version: 66.13
glider: 128
mission: 4
dive: 77
start: 1 31 118 23 58 1
data:
$ID,128
$MISSION,4
$DIVE,77
$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,63
$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
$GPS1,310118,235210,-325.2866,5536.1221,33,1.1,38,-4.7,0.5,121.6,6,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-74.2
$GPS2,310118,235723,-325.2938,5536.1240,16,1.1,21,-4.7,0.4,334.6,6,9.8
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,199.7,27237,-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,-170.3,226,2322,1682,1653,0.0,0.0,0,75,0.00,0.00,-66.03,0.003,16386,0.000,0.000,226,2323,3733,3716,3751,0,0,0,0,0,0,14.88,28.83,14.89
$GC,77,-0.57,-170.3,226,2323,3718,3752,4.8,-13.5,11,99,11.80,2.30,-2.47,0.036,18948,0.433,0.076,2588,964,3905,3897,3914,0,0,0,0,0,0,14.42,13.71,14.69
$GC,327,-0.57,-170.3,2586,964,3904,3914,70.0,-12.1,59,331,0.00,2.30,0.00,0.000,1030,0.000,0.057,2587,2357,3909,3905,3914,0,0,0,0,0,0,14.81,14.72,14.83
$GC,638,-0.57,-170.3,2587,2357,3910,3914,109.5,-12.7,91,642,0.00,2.22,0.00,0.000,260,0.000,0.083,2586,3697,3912,3910,3915,0,0,0,0,0,0,15.03,14.77,15.05
$GC,773,-0.57,-170.3,2587,3697,3910,3915,126.5,-11.6,118,780,0.00,2.10,0.00,0.000,1030,0.000,0.039,2587,2345,3913,3910,3916,0,0,0,0,0,0,14.91,14.85,14.92
$GC,1079,-0.57,-170.3,2587,2345,3911,3916,155.7,-8.1,149,1084,0.00,2.28,0.00,0.000,260,0.000,0.081,2587,3700,3913,3911,3916,0,0,0,0,0,0,15.09,14.83,15.11
$GC,1100,-0.57,-170.3,2587,3700,3911,3916,157.5,-8.4,153,1106,0.00,2.10,0.00,0.000,1030,0.000,0.041,2587,2357,3913,3911,3916,0,0,0,0,0,0,14.95,14.89,14.96
$GC,1412,-0.57,-170.3,2587,2354,3911,3916,187.9,-9.5,185,1417,0.00,2.28,0.00,0.000,260,0.000,0.081,2587,3702,3913,3911,3916,0,0,0,0,0,0,15.11,14.85,15.13
$GC,1514,-0.57,-170.3,2587,3702,3911,3916,198.0,-10.0,205,1519,0.00,2.12,0.00,0.000,1030,0.000,0.041,2587,2340,3913,3911,3916,0,0,0,0,0,0,14.97,14.92,14.99
$GC,1826,-0.57,-170.3,2587,2337,3910,3916,232.4,-11.8,237,1831,0.00,2.28,0.00,0.000,260,0.000,0.081,2587,3694,3913,3910,3916,0,0,0,0,0,0,15.13,14.87,15.15
$GC,1910,-0.57,-170.3,2587,3694,3910,3916,242.4,-11.6,254,1918,0.00,2.10,0.00,0.000,1030,0.000,0.038,2587,2344,3913,3910,3916,0,0,0,0,0,0,14.99,14.94,15.00
$GC,2228,-0.57,-170.3,2587,2343,3909,3916,279.1,-11.7,270,2232,0.00,2.30,0.00,0.000,260,0.000,0.082,2587,3701,3912,3909,3915,0,0,0,0,0,0,15.15,14.89,15.16
$GC,2262,-0.57,-170.3,2587,3701,3909,3915,283.3,-11.0,277,2268,0.00,2.15,0.00,0.000,1030,0.000,0.042,2587,2356,3912,3909,3915,0,0,0,0,0,0,14.96,14.94,14.99
$GC,2590,-0.57,-170.3,2587,2356,3908,3914,316.8,-9.6,292,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2355,3911,3908,3914,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2891,-0.57,-170.3,2587,2356,3907,3912,343.2,-8.3,302,2895,0.00,2.22,0.00,0.000,516,0.000,0.048,2587,957,3909,3907,3912,0,0,0,0,0,0,15.18,14.95,15.19
$GC,2915,-0.57,-170.3,2587,957,3907,3912,345.9,-9.9,307,2922,0.00,2.30,0.00,0.000,1030,0.000,0.056,2587,2359,3909,3907,3912,0,0,0,0,0,0,15.02,14.93,15.03
$GC,3222,-0.57,-170.3,2587,2360,3905,3910,376.6,-10.0,318,3226,0.00,2.22,0.00,0.000,260,0.000,0.086,2587,3698,3907,3905,3909,0,0,0,0,0,0,15.19,14.92,15.21
$GC,3262,-0.57,-170.3,2587,3698,3904,3909,380.9,-10.1,326,3266,0.00,2.12,0.00,0.000,1030,0.000,0.044,2587,2344,3906,3903,3910,0,0,0,0,0,0,15.03,14.98,15.05
$GC,3583,-0.57,-170.3,2586,2340,3903,3907,413.8,-10.5,340,3587,0.00,2.22,0.00,0.000,516,0.000,0.050,2587,948,3905,3903,3907,0,0,0,0,0,0,15.19,14.96,15.21
