version: 66.13
glider: 128
mission: 4
dive: 230
start: 3 12 118 16 47 11
data:
$ID,128
$MISSION,4
$DIVE,230
$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,45
$R_STBD_OVSHOOT,31
$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
$GPS1,120318,164107,-337.1538,5538.1890,40,0.9,42,-4.7,0.8,116.5,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-72.4
$GPS2,120318,164633,-337.2192,5538.2695,15,0.9,18,-4.7,0.5,132.0,9,9.0
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,255.9,6642,-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,8,-0.63,-170.3,228,2390,1726,1718,0.0,0.0,0,76,0.00,0.00,-65.72,0.003,16386,0.000,0.000,228,2391,3830,3816,3845,0,0,0,0,0,0,14.90,28.83,14.92
$GC,78,-0.63,-170.3,228,2391,3817,3845,5.1,-14.4,11,99,11.60,2.15,-1.10,0.077,18692,0.418,0.076,2540,3708,3903,3897,3910,0,0,0,0,0,0,14.28,13.74,14.64
$GC,212,-0.63,-170.3,2540,3708,3900,3911,38.0,-17.3,36,219,0.00,2.15,0.00,0.000,1030,0.000,0.037,2541,2343,3906,3902,3910,0,0,0,0,0,0,14.73,14.66,14.75
$GC,521,-0.63,-170.3,2540,2341,3902,3910,94.3,-17.5,73,526,0.00,2.33,0.00,0.000,516,0.000,0.050,2540,940,3907,3903,3911,0,0,0,0,0,0,15.01,14.66,15.03
$GC,603,-0.63,-170.3,2540,940,3904,3911,106.1,-14.4,89,608,0.00,2.38,0.00,0.000,1030,0.000,0.050,2541,2350,3907,3905,3910,0,0,0,0,0,0,14.78,14.69,14.81
$GC,916,-0.63,-170.3,2540,2350,3908,3911,140.5,-9.6,121,921,0.00,2.20,0.00,0.000,260,0.000,0.076,2540,3695,3910,3908,3912,0,0,0,0,0,0,15.06,14.67,15.08
$GC,988,-0.63,-170.3,2540,3695,3908,3913,147.1,-8.9,135,992,0.00,2.10,0.00,0.000,1030,0.000,0.037,2541,2331,3910,3908,3913,0,0,0,0,0,0,14.85,14.79,14.87
$GC,1299,-0.63,-170.3,2540,2327,3909,3914,178.7,-11.7,167,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2327,3911,3909,3914,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1599,-0.63,-170.3,2539,2327,3909,3914,217.1,-13.4,197,1604,0.00,2.25,0.00,0.000,516,0.000,0.045,2540,957,3912,3910,3914,0,0,0,0,0,0,15.10,14.76,15.12
$GC,1631,-0.63,-170.3,2540,957,3910,3915,221.2,-12.4,203,1636,0.00,2.38,0.00,0.000,1030,0.000,0.050,2541,2357,3912,3910,3915,0,0,0,0,0,0,14.85,14.76,14.88
$GC,1943,-0.63,-170.3,2540,2356,3910,3916,250.8,-9.0,235,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2356,3912,3910,3915,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2243,-0.63,-170.3,2540,2356,3909,3915,279.6,-10.0,245,2248,0.00,2.35,0.00,0.000,516,0.000,0.045,2540,954,3912,3909,3915,0,0,0,0,0,0,15.14,14.78,15.16
$GC,2293,-0.63,-170.3,2540,954,3909,3915,285.1,-10.6,255,2298,0.00,2.38,0.00,0.000,1030,0.000,0.050,2540,2360,3912,3909,3915,0,0,0,0,0,0,14.87,14.77,14.90
