version: 66.13
glider: 128
mission: 4
dive: 29
start: 1 20 118 14 8 15
data:
$ID,128
$MISSION,4
$DIVE,29
$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,68
$R_STBD_OVSHOOT,27
$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
$GPS1,200118,140237,-311.0798,5543.7500,34,0.8,36,-4.6,0.7,116.9,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-70.3
$GPS2,200118,140739,-311.1501,5543.8350,22,0.8,27,-4.6,0.7,117.6,8,9.4
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,324.8,26333,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-0.60,-194.6,227,2227,1344,1307,0.0,0.0,0,89,0.00,0.00,-79.97,0.003,16386,0.000,0.000,227,2227,3700,3681,3720,0,0,0,0,0,0,14.87,28.83,14.89
$GC,91,-0.60,-194.6,227,2227,3683,3721,3.8,-10.4,13,112,11.73,0.00,-3.15,0.028,18950,0.439,0.000,2556,2227,3903,3896,3911,0,0,0,0,0,0,14.45,13.85,14.71
$GC,414,-0.60,-194.6,2555,2227,3907,3912,78.2,-15.9,59,419,0.00,2.45,0.00,0.000,260,0.000,0.086,2554,3659,3909,3907,3912,0,0,0,0,0,0,14.97,14.73,15.00
$GC,519,-0.60,-194.6,2554,3659,3908,3914,94.8,-13.8,80,526,0.00,2.20,0.00,0.000,1030,0.000,0.043,2555,2264,3911,3909,3914,0,0,0,0,0,0,14.86,14.81,14.88
$GC,826,-0.60,-194.6,2554,2260,3910,3915,137.6,-13.9,111,830,0.00,2.35,0.00,0.000,260,0.000,0.085,2554,3657,3912,3910,3915,0,0,0,0,0,0,15.05,14.80,15.07
$GC,848,-0.60,-194.6,2554,3657,3910,3915,140.6,-14.4,115,854,0.00,2.22,0.00,0.000,1030,0.000,0.046,2554,2254,3912,3910,3915,0,0,0,0,0,0,14.91,14.85,14.93
$GC,1160,-0.60,-194.6,2554,2249,3910,3915,182.7,-12.2,147,1165,0.00,2.22,0.00,0.000,516,0.000,0.052,2555,840,3912,3910,3915,0,0,0,0,0,0,15.09,14.87,15.11
$GC,1215,-0.60,-194.6,2554,840,3910,3916,189.0,-10.6,158,1222,0.00,2.30,0.00,0.000,1030,0.000,0.057,2554,2256,3913,3910,3916,0,0,0,0,0,0,14.95,14.86,14.96
$GC,1522,-0.60,-194.6,2554,2256,3910,3915,224.3,-12.9,189,1526,0.00,2.33,0.00,0.000,260,0.000,0.087,2554,3656,3913,3910,3916,0,0,0,0,0,0,15.11,14.86,15.13
$GC,1642,-0.60,-194.6,2554,3656,3910,3916,239.7,-12.5,213,1647,0.00,2.22,0.00,0.000,1030,0.000,0.045,2554,2244,3913,3910,3916,0,0,0,0,0,0,14.97,14.92,15.00
$GC,1963,-0.60,-194.6,2554,2239,3909,3915,281.4,-13.0,230,1968,0.00,2.40,0.00,0.000,260,0.000,0.087,2554,3661,3912,3909,3915,0,0,0,0,0,0,15.14,14.89,15.16
$GC,2034,-0.60,-194.6,2554,3661,3908,3915,290.7,-12.8,244,2038,0.00,2.22,0.00,0.000,1030,0.000,0.045,2554,2248,3912,3909,3915,0,0,0,0,0,0,15.00,14.95,15.02
$GC,2349,-0.60,-194.6,2554,2243,3908,3914,332.2,-13.8,257,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2242,3911,3908,3914,0,0,0,0,0,0,15.16,15.18,15.18
$GC,2649,-0.60,-194.6,2554,2243,3907,3911,373.2,-13.3,267,2654,0.00,2.40,0.00,0.000,260,0.000,0.090,2554,3664,3909,3907,3911,0,0,0,0,0,0,15.17,14.92,15.19
$GC,2699,-0.60,-194.6,2554,3664,3906,3911,379.8,-12.8,277,2704,0.00,2.22,0.00,0.000,1030,0.000,0.045,2554,2248,3907,3905,3910,0,0,0,0,0,0,15.03,14.98,15.05
$GC,3011,-0.60,-194.6,2554,2243,3905,3909,417.1,-11.7,289,3015,0.00,2.40,0.00,0.000,260,0.000,0.090,2554,3663,3907,3905,3909,0,0,0,0,0,0,15.19,14.93,15.21
$GC,3035,-0.60,-194.6,2554,3663,3904,3908,420.0,-10.9,294,3042,0.00,2.25,0.00,0.000,1030,0.000,0.047,2554,2242,3906,3904,3909,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3341,-0.60,-194.6,2554,2237,3903,3907,453.4,-10.9,305,3346,0.00,2.40,0.00,0.000,260,0.000,0.090,2555,3656,3905,3903,3907,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3406,-0.60,-194.6,2554,3656,3901,3906,460.8,-11.0,318,3410,0.00,2.22,0.00,0.000,1030,0.000,0.048,2554,2252,3904,3902,3906,0,0,0,0,0,0,15.05,15.00,15.06
