509
$GC,9818,-0.54,-116.7,777.0,-7.0,391,9819,0.12,0.00,0.00,0.000,6,0.068,0.000,2418,2179,3509
$GC,10121,-0.42,-116.7,804.1,-9.1,396,10123,0.20,0.00,0.00,0.000,6,0.124,0.000,2479,2179,3508
$GC,10425,-0.57,-116.7,824.1,-6.4,401,10430,0.15,2.45,0.00,0.000,4,0.065,0.057,2416,3579,3507
$GC,10448,-0.57,-116.7,826.0,-7.4,401,10452,0.00,2.35,0.00,0.000,6,0.000,0.039,2416,2172,3507
$GC,10786,-0.44,-116.7,855.7,-8.8,407,10791,0.17,2.40,0.00,0.000,4,0.132,0.053,2469,763,3507
$GC,10851,-0.51,-116.7,860.5,-7.2,408,10855,0.00,2.30,0.00,0.000,6,0.000,0.044,2468,2163,3506
$GC,11223,-0.62,-116.7,885.1,-6.5,414,11225,0.17,0.00,0.00,0.000,6,0.060,0.000,2391,2164,3506
$GC,11526,-0.40,-116.7,913.5,-9.5,419,11531,0.25,2.50,0.00,0.000,4,0.126,0.058,2474,3594,3505
$GC,11556,-0.49,-116.7,915.8,-6.9,419,11560,0.00,2.38,0.00,0.000,6,0.000,0.039,2475,2159,3505
$STATE,11884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11885,begin apogee
$GC,11894,-0.23,0.0,934.7,5.7,425,11995,0.20,0.00,99.18,1.373,6,0.114,0.000,2538,2290,3046
$STATE,11996,end apogee,CONTROL_FINISHED_OK
$STATE,11996,begin climb
$GC,12001,0.77,116.7,936.9,0.0,426,12126,1.00,2.78,111.47,1.339,4,0.092,0.053,2850,3679,2569
$GC,12166,0.68,178.5,935.7,4.4,428,12278,0.00,2.60,73.60,1.137,6,0.000,0.034,2851,2266,2318
$GC,12624,0.74,183.3,906.6,6.7,436,12634,0.00,2.38,5.03,0.967,4,0.000,0.050,2851,858,2298
$GC,12779,0.85,204.5,896.4,6.0,438,12805,0.10,2.22,20.15,1.282,6,0.074,0.036,2896,2265,2212
$GC,13124,0.79,204.5,867.5,8.5,444,13128,0.00,2.33,0.00,0.000,4,0.000,0.056,2896,3684,2207
$GC,13175,0.61,204.5,862.3,10.3,444,13181,0.28,2.30,0.00,0.000,6,0.117,0.034,2810,2243,2207
$GC,13493,0.93,237.0,844.2,5.6,450,13528,0.25,2.30,28.98,1.295,4,0.053,0.050,2921,864,2079
$GC,13622,0.80,237.0,832.3,9.7,451,13631,0.17,2.20,0.00,0.000,6,0.117,0.037,2868,2253,2074
$GC,13933,0.88,237.0,807.8,7.7,457,13937,0.00,2.35,0.00,0.000,4,0.000,0.054,2868,3680,2072
$GC,14012,0.88,237.0,800.9,8.9,458,14016,0.00,2.30,0.00,0.000,6,0.000,0.035,2868,2251,2072
$GC,14363,0.97,237.0,773.9,7.7,464,14368,0.17,2.28,0.00,0.000,4,0.059,0.051,2946,861,2071
$GC,14426,0.74,237.0,767.4,10.6,464,14433,0.32,2.22,0.00,0.000,6,0.120,0.037,2846,2265,2070
$GC,14737,0.93,237.0,745.0,7.0,470,14742,0.20,2.38,0.00,0.000,4,0.058,0.054,2937,3683,2070
$GC,14795,0.64,237.0,738.9,11.0,470,14800,0.38,2.30,0.00,0.000,6,0.116,0.033,2821,2262,2070
$GC,15107,0.95,252.2,718.4,6.3,475,15127,0.25,2.35,13.32,1.185,4,0.053,0.050,2932,860,2017
$GC,15212,0.81,252.2,707.6,9.9,476,15217,0.20,2.20,0.00,0.000,6,0.120,0.035,2872,2252,2015
$GC,15541,0.89,252.2,680.0,8.3,482,15545,0.00,2.38,0.00,0.000,4,0.000,0.054,2872,3688,2014
$GC,15614,0.89,252.2,673.2,9.5,483,15618,0.00,2.33,0.00,0.000,6,0.000,0.033,2878,2245,2014
$GC,15975,0.96,252.2,643.8,8.1,489,15980,0.12,2.30,0.00,0.000,4,0.067,0.049,2936,863,2013
$GC,16032,0.81,252.2,637.9,10.8,489,16039,0.20,2.22,0.00,0.000,6,0.122,0.036,2877,2255,2013
$GC,16343,0.89,252.2,613.0,7.9,495,16347,0.00,2.40,0.00,0.000,4,0.000,0.055,2877,3683,2013
$GC,16417,0.89,252.2,606.4,8.6,496,16421,0.00,2.35,0.00,0.000,6,0.000,0.035,2878,2246,2013
$GC,16773,0.96,252.2,577.1,8.3,502,16777,0.12,2.33,0.00,0.000,4,0.068,0.048,2937,860,2012
$GC,16842,0.82,252.2,569.9,12.0,503,16847,0.22,2.25,0.00,0.000,6,0.121,0.035,2870,2267,2012
$GC,17209,0.92,252.2,539.9,8.1,509,17214,0.12,2.40,0.00,0.000,4,0.068,0.053,2926,3676,2012
