version: 66.13
glider: 128
mission: 4
dive: 26
start: 1 19 118 22 41 31
data:
$ID,128
$MISSION,4
$DIVE,26
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,360
$T_MISSION,430
$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,0.0026803601
$HD_B,0.0139002
$HD_C,9.1750398e-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,450
$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,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$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,2250
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3346
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00121
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$GPS1,190118,223516,-312.5509,5544.4917,34,1.7,45,-4.6,0.9,170.6,6,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-69.2
$GPS2,190118,224055,-312.6060,5544.5962,42,1.0,49,-4.6,0.7,142.5,7,10.0
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,310.9,29326,-14.5,-9.167,-20.51,3205
$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,-0.60,-194.6,242,2306,1301,1265,0.0,0.0,0,94,0.00,0.00,-84.38,0.003,16386,0.000,0.000,238,2311,3843,3824,3862,0,0,0,0,0,0,14.88,28.83,14.90
$GC,96,-0.60,-194.6,238,2311,3824,3863,4.7,-13.5,14,117,11.80,2.22,-0.93,0.094,18692,0.445,0.082,2548,3664,3904,3895,3914,0,0,0,0,0,0,14.46,14.07,14.71
$GC,210,-0.60,-194.6,2548,3663,3900,3914,45.4,-24.0,35,217,0.00,2.22,0.00,0.000,1030,0.000,0.045,2548,2273,3908,3902,3914,0,0,0,0,0,0,14.78,14.71,14.80
$GC,524,-0.60,-194.6,2547,2267,3907,3914,96.1,-16.9,68,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2267,3910,3907,3914,0,0,0,0,0,0,15.01,15.03,15.03
$GC,824,-0.60,-194.6,2548,2267,3910,3914,137.7,-12.6,98,828,0.00,2.35,0.00,0.000,260,0.000,0.084,2548,3665,3911,3909,3914,0,0,0,0,0,0,15.06,14.81,15.08
$GC,855,-0.60,-194.6,2547,3665,3910,3915,141.8,-13.3,104,860,0.00,2.25,0.00,0.000,1030,0.000,0.044,2548,2248,3911,3909,3914,0,0,0,0,0,0,14.92,14.86,14.94
$GC,1167,-0.60,-194.6,2547,2244,3910,3914,186.0,-14.6,136,1172,0.00,2.22,0.00,0.000,516,0.000,0.053,2548,837,3912,3910,3915,0,0,0,0,0,0,15.09,14.87,15.11
$GC,1214,-0.60,-194.6,2547,836,3910,3915,192.7,-13.8,145,1221,0.00,2.28,0.00,0.000,1030,0.000,0.057,2548,2247,3912,3910,3915,0,0,0,0,0,0,14.95,14.87,14.97
$GC,1519,-0.60,-194.6,2548,2247,3910,3915,236.8,-16.8,176,1524,0.00,2.35,0.00,0.000,260,0.000,0.088,2548,3662,3912,3910,3915,0,0,0,0,0,0,15.12,14.87,15.14
$GC,1600,-0.60,-194.6,2548,3663,3909,3915,250.9,-16.9,192,1606,0.00,2.28,0.00,0.000,1030,0.000,0.044,2548,2248,3912,3910,3915,0,0,0,0,0,0,14.95,14.92,14.97
$GC,1913,-0.60,-194.6,2547,2243,3910,3915,298.0,-13.3,204,1918,0.00,2.38,0.00,0.000,260,0.000,0.087,2548,3658,3912,3909,3915,0,0,0,0,0,0,15.14,14.90,15.16
$GC,1974,-0.60,-194.6,2547,3658,3908,3915,306.0,-12.7,216,1980,0.00,2.22,0.00,0.000,1030,0.000,0.046,2548,2242,3911,3908,3915,0,0,0,0,0,0,15.01,14.95,15.02
$GC,2306,-0.60,-194.6,2547,2237,3908,3914,346.7,-12.1,232,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2237,3911,3908,3914,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2606,-0.60,-194.6,2547,2237,3907,3911,382.5,-11.7,242,2610,0.00,2.40,0.00,0.000,260,0.000,0.088,2548,3660,3908,3906,3911,0,0,0,0,0,0,15.18,14.92,15.20
$GC,2667,-0.60,-194.6,2547,3659,3905,3910,389.4,-11.2,254,2671,0.00,2.25,0.00,0.000,1030,0.000,0.047,2548,2245,3907,3905,3910,0,0,0,0,0,0,15.04,14.98,15.05
