version: 66.04
glider: 160
mission: 3
dive: 101
start: 2 24 109 9 43 7
data:
$ID,160
$MISSION,3
$DIVE,101
$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,-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,-9094.0068
$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,32
$R_STBD_OVSHOOT,27
$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
$GPS1,093707,6349.092,152.872,32,1.2,32,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-66.9
$GPS2,094244,6349.146,152.908,11,1.3,11,-3.9
$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,182.0,165206,-13.7,-6.875
$D_GRID,1602
$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,-116.7,0.0,0.0,0,24,0.00,0.00,-7.93,0.000,2,0.000,0.000,130,2270,2284
$GC,26,-0.77,-116.7,3.3,-0.0,1,100,8.25,2.25,-59.15,0.000,4,0.212,0.056,2360,892,3523
$GC,353,-0.40,-116.7,32.5,-10.6,57,360,0.40,2.22,0.00,0.000,6,0.127,0.036,2485,2321,3524
$GC,698,-0.63,-116.7,52.5,-6.1,118,706,0.20,2.25,0.00,0.000,4,0.058,0.042,2393,893,3525
$GC,959,-0.44,-116.7,75.2,-9.1,164,966,0.25,2.17,0.00,0.000,6,0.124,0.037,2472,2301,3525
$GC,1304,-0.61,-116.7,96.8,-6.0,225,1310,0.17,2.22,0.00,0.000,4,0.058,0.042,2396,878,3525
$GC,1385,-0.42,-116.7,104.1,-9.5,239,1391,0.25,2.20,0.00,0.000,6,0.122,0.038,2475,2300,3525
$GC,1729,-0.61,-116.7,123.3,-5.3,300,1736,0.17,2.20,0.00,0.000,4,0.058,0.043,2399,893,3525
$GC,1798,-0.44,-116.7,129.3,-9.0,312,1806,0.22,2.15,0.00,0.000,6,0.125,0.037,2467,2286,3526
$GC,2148,-0.61,-116.7,150.9,-5.8,373,2152,0.15,2.17,0.00,0.000,4,0.064,0.041,2404,884,3526
$GC,2214,-0.45,-116.7,156.7,-9.4,378,2222,0.20,2.17,0.00,0.000,6,0.125,0.038,2465,2288,3526
$GC,2539,-0.60,-116.7,175.9,-5.8,409,2544,0.15,2.17,0.00,0.000,4,0.062,0.041,2402,888,3526
$GC,2589,-0.43,-116.7,180.3,-9.4,413,2594,0.22,2.15,0.00,0.000,6,0.123,0.037,2472,2286,3526
$GC,2915,-0.62,-116.7,199.6,-5.6,443,2919,0.17,2.17,0.00,0.000,4,0.058,0.040,2395,879,3526
$GC,2976,-0.44,-116.7,204.8,-9.6,447,2981,0.25,2.15,0.00,0.000,6,0.123,0.038,2473,2280,3526
$GC,3301,-0.64,-116.7,222.3,-5.3,468,3305,0.20,2.17,0.00,0.000,4,0.058,0.042,2382,881,3526
$GC,3362,-0.41,-116.7,227.7,-9.3,472,3367,0.30,2.15,0.00,0.000,6,0.122,0.039,2478,2279,3526
$GC,3688,-0.64,-116.7,244.8,-5.3,493,3692,0.20,2.17,0.00,0.000,4,0.058,0.044,2388,887,3526
$GC,3749,-0.43,-116.7,250.1,-9.9,497,3754,0.28,2.12,0.00,0.000,6,0.123,0.039,2476,2265,3526
$GC,4075,-0.65,-116.7,267.5,-5.3,518,4079,0.20,2.12,0.00,0.000,4,0.058,0.041,2386,892,3526
$GC,4129,-0.44,-116.7,272.4,-9.3,521,4136,0.28,2.10,0.00,0.000,6,0.123,0.036,2473,2264,3527
$GC,4449,-0.65,-116.7,290.5,-5.2,542,4453,0.20,2.12,0.00,0.000,4,0.058,0.041,2380,891,3526
