version: 66.04
glider: 160
mission: 3
dive: 633
start: 8 6 109 16 27 54
data:
$ID,160
$MISSION,3
$DIVE,633
$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,-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,-20487.334
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,162100,6326.370,246.074,38,1.1,38,-3.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.62
$_SM_ANGLEo,-68.3
$GPS2,162732,6326.352,246.088,12,1.2,12,-3.4
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$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,123.7,73163,-13.7,-6.875
$D_GRID,1155
$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,17,-0.77,-116.7,0.0,0.0,0,26,0.00,0.00,-7.20,0.000,2,0.000,0.000,127,2175,2000
$GC,30,-0.77,-116.7,3.5,-0.0,1,124,8.23,2.40,-78.43,0.000,4,0.196,0.061,2364,3586,3522
$GC,233,-0.17,-116.7,17.9,-18.0,34,240,0.62,2.30,0.00,0.000,6,0.129,0.033,2554,2163,3523
$GC,580,-0.75,-116.7,35.7,-6.8,95,587,0.47,2.42,0.00,0.000,4,0.044,0.044,2360,3600,3524
$GC,667,-0.32,-116.7,46.6,-13.9,110,674,0.47,2.28,0.00,0.000,6,0.117,0.031,2506,2186,3524
$GC,1009,-0.52,-116.7,69.0,-5.9,151,1013,0.17,2.33,0.00,0.000,4,0.057,0.046,2429,771,3525
$GC,1044,-0.35,-116.7,72.2,-9.5,152,1053,0.25,2.25,0.00,0.000,6,0.122,0.035,2503,2192,3524
$GC,1362,-0.53,-116.7,92.7,-6.3,168,1367,0.17,2.38,0.00,0.000,4,0.054,0.048,2422,3595,3525
$GC,1403,-0.38,-116.7,96.3,-10.3,170,1408,0.22,2.28,0.00,0.000,6,0.117,0.031,2489,2186,3525
$GC,1731,-0.51,-116.7,119.5,-6.9,186,1736,0.12,2.35,0.00,0.000,4,0.067,0.046,2429,767,3526
$GC,1760,-0.40,-116.7,122.1,-9.9,187,1765,0.20,2.30,0.00,0.000,6,0.123,0.034,2486,2196,3526
$GC,2078,-0.53,-116.7,144.1,-6.7,202,2083,0.15,2.35,0.00,0.000,4,0.056,0.047,2410,3583,3526
$GC,2164,-0.37,-116.7,152.0,-10.4,206,2169,0.28,2.28,0.00,0.000,6,0.115,0.032,2494,2186,3526
$GC,2493,-0.54,-116.7,172.7,-5.7,222,2495,0.17,0.00,0.00,0.000,6,0.058,0.000,2417,2187,3525
$GC,2802,-0.39,-116.7,199.8,-9.0,237,2804,0.22,0.00,0.00,0.000,6,0.116,0.000,2487,2186,3526
$GC,3112,-0.54,-116.7,220.6,-6.9,252,3116,0.15,2.40,0.00,0.000,4,0.058,0.045,2416,3598,3526
$GC,3168,-0.40,-116.7,226.0,-10.0,254,3175,0.22,2.28,0.00,0.000,6,0.117,0.031,2484,2188,3525
$GC,3486,-0.53,-116.7,247.5,-6.4,270,3488,0.12,0.00,0.00,0.000,6,0.062,0.000,2422,2188,3526
$GC,3795,-0.41,-116.7,274.3,-8.6,285,3797,0.20,0.00,0.00,0.000,6,0.117,0.000,2484,2189,3525
$GC,4105,-0.56,-116.7,293.3,-6.0,300,4110,0.15,2.40,0.00,0.000,4,0.058,0.046,2410,3592,3526
$GC,4156,-0.41,-116.7,297.7,-9.1,302,4161,0.22,2.28,0.00,0.000,6,0.118,0.031,2477,2190,3525
$GC,4481,-0.52,-116.7,319.0,-6.5,313,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2191,3525
