version: 66.04
glider: 160
mission: 3
dive: 430
start: 6 4 109 22 27 30
data:
$ID,160
$MISSION,3
$DIVE,430
$D_SURF,4
$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,-16324.233
$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,2180
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$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
$GPS1,222107,6436.574,26.450,32,1.0,32,-4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-61.1
$GPS2,222707,6436.630,26.234,10,1.4,10,-4.9
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$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,286.8,86487,-13.7,-6.875
$D_GRID,2616
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.77,-116.7,0.0,0.0,0,23,0.00,0.00,-6.45,0.000,2,0.000,0.000,123,2167,2028
$GC,27,-0.77,-116.7,3.9,-0.0,1,128,8.20,2.38,-84.95,0.000,4,0.188,0.062,2367,3583,3521
$GC,315,-0.53,-116.7,21.0,-8.5,49,323,0.25,2.25,0.00,0.000,6,0.118,0.035,2445,2171,3523
$GC,663,-0.67,-116.7,46.2,-6.2,110,670,0.15,2.22,0.00,0.000,4,0.063,0.043,2376,772,3524
$GC,717,-0.45,-116.7,50.8,-9.0,119,724,0.30,2.20,0.00,0.000,6,0.120,0.037,2469,2176,3523
$GC,1060,-0.70,-116.7,68.7,-5.2,158,1065,0.20,2.30,0.00,0.000,4,0.057,0.048,2377,3587,3525
$GC,1100,-0.52,-116.7,71.9,-8.7,160,1105,0.22,2.22,0.00,0.000,6,0.116,0.033,2447,2180,3525
$GC,1432,-0.67,-116.7,91.5,-6.0,176,1434,0.15,0.00,0.00,0.000,6,0.061,0.000,2379,2180,3525
$GC,1738,-0.51,-116.7,118.7,-9.1,191,1740,0.22,0.00,0.00,0.000,6,0.117,0.000,2449,2178,3525
$GC,2047,-0.68,-116.7,139.0,-6.8,206,2049,0.17,0.00,0.00,0.000,6,0.058,0.000,2371,2178,3525
$GC,2356,-0.51,-116.7,168.1,-9.1,221,2358,0.25,0.00,0.00,0.000,6,0.115,0.000,2451,2178,3525
$GC,2665,-0.70,-116.7,186.1,-5.6,236,2667,0.17,0.00,0.00,0.000,6,0.058,0.000,2373,2178,3525
$GC,2975,-0.55,-116.7,212.3,-8.5,251,2979,0.20,2.38,0.00,0.000,4,0.116,0.051,2436,3596,3526
$GC,3004,-0.64,-116.7,214.3,-6.4,252,3008,0.00,2.25,0.00,0.000,6,0.000,0.032,2436,2182,3526
$GC,3326,-0.76,-116.7,233.6,-6.1,268,3331,0.20,2.30,0.00,0.000,4,0.056,0.048,2345,760,3526
$GC,3400,-0.46,-116.7,240.9,-10.4,271,3405,0.40,2.22,0.00,0.000,6,0.123,0.036,2464,2190,3526
$GC,3717,-0.71,-116.7,258.9,-5.5,286,3721,0.20,2.30,0.00,0.000,4,0.057,0.050,2374,3592,3526
$GC,3767,-0.59,-116.7,263.1,-8.4,288,3772,0.17,2.28,0.00,0.000,6,0.120,0.035,2428,2167,3526
$GC,4084,-0.69,-116.7,283.6,-6.0,303,4089,0.12,2.25,0.00,0.000,4,0.070,0.044,2371,760,3525
$GC,4157,-0.53,-116.7,290.2,-9.1,306,4162,0.25,2.22,0.00,0.000,6,0.122,0.037,2446,2190,3525
$GC,4483,-0.73,-116.7,309.6,-5.9,319,4485,0.20,0.00,0.00,0.000,6,0.057,0.000,2361,2190,3525
$GC,4789,-0.54,-116.7,337.3,-9.3,329,4793,0.20,2.30,0.00,0.000,4,0.122,0.051,2429,3576,3525
