version: 66.13
glider: 128
mission: 4
dive: 54
start: 1 26 118 5 50 33
data:
$ID,128
$MISSION,4
$DIVE,54
$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,390
$T_MISSION,450
$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,175
$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,69
$R_STBD_OVSHOOT,55
$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
$GPS1,260118,054404,-338.8546,5536.4644,40,0.8,44,-4.8,0.4,78.2,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.3
$GPS2,260118,054938,-338.8568,5536.5542,15,0.8,17,-4.8,1.0,113.2,9,8.6
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,235.7,2352,-25.2,-8.462,-29.90,1254
$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,7,-0.71,-69.5,223,2384,1721,1709,0.0,0.0,0,71,0.00,0.00,-62.10,0.004,16386,0.000,0.000,223,2385,3610,3586,3634,0,0,0,0,0,0,14.87,28.83,14.89
$GC,73,-0.71,-69.5,223,2385,3587,3634,3.8,-9.2,10,93,11.60,2.15,-0.32,0.255,18692,0.436,0.089,2533,3682,3633,3621,3646,0,0,0,0,0,0,14.44,13.77,14.70
$GC,241,-0.71,-69.5,2532,3683,3629,3646,58.1,-25.5,42,245,0.00,2.10,0.00,0.000,1030,0.000,0.045,2533,2377,3637,3629,3646,0,0,0,0,0,0,14.78,14.72,14.81
$GC,552,-0.71,-69.5,2532,2373,3643,3639,98.9,-13.4,74,556,0.00,2.28,0.00,0.000,516,0.000,0.050,2533,938,3641,3644,3639,0,0,0,0,0,0,15.02,14.80,15.04
$GC,694,-0.71,-69.5,2532,938,3646,3638,118.8,-14.7,102,698,0.00,2.25,0.00,0.000,1030,0.000,0.056,2533,2325,3642,3647,3638,0,0,0,0,0,0,14.88,14.81,14.91
$GC,1006,-0.71,-69.5,2532,2325,3650,3638,164.5,-12.1,134,1010,0.00,2.25,0.00,0.000,260,0.000,0.082,2532,3694,3643,3649,3638,0,0,0,0,0,0,15.08,14.83,15.10
$GC,1157,-0.71,-69.5,2532,3694,3650,3639,184.9,-13.2,164,1161,0.00,2.12,0.00,0.000,1030,0.000,0.039,2532,2326,3644,3650,3639,0,0,0,0,0,0,14.95,14.90,14.97
$GC,1468,-0.71,-69.5,2532,2322,3651,3639,219.5,-10.9,196,1472,0.00,2.30,0.00,0.000,260,0.000,0.080,2533,3699,3644,3650,3639,0,0,0,0,0,0,15.11,14.87,15.13
$GC,1541,-0.71,-69.5,2532,3698,3650,3639,228.2,-11.6,211,1549,0.00,2.15,0.00,0.000,1030,0.000,0.040,2532,2347,3644,3650,3639,0,0,0,0,0,0,14.93,14.91,14.96
$GC,1869,-0.71,-69.5,2532,2347,3651,3637,264.8,-11.4,236,1873,0.00,2.25,0.00,0.000,260,0.000,0.081,2532,3693,3643,3650,3637,0,0,0,0,0,0,15.14,14.89,15.15
$GC,1973,-0.71,-69.5,2532,3693,3650,3636,278.2,-12.9,257,1979,0.00,2.10,0.00,0.000,1030,0.000,0.040,2533,2347,3643,3650,3636,0,0,0,0,0,0,15.00,14.95,15.01
$GC,2291,-0.71,-69.5,2532,2342,3649,3634,316.7,-12.3,270,2295,0.00,2.20,0.00,0.000,516,0.000,0.050,2533,948,3641,3649,3634,0,0,0,0,0,0,15.16,14.94,15.18
$GC,2315,-0.71,-69.5,2532,948,3649,3635,319.9,-12.6,275,2322,0.00,2.30,0.00,0.000,1030,0.000,0.058,2532,2360,3641,3649,3634,0,0,0,0,0,0,15.00,14.92,15.02
$GC,2623,-0.71,-69.5,2533,2360,3648,3633,355.3,-11.6,286,2627,0.00,2.20,0.00,0.000,260,0.000,0.085,2533,3695,3640,3648,3633,0,0,0,0,0,0,15.17,14.92,15.19
$GC,2667,-0.71,-69.5,2532,3695,3647,3632,361.1,-13.0,295,2671,0.00,2.10,0.00,0.000,1030,0.000,0.041,2533,2350,3639,3647,3631,0,0,0,0,0,0,15.03,14.97,15.04
$GC,2983,-0.71,-69.5,2532,2346,3646,3630,398.3,-12.1,308,2987,0.00,2.20,0.00,0.000,516,0.000,0.051,2533,955,3638,3646,3630,0,0,0,0,0,0,15.18,14.96,15.20
$GC,3008,-0.71,-69.5,2532,954,3645,3630,401.6,-13.1,313,3015,0.00,2.28,0.00,0.000,1030,0.000,0.058,2533,2349,3638,3646,3630,0,0,0,0,0,0,15.03,14.95,15.04
$GC,3314,-0.71,-69.5,2532,2349,3644,3628,438.7,-12.6,324,3318,0.00,2.25,0.00,0.000,516,0.000,0.051,2533,947,3636,3644,3629,0,0,0,0,0,0,15.19,14.97,15.21