$GC,3608,-0.57,-170.3,2587,949,3903,3907,416.6,-11.4,345,3615,0.00,2.30,0.00,0.000,1030,0.000,0.057,2587,2350,3905,3903,3907,0,0,0,0,0,0,15.02,14.94,15.04
$GC,3914,-0.57,-170.3,2587,2350,3901,3905,445.6,-9.2,356,3918,0.00,2.25,0.00,0.000,260,0.000,0.089,2587,3700,3903,3901,3905,0,0,0,0,0,0,15.19,14.92,15.21
$GC,3958,-0.57,-170.3,2587,3700,3900,3904,449.9,-9.3,365,3964,0.00,2.12,0.00,0.000,1030,0.000,0.045,2587,2354,3902,3900,3905,0,0,0,0,0,0,15.04,14.98,15.05
$GC,4277,-0.57,-170.3,2587,2350,3900,3902,479.2,-9.4,378,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2350,3901,3900,3903,0,0,0,0,0,0,15.20,15.21,15.21
$GC,4576,-0.57,-170.3,2587,2350,3899,3901,505.9,-8.7,388,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2350,3900,3899,3901,0,0,0,0,0,0,15.20,15.22,15.22
$GC,4877,-0.57,-170.3,2587,2350,3898,3900,530.8,-8.3,398,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2351,3899,3898,3900,0,0,0,0,0,0,15.20,15.23,15.22
$GC,5176,-0.57,-170.3,2587,2350,3897,3898,557.8,-9.3,408,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2350,3898,3898,3898,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5477,-0.57,-170.3,2587,2350,3897,3896,585.4,-9.1,418,5481,0.00,2.30,0.00,0.000,260,0.000,0.090,2587,3699,3897,3897,3897,0,0,0,0,0,0,15.21,14.92,15.22
$GC,5521,-0.57,-170.3,2587,3699,3896,3896,589.7,-9.1,427,5526,0.00,2.17,0.00,0.000,1030,0.000,0.046,2587,2348,3896,3896,3896,0,0,0,0,0,0,15.02,14.98,15.04
$GC,5838,-0.57,-170.3,2587,2345,3896,3894,618.2,-9.0,440,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2345,3895,3896,3894,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6139,-0.57,-170.3,2587,2345,3895,3892,644.4,-8.4,450,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2345,3893,3895,3891,0,0,0,0,0,0,15.21,15.22,15.23
$GC,6438,-0.57,-170.3,2586,2345,3894,3890,668.0,-7.7,460,6442,0.00,2.30,0.00,0.000,260,0.000,0.089,2587,3698,3891,3893,3890,0,0,0,0,0,0,15.21,14.92,15.22
$GC,6458,-0.57,-170.3,2587,3699,3892,3890,669.6,-7.8,464,6462,0.00,2.15,0.00,0.000,1030,0.000,0.047,2587,2346,3891,3892,3890,0,0,0,0,0,0,15.05,15.00,15.07
$GC,6769,-0.57,-170.3,2587,2342,3892,3889,693.5,-7.8,476,6773,0.00,2.30,0.00,0.000,260,0.000,0.089,2587,3697,3890,3892,3889,0,0,0,0,0,0,15.21,14.92,15.22
$GC,6801,-0.57,-170.3,2587,3697,3892,3889,696.0,-7.8,482,6805,0.00,2.15,0.00,0.000,1030,0.000,0.047,2587,2349,3890,3891,3889,0,0,0,0,0,0,15.05,15.00,15.07
$GC,7132,-0.57,-170.3,2587,2345,3891,3887,721.7,-7.7,498,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2345,3889,3892,3887,0,0,0,0,0,0,15.20,15.23,15.22
$GC,7432,-0.57,-170.3,2587,2346,3891,3886,743.5,-7.1,508,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2345,3888,3891,3886,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7733,-0.57,-170.3,2587,2346,3890,3885,765.7,-7.7,518,7737,0.00,2.30,0.00,0.000,260,0.000,0.090,2587,3695,3887,3890,3885,0,0,0,0,0,0,15.21,14.92,15.22
$GC,7757,-0.57,-170.3,2587,3695,3889,3885,767.8,-7.8,523,7764,0.00,2.15,0.00,0.000,1030,0.000,0.047,2587,2340,3886,3889,3884,0,0,0,0,0,0,15.04,14.99,15.07
$GC,8064,-0.57,-170.3,2588,2339,3889,3882,793.6,-8.7,534,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2339,3885,3889,3882,0,0,0,0,0,0,15.20,15.22,15.22
$GC,8364,-0.57,-170.3,2588,2339,3888,3881,820.5,-9.0,544,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2338,3884,3888,3881,0,0,0,0,0,0,15.20,15.23,15.22
