version: 66.13
glider: 128
mission: 4
dive: 124
start: 2 12 118 18 17 30
data:
$ID,128
$MISSION,4
$DIVE,124
$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,74
$R_STBD_OVSHOOT,30
$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
$GPS1,120218,181145,-313.1083,5537.4370,27,1.1,37,-4.6,0.7,112.2,7,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-74.1
$GPS2,120218,181652,-313.1282,5537.5010,17,1.0,26,-4.6,0.2,84.0,8,9.6
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,185.9,49844,-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,-170.3,239,2412,1395,1356,0.0,0.0,0,86,0.00,0.00,-76.05,0.003,16386,0.000,0.000,239,2412,3714,3694,3734,0,0,0,0,0,0,14.85,28.83,14.87
$GC,88,-0.57,-170.3,239,2412,3695,3734,4.4,-12.6,13,110,11.93,2.20,-2.85,0.031,19204,0.435,0.093,2581,3705,3903,3896,3911,0,0,0,0,0,0,14.36,13.61,14.66
$GC,162,-0.57,-170.3,2580,3705,3901,3910,31.9,-19.5,26,169,0.00,2.12,0.00,0.000,1030,0.000,0.040,2581,2378,3907,3903,3911,0,0,0,0,0,0,14.73,14.66,14.76
$GC,471,-0.57,-170.3,2581,2376,3907,3911,83.7,-12.8,65,475,0.00,2.35,0.00,0.000,516,0.000,0.050,2581,942,3909,3908,3911,0,0,0,0,0,0,14.99,14.73,15.01
$GC,492,-0.57,-170.3,2581,942,3908,3912,86.6,-14.0,69,496,0.00,2.35,0.00,0.000,1030,0.000,0.054,2581,2354,3909,3908,3911,0,0,0,0,0,0,14.83,14.74,14.85
$GC,798,-0.57,-170.3,2581,2353,3910,3913,125.7,-13.9,100,802,0.00,2.22,0.00,0.000,260,0.000,0.080,2581,3700,3911,3910,3913,0,0,0,0,0,0,15.04,14.77,15.07
$GC,952,-0.57,-170.3,2581,3700,3910,3913,142.0,-7.0,131,961,0.00,2.17,0.00,0.000,1030,0.000,0.039,2581,2335,3912,3910,3914,0,0,0,0,0,0,14.86,14.83,14.88
$GC,1259,-0.57,-170.3,2581,2335,3911,3914,169.8,-10.7,162,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2334,3912,3911,3914,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1560,-0.57,-170.3,2581,2335,3910,3914,205.7,-11.0,192,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2334,3912,3911,3914,0,0,0,0,0,0,15.10,15.12,15.12
$GC,1860,-0.57,-170.3,2581,2335,3910,3914,236.2,-9.5,222,1864,0.00,2.28,0.00,0.000,260,0.000,0.079,2581,3694,3912,3910,3914,0,0,0,0,0,0,15.11,14.85,15.14
$GC,1932,-0.57,-170.3,2581,3694,3909,3914,243.1,-9.7,236,1936,0.00,2.10,0.00,0.000,1030,0.000,0.040,2581,2347,3912,3910,3914,0,0,0,0,0,0,14.97,14.91,14.98
$GC,2243,-0.57,-170.3,2581,2343,3909,3914,276.9,-10.4,252,2247,0.00,2.28,0.00,0.000,260,0.000,0.080,2581,3701,3911,3909,3914,0,0,0,0,0,0,15.14,14.85,15.16
$GC,2305,-0.57,-170.3,2580,3701,3908,3913,282.7,-9.0,264,2309,0.00,2.10,0.00,0.000,1030,0.000,0.041,2581,2354,3910,3908,3913,0,0,0,0,0,0,14.98,14.93,15.00
$GC,2637,-0.57,-170.3,2581,2350,3908,3912,314.9,-10.0,280,2640,0.00,2.25,0.00,0.000,260,0.000,0.080,2581,3699,3910,3907,3913,0,0,0,0,0,0,15.16,14.87,15.17
$GC,2681,-0.57,-170.3,2581,3699,3907,3911,319.6,-10.0,289,2685,0.00,2.12,0.00,0.000,1030,0.000,0.042,2582,2350,3909,3907,3911,0,0,0,0,0,0,15.00,14.94,15.01
$GC,2997,-0.57,-170.3,2581,2346,3906,3910,349.6,-9.0,302,3001,0.00,2.28,0.00,0.000,260,0.000,0.081,2581,3702,3908,3906,3910,0,0,0,0,0,0,15.16,14.88,15.19
$GC,3059,-0.57,-170.3,2581,3702,3905,3909,354.9,-8.5,314,3063,0.00,2.12,0.00,0.000,1030,0.000,0.043,2581,2346,3907,3905,3909,0,0,0,0,0,0,15.01,14.95,15.02
$GC,3390,-0.57,-170.3,2580,2343,3905,3908,386.2,-10.2,330,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2343,3906,3905,3908,0,0,0,0,0,0,15.17,15.19,15.19
