version: 66.13
glider: 128
mission: 4
dive: 109
start: 2 8 118 23 52 24
data:
$ID,128
$MISSION,4
$DIVE,109
$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,77
$R_STBD_OVSHOOT,50
$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
$GPS1,080218,234607,-335.6840,5535.4883,37,0.9,39,-4.7,0.6,353.7,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-75.0
$GPS2,080218,235146,-335.6605,5535.4722,15,0.8,18,-4.7,0.6,315.2,10,9.1
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,179.7,8096,-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,-170.3,244,2369,1722,1714,0.0,0.0,0,74,0.00,0.00,-64.78,0.004,16386,0.000,0.000,245,2369,3738,3718,3758,0,0,0,0,0,0,14.90,28.83,14.92
$GC,76,-0.57,-170.3,244,2369,3718,3759,4.4,-12.5,11,98,11.85,2.17,-2.42,0.036,18692,0.435,0.072,2581,3691,3905,3896,3914,0,0,0,0,0,0,14.41,13.64,14.71
$GC,155,-0.57,-170.3,2581,3691,3900,3914,33.0,-18.7,25,162,0.00,2.08,0.00,0.000,1030,0.000,0.040,2582,2385,3907,3902,3913,0,0,0,0,0,0,14.77,14.71,14.80
$GC,466,-0.57,-170.3,2581,2381,3905,3914,88.0,-12.5,64,470,0.00,2.35,0.00,0.000,516,0.000,0.051,2581,941,3910,3906,3914,0,0,0,0,0,0,15.02,14.77,15.03
$GC,539,-0.57,-170.3,2581,937,3907,3914,98.7,-13.3,79,547,0.00,2.33,0.00,0.000,1030,0.000,0.051,2581,2327,3909,3906,3913,0,0,0,0,0,0,14.81,14.76,14.84
$GC,847,-0.57,-170.3,2581,2327,3910,3914,141.4,-12.6,110,851,0.00,2.25,0.00,0.000,260,0.000,0.079,2581,3692,3912,3910,3914,0,0,0,0,0,0,15.07,14.80,15.09
$GC,1009,-0.57,-170.3,2581,3691,3910,3915,159.0,-10.2,142,1013,0.00,2.12,0.00,0.000,1030,0.000,0.037,2581,2328,3912,3910,3915,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1320,-0.57,-170.3,2581,2324,3910,3915,192.2,-10.2,174,1324,0.00,2.30,0.00,0.000,260,0.000,0.079,2582,3698,3912,3910,3915,0,0,0,0,0,0,15.11,14.83,15.13
$GC,1404,-0.57,-170.3,2581,3698,3910,3914,201.0,-10.4,191,1412,0.00,2.15,0.00,0.000,1030,0.000,0.040,2581,2351,3912,3910,3915,0,0,0,0,0,0,14.92,14.89,14.94
$GC,1712,-0.57,-170.3,2581,2351,3910,3915,235.6,-11.2,222,1716,0.00,2.25,0.00,0.000,260,0.000,0.080,2582,3692,3912,3910,3915,0,0,0,0,0,0,15.14,14.85,15.15
$GC,1814,-0.57,-170.3,2581,3692,3910,3914,246.9,-10.9,242,1818,0.00,2.10,0.00,0.000,1030,0.000,0.039,2581,2349,3912,3909,3915,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2145,-0.57,-170.3,2581,2344,3909,3914,281.4,-10.7,256,2149,0.00,2.28,0.00,0.000,260,0.000,0.080,2581,3698,3912,3909,3915,0,0,0,0,0,0,15.16,14.87,15.17
$GC,2184,-0.57,-170.3,2581,3698,3908,3915,285.8,-10.7,264,2189,0.00,2.12,0.00,0.000,1030,0.000,0.041,2581,2349,3911,3908,3914,0,0,0,0,0,0,15.00,14.95,15.01
$GC,2507,-0.57,-170.3,2581,2344,3908,3914,318.0,-10.0,278,2511,0.00,2.28,0.00,0.000,260,0.000,0.083,2581,3696,3910,3907,3914,0,0,0,0,0,0,15.17,14.88,15.19
$GC,2556,-0.57,-170.3,2581,3696,3907,3914,323.1,-9.8,288,2560,0.00,2.12,0.00,0.000,1030,0.000,0.042,2581,2344,3910,3907,3914,0,0,0,0,0,0,15.01,14.95,15.02
$GC,2868,-0.57,-170.3,2581,2341,3906,3911,352.8,-9.4,300,2872,0.00,2.28,0.00,0.000,260,0.000,0.082,2581,3692,3909,3906,3912,0,0,0,0,0,0,15.17,14.89,15.19
$GC,2892,-0.57,-170.3,2581,3692,3905,3911,355.3,-9.0,305,2901,0.00,2.10,0.00,0.000,1030,0.000,0.041,2581,2349,3908,3905,3911,0,0,0,0,0,0,15.02,14.97,15.03
$GC,3199,-0.57,-170.3,2581,2349,3904,3909,382.5,-9.2,316,3203,0.00,2.28,0.00,0.000,260,0.000,0.083,2581,3697,3906,3903,3909,0,0,0,0,0,0,15.18,14.90,15.20
