version: 66.13
glider: 128
mission: 4
dive: 152
start: 2 19 118 22 39 11
data:
$ID,128
$MISSION,4
$DIVE,152
$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,38
$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
$GPS1,190218,223300,-313.6603,5538.2495,42,1.2,48,-4.6,1.0,98.3,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-75.5
$GPS2,190218,223834,-313.6794,5538.4106,20,0.8,30,-4.6,0.7,95.1,10,8.0
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,225.4,48949,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.57,-170.3,243,2344,1623,1588,0.0,0.0,0,75,0.00,0.00,-64.07,0.004,16386,0.000,0.000,243,2344,3560,3538,3583,0,0,0,0,0,0,14.88,28.83,14.90
$GC,77,-0.57,-170.3,243,2344,3540,3583,3.7,-9.8,11,105,11.75,2.28,-5.28,0.018,18692,0.428,0.082,2581,3697,3904,3899,3910,0,0,0,0,0,0,14.35,13.53,14.68
$GC,287,-0.57,-170.3,2581,3697,3903,3910,54.4,-20.3,51,292,0.00,2.17,0.00,0.000,1030,0.000,0.041,2580,2345,3907,3905,3910,0,0,0,0,0,0,14.78,14.72,14.81
$GC,598,-0.57,-170.3,2580,2341,3908,3911,99.4,-10.7,83,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2340,3909,3908,3911,0,0,0,0,0,0,15.03,15.04,15.04
$GC,899,-0.57,-170.3,2580,2341,3909,3914,139.7,-12.9,113,904,0.00,2.25,0.00,0.000,260,0.000,0.075,2580,3695,3912,3910,3914,0,0,0,0,0,0,15.07,14.78,15.09
$GC,965,-0.57,-170.3,2580,3695,3910,3914,148.0,-11.8,126,972,0.00,2.12,0.00,0.000,1030,0.000,0.039,2580,2325,3912,3910,3914,0,0,0,0,0,0,14.91,14.85,14.93
$GC,1271,-0.57,-170.3,2580,2325,3911,3915,177.5,-7.4,157,1276,0.00,2.28,0.00,0.000,260,0.000,0.076,2580,3695,3913,3911,3915,0,0,0,0,0,0,15.10,14.81,15.12
$GC,1312,-0.57,-170.3,2580,3695,3911,3915,180.6,-7.1,165,1318,0.00,2.08,0.00,0.000,1030,0.000,0.041,2580,2352,3913,3911,3915,0,0,0,0,0,0,14.94,14.88,14.96
$GC,1625,-0.57,-170.3,2580,2347,3911,3916,210.2,-10.4,197,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2347,3913,3912,3915,0,0,0,0,0,0,15.12,15.14,15.14
$GC,1926,-0.57,-170.3,2580,2347,3910,3915,243.3,-10.8,227,1930,0.00,2.25,0.00,0.000,260,0.000,0.077,2580,3699,3912,3910,3915,0,0,0,0,0,0,15.12,14.83,15.14
$GC,1990,-0.57,-170.3,2580,3699,3909,3915,250.2,-10.0,240,1997,0.00,2.10,0.00,0.000,1030,0.000,0.040,2580,2346,3912,3910,3915,0,0,0,0,0,0,14.96,14.90,14.97
$GC,2297,-0.57,-170.3,2580,2346,3909,3915,279.5,-9.5,251,2301,0.00,2.25,0.00,0.000,260,0.000,0.077,2580,3696,3912,3910,3914,0,0,0,0,0,0,15.15,14.85,15.17
$GC,2346,-0.57,-170.3,2580,3697,3909,3914,284.3,-9.3,261,2351,0.00,2.10,0.00,0.000,1030,0.000,0.041,2580,2347,3911,3909,3914,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2658,-0.57,-170.3,2580,2344,3909,3914,312.4,-9.3,273,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2345,3911,3909,3914,0,0,0,0,0,0,15.16,15.19,15.18
$GC,2958,-0.57,-170.3,2580,2345,3908,3911,343.6,-10.9,283,2962,0.00,2.25,0.00,0.000,260,0.000,0.078,2580,3694,3909,3907,3912,0,0,0,0,0,0,15.17,14.87,15.19
$GC,3013,-0.57,-170.3,2579,3694,3906,3910,349.7,-11.0,294,3020,0.00,2.10,0.00,0.000,1030,0.000,0.041,2580,2344,3908,3907,3910,0,0,0,0,0,0,15.00,14.93,15.01
$GC,3320,-0.57,-170.3,2580,2344,3906,3909,382.7,-10.7,305,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2344,3907,3906,3909,0,0,0,0,0,0,15.17,15.19,15.19
$GC,3619,-0.57,-170.3,2579,2344,3903,3907,412.1,-9.5,315,3623,0.00,2.28,0.00,0.000,260,0.000,0.080,2580,3702,3905,3903,3907,0,0,0,0,0,0,15.18,14.87,15.20