$GC,3690,-0.57,-170.3,2581,2344,3903,3906,420.8,-11.7,340,3694,0.00,2.28,0.00,0.000,260,0.000,0.083,2581,3693,3904,3902,3906,0,0,0,0,0,0,15.18,14.88,15.20
$GC,3760,-0.57,-170.3,2581,3693,3901,3905,428.8,-10.9,354,3764,0.00,2.10,0.00,0.000,1030,0.000,0.041,2581,2347,3903,3901,3905,0,0,0,0,0,0,15.02,14.96,15.03
$GC,4082,-0.57,-170.3,2580,2344,3901,3903,459.2,-8.7,368,4086,0.00,2.28,0.00,0.000,260,0.000,0.085,2581,3693,3902,3901,3903,0,0,0,0,0,0,15.18,14.88,15.19
$GC,4126,-0.57,-170.3,2580,3693,3900,3902,463.3,-8.6,377,4131,0.00,2.10,0.00,0.000,1030,0.000,0.042,2581,2352,3901,3900,3903,0,0,0,0,0,0,15.01,14.95,15.03
$GC,4443,-0.57,-170.3,2581,2349,3900,3901,490.3,-8.9,390,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2349,3900,3900,3901,0,0,0,0,0,0,15.18,15.21,15.20
$GC,4744,-0.57,-170.3,2581,2350,3898,3899,517.9,-9.1,400,4748,0.00,2.28,0.00,0.000,260,0.000,0.085,2581,3692,3898,3898,3899,0,0,0,0,0,0,15.18,14.88,15.20
$GC,4784,-0.57,-170.3,2580,3693,3897,3899,521.6,-8.7,408,4788,0.00,2.12,0.00,0.000,1030,0.000,0.044,2581,2341,3898,3898,3899,0,0,0,0,0,0,15.02,14.96,15.03
$GC,5105,-0.57,-170.3,2580,2337,3897,3897,549.7,-9.0,422,5109,0.00,2.30,0.00,0.000,260,0.000,0.085,2581,3695,3897,3897,3897,0,0,0,0,0,0,15.19,14.88,15.21
$GC,5137,-0.57,-170.3,2581,3695,3897,3896,552.7,-9.6,428,5141,0.00,2.12,0.00,0.000,1030,0.000,0.045,2581,2354,3897,3897,3897,0,0,0,0,0,0,15.02,14.95,15.03
$GC,5468,-0.57,-170.3,2581,2351,3897,3895,586.9,-10.7,444,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2351,3896,3897,3896,0,0,0,0,0,0,15.19,15.21,15.21
$GC,5768,-0.57,-170.3,2581,2351,3896,3893,621.6,-11.8,454,5772,0.00,2.28,0.00,0.000,260,0.000,0.086,2580,3693,3894,3895,3893,0,0,0,0,0,0,15.19,14.88,15.21
$GC,5800,-0.57,-170.3,2581,3693,3894,3892,625.2,-11.4,460,5804,0.00,2.12,0.00,0.000,1030,0.000,0.045,2581,2347,3893,3894,3892,0,0,0,0,0,0,15.02,14.95,15.03
$GC,6132,-0.57,-170.3,2581,2343,3894,3890,658.9,-9.3,476,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2343,3892,3894,3891,0,0,0,0,0,0,15.19,15.21,15.20
$GC,6431,-0.57,-170.3,2581,2343,3893,3889,685.3,-9.1,486,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2343,3891,3893,3889,0,0,0,0,0,0,15.19,15.21,15.21
$GC,6732,-0.57,-170.3,2581,2343,3892,3887,713.4,-9.2,496,6736,0.00,2.33,0.00,0.000,260,0.000,0.090,2581,3696,3889,3892,3887,0,0,0,0,0,0,15.19,14.87,15.21
$GC,6763,-0.57,-170.3,2580,3697,3890,3887,716.3,-8.9,502,6767,0.00,2.15,0.00,0.000,1030,0.000,0.048,2581,2354,3889,3891,3887,0,0,0,0,0,0,15.02,14.95,15.03
$GC,7094,-0.57,-170.3,2580,2351,3891,3887,743.9,-8.1,518,7098,0.00,2.28,0.00,0.000,260,0.000,0.087,2581,3691,3888,3890,3886,0,0,0,0,0,0,15.19,14.87,15.21
$GC,7149,-0.57,-170.3,2581,3691,3890,3885,748.5,-8.0,529,7156,0.00,2.15,0.00,0.000,1030,0.000,0.045,2581,2335,3887,3890,3885,0,0,0,0,0,0,15.01,14.95,15.02
$GC,7456,-0.57,-170.3,2580,2335,3890,3884,772.4,-7.9,540,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2335,3887,3890,3884,0,0,0,0,0,0,15.18,15.21,15.20
$GC,7755,-0.57,-170.3,2581,2334,3889,3883,794.9,-7.3,550,7760,0.00,2.33,0.00,0.000,260,0.000,0.087,2581,3694,3885,3888,3882,0,0,0,0,0,0,15.19,14.85,15.21
$GC,7788,-0.57,-170.3,2580,3694,3887,3882,797.1,-7.5,556,7792,0.00,2.15,0.00,0.000,1030,0.000,0.047,2581,2347,3885,3888,3882,0,0,0,0,0,0,15.01,14.95,15.02