$GC,3728,-0.60,-194.6,2554,2246,3901,3904,496.3,-11.3,332,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2247,3903,3902,3904,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4027,-0.60,-194.6,2554,2246,3900,3902,529.8,-11.2,342,4032,0.00,2.40,0.00,0.000,260,0.000,0.091,2554,3661,3900,3900,3901,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4107,-0.60,-194.6,2554,3661,3899,3901,539.1,-11.3,358,4114,0.00,2.25,0.00,0.000,1030,0.000,0.048,2555,2245,3900,3899,3901,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4414,-0.60,-194.6,2554,2241,3899,3899,573.0,-10.8,369,4417,0.00,2.40,0.00,0.000,260,0.000,0.092,2554,3654,3898,3898,3899,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4444,-0.60,-194.6,2554,3654,3898,3898,576.4,-10.7,375,4450,0.00,2.22,0.00,0.000,1030,0.000,0.050,2554,2252,3898,3898,3899,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4777,-0.60,-194.6,2554,2246,3898,3897,610.8,-10.2,391,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2247,3897,3898,3897,0,0,0,0,0,0,15.21,15.23,15.22
$GC,5076,-0.60,-194.6,2554,2247,3897,3896,639.5,-9.6,401,5080,0.00,2.40,0.00,0.000,260,0.000,0.093,2554,3659,3896,3897,3896,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5116,-0.60,-194.6,2554,3658,3897,3895,643.3,-9.3,409,5120,0.00,2.25,0.00,0.000,1030,0.000,0.050,2554,2249,3896,3897,3896,0,0,0,0,0,0,15.07,15.01,15.08
$GC,5437,-0.60,-194.6,2554,2244,3897,3894,673.9,-9.7,423,5442,0.00,2.40,0.00,0.000,260,0.000,0.093,2555,3656,3895,3897,3893,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5512,-0.60,-194.6,2554,3656,3896,3893,681.6,-10.0,438,5516,0.00,2.25,0.00,0.000,1030,0.000,0.050,2554,2243,3894,3896,3892,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5829,-0.60,-194.6,2553,2237,3895,3890,715.2,-11.3,451,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2238,3892,3895,3890,0,0,0,0,0,0,15.21,15.23,15.22
$GC,6129,-0.60,-194.6,2553,2237,3894,3888,749.9,-11.7,461,6133,0.00,2.42,0.00,0.000,260,0.000,0.094,2552,3658,3891,3894,3889,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6198,-0.60,-194.6,2553,3658,3893,3888,758.5,-12.1,475,6204,0.00,2.30,0.00,0.000,1030,0.000,0.050,2553,2246,3890,3892,3888,0,0,0,0,0,0,15.03,15.00,15.05
$GC,6516,-0.60,-194.6,2553,2243,3892,3887,794.1,-10.9,488,6522,0.00,2.42,0.00,0.000,260,0.000,0.094,2553,3663,3889,3892,3886,0,0,0,0,0,0,15.21,14.95,15.22
$GC,6558,-0.60,-194.6,2553,3663,3892,3886,798.8,-10.6,497,6563,0.00,2.25,0.00,0.000,1030,0.000,0.051,2553,2252,3889,3892,3886,0,0,0,0,0,0,15.07,15.00,15.08
$GC,6876,-0.60,-194.6,2553,2247,3892,3885,827.4,-8.6,510,6877,0.00,0.00,0.00,0.000,38,0.000,0.000,2553,2247,3888,3892,3885,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7176,-0.60,-194.6,2553,2247,3891,3883,852.5,-8.4,520,7180,0.00,2.42,0.00,0.000,292,0.000,0.096,2553,3663,3887,3891,3883,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7270,-0.60,-194.6,2553,3663,3891,3883,861.0,-8.6,539,7276,0.00,2.28,0.00,0.000,1062,0.000,0.050,2553,2246,3886,3890,3883,0,0,0,0,0,0,15.07,15.00,15.07
$GC,7597,-0.60,-194.6,2553,2241,3889,3881,891.5,-9.9,554,7602,0.00,2.42,0.00,0.000,260,0.000,0.095,2553,3658,3885,3889,3881,0,0,0,0,0,0,15.21,14.95,15.22
$GC,7692,-0.60,-194.6,2553,3658,3889,3880,901.6,-10.5,573,7696,0.00,2.28,0.00,0.000,1030,0.000,0.051,2553,2245,3885,3889,3881,0,0,0,0,0,0,15.05,15.00,15.07
