version: 66.13
glider: 128
mission: 4
dive: 45
start: 1 24 118 3 43 40
data:
$ID,128
$MISSION,4
$DIVE,45
$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,400
$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,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,60
$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
$GPS1,240118,033809,-324.0516,5541.3364,29,1.3,33,-4.7,0.2,24.4,6,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-74.5
$GPS2,240118,034304,-324.0423,5541.3682,16,1.2,20,-4.7,0.3,0.5,6,9.5
$SPEED_LIMITS,0.143,0.221
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,239.5,31175,-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,-194.6,249,2384,1534,1508,0.0,0.0,0,81,0.00,0.00,-71.65,0.003,16386,0.000,0.000,249,2386,3723,3705,3741,0,0,0,0,0,0,14.88,28.83,14.90
$GC,83,-0.60,-194.6,249,2386,3706,3741,4.4,-11.8,12,105,11.77,2.15,-2.65,0.034,18692,0.442,0.085,2568,3672,3903,3896,3911,0,0,0,0,0,0,14.47,13.82,14.71
$GC,333,-0.60,-194.6,2568,3673,3902,3911,75.2,-18.6,60,337,0.00,2.03,0.00,0.000,1030,0.000,0.041,2568,2392,3907,3903,3911,0,0,0,0,0,0,14.83,14.77,14.85
$GC,643,-0.60,-194.6,2568,2389,3909,3912,120.1,-11.9,92,647,0.00,2.30,0.00,0.000,516,0.000,0.050,2568,943,3911,3910,3912,0,0,0,0,0,0,15.04,14.82,15.06
$GC,664,-0.60,-194.6,2568,943,3909,3914,122.6,-12.7,96,668,0.00,2.25,0.00,0.000,1030,0.000,0.057,2568,2324,3911,3909,3913,0,0,0,0,0,0,14.90,14.81,14.91
$GC,975,-0.60,-194.6,2567,2324,3910,3914,162.6,-14.9,128,979,0.00,2.25,0.00,0.000,260,0.000,0.083,2568,3694,3912,3910,3914,0,0,0,0,0,0,15.09,14.84,15.11
$GC,1045,-0.60,-194.6,2568,3694,3910,3914,172.7,-13.6,142,1050,0.00,2.12,0.00,0.000,1030,0.000,0.040,2568,2329,3912,3910,3914,0,0,0,0,0,0,14.95,14.90,14.97
$GC,1357,-0.60,-194.6,2568,2324,3910,3914,209.7,-10.4,174,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2324,3912,3910,3914,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1657,-0.60,-194.6,2567,2324,3910,3914,242.9,-12.0,204,1662,0.00,2.30,0.00,0.000,260,0.000,0.083,2568,3695,3912,3910,3914,0,0,0,0,0,0,15.13,14.89,15.15
$GC,1699,-0.60,-194.6,2568,3694,3909,3914,248.0,-12.1,212,1703,0.00,2.10,0.00,0.000,1030,0.000,0.041,2567,2346,3912,3910,3914,0,0,0,0,0,0,15.00,14.95,15.00
$GC,2020,-0.60,-194.6,2567,2342,3909,3914,290.1,-13.1,225,2024,0.00,2.20,0.00,0.000,516,0.000,0.050,2568,949,3912,3910,3914,0,0,0,0,0,0,15.15,14.94,15.17
$GC,2044,-0.60,-194.6,2567,949,3909,3914,293.3,-12.0,230,2053,0.00,2.28,0.00,0.000,1030,0.000,0.057,2568,2351,3911,3908,3914,0,0,0,0,0,0,15.01,14.92,15.02
$GC,2351,-0.60,-194.6,2567,2351,3908,3913,327.0,-10.7,241,2355,0.00,2.22,0.00,0.000,260,0.000,0.086,2568,3700,3910,3908,3913,0,0,0,0,0,0,15.17,14.92,15.19
$GC,2421,-0.60,-194.6,2568,3699,3907,3912,334.1,-9.7,255,2425,0.00,2.12,0.00,0.000,1030,0.000,0.043,2568,2340,3909,3907,3912,0,0,0,0,0,0,15.03,14.98,15.04
$GC,2742,-0.60,-194.6,2567,2336,3907,3910,364.7,-10.0,269,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2336,3908,3907,3910,0,0,0,0,0,0,15.19,15.20,15.21
$GC,3043,-0.60,-194.6,2567,2336,3905,3908,395.6,-10.4,279,3047,0.00,2.20,0.00,0.000,516,0.000,0.050,2569,952,3906,3905,3908,0,0,0,0,0,0,15.19,14.97,15.21
$GC,3074,-0.60,-194.6,2568,952,3906,3908,398.9,-10.7,285,3078,0.00,2.28,0.00,0.000,1030,0.000,0.059,2568,2352,3906,3905,3908,0,0,0,0,0,0,15.04,14.97,15.06