$GC,4476,-0.49,-116.7,292.8,-8.8,543,4483,0.25,2.10,0.00,0.000,6,0.126,0.036,2459,2263,3526
$GC,4798,-0.64,-116.7,312.3,-5.9,561,4802,0.15,2.12,0.00,0.000,4,0.063,0.040,2392,890,3526
$GC,4843,-0.45,-116.7,316.1,-9.0,563,4848,0.25,2.10,0.00,0.000,6,0.122,0.037,2472,2263,3526
$GC,5170,-0.67,-116.7,334.6,-5.4,579,5175,0.20,2.12,0.00,0.000,4,0.058,0.040,2379,891,3526
$GC,5202,-0.42,-116.7,337.2,-9.2,580,5209,0.25,2.12,0.00,0.000,6,0.120,0.036,2478,2258,3526
$GC,5520,-0.68,-116.7,352.1,-4.6,596,5522,0.25,0.00,0.00,0.000,6,0.054,0.000,2374,2260,3526
$GC,5828,-0.47,-116.7,378.9,-9.1,611,5832,0.25,2.15,0.00,0.000,4,0.123,0.044,2459,884,3526
$GC,5899,-0.59,-116.7,383.9,-6.6,614,5904,0.12,2.12,0.00,0.000,6,0.067,0.041,2404,2263,3526
$GC,6220,-0.52,-116.7,409.1,-8.0,630,6224,0.15,2.12,0.00,0.000,4,0.127,0.044,2449,892,3526
$GC,6274,-0.61,-116.7,412.9,-6.6,632,6278,0.00,2.08,0.00,0.000,6,0.000,0.038,2449,2245,3526
$GC,6596,-0.75,-116.7,432.0,-6.1,648,6598,0.22,0.00,0.00,0.000,6,0.058,0.000,2353,2246,3526
$GC,6905,-0.47,-116.7,461.5,-9.7,663,6910,0.30,2.10,0.00,0.000,4,0.127,0.043,2454,883,3526
$GC,7045,-0.59,-116.7,470.4,-6.3,669,7049,0.00,2.10,0.00,0.000,6,0.000,0.041,2454,2238,3526
$GC,7366,-0.74,-116.7,487.7,-5.3,685,7368,0.22,0.00,0.00,0.000,6,0.058,0.000,2362,2239,3526
$GC,7675,-0.50,-116.7,515.0,-8.9,700,7680,0.25,2.12,0.00,0.000,4,0.129,0.047,2445,884,3524
$GC,7719,-0.58,-116.7,518.0,-6.5,702,7722,0.00,2.10,0.00,0.000,6,0.000,0.043,2445,2239,3524
$GC,8045,-0.71,-116.7,537.5,-6.3,718,8047,0.17,0.00,0.00,0.000,6,0.062,0.000,2372,2240,3524
$GC,8354,-0.52,-116.7,565.1,-8.7,733,8359,0.20,2.12,0.00,0.000,4,0.129,0.048,2440,888,3523
$GC,8431,-0.52,-116.7,570.5,-6.5,736,8438,0.00,2.12,0.00,0.000,6,0.000,0.043,2439,2233,3523
$GC,8748,-0.60,-116.7,588.3,-5.5,752,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2233,3522
$GC,9066,-0.69,-116.7,605.3,-5.3,766,9068,0.15,0.00,0.00,0.000,6,0.070,0.000,2376,2233,3521
$GC,9372,-0.52,-116.7,630.1,-8.2,776,9376,0.20,2.12,0.00,0.000,4,0.130,0.049,2444,895,3521
$GC,9433,-0.62,-116.7,634.0,-5.8,778,9437,0.00,2.08,0.00,0.000,6,0.000,0.044,2444,2221,3521
$GC,9773,-0.73,-116.7,652.9,-5.6,789,9775,0.20,0.00,0.00,0.000,6,0.061,0.000,2361,2221,3520
$GC,10081,-0.50,-116.7,679.2,-8.6,799,10086,0.25,2.10,0.00,0.000,4,0.130,0.045,2445,883,3519
$GC,10158,-0.60,-116.7,684.3,-5.9,801,10162,0.00,2.10,0.00,0.000,6,0.000,0.044,2445,2221,3519
$GC,10482,-0.73,-116.7,702.4,-5.6,812,10484,0.20,0.00,0.00,0.000,6,0.062,0.000,2363,2221,3518
$GC,10788,-0.51,-116.7,726.6,-7.7,822,10793,0.22,2.10,0.00,0.000,4,0.133,0.046,2439,886,3517
