version: 66.13
glider: 128
mission: 4
dive: 49
start: 1 25 118 1 41 45
data:
$ID,128
$MISSION,4
$DIVE,49
$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,30
$R_STBD_OVSHOOT,67
$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
$GPS1,250118,013538,-330.2956,5539.6279,36,0.8,39,-4.7,0.0,83.7,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-69.8
$GPS2,250118,014109,-330.3054,5539.7124,16,0.8,18,-4.7,0.8,100.5,10,10.0
$SPEED_LIMITS,0.143,0.221
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,240.1,19221,-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,-194.6,219,2401,1317,1277,0.0,0.0,0,87,0.00,0.00,-77.88,0.003,16386,0.000,0.000,219,2402,3627,3606,3648,0,0,0,0,0,0,14.85,28.83,14.88
$GC,89,-0.60,-194.6,219,2402,3608,3648,3.7,-10.1,13,116,11.80,2.12,-4.15,0.022,18692,0.436,0.093,2570,3655,3904,3898,3910,0,0,0,0,0,0,14.44,13.78,14.69
$GC,291,-0.60,-194.6,2569,3656,3901,3911,62.1,-20.2,52,300,0.00,2.15,0.00,0.000,1030,0.000,0.046,2570,2353,3906,3902,3910,0,0,0,0,0,0,14.75,14.71,14.78
$GC,598,-0.60,-194.6,2569,2349,3908,3911,117.7,-17.2,83,602,0.00,2.25,0.00,0.000,516,0.000,0.050,2570,934,3909,3908,3911,0,0,0,0,0,0,15.02,14.80,15.04
$GC,662,-0.60,-194.6,2569,934,3909,3913,127.2,-14.6,96,670,0.00,2.30,0.00,0.000,1030,0.000,0.055,2570,2315,3910,3909,3912,0,0,0,0,0,0,14.81,14.79,14.86
$GC,969,-0.60,-194.6,2569,2315,3910,3914,165.9,-12.3,127,973,0.00,2.28,0.00,0.000,260,0.000,0.083,2570,3694,3912,3910,3914,0,0,0,0,0,0,15.07,14.83,15.09
$GC,1000,-0.60,-194.6,2569,3694,3910,3914,169.7,-12.5,133,1004,0.00,2.12,0.00,0.000,1030,0.000,0.040,2570,2328,3912,3910,3914,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1312,-0.60,-194.6,2570,2324,3910,3914,209.1,-14.2,165,1316,0.00,2.30,0.00,0.000,260,0.000,0.080,2570,3697,3911,3909,3914,0,0,0,0,0,0,15.10,14.85,15.11
$GC,1374,-0.60,-194.6,2569,3696,3910,3914,217.5,-12.7,177,1378,0.00,2.10,0.00,0.000,1030,0.000,0.040,2569,2344,3912,3910,3914,0,0,0,0,0,0,14.96,14.92,14.98
$GC,1695,-0.60,-194.6,2569,2340,3910,3914,258.1,-12.2,206,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2340,3912,3910,3914,0,0,0,0,0,0,15.12,15.15,15.14
$GC,1994,-0.60,-194.6,2569,2340,3910,3914,293.7,-11.9,216,1999,0.00,2.28,0.00,0.000,260,0.000,0.083,2570,3698,3911,3909,3914,0,0,0,0,0,0,15.15,14.90,15.16
$GC,2041,-0.60,-194.6,2570,3698,3908,3914,299.0,-11.1,225,2045,0.00,2.10,0.00,0.000,1030,0.000,0.041,2570,2348,3911,3908,3914,0,0,0,0,0,0,15.01,14.96,15.02
$GC,2356,-0.60,-194.6,2569,2344,3908,3913,330.7,-9.8,238,2360,0.00,2.20,0.00,0.000,516,0.000,0.050,2570,957,3910,3908,3913,0,0,0,0,0,0,15.16,14.95,15.19
$GC,2395,-0.60,-194.6,2569,957,3909,3913,334.4,-8.7,246,2400,0.00,2.28,0.00,0.000,1030,0.000,0.056,2570,2356,3910,3908,3913,0,0,0,0,0,0,15.02,14.94,15.03
$GC,2717,-0.60,-194.6,2569,2356,3907,3910,363.0,-8.9,260,2722,0.00,2.22,0.00,0.000,260,0.000,0.086,2570,3701,3908,3906,3910,0,0,0,0,0,0,15.18,14.93,15.19
$GC,2749,-0.60,-194.6,2569,3700,3905,3910,365.9,-9.0,266,2753,0.00,2.12,0.00,0.000,1030,0.000,0.044,2570,2348,3908,3906,3910,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3080,-0.60,-194.6,2570,2344,3905,3907,397.7,-10.1,282,3084,0.00,2.20,0.00,0.000,516,0.000,0.052,2570,957,3906,3905,3908,0,0,0,0,0,0,15.19,14.97,15.21
$GC,3104,-0.60,-194.6,2569,957,3905,3908,400.4,-10.9,287,3111,0.00,2.28,0.00,0.000,1030,0.000,0.058,2570,2354,3905,3904,3907,0,0,0,0,0,0,15.04,14.95,15.05