$GC,3346,-0.71,-69.5,2532,947,3644,3628,442.8,-13.3,330,3350,0.00,2.30,0.00,0.000,1030,0.000,0.060,2532,2360,3636,3644,3628,0,0,0,0,0,0,15.04,14.95,15.05
$GC,3677,-0.71,-69.5,2532,2360,3642,3626,485.7,-13.4,346,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2360,3634,3642,3626,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3976,-0.71,-69.5,2532,2360,3640,3624,523.8,-12.3,356,3981,0.00,2.25,0.00,0.000,516,0.000,0.050,2533,955,3632,3640,3624,0,0,0,0,0,0,15.20,14.97,15.21
$GC,3995,-0.71,-69.5,2532,954,3639,3624,526.4,-12.9,360,4000,0.00,2.28,0.00,0.000,1030,0.000,0.060,2532,2349,3632,3641,3623,0,0,0,0,0,0,15.04,14.97,15.07
$GC,4307,-0.71,-69.5,2532,2349,3638,3622,561.1,-10.6,372,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2349,3630,3639,3622,0,0,0,0,0,0,15.20,15.22,15.22
$GC,4608,-0.71,-69.5,2532,2349,3637,3620,592.3,-10.2,382,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2349,3629,3638,3620,0,0,0,0,0,0,15.21,15.22,15.22
$GC,4907,-0.71,-69.5,2532,2349,3636,3617,622.7,-9.9,392,4911,0.00,2.22,0.00,0.000,260,0.000,0.089,2533,3693,3626,3636,3617,0,0,0,0,0,0,15.21,14.95,15.23
$GC,4986,-0.71,-69.5,2532,3693,3635,3617,631.5,-11.0,408,4991,0.00,2.10,0.00,0.000,1030,0.000,0.043,2532,2350,3626,3635,3617,0,0,0,0,0,0,15.07,15.01,15.07
$GC,5298,-0.71,-69.5,2532,2346,3634,3616,663.8,-10.6,420,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2346,3625,3634,3616,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5599,-0.71,-69.5,2532,2346,3632,3614,696.2,-10.8,430,5603,0.00,2.22,0.00,0.000,516,0.000,0.054,2533,949,3623,3632,3615,0,0,0,0,0,0,15.21,14.98,15.23
$GC,5623,-0.71,-69.5,2532,949,3631,3614,699.1,-11.1,435,5630,0.00,2.30,0.00,0.000,1030,0.000,0.063,2532,2347,3622,3631,3614,0,0,0,0,0,0,15.05,14.97,15.07
$GC,5930,-0.71,-69.5,2532,2347,3630,3612,733.9,-11.4,446,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2348,3621,3630,3612,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6230,-0.71,-69.5,2532,2347,3630,3611,765.8,-10.3,456,6234,0.00,2.25,0.00,0.000,260,0.000,0.091,2533,3696,3619,3628,3610,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6294,-0.71,-69.5,2532,3696,3629,3610,772.9,-10.9,469,6299,0.00,2.12,0.00,0.000,1030,0.000,0.045,2533,2349,3619,3629,3610,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6621,-0.71,-69.5,2532,2346,3628,3609,805.2,-9.6,484,6625,0.00,2.30,0.00,0.000,260,0.000,0.090,2532,3703,3618,3628,3609,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6640,-0.71,-69.5,2532,3703,3628,3609,807.2,-9.8,488,6645,0.00,2.15,0.00,0.000,1030,0.000,0.049,2533,2349,3618,3628,3609,0,0,0,0,0,0,15.06,15.00,15.08
$GC,6952,-0.71,-69.5,2532,2344,3627,3608,836.6,-9.6,500,6956,0.00,2.30,0.00,0.000,260,0.000,0.090,2533,3699,3617,3627,3608,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6971,-0.71,-69.5,2532,3699,3626,3607,838.7,-9.8,504,6975,0.00,2.15,0.00,0.000,1030,0.000,0.049,2532,2350,3617,3626,3608,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7283,-0.71,-69.5,2532,2346,3625,3606,869.6,-10.2,516,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2346,3616,3626,3606,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7583,-0.71,-69.5,2532,2346,3625,3604,898.2,-9.3,526,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2346,3614,3624,3604,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7883,-0.71,-69.5,2532,2346,3624,3603,925.0,-9.2,536,7887,0.00,2.30,0.00,0.000,260,0.000,0.093,2532,3697,3613,3624,3603,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7922,-0.71,-69.5,2532,3697,3624,3603,929.1,-10.5,544,7926,0.00,2.15,0.00,0.000,1030,0.000,0.048,2533,2338,3613,3624,3603,0,0,0,0,0,0,15.06,15.01,15.07