$GC,10859,-0.59,-116.7,730.7,-5.2,824,10863,0.00,2.08,0.00,0.000,6,0.000,0.045,2439,2216,3516
$GC,11189,-0.69,-116.7,745.6,-4.5,835,11191,0.15,0.00,0.00,0.000,6,0.070,0.000,2377,2216,3516
$GC,11495,-0.54,-116.7,764.9,-6.4,845,11499,0.20,2.10,0.00,0.000,4,0.130,0.051,2444,888,3515
$GC,11544,-0.65,-116.7,767.3,-4.4,846,11549,0.12,2.08,0.00,0.000,6,0.073,0.047,2392,2218,3515
$GC,11868,-0.56,-116.7,785.7,-5.8,857,11870,0.12,0.00,0.00,0.000,6,0.137,0.000,2429,2219,3514
$GC,12174,-0.63,-116.7,799.5,-4.5,867,12178,0.00,2.10,0.00,0.000,4,0.000,0.051,2429,884,3514
$GC,12218,-0.63,-116.7,801.9,-5.9,868,12222,0.00,2.10,0.00,0.000,6,0.000,0.048,2429,2206,3514
$GC,12548,-0.71,-116.7,818.5,-5.3,879,12550,0.15,0.00,0.00,0.000,6,0.068,0.000,2365,2208,3514
$GC,12854,-0.51,-116.7,841.2,-7.5,889,12858,0.22,2.08,0.00,0.000,4,0.130,0.051,2441,895,3513
$GC,12914,-0.61,-116.7,844.7,-5.5,890,12922,0.00,2.05,0.00,0.000,6,0.000,0.046,2442,2206,3513
$GC,13227,-0.75,-116.7,860.6,-5.2,901,13229,0.20,0.00,0.00,0.000,6,0.064,0.000,2361,2206,3513
$GC,13533,-0.53,-116.7,883.7,-7.6,911,13537,0.22,2.08,0.00,0.000,4,0.134,0.051,2435,894,3512
$GC,13621,-0.60,-116.7,889.1,-5.4,913,13625,0.00,2.05,0.00,0.000,6,0.000,0.044,2435,2204,3512
$GC,13939,-0.71,-116.7,905.4,-5.1,924,13941,0.15,0.00,0.00,0.000,6,0.073,0.000,2374,2205,3512
$GC,14245,-0.56,-116.7,928.2,-7.6,934,14249,0.20,2.08,0.00,0.000,4,0.131,0.048,2442,888,3512
$GC,14285,-0.69,-116.7,930.8,-6.5,935,14290,0.15,2.08,0.00,0.000,6,0.070,0.046,2380,2217,3512
$GC,14620,-0.57,-116.7,955.1,-7.3,946,14621,0.15,0.00,0.00,0.000,6,0.140,0.000,2425,2218,3511
$GC,14926,-0.65,-116.7,973.5,-6.0,956,14930,0.00,2.10,0.00,0.000,4,0.000,0.053,2425,896,3511
$GC,14975,-0.65,-116.7,976.7,-6.3,957,14979,0.00,2.08,0.00,0.000,6,0.000,0.048,2425,2196,3511
$STATE,15236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15236,begin apogee
$GC,15240,-0.23,0.0,991.4,5.5,966,15339,0.35,0.00,95.53,1.430,6,0.120,0.000,2539,2307,3045
$STATE,15339,end apogee,CONTROL_FINISHED_OK
$STATE,15339,begin climb
$GC,15341,0.77,116.7,993.3,0.0,969,15452,0.95,2.53,103.55,1.414,4,0.088,0.050,2852,3708,2570
$GC,15502,0.33,116.7,985.1,9.9,974,15507,0.43,2.40,0.00,0.000,6,0.143,0.032,2723,2301,2566
$GC,15837,0.63,173.7,968.5,4.6,985,15893,0.25,2.42,48.60,1.394,4,0.061,0.048,2824,899,2338
$GC,15993,0.54,173.7,956.1,8.2,989,16000,0.08,2.30,0.00,0.000,6,0.127,0.038,2788,2288,2332
$GC,16306,0.61,174.0,934.0,6.9,1000,16307,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2288,2330
$GC,16612,0.68,174.0,912.7,7.0,1010,16616,0.12,2.30,0.00,0.000,4,0.069,0.054,2839,3708,2329
