version: 66.13
glider: 128
mission: 4
dive: 72
start: 1 30 118 17 52 24
data:
$ID,128
$MISSION,4
$DIVE,72
$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,39
$R_STBD_OVSHOOT,30
$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
$GPS1,300118,174639,-313.9684,5536.5186,32,1.1,36,-4.6,0.4,62.0,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-74.3
$GPS2,300118,175146,-314.0006,5536.5928,15,1.1,19,-4.6,0.7,37.1,8,10.0
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,233.1,48163,-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,-170.3,234,2343,1535,1508,0.0,0.0,0,83,0.00,0.00,-74.10,0.003,16386,0.000,0.000,234,2344,3821,3803,3839,0,0,0,0,0,0,14.88,28.83,14.90
$GC,85,-0.57,-170.3,234,2344,3805,3839,5.0,-14.1,12,107,11.77,2.25,-1.20,0.071,18692,0.435,0.078,2578,3701,3905,3896,3914,0,0,0,0,0,0,14.43,13.99,14.70
$GC,254,-0.57,-170.3,2578,3701,3901,3914,57.5,-22.3,44,258,0.00,2.17,0.00,0.000,1030,0.000,0.042,2578,2342,3908,3902,3914,0,0,0,0,0,0,14.79,14.73,14.81
$GC,565,-0.57,-170.3,2578,2338,3908,3914,101.6,-11.9,76,569,0.00,2.22,0.00,0.000,516,0.000,0.048,2578,943,3911,3909,3914,0,0,0,0,0,0,15.02,14.79,15.04
$GC,599,-0.57,-170.3,2578,944,3909,3914,105.7,-10.8,83,606,0.00,2.33,0.00,0.000,1030,0.000,0.054,2578,2359,3911,3909,3914,0,0,0,0,0,0,14.87,14.79,14.89
$GC,906,-0.57,-170.3,2578,2359,3910,3916,142.5,-13.3,114,911,0.00,2.20,0.00,0.000,260,0.000,0.082,2578,3694,3912,3910,3915,0,0,0,0,0,0,15.07,14.81,15.09
$GC,1000,-0.57,-170.3,2578,3693,3910,3915,155.1,-12.4,133,1008,0.00,2.17,0.00,0.000,1030,0.000,0.037,2578,2326,3912,3910,3915,0,0,0,0,0,0,14.91,14.87,14.91
$GC,1307,-0.57,-170.3,2578,2325,3910,3915,192.1,-10.8,164,1311,0.00,2.30,0.00,0.000,260,0.000,0.080,2578,3694,3913,3911,3916,0,0,0,0,0,0,15.10,14.85,15.12
$GC,1362,-0.57,-170.3,2578,3694,3910,3915,197.8,-10.1,175,1369,0.00,2.10,0.00,0.000,1030,0.000,0.038,2578,2340,3912,3910,3915,0,0,0,0,0,0,14.96,14.91,14.97
$GC,1668,-0.57,-170.3,2578,2340,3909,3915,228.8,-10.5,206,1673,0.00,2.28,0.00,0.000,260,0.000,0.081,2578,3695,3912,3910,3915,0,0,0,0,0,0,15.12,14.87,15.14
$GC,1710,-0.57,-170.3,2578,3695,3910,3916,232.9,-9.5,214,1715,0.00,2.08,0.00,0.000,1030,0.000,0.039,2578,2357,3913,3910,3916,0,0,0,0,0,0,14.98,14.93,14.99
$GC,2032,-0.57,-170.3,2578,2353,3910,3915,263.9,-9.1,237,2037,0.00,2.28,0.00,0.000,260,0.000,0.081,2578,3703,3912,3909,3915,0,0,0,0,0,0,15.14,14.88,15.16
$GC,2072,-0.57,-170.3,2578,3703,3909,3915,267.8,-8.9,245,2076,0.00,2.12,0.00,0.000,1030,0.000,0.042,2578,2349,3912,3909,3915,0,0,0,0,0,0,15.00,14.95,15.01
$GC,2394,-0.57,-170.3,2578,2346,3908,3915,297.7,-9.6,259,2398,0.00,2.28,0.00,0.000,260,0.000,0.082,2578,3700,3911,3908,3914,0,0,0,0,0,0,15.16,14.90,15.18
$GC,2428,-0.57,-170.3,2578,3700,3908,3914,301.5,-10.5,266,2434,0.00,2.15,0.00,0.000,1030,0.000,0.042,2579,2354,3911,3907,3915,0,0,0,0,0,0,14.97,14.95,15.00
$GC,2756,-0.57,-170.3,2578,2351,3907,3913,336.9,-11.2,281,2760,0.00,2.22,0.00,0.000,516,0.000,0.049,2578,954,3910,3906,3914,0,0,0,0,0,0,15.17,14.95,15.19
$GC,2810,-0.57,-170.3,2578,954,3907,3913,343.3,-10.9,292,2817,0.00,2.30,0.00,0.000,1030,0.000,0.056,2578,2361,3910,3907,3913,0,0,0,0,0,0,15.01,14.93,15.03
$GC,3118,-0.57,-170.3,2578,2361,3905,3910,377.9,-11.7,303,3122,0.00,2.22,0.00,0.000,260,0.000,0.086,2578,3699,3907,3905,3910,0,0,0,0,0,0,15.18,14.92,15.19
