version: 66.13
glider: 128
mission: 4
dive: 94
start: 2 5 118 6 14 17
data:
$ID,128
$MISSION,4
$DIVE,94
$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,73
$R_STBD_OVSHOOT,46
$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
$GPS1,050218,060807,-313.9970,5537.1870,40,0.7,42,-4.6,1.1,82.1,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-74.2
$GPS2,050218,061338,-314.0481,5537.3174,20,0.7,22,-4.6,0.7,124.6,11,8.4
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,327.5,26131,-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,-170.3,220,2368,1720,1710,0.0,0.0,0,70,0.00,0.00,-61.12,0.004,16386,0.000,0.000,219,2378,3611,3588,3635,0,0,0,0,0,0,14.87,28.83,14.89
$GC,72,-0.57,-170.3,219,2378,3589,3636,4.2,-11.9,10,94,11.93,2.22,-4.30,0.021,18692,0.434,0.084,2580,3685,3903,3896,3911,0,0,0,0,0,0,14.40,13.66,14.69
$GC,161,-0.57,-170.3,2580,3685,3900,3911,35.6,-20.8,26,168,0.00,2.08,0.00,0.000,1030,0.000,0.041,2580,2383,3906,3901,3911,0,0,0,0,0,0,14.76,14.69,14.77
$GC,470,-0.57,-170.3,2580,2380,3906,3911,85.9,-12.1,64,474,0.00,2.33,0.00,0.000,516,0.000,0.048,2580,945,3909,3907,3911,0,0,0,0,0,0,15.00,14.76,15.02
$GC,494,-0.57,-170.3,2580,945,3907,3912,89.0,-12.2,69,502,0.00,2.30,0.00,0.000,1030,0.000,0.053,2580,2337,3909,3907,3912,0,0,0,0,0,0,14.84,14.77,14.87
$GC,802,-0.57,-170.3,2579,2337,3909,3914,123.1,-13.1,100,807,0.00,2.25,0.00,0.000,260,0.000,0.078,2579,3692,3911,3909,3914,0,0,0,0,0,0,15.05,14.80,15.07
$GC,817,-0.57,-170.3,2578,3692,3909,3914,125.4,-13.3,103,824,0.00,2.12,0.00,0.000,1030,0.000,0.039,2579,2342,3911,3909,3914,0,0,0,0,0,0,14.91,14.85,14.93
$GC,1123,-0.57,-170.3,2578,2338,3910,3914,170.6,-14.7,134,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2338,3912,3910,3915,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1424,-0.57,-170.3,2578,2338,3910,3914,210.6,-12.2,164,1430,0.00,2.28,0.00,0.000,260,0.000,0.079,2578,3692,3912,3910,3914,0,0,0,0,0,0,15.11,14.85,15.13
$GC,1466,-0.57,-170.3,2578,3693,3909,3914,215.6,-11.4,172,1472,0.00,2.10,0.00,0.000,1030,0.000,0.038,2579,2342,3912,3910,3914,0,0,0,0,0,0,14.97,14.92,14.98
$GC,1800,-0.57,-170.3,2578,2338,3910,3914,253.9,-10.8,204,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2338,3912,3910,3914,0,0,0,0,0,0,15.13,15.16,15.15
$GC,2099,-0.57,-170.3,2578,2338,3909,3914,285.1,-10.6,214,2103,0.00,2.20,0.00,0.000,516,0.000,0.048,2578,958,3911,3909,3914,0,0,0,0,0,0,15.16,14.92,15.18
$GC,2123,-0.57,-170.3,2578,958,3909,3915,288.1,-11.4,219,2130,0.00,2.28,0.00,0.000,1030,0.000,0.054,2579,2350,3911,3909,3914,0,0,0,0,0,0,14.99,14.90,15.01
$GC,2430,-0.57,-170.3,2578,2349,3908,3914,321.9,-10.7,230,2434,0.00,2.22,0.00,0.000,260,0.000,0.083,2578,3693,3910,3907,3914,0,0,0,0,0,0,15.16,14.90,15.19
$GC,2485,-0.57,-170.3,2578,3693,3907,3914,327.6,-9.7,241,2492,0.00,2.10,0.00,0.000,1030,0.000,0.040,2578,2340,3910,3907,3914,0,0,0,0,0,0,15.02,14.96,15.02
$GC,2791,-0.57,-170.3,2578,2340,3906,3913,358.7,-10.1,252,2796,0.00,2.20,0.00,0.000,516,0.000,0.050,2578,966,3909,3906,3913,0,0,0,0,0,0,15.18,14.94,15.20
$GC,2823,-0.57,-170.3,2578,966,3906,3913,361.9,-10.2,258,2827,0.00,2.28,0.00,0.000,1030,0.000,0.056,2578,2353,3909,3906,3913,0,0,0,0,0,0,15.01,14.92,15.02
$GC,3153,-0.57,-170.3,2578,2353,3904,3911,393.5,-9.8,274,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2353,3907,3905,3910,0,0,0,0,0,0,15.18,15.21,15.20
