version: 66.13
glider: 128
mission: 4
dive: 172
start: 2 25 118 6 4 53
data:
$ID,128
$MISSION,4
$DIVE,172
$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,29
$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
$GPS1,250218,055534,-322.1541,5537.9702,37,0.9,42,-4.6,0.8,133.5,9,8.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.4
$GPS2,250218,060415,-322.2523,5538.1030,15,0.9,18,-4.6,0.6,102.8,9,8.9
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,355.7,41394,-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,-170.3,225,2332,1456,1426,0.0,0.0,0,81,0.00,0.00,-71.47,0.003,16386,0.000,0.000,225,2332,3707,3690,3725,0,0,0,0,0,0,14.86,28.83,14.88
$GC,83,-0.57,-170.3,225,2332,3691,3726,5.0,-14.3,12,105,11.62,2.33,-2.88,0.031,18692,0.416,0.081,2578,3706,3904,3898,3910,0,0,0,0,0,0,14.33,13.52,14.66
$GC,167,-0.57,-170.3,2578,3706,3901,3910,32.3,-19.3,27,174,0.00,2.17,0.00,0.000,1030,0.000,0.037,2579,2340,3906,3902,3910,0,0,0,0,0,0,14.73,14.67,14.76
$GC,482,-0.57,-170.3,2578,2336,3905,3910,90.9,-15.9,67,486,0.00,2.30,0.00,0.000,260,0.000,0.074,2578,3704,3908,3906,3911,0,0,0,0,0,0,15.00,14.70,15.02
$GC,586,-0.57,-170.3,2578,3705,3906,3911,104.4,-12.3,88,594,0.00,2.17,0.00,0.000,1030,0.000,0.037,2578,2311,3909,3907,3911,0,0,0,0,0,0,14.84,14.78,14.86
$GC,894,-0.57,-170.3,2578,2310,3909,3914,139.2,-9.4,119,897,0.00,2.33,0.00,0.000,260,0.000,0.074,2578,3702,3912,3910,3914,0,0,0,0,0,0,15.06,14.76,15.08
$GC,975,-0.57,-170.3,2578,3702,3909,3914,145.8,-7.6,135,979,0.00,2.10,0.00,0.000,1030,0.000,0.037,2578,2348,3912,3910,3914,0,0,0,0,0,0,14.90,14.85,14.92
$GC,1287,-0.57,-170.3,2578,2344,3910,3915,178.4,-11.5,167,1291,0.00,2.28,0.00,0.000,516,0.000,0.045,2578,945,3912,3910,3915,0,0,0,0,0,0,15.09,14.83,15.11
$GC,1338,-0.57,-170.3,2578,945,3910,3916,184.2,-11.4,177,1342,0.00,2.35,0.00,0.000,1030,0.000,0.051,2578,2363,3912,3910,3915,0,0,0,0,0,0,14.90,14.82,14.93
$GC,1643,-0.57,-170.3,2578,2363,3910,3916,218.4,-10.8,208,1647,0.00,2.33,0.00,0.000,516,0.000,0.046,2578,949,3913,3910,3916,0,0,0,0,0,0,15.11,14.84,15.14
$GC,1707,-0.57,-170.3,2578,949,3910,3916,225.4,-10.3,221,1714,0.00,2.35,0.00,0.000,1030,0.000,0.050,2579,2358,3913,3910,3916,0,0,0,0,0,0,14.92,14.84,14.95
$GC,2015,-0.57,-170.3,2578,2358,3909,3915,256.4,-9.9,248,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2358,3912,3910,3915,0,0,0,0,0,0,15.12,15.14,15.14
$GC,2314,-0.57,-170.3,2578,2358,3909,3914,288.3,-11.2,258,2319,0.00,2.20,0.00,0.000,260,0.000,0.080,2578,3697,3911,3908,3914,0,0,0,0,0,0,15.14,14.82,15.16
$GC,2400,-0.57,-170.3,2578,3697,3907,3913,298.0,-10.6,275,2407,0.00,2.10,0.00,0.000,1030,0.000,0.040,2578,2342,3910,3907,3913,0,0,0,0,0,0,14.97,14.90,14.98
$GC,2706,-0.57,-170.3,2578,2342,3906,3910,328.9,-9.6,286,2711,0.00,2.28,0.00,0.000,260,0.000,0.080,2578,3699,3908,3906,3910,0,0,0,0,0,0,15.16,14.83,15.18
$GC,2742,-0.57,-170.3,2578,3700,3905,3909,332.4,-9.5,293,2746,0.00,2.10,0.00,0.000,1030,0.000,0.042,2578,2353,3907,3905,3909,0,0,0,0,0,0,14.97,14.91,14.99
$GC,3068,-0.57,-170.3,2578,2348,3903,3907,363.7,-9.6,308,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2348,3905,3903,3907,0,0,0,0,0,0,15.16,15.19,15.18
$GC,3368,-0.57,-170.3,2578,2348,3901,3905,389.6,-8.4,318,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2348,3903,3901,3905,0,0,0,0,0,0,15.17,15.19,15.19
