version: 66.04
glider: 160
mission: 3
dive: 645
start: 8 10 109 4 51 22
data:
$ID,160
$MISSION,3
$DIVE,645
$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,-20716.203
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,223043,6300.262,350.803,9,1.0,14,-2.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.56
$_SM_ANGLEo,16.2
$GPS2,223043,6300.262,350.803,9,1.0,14,-2.7
$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,3.5,325031,-26.7,-6.875
$D_GRID,872
$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,-1.26,-36.0,0.0,0.0,0,26,0.00,0.00,-7.38,0.000,2,0.000,0.000,139,2193,1733
$GC,30,-1.32,-89.7,3.8,-0.0,1,137,7.38,2.40,-87.00,0.000,4,0.185,0.056,2186,763,3412
$GC,397,-0.78,-89.7,67.6,-23.2,55,402,0.52,2.30,0.00,0.000,6,0.155,0.039,2355,2181,3415
$GC,725,-0.24,-89.7,112.6,-13.2,71,731,0.52,2.38,0.00,0.000,4,0.118,0.044,2526,769,3416
$GC,993,0.29,-99.6,130.4,-5.6,82,999,0.47,2.28,-0.30,0.000,6,0.084,0.036,2707,2182,3464
$GC,1317,-1.51,-101.7,151.0,-6.6,98,1325,1.60,2.45,0.00,0.000,4,0.058,0.048,2121,3597,3465
$GC,1552,-0.95,-101.7,207.3,-26.5,108,1557,0.68,2.10,0.00,0.000,6,0.157,0.031,2307,2285,3465
$GC,1871,-1.09,-101.7,258.3,-15.7,123,1875,0.15,2.53,0.00,0.000,4,0.071,0.048,2246,769,3465
$GC,2130,-0.95,-101.7,309.1,-20.1,134,2135,0.22,2.42,0.00,0.000,6,0.159,0.038,2304,2274,3465
$GC,2445,-1.10,-101.7,357.5,-15.2,144,2450,0.12,2.55,0.00,0.000,4,0.077,0.046,2254,770,3465
$GC,2589,-1.01,-101.7,383.0,-18.1,148,2594,0.12,2.40,0.00,0.000,6,0.166,0.038,2283,2262,3465
$GC,2917,-1.11,-101.7,433.4,-15.9,159,2921,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,772,3465
$GC,3023,-1.11,-101.7,451.7,-16.7,162,3028,0.00,2.38,0.00,0.000,6,0.000,0.039,2284,2247,3465
$GC,3349,-1.22,-101.7,501.3,-15.0,173,3354,0.17,2.50,0.00,0.000,4,0.069,0.046,2214,770,3464
$GC,3474,-1.02,-101.7,524.5,-18.6,174,3482,0.25,2.38,0.00,0.000,6,0.164,0.041,2279,2242,3464
$GC,3785,-1.12,-101.7,572.1,-15.1,180,3789,0.00,2.50,0.00,0.000,4,0.000,0.051,2280,771,3463
$GC,3865,-1.18,-101.7,585.1,-15.9,181,3870,0.15,2.35,0.00,0.000,6,0.069,0.041,2222,2224,3463
$GC,4215,-1.07,-101.7,649.9,-18.7,187,4220,0.17,2.50,0.00,0.000,4,0.166,0.050,2269,768,3460
$GC,4317,-1.07,-101.7,668.0,-16.9,188,4321,0.00,2.33,0.00,0.000,6,0.000,0.041,2269,2202,3460
$GC,4645,-1.07,-101.7,719.9,-15.9,194,4649,0.00,2.42,0.00,0.000,4,0.000,0.051,2269,769,3458
$GC,4729,-1.07,-101.7,734.2,-16.2,195,4733,0.00,2.30,0.00,0.000,6,0.000,0.041,2269,2189,3457
$GC,5074,-1.13,-101.7,788.5,-15.7,201,5078,0.00,2.42,0.00,0.000,4,0.000,0.054,2269,768,3455
$GC,5159,-1.13,-101.7,802.4,-16.2,202,5163,0.00,2.30,0.00,0.000,6,0.000,0.042,2269,2181,3455
$GC,5509,-1.20,-101.7,857.0,-15.5,208,5514,0.12,2.40,0.00,0.000,4,0.080,0.052,2221,770,3453
$GC,5589,-1.05,-101.7,871.3,-18.9,209,5594,0.10,2.28,0.00,0.000,1,0.189,0.041,2238,2171,3453