$GC,3453,-0.57,-170.3,2578,2353,3903,3909,424.0,-10.0,284,3458,0.00,2.22,0.00,0.000,260,0.000,0.086,2578,3692,3905,3902,3908,0,0,0,0,0,0,15.19,14.91,15.21
$GC,3519,-0.57,-170.3,2578,3692,3901,3908,430.3,-9.1,297,3523,0.00,2.10,0.00,0.000,1030,0.000,0.041,2578,2347,3905,3902,3908,0,0,0,0,0,0,15.03,14.98,15.04
$GC,3845,-0.57,-170.3,2578,2344,3901,3906,462.7,-10.4,312,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2343,3903,3901,3906,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4145,-0.57,-170.3,2578,2343,3900,3903,495.8,-11.2,322,4149,0.00,2.28,0.00,0.000,260,0.000,0.085,2579,3690,3901,3899,3903,0,0,0,0,0,0,15.20,14.91,15.21
$GC,4206,-0.57,-170.3,2578,3691,3898,3903,502.9,-11.5,334,4210,0.00,2.12,0.00,0.000,1030,0.000,0.042,2578,2351,3900,3898,3903,0,0,0,0,0,0,15.04,14.99,15.05
$GC,4537,-0.57,-170.3,2578,2347,3898,3901,539.1,-10.6,350,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2347,3899,3897,3901,0,0,0,0,0,0,15.19,15.22,15.21
$GC,4837,-0.57,-170.3,2578,2347,3897,3900,571.4,-11.0,360,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2347,3899,3898,3900,0,0,0,0,0,0,15.20,15.22,15.22
$GC,5137,-0.57,-170.3,2578,2347,3897,3897,606.0,-11.5,370,5141,0.00,2.28,0.00,0.000,260,0.000,0.088,2578,3690,3897,3897,3897,0,0,0,0,0,0,15.20,14.91,15.22
$GC,5207,-0.57,-170.3,2578,3690,3896,3897,614.0,-10.9,384,5212,0.00,2.10,0.00,0.000,1030,0.000,0.043,2578,2354,3896,3896,3897,0,0,0,0,0,0,15.04,14.98,15.06
$GC,5529,-0.57,-170.3,2578,2350,3896,3896,647.7,-10.3,398,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2350,3895,3895,3896,0,0,0,0,0,0,15.19,15.21,15.21
$GC,5829,-0.57,-170.3,2578,2350,3895,3894,679.2,-10.6,408,5834,0.00,2.28,0.00,0.000,260,0.000,0.088,2578,3693,3894,3894,3894,0,0,0,0,0,0,15.20,14.90,15.22
$GC,5864,-0.57,-170.3,2578,3693,3894,3893,683.2,-10.9,415,5868,0.00,2.12,0.00,0.000,1030,0.000,0.044,2578,2348,3894,3894,3894,0,0,0,0,0,0,15.04,14.98,15.05
$GC,6191,-0.57,-170.3,2578,2344,3893,3891,716.1,-10.0,430,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2344,3892,3893,3891,0,0,0,0,0,0,15.20,15.22,15.21
$GC,6491,-0.57,-170.3,2578,2344,3892,3890,743.3,-9.0,440,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2345,3891,3892,3890,0,0,0,0,0,0,15.20,15.22,15.22
$GC,6791,-0.57,-170.3,2578,2344,3891,3889,769.2,-8.6,450,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2344,3890,3892,3889,0,0,0,0,0,0,15.20,15.23,15.22
$GC,7091,-0.57,-170.3,2578,2345,3890,3887,794.3,-8.2,460,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2344,3889,3891,3887,0,0,0,0,0,0,15.21,15.23,15.22
$GC,7391,-0.57,-170.3,2578,2344,3889,3885,818.0,-8.0,470,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2345,3887,3890,3885,0,0,0,0,0,0,15.20,15.22,15.22
$GC,7691,-0.57,-170.3,2578,2344,3888,3883,842.6,-8.2,480,7696,0.00,2.30,0.00,0.000,260,0.000,0.089,2578,3691,3885,3888,3883,0,0,0,0,0,0,15.21,14.90,15.22
$GC,7726,-0.57,-170.3,2578,3692,3887,3883,845.7,-8.4,487,7730,0.00,2.12,0.00,0.000,1030,0.000,0.046,2578,2352,3885,3887,3883,0,0,0,0,0,0,15.04,14.97,15.05
$GC,8053,-0.57,-170.3,2578,2349,3887,3882,873.9,-8.8,502,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2349,3884,3887,3882,0,0,0,0,0,0,15.20,15.22,15.21
$GC,8352,-0.57,-170.3,2578,2349,3886,3881,899.8,-8.4,512,8357,0.00,2.28,0.00,0.000,516,0.000,0.053,2578,945,3883,3886,3881,0,0,0,0,0,0,15.20,14.94,15.22
