version: 66.13
glider: 128
mission: 4
dive: 41
start: 1 23 118 5 59 4
data:
$ID,128
$MISSION,4
$DIVE,41
$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,0.89999998
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$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,2780
$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,70
$R_STBD_OVSHOOT,29
$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,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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
$GPS1,230118,055337,-319.0771,5542.7319,26,0.9,29,-4.6,0.9,57.3,7,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-71.3
$GPS2,230118,055829,-319.0690,5542.8306,14,1.1,15,-4.6,0.4,119.2,7,8.8
$SPEED_LIMITS,0.143,0.221
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,243.2,40768,-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,-194.6,248,2213,1377,1341,0.0,0.0,0,87,0.00,0.00,-77.55,0.003,16386,0.000,0.000,249,2214,3697,3678,3717,0,0,0,0,0,0,14.85,28.83,14.87
$GC,89,-0.60,-194.6,248,2214,3678,3717,4.2,-10.9,13,111,11.80,2.45,-3.10,0.029,18692,0.441,0.086,2567,3662,3905,3897,3913,0,0,0,0,0,0,14.43,13.80,14.69
$GC,238,-0.60,-194.6,2567,3662,3902,3913,54.5,-25.3,41,242,0.00,2.22,0.00,0.000,1030,0.000,0.049,2567,2286,3908,3903,3913,0,0,0,0,0,0,14.77,14.70,14.79
$GC,549,-0.60,-194.6,2566,2281,3909,3913,103.8,-11.9,73,553,0.00,2.33,0.00,0.000,516,0.000,0.054,2567,827,3911,3910,3913,0,0,0,0,0,0,15.00,14.78,15.02
$GC,570,-0.60,-194.6,2567,827,3910,3914,106.5,-13.1,77,574,0.00,2.33,0.00,0.000,1030,0.000,0.057,2567,2253,3912,3910,3914,0,0,0,0,0,0,14.86,14.78,14.88
$GC,880,-0.60,-194.6,2567,2253,3910,3915,149.3,-15.1,109,884,0.00,2.35,0.00,0.000,260,0.000,0.083,2567,3666,3912,3910,3915,0,0,0,0,0,0,15.06,14.82,15.08
$GC,1064,-0.60,-194.6,2566,3667,3910,3915,174.8,-11.6,146,1072,0.00,2.30,0.00,0.000,1030,0.000,0.040,2567,2233,3913,3911,3916,0,0,0,0,0,0,14.90,14.88,14.92
$GC,1371,-0.60,-194.6,2567,2228,3911,3916,207.9,-9.5,177,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2227,3913,3911,3916,0,0,0,0,0,0,15.10,15.12,15.12
$GC,1672,-0.60,-194.6,2567,2228,3911,3916,237.2,-10.3,207,1677,0.00,2.40,0.00,0.000,260,0.000,0.083,2567,3659,3914,3912,3916,0,0,0,0,0,0,15.12,14.88,15.14
$GC,1713,-0.60,-194.6,2567,3659,3910,3916,242.0,-11.8,215,1719,0.00,2.22,0.00,0.000,1030,0.000,0.044,2566,2244,3913,3911,3916,0,0,0,0,0,0,14.98,14.93,15.00
$GC,2026,-0.60,-194.6,2567,2238,3910,3915,282.7,-13.3,231,2030,0.00,2.40,0.00,0.000,260,0.000,0.084,2567,3662,3912,3910,3915,0,0,0,0,0,0,15.14,14.90,15.17
$GC,2111,-0.60,-194.6,2567,3662,3910,3915,294.3,-12.7,248,2118,0.00,2.22,0.00,0.000,1030,0.000,0.043,2567,2243,3912,3910,3915,0,0,0,0,0,0,15.01,14.95,15.02
$GC,2417,-0.60,-194.6,2567,2238,3910,3914,332.4,-12.4,259,2422,0.00,2.40,0.00,0.000,260,0.000,0.085,2567,3668,3912,3910,3914,0,0,0,0,0,0,15.16,14.92,15.18
$GC,2463,-0.60,-194.6,2567,3668,3908,3914,338.1,-12.1,268,2467,0.00,2.22,0.00,0.000,1030,0.000,0.042,2567,2247,3911,3909,3914,0,0,0,0,0,0,15.02,14.97,15.04
$GC,2779,-0.60,-194.6,2567,2241,3909,3912,374.2,-10.7,281,2783,0.00,2.40,0.00,0.000,260,0.000,0.085,2567,3672,3910,3908,3912,0,0,0,0,0,0,15.18,14.93,15.19