$GC,4788,-0.63,-116.7,337.7,-6.2,323,4790,0.20,0.00,0.00,0.000,6,0.053,0.000,2383,2191,3524
$GC,5093,-0.36,-116.7,369.9,-10.9,333,5095,0.38,0.00,0.00,0.000,6,0.118,0.000,2501,2191,3524
$GC,5399,-0.59,-116.7,387.6,-5.4,343,5404,0.20,2.35,0.00,0.000,4,0.054,0.045,2406,775,3523
$GC,5440,-0.34,-116.7,391.2,-10.0,344,5445,0.32,2.30,0.00,0.000,6,0.126,0.037,2502,2211,3523
$GC,5767,-0.58,-116.7,408.2,-5.0,355,5769,0.22,0.00,0.00,0.000,6,0.051,0.000,2404,2213,3523
$GC,6071,-0.40,-116.7,433.9,-8.4,365,6076,0.22,2.35,0.00,0.000,4,0.119,0.051,2478,3584,3523
$GC,6104,-0.51,-116.7,435.8,-5.9,366,6108,0.00,2.28,0.00,0.000,6,0.000,0.035,2478,2196,3523
$GC,6440,-0.67,-116.7,451.9,-4.7,377,6445,0.20,2.38,0.00,0.000,4,0.053,0.048,2378,781,3523
$GC,6492,-0.34,-116.7,456.4,-10.0,378,6498,0.43,2.30,0.00,0.000,6,0.123,0.038,2506,2213,3522
$GC,6807,-0.61,-116.7,472.8,-5.5,388,6811,0.22,2.30,0.00,0.000,4,0.051,0.049,2402,3586,3522
$GC,6846,-0.41,-116.7,476.2,-9.4,389,6851,0.25,2.25,0.00,0.000,6,0.117,0.034,2477,2203,3522
$GC,7184,-0.56,-116.7,500.0,-6.9,400,7188,0.15,2.38,0.00,0.000,4,0.061,0.050,2407,769,3522
$GC,7263,-0.39,-116.7,508.0,-11.2,402,7267,0.28,2.33,0.00,0.000,6,0.123,0.038,2488,2212,3522
$GC,7614,-0.59,-116.7,530.9,-6.4,408,7618,0.20,2.33,0.00,0.000,4,0.052,0.051,2392,3584,3521
$GC,7648,-0.38,-116.7,534.2,-10.2,408,7653,0.32,2.28,0.00,0.000,6,0.119,0.035,2490,2192,3520
$GC,7976,-0.59,-116.7,554.6,-6.1,414,7980,0.20,2.35,0.00,0.000,4,0.055,0.049,2397,768,3520
$GC,8050,-0.38,-116.7,561.9,-10.9,415,8055,0.32,2.33,0.00,0.000,6,0.123,0.039,2491,2210,3520
$GC,8412,-0.61,-116.7,584.1,-6.0,421,8416,0.20,2.33,0.00,0.000,4,0.056,0.053,2402,3591,3519
$GC,8469,-0.46,-116.7,589.2,-9.6,421,8477,0.20,2.28,0.00,0.000,6,0.120,0.036,2461,2192,3518
$GC,8780,-0.55,-116.7,611.8,-7.0,427,8784,0.00,2.38,0.00,0.000,4,0.000,0.051,2461,764,3517
$GC,8815,-0.55,-116.7,614.7,-7.9,427,8819,0.00,2.33,0.00,0.000,6,0.000,0.039,2461,2201,3517
$GC,9144,-0.64,-116.7,637.0,-6.8,433,9149,0.17,2.40,0.00,0.000,4,0.056,0.054,2380,3596,3516
$GC,9195,-0.40,-116.7,641.9,-10.0,433,9200,0.32,2.28,0.00,0.000,6,0.119,0.035,2477,2194,3516
$GC,9517,-0.58,-116.7,661.1,-5.9,439,9522,0.15,2.38,0.00,0.000,4,0.063,0.052,2411,777,3514
$GC,9557,-0.40,-116.7,664.6,-9.8,439,9562,0.25,2.33,0.00,0.000,6,0.126,0.041,2482,2204,3515
$GC,9880,-0.60,-116.7,683.1,-5.6,445,9885,0.17,2.40,0.00,0.000,4,0.059,0.057,2406,3585,3513
$GC,9914,-0.47,-116.7,686.0,-9.1,445,9919,0.20,2.30,0.00,0.000,6,0.120,0.039,2464,2205,3513
$GC,10243,-0.58,-116.7,707.1,-6.5,451,10248,0.12,2.42,0.00,0.000,4,0.071,0.054,2407,762,3513
