version: 66.13
glider: 128
mission: 4
dive: 82
start: 2 2 118 6 20 25
data:
$ID,128
$MISSION,4
$DIVE,82
$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,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
$GPS1,020218,061231,-336.9282,5536.0093,36,1.0,44,-4.7,0.0,124.3,7,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.9
$GPS2,020218,061947,-336.9456,5536.0518,17,0.9,21,-4.7,0.5,149.9,8,9.6
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,187.9,5658,-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,-170.3,234,2384,1721,1712,0.0,0.0,0,75,0.00,0.00,-66.07,0.003,16386,0.000,0.000,234,2385,3838,3823,3854,0,0,0,0,0,0,14.88,28.83,14.91
$GC,77,-0.57,-170.3,234,2385,3823,3856,5.5,-16.7,11,99,11.75,2.17,-0.93,0.092,18692,0.432,0.080,2578,3703,3904,3895,3914,0,0,0,0,0,0,14.42,13.97,14.70
$GC,326,-0.57,-170.3,2578,3702,3901,3914,68.0,-14.4,59,330,0.00,2.15,0.00,0.000,1030,0.000,0.041,2578,2340,3908,3902,3914,0,0,0,0,0,0,14.82,14.77,14.84
$GC,637,-0.57,-170.3,2578,2336,3909,3914,109.8,-13.8,91,641,0.00,2.30,0.00,0.000,260,0.000,0.080,2578,3704,3911,3909,3914,0,0,0,0,0,0,15.04,14.77,15.05
$GC,708,-0.57,-170.3,2578,3704,3909,3914,119.4,-12.3,105,713,0.00,2.12,0.00,0.000,1030,0.000,0.040,2578,2346,3911,3909,3914,0,0,0,0,0,0,14.90,14.85,14.92
$GC,1020,-0.57,-170.3,2577,2342,3910,3915,158.2,-11.9,137,1025,0.00,2.28,0.00,0.000,260,0.000,0.080,2578,3697,3912,3910,3915,0,0,0,0,0,0,15.09,14.82,15.10
$GC,1084,-0.57,-170.3,2578,3697,3909,3915,165.9,-11.2,150,1092,0.00,2.12,0.00,0.000,1030,0.000,0.040,2578,2341,3912,3910,3915,0,0,0,0,0,0,14.94,14.89,14.96
$GC,1391,-0.57,-170.3,2578,2341,3910,3915,196.9,-10.3,181,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2341,3913,3910,3916,0,0,0,0,0,0,15.11,15.13,15.13
$GC,1692,-0.57,-170.3,2578,2341,3910,3915,229.0,-11.2,211,1696,0.00,2.28,0.00,0.000,260,0.000,0.081,2578,3694,3912,3910,3915,0,0,0,0,0,0,15.12,14.86,15.14
$GC,1727,-0.57,-170.3,2578,3695,3909,3915,233.1,-11.5,218,1733,0.00,2.10,0.00,0.000,1030,0.000,0.040,2578,2351,3912,3909,3915,0,0,0,0,0,0,14.98,14.93,14.99
$GC,2053,-0.57,-170.3,2578,2351,3908,3915,270.6,-11.3,239,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2351,3911,3908,3915,0,0,0,0,0,0,15.15,15.17,15.16
$GC,2353,-0.57,-170.3,2578,2351,3907,3914,305.3,-11.7,249,2357,0.00,2.28,0.00,0.000,260,0.000,0.083,2578,3701,3910,3906,3914,0,0,0,0,0,0,15.16,14.90,15.18
$GC,2393,-0.57,-170.3,2578,3701,3906,3914,310.1,-11.6,257,2398,0.00,2.12,0.00,0.000,1030,0.000,0.043,2578,2352,3910,3906,3914,0,0,0,0,0,0,15.01,14.96,15.03
$GC,2715,-0.57,-170.3,2578,2348,3904,3911,346.9,-11.7,271,2719,0.00,2.28,0.00,0.000,260,0.000,0.085,2578,3696,3908,3905,3911,0,0,0,0,0,0,15.17,14.90,15.19
$GC,2739,-0.57,-170.3,2578,3696,3903,3910,350.0,-11.6,276,2746,0.00,2.12,0.00,0.000,1030,0.000,0.042,2578,2346,3906,3903,3910,0,0,0,0,0,0,15.02,14.97,15.04
$GC,3046,-0.57,-170.3,2578,2346,3903,3909,382.8,-10.5,287,3050,0.00,2.28,0.00,0.000,260,0.000,0.085,2578,3694,3905,3902,3909,0,0,0,0,0,0,15.18,14.91,15.20
$GC,3070,-0.57,-170.3,2578,3694,3902,3909,385.4,-10.3,292,3077,0.00,2.12,0.00,0.000,1030,0.000,0.042,2578,2343,3905,3901,3909,0,0,0,0,0,0,15.03,14.97,15.04
$GC,3377,-0.57,-170.3,2578,2343,3901,3907,413.5,-8.9,303,3381,0.00,2.22,0.00,0.000,516,0.000,0.052,2578,956,3904,3902,3907,0,0,0,0,0,0,15.19,14.95,15.20