$GC,3674,-0.57,-170.3,2579,3702,3902,3907,417.4,-9.5,326,3681,0.00,2.10,0.00,0.000,1030,0.000,0.041,2580,2349,3904,3902,3907,0,0,0,0,0,0,15.00,14.94,15.02
$GC,3980,-0.57,-170.3,2580,2349,3901,3905,444.0,-8.5,337,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2348,3903,3901,3905,0,0,0,0,0,0,15.18,15.20,15.20
$GC,4280,-0.57,-170.3,2580,2349,3900,3902,469.4,-8.5,347,4284,0.00,2.28,0.00,0.000,260,0.000,0.082,2580,3702,3901,3900,3902,0,0,0,0,0,0,15.19,14.86,15.20
$GC,4320,-0.57,-170.3,2580,3702,3899,3902,472.9,-8.4,355,4324,0.00,2.10,0.00,0.000,1030,0.000,0.042,2580,2354,3900,3899,3902,0,0,0,0,0,0,15.00,14.94,15.02
$GC,4641,-0.57,-170.3,2580,2349,3899,3900,500.1,-8.5,369,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2349,3899,3899,3900,0,0,0,0,0,0,15.19,15.20,15.20
$GC,4941,-0.57,-170.3,2580,2349,3898,3898,525.2,-8.5,379,4946,0.00,2.28,0.00,0.000,260,0.000,0.083,2580,3694,3898,3898,3898,0,0,0,0,0,0,15.19,14.85,15.21
$GC,4961,-0.57,-170.3,2580,3694,3897,3898,527.0,-8.3,383,4965,0.00,2.12,0.00,0.000,1030,0.000,0.045,2580,2345,3897,3897,3898,0,0,0,0,0,0,15.00,14.94,15.02
$GC,5273,-0.57,-170.3,2580,2341,3897,3897,554.0,-8.8,395,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2342,3896,3897,3896,0,0,0,0,0,0,15.19,15.21,15.20
$GC,5573,-0.57,-170.3,2580,2342,3896,3895,580.2,-8.8,405,5577,0.00,2.30,0.00,0.000,260,0.000,0.085,2580,3702,3894,3895,3894,0,0,0,0,0,0,15.19,14.85,15.20
$GC,5607,-0.57,-170.3,2580,3702,3895,3894,583.4,-9.1,412,5612,0.00,2.15,0.00,0.000,1030,0.000,0.044,2580,2347,3894,3895,3894,0,0,0,0,0,0,15.00,14.92,15.01
$GC,5935,-0.57,-170.3,2580,2344,3895,3891,611.5,-8.7,427,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2344,3892,3894,3891,0,0,0,0,0,0,15.18,15.21,15.20
$GC,6235,-0.57,-170.3,2580,2344,3893,3890,637.4,-8.6,437,6239,0.00,2.30,0.00,0.000,260,0.000,0.085,2580,3701,3891,3892,3890,0,0,0,0,0,0,15.19,14.84,15.20
$GC,6281,-0.57,-170.3,2580,3701,3892,3889,641.4,-8.6,446,6285,0.00,2.15,0.00,0.000,1030,0.000,0.045,2580,2340,3891,3892,3890,0,0,0,0,0,0,15.00,14.93,15.01
$GC,6597,-0.57,-170.3,2580,2337,3891,3888,667.9,-8.4,459,6601,0.00,2.30,0.00,0.000,260,0.000,0.086,2580,3693,3889,3891,3887,0,0,0,0,0,0,15.18,14.83,15.20
$GC,6632,-0.57,-170.3,2580,3693,3890,3887,670.9,-8.4,466,6636,0.00,2.12,0.00,0.000,1030,0.000,0.046,2580,2350,3888,3890,3887,0,0,0,0,0,0,14.99,14.92,15.01
$GC,6958,-0.57,-170.3,2580,2347,3890,3886,695.2,-7.1,481,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2347,3888,3890,3886,0,0,0,0,0,0,15.17,15.20,15.19
$GC,7258,-0.57,-170.3,2580,2347,3889,3884,716.9,-7.3,491,7262,0.00,2.30,0.00,0.000,260,0.000,0.086,2580,3700,3886,3889,3884,0,0,0,0,0,0,15.18,14.83,15.20
$GC,7298,-0.57,-170.3,2580,3700,3888,3884,720.0,-7.7,499,7302,0.00,2.15,0.00,0.000,1030,0.000,0.047,2580,2348,3885,3887,3884,0,0,0,0,0,0,14.99,14.92,15.00
$GC,7619,-0.57,-170.3,2580,2345,3888,3882,745.6,-8.3,513,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2345,3884,3887,3882,0,0,0,0,0,0,15.18,15.20,15.19
$GC,7919,-0.57,-170.3,2580,2345,3886,3881,772.1,-9.1,523,7923,0.00,2.30,0.00,0.000,260,0.000,0.086,2580,3692,3883,3886,3881,0,0,0,0,0,0,15.18,14.82,15.20
$GC,7963,-0.57,-170.3,2580,3691,3886,3881,776.6,-9.6,532,7968,0.00,2.17,0.00,0.000,1030,0.000,0.047,2580,2356,3883,3886,3881,0,0,0,0,0,0,14.93,14.90,14.96
$GC,8281,-0.57,-170.3,2580,2354,3886,3880,807.5,-10.1,545,8286,0.00,2.33,0.00,0.000,516,0.000,0.055,2580,949,3883,3886,3880,0,0,0,0,0,0,15.17,14.87,15.19
