version: 66.13
glider: 128
mission: 4
dive: 225
start: 3 11 118 10 23 18
data:
$ID,128
$MISSION,4
$DIVE,225
$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,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$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,61
$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
$GPS1,110318,101701,-330.2545,5537.9238,40,0.8,42,-4.7,0.7,129.5,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-75.5
$GPS2,110318,102240,-330.3106,5537.9922,16,0.9,20,-4.7,0.7,155.1,9,9.5
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,217.7,18319,-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,-0.63,-170.3,245,2382,1727,1709,0.0,0.0,0,74,0.00,0.00,-63.83,0.003,16386,0.000,0.000,245,2382,3701,3681,3721,0,0,0,0,0,0,14.87,28.83,14.89
$GC,76,-0.63,-170.3,245,2382,3682,3723,4.2,-12.0,11,98,11.50,2.25,-3.20,0.028,18692,0.418,0.086,2538,3705,3903,3897,3910,0,0,0,0,0,0,14.26,13.43,14.63
$GC,309,-0.63,-170.3,2538,3705,3904,3911,57.8,-19.9,56,316,0.00,2.12,0.00,0.000,1030,0.000,0.034,2538,2359,3908,3905,3911,0,0,0,0,0,0,14.74,14.68,14.76
$GC,616,-0.63,-170.3,2537,2357,3908,3911,106.1,-12.1,87,620,0.00,2.35,0.00,0.000,516,0.000,0.047,2538,946,3910,3908,3912,0,0,0,0,0,0,15.01,14.68,15.03
$GC,761,-0.63,-170.3,2538,944,3909,3914,123.0,-10.0,116,767,0.00,2.38,0.00,0.000,1030,0.000,0.050,2537,2351,3911,3909,3914,0,0,0,0,0,0,14.79,14.70,14.83
$GC,1067,-0.63,-170.3,2538,2351,3910,3915,155.1,-11.7,147,1071,0.00,2.20,0.00,0.000,260,0.000,0.075,2538,3698,3912,3910,3915,0,0,0,0,0,0,15.07,14.69,15.09
$GC,1151,-0.63,-170.3,2537,3698,3911,3916,165.9,-12.7,164,1158,0.00,2.10,0.00,0.000,1030,0.000,0.035,2537,2333,3913,3911,3916,0,0,0,0,0,0,14.85,14.79,14.88
$GC,1458,-0.63,-170.3,2537,2333,3911,3916,201.2,-11.1,195,1462,0.00,2.28,0.00,0.000,260,0.000,0.073,2538,3703,3914,3911,3917,0,0,0,0,0,0,15.09,14.71,15.11
$GC,1489,-0.63,-170.3,2537,3702,3911,3916,204.6,-11.3,201,1494,0.00,2.08,0.00,0.000,1030,0.000,0.035,2538,2350,3914,3911,3917,0,0,0,0,0,0,14.88,14.81,14.89
$GC,1801,-0.63,-170.3,2537,2346,3912,3916,238.8,-10.7,233,1806,0.00,2.28,0.00,0.000,516,0.000,0.046,2538,966,3914,3912,3916,0,0,0,0,0,0,15.10,14.76,15.12
$GC,1868,-0.63,-170.3,2538,965,3912,3917,245.5,-9.5,246,1875,0.00,2.33,0.00,0.000,1030,0.000,0.048,2538,2352,3914,3912,3917,0,0,0,0,0,0,14.85,14.76,14.88
$GC,2193,-0.63,-170.3,2537,2352,3911,3917,277.1,-10.2,261,2198,0.00,2.20,0.00,0.000,260,0.000,0.074,2538,3695,3913,3910,3917,0,0,0,0,0,0,15.12,14.72,15.14
$GC,2243,-0.63,-170.3,2538,3695,3909,3916,282.8,-10.6,271,2248,0.00,2.08,0.00,0.000,1030,0.000,0.037,2538,2354,3913,3910,3917,0,0,0,0,0,0,14.90,14.83,14.91
$GC,2555,-0.63,-170.3,2537,2349,3909,3916,315.7,-10.4,283,2559,0.00,2.30,0.00,0.000,516,0.000,0.045,2537,957,3912,3909,3916,0,0,0,0,0,0,15.14,14.78,15.16
$GC,2600,-0.63,-170.3,2537,957,3909,3916,320.4,-10.2,292,2604,0.00,2.35,0.00,0.000,1030,0.000,0.050,2538,2348,3912,3909,3916,0,0,0,0,0,0,14.87,14.78,14.90
$GC,2917,-0.63,-170.3,2538,2347,3908,3913,352.8,-10.3,305,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2347,3911,3908,3914,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3217,-0.63,-170.3,2537,2347,3906,3910,381.6,-9.4,315,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2347,3908,3906,3911,0,0,0,0,0,0,15.15,15.17,15.16
$GC,3517,-0.63,-170.3,2537,2347,3905,3908,409.9,-9.7,325,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2347,3907,3906,3909,0,0,0,0,0,0,15.15,15.17,15.16
