version: 66.13
glider: 128
mission: 4
dive: 74
start: 1 31 118 5 56 43
data:
$ID,128
$MISSION,4
$DIVE,74
$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,78
$R_STBD_OVSHOOT,51
$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
$GPS1,310118,055042,-318.4828,5536.6460,43,1.2,47,-4.6,0.5,162.9,6,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-71.0
$GPS2,310118,055604,-318.5303,5536.7407,17,1.0,20,-4.6,0.7,101.2,7,10.0
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,229.9,39785,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-0.57,-170.3,223,2384,1388,1353,0.0,0.0,0,86,0.00,0.00,-76.82,0.003,16386,0.000,0.000,222,2384,3699,3679,3719,0,0,0,0,0,0,14.85,28.83,14.87
$GC,88,-0.57,-170.3,222,2383,3680,3719,4.3,-12.0,13,109,11.95,2.22,-3.03,0.030,18692,0.438,0.090,2578,3690,3905,3897,3914,0,0,0,0,0,0,14.40,13.71,14.68
$GC,232,-0.57,-170.3,2578,3689,3902,3914,49.2,-22.5,40,239,0.00,2.08,0.00,0.000,1030,0.000,0.041,2579,2388,3909,3904,3914,0,0,0,0,0,0,14.76,14.70,14.78
$GC,537,-0.57,-170.3,2578,2385,3909,3914,98.2,-13.5,71,541,0.00,2.33,0.00,0.000,516,0.000,0.050,2579,942,3911,3909,3914,0,0,0,0,0,0,15.00,14.77,15.02
$GC,568,-0.57,-170.3,2578,942,3910,3914,102.6,-13.7,77,572,0.00,2.30,0.00,0.000,1030,0.000,0.057,2579,2335,3912,3910,3914,0,0,0,0,0,0,14.85,14.76,14.87
$GC,879,-0.57,-170.3,2578,2335,3910,3916,138.1,-11.9,109,883,0.00,2.28,0.00,0.000,260,0.000,0.083,2578,3701,3913,3910,3916,0,0,0,0,0,0,15.05,14.80,15.07
$GC,1000,-0.57,-170.3,2578,3701,3910,3916,153.3,-12.6,133,1004,0.00,2.15,0.00,0.000,1030,0.000,0.041,2578,2327,3913,3911,3916,0,0,0,0,0,0,14.92,14.87,14.94
$GC,1311,-0.57,-170.3,2578,2323,3911,3916,193.6,-11.8,165,1315,0.00,2.30,0.00,0.000,260,0.000,0.083,2578,3693,3913,3911,3916,0,0,0,0,0,0,15.09,14.83,15.11
$GC,1362,-0.57,-170.3,2578,3693,3911,3916,199.4,-11.3,175,1367,0.00,2.10,0.00,0.000,1030,0.000,0.040,2578,2344,3913,3911,3916,0,0,0,0,0,0,14.95,14.90,14.97
$GC,1674,-0.57,-170.3,2578,2340,3910,3916,233.1,-10.5,207,1679,0.00,2.28,0.00,0.000,260,0.000,0.083,2578,3694,3913,3910,3916,0,0,0,0,0,0,15.11,14.85,15.14
$GC,1708,-0.57,-170.3,2578,3694,3910,3916,237.1,-11.3,214,1716,0.00,2.12,0.00,0.000,1030,0.000,0.039,2578,2354,3913,3910,3916,0,0,0,0,0,0,14.93,14.90,14.95
$GC,2015,-0.57,-170.3,2578,2354,3910,3916,271.8,-11.4,233,2019,0.00,2.25,0.00,0.000,260,0.000,0.084,2578,3692,3913,3910,3916,0,0,0,0,0,0,15.14,14.88,15.15
$GC,2055,-0.57,-170.3,2578,3693,3909,3915,276.4,-11.4,241,2059,0.00,2.10,0.00,0.000,1030,0.000,0.040,2578,2344,3912,3909,3915,0,0,0,0,0,0,14.99,14.94,15.00
