version: 66.04
glider: 160
mission: 3
dive: 138
start: 3 7 109 9 44 29
data:
$ID,160
$MISSION,3
$DIVE,138
$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,-2
$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,-9744.8506
$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,42
$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
$GPS1,093807,6257.144,412.629,29,2.0,29,-2.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.16
$_SM_ANGLEo,-63.6
$GPS2,094407,6257.232,412.870,14,1.9,31,-2.5
$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,221.5,17193,-13.7,-6.875
$D_GRID,698
$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,-116.7,0.0,0.0,0,44,0.00,0.00,-28.00,0.000,2,0.000,0.000,121,2308,2572
$GC,46,-0.77,-116.7,3.2,-1.7,4,100,9.00,2.28,-35.05,0.000,4,0.244,0.055,2357,907,3523
$GC,342,-0.38,-116.7,38.4,-16.0,55,349,0.43,2.20,0.00,0.000,6,0.127,0.037,2487,2303,3524
$GC,686,-0.62,-116.7,63.5,-6.9,116,693,0.20,2.20,0.00,0.000,4,0.056,0.040,2394,901,3525
$GC,733,-0.44,-116.7,67.9,-10.0,124,740,0.20,2.22,0.00,0.000,6,0.114,0.035,2473,2303,3525
$GC,1078,-0.65,-116.7,89.5,-5.5,185,1086,0.20,2.20,0.00,0.000,4,0.055,0.038,2382,895,3525
$GC,1104,-0.65,-116.7,91.3,-5.9,189,1112,0.00,2.17,0.00,0.000,6,0.000,0.035,2382,2301,3525
$GC,1451,-0.46,-116.7,120.1,-9.8,250,1459,0.22,2.20,0.00,0.000,4,0.125,0.038,2458,895,3525
$GC,1504,-0.58,-116.7,124.5,-7.3,259,1511,0.00,2.15,0.00,0.000,6,0.000,0.034,2458,2283,3525
$GC,1849,-0.70,-116.7,144.3,-6.5,320,1855,0.20,0.00,0.00,0.000,6,0.056,0.000,2366,2284,3525
$GC,2182,-0.44,-116.7,178.5,-11.0,356,2187,0.30,2.17,0.00,0.000,4,0.118,0.038,2467,889,3525
$GC,2266,-0.59,-116.7,185.1,-7.2,363,2271,0.15,2.17,0.00,0.000,6,0.063,0.035,2401,2303,3526
$GC,2588,-0.49,-116.7,215.6,-9.5,388,2593,0.17,2.20,0.00,0.000,4,0.121,0.038,2456,891,3526
$GC,2617,-0.56,-116.7,218.0,-8.0,390,2621,0.00,2.15,0.00,0.000,6,0.000,0.035,2455,2284,3526
$GC,2946,-0.69,-116.7,238.5,-5.8,411,2948,0.20,0.00,0.00,0.000,6,0.054,0.000,2370,2284,3526
$GC,3259,-0.46,-116.7,269.6,-10.4,431,3263,0.25,2.17,0.00,0.000,4,0.120,0.038,2456,889,3526
$GC,3330,-0.58,-116.7,275.0,-7.0,435,3337,0.00,2.17,0.00,0.000,6,0.000,0.034,2455,2304,3526
$GC,3650,-0.71,-116.7,292.9,-5.5,456,3654,0.20,2.20,0.00,0.000,4,0.057,0.038,2363,891,3526
$GC,3729,-0.42,-116.7,299.9,-9.8,461,3734,0.35,2.12,0.00,0.000,6,0.123,0.035,2473,2277,3527
$GC,4050,-0.65,-116.7,317.3,-5.8,477,4054,0.20,2.15,0.00,0.000,4,0.056,0.041,2380,896,3526
