version: 66.04
glider: 160
mission: 3
dive: 111
start: 2 27 109 12 36 31
data:
$ID,160
$MISSION,3
$DIVE,111
$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,-9243.1504
$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,37
$R_STBD_OVSHOOT,39
$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
$GPS1,122702,6330.002,240.264,36,1.7,37,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-65.7
$GPS2,123608,6329.998,240.290,11,1.8,11,-3.5
$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,150.5,111705,-13.7,-6.875
$D_GRID,1219
$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,-116.7,0.0,0.0,0,23,0.00,0.00,-7.45,0.000,2,0.000,0.000,121,2311,2208
$GC,25,-0.77,-116.7,3.2,-0.0,1,114,7.95,2.30,-74.20,0.000,4,0.192,0.051,2362,894,3523
$GC,367,-0.42,-116.7,29.3,-9.5,59,374,0.38,2.20,0.00,0.000,6,0.127,0.035,2480,2302,3524
$GC,711,-0.65,-116.7,55.1,-5.6,120,718,0.20,2.22,0.00,0.000,4,0.058,0.040,2391,890,3525
$GC,925,-0.44,-116.7,75.6,-9.9,158,933,0.25,2.20,0.00,0.000,6,0.122,0.036,2470,2305,3525
$GC,1270,-0.63,-116.7,100.4,-10.0,219,1276,0.17,0.00,0.00,0.000,6,0.058,0.000,2393,2305,3525
$GC,1612,-0.48,-116.7,130.1,-8.9,280,1619,0.20,2.20,0.00,0.000,4,0.120,0.038,2461,892,3525
$GC,1756,-0.57,-116.7,140.3,-7.1,305,1762,0.00,2.17,0.00,0.000,6,0.000,0.035,2461,2304,3525
$GC,2090,-0.71,-116.7,161.4,-6.2,349,2095,0.20,2.20,0.00,0.000,4,0.056,0.038,2370,890,3525
$GC,2142,-0.43,-116.7,166.3,-10.7,353,2147,0.35,2.15,0.00,0.000,6,0.123,0.036,2479,2283,3525
$GC,2467,-0.66,-116.7,186.1,-5.3,383,2472,0.20,2.15,0.00,0.000,4,0.057,0.039,2389,895,3525
$GC,2527,-0.46,-116.7,191.4,-9.2,388,2534,0.20,2.17,0.00,0.000,6,0.116,0.036,2460,2283,3525
$GC,2857,-0.60,-116.7,210.6,-6.0,414,2859,0.12,0.00,0.00,0.000,6,0.065,0.000,2403,2283,3525
$GC,3166,-0.50,-116.7,236.3,-8.1,434,3171,0.15,2.15,0.00,0.000,4,0.122,0.038,2450,895,3525
$GC,3248,-0.50,-116.7,242.2,-6.9,439,3253,0.00,2.15,0.00,0.000,6,0.000,0.035,2449,2278,3525
$GC,3573,-0.60,-116.7,264.2,-6.8,460,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2278,3525
$GC,3886,-0.68,-116.7,282.6,-6.2,480,3890,0.17,2.15,0.00,0.000,4,0.060,0.041,2374,897,3525
$GC,3957,-0.43,-116.7,289.6,-10.0,484,3964,0.32,2.12,0.00,0.000,6,0.121,0.038,2478,2277,3526
$GC,4276,-0.67,-116.7,307.2,-5.3,503,4281,0.20,2.17,0.00,0.000,4,0.057,0.043,2388,887,3525
$GC,4325,-0.47,-116.7,311.5,-9.0,505,4330,0.22,2.15,0.00,0.000,6,0.122,0.038,2459,2281,3525
$GC,4646,-0.63,-116.7,331.8,-6.2,521,4648,0.15,0.00,0.00,0.000,6,0.061,0.000,2391,2282,3526
$GC,4955,-0.50,-116.7,358.5,-8.6,536,4960,0.20,2.15,0.00,0.000,4,0.117,0.039,2461,894,3525
