version: 66.13
glider: 128
mission: 4
dive: 61
start: 1 27 118 23 53 8
data:
$ID,128
$MISSION,4
$DIVE,61
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,270118,234713,-325.5843,5535.5938,25,1.4,33,-4.7,0.4,116.2,5,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-73.5
$GPS2,270118,235231,-325.5928,5535.6318,19,1.3,25,-4.7,0.0,128.2,6,10.0
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,343.3,47403,-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,-170.3,232,2372,1564,1537,0.0,0.0,0,82,0.00,0.00,-72.55,0.003,16386,0.000,0.000,232,2372,3826,3809,3843,0,0,0,0,0,0,14.88,28.83,14.90
$GC,84,-0.57,-170.3,232,2372,3810,3843,5.3,-16.0,12,106,12.00,2.35,-1.10,0.077,18948,0.443,0.071,2587,941,3904,3895,3914,0,0,0,0,0,0,14.42,14.01,14.70
$GC,112,-0.57,-170.3,2587,942,3897,3914,23.8,-57.0,16,119,0.00,2.30,0.00,0.000,1030,0.000,0.043,2579,2356,3906,3898,3914,0,0,0,0,0,0,14.73,14.66,14.76
$GC,421,-0.57,-170.3,2579,2356,3903,3914,87.0,-13.6,54,426,0.00,2.22,0.00,0.000,260,0.000,0.079,2578,3693,3908,3904,3913,0,0,0,0,0,0,14.99,14.74,15.00
$GC,582,-0.57,-170.3,2578,3693,3907,3914,107.7,-13.5,86,587,0.00,2.12,0.00,0.000,1030,0.000,0.038,2578,2337,3911,3908,3914,0,0,0,0,0,0,14.88,14.82,14.90
$GC,894,-0.57,-170.3,2578,2333,3910,3915,146.1,-11.5,118,899,0.00,2.28,0.00,0.000,260,0.000,0.079,2578,3693,3912,3910,3914,0,0,0,0,0,0,15.07,14.81,15.09
$GC,926,-0.57,-170.3,2578,3693,3910,3915,149.8,-12.0,124,930,0.00,2.10,0.00,0.000,1030,0.000,0.039,2579,2348,3912,3910,3915,0,0,0,0,0,0,14.92,14.88,14.95
$GC,1236,-0.57,-170.3,2578,2345,3910,3915,183.6,-10.8,156,1240,0.00,2.20,0.00,0.000,516,0.000,0.050,2578,956,3912,3910,3914,0,0,0,0,0,0,15.09,14.88,15.11
$GC,1368,-0.57,-170.3,2578,956,3910,3915,197.6,-10.7,182,1373,0.00,2.25,0.00,0.000,1030,0.000,0.053,2578,2346,3912,3910,3915,0,0,0,0,0,0,14.95,14.87,14.97
$GC,1680,-0.57,-170.3,2578,2347,3910,3915,234.0,-12.2,214,1685,0.00,2.25,0.00,0.000,516,0.000,0.049,2578,948,3912,3910,3915,0,0,0,0,0,0,15.12,14.90,15.14
$GC,1714,-0.57,-170.3,2578,948,3910,3915,238.6,-12.7,221,1722,0.00,2.33,0.00,0.000,1030,0.000,0.054,2578,2346,3912,3910,3915,0,0,0,0,0,0,14.92,14.88,14.96
$GC,2021,-0.57,-170.3,2578,2346,3908,3915,275.1,-12.0,238,2026,0.00,2.22,0.00,0.000,260,0.000,0.083,2578,3693,3911,3908,3914,0,0,0,0,0,0,15.14,14.90,15.16
$GC,2071,-0.57,-170.3,2578,3693,3908,3914,281.3,-11.8,248,2075,0.00,2.10,0.00,0.000,1030,0.000,0.041,2578,2348,3910,3907,3914,0,0,0,0,0,0,15.00,14.95,15.02
$GC,2383,-0.57,-170.3,2578,2344,3907,3914,316.9,-11.6,260,2387,0.00,2.20,0.00,0.000,516,0.000,0.050,2578,957,3910,3907,3914,0,0,0,0,0,0,15.16,14.94,15.19
$GC,2432,-0.57,-170.3,2578,957,3907,3914,322.9,-11.6,270,2437,0.00,2.28,0.00,0.000,1030,0.000,0.055,2579,2356,3910,3907,3914,0,0,0,0,0,0,15.01,14.92,15.02
$GC,2744,-0.57,-170.3,2578,2356,3905,3910,359.8,-12.1,282,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2357,3907,3905,3910,0,0,0,0,0,0,15.17,15.19,15.19
$GC,3044,-0.57,-170.3,2578,2356,3903,3908,395.9,-12.0,292,3048,0.00,2.22,0.00,0.000,260,0.000,0.086,2579,3699,3905,3903,3908,0,0,0,0,0,0,15.19,14.92,15.20
$GC,3075,-0.57,-170.3,2578,3699,3901,3908,399.6,-12.6,298,3080,0.00,2.12,0.00,0.000,1030,0.000,0.044,2579,2348,3905,3902,3908,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3407,-0.57,-170.3,2578,2344,3901,3906,436.6,-10.8,314,3412,0.00,2.22,0.00,0.000,516,0.000,0.053,2578,952,3903,3901,3906,0,0,0,0,0,0,15.19,14.96,15.21