$GC,4100,-0.42,-116.7,322.1,-9.9,479,4105,0.30,2.12,0.00,0.000,6,0.120,0.035,2475,2276,3526
$GC,4421,-0.66,-116.7,341.8,-5.7,495,4425,0.20,2.15,0.00,0.000,4,0.054,0.042,2380,894,3526
$GC,4481,-0.44,-116.7,347.3,-9.7,497,4490,0.28,2.12,0.00,0.000,6,0.121,0.035,2468,2274,3526
$GC,4797,-0.65,-116.7,363.0,-4.7,513,4801,0.20,2.17,0.00,0.000,4,0.056,0.042,2375,892,3526
$GC,4836,-0.38,-116.7,365.9,-8.6,515,4841,0.35,2.12,0.00,0.000,6,0.119,0.035,2487,2267,3526
$GC,5163,-0.68,-116.7,380.7,-4.5,531,5168,0.22,2.15,0.00,0.000,4,0.053,0.041,2382,900,3527
$GC,5212,-0.47,-116.7,384.7,-8.7,533,5217,0.25,2.15,0.00,0.000,6,0.120,0.037,2460,2280,3526
$GC,5534,-0.65,-116.7,401.4,-5.1,549,5536,0.17,0.00,0.00,0.000,6,0.057,0.000,2382,2281,3526
$GC,5843,-0.48,-116.7,427.6,-8.4,564,5847,0.20,2.17,0.00,0.000,4,0.118,0.038,2452,892,3527
$GC,5937,-0.58,-116.7,433.6,-6.4,568,5941,0.00,2.12,0.00,0.000,6,0.000,0.034,2450,2272,3526
$GC,6258,-0.71,-116.7,449.9,-5.6,584,6263,0.20,2.17,0.00,0.000,4,0.056,0.042,2358,897,3526
$GC,6335,-0.42,-116.7,457.2,-10.0,587,6342,0.38,2.12,0.00,0.000,6,0.125,0.036,2474,2261,3527
$GC,6651,-0.67,-116.7,473.1,-4.9,603,6655,0.20,2.15,0.00,0.000,4,0.055,0.039,2380,888,3526
$GC,6713,-0.47,-116.7,478.1,-8.9,606,6717,0.28,2.12,0.00,0.000,6,0.120,0.036,2467,2260,3526
$GC,7040,-0.69,-116.7,497.7,-6.2,622,7042,0.22,0.00,0.00,0.000,6,0.055,0.000,2373,2260,3526
$GC,7348,-0.50,-116.7,527.2,-9.4,637,7352,0.22,2.12,0.00,0.000,4,0.119,0.039,2449,900,3526
$GC,7414,-0.61,-116.7,532.1,-7.1,640,7417,0.00,2.08,0.00,0.000,6,0.000,0.037,2447,2240,3526
$GC,7740,-0.76,-116.7,553.8,-7.0,656,7742,0.22,0.00,0.00,0.000,6,0.057,0.000,2352,2240,3526
$GC,8050,-0.52,-116.7,582.3,-9.3,671,8055,0.25,2.12,0.00,0.000,4,0.124,0.039,2438,888,3526
$GC,8184,-0.58,-116.7,589.9,-4.3,677,8188,0.00,2.10,0.00,0.000,6,0.000,0.036,2437,2241,3526
$GC,8511,-0.69,-116.7,603.4,-4.6,692,8516,0.15,2.35,0.00,0.000,4,0.065,0.049,2374,3716,3525
$GC,8566,-0.56,-116.7,607.3,-7.7,693,8575,0.17,2.28,0.00,0.000,6,0.123,0.035,2428,2249,3525
$GC,8878,-0.65,-116.7,627.1,-6.5,704,8882,0.00,2.10,0.00,0.000,4,0.000,0.044,2429,901,3525
$GC,8912,-0.65,-116.7,629.4,-6.7,705,8916,0.00,2.10,0.00,0.000,6,0.000,0.038,2428,2253,3525
$GC,9254,-0.72,-116.7,650.2,-6.3,716,9258,0.15,2.15,0.00,0.000,4,0.064,0.044,2363,895,3524
$GC,9314,-0.49,-116.7,656.2,-10.6,717,9323,0.22,2.10,0.00,0.000,6,0.123,0.038,2454,2221,3524
$GC,9627,-0.68,-116.7,676.1,-6.4,728,9629,0.17,0.00,0.00,0.000,6,0.064,0.000,2379,2221,3523