$GC,8664,-0.57,-170.3,2588,2339,3888,3879,846.1,-8.3,554,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2339,3884,3888,3880,0,0,0,0,0,0,15.21,15.23,15.22
$GC,8964,-0.57,-170.3,2588,2339,3887,3879,869.7,-7.6,564,8968,0.00,2.30,0.00,0.000,260,0.000,0.093,2588,3691,3883,3887,3879,0,0,0,0,0,0,15.21,14.91,15.22
$GC,9003,-0.57,-170.3,2588,3691,3886,3879,872.9,-8.0,572,9009,0.00,2.10,0.00,0.000,1030,0.000,0.048,2588,2354,3882,3887,3878,0,0,0,0,0,0,15.04,14.98,15.06
$GC,9327,-0.57,-170.3,2588,2354,3887,3878,897.7,-7.7,586,9331,0.00,2.25,0.00,0.000,516,0.000,0.053,2588,955,3882,3887,3878,0,0,0,0,0,0,15.20,14.95,15.22
$GC,9366,-0.57,-170.3,2588,955,3887,3878,900.9,-7.9,594,9371,0.00,2.30,0.00,0.000,1030,0.000,0.060,2588,2348,3882,3886,3878,0,0,0,0,0,0,15.02,14.93,15.04
$GC,9688,-0.57,-170.3,2588,2348,3886,3877,925.1,-7.9,608,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2348,3882,3886,3878,0,0,0,0,0,0,15.20,15.22,15.21
$GC,9988,-0.57,-170.3,2588,2348,3885,3876,947.6,-7.4,618,9992,0.00,2.28,0.00,0.000,260,0.000,0.094,2589,3703,3880,3885,3876,0,0,0,0,0,0,15.20,14.90,15.22
$GC,10032,-0.57,-170.3,2588,3703,3884,3876,951.1,-7.6,627,10037,0.00,2.17,0.00,0.000,1030,0.000,0.050,2588,2345,3880,3885,3876,0,0,0,0,0,0,15.04,14.97,15.05
$GC,10349,-0.57,-170.3,2588,2341,3885,3874,974.2,-7.4,640,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2341,3879,3885,3874,0,0,0,0,0,0,15.19,15.21,15.21
$STATE,10558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10558,begin apogee
$GC,10562,-0.12,0.0,2589,2411,3885,3873,990.0,-7.6,647,10745,0.50,0.00,179.82,1.655,10246,0.216,0.000,2732,2411,3345,3368,3323,0,0,0,0,0,0,14.82,14.13,13.52
$STATE,10746,end apogee,CONTROL_FINISHED_OK
$STATE,10746,begin climb
$GC,10748,0.57,170.3,2732,2411,3362,3318,997.3,0.0,653,10934,0.75,2.50,178.95,1.870,11012,0.135,0.057,2960,1008,2648,2692,2604,0,0,0,0,0,0,14.11,13.85,13.31
$GC,10952,0.59,170.3,2959,1007,2686,2599,991.6,7.0,670,10958,0.00,2.42,0.00,0.000,1094,0.000,0.059,2960,2386,2641,2685,2598,0,0,0,0,0,0,14.18,14.10,14.20
$GC,11285,0.59,170.3,2959,2386,2673,2593,963.5,8.4,686,11289,0.00,2.28,0.00,0.000,260,0.000,0.090,2960,3696,2632,2672,2593,0,0,0,0,0,0,14.80,14.54,14.82
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$STATE,22233,end climb,SURFACE_DEPTH_REACHED
$STATE,22233,begin surface coast
$FINISH,0.5,1.022552
$STATE,22254,end surface coast,CONTROL_FINISHED_OK
$STATE,22254,begin surface
$SM_CCo,22330,0.00,0.000,0,0,1587,431.48
$SM_GC,0.82,8.52,0.10,0.00,0.099,0.132,0.000,253,2321,1587,-7.86,1.19,431.48,0,0,0,0,0,0,14.57,14.64,14.67
$IRIDIUM_FIX,-319.87,5536.05,310118,175513
$TT8_MAMPS,0.019474,0.156541
$HUMID,59.05
$INTERNAL_PRESSURE,8.45349
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,13.31,27.598
$10V_AH,13.62,0.000
$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,21.950,186.600,593.475,0.000,0.000,0.000,0.000,218.825,0.000,0.000,22.181,3384.778,15875.128,768.107,2474.260,148.045,0.000,2237.361,0.000,2219.748,0.000,0.546,0.000
$DEVICE_MAMPS,432.990,144.585,1869.660,0.000,0.000,0.000,0.000,132.345,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.880,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66648,1561
$CAP_FILE_SIZE,182448,0
$CFSIZE,260034560,252366848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9004.38,0x234cba,0,24
$CURRENT,0.086,87.71,1
$GPS,010218,061126,-327.565,5536.653,38,0.7,41,-4.7,0.8,203.0,11,8.9