$GC,2605,-0.63,-170.3,2540,2359,3907,3913,319.6,-11.3,267,2609,0.00,2.20,0.00,0.000,260,0.000,0.076,2540,3696,3910,3907,3913,0,0,0,0,0,0,15.14,14.72,15.16
$GC,2644,-0.63,-170.3,2540,3696,3906,3912,324.2,-11.2,275,2649,0.00,2.10,0.00,0.000,1030,0.000,0.037,2540,2341,3909,3906,3912,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2966,-0.63,-170.3,2541,2337,3905,3910,358.5,-10.1,289,2971,0.00,2.30,0.00,0.000,516,0.000,0.048,2540,952,3907,3905,3909,0,0,0,0,0,0,15.14,14.78,15.16
$GC,3037,-0.63,-170.3,2540,952,3905,3909,365.7,-9.8,303,3041,0.00,2.38,0.00,0.000,1030,0.000,0.053,2540,2349,3907,3905,3909,0,0,0,0,0,0,14.87,14.76,14.90
$GC,3354,-0.63,-170.3,2540,2349,3902,3906,395.9,-9.5,316,3358,0.00,2.22,0.00,0.000,260,0.000,0.079,2540,3694,3904,3902,3906,0,0,0,0,0,0,15.15,14.71,15.16
$GC,3368,-0.63,-170.3,2540,3694,3901,3906,397.4,-9.5,319,3372,0.00,2.10,0.00,0.000,1030,0.000,0.041,2540,2350,3903,3901,3906,0,0,0,0,0,0,14.91,14.85,14.92
$GC,3685,-0.63,-170.3,2540,2347,3900,3903,428.8,-10.3,332,3689,0.00,2.33,0.00,0.000,516,0.000,0.046,2540,944,3901,3900,3903,0,0,0,0,0,0,15.15,14.78,15.17
$GC,3746,-0.63,-170.3,2540,944,3900,3903,435.3,-10.6,344,3750,0.00,2.40,0.00,0.000,1030,0.000,0.052,2540,2351,3901,3900,3903,0,0,0,0,0,0,14.88,14.77,14.90
$GC,4078,-0.63,-170.3,2540,2351,3898,3901,470.7,-10.7,360,4082,0.00,2.25,0.00,0.000,260,0.000,0.080,2539,3701,3898,3897,3900,0,0,0,0,0,0,15.15,14.70,15.16
$GC,4122,-0.63,-170.3,2538,3701,3896,3901,475.7,-10.4,369,4128,0.00,2.12,0.00,0.000,1030,0.000,0.038,2539,2341,3898,3897,3900,0,0,0,0,0,0,14.90,14.84,14.92
$GC,4441,-0.63,-170.3,2538,2337,3897,3897,506.6,-9.6,382,4445,0.00,2.30,0.00,0.000,516,0.000,0.048,2539,958,3897,3897,3897,0,0,0,0,0,0,15.15,14.76,15.16
$GC,4503,-0.63,-170.3,2538,958,3896,3898,512.5,-9.3,394,4507,0.00,2.38,0.00,0.000,1030,0.000,0.054,2538,2348,3897,3897,3897,0,0,0,0,0,0,14.86,14.76,14.90
$GC,4834,-0.63,-170.3,2538,2348,3895,3895,543.7,-9.8,410,4839,0.00,2.25,0.00,0.000,260,0.000,0.082,2537,3695,3895,3895,3896,0,0,0,0,0,0,15.15,14.69,15.16
$GC,4879,-0.63,-170.3,2537,3695,3894,3895,548.4,-9.9,419,4883,0.00,2.10,0.00,0.000,1030,0.000,0.041,2537,2360,3894,3894,3894,0,0,0,0,0,0,14.90,14.83,14.92
$GC,5196,-0.63,-170.3,2537,2355,3893,3892,577.9,-9.0,432,5200,0.00,2.35,0.00,0.000,516,0.000,0.049,2537,950,3892,3893,3891,0,0,0,0,0,0,15.15,14.76,15.17
$GC,5257,-0.63,-170.3,2536,950,3893,3892,583.3,-8.1,444,5265,0.00,2.40,0.00,0.000,1030,0.000,0.054,2537,2351,3892,3893,3891,0,0,0,0,0,0,14.85,14.75,14.89