$STATE,5595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5595,begin apogee
$GC,5603,-0.23,0.0,872.5,18.4,209,5692,1.00,0.00,85.10,1.312,6,0.150,0.000,2532,2281,3046
$STATE,5693,end apogee,CONTROL_FINISHED_OK
$STATE,5693,begin climb
$GC,5697,1.34,101.7,877.1,0.0,210,5795,1.62,0.00,93.80,1.279,6,0.091,0.000,3040,2282,2631
$GC,6070,1.34,101.7,859.1,7.6,217,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2282,2627
$GC,6372,1.34,101.7,835.4,7.8,222,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2282,2625
$GC,6675,1.34,101.7,812.2,7.7,227,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2282,2624
$GC,6979,1.34,101.7,789.6,7.4,232,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2282,2623
$GC,7281,1.34,101.7,767.0,7.4,237,7286,0.00,2.38,0.00,0.000,4,0.000,0.046,3042,855,2622
$GC,7328,1.34,101.7,763.5,7.8,237,7332,0.00,2.25,0.00,0.000,6,0.000,0.033,3042,2274,2621
$GC,7644,1.34,101.7,739.5,7.6,243,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2274,2621
$GC,7947,1.34,101.7,716.9,7.4,248,7951,0.00,2.33,0.00,0.000,4,0.000,0.041,3051,858,2620
$GC,7964,1.34,101.7,715.6,7.2,248,7969,0.00,2.22,0.00,0.000,6,0.000,0.031,3052,2271,2620
$GC,8315,1.34,101.7,689.2,7.6,254,8319,0.00,2.35,0.00,0.000,4,0.000,0.043,3060,855,2619
$GC,8355,1.24,101.7,686.0,8.1,254,8360,0.20,2.25,0.00,0.000,6,0.184,0.032,3010,2271,2619
$GC,8677,1.34,102.3,663.9,6.8,260,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2271,2619
$GC,8981,1.43,105.9,644.3,6.4,265,8983,0.17,0.00,0.00,0.000,6,0.085,0.000,3073,2271,2618
$GC,9283,1.31,105.9,620.9,7.9,270,9284,0.15,0.00,0.00,0.000,6,0.189,0.000,3035,2272,2618
$GC,9585,1.31,105.9,600.0,6.9,275,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2271,2618
$GC,9889,1.32,110.4,580.7,6.3,280,9897,0.00,0.00,6.28,0.973,6,0.000,0.000,3036,2271,2594
$GC,10192,1.32,111.0,560.3,6.8,285,10196,0.00,2.35,0.00,0.000,4,0.000,0.042,3044,859,2594
$GC,10249,1.32,111.0,556.2,7.1,285,10256,0.00,2.25,0.00,0.000,6,0.000,0.032,3044,2275,2594
$GC,10560,1.32,111.0,532.6,7.7,291,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2274,2593
$GC,10863,1.32,111.0,509.5,7.5,296,10867,0.00,2.35,0.00,0.000,4,0.000,0.048,3044,3674,2593
$GC,10874,1.32,111.0,508.7,7.3,296,10879,0.00,2.25,0.00,0.000,6,0.000,0.027,3054,2264,2593
$GC,11203,1.32,114.4,487.0,6.4,304,11212,0.00,2.30,4.88,0.854,4,0.000,0.044,3064,862,2579
$GC,11253,1.26,118.7,483.5,6.3,305,11266,0.17,2.25,5.25,0.870,6,0.187,0.032,3021,2273,2562
$GC,11574,1.35,121.3,462.6,6.5,316,11583,0.00,2.38,4.03,0.758,4,0.000,0.048,3021,3681,2551
$GC,11609,1.35,121.8,460.2,6.8,317,11613,0.00,2.25,0.00,0.000,6,0.000,0.028,3030,2273,2551
$GC,11945,1.42,121.8,435.7,7.5,328,11950,0.12,2.33,0.00,0.000,4,0.089,0.047,3083,874,2551
$GC,11997,1.30,121.8,431.6,7.8,329,12002,0.20,2.25,0.00,0.000,6,0.183,0.034,3034,2279,2551