$GC,2998,-0.60,-194.6,2547,2240,3905,3908,428.3,-12.2,270,3002,0.00,2.40,0.00,0.000,260,0.000,0.090,2548,3662,3906,3904,3908,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3042,-0.60,-194.6,2547,3662,3903,3908,434.0,-12.6,279,3047,0.00,2.22,0.00,0.000,1030,0.000,0.047,2548,2252,3905,3903,3908,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3359,-0.60,-194.6,2547,2247,3902,3906,473.4,-12.4,292,3364,0.00,2.40,0.00,0.000,260,0.000,0.090,2548,3668,3903,3902,3905,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3384,-0.60,-194.6,2547,3668,3901,3905,476.8,-13.0,297,3391,0.00,2.25,0.00,0.000,1030,0.000,0.047,2548,2244,3903,3901,3905,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3690,-0.60,-194.6,2547,2238,3901,3903,514.5,-12.0,308,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2238,3902,3901,3903,0,0,0,0,0,0,15.19,15.22,15.22
$GC,3990,-0.60,-194.6,2548,2238,3901,3901,546.7,-10.4,318,3994,0.00,2.40,0.00,0.000,260,0.000,0.090,2548,3656,3900,3900,3900,0,0,0,0,0,0,15.21,14.95,15.22
$GC,4051,-0.60,-194.6,2548,3656,3899,3900,553.0,-10.1,330,4055,0.00,2.22,0.00,0.000,1030,0.000,0.050,2548,2251,3899,3899,3900,0,0,0,0,0,0,15.07,15.00,15.07
$GC,4382,-0.60,-194.6,2547,2245,3898,3898,585.5,-9.7,346,4386,0.00,2.40,0.00,0.000,260,0.000,0.091,2548,3662,3897,3898,3897,0,0,0,0,0,0,15.21,14.95,15.22
$GC,4431,-0.60,-194.6,2547,3662,3898,3897,590.4,-9.6,356,4436,0.00,2.25,0.00,0.000,1030,0.000,0.049,2548,2242,3897,3898,3897,0,0,0,0,0,0,15.07,15.00,15.08
$GC,4743,-0.60,-194.6,2547,2238,3897,3896,620.2,-9.8,368,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2238,3896,3897,3896,0,0,0,0,0,0,15.20,15.23,15.23
$GC,5043,-0.60,-194.6,2547,2238,3897,3894,651.6,-10.9,378,5047,0.00,2.42,0.00,0.000,260,0.000,0.092,2548,3668,3895,3897,3893,0,0,0,0,0,0,15.21,14.96,15.23
$GC,5092,-0.60,-194.6,2548,3668,3897,3893,657.5,-11.5,388,5101,0.00,2.25,0.00,0.000,1030,0.000,0.047,2548,2241,3894,3896,3893,0,0,0,0,0,0,15.07,15.01,15.08
$GC,5399,-0.60,-194.6,2546,2240,3894,3890,693.7,-12.2,399,5404,0.00,2.40,0.00,0.000,260,0.000,0.093,2547,3662,3892,3895,3890,0,0,0,0,0,0,15.21,14.96,15.23
$GC,5490,-0.60,-194.6,2546,3662,3893,3889,705.2,-12.5,417,5494,0.00,2.22,0.00,0.000,1030,0.000,0.050,2546,2256,3890,3893,3888,0,0,0,0,0,0,15.07,15.01,15.08
$GC,5815,-0.60,-194.6,2546,2251,3893,3887,746.0,-12.8,432,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2251,3890,3893,3887,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6116,-0.60,-194.6,2546,2251,3892,3886,782.2,-11.9,442,6120,0.00,2.40,0.00,0.000,260,0.000,0.094,2546,3665,3889,3893,3885,0,0,0,0,0,0,15.21,14.96,15.23
$GC,6179,-0.60,-194.6,2546,3665,3891,3885,789.9,-11.2,455,6184,0.00,2.30,0.00,0.000,1030,0.000,0.050,2547,2244,3888,3892,3885,0,0,0,0,0,0,15.04,15.00,15.05
$GC,6507,-0.60,-194.6,2546,2239,3891,3883,826.2,-11.1,470,6513,0.00,2.42,0.00,0.000,260,0.000,0.094,2547,3667,3886,3891,3882,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6530,-0.60,-194.6,2546,3667,3891,3881,829.0,-12.1,475,6537,0.00,2.28,0.00,0.000,1030,0.000,0.050,2547,2237,3886,3890,3882,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6837,-0.60,-194.6,2546,2237,3890,3882,863.2,-11.2,486,6841,0.00,2.42,0.00,0.000,260,0.000,0.093,2546,3664,3886,3891,3881,0,0,0,0,0,0,15.21,14.96,15.23
$GC,6926,-0.60,-194.6,2546,3664,3890,3881,873.8,-11.5,504,6931,0.00,2.25,0.00,0.000,1030,0.000,0.050,2547,2248,3885,3890,3881,0,0,0,0,0,0,15.07,15.01,15.08
$GC,7253,-0.60,-194.6,2546,2242,3889,3879,908.8,-10.5,519,7257,0.00,2.42,0.00,0.000,260,0.000,0.096,2547,3665,3884,3889,3879,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7347,-0.60,-194.6,2546,3665,3888,3879,918.6,-9.9,538,7352,0.00,2.25,0.00,0.000,1030,0.000,0.050,2547,2251,3882,3887,3878,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7670,-0.60,-194.6,2546,2246,3887,3877,947.6,-8.8,552,7674,0.00,2.42,0.00,0.000,292,0.000,0.096,2546,3665,3882,3887,3877,0,0,0,0,0,0,15.20,14.95,15.22