$GC,3668,-0.57,-170.3,2578,2348,3900,3902,416.5,-9.7,328,3672,0.00,2.28,0.00,0.000,260,0.000,0.081,2579,3699,3901,3900,3902,0,0,0,0,0,0,15.18,14.83,15.19
$GC,3702,-0.57,-170.3,2578,3700,3898,3902,420.3,-10.8,335,3706,0.00,2.12,0.00,0.000,1030,0.000,0.042,2578,2345,3900,3899,3902,0,0,0,0,0,0,14.99,14.93,15.00
$GC,4029,-0.57,-170.3,2578,2341,3898,3900,455.8,-10.9,350,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2341,3899,3898,3900,0,0,0,0,0,0,15.17,15.19,15.19
$GC,4329,-0.57,-170.3,2578,2341,3897,3897,487.3,-10.2,360,4333,0.00,2.28,0.00,0.000,260,0.000,0.083,2578,3691,3897,3897,3898,0,0,0,0,0,0,15.18,14.83,15.20
$GC,4384,-0.57,-170.3,2578,3691,3896,3897,492.8,-9.7,371,4391,0.00,2.10,0.00,0.000,1030,0.000,0.042,2578,2345,3897,3897,3897,0,0,0,0,0,0,14.98,14.92,15.00
$GC,4690,-0.57,-170.3,2578,2345,3896,3896,520.6,-8.9,382,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2345,3896,3896,3896,0,0,0,0,0,0,15.17,15.19,15.19
$GC,4989,-0.57,-170.3,2578,2345,3895,3893,546.3,-8.6,392,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2346,3894,3895,3893,0,0,0,0,0,0,15.18,15.20,15.20
$GC,5290,-0.57,-170.3,2578,2345,3893,3890,572.2,-8.5,402,5295,0.00,2.30,0.00,0.000,260,0.000,0.083,2578,3700,3891,3892,3891,0,0,0,0,0,0,15.18,14.82,15.19
$GC,5340,-0.57,-170.3,2578,3700,3892,3890,576.6,-8.7,412,5344,0.00,2.12,0.00,0.000,1030,0.000,0.044,2579,2350,3891,3892,3890,0,0,0,0,0,0,14.98,14.92,15.00
$GC,5652,-0.57,-170.3,2578,2347,3891,3888,602.2,-7.9,424,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2346,3889,3891,3888,0,0,0,0,0,0,15.18,15.20,15.20
$GC,5952,-0.57,-170.3,2578,2346,3890,3886,624.4,-7.4,434,5957,0.00,2.28,0.00,0.000,260,0.000,0.083,2578,3690,3888,3890,3886,0,0,0,0,0,0,15.17,14.81,15.19
$GC,5998,-0.57,-170.3,2578,3690,3889,3886,628.1,-7.9,443,6002,0.00,2.12,0.00,0.000,1030,0.000,0.044,2578,2346,3887,3889,3886,0,0,0,0,0,0,14.97,14.91,15.00
$GC,6314,-0.57,-170.3,2578,2342,3888,3884,654.3,-8.6,456,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2342,3885,3888,3883,0,0,0,0,0,0,15.17,15.20,15.19
$GC,6614,-0.57,-170.3,2578,2342,3887,3882,680.6,-8.8,466,6619,0.00,2.30,0.00,0.000,260,0.000,0.084,2578,3697,3883,3886,3881,0,0,0,0,0,0,15.17,14.80,15.19
$GC,6664,-0.57,-170.3,2578,3697,3886,3881,685.4,-9.2,476,6669,0.00,2.12,0.00,0.000,1030,0.000,0.045,2578,2352,3883,3886,3881,0,0,0,0,0,0,14.97,14.90,14.99
$GC,6976,-0.57,-170.3,2578,2348,3886,3881,714.2,-9.4,488,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2348,3883,3886,3880,0,0,0,0,0,0,15.17,15.19,15.19
$GC,7276,-0.57,-170.3,2578,2348,3885,3879,743.0,-9.7,498,7281,0.00,2.30,0.00,0.000,260,0.000,0.085,2578,3701,3881,3884,3879,0,0,0,0,0,0,15.17,14.79,15.19
$GC,7316,-0.57,-170.3,2578,3701,3884,3879,747.2,-10.0,506,7322,0.00,2.15,0.00,0.000,1030,0.000,0.045,2578,2347,3881,3884,3878,0,0,0,0,0,0,14.97,14.90,14.99
$GC,7639,-0.57,-170.3,2578,2346,3884,3877,777.6,-9.2,520,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2346,3880,3884,3877,0,0,0,0,0,0,15.17,15.19,15.19
$GC,7939,-0.57,-170.3,2578,2346,3883,3877,802.8,-8.1,530,7944,0.00,2.30,0.00,0.000,260,0.000,0.085,2578,3698,3879,3882,3877,0,0,0,0,0,0,15.17,14.78,15.19
$GC,8001,-0.57,-170.3,2578,3697,3881,3877,807.8,-7.4,542,8006,0.00,2.15,0.00,0.000,1030,0.000,0.047,2578,2348,3879,3881,3877,0,0,0,0,0,0,14.96,14.88,14.97
$GC,8333,-0.57,-170.3,2578,2344,3881,3875,832.2,-7.4,558,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2344,3878,3881,3875,0,0,0,0,0,0,15.16,15.19,15.19