$GC,8384,-0.57,-170.3,2578,945,3886,3881,902.5,-8.7,518,8388,0.00,2.35,0.00,0.000,1030,0.000,0.061,2578,2348,3883,3886,3881,0,0,0,0,0,0,15.02,14.92,15.04
$GC,8715,-0.57,-170.3,2578,2349,3886,3879,928.2,-7.7,534,8719,0.00,2.28,0.00,0.000,260,0.000,0.093,2579,3699,3882,3885,3879,0,0,0,0,0,0,15.19,14.88,15.21
$GC,8764,-0.57,-170.3,2578,3699,3885,3879,932.3,-8.0,544,8770,0.00,2.15,0.00,0.000,1030,0.000,0.047,2578,2352,3882,3885,3879,0,0,0,0,0,0,15.02,14.96,15.04
$GC,9077,-0.57,-170.3,2578,2348,3885,3878,955.4,-7.3,556,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2348,3881,3885,3878,0,0,0,0,0,0,15.19,15.21,15.21
$GC,9377,-0.57,-170.3,2578,2348,3885,3878,978.0,-7.6,566,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2348,3881,3884,3878,0,0,0,0,0,0,15.19,15.21,15.21
$STATE,9555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9555,begin apogee
$GC,9560,-0.12,0.0,2579,2410,3884,3877,992.0,-7.8,572,9739,0.55,0.00,176.23,1.662,10246,0.214,0.000,2737,2409,3345,3368,3322,0,0,0,0,0,0,14.79,14.14,13.54
$STATE,9740,end apogee,CONTROL_FINISHED_OK
$STATE,9740,begin climb
$GC,9742,0.57,170.3,2738,2409,3363,3317,998.5,0.0,578,9922,0.73,0.00,176.93,1.878,10246,0.129,0.000,2960,2409,2651,2696,2606,0,0,0,0,0,0,14.12,13.98,13.30
$GC,10217,0.57,170.3,2960,2410,2671,2593,965.2,9.2,594,10221,0.00,2.22,0.00,0.000,260,0.000,0.088,2960,3689,2632,2670,2594,0,0,0,0,0,0,14.76,14.52,14.78
$GC,10241,0.57,170.3,2959,3688,2668,2593,962.5,10.8,599,10249,0.00,2.12,0.00,0.000,1030,0.000,0.048,2960,2408,2630,2668,2593,0,0,0,0,0,0,14.64,14.57,14.66
$GC,10549,0.57,170.3,2960,2407,2665,2593,932.7,9.9,610,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2407,2629,2665,2593,0,0,0,0,0,0,14.92,14.95,14.94
$GC,10848,0.57,170.3,2959,2407,2664,2592,901.3,10.5,620,10853,0.00,2.22,0.00,0.000,260,0.000,0.084,2960,3693,2628,2664,2592,0,0,0,0,0,0,15.00,14.73,15.02
$GC,10874,0.57,170.3,2959,3693,2663,2592,898.3,11.6,625,10881,0.00,2.10,0.00,0.000,1030,0.000,0.049,2960,2399,2627,2664,2591,0,0,0,0,0,0,14.85,14.78,14.87
$GC,11180,0.57,170.3,2960,2398,2663,2592,865.9,10.5,636,11185,0.00,2.35,0.00,0.000,516,0.000,0.060,2960,983,2626,2662,2591,0,0,0,0,0,0,15.04,14.80,15.07
$GC,11220,0.57,170.3,2960,983,2663,2591,861.6,10.5,644,11226,0.00,2.38,0.00,0.000,1030,0.000,0.057,2960,2399,2627,2663,2591,0,0,0,0,0,0,14.88,14.80,14.91
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$STATE,20268,end climb,SURFACE_DEPTH_REACHED
$STATE,20268,begin surface coast
$FINISH,-0.2,1.022594
$STATE,20311,end surface coast,CONTROL_FINISHED_OK
$STATE,20311,begin surface
$SM_CCo,20326,16.55,0.080,0,0,1714,400.08
$SM_GC,0.53,8.25,0.10,16.55,0.087,0.128,0.080,250,2310,1714,-7.86,1.02,400.08,0,0,0,0,0,0,14.69,14.76,14.70
$IRIDIUM_FIX,-315.57,5540.84,050218,000812
$TT8_MAMPS,0.018725,0.15729
$HUMID,58.97
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.30,32.753
$10V_AH,13.65,0.000
$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,21.750,160.625,537.100,16.550,0.000,0.000,0.000,232.975,0.000,0.000,23.905,3067.784,14530.434,732.755,2195.988,157.082,0.000,2060.434,0.000,1937.454,0.000,0.546,0.000
$DEVICE_MAMPS,433.755,181.305,1878.075,79.560,0.000,0.000,0.000,133.875,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304612
$DATA_FILE_SIZE,60042,1361
$CAP_FILE_SIZE,163748,0
$CFSIZE,260034560,251019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,88.99,1
$GPS,050218,115442,-312.085,5537.869,39,1.2,46,-4.6,0.8,86.0,6,9.9