$GC,3817,-0.63,-170.3,2537,2347,3903,3906,440.3,-10.3,335,3821,0.00,2.35,0.00,0.000,516,0.000,0.048,2538,954,3905,3903,3907,0,0,0,0,0,0,15.16,14.78,15.17
$GC,3856,-0.63,-170.3,2537,954,3903,3907,444.7,-10.3,343,3860,0.00,2.40,0.00,0.000,1030,0.000,0.054,2538,2355,3904,3902,3907,0,0,0,0,0,0,14.88,14.77,14.91
$GC,4178,-0.63,-170.3,2537,2356,3901,3904,477.3,-10.3,357,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2356,3902,3901,3904,0,0,0,0,0,0,15.15,15.18,15.17
$GC,4478,-0.63,-170.3,2537,2356,3899,3902,508.4,-10.4,367,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2356,3900,3899,3902,0,0,0,0,0,0,15.16,15.18,15.18
$GC,4778,-0.63,-170.3,2537,2356,3898,3900,540.7,-10.9,377,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2356,3899,3898,3900,0,0,0,0,0,0,15.16,15.18,15.18
$GC,5078,-0.63,-170.3,2537,2356,3897,3898,573.0,-10.5,387,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2356,3897,3897,3898,0,0,0,0,0,0,15.16,15.19,15.18
$GC,5378,-0.63,-170.3,2537,2356,3896,3896,601.8,-9.4,397,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2356,3896,3896,3897,0,0,0,0,0,0,15.16,15.18,15.18
$GC,5678,-0.63,-170.3,2538,2355,3895,3895,628.8,-9.2,407,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2356,3895,3895,3895,0,0,0,0,0,0,15.16,15.18,15.18
$GC,5978,-0.63,-170.3,2537,2356,3894,3892,658.0,-9.8,417,5983,0.00,2.35,0.00,0.000,516,0.000,0.047,2539,955,3893,3894,3892,0,0,0,0,0,0,15.16,14.76,15.18
$GC,6010,-0.63,-170.3,2537,955,3894,3893,661.3,-10.1,423,6017,0.00,2.40,0.00,0.000,1030,0.000,0.057,2538,2357,3892,3894,3891,0,0,0,0,0,0,14.85,14.74,14.89
$GC,6340,-0.63,-170.3,2537,2357,3892,3890,695.1,-10.5,439,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2357,3890,3891,3889,0,0,0,0,0,0,15.16,15.17,15.17
$GC,6640,-0.63,-170.3,2537,2357,3890,3888,727.5,-10.8,449,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2357,3889,3890,3888,0,0,0,0,0,0,15.16,15.17,15.17
$GC,6940,-0.63,-170.3,2537,2357,3890,3887,759.9,-10.9,459,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2357,3888,3890,3887,0,0,0,0,0,0,15.15,15.18,15.17
$GC,7240,-0.63,-170.3,2537,2357,3889,3885,792.4,-10.9,469,7245,0.00,2.38,0.00,0.000,516,0.000,0.048,2538,954,3887,3889,3885,0,0,0,0,0,0,15.16,14.73,15.18
$GC,7275,-0.63,-170.3,2537,954,3889,3885,796.5,-10.8,476,7280,0.00,2.40,0.00,0.000,1030,0.000,0.057,2538,2349,3886,3888,3885,0,0,0,0,0,0,14.84,14.73,14.88
$GC,7603,-0.63,-170.3,2537,2349,3887,3883,830.5,-10.3,491,7607,0.00,2.28,0.00,0.000,260,0.000,0.085,2537,3694,3884,3886,3883,0,0,0,0,0,0,15.14,14.64,15.16
$GC,7652,-0.63,-170.3,2537,3693,3886,3883,835.7,-10.2,501,7657,0.00,2.12,0.00,0.000,1030,0.000,0.044,2538,2359,3884,3886,3883,0,0,0,0,0,0,14.88,14.81,14.90
$GC,7965,-0.63,-170.3,2538,2355,3886,3881,865.1,-9.1,513,7969,0.00,2.38,0.00,0.000,516,0.000,0.050,2538,941,3884,3886,3882,0,0,0,0,0,0,15.14,14.72,15.16
$GC,8005,-0.63,-170.3,2537,941,3886,3882,869.0,-9.0,521,8010,0.00,2.42,0.00,0.000,1030,0.000,0.056,2538,2353,3883,3886,3881,0,0,0,0,0,0,14.83,14.72,14.87
$GC,8328,-0.63,-170.3,2537,2353,3885,3880,895.2,-8.0,535,8332,0.00,2.28,0.00,0.000,260,0.000,0.088,2538,3692,3882,3884,3880,0,0,0,0,0,0,15.14,14.62,15.16
$GC,8372,-0.63,-170.3,2537,3692,3884,3880,899.2,-8.6,544,8376,0.00,2.15,0.00,0.000,1030,0.000,0.045,2538,2349,3881,3883,3880,0,0,0,0,0,0,14.86,14.79,14.89
$GC,8689,-0.63,-170.3,2537,2346,3884,3879,926.6,-8.9,557,8694,0.00,2.35,0.00,0.000,516,0.000,0.053,2538,952,3881,3884,3879,0,0,0,0,0,0,15.14,14.71,15.16
