version: 66.04
glider: 160
mission: 3
dive: 114
start: 2 28 109 10 48 53
data:
$ID,160
$MISSION,3
$DIVE,114
$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,-9291.4336
$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,31
$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
$GPS1,104136,6323.872,252.577,34,0.9,34,-3.3
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.14
$_SM_ANGLEo,-62.9
$GPS2,104831,6323.870,252.503,9,1.2,14,-3.3
$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,135.8,96386,-13.7,-6.875
$D_GRID,1123
$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,-7.88,0.000,2,0.000,0.000,120,2315,2196
$GC,27,-0.77,-116.7,3.0,-0.0,1,119,8.23,2.28,-76.22,0.000,4,0.205,0.053,2362,876,3522
$GC,125,-1.30,-116.7,2.6,-0.7,16,132,0.47,2.25,0.00,0.000,6,0.048,0.036,2176,2308,3522
$GC,470,-0.29,-116.7,71.4,-20.3,77,478,1.10,2.22,0.00,0.000,4,0.160,0.038,2510,889,3522
$GC,603,-0.62,-116.7,78.7,-4.1,100,610,0.20,2.20,0.00,0.000,6,0.043,0.035,2393,2290,3523
$GC,948,-0.48,-116.7,107.5,-9.5,161,956,0.20,2.20,0.00,0.000,4,0.122,0.042,2461,889,3523
$GC,979,-0.48,-116.7,109.7,-7.5,166,986,0.00,2.20,0.00,0.000,6,0.000,0.037,2460,2285,3523
$GC,1324,-0.61,-116.7,129.9,-4.0,227,1331,0.15,2.20,0.00,0.000,4,0.063,0.041,2393,874,3523
$GC,1410,-0.42,-116.7,136.4,-7.0,242,1418,0.28,2.20,0.00,0.000,6,0.123,0.035,2480,2302,3523
$GC,1751,-0.66,-116.7,155.7,-6.1,294,1756,0.20,2.20,0.00,0.000,4,0.057,0.039,2389,888,3523
$GC,1783,-0.46,-116.7,159.1,-10.8,296,1790,0.20,2.17,0.00,0.000,6,0.117,0.036,2459,2280,3523
$GC,2108,-0.60,-116.7,179.2,-5.6,327,2113,0.12,2.17,0.00,0.000,4,0.064,0.041,2403,881,3523
$GC,2169,-0.47,-116.7,184.2,-8.4,332,2174,0.20,2.15,0.00,0.000,6,0.123,0.038,2465,2273,3523
$GC,2497,-0.63,-116.7,205.5,-6.6,360,2502,0.17,2.17,0.00,0.000,4,0.059,0.043,2390,881,3523
$GC,2529,-0.43,-116.7,208.5,-9.7,362,2534,0.20,2.17,0.00,0.000,6,0.116,0.038,2472,2264,3523
$GC,2856,-0.64,-116.7,227.6,-5.7,383,2861,0.20,2.15,0.00,0.000,4,0.056,0.040,2380,875,3523
$GC,2910,-0.42,-116.7,232.8,-10.5,386,2918,0.25,2.17,0.00,0.000,6,0.115,0.035,2479,2267,3523
$GC,3231,-0.66,-116.7,251.1,-5.5,407,3235,0.20,2.15,0.00,0.000,4,0.055,0.042,2388,878,3523
$GC,3285,-0.47,-116.7,256.1,-9.6,410,3290,0.22,2.15,0.00,0.000,6,0.122,0.037,2459,2265,3523
$GC,3610,-0.62,-116.7,277.0,-6.4,431,3615,0.15,2.15,0.00,0.000,4,0.061,0.041,2391,881,3523
$GC,3649,-0.43,-116.7,280.5,-9.7,433,3653,0.28,2.15,0.00,0.000,6,0.120,0.037,2479,2274,3523
$GC,3975,-0.67,-116.7,297.0,-4.7,454,3979,0.20,2.17,0.00,0.000,4,0.056,0.043,2389,880,3523
$GC,4029,-0.48,-116.7,301.8,-9.3,457,4038,0.22,2.12,0.00,0.000,6,0.122,0.038,2460,2258,3523
