version: 66.04
glider: 160
mission: 3
dive: 67
start: 2 13 109 14 53 36
data:
$ID,160
$MISSION,3
$DIVE,67
$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,-8382.9023
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,142954,6442.952,-59.082,24,1.1,42,-5.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.55
$_SM_ANGLEo,-68.1
$GPS2,145314,6442.935,-59.033,14,1.1,14,-5.7
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6248.000,415.000
$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,163.7,340561,-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,14,-0.77,-116.7,0.0,0.0,0,25,0.00,0.00,-9.20,0.000,2,0.000,0.000,121,2286,2120
$GC,27,-0.77,-116.7,3.4,-0.0,1,128,8.57,2.30,-83.97,0.000,4,0.226,0.069,2362,3704,3522
$GC,381,-0.50,-116.7,30.3,-10.6,62,388,0.30,2.20,0.00,0.000,6,0.123,0.038,2457,2292,3522
$GC,726,-0.60,-116.7,50.8,-5.8,123,732,0.12,0.00,0.00,0.000,6,0.071,0.000,2405,2292,3523
$GC,1068,-0.49,-116.7,78.5,-7.6,184,1076,0.17,2.17,0.00,0.000,4,0.127,0.047,2464,894,3522
$GC,1162,-0.59,-116.7,83.5,-5.2,200,1170,0.12,2.17,0.00,0.000,6,0.075,0.041,2409,2301,3523
$GC,1508,-0.50,-116.7,108.4,-7.6,261,1514,0.15,2.22,0.00,0.000,4,0.130,0.048,2453,881,3523
$GC,1560,-0.57,-116.7,112.0,-6.5,270,1567,0.00,2.20,0.00,0.000,6,0.000,0.044,2453,2281,3523
$GC,1904,-0.67,-116.7,133.1,-5.8,331,1910,0.17,2.17,0.00,0.000,4,0.064,0.047,2375,887,3524
$GC,1966,-0.40,-116.7,139.0,-9.6,342,1974,0.35,2.17,0.00,0.000,6,0.132,0.044,2485,2286,3524
$GC,2309,-0.65,-116.7,155.6,-4.9,393,2313,0.20,2.17,0.00,0.000,4,0.062,0.047,2393,891,3524
$GC,2360,-0.45,-116.7,159.6,-8.5,397,2365,0.25,2.17,0.00,0.000,6,0.130,0.043,2471,2301,3524
$GC,2684,-0.64,-116.7,179.1,-5.8,427,2686,0.20,0.00,0.00,0.000,6,0.059,0.000,2389,2302,3523
$GC,3002,-0.48,-116.7,205.7,-8.7,455,3007,0.20,2.20,0.00,0.000,4,0.127,0.048,2458,891,3524
$GC,3174,-0.57,-116.7,217.4,-6.8,465,3181,0.00,2.15,0.00,0.000,6,0.000,0.042,2458,2267,3524
$GC,3493,-0.71,-116.7,236.3,-6.0,486,3498,0.17,2.15,0.00,0.000,4,0.063,0.048,2377,884,3524
$GC,3547,-0.47,-116.7,241.2,-9.1,489,3555,0.22,2.17,0.00,0.000,6,0.128,0.045,2455,2264,3524
$GC,3868,-0.61,-116.7,260.1,-5.8,510,3872,0.12,2.15,0.00,0.000,4,0.071,0.048,2402,881,3524
$GC,3899,-0.46,-116.7,262.9,-8.6,512,3905,0.17,2.17,0.00,0.000,6,0.123,0.044,2463,2265,3524
$GC,4225,-0.63,-116.7,281.0,-5.6,533,4229,0.17,2.15,0.00,0.000,4,0.065,0.048,2391,881,3524
$GC,4269,-0.45,-116.7,284.8,-9.2,536,4273,0.25,2.15,0.00,0.000,6,0.130,0.045,2469,2265,3524
$GC,4587,-0.66,-116.7,302.9,-5.5,556,4592,0.20,2.15,0.00,0.000,4,0.063,0.048,2382,884,3524
$GC,4637,-0.44,-116.7,307.1,-9.1,558,4642,0.28,2.15,0.00,0.000,6,0.130,0.046,2468,2273,3524
$GC,4957,-0.64,-116.7,324.1,-4.9,574,4962,0.17,2.17,0.00,0.000,4,0.064,0.051,2390,884,3524