$GC,17305,0.72,252.2,529.3,12.8,510,17310,0.30,2.33,0.00,0.000,6,0.118,0.034,2841,2255,2012
$GC,17639,0.98,270.1,508.1,6.2,516,17661,0.22,2.33,15.88,1.075,4,0.056,0.051,2947,859,1945
$GC,17744,0.83,270.1,497.9,9.7,517,17749,0.22,2.22,0.00,0.000,6,0.123,0.035,2880,2261,1942
$GC,18077,0.93,270.1,474.0,7.1,528,18081,0.00,2.38,0.00,0.000,4,0.000,0.055,2879,3686,1941
$GC,18176,0.93,270.1,464.9,9.8,531,18180,0.00,2.30,0.00,0.000,6,0.000,0.033,2880,2263,1941
$GC,18512,1.04,270.1,433.4,9.4,542,18516,0.20,2.33,0.00,0.000,4,0.055,0.047,2973,859,1941
$GC,18651,0.81,270.1,416.1,12.3,546,18656,0.32,2.22,0.00,0.000,6,0.124,0.034,2876,2257,1939
$GC,18982,0.94,270.1,387.5,8.2,557,18986,0.12,2.42,0.00,0.000,4,0.064,0.052,2935,3684,1940
$GC,19051,0.76,270.1,378.8,14.8,559,19056,0.25,2.33,0.00,0.000,6,0.116,0.031,2859,2248,1940
$GC,19389,0.97,270.1,350.6,7.5,570,19394,0.20,2.35,0.00,0.000,4,0.055,0.049,2949,860,1940
$GC,19488,0.84,270.1,340.2,10.3,573,19493,0.22,2.25,0.00,0.000,6,0.116,0.034,2882,2268,1939
$GC,19825,0.96,270.1,313.4,7.2,584,19830,0.12,2.38,0.00,0.000,4,0.061,0.045,2946,864,1939
$GC,19865,0.84,270.1,309.7,8.7,585,19870,0.22,2.25,0.00,0.000,6,0.120,0.035,2880,2268,1940
$GC,20198,0.98,270.1,287.4,6.9,599,20203,0.15,2.40,0.00,0.000,4,0.057,0.049,2949,3686,1940
$GC,20239,0.72,270.1,283.2,11.0,601,20244,0.35,2.33,0.00,0.000,6,0.117,0.030,2845,2245,1941
$GC,20568,1.03,287.9,262.2,6.2,617,20591,0.25,2.33,16.50,0.862,4,0.051,0.046,2962,866,1871
$GC,20721,0.89,287.9,243.2,12.6,623,20729,0.22,2.20,0.00,0.000,6,0.122,0.035,2896,2257,1867
$GC,21039,0.99,287.9,210.8,9.7,639,21041,0.10,0.00,0.00,0.000,6,0.068,0.000,2948,2257,1867
$GC,21347,0.88,287.9,175.5,11.1,654,21349,0.17,0.00,0.00,0.000,6,0.123,0.000,2894,2257,1867
$GC,21657,1.01,287.9,144.5,9.9,669,21659,0.12,0.00,0.00,0.000,6,0.064,0.000,2954,2258,1867
$GC,21967,0.88,287.9,109.9,10.9,684,21972,0.20,2.47,0.00,0.000,4,0.123,0.051,2887,3680,1868
$GC,22008,1.05,350.9,106.1,4.4,686,22066,0.17,2.35,51.88,0.744,6,0.053,0.032,2959,2243,1615
$GC,22384,0.98,350.9,63.1,12.4,704,22389,0.12,2.28,0.00,0.000,4,0.136,0.044,2923,859,1604
$GC,22447,1.11,350.9,56.2,10.3,710,22455,0.15,2.17,0.00,0.000,6,0.063,0.032,2986,2249,1604
$GC,22797,1.03,350.9,11.3,12.0,771,22805,0.15,2.40,0.00,0.000,4,0.147,0.048,2943,3673,1601
$GC,22865,1.03,350.9,4.9,9.7,782,22871,0.00,2.30,0.00,0.000,6,0.000,0.031,2944,2238,1601
$STATE,22876,end climb,SURFACE_DEPTH_REACHED
$STATE,22876,begin surface coast
$FINISH,2.5,1.013202
$STATE,22928,end surface coast,CONTROL_FINISHED_OK
$STATE,22928,begin surface
$SM_CCo,23010,0.00,0.000,0,0,1599,354.95
$SM_GC,4.02,7.55,0.00,0.00,0.041,0.000,0.000,139,2156,1599,-7.64,-0.68,354.95
$IRIDIUM_FIX,6249.28,325.07,011198,222207
$TT8_MAMPS,0.026845
$HUMID,3267
$INTERNAL_PRESSURE,9.2425
$TCM_TEMP,17.30
$XPDR_PINGS,2
$24V_AH,20.4,100.341
$10V_AH,10.2,69.470
$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,32.675,149.350,435.975,0.000,0.000,31.475,32.522,169.611,0.500,0.000,0.000,13.170,1787.682,18280.225,567.295,2008.774,737.325,0.000,1661.250,0.000,1971.110,0.000,0.534,0.000
$DEVICE_MAMPS,179.478,65.962,1372.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.586,580.746,287.971,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41098,793
$CAP_FILE_SIZE,166806,0
$CFSIZE,260165632,201543680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.198, 37.1,1
$GPS,080809,122036,6309.545,336.816,30,1.2,30,-2.9