version: 66.13
glider: 128
mission: 4
dive: 81
start: 2 2 118 0 15 11
data:
$ID,128
$MISSION,4
$DIVE,81
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,020218,000903,-334.4362,5535.4546,37,1.2,41,-4.7,0.3,188.5,6,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-74.2
$GPS2,020218,001433,-334.4443,5535.4727,17,0.9,19,-4.7,0.3,0.0,9,9.4
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,173.4,10335,-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,5,begin dive
$GC,7,-0.57,-170.3,239,2397,1722,1711,0.0,0.0,0,74,0.00,0.00,-65.07,0.004,16386,0.000,0.000,239,2397,3766,3745,3788,0,0,0,0,0,0,14.90,28.83,14.92
$GC,76,-0.57,-170.3,239,2397,3747,3789,4.8,-13.4,11,98,11.77,2.42,-1.95,0.044,19204,0.434,0.070,2588,948,3904,3895,3914,0,0,0,0,0,0,14.43,13.70,14.71
$GC,248,-0.57,-170.3,2587,948,3901,3913,59.7,-20.0,44,256,0.00,2.35,0.00,0.000,1030,0.000,0.052,2588,2345,3907,3900,3914,0,0,0,0,0,0,14.75,14.70,14.78
$GC,555,-0.57,-170.3,2587,2345,3907,3914,102.9,-11.4,75,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2345,3910,3907,3914,0,0,0,0,0,0,15.02,15.05,15.04
$GC,856,-0.57,-170.3,2587,2345,3910,3914,135.2,-9.3,105,861,0.00,2.25,0.00,0.000,260,0.000,0.083,2588,3696,3912,3910,3915,0,0,0,0,0,0,15.07,14.81,15.09
$GC,1002,-0.57,-170.3,2587,3696,3910,3915,149.4,-9.8,134,1009,0.00,2.12,0.00,0.000,1030,0.000,0.039,2588,2331,3912,3910,3915,0,0,0,0,0,0,14.94,14.89,14.95
$GC,1308,-0.57,-170.3,2587,2331,3910,3916,180.2,-10.0,165,1313,0.00,2.20,0.00,0.000,516,0.000,0.047,2588,957,3913,3910,3916,0,0,0,0,0,0,15.11,14.88,15.12
$GC,1330,-0.57,-170.3,2587,957,3910,3916,182.4,-9.8,169,1335,0.00,2.28,0.00,0.000,1030,0.000,0.054,2588,2351,3913,3911,3916,0,0,0,0,0,0,14.95,14.88,14.97
$GC,1641,-0.57,-170.3,2586,2351,3910,3916,212.9,-10.1,201,1646,0.00,2.22,0.00,0.000,260,0.000,0.083,2587,3696,3913,3910,3916,0,0,0,0,0,0,15.13,14.86,15.14
$GC,1723,-0.57,-170.3,2587,3696,3909,3916,220.8,-9.4,217,1728,0.00,2.10,0.00,0.000,1030,0.000,0.040,2588,2349,3912,3909,3916,0,0,0,0,0,0,14.98,14.93,15.00
$GC,2035,-0.57,-170.3,2587,2345,3908,3915,249.9,-9.2,249,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2345,3911,3908,3915,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2345,-0.57,-170.3,2587,2345,3907,3914,279.4,-9.5,260,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2345,3910,3907,3914,0,0,0,0,0,0,15.16,15.18,15.18
$GC,2646,-0.57,-170.3,2587,2345,3906,3912,308.3,-9.7,270,2650,0.00,2.28,0.00,0.000,260,0.000,0.084,2588,3693,3908,3905,3912,0,0,0,0,0,0,15.17,14.90,15.19
$GC,2679,-0.57,-170.3,2587,3693,3904,3911,311.8,-9.7,277,2686,0.00,2.15,0.00,0.000,1030,0.000,0.041,2588,2349,3907,3904,3911,0,0,0,0,0,0,14.98,14.95,15.00
$GC,3008,-0.57,-170.3,2587,2349,3903,3909,343.3,-9.6,292,3012,0.00,2.28,0.00,0.000,260,0.000,0.086,2588,3696,3906,3903,3909,0,0,0,0,0,0,15.17,14.91,15.20
$GC,3047,-0.57,-170.3,2587,3696,3901,3909,347.6,-9.9,300,3051,0.00,2.12,0.00,0.000,1030,0.000,0.043,2588,2345,3905,3901,3909,0,0,0,0,0,0,15.03,14.98,15.04
$GC,3369,-0.57,-170.3,2587,2341,3901,3907,381.0,-10.5,314,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2341,3904,3901,3907,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3669,-0.57,-170.3,2587,2341,3900,3905,412.9,-10.6,324,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2341,3902,3900,3904,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3969,-0.57,-170.3,2587,2341,3899,3903,443.6,-10.0,334,3973,0.00,2.22,0.00,0.000,516,0.000,0.052,2588,954,3901,3899,3903,0,0,0,0,0,0,15.20,14.96,15.21