$GC,5018,-0.63,-116.7,362.7,-6.5,539,5022,0.15,2.12,0.00,0.000,6,0.063,0.035,2392,2284,3525
$GC,5349,-0.51,-116.7,391.0,-8.9,555,5354,0.17,2.15,0.00,0.000,4,0.124,0.038,2447,894,3525
$GC,5404,-0.59,-116.7,395.6,-7.5,557,5411,0.00,2.10,0.00,0.000,6,0.000,0.035,2447,2264,3525
$GC,5719,-0.70,-116.7,418.0,-7.0,573,5724,0.17,2.12,0.00,0.000,4,0.058,0.040,2371,891,3525
$GC,5752,-0.43,-116.7,421.0,-9.9,574,5757,0.28,2.12,0.00,0.000,6,0.120,0.035,2474,2260,3526
$GC,6075,-0.67,-116.7,438.9,-5.1,590,6079,0.20,2.12,0.00,0.000,4,0.056,0.040,2380,890,3525
$GC,6107,-0.44,-116.7,441.6,-8.7,591,6112,0.25,2.12,0.00,0.000,6,0.117,0.035,2468,2258,3525
$GC,6429,-0.66,-116.7,458.5,-5.0,607,6433,0.20,2.12,0.00,0.000,4,0.057,0.041,2376,891,3526
$GC,6490,-0.43,-116.7,463.6,-8.5,610,6495,0.30,2.10,0.00,0.000,6,0.123,0.035,2472,2264,3525
$GC,6821,-0.67,-116.7,479.4,-4.8,626,6823,0.22,0.00,0.00,0.000,6,0.054,0.000,2376,2265,3525
$GC,7130,-0.49,-116.7,507.3,-9.3,641,7135,0.22,2.12,0.00,0.000,4,0.120,0.040,2453,896,3525
$GC,7174,-0.62,-116.7,510.4,-6.6,643,7178,0.12,2.10,0.00,0.000,6,0.073,0.036,2393,2263,3525
$GC,7500,-0.53,-116.7,535.8,-8.0,659,7505,0.17,2.12,0.00,0.000,4,0.123,0.040,2447,893,3525
$GC,7606,-0.65,-116.7,543.6,-7.0,663,7613,0.10,2.10,0.00,0.000,6,0.054,0.035,2392,2243,3525
$GC,7922,-0.55,-116.7,569.3,-8.0,679,7926,0.15,2.10,0.00,0.000,4,0.124,0.041,2438,891,3525
$GC,7961,-0.62,-116.7,572.0,-6.5,680,7967,0.00,2.10,0.00,0.000,6,0.000,0.037,2438,2258,3525
$GC,8276,-0.73,-116.7,590.3,-5.8,696,8278,0.17,0.00,0.00,0.000,6,0.061,0.000,2363,2259,3525
$GC,8585,-0.53,-116.7,617.0,-8.6,708,8590,0.22,2.12,0.00,0.000,4,0.123,0.042,2440,895,3525
$GC,8634,-0.62,-116.7,620.4,-6.7,709,8638,0.00,2.08,0.00,0.000,6,0.000,0.039,2439,2239,3525
$GC,8953,-0.73,-116.7,640.1,-6.3,720,8955,0.17,0.00,0.00,0.000,6,0.063,0.000,2363,2239,3524
$GC,9258,-0.53,-116.7,666.9,-8.8,730,9260,0.25,0.00,0.00,0.000,6,0.125,0.000,2443,2239,3523
$GC,9566,-0.67,-116.7,684.4,-5.5,740,9571,0.15,2.10,0.00,0.000,4,0.065,0.042,2378,895,3522
$GC,9600,-0.47,-116.7,687.2,-8.4,741,9605,0.28,2.10,0.00,0.000,6,0.126,0.040,2465,2243,3523
$GC,9941,-0.71,-116.7,704.2,-4.7,752,9945,0.20,2.12,0.00,0.000,4,0.061,0.045,2376,891,3521
$GC,9989,-0.51,-116.7,708.2,-9.0,753,9994,0.20,2.12,0.00,0.000,6,0.123,0.040,2445,2237,3521
$GC,10308,-0.66,-116.7,726.2,-5.6,764,10309,0.15,0.00,0.00,0.000,6,0.066,0.000,2381,2237,3520
$GC,10613,-0.54,-116.7,750.4,-7.9,774,10618,0.20,2.10,0.00,0.000,4,0.123,0.044,2448,898,3519
$GC,10685,-0.67,-116.7,754.8,-6.4,776,10690,0.15,2.10,0.00,0.000,6,0.069,0.042,2387,2240,3519
