version: 66.04
glider: 160
mission: 3
dive: 577
start: 7 20 109 3 32 48
data:
$ID,160
$MISSION,3
$DIVE,577
$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,-19402.906
$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,32
$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
$GPS1,032601,6448.509,-14.340,38,1.4,38,-5.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.93
$_SM_ANGLEo,-58.7
$GPS2,033226,6448.569,-14.427,10,1.4,10,-5.3
$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,285.9,48010,-13.7,-6.875
$D_GRID,1000
$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,16,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-6.60,0.000,2,0.000,0.000,123,2168,2032
$GC,28,-0.77,-116.7,3.9,-0.0,1,129,7.85,2.45,-85.80,0.000,4,0.175,0.060,2353,3591,3522
$GC,137,-0.99,-116.7,4.2,-2.0,17,144,0.17,2.25,0.00,0.000,6,0.068,0.031,2286,2170,3523
$GC,483,-0.40,-116.7,60.5,-14.1,78,489,0.60,2.40,0.00,0.000,4,0.132,0.048,2475,3595,3525
$GC,737,-0.66,-116.7,77.4,-6.9,89,742,0.22,2.28,0.00,0.000,6,0.052,0.032,2380,2177,3526
$GC,1060,-0.45,-116.7,110.9,-10.2,105,1065,0.25,2.30,0.00,0.000,4,0.117,0.042,2464,770,3528
$GC,1146,-0.58,-116.7,116.5,-5.7,109,1151,0.12,2.25,0.00,0.000,6,0.069,0.034,2407,2180,3528
$GC,1476,-0.49,-116.7,140.2,-7.7,125,1481,0.15,2.38,0.00,0.000,4,0.118,0.047,2449,3593,3528
$GC,1505,-0.57,-116.7,142.1,-6.0,126,1509,0.00,2.30,0.00,0.000,6,0.000,0.032,2449,2166,3528
$GC,1827,-0.68,-116.7,163.0,-6.7,142,1829,0.17,0.00,0.00,0.000,6,0.059,0.000,2373,2167,3528
$GC,2137,-0.46,-116.7,194.1,-10.4,157,2142,0.28,2.35,0.00,0.000,4,0.117,0.047,2465,757,3528
$GC,2184,-0.62,-116.7,198.1,-7.8,159,2189,0.15,2.30,0.00,0.000,6,0.064,0.038,2402,2179,3528
$GC,2512,-0.52,-116.7,229.9,-9.8,175,2517,0.15,2.38,0.00,0.000,4,0.118,0.051,2447,3592,3528
$GC,2546,-0.66,-116.7,233.0,-8.2,176,2553,0.15,2.30,0.00,0.000,6,0.059,0.035,2381,2178,3528
$GC,2863,-0.47,-116.7,263.6,-9.4,192,2868,0.22,2.33,0.00,0.000,4,0.120,0.044,2457,768,3527
$GC,2915,-0.59,-116.7,267.4,-6.7,194,2920,0.12,2.25,0.00,0.000,6,0.065,0.037,2403,2172,3527
$GC,3232,-0.50,-116.7,292.5,-8.2,209,3234,0.17,0.00,0.00,0.000,6,0.118,0.000,2457,2172,3526
$GC,3540,-0.67,-116.7,311.0,-5.8,221,3545,0.17,2.40,0.00,0.000,4,0.058,0.053,2377,3583,3526
$GC,3580,-0.49,-116.7,314.3,-9.2,222,3585,0.25,2.33,0.00,0.000,6,0.117,0.037,2453,2156,3526
$GC,3905,-0.65,-116.7,331.7,-5.2,233,3907,0.15,0.00,0.00,0.000,6,0.066,0.000,2389,2156,3525
$GC,4212,-0.50,-116.7,355.5,-8.1,243,4214,0.20,0.00,0.00,0.000,6,0.120,0.000,2452,2153,3525
$GC,4518,-0.66,-116.7,373.2,-5.6,253,4519,0.15,0.00,0.00,0.000,6,0.067,0.000,2389,2153,3523