$GC,4823,-0.68,-116.7,339.9,-6.5,330,4828,0.12,2.22,0.00,0.000,6,0.066,0.034,2375,2175,3525
$GC,5154,-0.56,-116.7,369.1,-9.0,341,5158,0.20,2.28,0.00,0.000,4,0.121,0.048,2443,765,3525
$GC,5198,-0.72,-116.7,372.7,-7.0,342,5203,0.17,2.22,0.00,0.000,6,0.061,0.038,2370,2182,3524
$GC,5517,-0.58,-116.7,401.5,-9.3,353,5519,0.17,0.00,0.00,0.000,6,0.120,0.000,2424,2182,3524
$GC,5823,-0.68,-116.7,422.1,-6.4,363,5827,0.00,2.30,0.00,0.000,4,0.000,0.049,2424,769,3523
$GC,5863,-0.68,-116.7,424.8,-6.4,364,5867,0.00,2.22,0.00,0.000,6,0.000,0.041,2424,2176,3523
$GC,6199,-0.77,-116.7,445.0,-5.9,375,6204,0.17,2.35,0.00,0.000,4,0.063,0.051,2350,3592,3521
$GC,6221,-0.67,-116.7,446.7,-7.4,375,6228,0.17,2.28,0.00,0.000,6,0.130,0.038,2401,2175,3521
$GC,6535,-0.67,-116.7,468.0,-6.6,386,6539,0.00,2.28,0.00,0.000,4,0.000,0.051,2402,762,3521
$GC,6585,-0.67,-116.7,471.7,-7.1,387,6589,0.00,2.22,0.00,0.000,6,0.000,0.038,2401,2184,3521
$GC,6910,-0.67,-116.7,492.3,-6.6,398,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2185,3520
$GC,7214,-0.67,-116.7,512.3,-6.6,405,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2185,3519
$GC,7518,-0.67,-116.7,533.4,-7.0,410,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2185,3518
$GC,7820,-0.67,-116.7,555.8,-7.5,415,7823,0.00,2.33,0.00,0.000,4,0.000,0.052,2401,773,3518
$GC,7864,-0.67,-116.7,559.5,-8.1,415,7868,0.00,2.22,0.00,0.000,6,0.000,0.043,2401,2172,3517
$GC,8191,-0.67,-116.7,584.6,-7.7,421,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2172,3517
$GC,8495,-0.67,-116.7,608.0,-7.7,426,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2172,3516
$GC,8797,-0.67,-116.7,630.1,-7.3,431,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2172,3516
$GC,9100,-0.67,-116.7,650.8,-6.8,436,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2172,3515
$GC,9403,-0.67,-116.7,670.7,-6.6,441,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2172,3514
$GC,9707,-0.67,-116.7,689.4,-6.2,446,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2172,3514
$GC,10010,-0.67,-116.7,707.9,-6.1,451,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2172,3513
$GC,10313,-0.67,-116.7,726.9,-6.3,456,10316,0.00,2.30,0.00,0.000,4,0.000,0.049,2401,764,3513
$GC,10346,-0.67,-116.7,729.3,-7.6,456,10350,0.00,2.25,0.00,0.000,6,0.000,0.041,2401,2183,3513
$GC,10684,-0.67,-116.7,751.1,-6.5,462,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2182,3512
$GC,10987,-0.67,-116.7,770.7,-6.5,467,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2182,3512
$GC,11290,-0.67,-116.7,790.6,-6.6,472,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2183,3512
$GC,11593,-0.67,-116.7,811.0,-6.7,477,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2183,3512
$GC,11896,-0.67,-116.7,832.2,-7.0,482,11897,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2183,3512