$GC,3411,-0.60,-194.6,2570,2354,3902,3906,432.6,-10.7,298,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2354,3904,3903,3905,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3711,-0.60,-194.6,2569,2354,3901,3903,462.8,-9.7,308,3715,0.00,2.22,0.00,0.000,260,0.000,0.088,2570,3698,3902,3901,3903,0,0,0,0,0,0,15.20,14.95,15.22
$GC,3756,-0.60,-194.6,2569,3698,3900,3902,467.2,-9.4,317,3760,0.00,2.12,0.00,0.000,1030,0.000,0.044,2570,2341,3901,3900,3903,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4072,-0.60,-194.6,2569,2337,3900,3901,493.9,-8.3,330,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2337,3900,3900,3901,0,0,0,0,0,0,15.20,15.22,15.21
$GC,4372,-0.60,-194.6,2569,2337,3899,3899,518.5,-8.2,340,4377,0.00,2.20,0.00,0.000,516,0.000,0.051,2570,949,3898,3899,3898,0,0,0,0,0,0,15.21,14.99,15.22
$GC,4392,-0.60,-194.6,2569,949,3899,3898,520.3,-8.4,344,4398,0.00,2.33,0.00,0.000,1030,0.000,0.060,2570,2345,3898,3898,3898,0,0,0,0,0,0,15.02,14.97,15.04
$GC,4705,-0.60,-194.6,2569,2345,3898,3896,547.8,-8.9,356,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2345,3897,3898,3897,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5005,-0.60,-194.6,2569,2345,3898,3896,573.1,-8.4,366,5009,0.00,2.25,0.00,0.000,260,0.000,0.090,2570,3701,3896,3897,3895,0,0,0,0,0,0,15.21,14.96,15.23
$GC,5035,-0.60,-194.6,2569,3701,3896,3895,575.9,-9.4,372,5041,0.00,2.12,0.00,0.000,1030,0.000,0.047,2570,2349,3896,3897,3895,0,0,0,0,0,0,15.07,15.01,15.08
$GC,5368,-0.60,-194.6,2569,2344,3896,3891,609.2,-10.5,388,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2344,3893,3896,3891,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5668,-0.60,-194.6,2568,2344,3896,3890,641.2,-10.6,398,5672,0.00,2.22,0.00,0.000,516,0.000,0.055,2569,950,3892,3895,3890,0,0,0,0,0,0,15.21,14.99,15.23
$GC,5698,-0.60,-194.6,2569,950,3895,3890,644.5,-10.9,404,5704,0.00,2.30,0.00,0.000,1030,0.000,0.062,2569,2356,3892,3895,3890,0,0,0,0,0,0,15.06,14.97,15.07
$GC,6031,-0.60,-194.6,2569,2356,3894,3888,678.3,-10.1,420,6035,0.00,2.22,0.00,0.000,260,0.000,0.091,2569,3693,3890,3893,3887,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6056,-0.60,-194.6,2569,3693,3893,3887,681.1,-10.4,425,6063,0.00,2.12,0.00,0.000,1030,0.000,0.047,2569,2343,3889,3892,3887,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6362,-0.60,-194.6,2569,2343,3892,3886,715.8,-12.0,436,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2343,3889,3892,3886,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6662,-0.60,-194.6,2569,2343,3892,3885,753.0,-12.3,446,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2342,3888,3892,3885,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6963,-0.60,-194.6,2569,2342,3892,3883,786.1,-10.4,456,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2343,3887,3892,3883,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7262,-0.60,-194.6,2568,2343,3891,3882,814.6,-9.1,466,7266,0.00,2.30,0.00,0.000,260,0.000,0.093,2569,3693,3886,3891,3882,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7286,-0.60,-194.6,2568,3693,3890,3881,817.0,-9.0,471,7294,0.00,2.12,0.00,0.000,1030,0.000,0.048,2570,2356,3885,3890,3881,0,0,0,0,0,0,15.07,15.01,15.08
$GC,7593,-0.60,-194.6,2568,2355,3890,3880,843.5,-8.6,482,7597,0.00,2.25,0.00,0.000,516,0.000,0.054,2569,952,3885,3890,3880,0,0,0,0,0,0,15.21,14.98,15.23
$GC,7628,-0.60,-194.6,2569,952,3890,3879,846.6,-8.6,489,7632,0.00,2.30,0.00,0.000,1030,0.000,0.062,2569,2354,3885,3890,3880,0,0,0,0,0,0,15.05,14.97,15.07