$GC,3405,-0.60,-194.6,2567,2352,3903,3906,434.2,-10.7,301,3409,0.00,2.22,0.00,0.000,260,0.000,0.088,2568,3699,3904,3903,3906,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3437,-0.60,-194.6,2567,3699,3901,3905,437.7,-11.0,307,3441,0.00,2.12,0.00,0.000,1030,0.000,0.045,2568,2351,3903,3902,3905,0,0,0,0,0,0,15.06,15.00,15.07
$GC,3768,-0.60,-194.6,2567,2348,3901,3903,472.6,-10.4,323,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2348,3901,3901,3902,0,0,0,0,0,0,15.20,15.22,15.22
$GC,4068,-0.60,-194.6,2568,2348,3900,3901,504.5,-10.7,333,4072,0.00,2.20,0.00,0.000,516,0.000,0.054,2568,956,3900,3900,3901,0,0,0,0,0,0,15.21,14.99,15.23
$GC,4092,-0.60,-194.6,2568,956,3900,3901,507.3,-11.4,338,4100,0.00,2.28,0.00,0.000,1030,0.000,0.060,2568,2353,3900,3900,3901,0,0,0,0,0,0,15.05,14.98,15.07
$GC,4399,-0.60,-194.6,2568,2353,3899,3898,539.3,-10.6,349,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2352,3898,3898,3898,0,0,0,0,0,0,15.21,15.23,15.23
$GC,4699,-0.60,-194.6,2567,2353,3898,3897,571.3,-10.8,359,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2353,3897,3898,3897,0,0,0,0,0,0,15.21,15.23,15.23
$GC,4999,-0.60,-194.6,2568,2353,3897,3896,604.2,-10.9,369,5003,0.00,2.22,0.00,0.000,260,0.000,0.091,2568,3693,3896,3897,3895,0,0,0,0,0,0,15.21,14.97,15.23
$GC,5053,-0.60,-194.6,2568,3693,3897,3895,610.1,-10.3,380,5060,0.00,2.12,0.00,0.000,1030,0.000,0.045,2567,2343,3896,3897,3895,0,0,0,0,0,0,15.07,15.02,15.09
$GC,5360,-0.60,-194.6,2568,2343,3897,3893,642.0,-10.6,391,5364,0.00,2.20,0.00,0.000,516,0.000,0.054,2567,956,3894,3896,3892,0,0,0,0,0,0,15.21,14.99,15.23
$GC,5394,-0.60,-194.6,2568,955,3896,3892,645.9,-10.8,398,5400,0.00,2.33,0.00,0.000,1030,0.000,0.060,2568,2349,3893,3896,3891,0,0,0,0,0,0,15.02,14.97,15.04
$GC,5722,-0.60,-194.6,2568,2349,3895,3890,679.7,-10.3,413,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2349,3892,3895,3890,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6022,-0.60,-194.6,2567,2349,3893,3887,709.6,-9.9,423,6026,0.00,2.25,0.00,0.000,260,0.000,0.094,2568,3698,3890,3893,3887,0,0,0,0,0,0,15.21,14.96,15.23
$GC,6056,-0.60,-194.6,2568,3698,3892,3887,713.2,-10.4,430,6062,0.00,2.17,0.00,0.000,1030,0.000,0.047,2568,2343,3889,3892,3887,0,0,0,0,0,0,15.03,15.00,15.05
$GC,6384,-0.60,-194.6,2568,2343,3892,3886,745.2,-9.7,445,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2343,3889,3892,3886,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6684,-0.60,-194.6,2567,2343,3892,3884,773.4,-9.1,455,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2343,3888,3892,3884,0,0,0,0,0,0,15.21,15.24,15.23
$GC,6984,-0.60,-194.6,2567,2343,3890,3882,799.4,-8.7,465,6988,0.00,2.30,0.00,0.000,260,0.000,0.092,2568,3698,3886,3890,3882,0,0,0,0,0,0,15.22,14.96,15.23
$GC,7015,-0.60,-194.6,2568,3698,3890,3883,802.1,-8.7,471,7021,0.00,2.12,0.00,0.000,1030,0.000,0.047,2568,2345,3886,3890,3882,0,0,0,0,0,0,15.07,15.01,15.09
$GC,7349,-0.60,-194.6,2568,2342,3890,3881,831.5,-9.1,487,7353,0.00,2.22,0.00,0.000,516,0.000,0.054,2568,948,3885,3890,3881,0,0,0,0,0,0,15.21,14.99,15.23
$GC,7393,-0.60,-194.6,2566,943,3888,3879,835.9,-9.5,496,7397,0.00,2.30,0.00,0.000,1030,0.000,0.063,2566,2348,3884,3889,3879,0,0,0,0,0,0,15.06,14.97,15.07
$GC,7709,-0.60,-194.6,2566,2348,3888,3879,866.8,-9.8,509,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2348,3883,3888,3878,0,0,0,0,0,0,15.21,15.23,15.23
$GC,8010,-0.60,-194.6,2566,2348,3888,3877,895.4,-9.5,519,8014,0.00,2.25,0.00,0.000,260,0.000,0.095,2567,3693,3882,3888,3877,0,0,0,0,0,0,15.21,14.95,15.23