$GC,3993,-0.57,-170.3,2587,954,3899,3903,446.2,-9.8,339,4001,0.00,2.30,0.00,0.000,1030,0.000,0.058,2588,2348,3901,3899,3903,0,0,0,0,0,0,15.03,14.95,15.05
$GC,4301,-0.57,-170.3,2587,2348,3898,3901,475.9,-9.4,350,4305,0.00,2.25,0.00,0.000,260,0.000,0.088,2587,3700,3899,3898,3901,0,0,0,0,0,0,15.19,14.92,15.22
$GC,4355,-0.57,-170.3,2587,3701,3897,3901,481.1,-9.3,361,4363,0.00,2.12,0.00,0.000,1030,0.000,0.045,2588,2348,3898,3897,3900,0,0,0,0,0,0,15.04,14.99,15.06
$GC,4661,-0.57,-170.3,2587,2347,3898,3898,508.6,-9.0,372,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2347,3898,3898,3899,0,0,0,0,0,0,15.20,15.22,15.21
$GC,4962,-0.57,-170.3,2587,2347,3897,3897,535.5,-8.8,382,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2347,3897,3897,3897,0,0,0,0,0,0,15.20,15.22,15.22
$GC,5262,-0.57,-170.3,2587,2348,3896,3896,560.8,-8.5,392,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2347,3896,3896,3896,0,0,0,0,0,0,15.20,15.22,15.22
$GC,5562,-0.57,-170.3,2587,2347,3895,3893,587.2,-8.8,402,5566,0.00,2.30,0.00,0.000,260,0.000,0.090,2588,3702,3894,3895,3893,0,0,0,0,0,0,15.21,14.92,15.22
$GC,5616,-0.57,-170.3,2587,3701,3894,3893,592.0,-8.6,413,5624,0.00,2.15,0.00,0.000,1030,0.000,0.047,2587,2342,3893,3894,3893,0,0,0,0,0,0,15.04,14.99,15.07
$GC,5923,-0.57,-170.3,2587,2342,3893,3892,618.7,-8.9,424,5927,0.00,2.30,0.00,0.000,260,0.000,0.088,2587,3698,3891,3892,3891,0,0,0,0,0,0,15.20,14.92,15.22
$GC,5955,-0.57,-170.3,2587,3698,3892,3891,621.5,-8.9,430,5959,0.00,2.12,0.00,0.000,1030,0.000,0.047,2588,2356,3891,3892,3891,0,0,0,0,0,0,15.04,14.99,15.06
$GC,6286,-0.57,-170.3,2587,2352,3892,3890,647.4,-7.2,446,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2352,3891,3892,3890,0,0,0,0,0,0,15.20,15.22,15.22
$GC,6586,-0.57,-170.3,2587,2352,3891,3888,670.3,-7.9,456,6590,0.00,2.30,0.00,0.000,260,0.000,0.090,2588,3702,3889,3891,3888,0,0,0,0,0,0,15.20,14.91,15.22
$GC,6618,-0.57,-170.3,2587,3702,3890,3888,672.9,-8.2,462,6622,0.00,2.15,0.00,0.000,1030,0.000,0.049,2588,2348,3889,3890,3888,0,0,0,0,0,0,15.04,14.98,15.06
$GC,6949,-0.57,-170.3,2587,2345,3890,3887,700.1,-8.0,478,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2344,3888,3890,3886,0,0,0,0,0,0,15.20,15.22,15.22
$GC,7249,-0.57,-170.3,2588,2345,3890,3885,724.1,-8.1,488,7253,0.00,2.30,0.00,0.000,260,0.000,0.090,2588,3693,3887,3889,3885,0,0,0,0,0,0,15.20,14.91,15.21
$GC,7288,-0.57,-170.3,2587,3693,3888,3885,727.6,-8.7,496,7293,0.00,2.15,0.00,0.000,1030,0.000,0.045,2588,2339,3887,3889,3885,0,0,0,0,0,0,15.04,14.99,15.06
$GC,7610,-0.57,-170.3,2587,2335,3888,3884,753.7,-8.0,510,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2335,3885,3888,3883,0,0,0,0,0,0,15.20,15.22,15.21
$GC,7910,-0.57,-170.3,2587,2333,3887,3881,776.7,-7.7,520,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2333,3884,3887,3881,0,0,0,0,0,0,15.20,15.22,15.22
$GC,8210,-0.57,-170.3,2586,2333,3887,3880,801.0,-8.5,530,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2333,3883,3887,3880,0,0,0,0,0,0,15.20,15.23,15.22
$GC,8510,-0.57,-170.3,2587,2333,3887,3879,826.1,-8.4,540,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2333,3883,3887,3879,0,0,0,0,0,0,15.21,15.23,15.22
$GC,8811,-0.57,-170.3,2587,2333,3886,3878,850.6,-8.0,550,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2333,3882,3886,3878,0,0,0,0,0,0,15.20,15.23,15.22
