version: 66.13
glider: 128
mission: 4
dive: 58
start: 1 27 118 5 49 5
data:
$ID,128
$MISSION,4
$DIVE,58
$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,43
$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
$GPS1,270118,054309,-332.6146,5535.9946,27,0.9,31,-4.7,0.2,33.4,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-72.9
$GPS2,270118,054827,-332.5624,5536.0186,19,1.1,23,-4.7,0.8,10.9,9,9.9
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,342.9,60306,-14.4,-8.462,-20.64,3036
$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,-0.57,-170.3,224,2340,1722,1709,0.0,0.0,0,74,0.00,0.00,-64.80,0.004,16386,0.000,0.000,224,2340,3746,3726,3766,0,0,0,0,0,0,14.90,28.83,14.92
$GC,76,-0.57,-170.3,224,2340,3728,3767,4.7,-13.6,11,98,11.95,2.30,-2.28,0.037,18692,0.441,0.084,2578,3701,3905,3896,3914,0,0,0,0,0,0,14.45,13.77,14.72
$GC,140,-0.57,-170.3,2577,3701,3900,3914,33.2,-25.4,22,147,0.00,2.17,0.00,0.000,1030,0.000,0.046,2578,2352,3907,3901,3914,0,0,0,0,0,0,14.77,14.70,14.78
$GC,449,-0.57,-170.3,2577,2347,3906,3914,93.1,-13.5,59,453,0.00,2.28,0.00,0.000,516,0.000,0.051,2578,932,3910,3907,3914,0,0,0,0,0,0,15.01,14.78,15.03
$GC,610,-0.57,-170.3,2577,932,3909,3914,112.2,-11.9,91,614,0.00,2.33,0.00,0.000,1030,0.000,0.054,2578,2363,3911,3909,3914,0,0,0,0,0,0,14.88,14.81,14.90
$GC,920,-0.57,-170.3,2577,2364,3910,3915,151.5,-11.9,123,924,0.00,2.20,0.00,0.000,260,0.000,0.083,2578,3693,3912,3910,3915,0,0,0,0,0,0,15.08,14.83,15.10
$GC,984,-0.57,-170.3,2578,3693,3909,3915,159.2,-11.5,136,992,0.00,2.17,0.00,0.000,1030,0.000,0.038,2578,2329,3912,3910,3915,0,0,0,0,0,0,14.90,14.85,14.92
$GC,1291,-0.57,-170.3,2577,2329,3911,3915,192.9,-11.1,167,1295,0.00,2.17,0.00,0.000,516,0.000,0.049,2578,957,3913,3911,3916,0,0,0,0,0,0,15.11,14.89,15.13
$GC,1375,-0.57,-170.3,2577,957,3910,3916,201.6,-9.8,184,1382,0.00,2.30,0.00,0.000,1030,0.000,0.053,2578,2346,3913,3910,3916,0,0,0,0,0,0,14.92,14.87,14.95
$GC,1682,-0.57,-170.3,2577,2346,3910,3916,233.6,-10.7,215,1687,0.00,2.25,0.00,0.000,516,0.000,0.049,2578,953,3913,3910,3916,0,0,0,0,0,0,15.12,14.91,15.15
$GC,1746,-0.57,-170.3,2578,953,3910,3916,240.9,-11.1,228,1754,0.00,2.33,0.00,0.000,1030,0.000,0.054,2578,2351,3913,3910,3916,0,0,0,0,0,0,14.94,14.89,14.96
$GC,2073,-0.57,-170.3,2577,2351,3909,3916,277.2,-11.1,245,2078,0.00,2.22,0.00,0.000,260,0.000,0.085,2578,3698,3912,3909,3915,0,0,0,0,0,0,15.15,14.90,15.17
$GC,2148,-0.57,-170.3,2577,3699,3908,3915,285.9,-11.6,260,2153,0.00,2.10,0.00,0.000,1030,0.000,0.042,2578,2351,3911,3908,3915,0,0,0,0,0,0,15.01,14.96,15.02
$GC,2465,-0.57,-170.3,2577,2347,3908,3915,320.8,-10.9,273,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2347,3910,3907,3914,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2765,-0.57,-170.3,2577,2347,3907,3913,350.0,-9.2,283,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2347,3910,3907,3913,0,0,0,0,0,0,15.18,15.21,15.20
$GC,3065,-0.57,-170.3,2577,2347,3905,3910,378.7,-9.5,293,3070,0.00,2.28,0.00,0.000,260,0.000,0.085,2578,3701,3907,3905,3910,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3100,-0.57,-170.3,2577,3701,3903,3910,382.2,-9.4,300,3104,0.00,2.12,0.00,0.000,1030,0.000,0.044,2578,2344,3906,3904,3909,0,0,0,0,0,0,15.04,15.00,15.06
$GC,3427,-0.57,-170.3,2578,2340,3903,3907,411.8,-9.0,315,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2340,3905,3904,3907,0,0,0,0,0,0,15.19,15.22,15.21