$GC,4823,-0.51,-116.7,397.9,-8.2,263,4825,0.20,0.00,0.00,0.000,6,0.122,0.000,2451,2153,3523
$GC,5131,-0.66,-116.7,417.1,-6.3,273,5136,0.15,2.47,0.00,0.000,4,0.067,0.053,2389,3580,3522
$GC,5176,-0.55,-116.7,420.9,-8.8,274,5181,0.17,2.30,0.00,0.000,6,0.125,0.037,2440,2180,3522
$GC,5497,-0.65,-116.7,442.1,-6.5,285,5502,0.12,2.35,0.00,0.000,4,0.073,0.049,2386,771,3521
$GC,5548,-0.47,-116.7,446.7,-9.3,286,5553,0.25,2.25,0.00,0.000,6,0.123,0.038,2460,2179,3521
$GC,5863,-0.68,-116.7,464.4,-5.6,296,5868,0.20,2.40,0.00,0.000,4,0.058,0.050,2367,3585,3520
$GC,5898,-0.46,-116.7,467.3,-8.6,297,5903,0.32,2.35,0.00,0.000,6,0.118,0.038,2465,2166,3520
$GC,6229,-0.69,-116.7,485.5,-5.3,308,6231,0.22,0.00,0.00,0.000,6,0.058,0.000,2374,2166,3519
$GC,6533,-0.50,-116.7,512.0,-8.9,316,6538,0.20,2.38,0.00,0.000,4,0.121,0.051,2443,769,3519
$GC,6574,-0.59,-116.7,515.1,-7.1,316,6578,0.00,2.30,0.00,0.000,6,0.000,0.039,2443,2178,3519
$GC,6906,-0.72,-116.7,534.6,-5.8,322,6911,0.17,2.40,0.00,0.000,4,0.061,0.053,2365,3586,3518
$GC,6935,-0.58,-116.7,536.7,-8.1,322,6940,0.20,2.35,0.00,0.000,6,0.123,0.038,2424,2156,3518
$GC,7274,-0.58,-116.7,559.2,-6.6,328,7278,0.00,2.30,0.00,0.000,4,0.000,0.051,2424,768,3517
$GC,7308,-0.58,-116.7,561.8,-7.8,328,7312,0.00,2.30,0.00,0.000,6,0.000,0.041,2425,2180,3517
$GC,7640,-0.58,-116.7,582.9,-6.3,334,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2180,3517
$GC,7943,-0.58,-116.7,601.3,-6.1,339,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2180,3517
$GC,8248,-0.58,-116.7,618.9,-5.8,344,8252,0.00,2.42,0.00,0.000,4,0.000,0.054,2425,3596,3516
$GC,8282,-0.64,-116.7,620.9,-5.8,344,8286,0.00,2.35,0.00,0.000,6,0.000,0.036,2424,2173,3516
$GC,8614,-0.64,-116.7,639.3,-5.6,350,8618,0.00,2.33,0.00,0.000,4,0.000,0.048,2424,758,3516
$GC,8684,-0.64,-116.7,643.7,-6.6,351,8689,0.00,2.28,0.00,0.000,6,0.000,0.042,2425,2178,3515
$GC,9057,-0.64,-116.7,665.1,-5.8,357,9061,0.00,2.40,0.00,0.000,4,0.000,0.055,2425,3581,3515
$GC,9091,-0.72,-116.7,667.3,-6.4,357,9096,0.15,2.35,0.00,0.000,6,0.067,0.039,2364,2155,3515
$GC,9419,-0.50,-116.7,694.9,-8.6,363,9424,0.25,2.35,0.00,0.000,4,0.121,0.050,2447,765,3514
$GC,9470,-0.63,-116.7,698.6,-6.1,363,9475,0.12,2.28,0.00,0.000,6,0.071,0.042,2394,2166,3514
$GC,9782,-0.55,-116.7,721.6,-7.5,368,9786,0.15,2.45,0.00,0.000,4,0.124,0.056,2436,3589,3514
$GC,9817,-0.67,-116.7,723.9,-6.0,368,9822,0.12,2.38,0.00,0.000,6,0.074,0.040,2382,2163,3514
$GC,10149,-0.54,-116.7,750.0,-7.9,374,10154,0.17,2.38,0.00,0.000,4,0.123,0.051,2436,761,3513
$GC,10196,-0.62,-116.7,753.2,-6.4,374,10200,0.00,2.28,0.00,0.000,6,0.000,0.043,2436,2165,3513
$GC,10519,-0.74,-116.7,773.0,-6.2,380,10524,0.17,2.45,0.00,0.000,4,0.064,0.056,2362,3592,3514