$GC,9110,-0.57,-170.3,2587,2333,3886,3878,874.2,-7.8,560,9114,0.00,2.33,0.00,0.000,260,0.000,0.094,2587,3692,3881,3885,3877,0,0,0,0,0,0,15.20,14.90,15.23
$GC,9149,-0.57,-170.3,2587,3692,3885,3878,877.4,-7.9,568,9154,0.00,2.15,0.00,0.000,1030,0.000,0.047,2588,2344,3881,3885,3878,0,0,0,0,0,0,15.04,14.98,15.06
$GC,9472,-0.57,-170.3,2587,2341,3885,3877,901.5,-7.4,582,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2341,3881,3885,3877,0,0,0,0,0,0,15.20,15.22,15.21
$GC,9771,-0.57,-170.3,2587,2341,3885,3876,923.9,-7.7,592,9775,0.00,2.33,0.00,0.000,260,0.000,0.090,2587,3702,3880,3885,3876,0,0,0,0,0,0,15.20,14.90,15.22
$GC,9803,-0.57,-170.3,2587,3702,3884,3875,926.5,-8.4,598,9807,0.00,2.15,0.00,0.000,1030,0.000,0.050,2587,2354,3879,3884,3875,0,0,0,0,0,0,15.04,14.97,15.05
$GC,10135,-0.57,-170.3,2587,2351,3884,3874,952.9,-7.7,614,10139,0.00,2.28,0.00,0.000,516,0.000,0.054,2587,943,3879,3884,3874,0,0,0,0,0,0,15.19,14.94,15.21
$GC,10165,-0.57,-170.3,2587,943,3884,3874,955.3,-8.1,620,10169,0.00,2.35,0.00,0.000,1030,0.000,0.063,2587,2358,3879,3885,3873,0,0,0,0,0,0,15.02,14.92,15.04
$GC,10496,-0.57,-170.3,2587,2358,3884,3872,983.0,-8.9,636,10500,0.00,2.25,0.00,0.000,260,0.000,0.096,2587,3693,3878,3884,3872,0,0,0,0,0,0,15.19,14.88,15.21
$GC,10536,-0.57,-170.3,2587,3693,3883,3872,986.8,-9.2,644,10540,0.00,2.15,0.00,0.000,1030,0.000,0.048,2587,2344,3877,3883,3872,0,0,0,0,0,0,15.02,14.97,15.04
$STATE,10586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10586,begin apogee
$GC,10590,-0.12,0.0,2587,2408,3883,3872,991.2,-9.0,649,10773,0.50,0.00,179.65,1.648,10246,0.213,0.000,2732,2407,3345,3367,3323,0,0,0,0,0,0,14.80,14.13,13.54
$STATE,10774,end apogee,CONTROL_FINISHED_OK
$STATE,10774,begin climb
$GC,10776,0.57,170.3,2732,2408,3362,3318,1000.0,0.0,655,10963,0.75,2.33,177.75,1.869,10500,0.128,0.089,2962,3688,2642,2686,2599,0,0,0,0,0,0,14.11,13.86,13.31
$GC,10983,0.57,170.3,2961,3688,2678,2597,993.6,9.0,693,10988,0.00,2.20,0.00,0.000,1030,0.000,0.049,2962,2407,2638,2679,2597,0,0,0,0,0,0,14.19,14.13,14.21
$GC,11305,0.57,170.3,2962,2408,2668,2591,962.0,10.1,707,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2408,2629,2668,2591,0,0,0,0,0,0,14.79,14.81,14.81
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$STATE,21287,end climb,SURFACE_DEPTH_REACHED
$STATE,21287,begin surface coast
$FINISH,-0.2,1.022275
$STATE,21329,end surface coast,CONTROL_FINISHED_OK
$STATE,21329,begin surface
$SM_CCo,21343,16.90,0.081,0,0,1714,400.08
$SM_GC,0.66,8.43,0.00,16.90,0.105,0.000,0.081,248,2389,1714,-7.87,1.10,400.08,0,0,0,0,0,0,14.68,14.97,14.71
$IRIDIUM_FIX,-328.54,5536.05,010218,180819
$TT8_MAMPS,0.018725,0.15729
$HUMID,60.39
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.31,28.807
$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,21.725,169.075,547.450,16.900,0.000,0.000,0.000,237.025,0.000,0.000,20.943,3222.148,15298.513,711.942,2324.783,143.588,0.000,2123.087,0.000,2054.421,0.000,0.545,0.000
$DEVICE_MAMPS,433.755,143.820,1868.895,81.090,0.000,0.000,0.000,131.580,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,743.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60001,1444
$CAP_FILE_SIZE,172652,0
$CFSIZE,260034560,252051456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12536.97,0x234cba,1,24
$CURRENT,0.014,147.52,1
$GPS,020218,061231,-336.928,5536.009,36,1.0,44,-4.7,0.0,124.3,7,9.3