$GC,7740,-0.60,-194.6,2546,3665,3887,3877,953.9,-8.7,566,7744,0.00,2.25,0.00,0.000,1062,0.000,0.051,2546,2251,3881,3886,3877,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8062,-0.60,-194.6,2546,2245,3886,3875,980.9,-8.5,580,8067,0.00,2.42,0.00,0.000,292,0.000,0.096,2547,3662,3880,3886,3875,0,0,0,0,0,0,15.20,14.95,15.22
$GC,8132,-0.60,-194.6,2546,3661,3885,3875,987.3,-9.0,594,8136,0.00,2.25,0.00,0.000,1062,0.000,0.054,2546,2254,3880,3886,3875,0,0,0,0,0,0,15.06,15.00,15.07
$STATE,8182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8182,begin apogee
$GC,8187,-0.12,0.0,2547,2368,3885,3874,991.6,-8.6,599,8374,0.60,0.00,184.43,1.615,10246,0.247,0.000,2714,2368,3346,3366,3326,0,0,0,0,0,0,14.87,14.12,13.50
$STATE,8375,end apogee,CONTROL_FINISHED_OK
$STATE,8376,begin climb
$GC,8377,0.60,194.6,2714,2368,3360,3319,996.5,0.0,605,8597,0.80,2.45,209.15,1.800,10500,0.157,0.094,2957,3679,2543,2589,2498,0,0,0,0,0,0,14.07,13.95,13.31
$GC,8688,0.60,194.6,2956,3679,2577,2493,974.2,11.5,670,8695,0.00,2.22,0.00,0.000,1030,0.000,0.054,2957,2365,2534,2577,2492,0,0,0,0,0,0,14.40,14.33,14.42
$GC,8995,0.60,194.6,2957,2364,2571,2488,944.4,9.6,681,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2364,2529,2571,2488,0,0,0,0,0,0,14.84,14.86,14.85
$GC,9295,0.61,207.0,2956,2364,2569,2487,917.6,8.8,691,9308,0.00,2.30,8.52,1.832,8484,0.000,0.086,2957,3687,2500,2542,2459,0,0,0,0,0,0,14.95,14.55,13.95
$GC,9328,0.61,207.0,2956,3686,2537,2459,914.2,9.6,698,9333,0.00,2.22,0.00,0.000,1030,0.000,0.056,2957,2347,2497,2537,2458,0,0,0,0,0,0,14.74,14.67,14.76
$GC,9651,0.63,220.1,2957,2347,2534,2455,886.0,8.7,712,9669,0.00,0.00,16.20,1.780,8230,0.000,0.000,2957,2347,2447,2490,2404,0,0,0,0,0,0,14.98,14.64,14.00
$GC,9951,0.63,221.8,2957,2347,2476,2393,859.2,9.1,722,9952,0.00,0.00,0.00,0.000,38,0.000,0.000,2957,2347,2434,2476,2392,0,0,0,0,0,0,14.96,14.98,14.97
$GC,10250,0.63,221.8,2957,2347,2473,2392,828.5,10.6,732,10255,0.00,2.30,0.00,0.000,260,0.000,0.089,2957,3681,2433,2474,2392,0,0,0,0,0,0,15.02,14.78,15.04
$GC,10276,0.63,221.8,2956,3681,2472,2392,825.4,11.4,737,10283,0.00,2.20,0.00,0.000,1030,0.000,0.056,2957,2341,2432,2473,2392,0,0,0,0,0,0,14.88,14.82,14.90
$GC,10582,0.63,221.8,2957,2339,2472,2391,792.8,10.6,748,10587,0.00,2.30,0.00,0.000,516,0.000,0.068,2957,943,2431,2472,2391,0,0,0,0,0,0,15.07,14.83,15.09
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$STATE,18035,end climb,SURFACE_DEPTH_REACHED
$STATE,18035,begin surface coast
$FINISH,0.3,1.022884
$STATE,18061,end surface coast,CONTROL_FINISHED_OK
$STATE,18061,begin surface
$SM_CCo,18136,0.00,0.000,0,0,1376,482.99
$SM_GC,0.62,8.43,0.17,0.00,0.103,0.091,0.000,248,2215,1376,-7.81,1.10,482.99,0,0,0,0,0,0,14.61,14.70,14.71
$IRIDIUM_FIX,-309.00,5546.84,190118,172429
$TT8_MAMPS,0.019474,0.158039
$HUMID,61.02
$INTERNAL_PRESSURE,8.42419
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,13.31,11.566
$10V_AH,13.55,0.000
$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,21.900,180.125,695.175,0.000,0.000,0.000,0.000,220.050,0.000,0.000,50.532,2796.138,12496.859,797.256,2277.290,115.332,0.000,2192.785,0.000,1984.514,0.000,0.546,0.000
$DEVICE_MAMPS,445.230,173.655,1832.175,0.000,0.000,0.000,0.000,131.580,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,625.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304616
$DATA_FILE_SIZE,60014,1394
$CAP_FILE_SIZE,162558,0
$CFSIZE,260034560,256483328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,123.24,1
$GPS,200118,034506,-311.798,5543.877,40,0.9,46,-4.6,0.5,172.5,8,8.6