$GC,3727,-0.57,-170.3,2577,2340,3901,3906,438.9,-9.2,325,3732,0.00,2.20,0.00,0.000,516,0.000,0.050,2578,953,3903,3901,3906,0,0,0,0,0,0,15.20,14.98,15.22
$GC,3753,-0.57,-170.3,2578,953,3901,3906,441.5,-9.2,330,3759,0.00,2.28,0.00,0.000,1030,0.000,0.057,2578,2350,3903,3901,3906,0,0,0,0,0,0,15.04,14.97,15.07
$GC,4059,-0.57,-170.3,2577,2350,3900,3903,469.8,-9.5,341,4063,0.00,2.22,0.00,0.000,260,0.000,0.088,2578,3692,3901,3900,3902,0,0,0,0,0,0,15.20,14.95,15.23
$GC,4114,-0.57,-170.3,2577,3692,3899,3902,475.2,-9.5,352,4121,0.00,2.10,0.00,0.000,1030,0.000,0.043,2578,2344,3900,3899,3902,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4420,-0.57,-170.3,2577,2344,3899,3901,503.2,-9.3,363,4424,0.00,2.20,0.00,0.000,516,0.000,0.053,2578,960,3900,3899,3901,0,0,0,0,0,0,15.20,14.97,15.22
$GC,4464,-0.57,-170.3,2577,960,3899,3901,507.5,-9.1,372,4468,0.00,2.28,0.00,0.000,1030,0.000,0.057,2578,2349,3900,3899,3901,0,0,0,0,0,0,15.04,14.97,15.07
$GC,4781,-0.57,-170.3,2577,2350,3898,3898,535.5,-8.8,385,4786,0.00,2.22,0.00,0.000,260,0.000,0.089,2578,3693,3898,3898,3898,0,0,0,0,0,0,15.20,14.94,15.22
$GC,4831,-0.57,-170.3,2577,3692,3897,3898,540.2,-8.7,395,4835,0.00,2.10,0.00,0.000,1030,0.000,0.044,2578,2354,3897,3897,3898,0,0,0,0,0,0,15.06,15.00,15.07
$GC,5143,-0.57,-170.3,2577,2351,3897,3897,565.4,-7.9,407,5147,0.00,2.22,0.00,0.000,516,0.000,0.054,2578,954,3897,3897,3897,0,0,0,0,0,0,15.20,14.97,15.22
$GC,5187,-0.57,-170.3,2577,954,3897,3897,569.1,-7.8,416,5191,0.00,2.30,0.00,0.000,1030,0.000,0.059,2578,2359,3897,3897,3897,0,0,0,0,0,0,15.04,14.96,15.07
$GC,5503,-0.57,-170.3,2577,2360,3896,3895,594.0,-8.0,429,5508,0.00,2.22,0.00,0.000,260,0.000,0.090,2578,3694,3895,3896,3895,0,0,0,0,0,0,15.20,14.95,15.22
$GC,5543,-0.57,-170.3,2577,3693,3895,3893,597.4,-8.1,437,5549,0.00,2.12,0.00,0.000,1030,0.000,0.045,2578,2347,3894,3895,3894,0,0,0,0,0,0,15.06,15.00,15.07
$GC,5866,-0.57,-170.3,2577,2344,3895,3892,623.8,-8.5,451,5870,0.00,2.22,0.00,0.000,516,0.000,0.054,2578,948,3893,3895,3891,0,0,0,0,0,0,15.20,14.97,15.22
$GC,5890,-0.57,-170.3,2577,948,3894,3891,626.1,-8.6,456,5898,0.00,2.30,0.00,0.000,1030,0.000,0.061,2578,2349,3893,3895,3891,0,0,0,0,0,0,15.04,14.96,15.06
$GC,6197,-0.57,-170.3,2577,2349,3894,3890,652.3,-8.8,467,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2349,3892,3894,3890,0,0,0,0,0,0,15.20,15.23,15.22
$GC,6497,-0.57,-170.3,2577,2349,3893,3889,678.3,-8.7,477,6502,0.00,2.25,0.00,0.000,260,0.000,0.093,2578,3696,3890,3892,3888,0,0,0,0,0,0,15.21,14.94,15.23
$GC,6547,-0.57,-170.3,2577,3696,3892,3888,683.0,-8.8,487,6551,0.00,2.12,0.00,0.000,1030,0.000,0.047,2578,2348,3890,3892,3888,0,0,0,0,0,0,15.06,15.00,15.07
$GC,6859,-0.57,-170.3,2577,2344,3892,3887,710.8,-9.0,499,6863,0.00,2.22,0.00,0.000,516,0.000,0.054,2578,950,3889,3892,3887,0,0,0,0,0,0,15.21,14.98,15.23
$GC,6883,-0.57,-170.3,2577,950,3892,3886,713.1,-9.5,504,6890,0.00,2.30,0.00,0.000,1030,0.000,0.061,2578,2350,3889,3892,3886,0,0,0,0,0,0,15.04,14.96,15.07
$GC,7189,-0.57,-170.3,2577,2350,3890,3885,737.9,-7.8,515,7193,0.00,2.25,0.00,0.000,260,0.000,0.092,2578,3697,3887,3890,3885,0,0,0,0,0,0,15.21,14.94,15.22
$GC,7220,-0.57,-170.3,2577,3697,3890,3885,740.2,-7.6,521,7225,0.00,2.12,0.00,0.000,1030,0.000,0.047,2578,2348,3887,3890,3885,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7552,-0.57,-170.3,2577,2344,3889,3882,764.4,-7.4,537,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2344,3886,3889,3883,0,0,0,0,0,0,15.20,15.22,15.22