$GC,16655,0.42,174.0,908.6,9.5,1011,16660,0.25,2.25,0.00,0.000,6,0.137,0.035,2749,2295,2329
$GC,16979,0.68,209.9,890.3,5.4,1022,17017,0.20,2.35,30.88,1.361,4,0.063,0.046,2838,891,2189
$GC,17107,0.60,209.9,879.4,9.1,1025,17114,0.12,2.25,0.00,0.000,6,0.137,0.037,2803,2298,2184
$GC,17418,0.60,209.9,855.9,7.4,1036,17422,0.00,2.28,0.00,0.000,4,0.000,0.056,2803,3702,2183
$GC,17467,0.60,209.9,851.8,8.1,1037,17472,0.00,2.28,0.00,0.000,6,0.000,0.038,2803,2292,2183
$GC,17791,0.60,209.9,827.8,7.3,1048,17794,0.00,2.25,0.00,0.000,4,0.000,0.050,2803,878,2181
$GC,17859,0.66,209.9,823.1,7.8,1050,17863,0.00,2.22,0.00,0.000,6,0.000,0.039,2803,2290,2181
$GC,18199,0.66,209.9,797.8,7.6,1061,18203,0.00,2.28,0.00,0.000,4,0.000,0.055,2803,3708,2181
$GC,18267,0.66,209.9,792.0,9.6,1063,18271,0.00,2.25,0.00,0.000,6,0.000,0.037,2803,2270,2181
$GC,18601,0.66,209.9,764.9,8.0,1074,18604,0.00,2.17,0.00,0.000,4,0.000,0.048,2803,891,2180
$GC,18673,0.74,212.7,759.1,6.8,1076,18677,0.15,2.17,0.00,0.000,6,0.068,0.037,2865,2287,2180
$GC,19009,0.55,212.7,723.5,10.9,1087,19011,0.25,0.00,0.00,0.000,6,0.130,0.000,2789,2288,2180
$GC,19315,0.68,212.7,698.8,7.9,1097,19320,0.12,2.28,0.00,0.000,4,0.071,0.054,2840,3711,2180
$GC,19364,0.49,212.7,693.3,10.9,1098,19369,0.17,2.25,0.00,0.000,6,0.132,0.036,2771,2280,2180
$GC,19682,0.70,212.7,670.3,7.0,1109,19686,0.20,2.17,0.00,0.000,4,0.059,0.049,2862,897,2180
$GC,19753,0.53,212.7,663.0,12.0,1111,19758,0.25,2.17,0.00,0.000,6,0.133,0.038,2786,2305,2179
$GC,20083,0.67,212.7,638.2,7.5,1122,20088,0.12,2.22,0.00,0.000,4,0.071,0.054,2839,3703,2179
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$STATE,27397,end climb,SURFACE_DEPTH_REACHED
$STATE,27397,begin surface coast
$FINISH,2.4,1.026850
$STATE,27433,end surface coast,CONTROL_FINISHED_OK
$STATE,27434,begin surface
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$IRIDIUM_FIX,6322.64,152.11,210598,020202
$TT8_MAMPS,0.026845
$HUMID,1634
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$TCM_TEMP,18.50
$XPDR_PINGS,64
$24V_AH,22.5,21.372
$10V_AH,10.6,14.273
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$DEVICE_SECS,34.250,231.475,336.600,0.000,0.000,31.298,34.623,163.059,16.000,0.000,0.000,13.282,3380.090,19953.854,549.954,3474.975,473.416,0.000,2264.191,0.000,3422.419,0.000,0.832,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1211.344,978.733,640.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85122,1736
$CAP_FILE_SIZE,241822,0
$CFSIZE,260165632,247775232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 25.8,1
$GPS,240209,172237,6347.875,155.624,26,1.0,26,-3.9