$GC,5588,-0.63,-170.3,2536,2350,3891,3889,609.4,-7.6,460,5593,0.00,2.40,0.00,0.000,516,0.000,0.047,2537,943,3890,3891,3889,0,0,0,0,0,0,15.14,14.76,15.16
$GC,5628,-0.63,-170.3,2536,943,3891,3889,612.7,-7.9,468,5632,0.00,2.42,0.00,0.000,1030,0.000,0.054,2537,2355,3890,3891,3889,0,0,0,0,0,0,14.85,14.74,14.89
$GC,5950,-0.63,-170.3,2537,2354,3890,3886,638.6,-8.4,482,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2354,3887,3889,3886,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6250,-0.63,-170.3,2537,2354,3889,3884,666.0,-9.5,492,6254,0.00,2.38,0.00,0.000,516,0.000,0.048,2537,954,3886,3888,3884,0,0,0,0,0,0,15.14,14.75,15.16
$GC,6289,-0.63,-170.3,2537,953,3888,3884,670.2,-9.4,500,6294,0.00,2.42,0.00,0.000,1030,0.000,0.056,2537,2358,3885,3888,3883,0,0,0,0,0,0,14.85,14.74,14.88
$GC,6612,-0.63,-170.3,2536,2358,3887,3882,700.8,-9.7,514,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2358,3884,3887,3882,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6912,-0.63,-170.3,2536,2358,3885,3881,728.9,-9.3,524,6916,0.00,2.40,0.00,0.000,516,0.000,0.049,2537,951,3883,3885,3881,0,0,0,0,0,0,15.15,14.73,15.16
$GC,6956,-0.63,-170.3,2536,948,3885,3881,733.4,-9.4,533,6961,0.00,2.42,0.00,0.000,1030,0.000,0.057,2537,2348,3883,3886,3880,0,0,0,0,0,0,14.84,14.73,14.88
$GC,7274,-0.63,-170.3,2536,2348,3885,3879,761.4,-8.7,546,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2348,3881,3885,3878,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7574,-0.63,-170.3,2536,2348,3884,3878,787.0,-8.7,556,7578,0.00,2.38,0.00,0.000,516,0.000,0.050,2536,954,3881,3884,3878,0,0,0,0,0,0,15.14,14.73,15.16
$GC,7624,-0.63,-170.3,2537,953,3884,3878,791.4,-8.3,566,7628,0.00,2.42,0.00,0.000,1030,0.000,0.057,2537,2354,3880,3883,3878,0,0,0,0,0,0,14.83,14.71,14.87
$GC,7930,-0.63,-170.3,2537,2353,3883,3877,816.8,-8.5,577,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2353,3880,3883,3877,0,0,0,0,0,0,15.14,15.17,15.16
$GC,8231,-0.63,-170.3,2537,2354,3882,3876,844.4,-9.4,587,8235,0.00,2.42,0.00,0.000,516,0.000,0.049,2537,946,3879,3882,3876,0,0,0,0,0,0,15.14,14.72,15.16
$GC,8275,-0.63,-170.3,2536,946,3882,3875,848.9,-9.4,596,8279,0.00,2.45,0.00,0.000,1030,0.000,0.057,2537,2354,3878,3882,3875,0,0,0,0,0,0,14.83,14.71,14.87
$GC,8592,-0.63,-170.3,2536,2353,3880,3873,878.7,-9.6,609,8597,0.00,2.28,0.00,0.000,260,0.000,0.086,2536,3700,3876,3880,3873,0,0,0,0,0,0,15.14,14.63,15.16
$GC,8654,-0.63,-170.3,2536,3700,3879,3873,885.2,-10.5,621,8659,0.00,2.15,0.00,0.000,1030,0.000,0.043,2536,2349,3876,3880,3873,0,0,0,0,0,0,14.86,14.79,14.89