$GC,3433,-0.57,-170.3,2578,952,3901,3906,439.4,-10.8,319,3440,0.00,2.30,0.00,0.000,1030,0.000,0.058,2578,2358,3903,3901,3906,0,0,0,0,0,0,15.03,14.95,15.05
$GC,3738,-0.57,-170.3,2578,2359,3900,3903,470.5,-10.1,330,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2358,3901,3900,3903,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4039,-0.57,-170.3,2578,2358,3899,3901,499.9,-9.7,340,4043,0.00,2.22,0.00,0.000,260,0.000,0.090,2578,3692,3899,3898,3901,0,0,0,0,0,0,15.20,14.94,15.21
$GC,4082,-0.57,-170.3,2578,3692,3898,3901,504.4,-9.4,349,4087,0.00,2.12,0.00,0.000,1030,0.000,0.044,2578,2344,3899,3898,3900,0,0,0,0,0,0,15.05,15.00,15.07
$GC,4399,-0.57,-170.3,2577,2339,3896,3900,529.8,-6.8,362,4405,0.00,2.22,0.00,0.000,516,0.000,0.052,2577,946,3898,3897,3900,0,0,0,0,0,0,15.20,14.97,15.21
$GC,4535,-0.57,-170.3,2577,947,3897,3899,543.0,-9.6,389,4539,0.00,2.30,0.00,0.000,1030,0.000,0.059,2577,2349,3897,3897,3898,0,0,0,0,0,0,15.04,14.95,15.05
$GC,4852,-0.57,-170.3,2577,2349,3897,3897,575.7,-10.6,402,4856,0.00,2.25,0.00,0.000,260,0.000,0.090,2578,3697,3896,3896,3896,0,0,0,0,0,0,15.20,14.93,15.21
$GC,4902,-0.57,-170.3,2577,3698,3895,3896,581.4,-10.8,412,4906,0.00,2.12,0.00,0.000,1030,0.000,0.045,2578,2348,3895,3895,3896,0,0,0,0,0,0,15.05,15.00,15.07
$GC,5213,-0.57,-170.3,2577,2345,3896,3895,614.6,-10.6,424,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2345,3895,3896,3894,0,0,0,0,0,0,15.20,15.22,15.22
$GC,5513,-0.57,-170.3,2577,2345,3894,3892,645.5,-10.1,434,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2345,3893,3894,3892,0,0,0,0,0,0,15.20,15.23,15.22
$GC,5813,-0.57,-170.3,2577,2345,3893,3890,673.9,-9.5,444,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2345,3891,3893,3890,0,0,0,0,0,0,15.20,15.23,15.22
$GC,6113,-0.57,-170.3,2577,2345,3892,3888,703.2,-9.7,454,6118,0.00,2.22,0.00,0.000,516,0.000,0.055,2577,957,3890,3892,3888,0,0,0,0,0,0,15.21,14.97,15.23
$GC,6153,-0.57,-170.3,2577,956,3892,3888,707.3,-9.9,462,6159,0.00,2.30,0.00,0.000,1030,0.000,0.059,2578,2353,3890,3892,3888,0,0,0,0,0,0,15.04,14.97,15.07
$GC,6476,-0.57,-170.3,2577,2354,3891,3886,739.0,-10.0,476,6480,0.00,2.25,0.00,0.000,260,0.000,0.091,2577,3702,3888,3891,3886,0,0,0,0,0,0,15.20,14.94,15.22
$GC,6524,-0.57,-170.3,2577,3701,3890,3886,744.2,-10.0,486,6530,0.00,2.15,0.00,0.000,1030,0.000,0.047,2577,2345,3888,3890,3886,0,0,0,0,0,0,15.05,15.00,15.07
$GC,6837,-0.57,-170.3,2577,2341,3890,3884,775.4,-9.9,498,6842,0.00,2.22,0.00,0.000,516,0.000,0.054,2578,950,3887,3890,3885,0,0,0,0,0,0,15.21,14.97,15.22
$GC,6877,-0.57,-170.3,2577,950,3890,3884,779.6,-9.8,506,6882,0.00,2.30,0.00,0.000,1030,0.000,0.060,2578,2350,3887,3890,3884,0,0,0,0,0,0,15.04,14.95,15.06
$GC,7199,-0.57,-170.3,2577,2351,3889,3882,808.6,-8.9,520,7203,0.00,2.25,0.00,0.000,260,0.000,0.092,2578,3695,3886,3890,3882,0,0,0,0,0,0,15.20,14.93,15.22
$GC,7223,-0.57,-170.3,2577,3695,3888,3882,810.9,-8.8,525,7230,0.00,2.12,0.00,0.000,1030,0.000,0.047,2577,2346,3885,3888,3883,0,0,0,0,0,0,15.05,14.99,15.07
$GC,7530,-0.57,-170.3,2577,2346,3888,3881,836.6,-8.2,536,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2346,3884,3888,3881,0,0,0,0,0,0,15.20,15.22,15.22
$GC,7830,-0.57,-170.3,2576,2345,3887,3878,861.0,-8.2,546,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2345,3882,3886,3878,0,0,0,0,0,0,15.20,15.23,15.22