$STATE,9871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9871,begin apogee
$GC,9876,-0.23,0.0,698.5,9.3,736,9972,0.50,0.00,93.38,1.188,6,0.118,0.000,2541,2308,3045
$STATE,9973,end apogee,CONTROL_FINISHED_OK
$STATE,9973,begin climb
$GC,9975,0.77,116.7,702.3,0.0,739,10079,0.93,2.47,96.40,1.164,4,0.081,0.048,2857,3700,2570
$GC,10146,0.35,116.7,696.1,8.1,744,10151,0.47,2.30,0.00,0.000,6,0.139,0.029,2729,2298,2566
$GC,10476,0.68,187.9,683.2,4.0,755,10540,0.28,2.40,58.00,1.170,4,0.055,0.042,2843,888,2278
$GC,10646,0.56,187.9,668.5,9.5,760,10651,0.17,2.25,0.00,0.000,6,0.125,0.034,2791,2301,2272
$GC,10981,0.66,187.9,644.1,7.0,771,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2301,2270
$GC,11288,0.75,187.9,623.3,7.1,781,11293,0.17,2.25,0.00,0.000,4,0.062,0.044,2865,895,2268
$GC,11332,0.58,187.9,618.8,10.4,782,11336,0.22,2.17,0.00,0.000,6,0.125,0.035,2797,2286,2268
$GC,11645,0.64,187.9,596.7,7.1,793,11649,0.00,2.28,0.00,0.000,4,0.000,0.051,2796,3711,2267
$GC,11796,0.64,187.9,585.2,8.5,799,11803,0.00,2.22,0.00,0.000,6,0.000,0.033,2796,2273,2266
$GC,12112,0.74,209.8,564.9,6.0,815,12135,0.17,2.25,16.73,1.103,4,0.061,0.043,2869,891,2190
$GC,12237,0.58,209.8,554.1,8.8,820,12242,0.22,2.20,0.00,0.000,6,0.124,0.032,2801,2302,2187
$GC,12552,0.68,215.4,533.8,6.7,835,12563,0.00,2.25,5.97,0.917,4,0.000,0.044,2801,891,2166
$GC,12615,0.81,223.7,529.6,6.5,838,12629,0.22,2.15,8.18,0.981,6,0.054,0.033,2894,2265,2134
$GC,12947,0.57,223.7,492.1,10.8,854,12952,0.28,2.30,0.00,0.000,4,0.127,0.046,2802,3708,2131
$GC,12996,0.65,223.7,488.0,7.5,856,13000,0.00,2.22,0.00,0.000,6,0.000,0.030,2802,2270,2132
$GC,13317,0.76,223.7,466.7,7.4,872,13322,0.17,2.15,0.00,0.000,4,0.059,0.043,2878,902,2131
$GC,13423,0.61,223.7,455.3,10.4,877,13428,0.22,2.15,0.00,0.000,6,0.123,0.033,2808,2291,2130
$GC,13749,0.70,223.7,428.5,8.3,893,13753,0.00,2.20,0.00,0.000,4,0.000,0.042,2808,891,2130
$GC,13805,0.81,223.7,423.7,8.4,895,13809,0.17,2.12,0.00,0.000,6,0.061,0.031,2883,2269,2130
$GC,14125,0.62,223.7,387.3,11.2,911,14130,0.20,2.30,0.00,0.000,4,0.124,0.048,2815,3717,2130
$GC,14179,0.62,223.7,381.9,9.6,913,14187,0.00,2.28,0.00,0.000,6,0.000,0.031,2815,2261,2130
$GC,14495,0.69,223.7,356.9,7.7,929,14499,0.00,2.12,0.00,0.000,4,0.000,0.044,2815,897,2130
$GC,14608,0.78,223.7,348.5,7.7,934,14612,0.15,2.10,0.00,0.000,6,0.062,0.031,2881,2262,2130
$GC,14940,0.60,223.7,314.4,10.3,950,14945,0.22,2.28,0.00,0.000,4,0.120,0.044,2804,3708,2131
$GC,15011,0.66,223.7,308.1,8.8,953,15016,0.00,2.22,0.00,0.000,6,0.000,0.029,2804,2250,2131