$GC,2828,-0.60,-194.6,2567,3672,3907,3910,379.4,-10.1,291,2833,0.00,2.22,0.00,0.000,1030,0.000,0.042,2567,2251,3909,3907,3911,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3140,-0.60,-194.6,2567,2245,3907,3909,410.7,-10.0,303,3145,0.00,2.38,0.00,0.000,260,0.000,0.086,2567,3660,3908,3907,3909,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3166,-0.60,-194.6,2567,3660,3906,3909,413.4,-10.4,308,3173,0.00,2.22,0.00,0.000,1030,0.000,0.046,2567,2252,3907,3906,3909,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3472,-0.60,-194.6,2567,2248,3905,3907,440.7,-8.5,319,3477,0.00,2.38,0.00,0.000,260,0.000,0.086,2567,3667,3906,3905,3907,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3527,-0.60,-194.6,2567,3667,3903,3907,445.7,-8.6,330,3534,0.00,2.22,0.00,0.000,1030,0.000,0.044,2567,2246,3905,3904,3906,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3834,-0.60,-194.6,2567,2242,3903,3905,475.0,-10.3,341,3838,0.00,2.40,0.00,0.000,260,0.000,0.087,2567,3665,3903,3903,3904,0,0,0,0,0,0,15.20,14.95,15.21
$GC,3858,-0.60,-194.6,2566,3666,3901,3903,477.8,-11.5,346,3865,0.00,2.25,0.00,0.000,1030,0.000,0.046,2567,2241,3902,3901,3903,0,0,0,0,0,0,15.05,15.00,15.07
$GC,4164,-0.60,-194.6,2566,2236,3901,3901,514.6,-12.3,357,4168,0.00,2.40,0.00,0.000,260,0.000,0.089,2567,3658,3901,3901,3902,0,0,0,0,0,0,15.20,14.94,15.21
$GC,4208,-0.60,-194.6,2566,3659,3900,3901,520.2,-12.2,366,4213,0.00,2.25,0.00,0.000,1030,0.000,0.047,2566,2241,3900,3900,3900,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4525,-0.60,-194.6,2565,2235,3900,3899,558.0,-11.9,379,4530,0.00,2.40,0.00,0.000,260,0.000,0.089,2566,3658,3898,3899,3898,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4557,-0.60,-194.6,2566,3658,3900,3898,561.8,-12.0,385,4561,0.00,2.25,0.00,0.000,1030,0.000,0.048,2566,2239,3898,3899,3898,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4887,-0.60,-194.6,2566,2234,3899,3897,598.2,-10.5,401,4892,0.00,2.42,0.00,0.000,260,0.000,0.090,2566,3665,3898,3899,3897,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4932,-0.60,-194.6,2565,3665,3898,3897,603.2,-10.7,410,4936,0.00,2.25,0.00,0.000,1030,0.000,0.047,2566,2247,3897,3898,3897,0,0,0,0,0,0,15.06,15.00,15.07
$GC,5244,-0.60,-194.6,2565,2242,3898,3896,634.8,-10.2,422,5247,0.00,2.40,0.00,0.000,260,0.000,0.090,2566,3658,3896,3898,3895,0,0,0,0,0,0,15.21,14.95,15.22
$GC,5318,-0.60,-194.6,2566,3659,3897,3895,642.8,-10.6,437,5322,0.00,2.25,0.00,0.000,1030,0.000,0.048,2566,2245,3896,3898,3894,0,0,0,0,0,0,15.06,15.00,15.07
$GC,5634,-0.60,-194.6,2566,2240,3897,3893,675.0,-10.0,450,5639,0.00,2.42,0.00,0.000,260,0.000,0.090,2566,3669,3894,3897,3892,0,0,0,0,0,0,15.20,14.95,15.22
$GC,5674,-0.60,-194.6,2566,3669,3897,3892,679.2,-10.2,458,5679,0.00,2.25,0.00,0.000,1030,0.000,0.046,2566,2247,3894,3897,3892,0,0,0,0,0,0,15.06,15.01,15.07
$GC,5991,-0.60,-194.6,2566,2242,3896,3891,709.6,-9.6,471,5996,0.00,2.40,0.00,0.000,260,0.000,0.090,2566,3657,3893,3896,3890,0,0,0,0,0,0,15.20,14.95,15.22
$GC,6025,-0.60,-194.6,2566,3657,3896,3890,713.2,-9.6,478,6030,0.00,2.30,0.00,0.000,1030,0.000,0.050,2566,2246,3893,3896,3890,0,0,0,0,0,0,15.02,14.99,15.04
$GC,6352,-0.60,-194.6,2565,2241,3895,3888,745.6,-10.4,493,6357,0.00,2.42,0.00,0.000,260,0.000,0.091,2566,3668,3891,3895,3888,0,0,0,0,0,0,15.20,14.95,15.22
$GC,6397,-0.60,-194.6,2566,3667,3894,3887,750.7,-11.2,502,6401,0.00,2.25,0.00,0.000,1030,0.000,0.047,2566,2247,3891,3895,3887,0,0,0,0,0,0,15.06,15.01,15.07
$GC,6709,-0.60,-194.6,2566,2241,3894,3886,786.7,-11.8,514,6713,0.00,2.42,0.00,0.000,260,0.000,0.091,2566,3667,3890,3894,3886,0,0,0,0,0,0,15.21,14.95,15.22