$GC,4345,-0.63,-116.7,321.8,-6.5,473,4350,0.15,2.12,0.00,0.000,4,0.061,0.041,2392,889,3523
$GC,4384,-0.44,-116.7,325.2,-9.3,475,4388,0.25,2.10,0.00,0.000,6,0.120,0.037,2471,2260,3523
$GC,4710,-0.65,-116.7,345.7,-6.1,491,4714,0.20,2.12,0.00,0.000,4,0.056,0.040,2378,888,3523
$GC,4781,-0.44,-116.7,352.8,-10.1,494,4786,0.25,2.10,0.00,0.000,6,0.117,0.035,2465,2241,3523
$GC,5109,-0.63,-116.7,371.8,-5.6,510,5114,0.17,2.10,0.00,0.000,4,0.058,0.040,2390,880,3523
$GC,5136,-0.50,-116.7,374.1,-8.2,511,5140,0.15,2.12,0.00,0.000,6,0.120,0.037,2456,2240,3523
$GC,5463,-0.65,-116.7,393.5,-6.1,527,5467,0.15,2.10,0.00,0.000,4,0.059,0.040,2388,878,3523
$GC,5495,-0.46,-116.7,396.5,-9.8,528,5500,0.17,2.12,0.00,0.000,6,0.117,0.036,2463,2240,3523
$GC,5817,-0.64,-116.7,415.8,-5.6,544,5818,0.17,0.00,0.00,0.000,6,0.058,0.000,2388,2242,3523
$GC,6126,-0.52,-116.7,442.6,-8.9,559,6130,0.17,2.10,0.00,0.000,4,0.120,0.039,2443,880,3523
$GC,6193,-0.59,-116.7,447.5,-7.0,562,6197,0.00,2.10,0.00,0.000,6,0.000,0.037,2444,2243,3523
$GC,6526,-0.69,-116.7,468.6,-6.5,578,6531,0.17,2.10,0.00,0.000,4,0.058,0.041,2365,874,3523
$GC,6621,-0.44,-116.7,477.6,-9.7,582,6625,0.28,2.12,0.00,0.000,6,0.120,0.035,2473,2239,3523
$GC,6949,-0.69,-116.7,494.9,-5.5,598,6953,0.22,2.10,0.00,0.000,4,0.053,0.040,2373,880,3523
$GC,6987,-0.43,-116.7,498.4,-10.0,600,6992,0.32,2.08,0.00,0.000,6,0.121,0.037,2477,2233,3523
$GC,7313,-0.71,-116.7,516.9,-5.4,616,7318,0.22,2.12,0.00,0.000,4,0.054,0.044,2375,874,3523
$GC,7368,-0.49,-116.7,521.6,-8.9,618,7375,0.25,2.08,0.00,0.000,6,0.122,0.036,2455,2219,3523
$GC,7684,-0.67,-116.7,540.2,-5.7,634,7688,0.17,2.08,0.00,0.000,4,0.060,0.041,2378,880,3523
$GC,7744,-0.46,-116.7,545.3,-8.5,636,7751,0.28,2.08,0.00,0.000,6,0.120,0.038,2467,2221,3523
$GC,8060,-0.69,-116.7,562.4,-5.3,652,8064,0.20,2.08,0.00,0.000,4,0.058,0.041,2375,881,3523
$GC,8097,-0.46,-116.7,565.8,-9.3,653,8106,0.22,2.10,0.00,0.000,6,0.118,0.039,2466,2218,3523
$GC,8414,-0.70,-116.7,583.3,-5.1,669,8416,0.22,0.00,0.00,0.000,6,0.056,0.000,2373,2219,3523
$GC,8732,-0.53,-116.7,609.7,-8.9,683,8736,0.20,2.08,0.00,0.000,4,0.123,0.042,2441,887,3522
$GC,8776,-0.64,-116.7,612.9,-6.5,684,8780,0.12,2.05,0.00,0.000,6,0.069,0.040,2388,2219,3522
$GC,9104,-0.55,-116.7,637.7,-7.1,695,9108,0.15,2.08,0.00,0.000,4,0.127,0.043,2434,887,3521
$GC,9193,-0.61,-116.7,643.6,-6.2,697,9197,0.00,2.05,0.00,0.000,6,0.000,0.041,2434,2215,3521
$GC,9512,-0.71,-116.7,661.9,-5.7,708,9516,0.15,2.10,0.00,0.000,4,0.065,0.047,2368,877,3520
$GC,9545,-0.48,-116.7,664.7,-8.6,709,9549,0.30,2.08,0.00,0.000,6,0.127,0.041,2461,2215,3520
$GC,9879,-0.70,-116.7,682.8,-5.3,720,9881,0.22,0.00,0.00,0.000,6,0.058,0.000,2366,2216,3519