$GC,8072,-0.60,-194.6,2566,3692,3887,3877,901.5,-9.6,531,8078,0.00,2.12,0.00,0.000,1030,0.000,0.047,2567,2336,3882,3887,3877,0,0,0,0,0,0,15.07,15.01,15.08
$GC,8405,-0.60,-194.6,2566,2335,3887,3876,934.2,-10.0,547,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2334,3881,3887,3875,0,0,0,0,0,0,15.21,15.23,15.23
$GC,8705,-0.60,-194.6,2566,2335,3887,3874,965.0,-10.5,557,8709,0.00,2.33,0.00,0.000,260,0.000,0.093,2566,3699,3880,3886,3874,0,0,0,0,0,0,15.21,14.95,15.23
$GC,8729,-0.60,-194.6,2566,3699,3886,3874,967.8,-11.5,562,8738,0.00,2.15,0.00,0.000,1030,0.000,0.049,2566,2346,3880,3886,3874,0,0,0,0,0,0,15.07,15.00,15.08
$STATE,8945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8945,begin apogee
$GC,8949,-0.12,0.0,2567,2416,3886,3873,990.3,-10.4,570,9127,0.57,0.00,175.30,1.652,10246,0.229,0.000,2732,2416,3346,3368,3324,0,0,0,0,0,0,14.88,14.13,13.53
$STATE,9128,end apogee,CONTROL_FINISHED_OK
$STATE,9128,begin climb
$GC,9130,0.60,194.6,2733,2417,3363,3318,999.4,0.0,576,9338,0.77,2.38,198.18,1.878,10500,0.141,0.090,2967,3686,2545,2591,2499,0,0,0,0,0,0,14.11,13.95,13.31
$GC,9409,0.60,194.6,2966,3687,2580,2493,985.0,11.1,632,9413,0.00,2.15,0.00,0.000,1030,0.000,0.052,2967,2422,2536,2580,2493,0,0,0,0,0,0,14.35,14.29,14.38
$GC,9730,0.60,194.6,2967,2421,2573,2488,952.1,10.5,646,9735,0.00,2.42,0.00,0.000,516,0.000,0.068,2967,984,2530,2572,2488,0,0,0,0,0,0,14.83,14.61,14.85
$GC,9756,0.60,194.6,2967,984,2570,2487,949.4,10.0,651,9763,0.00,2.38,0.00,0.000,1030,0.000,0.060,2967,2396,2529,2571,2488,0,0,0,0,0,0,14.70,14.62,14.72
$GC,10062,0.60,194.6,2967,2396,2568,2487,916.7,10.9,662,10066,0.00,2.22,0.00,0.000,260,0.000,0.090,2967,3698,2528,2569,2487,0,0,0,0,0,0,14.96,14.71,14.98
$GC,10116,0.60,194.6,2967,3697,2567,2486,909.8,12.0,673,10124,0.00,2.12,0.00,0.000,1030,0.000,0.050,2967,2393,2526,2567,2486,0,0,0,0,0,0,14.83,14.76,14.85
$GC,10423,0.60,194.6,2967,2393,2566,2486,875.5,11.2,684,10427,0.00,2.25,0.00,0.000,260,0.000,0.086,2967,3703,2526,2566,2486,0,0,0,0,0,0,15.02,14.78,15.04
$GC,10457,0.60,194.6,2967,3703,2565,2486,871.2,12.2,691,10462,0.00,2.15,0.00,0.000,1030,0.000,0.053,2967,2392,2525,2565,2486,0,0,0,0,0,0,14.89,14.82,14.90
$GC,10784,0.60,194.6,2967,2393,2565,2486,838.0,9.6,706,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2392,2525,2565,2485,0,0,0,0,0,0,15.07,15.09,15.09
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$STATE,18992,end climb,SURFACE_DEPTH_REACHED
$STATE,18992,begin surface coast
$FINISH,-0.0,1.022617
$STATE,19023,end surface coast,CONTROL_FINISHED_OK
$STATE,19023,begin surface
$SM_CCo,19098,0.00,0.000,0,0,1671,410.87
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$IRIDIUM_FIX,-322.07,5540.84,230118,222330
$TT8_MAMPS,0.018725,0.156541
$HUMID,60.47
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,13.31,17.815
$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
$DEVICE_SECS,21.800,159.800,586.675,0.000,0.000,0.000,0.000,205.625,0.000,0.000,21.208,2885.931,13532.355,694.291,2167.702,121.148,0.000,2031.354,0.000,1925.538,0.000,0.546,0.000
$DEVICE_MAMPS,442.170,161.415,1878.075,0.000,0.000,0.000,0.000,133.875,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,658.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304648
$DATA_FILE_SIZE,59950,1352
$CAP_FILE_SIZE,159411,0
$CFSIZE,260034560,254996480
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7015.58,0x234cba,0,24
$INTR,1,8072.14,0x234cba,0,24
$CURRENT,0.158,108.84,1
$GPS,240118,090307,-325.885,5541.083,34,0.9,36,-4.7,0.5,44.0,10,9.1