$GC,8301,-0.57,-170.3,2580,949,3886,3880,809.8,-10.5,549,8306,0.00,2.38,0.00,0.000,1030,0.000,0.061,2580,2349,3883,3886,3880,0,0,0,0,0,0,14.95,14.85,14.99
$GC,8613,-0.57,-170.3,2578,2351,3885,3877,840.2,-9.5,561,8618,0.00,2.28,0.00,0.000,260,0.000,0.090,2579,3695,3881,3884,3878,0,0,0,0,0,0,15.18,14.81,15.19
$GC,8664,-0.57,-170.3,2578,3695,3884,3877,845.1,-9.4,571,8668,0.00,2.17,0.00,0.000,1030,0.000,0.048,2579,2344,3881,3885,3877,0,0,0,0,0,0,14.97,14.90,14.99
$GC,8975,-0.57,-170.3,2578,2340,3884,3877,871.6,-8.0,583,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2341,3880,3884,3877,0,0,0,0,0,0,15.17,15.19,15.19
$GC,9275,-0.57,-170.3,2578,2341,3884,3876,893.8,-7.0,593,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2340,3880,3884,3876,0,0,0,0,0,0,15.17,15.19,15.19
$GC,9575,-0.57,-170.3,2579,2340,3883,3874,914.6,-6.9,603,9579,0.00,2.33,0.00,0.000,260,0.000,0.091,2579,3695,3878,3883,3874,0,0,0,0,0,0,15.17,14.80,15.19
$GC,9625,-0.57,-170.3,2578,3695,3884,3874,918.3,-7.2,613,9630,0.00,2.17,0.00,0.000,1030,0.000,0.051,2579,2349,3878,3883,3874,0,0,0,0,0,0,14.96,14.89,14.98
$GC,9937,-0.57,-170.3,2578,2345,3883,3873,941.3,-7.6,625,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2346,3877,3882,3873,0,0,0,0,0,0,15.17,15.19,15.19
$GC,10238,-0.57,-170.3,2578,2345,3882,3872,964.1,-7.6,635,10242,0.00,2.35,0.00,0.000,260,0.000,0.092,2579,3699,3877,3882,3872,0,0,0,0,0,0,15.17,14.78,15.19
$GC,10269,-0.57,-170.3,2578,3700,3881,3871,966.6,-8.2,641,10274,0.00,2.17,0.00,0.000,1030,0.000,0.050,2579,2345,3876,3881,3871,0,0,0,0,0,0,14.96,14.88,14.98
$STATE,10600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10600,begin apogee
$GC,10605,-0.12,0.0,2579,2410,3881,3870,991.2,-7.3,657,10753,0.55,0.00,140.23,1.880,10246,0.220,0.000,2736,2410,3338,3361,3315,0,0,0,0,0,0,14.66,13.97,13.38
$STATE,10754,end apogee,CONTROL_FINISHED_OK
$STATE,10754,begin climb
$GC,10755,0.57,170.3,2736,2410,3360,3314,996.4,0.0,662,10943,0.73,2.58,177.27,1.863,11012,0.132,0.058,2959,998,2644,2689,2599,0,0,0,0,0,0,14.13,13.97,13.22
$GC,10968,0.57,170.3,2959,998,2683,2596,988.3,8.5,695,10973,0.00,2.50,0.00,0.000,1030,0.000,0.057,2959,2396,2639,2682,2596,0,0,0,0,0,0,14.21,14.13,14.23
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$STATE,22230,end climb,SURFACE_DEPTH_REACHED
$STATE,22230,begin surface coast
$FINISH,0.3,1.022311
$STATE,22256,end surface coast,CONTROL_FINISHED_OK
$STATE,22256,begin surface
$SM_CCo,22271,9.30,0.081,0,0,1714,400.08
$SM_GC,1.44,8.52,0.00,9.30,0.093,0.000,0.081,252,2389,1714,-7.86,1.10,400.08,0,0,0,0,0,0,14.58,14.88,14.61
$IRIDIUM_FIX,-309.00,5539.06,190218,162831
$TT8_MAMPS,0.019474,0.15729
$HUMID,59.76
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.22,50.297
$10V_AH,13.55,0.000
$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,21.900,172.400,508.025,9.300,0.000,0.000,0.000,226.050,0.000,0.000,31.365,3328.073,16062.493,654.710,2398.165,179.096,0.000,2099.022,0.000,2132.344,0.000,0.546,0.000
$DEVICE_MAMPS,427.635,136.170,1879.605,81.090,0.000,0.000,0.000,133.875,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303868
$DATA_FILE_SIZE,63263,1499
$CAP_FILE_SIZE,177714,0
$CFSIZE,260034560,246099968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,39.68,1
$GPS,200218,045137,-314.847,5537.142,27,0.8,29,-4.6,0.7,92.9,10,9.3