$GC,6773,-0.60,-194.6,2566,3667,3893,3885,794.5,-11.3,527,6778,0.00,2.25,0.00,0.000,1030,0.000,0.047,2566,2247,3889,3894,3885,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7095,-0.60,-194.6,2566,2242,3893,3883,829.6,-10.5,541,7102,0.00,2.42,0.00,0.000,260,0.000,0.092,2566,3666,3887,3892,3883,0,0,0,0,0,0,15.20,14.95,15.22
$GC,7125,-0.60,-194.6,2565,3666,3892,3883,832.7,-10.7,547,7130,0.00,2.28,0.00,0.000,1030,0.000,0.049,2566,2243,3887,3892,3883,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7457,-0.60,-194.6,2566,2239,3892,3882,864.8,-9.3,563,7462,0.00,2.42,0.00,0.000,260,0.000,0.092,2566,3659,3887,3892,3882,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7497,-0.60,-194.6,2566,3659,3890,3881,868.7,-9.3,571,7503,0.00,2.25,0.00,0.000,1030,0.000,0.050,2566,2252,3885,3890,3881,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7820,-0.60,-194.6,2566,2248,3890,3880,896.4,-8.4,585,7824,0.00,2.40,0.00,0.000,260,0.000,0.093,2566,3658,3885,3890,3880,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7869,-0.60,-194.6,2566,3657,3890,3879,900.7,-8.4,595,7874,0.00,2.25,0.00,0.000,1030,0.000,0.050,2566,2250,3884,3889,3880,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8181,-0.60,-194.6,2565,2245,3889,3878,926.1,-8.1,607,8186,0.00,2.42,0.00,0.000,260,0.000,0.096,2566,3661,3883,3889,3878,0,0,0,0,0,0,15.20,14.94,15.22
$GC,8207,-0.60,-194.6,2566,3661,3888,3878,928.4,-8.9,612,8214,0.00,2.25,0.00,0.000,1030,0.000,0.052,2566,2249,3883,3888,3878,0,0,0,0,0,0,15.05,15.00,15.07
$GC,8513,-0.60,-194.6,2566,2249,3888,3877,953.9,-8.4,623,8518,0.00,2.42,0.00,0.000,260,0.000,0.094,2566,3668,3882,3888,3877,0,0,0,0,0,0,15.20,14.94,15.21
$GC,8575,-0.60,-194.6,2566,3668,3887,3877,959.4,-8.9,635,8579,0.00,2.28,0.00,0.000,1030,0.000,0.049,2566,2240,3882,3887,3877,0,0,0,0,0,0,15.05,15.00,15.07
$GC,8906,-0.60,-194.6,2566,2234,3887,3876,988.5,-8.9,651,8911,0.00,2.45,0.00,0.000,260,0.000,0.095,2566,3664,3881,3887,3876,0,0,0,0,0,0,15.20,14.93,15.21
$STATE,8920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8920,begin apogee
$GC,8926,-0.12,0.0,2566,2341,3887,3876,990.1,-8.9,654,9111,0.57,0.00,181.68,1.646,10246,0.218,0.000,2733,2340,3345,3368,3323,0,0,0,0,0,0,14.87,14.12,13.50
$STATE,9112,end apogee,CONTROL_FINISHED_OK
$STATE,9112,begin climb
$GC,9113,0.60,194.6,2734,2339,3364,3318,997.3,0.0,660,9322,0.77,2.50,199.55,1.877,11012,0.142,0.093,2968,3698,2545,2593,2498,0,0,1,0,0,0,14.09,13.94,13.28
$GC,9347,0.60,194.6,2967,3698,2584,2495,985.4,12.1,704,9352,0.00,2.30,0.00,0.000,1030,0.000,0.053,2970,2370,2538,2583,2494,0,0,0,0,0,0,14.21,14.14,14.23
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$STATE,19592,end climb,SURFACE_DEPTH_REACHED
$STATE,19592,begin surface coast
$FINISH,0.3,1.022658
$STATE,19609,end surface coast,CONTROL_FINISHED_OK
$STATE,19609,begin surface
$SM_CCo,19685,0.00,0.000,0,0,1480,457.48
$SM_GC,0.59,8.75,0.17,0.00,0.111,0.091,0.000,248,2226,1480,-7.88,1.22,457.48,0,0,0,0,0,0,14.55,14.64,14.65
$IRIDIUM_FIX,-315.57,5540.84,230118,003655
$TT8_MAMPS,0.018725,0.156541
$HUMID,59.64
$INTERNAL_PRESSURE,8.45349
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,13.28,16.527
$10V_AH,13.61,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304608
$DATA_FILE_SIZE,63298,1460
$CAP_FILE_SIZE,171991,0
$CFSIZE,260034560,255287296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.189,107.02,1
$GPS,230118,112826,-320.654,5542.773,38,1.0,41,-4.6,0.6,114.7,8,8.8