$GC,10185,-0.55,-116.7,709.3,-9.1,730,10187,0.22,0.00,0.00,0.000,6,0.121,0.000,2438,2216,3518
$GC,10491,-0.67,-116.7,729.0,-6.3,740,10495,0.12,2.10,0.00,0.000,4,0.072,0.047,2383,880,3517
$GC,10563,-0.53,-116.7,735.0,-9.0,742,10567,0.20,2.05,0.00,0.000,6,0.130,0.043,2444,2196,3516
$GC,10897,-0.69,-116.7,754.2,-5.4,753,10899,0.15,0.00,0.00,0.000,6,0.066,0.000,2380,2198,3515
$GC,11204,-0.59,-116.7,776.8,-7.4,763,11206,0.15,0.00,0.00,0.000,6,0.130,0.000,2425,2198,3514
$GC,11511,-0.67,-116.7,793.5,-5.3,773,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2198,3514
$GC,11817,-0.75,-116.7,809.9,-5.6,783,11821,0.15,2.08,0.00,0.000,4,0.069,0.044,2364,880,3512
$GC,11843,-0.56,-116.7,812.0,-8.4,783,11851,0.17,2.10,0.00,0.000,6,0.131,0.042,2424,2196,3512
$GC,12157,-0.63,-116.7,830.6,-6.0,794,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2196,3512
$GC,12462,-0.70,-116.7,850.3,-6.7,804,12464,0.12,0.00,0.00,0.000,6,0.073,0.000,2373,2198,3511
$GC,12769,-0.56,-116.7,875.9,-8.5,814,12773,0.20,2.08,0.00,0.000,4,0.128,0.047,2439,883,3510
$GC,12807,-0.68,-116.7,878.7,-6.7,815,12811,0.15,2.08,0.00,0.000,6,0.070,0.043,2377,2213,3510
$GC,13141,-0.58,-116.7,904.9,-7.9,826,13146,0.17,2.12,0.00,0.000,4,0.131,0.050,2431,877,3509
$GC,13176,-0.66,-116.7,907.3,-6.5,827,13179,0.00,2.08,0.00,0.000,6,0.000,0.044,2431,2195,3509
$GC,13518,-0.77,-116.7,927.2,-5.9,838,13520,0.20,0.00,0.00,0.000,6,0.063,0.000,2350,2196,3508
$GC,13823,-0.53,-116.7,953.9,-9.0,848,13828,0.28,2.08,0.00,0.000,4,0.131,0.046,2441,883,3508
$GC,13856,-0.65,-116.7,956.2,-6.1,849,13860,0.12,2.05,0.00,0.000,6,0.074,0.043,2390,2202,3507
$GC,14189,-0.65,-116.7,979.9,-7.1,860,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2202,3508
$STATE,14341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14341,begin apogee
$GC,14346,-0.23,0.0,991.0,7.3,865,14443,0.47,0.00,94.70,1.430,6,0.125,0.000,2542,2307,3046
$STATE,14444,end apogee,CONTROL_FINISHED_OK
$STATE,14444,begin climb
$GC,14446,0.77,116.7,994.0,0.0,868,14556,0.93,2.50,102.88,1.407,4,0.084,0.050,2852,3699,2569
$GC,14600,0.33,116.7,988.0,8.2,872,14607,0.50,2.35,0.00,0.000,6,0.142,0.032,2720,2295,2566
$GC,14913,0.66,179.8,974.0,4.4,883,14976,0.28,2.40,53.83,1.397,4,0.058,0.045,2830,897,2311
$GC,15082,0.57,179.8,960.1,8.1,888,15087,0.10,2.28,0.00,0.000,6,0.125,0.035,2796,2283,2306
$GC,15416,0.57,179.8,935.7,7.2,899,15420,0.00,2.30,0.00,0.000,4,0.000,0.052,2796,3705,2304
$GC,15460,0.57,179.8,932.0,7.9,900,15464,0.00,2.28,0.00,0.000,6,0.000,0.035,2796,2282,2304
$GC,15789,0.57,179.8,907.9,7.3,911,15793,0.00,2.22,0.00,0.000,4,0.000,0.050,2796,891,2304
$GC,15860,0.57,179.8,902.5,7.3,913,15865,0.00,2.22,0.00,0.000,6,0.000,0.036,2795,2288,2303