$GC,2376,-0.57,-170.3,2578,2340,3909,3915,315.3,-12.6,255,2381,0.00,2.20,0.00,0.000,516,0.000,0.050,2579,962,3911,3909,3914,0,0,0,0,0,0,15.15,14.92,15.17
$GC,2416,-0.57,-170.3,2578,962,3909,3914,320.3,-11.6,263,2422,0.00,2.28,0.00,0.000,1030,0.000,0.057,2578,2349,3912,3909,3915,0,0,0,0,0,0,15.00,14.91,15.01
$GC,2739,-0.57,-170.3,2578,2349,3907,3913,355.7,-10.6,277,2743,0.00,2.25,0.00,0.000,260,0.000,0.087,2578,3702,3910,3907,3913,0,0,0,0,0,0,15.16,14.90,15.18
$GC,2783,-0.57,-170.3,2578,3702,3906,3913,360.6,-10.6,286,2787,0.00,2.12,0.00,0.000,1030,0.000,0.044,2578,2354,3910,3907,3913,0,0,0,0,0,0,15.02,14.96,15.03
$GC,3100,-0.57,-170.3,2578,2351,3906,3910,393.1,-10.4,299,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2351,3908,3906,3910,0,0,0,0,0,0,15.18,15.19,15.19
$GC,3400,-0.57,-170.3,2578,2351,3904,3908,424.8,-10.5,309,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2351,3906,3904,3908,0,0,0,0,0,0,15.18,15.20,15.20
$GC,3700,-0.57,-170.3,2578,2351,3902,3906,454.6,-9.9,319,3705,0.00,2.28,0.00,0.000,260,0.000,0.086,2578,3695,3904,3902,3906,0,0,0,0,0,0,15.19,14.92,15.21
$GC,3732,-0.57,-170.3,2578,3695,3901,3906,457.8,-9.9,325,3736,0.00,2.12,0.00,0.000,1030,0.000,0.043,2579,2346,3903,3901,3906,0,0,0,0,0,0,15.04,14.99,15.05
$GC,4063,-0.57,-170.3,2578,2342,3901,3903,491.8,-10.6,341,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2342,3901,3900,3903,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4363,-0.57,-170.3,2578,2343,3900,3901,523.8,-10.7,351,4368,0.00,2.22,0.00,0.000,516,0.000,0.052,2578,957,3901,3900,3902,0,0,0,0,0,0,15.19,14.96,15.21
$GC,4383,-0.57,-170.3,2578,957,3900,3902,526.1,-10.1,355,4388,0.00,2.30,0.00,0.000,1030,0.000,0.059,2578,2348,3901,3900,3902,0,0,0,0,0,0,15.03,14.95,15.05
$GC,4695,-0.57,-170.3,2578,2348,3898,3900,554.4,-8.9,367,4700,0.00,2.25,0.00,0.000,260,0.000,0.090,2578,3697,3899,3898,3900,0,0,0,0,0,0,15.19,14.92,15.21
$GC,4735,-0.57,-170.3,2578,3697,3898,3899,558.1,-8.5,375,4741,0.00,2.12,0.00,0.000,1030,0.000,0.044,2578,2349,3898,3897,3899,0,0,0,0,0,0,15.04,14.99,15.06
$GC,5058,-0.57,-170.3,2578,2346,3898,3898,587.3,-9.8,389,5062,0.00,2.22,0.00,0.000,516,0.000,0.053,2578,957,3897,3898,3897,0,0,0,0,0,0,15.20,14.96,15.21
$GC,5082,-0.57,-170.3,2578,957,3898,3897,590.0,-10.4,394,5089,0.00,2.30,0.00,0.000,1030,0.000,0.059,2578,2353,3897,3898,3897,0,0,0,0,0,0,15.03,14.95,15.05
$GC,5389,-0.57,-170.3,2578,2352,3897,3896,621.1,-10.3,405,5393,0.00,2.25,0.00,0.000,260,0.000,0.091,2578,3696,3896,3897,3896,0,0,0,0,0,0,15.19,14.92,15.21