$GC,5002,-0.44,-116.7,327.6,-8.8,576,5006,0.25,2.12,0.00,0.000,6,0.130,0.047,2468,2257,3524
$GC,5333,-0.66,-116.7,344.8,-5.0,592,5335,0.20,0.00,0.00,0.000,6,0.063,0.000,2388,2258,3524
$GC,5642,-0.51,-116.7,369.7,-8.1,607,5647,0.17,2.15,0.00,0.000,4,0.130,0.051,2448,885,3523
$GC,5758,-0.58,-116.7,377.6,-7.0,612,5762,0.00,2.15,0.00,0.000,6,0.000,0.048,2447,2254,3524
$GC,6080,-0.70,-116.7,396.4,-5.8,628,6084,0.17,2.15,0.00,0.000,4,0.067,0.053,2367,883,3523
$GC,6119,-0.41,-116.7,399.6,-9.4,630,6123,0.35,2.12,0.00,0.000,6,0.133,0.048,2478,2247,3523
$GC,6444,-0.66,-116.7,415.5,-4.6,646,6446,0.22,0.00,0.00,0.000,6,0.062,0.000,2386,2248,3522
$GC,6754,-0.51,-116.7,440.0,-8.0,661,6758,0.20,2.12,0.00,0.000,4,0.131,0.053,2454,891,3522
$GC,6825,-0.63,-116.7,444.6,-5.8,664,6830,0.12,2.12,0.00,0.000,6,0.076,0.046,2403,2262,3522
$GC,7146,-0.55,-116.7,467.3,-7.2,680,7151,0.12,2.15,0.00,0.000,4,0.141,0.050,2440,881,3521
$GC,7200,-0.55,-116.7,471.0,-6.7,682,7207,0.00,2.15,0.00,0.000,6,0.000,0.048,2439,2239,3521
$GC,7516,-0.65,-116.7,489.6,-5.8,698,7521,0.12,2.10,0.00,0.000,4,0.078,0.050,2389,890,3521
$GC,7544,-0.52,-116.7,491.5,-7.7,699,7548,0.20,2.10,0.00,0.000,6,0.138,0.047,2449,2245,3521
$GC,7859,-0.66,-116.7,509.2,-5.7,714,7863,0.15,2.12,0.00,0.000,4,0.071,0.051,2389,886,3521
$GC,7891,-0.48,-116.7,511.8,-8.5,715,7898,0.17,2.12,0.00,0.000,6,0.130,0.048,2450,2233,3520
$GC,8206,-0.62,-116.7,530.1,-5.8,731,8208,0.12,0.00,0.00,0.000,6,0.076,0.000,2398,2233,3520
$GC,8515,-0.53,-116.7,553.9,-7.7,746,8520,0.15,2.10,0.00,0.000,4,0.135,0.055,2443,895,3520
$GC,8599,-0.60,-116.7,559.5,-6.4,750,8603,0.00,2.08,0.00,0.000,6,0.000,0.049,2443,2226,3519
$GC,8931,-0.72,-116.7,579.3,-5.8,766,8933,0.17,0.00,0.00,0.000,6,0.067,0.000,2372,2227,3519
$GC,9261,-0.52,-116.7,606.8,-8.4,781,9265,0.20,2.10,0.00,0.000,4,0.139,0.054,2439,888,3518
$GC,9321,-0.59,-116.7,611.1,-6.5,782,9327,0.00,2.10,0.00,0.000,6,0.000,0.049,2439,2239,3518
$GC,9634,-0.68,-116.7,629.9,-6.1,793,9635,0.12,0.00,0.00,0.000,6,0.079,0.000,2387,2239,3518
$GC,9939,-0.56,-116.7,653.9,-8.0,803,9944,0.15,2.12,0.00,0.000,4,0.135,0.053,2432,883,3518
$GC,10004,-0.56,-116.7,658.8,-7.0,805,10009,0.00,2.10,0.00,0.000,6,0.000,0.051,2431,2215,3517
$GC,10342,-0.63,-116.7,679.8,-6.3,816,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2214,3517
$GC,10648,-0.69,-116.7,699.1,-6.2,826,10652,0.12,2.08,0.00,0.000,4,0.078,0.056,2379,894,3517
$GC,10685,-0.48,-116.7,702.3,-8.7,827,10691,0.20,2.10,0.00,0.000,6,0.131,0.052,2449,2215,3517
$GC,11021,-0.64,-116.7,721.9,-5.7,838,11023,0.12,0.00,0.00,0.000,6,0.080,0.000,2396,2215,3516
$GC,11327,-0.57,-116.7,744.4,-7.3,848,11331,0.12,2.08,0.00,0.000,4,0.140,0.055,2432,893,3517