$GC,3401,-0.57,-170.3,2578,956,3901,3907,415.9,-9.4,308,3408,0.00,2.35,0.00,0.000,1030,0.000,0.058,2578,2380,3904,3901,3907,0,0,0,0,0,0,15.02,14.93,15.04
$GC,3708,-0.57,-170.3,2578,2380,3900,3904,444.3,-9.7,319,3712,0.00,2.20,0.00,0.000,260,0.000,0.088,2578,3695,3902,3900,3904,0,0,0,0,0,0,15.19,14.92,15.21
$GC,3732,-0.57,-170.3,2578,3695,3898,3904,446.9,-9.6,324,3739,0.00,2.12,0.00,0.000,1030,0.000,0.043,2578,2347,3901,3899,3904,0,0,0,0,0,0,15.04,14.98,15.05
$GC,4039,-0.57,-170.3,2578,2346,3899,3902,476.4,-9.7,335,4043,0.00,2.22,0.00,0.000,516,0.000,0.051,2578,957,3900,3899,3902,0,0,0,0,0,0,15.19,14.96,15.21
$GC,4058,-0.57,-170.3,2578,957,3899,3902,478.6,-11.1,339,4062,0.00,2.30,0.00,0.000,1030,0.000,0.059,2578,2353,3900,3899,3902,0,0,0,0,0,0,15.02,14.94,15.04
$GC,4370,-0.57,-170.3,2578,2353,3898,3900,510.7,-10.5,351,4374,0.00,2.25,0.00,0.000,260,0.000,0.090,2578,3697,3898,3897,3900,0,0,0,0,0,0,15.19,14.92,15.21
$GC,4419,-0.57,-170.3,2578,3697,3897,3899,516.0,-10.4,361,4424,0.00,2.12,0.00,0.000,1030,0.000,0.044,2578,2355,3898,3897,3900,0,0,0,0,0,0,15.04,14.99,15.06
$GC,4731,-0.57,-170.3,2578,2351,3898,3898,548.8,-10.7,373,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2351,3897,3897,3898,0,0,0,0,0,0,15.19,15.22,15.21
$GC,5032,-0.57,-170.3,2577,2351,3897,3896,580.0,-10.1,383,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2351,3896,3897,3896,0,0,0,0,0,0,15.19,15.21,15.21
$GC,5331,-0.57,-170.3,2578,2351,3896,3896,610.4,-10.2,393,5336,0.00,2.30,0.00,0.000,260,0.000,0.089,2578,3700,3895,3895,3895,0,0,0,0,0,0,15.20,14.92,15.22
$GC,5357,-0.57,-170.3,2578,3701,3894,3895,613.2,-10.3,398,5364,0.00,2.15,0.00,0.000,1030,0.000,0.047,2578,2343,3894,3894,3895,0,0,0,0,0,0,15.05,14.99,15.07
$GC,5663,-0.57,-170.3,2578,2343,3895,3893,642.7,-9.2,409,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2342,3894,3895,3893,0,0,0,0,0,0,15.20,15.22,15.22
$GC,5963,-0.57,-170.3,2578,2343,3893,3890,669.3,-8.8,419,5968,0.00,2.30,0.00,0.000,260,0.000,0.088,2578,3692,3891,3892,3890,0,0,0,0,0,0,15.20,14.92,15.22
$GC,6018,-0.57,-170.3,2578,3692,3892,3890,674.5,-9.2,430,6025,0.00,2.12,0.00,0.000,1030,0.000,0.044,2578,2347,3891,3892,3890,0,0,0,0,0,0,15.04,14.99,15.06
$GC,6325,-0.57,-170.3,2578,2347,3892,3889,702.8,-9.1,441,6330,0.00,2.25,0.00,0.000,516,0.000,0.054,2578,951,3890,3892,3889,0,0,0,0,0,0,15.20,14.95,15.21
$GC,6351,-0.57,-170.3,2578,951,3892,3889,705.2,-9.6,446,6358,0.00,2.33,0.00,0.000,1030,0.000,0.061,2578,2352,3890,3891,3889,0,0,0,0,0,0,15.03,14.94,15.05
$GC,6656,-0.57,-170.3,2578,2352,3891,3887,732.0,-9.0,457,6661,0.00,2.28,0.00,0.000,260,0.000,0.093,2578,3701,3888,3890,3887,0,0,0,0,0,0,15.20,14.91,15.21
$GC,6696,-0.57,-170.3,2578,3700,3889,3887,735.8,-9.3,465,6702,0.00,2.15,0.00,0.000,1030,0.000,0.048,2578,2353,3887,3889,3886,0,0,0,0,0,0,15.04,14.98,15.05
$GC,7019,-0.57,-170.3,2578,2353,3889,3885,765.9,-9.6,479,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2353,3887,3890,3885,0,0,0,0,0,0,15.19,15.21,15.21
$GC,7319,-0.57,-170.3,2578,2353,3888,3883,794.0,-9.4,489,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2353,3885,3888,3883,0,0,0,0,0,0,15.20,15.22,15.21
$GC,7619,-0.57,-170.3,2578,2353,3886,3882,822.5,-9.5,499,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2353,3884,3887,3882,0,0,0,0,0,0,15.20,15.22,15.22
$GC,7919,-0.57,-170.3,2578,2353,3887,3881,849.8,-8.8,509,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2353,3884,3887,3881,0,0,0,0,0,0,15.20,15.22,15.22
