version: 66.13
glider: 128
mission: 4
dive: 5
start: 1 15 118 12 57 54
data:
$ID,128
$MISSION,4
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,180
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$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,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2908
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,150118,125239,-340.0998,5536.2075,34,1.0,38,-4.8,0.5,112.4,7,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-70.1
$GPS2,150118,125716,-340.1254,5536.2896,18,1.0,22,-4.8,0.8,24.4,8,9.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,318.0,74350,-9.2,-6.667,-14.80,4377
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.50,-194.6,234,1936,709,636,0.0,0.0,0,108,0.00,0.00,-98.03,0.003,16386,0.000,0.000,231,1937,3647,3628,3666,0,0,0,0,0,0,14.99,28.83,15.01
$GC,110,-0.50,-194.6,231,1937,3629,3667,4.7,-13.1,16,132,12.27,2.35,-0.77,0.139,18692,0.443,0.082,2675,3378,3703,3697,3710,0,0,0,0,0,0,14.50,14.13,14.71
$GC,168,-0.50,-194.6,2674,3378,3702,3708,28.8,-19.9,26,176,0.00,2.33,0.00,0.000,1030,0.000,0.058,2675,1952,3704,3704,3705,0,0,0,0,0,0,14.86,14.78,14.88
$GC,483,-0.50,-194.6,2674,1949,3711,3702,67.4,-6.7,71,492,0.00,2.35,0.00,0.000,260,0.000,0.080,2675,3363,3707,3712,3702,0,0,0,0,0,0,15.11,14.85,15.14
$GC,545,-0.50,-194.6,2674,3363,3712,3702,71.3,-6.2,83,549,0.00,2.28,0.00,0.000,1062,0.000,0.053,2675,1938,3707,3712,3702,0,0,0,0,0,0,14.96,14.90,14.98
$GC,857,-0.50,-194.6,2674,1934,3716,3702,87.7,-6.0,115,866,0.00,2.38,0.00,0.000,292,0.000,0.080,2675,3365,3709,3716,3702,0,0,0,0,0,0,15.16,14.90,15.19
$GC,951,-0.50,-194.6,2674,3365,3716,3702,93.8,-6.4,134,959,0.00,2.28,0.00,0.000,1062,0.000,0.052,2674,1938,3709,3716,3702,0,0,0,0,0,0,15.02,14.95,15.03
$GC,1258,-0.50,-194.6,2674,1935,3717,3702,110.8,-5.0,165,1268,0.00,2.38,0.00,0.000,292,0.000,0.081,2675,3366,3709,3717,3702,0,0,0,0,0,0,15.19,14.92,15.22
$GC,1340,-0.50,-194.6,2674,3366,3717,3702,115.4,-5.8,181,1345,0.00,2.25,0.00,0.000,1062,0.000,0.053,2675,1945,3709,3717,3702,0,0,0,0,0,0,15.04,14.97,15.06
$GC,1652,-0.50,-194.6,2674,1942,3717,3700,133.6,-6.0,213,1662,0.00,2.38,0.00,0.000,292,0.000,0.085,2675,3369,3708,3717,3700,0,0,0,0,0,0,15.21,14.94,15.23
$GC,1705,-0.50,-194.6,2674,3368,3717,3700,136.6,-5.9,223,1709,0.00,2.28,0.00,0.000,1062,0.000,0.053,2675,1940,3708,3717,3700,0,0,0,0,0,0,15.05,14.99,15.07
$GC,2016,-0.50,-194.6,2674,1937,3717,3699,155.4,-5.6,255,2025,0.00,2.38,0.00,0.000,292,0.000,0.083,2675,3366,3708,3717,3699,0,0,0,0,0,0,15.22,14.95,15.24
$GC,2128,-0.50,-194.6,2674,3366,3717,3698,161.2,-5.2,277,2132,0.00,2.25,0.00,0.000,1062,0.000,0.054,2675,1949,3708,3718,3698,0,0,0,0,0,0,15.06,15.00,15.08