$GC,11381,-0.57,-116.7,748.4,-7.6,849,11386,0.00,2.10,0.00,0.000,6,0.000,0.051,2432,2215,3516
$GC,11700,-0.66,-116.7,767.8,-6.1,860,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2215,3516
$GC,12006,-0.74,-116.7,786.2,-5.9,870,12008,0.17,0.00,0.00,0.000,6,0.071,0.000,2363,2216,3516
$GC,12313,-0.53,-116.7,811.6,-8.4,880,12318,0.22,2.08,0.00,0.000,4,0.137,0.055,2437,894,3515
$GC,12385,-0.60,-116.7,816.5,-6.2,882,12389,0.00,2.08,0.00,0.000,6,0.000,0.055,2436,2215,3515
$GC,12715,-0.70,-116.7,834.3,-5.3,893,12716,0.15,0.00,0.00,0.000,6,0.074,0.000,2375,2215,3515
$GC,13020,-0.55,-116.7,857.2,-7.5,903,13025,0.20,2.10,0.00,0.000,4,0.137,0.057,2441,883,3515
$GC,13092,-0.65,-116.7,861.5,-5.8,905,13096,0.12,2.08,0.00,0.000,6,0.077,0.053,2391,2209,3514
$GC,13420,-0.56,-116.7,882.9,-6.5,916,13422,0.15,0.00,0.00,0.000,6,0.137,0.000,2435,2209,3515
$GC,13727,-0.68,-116.7,898.8,-5.2,926,13731,0.12,2.08,0.00,0.000,4,0.079,0.058,2383,891,3515
$GC,13765,-0.51,-116.7,901.6,-7.7,927,13770,0.20,2.05,0.00,0.000,6,0.142,0.054,2443,2201,3514
$GC,14088,-0.66,-116.7,918.1,-4.9,938,14090,0.15,0.00,0.00,0.000,6,0.071,0.000,2381,2202,3514
$GC,14394,-0.55,-116.7,940.2,-7.5,948,14398,0.17,2.05,0.00,0.000,4,0.138,0.054,2433,893,3514
$GC,14433,-0.63,-116.7,942.7,-6.4,949,14437,0.00,2.05,0.00,0.000,6,0.000,0.051,2434,2206,3514
$GC,14768,-0.74,-116.7,961.5,-5.6,960,14769,0.17,0.00,0.00,0.000,6,0.070,0.000,2364,2208,3514
$GC,15073,-0.55,-116.7,986.3,-8.3,970,15078,0.20,2.08,0.00,0.000,4,0.137,0.057,2431,891,3514
$GC,15111,-0.63,-116.7,989.1,-6.1,971,15115,0.00,2.08,0.00,0.000,6,0.000,0.054,2431,2195,3514
$STATE,15125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15125,begin apogee
$GC,15129,-0.23,0.0,990.1,6.0,971,15228,0.30,0.00,96.05,1.438,6,0.120,0.000,2533,2305,3046
$STATE,15229,end apogee,CONTROL_FINISHED_OK
$STATE,15229,begin climb
$GC,15230,0.77,116.7,993.0,0.0,975,15338,1.00,0.00,104.10,1.413,6,0.091,0.000,2855,2305,2570
$GC,15622,0.46,116.7,967.7,8.0,988,15624,0.32,0.00,0.00,0.000,6,0.146,0.000,2763,2305,2564
$GC,15928,0.59,161.8,951.8,5.1,998,15973,0.12,2.42,38.38,1.392,4,0.075,0.054,2811,902,2385
$GC,16017,0.59,161.8,945.4,7.5,1000,16026,0.00,2.33,0.00,0.000,6,0.000,0.044,2812,2292,2382
$GC,16330,0.53,161.8,922.0,7.5,1011,16331,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2292,2379
$GC,16636,0.53,161.8,898.6,7.8,1021,16637,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2293,2379
$GC,16942,0.47,161.8,874.5,7.9,1031,16944,0.17,0.00,0.00,0.000,6,0.139,0.000,2762,2294,2379
$GC,17249,0.65,177.6,855.4,6.2,1041,17266,0.17,0.00,13.88,1.297,6,0.067,0.000,2830,2294,2320
$GC,17554,0.55,177.6,828.6,9.0,1051,17559,0.15,2.25,0.00,0.000,4,0.133,0.053,2787,895,2318