$GC,8633,-0.57,-170.3,2578,2344,3880,3873,854.4,-7.3,568,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2344,3876,3880,3873,0,0,0,0,0,0,15.16,15.19,15.19
$GC,8933,-0.57,-170.3,2578,2345,3880,3871,877.8,-7.9,578,8938,0.00,2.30,0.00,0.000,260,0.000,0.086,2578,3690,3875,3879,3871,0,0,0,0,0,0,15.17,14.77,15.19
$GC,8969,-0.57,-170.3,2578,3690,3879,3871,880.6,-7.8,585,8973,0.00,2.15,0.00,0.000,1030,0.000,0.047,2578,2344,3875,3879,3871,0,0,0,0,0,0,14.95,14.88,14.97
$GC,9295,-0.57,-170.3,2578,2340,3879,3870,905.4,-7.6,600,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2340,3874,3879,3869,0,0,0,0,0,0,15.16,15.19,15.19
$GC,9595,-0.57,-170.3,2578,2340,3878,3869,927.7,-7.5,610,9600,0.00,2.35,0.00,0.000,260,0.000,0.090,2578,3698,3872,3877,3868,0,0,0,0,0,0,15.16,14.75,15.19
$GC,9645,-0.57,-170.3,2578,3698,3877,3868,931.9,-8.1,620,9649,0.00,2.17,0.00,0.000,1030,0.000,0.049,2578,2351,3872,3877,3868,0,0,0,0,0,0,14.95,14.87,14.96
$GC,9957,-0.57,-170.3,2576,2344,3878,3865,957.5,-8.5,632,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2344,3871,3878,3865,0,0,0,0,0,0,15.16,15.19,15.18
$GC,10257,-0.57,-170.3,2576,2344,3877,3864,983.9,-9.0,642,10262,0.00,2.30,0.00,0.000,260,0.000,0.090,2577,3693,3870,3877,3864,0,0,0,0,0,0,15.16,14.75,15.19
$GC,10307,-0.57,-170.3,2576,3693,3876,3864,988.7,-9.4,652,10311,0.00,2.17,0.00,0.000,1030,0.000,0.048,2577,2337,3870,3877,3864,0,0,0,0,0,0,14.94,14.86,14.96
$STATE,10348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10348,begin apogee
$GC,10353,-0.12,0.0,2577,2411,3877,3864,992.3,-9.1,655,10530,0.55,0.00,173.80,1.689,10246,0.215,0.000,2734,2411,3345,3369,3322,0,0,0,0,0,0,14.63,14.13,13.49
$STATE,10531,end apogee,CONTROL_FINISHED_OK
$STATE,10531,begin climb
$GC,10533,0.57,170.3,2734,2411,3364,3316,1002.0,0.0,661,10719,0.75,2.28,176.57,1.898,10500,0.133,0.086,2961,3677,2644,2688,2600,0,0,0,0,0,0,14.10,13.82,13.23
$GC,10749,0.57,170.3,2961,3677,2678,2599,995.8,8.9,705,10754,0.00,2.15,0.00,0.000,1030,0.000,0.048,2961,2412,2638,2678,2599,0,0,0,0,0,0,14.21,14.14,14.22
$GC,11072,0.57,170.3,2961,2412,2668,2594,968.3,8.9,719,11078,0.00,2.47,0.00,0.000,516,0.000,0.065,2961,990,2630,2667,2594,0,0,0,0,0,0,14.81,14.53,14.82
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$STATE,21285,end climb,SURFACE_DEPTH_REACHED
$STATE,21285,begin surface coast
$FINISH,1.3,1.022161
$STATE,21303,end surface coast,CONTROL_FINISHED_OK
$STATE,21303,begin surface
$SM_CCo,21320,0.40,0.090,0,0,1713,400.08
$SM_GC,1.74,8.73,2.38,0.40,0.111,0.052,0.090,246,2356,1713,-7.88,-0.82,400.08,0,0,0,0,0,0,14.62,14.67,14.67
$IRIDIUM_FIX,-319.91,5540.84,250218,055712
$TT8_MAMPS,0.018725,0.15729
$HUMID,60.55
$INTERNAL_PRESSURE,8.48279
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,13.23,56.676
$10V_AH,13.56,0.000
$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,22.050,188.650,589.100,0.400,0.000,0.000,0.000,363.000,0.000,0.000,19.458,3196.365,15186.606,724.326,2555.239,187.112,0.000,2355.600,0.000,2160.078,0.000,0.546,0.000
$DEVICE_MAMPS,416.160,138.465,1897.965,90.270,0.000,0.000,0.000,134.640,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.048,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303900
$DATA_FILE_SIZE,66591,1519
$CAP_FILE_SIZE,180107,0
$CFSIZE,260034560,244379648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,41.63,1
$GPS,250218,120135,-319.323,5538.514,39,0.8,44,-4.6,0.8,135.4,9,9.3