$GC,8219,-0.57,-170.3,2578,2353,3886,3880,875.1,-8.2,519,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2353,3883,3886,3880,0,0,0,0,0,0,15.20,15.22,15.22
$GC,8519,-0.57,-170.3,2578,2353,3886,3878,900.0,-8.4,529,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2353,3882,3886,3878,0,0,0,0,0,0,15.20,15.22,15.22
$GC,8820,-0.57,-170.3,2578,2353,3885,3878,925.2,-8.7,539,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2353,3881,3885,3878,0,0,0,0,0,0,15.20,15.22,15.22
$GC,9119,-0.57,-170.3,2578,2353,3884,3877,952.3,-9.2,549,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2353,3880,3884,3877,0,0,0,0,0,0,15.20,15.22,15.22
$GC,9419,-0.57,-170.3,2578,2353,3885,3876,978.5,-8.4,559,9423,0.00,2.33,0.00,0.000,260,0.000,0.096,2578,3700,3880,3884,3876,0,0,0,0,0,0,15.20,14.90,15.22
$GC,9455,-0.57,-170.3,2578,3700,3883,3876,981.6,-8.6,566,9459,0.00,2.17,0.00,0.000,1030,0.000,0.050,2578,2343,3879,3883,3875,0,0,0,0,0,0,15.04,14.97,15.05
$STATE,9571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9571,begin apogee
$GC,9575,-0.12,0.0,2578,2411,3883,3875,990.9,-7.9,574,9723,0.55,0.00,142.77,1.857,10246,0.218,0.000,2737,2412,3342,3365,3319,0,0,0,0,0,0,14.81,14.14,13.46
$STATE,9724,end apogee,CONTROL_FINISHED_OK
$STATE,9724,begin climb
$GC,9725,0.57,170.3,2738,2412,3361,3316,995.5,0.0,579,9911,0.73,2.38,176.60,1.870,10500,0.118,0.090,2963,3685,2645,2688,2603,0,0,0,0,0,0,14.13,13.95,13.33
$GC,9957,0.57,170.3,2963,3685,2677,2598,983.0,11.5,616,9964,0.00,2.17,0.00,0.000,1030,0.000,0.048,2963,2408,2637,2678,2597,0,0,0,0,0,0,14.29,14.23,14.31
$GC,10263,0.57,170.3,2963,2408,2670,2594,951.0,10.2,627,10267,0.00,2.25,0.00,0.000,260,0.000,0.084,2963,3691,2632,2670,2594,0,0,0,0,0,0,14.81,14.56,14.83
$GC,10282,0.57,170.3,2963,3690,2669,2594,948.8,10.4,631,10286,0.00,2.15,0.00,0.000,1030,0.000,0.049,2964,2393,2631,2669,2593,0,0,0,0,0,0,14.68,14.62,14.70
$GC,10594,0.57,170.3,2963,2391,2666,2593,919.3,9.3,643,10598,0.00,2.35,0.00,0.000,516,0.000,0.064,2963,992,2630,2667,2593,0,0,0,0,0,0,14.94,14.70,14.97
$GC,10638,0.57,170.3,2963,993,2665,2592,915.0,9.3,652,10643,0.00,2.35,0.00,0.000,1030,0.000,0.060,2963,2387,2629,2665,2593,0,0,0,0,0,0,14.80,14.71,14.82
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$STATE,21039,end climb,SURFACE_DEPTH_REACHED
$STATE,21039,begin surface coast
$FINISH,1.0,1.022486
$STATE,21061,end surface coast,CONTROL_FINISHED_OK
$STATE,21061,begin surface
$SM_CCo,21077,12.98,0.082,0,0,1714,400.08
$SM_GC,2.25,8.90,0.08,12.98,0.137,0.168,0.082,252,2320,1714,-7.86,1.19,400.08,0,0,0,0,0,0,14.64,14.69,14.66
$IRIDIUM_FIX,-339.45,5537.84,020218,061356
$TT8_MAMPS,0.019474,0.16478
$HUMID,59.17
$INTERNAL_PRESSURE,8.48279
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,13.33,29.097
$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,22.300,178.325,496.625,12.975,0.000,0.000,0.000,281.625,0.000,0.000,23.062,3186.001,15152.745,676.609,2370.979,150.910,0.000,2145.715,0.000,2057.203,0.000,0.546,0.000
$DEVICE_MAMPS,432.225,168.300,1869.660,81.855,0.000,0.000,0.000,130.815,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304600
$DATA_FILE_SIZE,63386,1446
$CAP_FILE_SIZE,174955,0
$CFSIZE,260034560,251969536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,266.15,1
$GPS,020218,121307,-339.292,5535.221,34,0.8,36,-4.8,0.6,218.3,11,8.4