$GC,12200,-0.67,-116.7,852.5,-6.7,487,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2183,3511
$GC,12502,-0.67,-116.7,872.2,-6.5,492,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2183,3511
$GC,12805,-0.67,-116.7,891.4,-6.3,497,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2182,3510
$GC,13109,-0.67,-116.7,910.7,-6.4,502,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2182,3510
$GC,13412,-0.67,-116.7,930.3,-6.5,507,13413,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2183,3510
$GC,13715,-0.67,-116.7,950.2,-6.6,512,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2183,3509
$GC,14018,-0.67,-116.7,969.7,-6.4,517,14019,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2182,3509
$GC,14321,-0.67,-116.7,989.0,-6.4,522,14322,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2183,3509
$STATE,14380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14380,begin apogee
$GC,14387,-0.23,0.0,992.9,6.4,523,14491,0.43,0.00,101.20,1.402,6,0.114,0.000,2539,2278,3046
$STATE,14492,end apogee,CONTROL_FINISHED_OK
$STATE,14492,begin climb
$GC,14495,0.77,116.7,994.9,0.0,524,14624,0.95,2.72,113.53,1.355,4,0.074,0.052,2853,3666,2570
$GC,14666,0.37,116.7,993.8,7.2,527,14672,0.47,2.47,0.00,0.000,6,0.133,0.033,2732,2259,2567
$GC,14994,0.71,188.2,980.2,4.0,533,15072,0.28,2.45,65.78,1.339,4,0.057,0.047,2850,871,2276
$GC,15131,0.59,188.2,969.8,8.8,535,15136,0.17,2.28,0.00,0.000,6,0.123,0.035,2800,2260,2272
$GC,15497,0.68,188.2,943.3,7.2,541,15501,0.00,2.35,0.00,0.000,4,0.000,0.051,2800,3680,2269
$GC,15536,0.68,188.2,939.9,8.1,541,15540,0.00,2.30,0.00,0.000,6,0.000,0.037,2800,2251,2269
$GC,15857,0.77,188.2,916.9,7.2,547,15862,0.17,2.25,0.00,0.000,4,0.060,0.049,2878,854,2268
$GC,15907,0.54,188.2,912.1,9.5,547,15912,0.30,2.20,0.00,0.000,6,0.126,0.037,2786,2261,2267
$GC,16218,0.69,196.6,891.2,6.5,552,16232,0.15,2.40,7.00,1.134,4,0.067,0.051,2851,3677,2243
$GC,16261,0.47,196.6,887.2,10.2,552,16266,0.30,2.30,0.00,0.000,6,0.129,0.037,2765,2255,2243
$GC,16583,0.75,223.1,868.3,5.8,558,16614,0.22,2.30,24.95,1.298,4,0.058,0.047,2865,865,2135
$GC,16665,0.63,223.1,860.4,10.4,559,16670,0.17,2.22,0.00,0.000,6,0.122,0.038,2812,2258,2132
$GC,17009,0.71,223.1,832.4,8.1,565,17013,0.00,2.38,0.00,0.000,4,0.000,0.053,2813,3686,2130
$GC,17081,0.71,223.1,825.6,9.5,566,17086,0.00,2.30,0.00,0.000,6,0.000,0.035,2812,2244,2130
$GC,17436,0.79,223.1,795.9,8.5,572,17441,0.17,2.22,0.00,0.000,4,0.061,0.049,2891,867,2129
$GC,17470,0.57,223.1,792.3,12.4,572,17475,0.30,2.20,0.00,0.000,6,0.127,0.038,2799,2267,2129
$GC,17797,0.71,223.1,765.1,8.2,578,17802,0.12,2.33,0.00,0.000,4,0.073,0.051,2853,3679,2129
$GC,17870,0.55,223.1,757.0,12.9,579,17875,0.22,2.28,0.00,0.000,6,0.130,0.037,2788,2255,2129