$GC,8755,-0.63,-170.3,2537,952,3883,3879,932.8,-9.1,570,8759,0.00,2.42,0.00,0.000,1030,0.000,0.061,2537,2350,3881,3884,3879,0,0,0,0,0,0,14.82,14.69,14.85
$GC,9077,-0.63,-170.3,2537,2350,3883,3878,962.6,-9.5,584,9081,0.00,2.30,0.00,0.000,260,0.000,0.089,2538,3694,3879,3882,3877,0,0,0,0,0,0,15.14,14.61,15.16
$GC,9127,-0.63,-170.3,2537,3693,3882,3877,967.7,-10.0,594,9131,0.00,2.15,0.00,0.000,1030,0.000,0.047,2538,2352,3879,3882,3877,0,0,0,0,0,0,14.85,14.78,14.88
$STATE,9377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9377,begin apogee
$GC,9382,-0.15,0.0,2538,2418,3882,3877,990.9,-9.2,604,9529,0.62,0.00,140.25,1.914,10246,0.233,0.000,2708,2418,3338,3361,3316,0,0,0,0,0,0,14.47,13.93,13.28
$STATE,9530,end apogee,CONTROL_FINISHED_OK
$STATE,9530,begin climb
$GC,9532,0.63,170.3,2708,2417,3359,3316,997.3,0.0,609,9719,0.80,2.28,173.50,1.913,10500,0.143,0.083,2954,3691,2645,2687,2604,0,0,0,0,0,0,14.08,13.78,13.14
$GC,9775,0.63,170.3,2954,3690,2678,2603,986.2,8.8,658,9780,0.00,2.17,0.00,0.000,1030,0.000,0.045,2957,2403,2640,2678,2602,0,0,0,0,0,0,14.26,14.20,14.28
$GC,10103,0.65,170.3,2957,2401,2670,2597,962.0,7.2,673,10107,0.00,2.45,0.00,0.000,580,0.000,0.059,2959,996,2633,2670,2597,0,0,0,0,0,0,14.83,14.51,14.84
$GC,10164,0.69,170.3,2959,995,2669,2597,957.7,6.9,685,10169,0.00,2.40,0.00,0.000,1094,0.000,0.055,2959,2382,2633,2669,2597,0,0,0,0,0,0,14.57,14.52,14.61
$GC,10497,0.72,170.3,2958,2382,2665,2595,935.1,6.7,701,10501,0.00,2.42,0.00,0.000,580,0.000,0.057,2959,1002,2630,2665,2595,0,0,0,0,0,0,14.95,14.62,14.97
$GC,10522,0.75,170.3,2959,1002,2665,2595,933.3,6.7,706,10530,0.15,2.42,0.00,0.000,3142,0.139,0.055,3011,2404,2630,2665,2595,0,0,0,0,0,0,14.61,14.62,14.73
$GC,10829,0.75,170.3,3010,2404,2664,2594,905.2,9.3,717,10833,0.00,2.45,0.00,0.000,516,0.000,0.057,3017,997,2629,2664,2594,0,0,0,0,0,0,15.01,14.65,15.02
$GC,10848,0.75,170.3,3017,997,2663,2594,903.1,9.1,721,10852,0.00,2.40,0.00,0.000,1030,0.000,0.057,3019,2400,2628,2663,2594,0,0,1,0,0,0,14.76,14.65,14.80
$GC,11160,0.75,170.3,3018,2400,2662,2594,872.0,10.0,733,11164,0.00,2.17,0.00,0.000,260,0.000,0.080,3018,3698,2628,2662,2594,0,0,0,0,0,0,15.04,14.63,15.06
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$STATE,21113,end climb,SURFACE_DEPTH_REACHED
$STATE,21113,begin surface coast
$FINISH,0.0,1.022454
$STATE,21140,end surface coast,CONTROL_FINISHED_OK
$STATE,21140,begin surface
$SM_CCo,21218,0.00,0.000,0,0,1632,420.44
$SM_GC,0.91,8.62,2.35,0.00,0.096,0.044,0.000,252,2352,1632,-7.80,-0.99,420.44,0,0,0,0,0,0,14.56,14.62,14.69
$IRIDIUM_FIX,-326.37,5536.05,110318,042507
$TT8_MAMPS,0.018725,0.15729
$HUMID,57.63
$INTERNAL_PRESSURE,8.52185
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,13.14,73.654
$10V_AH,13.46,0.000
$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,22.075,188.075,545.950,0.000,0.000,0.000,0.000,235.600,0.000,0.000,21.391,3238.829,15018.220,683.011,2420.211,200.473,0.000,2165.919,0.000,2145.234,0.000,0.546,0.000
$DEVICE_MAMPS,418.455,131.580,1914.030,0.000,0.000,0.000,0.000,134.640,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,739.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303880
$DATA_FILE_SIZE,66639,1508
$CAP_FILE_SIZE,176119,0
$CFSIZE,260034560,239656960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.089,81.85,1
$GPS,110318,161809,-331.787,5537.889,34,1.4,38,-4.7,0.6,98.1,5,9.5