$GC,7852,-0.57,-170.3,2577,2344,3888,3882,786.0,-7.4,547,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2344,3885,3889,3882,0,0,0,0,0,0,15.21,15.23,15.22
$GC,8152,-0.57,-170.3,2577,2344,3888,3881,811.7,-9.0,557,8157,0.00,2.22,0.00,0.000,516,0.000,0.055,2577,954,3884,3888,3881,0,0,0,0,0,0,15.21,14.97,15.23
$GC,8172,-0.57,-170.3,2578,954,3888,3881,813.8,-9.4,561,8178,0.00,2.30,0.00,0.000,1030,0.000,0.062,2578,2350,3884,3888,3881,0,0,0,0,0,0,15.05,14.96,15.07
$GC,8484,-0.57,-170.3,2577,2350,3886,3879,844.2,-10.2,573,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2350,3883,3887,3879,0,0,0,0,0,0,15.21,15.23,15.22
$GC,8784,-0.57,-170.3,2577,2350,3887,3878,874.2,-9.9,583,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2350,3882,3887,3878,0,0,0,0,0,0,15.21,15.23,15.23
$GC,9085,-0.57,-170.3,2578,2350,3886,3877,902.5,-9.4,593,9089,0.00,2.25,0.00,0.000,260,0.000,0.095,2577,3693,3881,3886,3877,0,0,0,0,0,0,15.21,14.93,15.23
$GC,9139,-0.57,-170.3,2577,3693,3885,3877,907.8,-9.5,604,9146,0.00,2.12,0.00,0.000,1030,0.000,0.047,2578,2347,3880,3884,3877,0,0,0,0,0,0,15.05,14.99,15.07
$GC,9446,-0.57,-170.3,2578,2347,3885,3876,936.3,-9.3,615,9450,0.00,2.22,0.00,0.000,516,0.000,0.057,2578,958,3880,3885,3876,0,0,0,0,0,0,15.21,14.97,15.22
$GC,9490,-0.57,-170.3,2577,958,3885,3876,940.7,-9.6,624,9494,0.00,2.30,0.00,0.000,1030,0.000,0.062,2577,2358,3880,3885,3876,0,0,0,0,0,0,15.04,14.95,15.06
$GC,9807,-0.57,-170.3,2577,2359,3884,3874,970.4,-9.5,637,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2359,3879,3884,3875,0,0,0,0,0,0,15.20,15.23,15.22
$STATE,10015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10015,begin apogee
$GC,10020,-0.12,0.0,2578,2404,3884,3874,990.1,-9.3,644,10204,0.55,0.00,180.57,1.639,10246,0.219,0.000,2738,2404,3345,3368,3323,0,0,0,0,0,0,14.86,14.12,13.52
$STATE,10205,end apogee,CONTROL_FINISHED_OK
$STATE,10205,begin climb
$GC,10206,0.57,170.3,2738,2404,3363,3318,998.1,0.0,650,10396,0.73,2.50,178.38,1.858,10756,0.125,0.057,2962,1011,2643,2687,2599,0,0,1,0,0,0,14.12,13.97,13.29
$GC,10409,0.59,170.3,2962,1011,2683,2597,992.1,7.2,692,10417,0.00,2.42,0.00,0.000,1094,0.000,0.061,2962,2392,2638,2682,2595,0,0,0,0,0,0,14.17,14.09,14.19
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$STATE,21230,end climb,SURFACE_DEPTH_REACHED
$STATE,21230,begin surface coast
$FINISH,-0.3,1.022605
$STATE,21251,end surface coast,CONTROL_FINISHED_OK
$STATE,21251,begin surface
$SM_CCo,21327,0.00,0.000,0,0,1685,407.19
$SM_GC,0.82,8.52,0.10,0.00,0.098,0.145,0.000,251,2315,1685,-7.87,0.88,407.19,0,0,0,0,0,0,14.55,14.62,14.67
$IRIDIUM_FIX,-335.11,5537.84,260118,234529
$TT8_MAMPS,0.019474,0.161784
$HUMID,59.64
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,13.29,21.763
$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,22.125,196.550,570.225,0.000,0.000,0.000,0.000,222.125,0.000,0.000,24.203,3252.546,15030.320,718.254,2513.146,137.976,0.000,2228.746,0.000,2244.729,0.000,0.546,0.000
$DEVICE_MAMPS,440.640,250.920,1858.185,0.000,0.000,0.000,0.000,132.345,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.692,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304632
$DATA_FILE_SIZE,66758,1579
$CAP_FILE_SIZE,181725,0
$CFSIZE,260034560,253923328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.044,72.89,1
$GPS,270118,114601,-330.522,5535.548,47,1.0,56,-4.7,0.5,13.0,7,9.2