$GC,2439,-0.50,-194.6,2674,1945,3718,3697,176.9,-5.1,309,2448,0.00,2.35,0.00,0.000,292,0.000,0.084,2674,3364,3707,3717,3697,0,0,0,0,0,0,15.23,14.95,15.25
$GC,2500,-0.50,-194.6,2674,3364,3717,3696,179.8,-4.9,321,2505,0.00,2.28,0.00,0.000,1062,0.000,0.054,2675,1941,3706,3717,3696,0,0,0,0,0,0,15.07,15.00,15.08
$GC,2812,-0.50,-194.6,2674,1937,3717,3694,195.6,-5.5,353,2816,0.00,2.40,0.00,0.000,292,0.000,0.086,2674,3365,3705,3717,3694,0,0,0,0,0,0,15.23,14.95,15.26
$GC,2863,-0.50,-194.6,2674,3365,3717,3693,198.5,-6.1,363,2868,0.00,2.25,0.00,0.000,1062,0.000,0.055,2675,1947,3705,3717,3693,0,0,0,0,0,0,15.07,15.01,15.09
$GC,3174,-0.50,-194.6,2674,1943,3716,3692,219.7,-7.2,395,3178,0.00,2.22,0.00,0.000,516,0.000,0.070,2674,543,3704,3716,3693,0,0,0,0,0,0,15.23,14.97,15.25
$GC,3306,-0.50,-194.6,2674,543,3715,3692,229.0,-7.3,421,3310,0.00,2.25,0.00,0.000,1030,0.000,0.061,2675,1959,3703,3715,3692,0,0,0,0,0,0,15.07,14.99,15.08
$GC,3617,-0.50,-194.6,2674,1959,3715,3692,246.2,-5.4,453,3622,0.00,2.25,0.00,0.000,548,0.000,0.066,2674,551,3703,3714,3692,0,0,0,0,0,0,15.23,14.97,15.26
$GC,3691,-0.50,-194.6,2674,551,3713,3691,250.9,-7.3,468,3696,0.00,2.28,0.00,0.000,1030,0.000,0.061,2675,1947,3702,3713,3691,0,0,0,0,0,0,15.02,14.97,15.04
$GC,4009,-0.50,-194.6,2674,1948,3712,3689,275.2,-8.6,481,4013,0.00,2.25,0.00,0.000,516,0.000,0.070,2675,547,3700,3712,3689,0,0,0,0,0,0,15.24,14.98,15.26
$GC,4108,-0.50,-194.6,2674,547,3712,3689,285.5,-10.2,501,4112,0.00,2.25,0.00,0.000,1030,0.000,0.061,2674,1953,3700,3712,3689,0,0,0,0,0,0,15.07,14.99,15.09
$GC,4430,-0.50,-194.6,2674,1955,3711,3687,312.7,-7.6,515,4434,0.00,2.30,0.00,0.000,260,0.000,0.086,2674,3359,3699,3711,3688,0,0,0,0,0,0,15.25,14.97,15.27
$GC,4581,-0.50,-194.6,2674,3359,3711,3687,322.0,-5.7,545,4585,0.00,2.25,0.00,0.000,1062,0.000,0.056,2675,1944,3698,3710,3687,0,0,0,0,0,0,15.08,15.01,15.09
$GC,4912,-0.50,-194.6,2674,1940,3709,3685,338.7,-5.1,561,4916,0.00,2.38,0.00,0.000,292,0.000,0.087,2675,3365,3697,3709,3685,0,0,0,0,0,0,15.25,14.97,15.27
$GC,5011,-0.50,-194.6,2673,3364,3709,3684,344.3,-5.9,581,5015,0.00,2.28,0.00,0.000,1062,0.000,0.058,2675,1945,3696,3709,3684,0,0,0,0,0,0,15.08,15.01,15.10
$STATE,5271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5272,begin apogee
$GC,5277,-0.14,0.0,2675,2803,3708,3683,361.1,-6.6,593,5461,0.43,0.00,175.80,1.340,10246,0.128,0.000,2817,2803,2907,2936,2879,0,0,0,0,1,0,14.96,14.26,13.59
$STATE,5462,end apogee,CONTROL_FINISHED_OK
$STATE,5462,begin climb
$GC,5463,0.50,194.6,2818,2803,2936,2879,369.3,0.0,599,5623,0.62,1.55,146.48,1.616,11012,0.088,0.083,3026,3707,2113,2161,2065,0,0,0,0,1,0,14.29,14.04,13.53
$GC,5787,0.50,194.6,3028,3707,2161,2065,329.0,14.5,666,5793,0.00,1.50,0.00,0.000,1030,0.000,0.057,3028,2804,2113,2161,2065,0,0,0,0,0,0,14.66,14.62,14.69