$GC,10575,-0.54,-116.7,777.7,-9.0,380,10582,0.25,2.38,0.00,0.000,6,0.118,0.040,2436,2160,3513
$GC,10887,-0.67,-116.7,795.8,-5.6,386,10892,0.12,2.47,0.00,0.000,4,0.079,0.057,2382,3585,3513
$GC,10917,-0.61,-116.7,797.9,-7.5,386,10922,0.12,2.33,0.00,0.000,6,0.133,0.041,2417,2180,3512
$GC,11250,-0.61,-116.7,818.1,-6.0,392,11254,0.00,2.35,0.00,0.000,4,0.000,0.053,2417,770,3512
$GC,11287,-0.61,-116.7,820.4,-6.6,392,11291,0.00,2.30,0.00,0.000,6,0.000,0.040,2417,2186,3513
$GC,11620,-0.61,-116.7,840.0,-5.8,398,11624,0.00,2.42,0.00,0.000,4,0.000,0.056,2417,3597,3512
$GC,11648,-0.61,-116.7,841.7,-6.0,398,11652,0.00,2.35,0.00,0.000,6,0.000,0.038,2417,2172,3512
$GC,11988,-0.61,-116.7,861.2,-5.8,404,11992,0.00,2.35,0.00,0.000,4,0.000,0.051,2418,768,3512
$GC,12046,-0.61,-116.7,865.1,-7.0,404,12049,0.00,2.28,0.00,0.000,6,0.000,0.042,2417,2180,3512
$GC,12362,-0.61,-116.7,884.3,-6.0,410,12366,0.00,2.40,0.00,0.000,4,0.000,0.057,2417,3590,3511
$GC,12402,-0.69,-116.7,886.9,-6.6,410,12406,0.00,2.35,0.00,0.000,6,0.000,0.041,2417,2177,3512
$GC,12730,-0.69,-116.7,906.9,-6.1,416,12734,0.00,2.35,0.00,0.000,4,0.000,0.051,2417,768,3511
$GC,12775,-0.69,-116.7,910.1,-7.0,416,12780,0.00,2.33,0.00,0.000,6,0.000,0.041,2418,2182,3511
$GC,13097,-0.69,-116.7,930.1,-6.2,422,13101,0.00,2.40,0.00,0.000,4,0.000,0.055,2418,3596,3511
$GC,13138,-0.76,-116.7,932.8,-6.2,422,13143,0.15,2.35,0.00,0.000,6,0.066,0.038,2355,2163,3511
$GC,13460,-0.53,-116.7,960.3,-8.7,428,13465,0.25,2.35,0.00,0.000,4,0.122,0.053,2439,773,3511
$GC,13511,-0.65,-116.7,964.0,-6.5,428,13516,0.12,2.30,0.00,0.000,6,0.074,0.041,2390,2183,3511
$GC,13834,-0.58,-116.7,988.0,-7.6,434,13838,0.12,2.40,0.00,0.000,4,0.132,0.054,2423,3592,3511
$STATE,13858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13858,begin apogee
$GC,13868,-0.23,0.0,990.0,6.4,434,13972,0.32,0.00,101.12,1.405,6,0.113,0.000,2532,2264,3046
$STATE,13973,end apogee,CONTROL_FINISHED_OK
$STATE,13973,begin climb
$GC,13978,0.77,116.7,993.7,0.0,436,14100,1.00,0.00,113.95,1.378,6,0.082,0.000,2854,2264,2569
$GC,14404,0.60,129.9,974.1,6.3,443,14419,0.17,0.00,12.12,1.266,6,0.133,0.000,2802,2264,2516
$GC,14708,0.64,160.7,957.1,5.6,448,14738,0.00,0.00,28.17,1.348,6,0.000,0.000,2802,2264,2390
$GC,15011,0.75,165.5,937.1,6.7,453,15022,0.15,2.40,5.22,1.022,4,0.069,0.052,2867,3681,2370
$GC,15045,0.49,165.5,934.0,9.7,453,15051,0.35,2.28,0.00,0.000,6,0.129,0.035,2768,2266,2370
$GC,15373,0.76,189.0,914.1,5.9,459,15402,0.22,2.40,21.85,1.322,4,0.058,0.048,2869,861,2274
$GC,15444,0.62,189.0,907.9,9.4,460,15449,0.20,2.28,0.00,0.000,6,0.120,0.036,2808,2269,2273