$GC,3231,-0.57,-170.3,2581,3697,3902,3909,385.4,-9.2,322,3235,0.00,2.12,0.00,0.000,1030,0.000,0.043,2581,2348,3905,3902,3909,0,0,0,0,0,0,15.02,14.97,15.04
$GC,3563,-0.57,-170.3,2581,2344,3902,3907,416.4,-9.8,338,3567,0.00,2.28,0.00,0.000,260,0.000,0.084,2581,3690,3904,3901,3907,0,0,0,0,0,0,15.19,14.90,15.21
$GC,3596,-0.57,-170.3,2581,3690,3901,3906,420.1,-10.1,345,3602,0.00,2.15,0.00,0.000,1030,0.000,0.041,2581,2351,3903,3901,3906,0,0,0,0,0,0,14.98,14.97,15.04
$GC,3924,-0.57,-170.3,2581,2348,3900,3904,452.8,-10.1,360,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2348,3902,3900,3904,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4225,-0.57,-170.3,2581,2348,3899,3902,482.4,-9.8,370,4229,0.00,2.28,0.00,0.000,260,0.000,0.086,2581,3690,3900,3899,3902,0,0,0,0,0,0,15.19,14.90,15.21
$GC,4265,-0.57,-170.3,2581,3690,3898,3901,486.4,-9.4,378,4270,0.00,2.12,0.00,0.000,1030,0.000,0.042,2581,2339,3900,3898,3902,0,0,0,0,0,0,15.02,14.97,15.04
$GC,4587,-0.57,-170.3,2581,2335,3898,3900,515.4,-9.0,392,4591,0.00,2.30,0.00,0.000,260,0.000,0.085,2581,3693,3899,3898,3900,0,0,0,0,0,0,15.19,14.90,15.21
$GC,4618,-0.57,-170.3,2581,3693,3898,3899,518.1,-8.8,398,4622,0.00,2.12,0.00,0.000,1030,0.000,0.044,2581,2346,3898,3897,3900,0,0,0,0,0,0,15.03,14.97,15.04
$GC,4950,-0.57,-170.3,2581,2342,3897,3898,547.1,-9.1,414,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2342,3897,3897,3897,0,0,0,0,0,0,15.19,15.21,15.21
$GC,5249,-0.57,-170.3,2580,2342,3896,3896,575.5,-9.6,424,5253,0.00,2.30,0.00,0.000,260,0.000,0.089,2581,3691,3896,3896,3896,0,0,0,0,0,0,15.19,14.89,15.21
$GC,5311,-0.57,-170.3,2581,3692,3895,3896,581.4,-9.5,436,5315,0.00,2.12,0.00,0.000,1030,0.000,0.044,2581,2343,3895,3895,3896,0,0,0,0,0,0,15.03,14.97,15.04
$GC,5642,-0.57,-170.3,2581,2339,3894,3893,611.6,-8.9,452,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2339,3894,3895,3893,0,0,0,0,0,0,15.19,15.21,15.21
$GC,5942,-0.57,-170.3,2581,2339,3893,3891,639.6,-9.4,462,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2339,3891,3893,3890,0,0,0,0,0,0,15.19,15.22,15.21
$GC,6242,-0.57,-170.3,2581,2339,3892,3889,665.6,-8.4,472,6246,0.00,2.30,0.00,0.000,260,0.000,0.088,2581,3689,3890,3891,3890,0,0,0,0,0,0,15.20,14.89,15.21
$GC,6287,-0.57,-170.3,2581,3689,3890,3889,669.5,-8.6,481,6292,0.00,2.12,0.00,0.000,1030,0.000,0.045,2582,2351,3889,3890,3889,0,0,0,0,0,0,15.03,14.97,15.04
$GC,6605,-0.57,-170.3,2581,2347,3891,3888,699.1,-10.0,494,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2347,3888,3890,3887,0,0,0,0,0,0,15.19,15.21,15.21
$GC,6904,-0.57,-170.3,2581,2347,3889,3886,730.6,-10.6,504,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2347,3888,3890,3886,0,0,0,0,0,0,15.20,15.22,15.22
$GC,7205,-0.57,-170.3,2581,2347,3888,3884,761.3,-10.1,514,7209,0.00,2.30,0.00,0.000,260,0.000,0.089,2581,3695,3886,3888,3885,0,0,0,0,0,0,15.19,14.88,15.21
$GC,7249,-0.57,-170.3,2581,3695,3887,3884,766.0,-10.0,523,7253,0.00,2.15,0.00,0.000,1030,0.000,0.045,2581,2341,3885,3886,3884,0,0,0,0,0,0,15.02,14.97,15.04
$GC,7566,-0.57,-170.3,2580,2337,3887,3881,797.7,-10.0,536,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2336,3884,3887,3881,0,0,0,0,0,0,15.19,15.21,15.21
$GC,7867,-0.57,-170.3,2580,2336,3886,3881,825.8,-9.1,546,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2337,3883,3886,3881,0,0,0,0,0,0,15.19,15.21,15.21
$GC,8166,-0.57,-170.3,2580,2336,3886,3879,852.8,-9.0,556,8170,0.00,2.33,0.00,0.000,260,0.000,0.090,2580,3696,3881,3885,3878,0,0,0,0,0,0,15.20,14.87,15.21