$GC,5443,-0.57,-170.3,2578,3696,3896,3896,626.9,-10.2,416,5450,0.00,2.12,0.00,0.000,1030,0.000,0.045,2578,2347,3896,3896,3896,0,0,0,0,0,0,15.04,14.99,15.06
$GC,5750,-0.57,-170.3,2578,2347,3896,3894,656.9,-9.7,427,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2347,3895,3896,3894,0,0,0,0,0,0,15.19,15.22,15.21
$GC,6049,-0.57,-170.3,2578,2347,3895,3892,685.7,-9.7,437,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2347,3893,3895,3892,0,0,0,0,0,0,15.20,15.22,15.22
$GC,6350,-0.57,-170.3,2578,2347,3894,3890,716.6,-10.5,447,6354,0.00,2.30,0.00,0.000,260,0.000,0.090,2578,3698,3891,3893,3890,0,0,0,0,0,0,15.20,14.92,15.22
$GC,6381,-0.57,-170.3,2578,3699,3892,3890,720.0,-10.7,453,6386,0.00,2.12,0.00,0.000,1030,0.000,0.047,2578,2355,3891,3892,3890,0,0,0,0,0,0,15.04,14.99,15.05
$GC,6713,-0.57,-170.3,2578,2352,3892,3889,753.4,-10.0,469,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2352,3890,3892,3889,0,0,0,0,0,0,15.20,15.22,15.22
$GC,7013,-0.57,-170.3,2578,2352,3892,3887,784.0,-10.1,479,7017,0.00,2.25,0.00,0.000,516,0.000,0.052,2578,951,3889,3892,3887,0,0,0,0,0,0,15.20,14.97,15.22
$GC,7033,-0.57,-170.3,2578,950,3892,3887,786.3,-10.3,483,7038,0.00,2.35,0.00,0.000,1030,0.000,0.062,2578,2355,3889,3892,3887,0,0,0,0,0,0,15.04,14.95,15.05
$GC,7345,-0.57,-170.3,2578,2355,3891,3886,817.5,-10.1,495,7350,0.00,2.25,0.00,0.000,260,0.000,0.094,2578,3693,3887,3890,3885,0,0,0,0,0,0,15.20,14.92,15.22
$GC,7380,-0.57,-170.3,2578,3693,3889,3885,821.3,-10.6,502,7385,0.00,2.15,0.00,0.000,1030,0.000,0.047,2578,2345,3887,3890,3885,0,0,0,0,0,0,15.04,14.98,15.06
$GC,7707,-0.57,-170.3,2578,2341,3889,3884,854.7,-10.3,517,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2342,3887,3890,3884,0,0,0,0,0,0,15.19,15.22,15.21
$GC,8007,-0.57,-170.3,2578,2342,3889,3882,884.6,-9.8,527,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2342,3885,3889,3882,0,0,0,0,0,0,15.20,15.22,15.21
$GC,8307,-0.57,-170.3,2578,2342,3887,3881,911.6,-8.6,537,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2341,3884,3888,3881,0,0,0,0,0,0,15.20,15.22,15.22
$GC,8607,-0.57,-170.3,2578,2342,3887,3881,934.9,-7.5,547,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2342,3883,3887,3880,0,0,0,0,0,0,15.20,15.23,15.22
$GC,8907,-0.57,-170.3,2578,2342,3887,3878,958.3,-7.9,557,8911,0.00,2.25,0.00,0.000,516,0.000,0.056,2578,952,3883,3887,3879,0,0,0,0,0,0,15.20,14.96,15.22
$GC,8938,-0.57,-170.3,2578,952,3886,3879,960.8,-8.4,563,8943,0.00,2.33,0.00,0.000,1030,0.000,0.063,2578,2349,3882,3886,3879,0,0,0,0,0,0,15.03,14.94,15.05