$GC,11015,-0.57,-116.7,779.4,-7.7,787,11019,0.15,2.12,0.00,0.000,4,0.129,0.044,2433,888,3517
$GC,11058,-0.65,-116.7,782.5,-7.2,788,11062,0.00,2.12,0.00,0.000,6,0.000,0.041,2433,2233,3518
$GC,11383,-0.75,-116.7,802.2,-6.1,799,11387,0.17,2.12,0.00,0.000,4,0.065,0.048,2361,890,3516
$GC,11420,-0.49,-116.7,805.5,-9.5,800,11425,0.25,2.10,0.00,0.000,6,0.127,0.041,2458,2217,3516
$GC,11758,-0.71,-116.7,823.5,-5.2,811,11760,0.22,0.00,0.00,0.000,6,0.058,0.000,2365,2218,3515
$GC,12063,-0.53,-116.7,849.0,-8.6,821,12067,0.22,2.08,0.00,0.000,4,0.126,0.045,2442,895,3515
$GC,12129,-0.64,-116.7,853.6,-6.4,823,12133,0.12,2.08,0.00,0.000,6,0.071,0.043,2390,2228,3514
$GC,12465,-0.58,-116.7,878.3,-7.5,834,12469,0.12,2.10,0.00,0.000,4,0.136,0.049,2427,898,3513
$GC,12508,-0.58,-116.7,881.4,-6.3,835,12512,0.00,2.08,0.00,0.000,6,0.000,0.044,2428,2220,3513
$GC,12838,-0.68,-116.7,901.1,-6.0,846,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2220,3513
$GC,13144,-0.77,-116.7,919.0,-5.7,856,13148,0.17,2.10,0.00,0.000,4,0.066,0.046,2354,888,3512
$GC,13188,-0.50,-116.7,922.6,-8.0,857,13193,0.32,2.08,0.00,0.000,6,0.137,0.042,2454,2216,3512
$GC,13518,-0.70,-116.7,938.0,-4.5,868,13520,0.20,0.00,0.00,0.000,6,0.062,0.000,2374,2217,3511
$GC,13823,-0.57,-116.7,959.3,-7.0,878,13828,0.17,2.08,0.00,0.000,4,0.130,0.047,2428,899,3511
$GC,13879,-0.64,-116.7,962.6,-5.7,879,13883,0.00,2.08,0.00,0.000,6,0.000,0.047,2428,2216,3511
$GC,14197,-0.74,-116.7,978.8,-5.1,890,14199,0.15,0.00,0.00,0.000,6,0.069,0.000,2365,2216,3510
$STATE,14378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14378,begin apogee
$GC,14383,-0.23,0.0,991.8,7.2,896,14481,0.55,0.00,95.12,1.434,6,0.127,0.000,2541,2305,3046
$STATE,14482,end apogee,CONTROL_FINISHED_OK
$STATE,14482,begin climb
$GC,14483,0.77,116.7,993.8,0.0,899,14595,0.95,2.55,102.97,1.411,4,0.084,0.049,2857,3698,2569
$GC,14662,0.33,116.7,983.6,9.6,904,14667,0.50,2.33,0.00,0.000,6,0.144,0.032,2724,2299,2565
$GC,14981,0.63,170.1,967.6,4.7,915,15032,0.22,2.35,45.35,1.388,4,0.062,0.044,2816,893,2350
$GC,15126,0.63,170.1,955.7,8.5,919,15131,0.00,2.28,0.00,0.000,6,0.000,0.034,2816,2282,2347
$GC,15450,0.56,170.1,928.4,8.4,930,15454,0.00,2.30,0.00,0.000,4,0.000,0.051,2816,3707,2344
$GC,15500,0.40,170.1,923.7,9.8,931,15505,0.25,2.22,0.00,0.000,6,0.134,0.032,2742,2289,2344
$GC,15825,0.67,195.7,904.6,5.9,942,15858,0.22,2.35,21.45,1.341,4,0.060,0.048,2839,884,2247
$GC,15937,0.56,195.7,894.4,9.7,945,15942,0.15,2.25,0.00,0.000,6,0.130,0.038,2796,2290,2244
$GC,16259,0.56,195.7,868.6,7.9,956,16263,0.00,2.30,0.00,0.000,4,0.000,0.055,2796,3712,2243
$GC,16336,0.56,195.7,861.9,8.6,958,16341,0.00,2.28,0.00,0.000,6,0.000,0.036,2797,2295,2243