$GC,8244,-0.71,-69.5,2532,2334,3623,3601,960.5,-9.6,558,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2334,3612,3623,3601,0,0,0,0,0,0,15.20,15.23,15.22
$GC,8543,-0.71,-69.5,2532,2334,3622,3600,990.0,-9.8,568,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2334,3611,3622,3600,0,0,0,0,0,0,15.21,15.23,15.22
$STATE,8572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8572,begin apogee
$GC,8576,-0.12,0.0,2533,2424,3622,3600,992.9,-9.7,569,8683,0.73,0.00,103.25,1.572,10246,0.257,0.000,2732,2424,3345,3363,3328,0,0,0,0,0,0,14.85,14.32,13.74
$STATE,8684,end apogee,CONTROL_FINISHED_OK
$STATE,8684,begin climb
$GC,8686,0.71,69.5,2731,2424,3357,3322,995.6,0.0,572,8773,0.88,2.28,78.90,1.808,10500,0.148,0.090,3001,3689,3052,3073,3032,0,0,0,0,0,0,14.26,14.08,13.44
$GC,8779,0.77,116.0,3001,3690,3070,3029,993.6,4.7,595,8835,0.00,2.17,50.25,1.812,9254,0.000,0.048,3002,2408,2870,2897,2844,0,0,0,0,0,0,14.25,14.19,13.40
$GC,9148,0.77,116.0,3001,2407,2876,2829,956.9,10.8,618,9152,0.00,2.22,0.00,0.000,260,0.000,0.090,3001,3679,2852,2875,2829,0,0,0,0,0,0,14.81,14.57,14.83
$GC,9228,0.77,116.0,3001,3679,2873,2829,947.3,11.7,634,9232,0.00,2.10,0.00,0.000,1030,0.000,0.051,3002,2404,2851,2873,2829,0,0,0,0,0,0,14.71,14.65,14.73
$GC,9539,0.77,116.0,3002,2404,2872,2828,916.5,9.6,646,9543,0.00,2.20,0.00,0.000,260,0.000,0.088,3002,3679,2850,2872,2828,0,0,0,0,0,0,14.96,14.71,14.98
$GC,9669,0.77,116.0,3001,3679,2870,2828,902.4,10.5,672,9673,0.00,2.10,0.00,0.000,1030,0.000,0.050,3002,2390,2849,2870,2828,0,0,0,0,0,0,14.84,14.78,14.86
$GC,9991,0.77,116.0,3001,2390,2868,2827,872.8,9.2,686,9995,0.00,2.22,0.00,0.000,260,0.000,0.087,3002,3680,2848,2869,2827,0,0,0,0,0,0,15.04,14.78,15.06
$GC,10141,0.77,116.0,3001,3680,2867,2826,856.6,10.6,716,10145,0.00,2.08,0.00,0.000,1030,0.000,0.051,3004,2399,2846,2867,2826,0,0,0,0,0,0,14.90,14.85,14.92
$GC,10472,0.77,116.0,3004,2398,2866,2826,826.7,8.7,732,10476,0.00,2.20,0.00,0.000,260,0.000,0.087,3004,3686,2846,2866,2826,0,0,0,0,0,0,15.08,14.83,15.10
$GC,10598,0.77,116.0,3004,3686,2865,2826,814.6,10.3,757,10603,0.00,2.08,0.00,0.000,1030,0.000,0.050,3004,2400,2845,2864,2826,0,0,0,0,0,0,14.94,14.88,14.96
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$STATE,19999,end climb,SURFACE_DEPTH_REACHED
$STATE,19999,begin surface coast
$FINISH,-0.2,1.022570
$STATE,20030,end surface coast,CONTROL_FINISHED_OK
$STATE,20030,begin surface
$SM_CCo,20046,39.58,0.080,0,0,1714,400.08
$SM_GC,1.60,8.45,0.05,39.58,0.099,0.219,0.080,251,2310,1714,-7.86,1.22,400.08,0,0,0,0,0,0,14.68,14.72,14.69
$IRIDIUM_FIX,-339.53,5539.62,250118,234300
$TT8_MAMPS,0.019474,0.156541
$HUMID,59.52
$INTERNAL_PRESSURE,8.49255
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.40,20.538
$10V_AH,13.72,0.000
$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,21.925,169.875,410.025,39.575,0.000,0.000,0.000,243.650,0.000,0.000,18.327,3366.795,13664.845,579.518,2698.993,135.157,0.000,2133.693,0.000,2410.307,0.000,0.546,0.000
$DEVICE_MAMPS,436.050,218.790,1812.285,79.560,0.000,0.000,0.000,133.110,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,723.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304620
$DATA_FILE_SIZE,73356,1696
$CAP_FILE_SIZE,179712,0
$CFSIZE,260034560,254259200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,18366.92,0x214550,1,24
$CURRENT,0.066,79.61,1
$GPS,260118,112635,-340.014,5536.254,38,0.8,41,-4.8,0.5,93.8,10,8.6