$GC,3183,-0.57,-170.3,2578,3700,3903,3909,385.7,-11.7,316,3187,0.00,2.12,0.00,0.000,1030,0.000,0.043,2578,2344,3906,3903,3909,0,0,0,0,0,0,15.03,14.98,15.04
$GC,3510,-0.57,-170.3,2578,2340,3902,3908,424.0,-12.0,331,3514,0.00,2.30,0.00,0.000,260,0.000,0.086,2578,3701,3905,3902,3908,0,0,0,0,0,0,15.19,14.92,15.21
$GC,3541,-0.57,-170.3,2578,3701,3902,3907,427.9,-12.4,337,3545,0.00,2.12,0.00,0.000,1030,0.000,0.044,2578,2351,3904,3902,3907,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3872,-0.57,-170.3,2578,2347,3901,3906,465.9,-11.1,353,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2347,3903,3901,3906,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4172,-0.57,-170.3,2578,2347,3900,3903,497.3,-10.2,363,4176,0.00,2.28,0.00,0.000,260,0.000,0.086,2578,3693,3901,3900,3903,0,0,0,0,0,0,15.19,14.93,15.21
$GC,4212,-0.57,-170.3,2578,3693,3899,3902,501.3,-9.5,371,4216,0.00,2.12,0.00,0.000,1030,0.000,0.043,2578,2340,3900,3898,3902,0,0,0,0,0,0,15.05,15.00,15.06
$GC,4533,-0.57,-170.3,2578,2336,3898,3901,530.1,-9.1,385,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2336,3900,3899,3901,0,0,0,0,0,0,15.19,15.22,15.21
$GC,4834,-0.57,-170.3,2578,2336,3898,3898,559.2,-9.9,395,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2336,3898,3898,3898,0,0,0,0,0,0,15.20,15.22,15.22
$GC,5133,-0.57,-170.3,2578,2336,3897,3896,590.6,-10.5,405,5137,0.00,2.30,0.00,0.000,260,0.000,0.088,2578,3691,3897,3897,3897,0,0,0,0,0,0,15.21,14.93,15.22
$GC,5178,-0.57,-170.3,2578,3691,3896,3897,595.6,-10.8,414,5183,0.00,2.12,0.00,0.000,1030,0.000,0.043,2579,2345,3896,3896,3897,0,0,0,0,0,0,15.05,15.00,15.07
$GC,5496,-0.57,-170.3,2578,2341,3897,3896,629.1,-10.6,427,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2341,3897,3897,3897,0,0,0,0,0,0,15.20,15.22,15.22
$GC,5795,-0.57,-170.3,2577,2340,3895,3892,660.9,-10.6,437,5799,0.00,2.28,0.00,0.000,260,0.000,0.087,2577,3692,3893,3895,3892,0,0,0,0,0,0,15.21,14.93,15.23
$GC,5815,-0.57,-170.3,2577,3692,3894,3892,663.2,-10.7,441,5819,0.00,2.10,0.00,0.000,1030,0.000,0.044,2577,2352,3893,3894,3892,0,0,0,0,0,0,15.06,15.00,15.07
$GC,6126,-0.57,-170.3,2577,2348,3894,3890,694.5,-9.9,453,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2348,3892,3894,3891,0,0,0,0,0,0,15.21,15.23,15.22
$GC,6427,-0.57,-170.3,2577,2348,3893,3889,723.7,-9.3,463,6431,0.00,2.28,0.00,0.000,260,0.000,0.088,2577,3692,3891,3893,3889,0,0,0,0,0,0,15.21,14.93,15.23
$GC,6458,-0.57,-170.3,2577,3691,3892,3889,726.5,-9.0,469,6462,0.00,2.12,0.00,0.000,1030,0.000,0.045,2577,2342,3891,3893,3889,0,0,0,0,0,0,15.05,15.00,15.07
$GC,6788,-0.57,-170.3,2577,2338,3892,3887,754.2,-8.2,485,6792,0.00,2.30,0.00,0.000,260,0.000,0.091,2577,3691,3889,3892,3887,0,0,0,0,0,0,15.20,14.92,15.22
$GC,6820,-0.57,-170.3,2577,3692,3892,3887,756.8,-8.3,491,6824,0.00,2.12,0.00,0.000,1030,0.000,0.046,2577,2345,3889,3892,3887,0,0,0,0,0,0,15.05,15.00,15.07
$GC,7152,-0.57,-170.3,2577,2341,3891,3885,785.0,-8.9,507,7156,0.00,2.22,0.00,0.000,516,0.000,0.053,2578,953,3888,3891,3886,0,0,0,0,0,0,15.20,14.96,15.22
$GC,7182,-0.57,-170.3,2577,953,3891,3886,787.9,-9.3,513,7187,0.00,2.30,0.00,0.000,1030,0.000,0.060,2577,2350,3888,3891,3886,0,0,0,0,0,0,15.04,14.95,15.05
$GC,7513,-0.57,-170.3,2577,2351,3891,3884,816.6,-8.8,529,7517,0.00,2.28,0.00,0.000,260,0.000,0.092,2577,3702,3886,3890,3883,0,0,0,0,0,0,15.20,14.92,15.22