$GC,10283,-0.39,-116.7,710.6,-9.0,451,10288,0.28,2.33,0.00,0.000,6,0.128,0.040,2486,2205,3512
$GC,10606,-0.61,-116.7,728.3,-5.3,457,10611,0.20,2.38,0.00,0.000,4,0.056,0.056,2393,3583,3512
$GC,10636,-0.49,-116.7,730.6,-8.6,457,10641,0.20,2.33,0.00,0.000,6,0.123,0.040,2452,2188,3511
$GC,10969,-0.49,-116.7,751.8,-6.3,463,10973,0.00,2.35,0.00,0.000,4,0.000,0.052,2451,770,3510
$GC,11020,-0.49,-116.7,755.2,-6.8,463,11025,0.00,2.35,0.00,0.000,6,0.000,0.042,2450,2206,3510
$GC,11338,-0.49,-116.7,775.8,-6.6,469,11339,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2206,3509
$GC,11640,-0.49,-116.7,795.9,-6.6,474,11644,0.00,2.40,0.00,0.000,4,0.000,0.059,2449,3595,3508
$GC,11668,-0.56,-116.7,797.8,-5.9,474,11673,0.00,2.33,0.00,0.000,6,0.000,0.038,2450,2192,3508
$GC,12003,-0.56,-116.7,819.4,-6.5,480,12007,0.00,2.38,0.00,0.000,4,0.000,0.054,2449,762,3507
$GC,12059,-0.56,-116.7,823.7,-7.8,480,12067,0.00,2.33,0.00,0.000,6,0.000,0.041,2450,2194,3507
$GC,12370,-0.56,-116.7,844.2,-6.7,486,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2193,3506
$GC,12673,-0.56,-116.7,864.0,-6.5,491,12677,0.00,2.40,0.00,0.000,4,0.000,0.057,2449,3582,3505
$GC,12703,-0.64,-116.7,865.8,-6.4,491,12708,0.12,2.33,0.00,0.000,6,0.069,0.040,2395,2186,3505
$GC,13036,-0.47,-116.7,892.6,-8.2,497,13041,0.20,2.40,0.00,0.000,4,0.127,0.051,2460,767,3505
$GC,13111,-0.54,-116.7,897.7,-6.7,498,13115,0.00,2.35,0.00,0.000,6,0.000,0.043,2460,2193,3505
$GC,13466,-0.64,-116.7,917.8,-5.7,504,13468,0.17,0.00,0.00,0.000,6,0.060,0.000,2384,2193,3503
$GC,13770,-0.42,-116.7,943.1,-8.5,509,13772,0.30,0.00,0.00,0.000,6,0.123,0.000,2477,2193,3503
$GC,14074,-0.61,-116.7,959.1,-5.1,514,14078,0.17,2.42,0.00,0.000,4,0.064,0.056,2404,3587,3503
$GC,14113,-0.48,-116.7,962.0,-7.3,514,14118,0.17,2.35,0.00,0.000,6,0.124,0.040,2455,2184,3503
$GC,14435,-0.58,-116.7,981.7,-6.2,520,14440,0.00,2.40,0.00,0.000,4,0.000,0.055,2455,771,3502
$GC,14471,-0.64,-116.7,984.2,-6.9,520,14476,0.15,2.38,0.00,0.000,6,0.063,0.044,2392,2194,3502
$STATE,14551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14552,begin apogee
$GC,14560,-0.23,0.0,991.3,8.5,522,14662,0.47,0.00,98.82,1.407,6,0.127,0.000,2538,2282,3046
$STATE,14663,end apogee,CONTROL_FINISHED_OK
$STATE,14663,begin climb
$GC,14667,0.77,116.7,994.2,0.0,523,14811,1.02,0.00,120.65,1.305,6,0.090,0.000,2855,2282,2570
$GC,15100,0.75,160.3,981.8,5.1,531,15145,0.00,2.55,38.95,1.358,4,0.000,0.050,2855,850,2391
$GC,15220,0.76,171.4,974.3,6.4,532,15237,0.00,2.33,10.70,1.231,6,0.000,0.037,2855,2266,2348
$GC,15605,0.76,171.4,947.9,6.9,539,15606,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2266,2344