$GC,18225,0.75,223.1,729.8,7.5,585,18227,0.20,0.00,0.00,0.000,6,0.057,0.000,2872,2254,2128
$GC,18529,0.61,223.1,697.6,10.7,590,18533,0.20,2.22,0.00,0.000,4,0.126,0.044,2809,860,2128
$GC,18557,0.69,223.1,695.0,8.9,590,18561,0.00,2.20,0.00,0.000,6,0.000,0.036,2809,2277,2128
$GC,18895,0.80,223.1,669.8,7.4,596,18900,0.17,2.28,0.00,0.000,4,0.061,0.053,2884,3679,2128
$GC,18973,0.54,223.1,661.3,11.5,597,18978,0.35,2.25,0.00,0.000,6,0.129,0.035,2784,2255,2127
$GC,19329,0.79,243.3,639.1,6.1,603,19353,0.20,2.28,17.95,1.150,4,0.058,0.047,2878,867,2054
$GC,19388,0.66,243.3,633.6,10.9,603,19395,0.20,2.22,0.00,0.000,6,0.123,0.037,2817,2282,2051
$GC,19698,0.77,243.3,610.2,7.4,609,19703,0.12,2.30,0.00,0.000,4,0.071,0.051,2872,3680,2050
$GC,19743,0.57,243.3,605.5,11.8,609,19748,0.28,2.28,0.00,0.000,6,0.126,0.036,2794,2255,2050
$GC,20058,0.77,243.3,582.7,7.1,615,20062,0.20,2.22,0.00,0.000,4,0.061,0.046,2885,852,2050
$GC,20086,0.69,243.3,580.0,10.2,615,20091,0.17,2.20,0.00,0.000,6,0.127,0.035,2833,2267,2049
$GC,20423,0.69,243.3,549.9,8.9,621,20427,0.00,2.33,0.00,0.000,4,0.000,0.050,2832,3681,2049
$GC,20472,0.69,243.3,545.1,11.2,621,20477,0.00,2.28,0.00,0.000,6,0.000,0.035,2835,2256,2050
$GC,20783,0.69,243.3,517.3,9.0,626,20787,0.00,2.22,0.00,0.000,4,0.000,0.047,2838,868,2049
$GC,20845,0.69,243.3,511.6,9.1,626,20851,0.00,2.17,0.00,0.000,6,0.000,0.035,2838,2262,2048
$GC,21156,0.69,243.3,484.2,9.0,634,21160,0.00,2.30,0.00,0.000,4,0.000,0.049,2838,3678,2048
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$GC,22359,0.70,243.3,380.1,8.1,672,22366,0.00,2.17,0.00,0.000,6,0.000,0.038,2842,2242,2047
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$STATE,26675,end climb,SURFACE_DEPTH_REACHED
$STATE,26675,begin surface coast
$FINISH,3.2,1.019144
$STATE,26726,end surface coast,CONTROL_FINISHED_OK
$STATE,26727,begin surface
$SM_CCo,26806,0.00,0.000,0,0,2049,244.56
$SM_GC,3.85,7.28,0.00,0.00,0.043,0.000,0.000,135,2166,2049,-7.66,-0.37,244.56
$IRIDIUM_FIX,6406.52,40.03,290898,141454
$TT8_MAMPS,0.026078
$HUMID,1758
$INTERNAL_PRESSURE,9.14484
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.0,67.919
$10V_AH,10.4,50.261
$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,27.100,199.925,330.400,0.000,0.000,24.995,35.215,171.756,0.000,0.000,0.000,12.157,2054.024,21716.240,530.923,2201.030,653.509,0.000,1717.470,0.000,2163.035,0.000,0.532,0.000
$DEVICE_MAMPS,187.915,79.001,1402.076,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,688.897,672.517,377.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47475,954
$CAP_FILE_SIZE,182358,0
$CFSIZE,260165632,218193920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.219,330.8,1
$GPS,050609,055536,6440.163,15.439,36,1.0,41,-5.0