$GC,8986,-0.63,-170.3,2535,2347,3879,3872,920.7,-10.9,637,8991,0.00,2.38,0.00,0.000,516,0.000,0.053,2536,948,3875,3879,3872,0,0,0,0,0,0,15.14,14.70,15.16
$GC,9037,-0.63,-170.3,2535,948,3879,3872,926.5,-10.6,647,9041,0.00,2.45,0.00,0.000,1030,0.000,0.058,2536,2357,3875,3879,3871,0,0,0,0,0,0,14.82,14.70,14.85
$GC,9344,-0.63,-170.3,2534,2359,3880,3869,960.3,-11.1,658,9348,0.00,2.28,0.00,0.000,260,0.000,0.086,2534,3703,3874,3880,3869,0,0,0,0,0,0,15.13,14.62,15.15
$GC,9375,-0.63,-170.3,2534,3703,3880,3869,963.8,-11.1,664,9380,0.00,2.15,0.00,0.000,1030,0.000,0.044,2534,2348,3874,3879,3869,0,0,0,0,0,0,14.86,14.78,14.88
$STATE,9645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9646,begin apogee
$GC,9651,-0.15,0.0,2534,2413,3879,3868,992.8,-10.7,678,9798,0.62,0.00,140.12,1.916,10246,0.235,0.000,2705,2413,3339,3362,3317,0,0,0,0,0,0,14.47,14.09,13.26
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9799,begin climb
$GC,9801,0.63,170.3,2705,2413,3360,3316,1001.2,0.0,683,9984,0.82,2.20,174.10,1.913,10500,0.148,0.082,2954,3685,2647,2691,2604,0,0,0,0,0,0,14.07,13.77,13.14
$GC,10075,0.63,170.3,2954,3686,2677,2599,988.8,8.9,738,10080,0.00,2.12,0.00,0.000,1030,0.000,0.043,2958,2405,2638,2677,2599,0,0,0,0,0,0,14.33,14.26,14.35
$GC,10402,0.63,170.3,2958,2404,2671,2595,962.4,8.2,753,10409,0.00,2.45,0.00,0.000,516,0.000,0.061,2959,1003,2632,2670,2595,0,0,0,0,0,0,14.84,14.52,14.85
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$STATE,21159,end climb,SURFACE_DEPTH_REACHED
$STATE,21159,begin surface coast
$FINISH,-0.2,1.022582
$STATE,21180,end surface coast,CONTROL_FINISHED_OK
$STATE,21180,begin surface
$SM_CCo,21256,0.00,0.000,0,0,1539,443.25
$SM_GC,0.69,8.73,0.00,0.00,0.097,0.000,0.000,249,2396,1539,-7.81,1.30,443.25,0,0,0,0,0,0,14.51,14.92,14.64
$IRIDIUM_FIX,-335.15,5534.83,120318,103811
$TT8_MAMPS,0.018725,0.158039
$HUMID,59.49
$INTERNAL_PRESSURE,8.49255
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,13.14,75.237
$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,22.350,205.725,571.500,0.000,0.000,0.000,0.000,223.050,0.000,0.000,19.340,3221.864,14965.636,683.534,2503.341,211.205,0.000,2218.712,0.000,2242.789,0.000,0.546,0.000
$DEVICE_MAMPS,418.455,132.345,1915.560,0.000,0.000,0.000,0.000,136.170,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,710.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66561,1577
$CAP_FILE_SIZE,183841,0
$CFSIZE,260034560,239218688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12740.17,0x234cba,1,24
$CURRENT,0.132,96.20,1
$GPS,120318,224238,-338.104,5538.081,33,0.9,36,-4.8,0.7,116.1,8,9.3