$GC,12322,1.37,121.8,406.8,8.2,340,12327,0.00,2.35,0.00,0.000,4,0.000,0.042,3042,861,2551
$GC,12362,1.37,121.8,403.6,8.0,341,12366,0.00,2.25,0.00,0.000,6,0.000,0.032,3041,2273,2550
$GC,12695,1.37,124.7,380.2,6.5,352,12704,0.00,2.35,4.68,0.785,4,0.000,0.042,3050,868,2537
$GC,12854,1.37,124.7,368.4,8.5,356,12858,0.00,2.22,0.00,0.000,6,0.000,0.033,3050,2256,2536
$GC,13174,1.37,124.7,343.4,7.9,367,13178,0.00,2.35,0.00,0.000,4,0.000,0.043,3059,862,2536
$GC,13264,1.37,124.7,336.5,7.9,369,13270,0.00,2.22,0.00,0.000,6,0.000,0.032,3059,2255,2536
$GC,13578,1.37,124.7,312.1,8.1,380,13582,0.00,2.33,0.00,0.000,4,0.000,0.041,3068,862,2537
$GC,13658,1.37,124.7,305.1,9.0,382,13662,0.00,2.22,0.00,0.000,6,0.000,0.031,3069,2259,2536
$GC,13991,1.37,124.7,276.3,9.0,397,13995,0.00,2.35,0.00,0.000,4,0.000,0.042,3078,864,2537
$GC,14013,1.37,124.7,274.1,9.5,398,14017,0.00,2.20,0.00,0.000,6,0.000,0.031,3078,2249,2537
$GC,14342,1.37,124.7,244.9,9.1,414,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2249,2539
$GC,14650,1.37,124.7,217.5,9.0,429,14651,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2249,2539
$GC,14960,1.37,124.7,192.1,7.9,444,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2249,2539
$GC,15270,1.37,124.7,162.9,9.1,459,15274,0.00,2.33,0.00,0.000,4,0.000,0.041,3082,861,2541
$GC,15296,1.43,176.9,163.2,0.2,460,15343,0.00,2.22,42.78,0.784,6,0.000,0.031,3083,2257,2324
$GC,15669,1.43,176.9,113.9,14.1,478,15670,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2256,2320
$GC,15977,1.43,176.9,66.8,14.2,493,15978,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2257,2320
$GC,16306,1.43,176.9,23.3,12.0,541,16312,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2257,2320
$STATE,16576,end climb,SURFACE_DEPTH_REACHED
$STATE,16576,begin surface coast
$FINISH,3.9,1.025844
$STATE,16627,end surface coast,CONTROL_FINISHED_OK
$STATE,16627,begin surface
$SM_CCo,16650,36.05,0.661,0,0,2127,225.19
$SM_GC,9.56,0.00,0.00,36.05,0.000,0.000,0.661,139,2176,2127,-7.73,-0.11,225.19
$IRIDIUM_FIX,6235.17,352.63,031198,222235
$TT8_MAMPS,0.027612
$HUMID,3368
$INTERNAL_PRESSURE,9.26204
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,21.7,101.367
$10V_AH,10.3,70.056
$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,24.575,121.750,246.775,36.050,0.000,24.541,32.189,186.483,0.000,0.000,0.000,14.756,1332.320,12897.082,415.086,1756.196,679.728,0.000,1279.628,0.000,1754.219,0.000,0.534,0.000
$DEVICE_MAMPS,189.449,69.030,1312.337,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.149,439.322,229.127,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31660,598
$CAP_FILE_SIZE,140152,0
$CFSIZE,260165632,201056256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.230,334.6,1
$GPS,100809,093230,6303.529,348.362,134,1.4,134,-2.8