$GC,7575,-0.57,-170.3,2577,3702,3890,3883,822.0,-8.7,541,7580,0.00,2.17,0.00,0.000,1030,0.000,0.048,2577,2353,3886,3890,3883,0,0,0,0,0,0,15.04,14.98,15.05
$GC,7906,-0.57,-170.3,2577,2349,3889,3881,850.2,-8.4,557,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2349,3885,3889,3881,0,0,0,0,0,0,15.20,15.22,15.21
$GC,8207,-0.57,-170.3,2577,2350,3889,3880,875.1,-8.4,567,8211,0.00,2.33,0.00,0.000,260,0.000,0.092,2577,3701,3884,3888,3880,0,0,0,0,0,0,15.19,14.92,15.22
$GC,8232,-0.57,-170.3,2577,3701,3888,3880,877.5,-9.0,572,8239,0.00,2.17,0.00,0.000,1030,0.000,0.049,2577,2341,3884,3888,3880,0,0,0,0,0,0,15.04,14.99,15.06
$GC,8539,-0.57,-170.3,2577,2341,3888,3879,905.6,-9.8,583,8543,0.00,2.33,0.00,0.000,260,0.000,0.092,2577,3699,3883,3888,3879,0,0,0,0,0,0,15.19,14.91,15.21
$GC,8579,-0.57,-170.3,2577,3699,3886,3879,909.8,-10.3,591,8583,0.00,2.15,0.00,0.000,1030,0.000,0.049,2577,2349,3883,3887,3879,0,0,0,0,0,0,15.04,14.98,15.05
$GC,8900,-0.57,-170.3,2577,2346,3887,3878,941.8,-10.0,605,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2346,3882,3887,3878,0,0,0,0,0,0,15.19,15.22,15.21
$GC,9200,-0.57,-170.3,2577,2346,3887,3877,970.8,-9.6,615,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2346,3882,3887,3877,0,0,0,0,0,0,15.20,15.22,15.21
$STATE,9439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9439,begin apogee
$GC,9443,-0.12,0.0,2577,2404,3886,3876,992.3,-8.8,623,9621,0.55,0.00,173.35,1.675,10246,0.220,0.000,2737,2404,3343,3366,3321,0,0,0,0,0,0,14.84,14.14,13.52
$STATE,9622,end apogee,CONTROL_FINISHED_OK
$STATE,9622,begin climb
$GC,9623,0.57,170.3,2737,2404,3362,3317,998.6,0.0,629,9803,0.73,0.00,173.93,1.885,10758,0.133,0.000,2959,2404,2649,2694,2604,0,0,0,0,0,0,14.12,13.97,13.31
$GC,10100,0.57,170.3,2958,2404,2670,2593,959.4,11.0,675,10105,0.00,2.25,0.00,0.000,260,0.000,0.090,2959,3697,2631,2669,2594,0,0,0,0,0,0,14.77,14.53,14.79
$GC,10134,0.57,170.3,2958,3698,2668,2593,955.1,12.1,682,10140,0.00,2.17,0.00,0.000,1030,0.000,0.048,2959,2410,2630,2667,2593,0,0,0,0,0,0,14.62,14.58,14.64
$GC,10462,0.57,170.3,2959,2410,2665,2593,919.7,10.7,697,10466,0.00,2.38,0.00,0.000,516,0.000,0.063,2959,989,2629,2665,2593,0,0,0,0,0,0,14.94,14.70,14.96
$GC,10494,0.57,170.3,2959,988,2664,2593,916.4,10.4,703,10498,0.00,2.38,0.00,0.000,1030,0.000,0.061,2959,2393,2628,2664,2592,0,0,0,0,0,0,14.79,14.71,14.81
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$STATE,20739,end climb,SURFACE_DEPTH_REACHED
$STATE,20740,begin surface coast
$FINISH,0.1,1.022642
$STATE,20772,end surface coast,CONTROL_FINISHED_OK
$STATE,20772,begin surface
$SM_CCo,20786,9.48,0.080,0,0,1714,400.08
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$IRIDIUM_FIX,-306.76,5537.27,300118,115328
$TT8_MAMPS,0.019474,0.160286
$HUMID,60.19
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.31,26.047
$10V_AH,13.47,0.000
$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
$DEVICE_SECS,21.700,194.450,525.925,9.475,0.000,0.000,0.000,213.175,0.000,0.000,20.582,3270.195,14546.336,687.713,2457.438,149.794,0.000,2163.863,0.000,2206.166,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.628,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66682,1551
$CAP_FILE_SIZE,179362,0
$CFSIZE,260034560,252784640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11517.77,0x234cb8,1,24
$CURRENT,0.083,105.16,1
$GPS,300118,234007,-315.788,5535.887,29,0.8,31,-4.6,0.7,104.7,9,8.7