$GC,17603,0.65,177.6,824.9,6.9,1052,17608,0.08,2.25,0.00,0.000,6,0.064,0.044,2827,2298,2317
$GC,17921,0.55,177.6,796.7,8.8,1063,17926,0.12,2.28,0.00,0.000,4,0.140,0.061,2792,3710,2317
$GC,17975,0.55,177.6,791.8,9.2,1064,17983,0.00,2.25,0.00,0.000,6,0.000,0.043,2795,2298,2317
$GC,18287,0.55,177.6,767.6,7.6,1075,18291,0.00,2.22,0.00,0.000,4,0.000,0.053,2796,887,2317
$GC,18376,0.55,177.6,760.9,7.7,1077,18380,0.00,2.22,0.00,0.000,6,0.000,0.042,2795,2295,2317
$GC,18694,0.55,177.6,737.3,7.5,1088,18695,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2295,2317
$GC,18999,0.55,177.6,714.8,7.2,1098,19001,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2295,2317
$GC,19306,0.55,177.6,692.5,7.2,1108,19307,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2295,2316
$GC,19613,0.55,177.6,670.5,7.1,1118,19615,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2295,2317
$GC,19918,0.55,177.6,648.9,7.1,1128,19919,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2294,2317
$GC,20225,0.61,177.6,626.6,7.3,1138,20226,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2295,2317
$GC,20531,0.61,177.6,604.1,7.3,1148,20532,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2295,2316
$GC,20839,0.67,177.6,581.5,7.4,1162,20841,0.10,0.00,0.00,0.000,6,0.081,0.000,2839,2295,2317
$GC,21149,0.56,177.6,554.8,8.6,1177,21151,0.15,0.00,0.00,0.000,6,0.137,0.000,2796,2295,2316
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$GC,24874,0.71,218.3,274.9,7.2,1363,24879,0.12,2.17,0.00,0.000,4,0.071,0.048,2855,886,2152
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$GC,25309,0.70,218.3,239.0,7.9,1391,25313,0.00,2.25,0.00,0.000,4,0.000,0.055,2811,3709,2150
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$STATE,28077,end climb,SURFACE_DEPTH_REACHED
$STATE,28078,begin surface coast
$FINISH,2.8,1.011634
$STATE,28113,end surface coast,CONTROL_FINISHED_OK
$STATE,28113,begin surface
$SM_CCo,28187,0.00,0.000,0,0,2104,231.07
$SM_GC,3.64,7.30,0.00,0.00,0.058,0.000,0.000,140,2290,2104,-7.66,-0.31,231.07
$IRIDIUM_FIX,6416.43,-100.48,100598,141419
$TT8_MAMPS,0.026845
$HUMID,1673
$INTERNAL_PRESSURE,9.05695
$TCM_TEMP,14.90
$XPDR_PINGS,1
$24V_AH,22.5,16.548
$10V_AH,10.6,10.068
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$DEVICE_SECS,32.150,182.075,299.325,0.000,0.000,53.414,70.954,1102.472,0.250,0.000,0.000,16.632,3373.152,20901.742,551.388,3294.048,1454.152,0.000,2156.396,0.000,3267.068,0.000,1.129,0.000
$DEVICE_MAMPS,226.265,79.001,1438.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1274.475,975.294,636.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88245,1777
$CAP_FILE_SIZE,236172,0
$CFSIZE,260165632,251543552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,352.9,1
$GPS,130209,224437,6440.752,-56.070,39,1.2,39,-5.7