$GC,16660,0.56,195.7,836.6,7.8,969,16664,0.00,2.22,0.00,0.000,4,0.000,0.047,2796,881,2242
$GC,16732,0.64,195.7,831.1,7.9,971,16736,0.00,2.25,0.00,0.000,6,0.000,0.037,2796,2298,2241
$GC,17067,0.70,195.7,805.8,7.8,982,17072,0.12,2.25,0.00,0.000,4,0.070,0.053,2849,3707,2241
$GC,17121,0.44,195.7,800.1,11.5,983,17129,0.28,2.25,0.00,0.000,6,0.126,0.034,2753,2278,2241
$GC,17434,0.73,226.5,781.6,5.6,994,17469,0.22,2.25,26.05,1.302,4,0.061,0.047,2851,894,2122
$GC,17525,0.63,226.5,773.2,9.6,996,17529,0.08,2.25,0.00,0.000,6,0.128,0.035,2813,2284,2119
$GC,17842,0.63,226.5,746.5,8.4,1007,17846,0.00,2.30,0.00,0.000,4,0.000,0.051,2813,3715,2117
$GC,17902,0.63,226.5,740.6,9.9,1008,17909,0.00,2.28,0.00,0.000,6,0.000,0.035,2812,2291,2117
$GC,18215,0.63,226.5,714.2,8.3,1019,18219,0.00,2.22,0.00,0.000,4,0.000,0.048,2812,884,2116
$GC,18294,0.63,226.5,707.9,7.8,1021,18298,0.00,2.20,0.00,0.000,6,0.000,0.038,2812,2285,2115
$GC,18622,0.63,226.5,681.2,8.0,1032,18626,0.00,2.28,0.00,0.000,4,0.000,0.051,2813,3711,2115
$GC,18655,0.63,226.5,678.3,8.0,1033,18660,0.00,2.25,0.00,0.000,6,0.000,0.035,2813,2265,2115
$GC,18989,0.63,226.5,651.6,8.1,1044,18993,0.00,2.17,0.00,0.000,4,0.000,0.048,2813,882,2115
$GC,19049,0.70,226.5,646.7,8.8,1045,19056,0.00,2.22,0.00,0.000,6,0.000,0.038,2813,2285,2115
$GC,19361,0.70,226.5,620.9,8.6,1056,19365,0.00,2.28,0.00,0.000,4,0.000,0.051,2813,3717,2114
$GC,19410,0.70,226.5,616.1,9.7,1057,19415,0.00,2.28,0.00,0.000,6,0.000,0.035,2812,2276,2114
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$STATE,25860,end climb,SURFACE_DEPTH_REACHED
$STATE,25860,begin surface coast
$FINISH,2.4,1.016331
$STATE,25907,end surface coast,CONTROL_FINISHED_OK
$STATE,25907,begin surface
$SM_CCo,25981,0.00,0.000,0,0,2121,226.66
$SM_GC,3.16,7.07,0.00,0.00,0.053,0.000,0.000,135,2318,2121,-7.66,0.51,226.66
$IRIDIUM_FIX,6308.26,244.04,240598,121237
$TT8_MAMPS,0.026845
$HUMID,1627
$INTERNAL_PRESSURE,9.14484
$TCM_TEMP,16.50
$XPDR_PINGS,83
$24V_AH,22.7,22.762
$10V_AH,10.7,15.486
$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,32.725,240.075,290.950,0.000,0.000,60.404,70.850,241.395,20.750,0.000,0.000,13.086,3201.708,18825.131,520.535,3335.381,632.851,0.000,2186.563,0.000,3290.216,0.000,1.135,0.000
$DEVICE_MAMPS,191.750,82.836,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1126.438,925.307,599.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81907,1627
$CAP_FILE_SIZE,236464,0
$CFSIZE,260165632,246779904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047, 22.3,1
$GPS,270209,195037,6328.124,245.050,29,1.0,29,-3.4