$GC,9270,-0.57,-170.3,2578,2349,3886,3878,988.8,-8.8,579,9275,0.00,2.28,0.00,0.000,260,0.000,0.096,2578,3696,3882,3886,3878,0,0,0,0,0,0,15.20,14.91,15.22
$STATE,9283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9284,begin apogee
$GC,9290,-0.12,0.0,2578,2396,3885,3878,990.3,-9.1,582,9468,0.55,0.00,169.95,1.686,10246,0.210,0.000,2739,2395,3340,3363,3317,0,0,0,0,0,0,14.83,14.02,13.55
$STATE,9469,end apogee,CONTROL_FINISHED_OK
$STATE,9469,begin climb
$GC,9470,0.57,170.3,2739,2395,3361,3316,998.9,0.0,588,9657,0.73,2.42,175.07,1.880,11012,0.132,0.092,2960,3692,2643,2686,2600,0,0,1,0,0,0,14.14,13.95,13.33
$GC,9672,0.57,170.3,2960,3692,2681,2598,993.3,8.2,619,9681,0.00,2.20,0.00,0.000,1030,0.000,0.047,2961,2407,2638,2680,2597,0,0,0,0,0,0,14.19,14.14,14.21
$GC,9979,0.57,170.3,2960,2406,2670,2593,965.7,9.3,630,9983,0.00,2.38,0.00,0.000,516,0.000,0.063,2960,994,2631,2669,2593,0,0,0,0,0,0,14.78,14.56,14.81
$GC,10013,0.57,170.3,2960,993,2669,2593,962.4,9.2,637,10018,0.00,2.40,0.00,0.000,1030,0.000,0.061,2961,2397,2630,2668,2593,0,0,0,0,0,0,14.66,14.57,14.68
$GC,10341,0.57,170.3,2960,2397,2665,2592,930.0,10.1,652,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2397,2628,2665,2592,0,0,0,0,0,0,14.94,14.96,14.96
$GC,10640,0.57,170.3,2960,2397,2663,2591,897.6,11.0,662,10644,0.00,2.22,0.00,0.000,260,0.000,0.090,2961,3700,2627,2663,2591,0,0,0,0,0,0,15.01,14.75,15.02
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$STATE,20413,end climb,SURFACE_DEPTH_REACHED
$STATE,20413,begin surface coast
$FINISH,0.5,1.022535
$STATE,20445,end surface coast,CONTROL_FINISHED_OK
$STATE,20445,begin surface
$SM_CCo,20460,10.62,0.081,0,0,1714,400.08
$SM_GC,1.86,8.52,0.10,10.62,0.099,0.125,0.081,251,2330,1714,-7.86,1.13,400.08,0,0,0,0,0,0,14.61,14.69,14.64
$IRIDIUM_FIX,-315.53,5536.05,300118,234134
$TT8_MAMPS,0.019474,0.159537
$HUMID,59.33
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,13.33,26.677
$10V_AH,13.64,0.000
$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,22.125,173.650,526.975,10.625,0.000,0.000,0.000,225.200,0.000,0.000,21.777,3163.569,14499.074,702.618,2295.561,140.479,0.000,2098.895,0.000,2038.037,0.000,0.546,0.000
$DEVICE_MAMPS,438.345,172.125,1879.605,81.090,0.000,0.000,0.000,133.110,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.926,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304624
$DATA_FILE_SIZE,63171,1432
$CAP_FILE_SIZE,169829,0
$CFSIZE,260034560,252624896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.081,113.83,1
$GPS,310118,113909,-320.540,5536.002,35,0.8,39,-4.6,0.5,148.0,10,9.1