$GC,16195,0.57,179.8,876.8,7.8,924,16199,0.00,2.30,0.00,0.000,4,0.000,0.054,2796,3721,2302
$GC,16244,0.57,179.8,872.4,8.6,925,16249,0.00,2.28,0.00,0.000,6,0.000,0.036,2796,2291,2302
$GC,16568,0.57,179.8,845.9,8.4,936,16572,0.00,2.22,0.00,0.000,4,0.000,0.049,2796,888,2302
$GC,16645,0.57,179.8,839.5,7.8,938,16650,0.00,2.22,0.00,0.000,6,0.000,0.037,2796,2288,2302
$GC,16976,0.57,179.8,813.7,7.7,949,16979,0.00,2.28,0.00,0.000,4,0.000,0.054,2796,3710,2302
$GC,17020,0.57,179.8,809.9,8.4,950,17024,0.00,2.22,0.00,0.000,6,0.000,0.035,2796,2276,2302
$GC,17348,0.57,179.8,784.8,7.5,961,17352,0.00,2.17,0.00,0.000,4,0.000,0.048,2796,893,2301
$GC,17420,0.57,179.8,779.4,7.3,963,17424,0.00,2.20,0.00,0.000,6,0.000,0.035,2796,2286,2301
$GC,17756,0.57,184.9,756.5,6.7,974,17765,0.00,2.30,3.58,0.810,4,0.000,0.051,2796,3708,2292
$GC,17803,0.57,184.9,752.7,7.4,975,17808,0.00,2.25,0.00,0.000,6,0.000,0.034,2796,2277,2292
$GC,18128,0.58,186.3,731.1,6.8,986,18132,0.00,2.17,0.00,0.000,4,0.000,0.048,2796,892,2292
$GC,18212,0.65,190.3,725.4,6.7,988,18223,0.00,2.17,6.47,1.085,6,0.000,0.035,2796,2302,2269
$GC,18529,0.72,201.0,704.8,6.4,998,18542,0.15,0.00,10.65,1.183,6,0.065,0.000,2856,2302,2226
$GC,18835,0.58,201.0,676.4,9.8,1008,18840,0.20,2.25,0.00,0.000,4,0.128,0.051,2790,3702,2224
$GC,18883,0.58,201.0,672.2,7.0,1009,18888,0.00,2.25,0.00,0.000,6,0.000,0.036,2794,2292,2224
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$GC,26118,0.76,243.5,91.3,6.1,1464,26139,0.15,0.00,16.65,0.726,6,0.063,0.000,2872,2356,2052
$GC,26478,0.65,243.5,54.1,11.6,1527,26485,0.17,2.15,0.00,0.000,4,0.120,0.048,2819,3714,2049
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$STATE,27013,end climb,SURFACE_DEPTH_REACHED
$STATE,27014,begin surface coast
$FINISH,2.2,1.027498
$STATE,27043,end surface coast,CONTROL_FINISHED_OK
$STATE,27043,begin surface
$SM_CCo,27118,0.00,0.000,0,0,2046,245.30
$SM_GC,3.18,7.07,0.00,0.00,0.049,0.000,0.000,137,2292,2046,-7.66,-0.25,245.30
$IRIDIUM_FIX,6258.74,248.38,250598,030313
$TT8_MAMPS,0.026845
$HUMID,1621
$INTERNAL_PRESSURE,9.13508
$TCM_TEMP,18.60
$XPDR_PINGS,60
$24V_AH,22.7,23.170
$10V_AH,10.7,15.854
$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,34.175,239.325,312.900,0.000,0.000,31.539,34.349,235.253,15.000,0.000,0.000,16.221,3236.230,19729.836,535.130,3452.167,565.844,0.000,2256.676,0.000,3397.508,0.000,0.836,0.000
$DEVICE_MAMPS,204.789,73.632,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1124.878,899.908,532.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82103,1626
$CAP_FILE_SIZE,240769,0
$CFSIZE,260165632,246476800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,252.5,1
$GPS,280209,182206,6321.740,256.092,34,1.2,39,-3.3