$GC,8210,-0.57,-170.3,2580,3696,3885,3879,857.0,-8.7,565,8216,0.00,2.15,0.00,0.000,1030,0.000,0.047,2580,2352,3882,3885,3879,0,0,0,0,0,0,15.02,14.95,15.04
$GC,8528,-0.57,-170.3,2580,2349,3885,3878,885.6,-9.0,578,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2348,3881,3885,3878,0,0,0,0,0,0,15.19,15.21,15.21
$GC,8828,-0.57,-170.3,2580,2349,3884,3877,912.9,-9.0,588,8832,0.00,2.30,0.00,0.000,260,0.000,0.092,2580,3689,3881,3885,3877,0,0,0,0,0,0,15.19,14.87,15.21
$GC,8861,-0.57,-170.3,2580,3689,3884,3877,916.1,-9.1,595,8866,0.00,2.17,0.00,0.000,1030,0.000,0.046,2580,2352,3880,3884,3877,0,0,0,0,0,0,14.96,14.92,14.98
$GC,9190,-0.57,-170.3,2580,2348,3884,3876,945.3,-8.9,610,9194,0.00,2.30,0.00,0.000,260,0.000,0.091,2580,3689,3880,3884,3876,0,0,0,0,0,0,15.19,14.85,15.21
$GC,9230,-0.57,-170.3,2580,3689,3883,3876,949.0,-9.1,618,9234,0.00,2.15,0.00,0.000,1030,0.000,0.047,2580,2340,3879,3883,3876,0,0,0,0,0,0,15.01,14.95,15.02
$GC,9550,-0.57,-170.3,2579,2336,3883,3874,975.7,-8.2,632,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2337,3878,3883,3873,0,0,0,0,0,0,15.19,15.21,15.21
$STATE,9759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9759,begin apogee
$GC,9764,-0.12,0.0,2580,2407,3883,3872,991.8,-7.5,639,9911,0.52,0.00,140.73,1.869,10246,0.221,0.000,2732,2407,3338,3362,3315,0,0,0,0,0,0,14.75,14.00,13.44
$STATE,9912,end apogee,CONTROL_FINISHED_OK
$STATE,9912,begin climb
$GC,9914,0.57,170.3,2732,2407,3360,3315,996.9,0.0,644,10095,0.75,0.00,176.40,1.873,10758,0.134,0.000,2960,2407,2651,2696,2606,0,0,0,0,0,0,14.14,13.99,13.31
$GC,10391,0.57,170.3,2960,2407,2671,2593,962.7,9.8,675,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2407,2632,2671,2593,0,0,0,0,0,0,14.77,14.80,14.79
$GC,10691,0.57,170.3,2960,2408,2667,2593,932.4,10.3,685,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2407,2630,2667,2593,0,0,0,0,0,0,14.92,14.95,14.94
$GC,10991,0.57,170.3,2958,2407,2664,2592,903.2,9.5,695,10995,0.00,2.20,0.00,0.000,260,0.000,0.089,2960,3683,2628,2665,2592,0,0,0,0,0,0,15.00,14.72,15.02
$GC,11016,0.57,170.3,2960,3682,2664,2592,900.5,10.3,700,11023,0.00,2.08,0.00,0.000,1030,0.000,0.050,2960,2415,2627,2663,2591,0,0,0,0,0,0,14.85,14.78,14.86
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$STATE,21365,end climb,SURFACE_DEPTH_REACHED
$STATE,21365,begin surface coast
$FINISH,0.0,1.022554
$STATE,21402,end surface coast,CONTROL_FINISHED_OK
$STATE,21402,begin surface
$SM_CCo,21417,23.40,0.080,0,0,1715,400.08
$SM_GC,0.64,8.35,0.12,23.40,0.096,0.112,0.080,251,2309,1715,-7.86,0.96,400.08,0,0,0,0,0,0,14.68,14.76,14.70
$IRIDIUM_FIX,-332.91,5533.05,080218,174007
$TT8_MAMPS,0.018725,0.156541
$HUMID,58.50
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,13.31,37.306
$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,21.725,173.825,479.950,23.400,0.000,0.000,0.000,243.450,0.000,0.000,20.167,3286.638,15284.590,667.969,2387.787,160.373,0.000,2106.469,0.000,2116.357,0.000,0.546,0.000
$DEVICE_MAMPS,435.285,193.545,1872.720,79.560,0.000,0.000,0.000,133.110,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.388,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304640
$DATA_FILE_SIZE,63254,1488
$CAP_FILE_SIZE,175722,0
$CFSIZE,260034560,249757696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.041,209.44,1
$GPS,090218,055102,-338.362,5535.279,38,0.8,41,-4.7,0.3,180.2,9,9.0