$GC,15907,0.76,171.4,926.5,7.1,544,15908,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2266,2343
$GC,16211,0.76,171.4,904.5,7.3,549,16212,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2266,2342
$GC,16513,0.76,171.4,883.1,7.0,554,16515,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2266,2342
$GC,16817,0.76,171.4,861.7,7.0,559,16818,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2266,2342
$GC,17121,0.76,171.4,840.3,7.0,564,17122,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2266,2341
$GC,17423,0.77,174.0,819.8,6.8,569,17425,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2266,2341
$GC,17726,0.78,184.1,800.2,6.5,574,17740,0.00,0.00,11.65,1.212,6,0.000,0.000,2855,2266,2295
$GC,18029,0.79,190.7,780.3,6.6,579,18038,0.00,0.00,7.28,1.107,6,0.000,0.000,2855,2266,2268
$GC,18333,0.79,195.7,760.1,6.7,584,18341,0.00,0.00,5.90,1.039,6,0.000,0.000,2855,2266,2248
$GC,18636,0.86,195.7,739.1,6.9,589,18638,0.10,0.00,0.00,0.000,6,0.079,0.000,2900,2266,2247
$GC,18939,0.74,195.7,714.4,8.2,594,18941,0.17,0.00,0.00,0.000,6,0.127,0.000,2846,2266,2246
$GC,19243,0.87,216.9,695.7,6.0,599,19265,0.15,0.00,19.98,1.199,6,0.067,0.000,2909,2267,2161
$GC,19545,0.75,216.9,668.9,9.0,604,19547,0.17,0.00,0.00,0.000,6,0.123,0.000,2856,2267,2156
$GC,19849,0.88,228.6,648.9,6.4,609,19863,0.12,0.00,11.00,1.123,6,0.069,0.000,2911,2267,2114
$GC,20151,0.77,228.6,623.9,8.4,614,20156,0.17,2.42,0.00,0.000,4,0.122,0.054,2857,3686,2110
$GC,20191,0.77,228.6,621.0,7.0,614,20196,0.00,2.33,0.00,0.000,6,0.000,0.034,2857,2254,2110
$GC,20514,0.89,240.0,600.4,6.4,620,20532,0.12,2.38,11.40,1.094,4,0.069,0.048,2918,860,2066
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$STATE,27644,end climb,SURFACE_DEPTH_REACHED
$STATE,27644,begin surface coast
$FINISH,2.7,1.016487
$STATE,27679,end surface coast,CONTROL_FINISHED_OK
$STATE,27679,begin surface
$SM_CCo,27765,0.00,0.000,0,0,1819,300.98
$SM_GC,4.12,7.62,0.00,0.00,0.041,0.000,0.000,140,2165,1819,-7.65,-0.42,300.98
$IRIDIUM_FIX,6303.50,243.81,311098,090915
$TT8_MAMPS,0.026845
$HUMID,2991
$INTERNAL_PRESSURE,9.2718
$TCM_TEMP,17.30
$XPDR_PINGS,3
$24V_AH,20.9,99.577
$10V_AH,10.2,69.020
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$DEVICE_SECS,36.875,219.925,389.675,0.000,0.000,25.508,32.188,184.523,0.750,0.000,0.000,13.950,2181.743,22167.070,634.379,2316.763,840.415,0.000,1871.224,0.000,2285.549,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.641,726.744,380.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50527,977
$CAP_FILE_SIZE,206294,0
$CFSIZE,260165632,201895936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.143,128.5,1
$GPS,070809,001200,6323.236,255.967,38,0.9,38,-3.3