$GC,15330,0.80,228.2,286.2,6.7,972,15341,0.20,2.10,5.55,0.718,4,0.056,0.040,2897,891,2114
$GC,15493,0.60,228.2,269.1,10.9,981,15498,0.30,2.10,0.00,0.000,6,0.121,0.030,2802,2267,2114
$GC,15818,0.78,257.3,248.3,5.7,1002,15851,0.17,2.33,24.27,0.828,4,0.058,0.046,2878,3697,1995
$GC,15886,0.59,257.3,242.0,11.1,1006,15891,0.25,2.25,0.00,0.000,6,0.123,0.030,2801,2253,1993
$GC,16211,0.77,257.3,219.5,7.5,1027,16215,0.17,2.12,0.00,0.000,4,0.057,0.039,2877,894,1992
$GC,16316,0.69,257.3,207.1,13.2,1033,16321,0.10,2.10,0.00,0.000,6,0.102,0.030,2829,2243,1991
$GC,16646,0.77,257.3,175.7,8.3,1062,16650,0.00,2.33,0.00,0.000,4,0.000,0.044,2829,3714,1991
$GC,16730,0.77,257.3,167.9,9.6,1069,16734,0.00,2.28,0.00,0.000,6,0.000,0.031,2829,2236,1991
$GC,17059,0.86,265.2,142.9,6.6,1108,17075,0.17,2.08,7.38,0.679,4,0.058,0.039,2905,893,1962
$GC,17177,0.68,265.2,129.8,13.0,1128,17184,0.25,2.05,0.00,0.000,6,0.122,0.029,2827,2243,1961
$GC,17523,0.78,270.0,98.9,6.7,1189,17539,0.12,2.35,5.40,0.601,4,0.065,0.044,2882,3707,1945
$GC,17607,0.58,270.0,90.3,11.8,1203,17614,0.30,2.25,0.00,0.000,6,0.119,0.028,2794,2236,1944
$GC,17952,0.79,270.0,72.6,9.7,1264,17959,0.20,2.08,0.00,0.000,4,0.056,0.040,2884,893,1943
$GC,18016,0.71,270.0,64.8,12.9,1275,18023,0.15,2.08,0.00,0.000,6,0.124,0.029,2838,2261,1943
$GC,18360,0.71,270.0,23.3,12.9,1336,18365,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2261,1943
$STATE,18556,end climb,SURFACE_DEPTH_REACHED
$STATE,18556,begin surface coast
$FINISH,1.8,1.027296
$STATE,18584,end surface coast,CONTROL_FINISHED_OK
$STATE,18584,begin surface
$SM_CCo,18658,0.00,0.000,0,0,1942,270.81
$SM_GC,2.63,7.15,0.00,0.00,0.049,0.000,0.000,137,2266,1942,-7.65,-0.93,270.81
$IRIDIUM_FIX,6230.49,410.52,010698,040401
$TT8_MAMPS,0.027612
$HUMID,1637
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,18.90
$XPDR_PINGS,39
$24V_AH,23.2,26.431
$10V_AH,10.7,18.639
$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,31.650,170.750,321.250,0.000,0.000,30.889,34.709,169.101,9.750,0.000,0.000,32.802,2647.455,12630.637,487.071,2793.443,454.815,0.000,1844.798,0.000,2732.562,0.000,0.838,0.000
$DEVICE_MAMPS,243.906,73.632,1188.083,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,950.439,815.374,571.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69485,1376
$CAP_FILE_SIZE,183445,0
$CFSIZE,260165632,244252672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.413, 53.9,1
$GPS,070309,145636,6257.921,417.401,34,1.8,34,-2.5