$GC,8119,-0.57,-170.3,2581,2343,3887,3881,819.7,-6.8,572,8123,0.00,2.30,0.00,0.000,260,0.000,0.090,2581,3690,3884,3887,3881,0,0,0,0,0,0,15.19,14.85,15.21
$GC,8181,-0.57,-170.3,2581,3690,3886,3881,824.1,-7.1,584,8185,0.00,2.12,0.00,0.000,1030,0.000,0.046,2581,2351,3883,3886,3880,0,0,0,0,0,0,15.00,14.94,15.02
$GC,8512,-0.57,-170.3,2580,2347,3886,3880,849.5,-8.2,600,8516,0.00,2.30,0.00,0.000,516,0.000,0.055,2581,946,3883,3886,3880,0,0,0,0,0,0,15.17,14.90,15.19
$GC,8532,-0.57,-170.3,2581,946,3886,3880,851.5,-8.7,604,8536,0.00,2.35,0.00,0.000,1030,0.000,0.060,2581,2349,3883,3886,3880,0,0,0,0,0,0,14.98,14.88,15.00
$GC,8844,-0.57,-170.3,2580,2349,3885,3878,878.7,-9.2,616,8848,0.00,2.28,0.00,0.000,260,0.000,0.092,2580,3693,3881,3885,3878,0,0,0,0,0,0,15.18,14.84,15.19
$GC,8875,-0.57,-170.3,2580,3693,3884,3878,881.7,-9.5,622,8879,0.00,2.15,0.00,0.000,1030,0.000,0.047,2581,2346,3881,3885,3878,0,0,0,0,0,0,15.00,14.93,15.02
$GC,9206,-0.57,-170.3,2579,2341,3884,3876,912.2,-8.9,638,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2341,3880,3884,3877,0,0,0,0,0,0,15.18,15.20,15.20
$GC,9507,-0.57,-170.3,2579,2341,3884,3877,937.9,-8.5,648,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2341,3880,3884,3877,0,0,0,0,0,0,15.18,15.20,15.19
$GC,9806,-0.57,-170.3,2579,2341,3883,3876,963.0,-8.2,658,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2341,3879,3883,3876,0,0,0,0,0,0,15.18,15.21,15.20
$GC,10106,-0.57,-170.3,2579,2341,3883,3875,988.4,-8.5,668,10111,0.00,2.35,0.00,0.000,260,0.000,0.093,2580,3703,3878,3883,3874,0,0,0,0,0,0,15.19,14.83,15.20
$STATE,10125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10125,begin apogee
$GC,10132,-0.12,0.0,2580,2398,3882,3874,990.2,-8.7,672,10278,0.52,0.00,140.15,1.915,10246,0.210,0.000,2731,2397,3338,3362,3315,0,0,0,0,0,0,14.73,14.12,13.40
$STATE,10279,end apogee,CONTROL_FINISHED_OK
$STATE,10279,begin climb
$GC,10281,0.57,170.3,2731,2398,3360,3314,996.4,0.0,677,10466,0.75,2.40,174.43,1.899,10500,0.135,0.087,2959,3700,2645,2688,2603,0,0,0,0,0,0,14.12,13.85,13.27
$GC,10528,0.57,170.3,2958,3700,2678,2598,984.2,10.5,727,10533,0.00,2.20,0.00,0.000,1030,0.000,0.050,2959,2409,2638,2678,2598,0,0,0,0,0,0,14.32,14.26,14.34
$GC,10850,0.57,170.3,2958,2408,2671,2594,953.4,9.6,741,10856,0.00,2.45,0.00,0.000,516,0.000,0.067,2958,987,2632,2671,2594,0,0,0,0,0,0,14.82,14.57,14.85
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$STATE,21211,end climb,SURFACE_DEPTH_REACHED
$STATE,21211,begin surface coast
$FINISH,0.3,1.022712
$STATE,21242,end surface coast,CONTROL_FINISHED_OK
$STATE,21242,begin surface
$SM_CCo,21259,14.57,0.082,0,0,1714,400.08
$SM_GC,0.85,8.40,2.33,14.57,0.098,0.047,0.082,246,2360,1714,-7.88,-0.76,400.08,0,0,0,0,0,0,14.66,14.71,14.68
$IRIDIUM_FIX,-311.20,5536.05,120218,123833
$TT8_MAMPS,0.018725,0.15729
$HUMID,59.49
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.27,41.810
$10V_AH,13.59,0.000
$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,21.850,185.275,501.675,14.575,0.000,0.000,0.000,204.425,0.000,0.000,28.107,3263.283,15128.113,631.721,2409.860,157.927,0.000,2078.072,0.000,2158.405,0.000,0.546,0.000
$DEVICE_MAMPS,435.285,154.530,1914.795,81.855,0.000,0.000,0.000,135.405,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63304,1518
$CAP_FILE_SIZE,176651,0
$CFSIZE,260034560,248483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.092,264.00,1
$GPS,130218,001313,-315.560,5536.158,24,1.8,32,-4.6,0.7,127.1,4,9.9