$GC,6110,0.50,194.6,3028,2803,2161,2065,283.2,14.8,680,6114,0.00,2.30,0.00,0.000,516,0.000,0.073,3028,1396,2113,2161,2065,0,0,0,0,0,0,15.04,14.80,15.07
$GC,6338,0.50,194.6,3028,1395,2161,2065,251.1,13.9,726,6344,0.00,2.35,0.00,0.000,1030,0.000,0.072,3028,2803,2113,2161,2065,0,0,0,0,0,0,14.93,14.84,14.95
$GC,6651,0.50,194.6,3028,2803,2161,2065,205.1,14.5,758,6655,0.00,2.33,0.00,0.000,516,0.000,0.070,3029,1387,2113,2161,2065,0,0,0,0,0,0,15.14,14.89,15.16
$GC,6862,0.50,194.6,3028,1387,2159,2065,174.7,14.8,800,6866,0.00,2.35,0.00,0.000,1030,0.000,0.073,3028,2804,2112,2159,2066,0,0,0,0,0,0,14.98,14.89,15.00
$GC,7173,0.50,194.6,3028,2804,2159,2065,127.9,14.0,832,7177,0.00,2.33,0.00,0.000,516,0.000,0.070,3029,1383,2112,2159,2065,0,0,0,0,0,0,15.17,14.92,15.19
$GC,7393,0.50,194.6,3028,1383,2157,2065,99.3,13.2,876,7397,0.00,2.35,0.00,0.000,1030,0.000,0.072,3029,2807,2111,2157,2065,0,0,0,0,0,0,15.01,14.91,15.03
$GC,7699,0.50,194.6,3028,2807,2157,2065,61.4,10.7,907,7703,0.00,2.30,0.00,0.000,516,0.000,0.066,3028,1390,2111,2157,2065,0,0,0,0,0,0,15.19,14.95,15.20
$GC,7770,0.58,255.8,3028,1390,2156,2065,56.7,5.2,921,7832,0.00,2.33,49.45,1.102,9254,0.000,0.074,3028,2800,1865,1908,1822,0,0,0,0,1,0,15.02,14.92,14.12
$GC,8131,0.58,255.8,3028,2801,1914,1824,35.0,7.8,985,8137,0.00,2.30,0.00,0.000,516,0.000,0.063,3028,1388,1869,1914,1824,0,0,0,0,0,0,15.04,14.81,15.06
$GC,8365,0.58,255.8,3028,1388,1914,1824,18.6,6.7,1031,8372,0.00,2.35,0.00,0.000,1030,0.000,0.070,3028,2808,1869,1914,1824,0,0,0,0,0,0,14.92,14.83,14.95
$STATE,8572,end climb,SURFACE_DEPTH_REACHED
$STATE,8572,begin surface coast
$FINISH,0.3,1.022613
$STATE,8609,end surface coast,CONTROL_FINISHED_OK
$STATE,8609,begin surface
$SM_CCo,8625,140.57,0.091,0,0,664,550.20
$SM_GC,0.76,8.07,1.42,140.57,0.099,0.054,0.091,249,1943,664,-8.12,0.99,550.20,0,0,0,0,0,0,14.83,14.90,14.80
$IRIDIUM_FIX,-335.07,5533.05,150118,102051
$TT8_MAMPS,0.018725,0.154294
$HUMID,53.74
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,13.53,3.325
$10V_AH,13.20,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.400,89.050,371.725,140.575,0.000,0.000,0.000,196.050,0.000,0.000,23.493,2209.881,4371.612,644.112,1771.841,66.331,0.000,1673.622,0.000,1539.543,0.000,0.547,0.000
$DEVICE_MAMPS,442.935,87.210,1615.680,91.035,0.000,0.000,0.000,130.050,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,517.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304660
$DATA_FILE_SIZE,46739,1079
$CAP_FILE_SIZE,101949,0
$CFSIZE,260034560,258326528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$CURRENT,0.479,120.14,1
$GPS,150118,152508,-339.756,5537.217,31,1.1,34,-4.8,0.7,120.6,7,9.6