$GC,7954,-0.60,-194.6,2569,2355,3888,3878,873.1,-8.3,504,7959,0.00,2.25,0.00,0.000,260,0.000,0.094,2569,3696,3883,3888,3878,0,0,0,0,0,0,15.21,14.95,15.23
$GC,8000,-0.60,-194.6,2568,3697,3888,3879,877.0,-8.3,513,8004,0.00,2.12,0.00,0.000,1030,0.000,0.048,2569,2351,3882,3888,3877,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8316,-0.60,-194.6,2569,2347,3887,3876,903.9,-8.9,526,8320,0.00,2.22,0.00,0.000,516,0.000,0.056,2569,954,3882,3887,3877,0,0,0,0,0,0,15.21,14.97,15.23
$GC,8355,-0.60,-194.6,2569,953,3887,3877,907.8,-9.6,534,8360,0.00,2.30,0.00,0.000,1030,0.000,0.063,2569,2350,3882,3887,3877,0,0,0,0,0,0,15.05,14.97,15.07
$GC,8677,-0.60,-194.6,2569,2350,3887,3875,938.9,-9.9,548,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2350,3881,3887,3875,0,0,0,0,0,0,15.20,15.22,15.22
$GC,8977,-0.60,-194.6,2568,2350,3886,3873,967.3,-9.1,558,8981,0.00,2.28,0.00,0.000,260,0.000,0.096,2569,3703,3879,3886,3873,0,0,0,0,0,0,15.21,14.94,15.23
$GC,9021,-0.60,-194.6,2569,3703,3885,3873,971.5,-9.0,567,9025,0.00,2.17,0.00,0.000,1030,0.000,0.050,2569,2342,3879,3885,3873,0,0,0,0,0,0,15.06,15.00,15.07
$STATE,9247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9247,begin apogee
$GC,9251,-0.12,0.0,2569,2414,3885,3872,991.1,-8.7,577,9429,0.57,0.00,173.77,1.660,10246,0.224,0.000,2736,2414,3345,3367,3323,0,0,0,0,0,0,14.87,14.13,13.52
$STATE,9430,end apogee,CONTROL_FINISHED_OK
$STATE,9430,begin climb
$GC,9431,0.60,194.6,2736,2414,3362,3317,997.5,0.0,583,9641,0.77,2.38,198.77,1.869,10500,0.133,0.088,2973,3687,2544,2590,2499,0,0,0,0,0,0,14.11,13.95,13.30
$GC,9722,0.60,194.6,2972,3687,2579,2492,978.3,12.1,641,9726,0.00,2.15,0.00,0.000,1030,0.000,0.050,2973,2415,2535,2579,2492,0,0,0,0,0,0,14.38,14.31,14.40
$GC,10033,0.60,194.6,2973,2415,2572,2488,945.9,10.4,653,10038,0.00,2.40,0.00,0.000,516,0.000,0.067,2973,990,2529,2571,2487,0,0,0,0,0,0,14.83,14.60,14.85
$GC,10053,0.60,194.6,2973,989,2570,2488,943.8,9.4,657,10057,0.00,2.35,0.00,0.000,1030,0.000,0.062,2973,2384,2528,2569,2487,0,0,0,0,0,0,14.69,14.61,14.71
$GC,10365,0.60,194.6,2973,2384,2569,2486,910.6,11.4,669,10369,0.00,2.25,0.00,0.000,260,0.000,0.087,2973,3704,2527,2569,2486,0,0,0,0,0,0,14.95,14.71,14.97
$GC,10409,0.60,194.6,2973,3704,2567,2486,904.7,13.0,678,10414,0.00,2.15,0.00,0.000,1030,0.000,0.052,2974,2394,2527,2567,2487,0,0,0,0,0,0,14.82,14.76,14.84
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$STATE,19738,end climb,SURFACE_DEPTH_REACHED
$STATE,19738,begin surface coast
$FINISH,-0.2,1.008331
$STATE,19781,end surface coast,CONTROL_FINISHED_OK
$STATE,19781,begin surface
$SM_CCo,19795,5.30,0.081,0,0,1714,400.08
$SM_GC,1.48,8.48,0.00,5.30,0.113,0.000,0.081,254,2395,1714,-7.86,1.27,400.08,0,0,0,0,0,0,14.64,14.91,14.66
$IRIDIUM_FIX,-328.50,5539.06,240118,203036
$TT8_MAMPS,0.019474,0.156541
$HUMID,60.23
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,13.30,19.064
$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,21.850,177.175,544.325,5.300,0.000,0.000,0.000,242.850,0.000,0.000,20.153,3091.510,13865.631,682.728,2371.094,131.734,0.000,2130.143,0.000,2091.739,0.000,0.546,0.000
$DEVICE_MAMPS,436.050,143.055,1868.895,81.090,0.000,0.000,0.000,129.285,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.141,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63245,1470
$CAP_FILE_SIZE,169962,0
$CFSIZE,260034560,254672896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.076,114.96,1
$GPS,250118,071303,-332.073,5538.800,38,0.9,42,-4.7,1.0,134.1,9,9.0