$GC,8014,-0.60,-194.6,2553,2241,3889,3880,935.8,-10.8,587,8018,0.00,2.42,0.00,0.000,260,0.000,0.096,2553,3654,3884,3889,3879,0,0,0,0,0,0,15.21,14.94,15.22
$GC,8045,-0.60,-194.6,2553,3654,3887,3879,939.3,-11.3,593,8049,0.00,2.25,0.00,0.000,1030,0.000,0.054,2553,2250,3883,3887,3879,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8376,-0.60,-194.6,2553,2245,3887,3878,974.8,-10.6,609,8381,0.00,2.40,0.00,0.000,260,0.000,0.097,2553,3654,3882,3887,3878,0,0,0,0,0,0,15.20,14.93,15.22
$GC,8431,-0.60,-194.6,2553,3654,3887,3877,980.8,-10.3,620,8438,0.00,2.25,0.00,0.000,1030,0.000,0.054,2553,2246,3882,3887,3878,0,0,0,0,0,0,15.06,15.00,15.07
$STATE,8527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8527,begin apogee
$GC,8531,-0.12,0.0,2553,2365,3887,3877,990.4,-10.2,624,8679,0.57,0.00,143.15,1.854,10246,0.243,0.000,2715,2364,3340,3360,3321,0,0,0,0,0,0,14.87,14.10,13.40
$STATE,8680,end apogee,CONTROL_FINISHED_OK
$STATE,8680,begin climb
$GC,8682,0.60,194.6,2715,2365,3358,3318,995.8,0.0,629,8892,0.77,2.45,200.30,1.861,10500,0.154,0.095,2945,3675,2545,2590,2500,0,0,0,0,0,0,14.09,13.93,13.29
$GC,8953,0.60,194.6,2945,3675,2579,2495,977.6,11.3,684,8958,0.00,2.22,0.00,0.000,1030,0.000,0.054,2945,2371,2537,2579,2495,0,0,0,0,0,0,14.33,14.26,14.35
$GC,9280,0.60,194.6,2945,2371,2571,2489,942.4,10.9,699,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2371,2529,2570,2489,0,0,0,0,0,0,14.83,14.85,14.85
$GC,9580,0.60,194.6,2946,2371,2569,2489,909.9,10.8,709,9584,0.00,2.30,0.00,0.000,260,0.000,0.090,2946,3685,2529,2569,2489,0,0,0,0,0,0,14.95,14.70,14.97
$GC,9620,0.60,194.6,2945,3685,2567,2488,905.1,12.0,717,9624,0.00,2.22,0.00,0.000,1030,0.000,0.055,2946,2339,2527,2567,2488,0,0,0,0,0,0,14.81,14.75,14.83
$GC,9941,0.60,194.6,2945,2338,2566,2487,871.3,10.5,731,9945,0.00,2.33,0.00,0.000,260,0.000,0.089,2946,3681,2526,2566,2487,0,0,0,0,0,0,15.02,14.78,15.04
$GC,9974,0.60,194.6,2945,3681,2565,2487,867.3,11.8,738,9979,0.00,2.25,0.00,0.000,1030,0.000,0.055,2946,2346,2526,2565,2487,0,0,0,0,0,0,14.85,14.81,14.87
$GC,10302,0.60,194.6,2945,2345,2563,2487,834.6,9.7,753,10306,0.00,2.30,0.00,0.000,260,0.000,0.090,2946,3682,2525,2563,2487,0,0,0,0,0,0,15.07,14.82,15.09
$GC,10333,0.60,194.6,2945,3682,2563,2487,831.4,10.5,759,10338,0.00,2.15,0.00,0.000,1030,0.000,0.057,2946,2356,2524,2562,2487,0,0,0,0,0,0,14.89,14.85,14.92
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$STATE,18205,end climb,SURFACE_DEPTH_REACHED
$STATE,18205,begin surface coast
$FINISH,0.2,1.022891
$STATE,18232,end surface coast,CONTROL_FINISHED_OK
$STATE,18232,begin surface
$SM_CCo,18309,0.00,0.000,0,0,1376,482.99
$SM_GC,0.71,8.25,2.20,0.00,0.094,0.052,0.000,253,2242,1376,-7.80,-1.02,482.99,0,0,0,0,0,0,14.64,14.66,14.73
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$TT8_MAMPS,0.019474,0.156541
$HUMID,59.96
$INTERNAL_PRESSURE,8.43396
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,13.29,12.622
$10V_AH,13.60,0.000
$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
$DEVICE_SECS,21.575,193.025,630.025,0.000,0.000,0.000,0.000,205.475,0.000,0.000,28.454,2941.356,12488.712,743.385,2324.470,121.066,0.000,2158.665,0.000,2070.364,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304668
$DATA_FILE_SIZE,63353,1455
$CAP_FILE_SIZE,168234,0
$CFSIZE,260034560,256237568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.186,112.69,1
$GPS,200118,191439,-310.064,5544.296,38,1.3,42,-4.6,1.2,161.3,7,9.2