$GC,8130,-0.57,-170.3,2576,2345,3886,3878,886.8,-8.8,556,8133,0.00,2.30,0.00,0.000,260,0.000,0.092,2576,3696,3882,3887,3878,0,0,0,0,0,0,15.21,14.93,15.23
$GC,8164,-0.57,-170.3,2576,3696,3886,3878,890.0,-9.2,563,8168,0.00,2.15,0.00,0.000,1030,0.000,0.048,2576,2345,3882,3886,3878,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8490,-0.57,-170.3,2576,2341,3886,3877,920.5,-9.5,578,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2341,3882,3887,3877,0,0,0,0,0,0,15.20,15.22,15.22
$GC,8790,-0.57,-170.3,2576,2341,3886,3877,948.6,-9.4,588,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2341,3881,3886,3876,0,0,0,0,0,0,15.20,15.23,15.22
$GC,9090,-0.57,-170.3,2576,2341,3885,3875,977.1,-9.5,598,9095,0.00,2.33,0.00,0.000,260,0.000,0.093,2576,3702,3880,3885,3875,0,0,0,0,0,0,15.21,14.93,15.22
$GC,9126,-0.57,-170.3,2576,3702,3884,3875,980.7,-9.9,605,9131,0.00,2.15,0.00,0.000,1030,0.000,0.050,2576,2355,3880,3885,3875,0,0,0,0,0,0,15.05,14.99,15.07
$STATE,9241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9241,begin apogee
$GC,9245,-0.12,0.0,2576,2406,3885,3874,991.5,-9.2,613,9424,0.55,0.00,174.93,1.660,10246,0.220,0.000,2737,2405,3343,3366,3321,0,0,0,0,0,0,14.85,14.13,13.53
$STATE,9425,end apogee,CONTROL_FINISHED_OK
$STATE,9425,begin climb
$GC,9427,0.57,170.3,2737,2406,3362,3317,999.2,0.0,619,9612,0.73,2.47,176.70,1.870,11012,0.135,0.060,2958,1003,2645,2691,2600,0,0,1,0,0,0,14.12,13.97,13.31
$GC,9627,0.59,170.3,2958,1003,2685,2596,992.2,7.5,645,9634,0.00,2.45,0.00,0.000,1094,0.000,0.059,2958,2392,2639,2683,2595,0,0,0,0,0,0,14.18,14.09,14.19
$GC,9934,0.59,170.3,2958,2392,2671,2590,963.4,9.6,656,9938,0.00,2.25,0.00,0.000,260,0.000,0.088,2958,3700,2630,2671,2590,0,0,0,0,0,0,14.78,14.54,14.81
$GC,10018,0.59,170.3,2958,3700,2667,2589,954.0,11.1,673,10025,0.00,2.12,0.00,0.000,1030,0.000,0.050,2958,2410,2628,2667,2589,0,0,0,0,0,0,14.69,14.63,14.71
$GC,10325,0.59,170.3,2958,2410,2665,2588,925.1,9.2,684,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2410,2627,2665,2589,0,0,0,0,0,0,14.95,14.97,14.97
$GC,10625,0.59,170.3,2958,2410,2663,2589,899.5,8.4,694,10630,0.00,2.22,0.00,0.000,260,0.000,0.085,2958,3701,2626,2663,2589,0,0,0,0,0,0,15.01,14.76,15.03
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$STATE,19644,end climb,SURFACE_DEPTH_REACHED
$STATE,19645,begin surface coast
$FINISH,-0.2,1.022707
$STATE,19677,end surface coast,CONTROL_FINISHED_OK
$STATE,19677,begin surface
$SM_CCo,19752,0.00,0.000,0,0,1436,468.52
$SM_GC,0.69,8.38,0.12,0.00,0.097,0.109,0.000,250,2299,1436,-7.87,0.90,468.52,0,0,0,0,0,0,14.62,14.71,14.72
$IRIDIUM_FIX,-324.20,5536.05,270118,175734
$TT8_MAMPS,0.019474,0.156541
$HUMID,59.09
$INTERNAL_PRESSURE,8.45349
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.31,22.714
$10V_AH,13.63,0.000
$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,21.900,192.750,639.550,0.000,0.000,0.000,0.000,219.600,0.000,0.000,27.050,3004.251,13826.975,800.203,2306.535,139.108,0.000,2213.920,0.000,2046.243,0.000,0.546,0.000
$DEVICE_MAMPS,442.935,162.945,1869.660,0.000,0.000,0.000,0.000,134.640,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63284,1438
$CAP_FILE_SIZE,170671,0
$CFSIZE,260034560,253693952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.114,85.47,1
$GPS,280118,052335,-323.404,5535.912,36,0.8,42,-4.6,0.6,135.2,9,10.0