$GC,15804,0.74,189.0,880.9,7.3,466,15809,0.12,2.35,0.00,0.000,4,0.074,0.052,2866,3681,2271
$GC,15839,0.53,189.0,877.7,9.9,466,15844,0.28,2.30,0.00,0.000,6,0.127,0.035,2786,2254,2270
$GC,16173,0.75,193.2,855.2,6.7,472,16183,0.20,2.30,4.45,0.939,4,0.061,0.051,2878,853,2258
$GC,16242,0.57,193.2,848.8,10.2,473,16246,0.28,2.28,0.00,0.000,6,0.120,0.040,2795,2268,2258
$GC,16614,0.77,199.1,823.6,6.6,479,16628,0.20,2.40,7.00,1.118,4,0.061,0.054,2882,3674,2234
$GC,16668,0.49,199.1,818.1,10.2,479,16674,0.40,2.30,0.00,0.000,6,0.125,0.035,2769,2246,2233
$GC,16981,0.82,221.1,799.1,6.0,484,17008,0.28,2.30,20.98,1.259,4,0.055,0.046,2891,853,2143
$GC,17044,0.63,221.1,793.0,11.4,485,17049,0.25,2.28,0.00,0.000,6,0.120,0.037,2815,2255,2140
$GC,17411,0.77,221.1,763.9,7.8,491,17416,0.15,2.38,0.00,0.000,4,0.066,0.053,2881,3684,2139
$GC,17495,0.55,221.1,754.6,10.8,492,17500,0.30,2.30,0.00,0.000,6,0.122,0.033,2790,2244,2139
$GC,17845,0.82,235.1,731.8,6.3,498,17865,0.22,2.30,12.93,1.183,4,0.058,0.046,2891,861,2087
$GC,17883,0.65,235.1,728.3,9.2,498,17888,0.22,2.25,0.00,0.000,6,0.119,0.035,2823,2268,2086
$GC,18211,0.95,235.1,704.3,7.2,504,18216,0.22,2.38,0.00,0.000,4,0.058,0.052,2922,3683,2083
$GC,18257,0.55,235.1,699.7,11.6,504,18262,0.45,2.28,0.00,0.000,6,0.127,0.033,2787,2262,2084
$GC,18573,0.85,254.4,679.7,6.1,510,18598,0.25,2.35,18.02,1.179,4,0.053,0.046,2902,866,2007
$GC,18650,0.70,254.4,671.8,11.7,511,18655,0.22,2.25,0.00,0.000,6,0.122,0.036,2834,2273,2005
$GC,19006,0.81,254.4,643.3,7.9,517,19010,0.12,2.33,0.00,0.000,4,0.073,0.051,2885,3686,2003
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$STATE,26204,end climb,SURFACE_DEPTH_REACHED
$STATE,26204,begin surface coast
$FINISH,3.3,1.003289
$STATE,26244,end surface coast,CONTROL_FINISHED_OK
$STATE,26244,begin surface
$SM_CCo,26326,0.00,0.000,0,0,1790,307.85
$SM_GC,4.39,7.70,0.00,0.00,0.050,0.000,0.000,147,2217,1790,-7.64,1.05,307.85
$IRIDIUM_FIX,6416.43,-10.08,131098,191942
$TT8_MAMPS,0.026845
$HUMID,1897
$INTERNAL_PRESSURE,9.12531
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.0,90.568
$10V_AH,10.3,63.700
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$DEVICE_SECS,35.625,274.325,390.075,0.000,0.000,23.510,43.075,178.630,0.000,0.000,0.000,12.439,2039.715,20922.117,589.679,2341.090,805.530,0.000,1899.001,0.000,2290.100,0.000,0.532,0.000
$DEVICE_MAMPS,174.876,59.826,1405.144,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,606.071,601.749,285.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44385,839
$CAP_FILE_SIZE,213642,0
$CFSIZE,260165632,206516224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141, 14.7,1
$GPS,200709,105255,6451.147,-20.389,39,1.8,39,-5.4