version: 66.13
glider: 128
mission: 4
dive: 231
start: 3 12 118 22 48 29
data:
$ID,128
$MISSION,4
$DIVE,231
$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,40
$R_STBD_OVSHOOT,32
$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
$GPS1,120318,224238,-338.1045,5538.0811,33,0.9,36,-4.8,0.7,116.1,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.5
$GPS2,120318,224751,-338.1853,5538.1709,19,0.9,22,-4.8,0.4,84.4,9,9.5
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,263.0,5234,-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,-170.3,222,2394,1551,1521,0.0,0.0,0,81,0.00,0.00,-71.07,0.003,16386,0.000,0.000,222,2394,3737,3718,3756,0,0,0,0,0,0,14.86,28.83,14.89
$GC,83,-0.63,-170.3,222,2394,3718,3756,4.5,-12.6,12,105,11.68,2.22,-2.55,0.034,18692,0.421,0.086,2538,3707,3902,3897,3908,0,0,0,0,0,0,14.26,13.41,14.62
$GC,243,-0.63,-170.3,2537,3707,3902,3908,42.0,-18.1,42,251,0.00,2.15,0.00,0.000,1030,0.000,0.036,2538,2344,3905,3903,3908,0,0,0,0,0,0,14.71,14.65,14.73
$GC,558,-0.63,-170.3,2537,2341,3906,3908,97.2,-15.8,77,562,0.00,2.33,0.00,0.000,516,0.000,0.048,2538,947,3907,3906,3908,0,0,0,0,0,0,15.00,14.66,15.02
$GC,650,-0.63,-170.3,2537,947,3907,3909,109.2,-11.3,95,659,0.00,2.38,0.00,0.000,1030,0.000,0.050,2538,2349,3908,3907,3909,0,0,0,0,0,0,14.77,14.67,14.80
$GC,960,-0.63,-170.3,2538,2349,3910,3912,142.8,-10.6,127,964,0.00,2.20,0.00,0.000,260,0.000,0.075,2538,3695,3911,3910,3912,0,0,0,0,0,0,15.05,14.67,15.07
$GC,1011,-0.63,-170.3,2538,3695,3910,3913,148.6,-11.2,137,1015,0.00,2.10,0.00,0.000,1030,0.000,0.037,2538,2338,3911,3910,3913,0,0,0,0,0,0,14.83,14.78,14.86
$GC,1322,-0.63,-170.3,2538,2334,3910,3914,179.4,-9.3,169,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2334,3912,3910,3914,0,0,0,0,0,0,15.07,15.09,15.10
$GC,1623,-0.63,-170.3,2538,2334,3911,3914,210.0,-11.6,199,1627,0.00,2.28,0.00,0.000,516,0.000,0.046,2538,957,3912,3911,3914,0,0,0,0,0,0,15.09,14.75,15.11
$GC,1695,-0.63,-170.3,2538,957,3911,3915,218.9,-12.2,213,1699,0.00,2.35,0.00,0.000,1030,0.000,0.050,2538,2353,3913,3911,3915,0,0,0,0,0,0,14.84,14.75,14.87
$GC,2027,-0.63,-170.3,2537,2352,3910,3915,257.7,-11.5,243,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2352,3912,3910,3915,0,0,0,0,0,0,15.11,15.13,15.12
$GC,2326,-0.63,-170.3,2537,2352,3910,3914,291.9,-11.1,253,2330,0.00,2.35,0.00,0.000,516,0.000,0.044,2538,950,3912,3910,3914,0,0,0,0,0,0,15.12,14.77,15.14
$GC,2371,-0.63,-170.3,2538,951,3910,3914,296.8,-10.4,262,2376,0.00,2.38,0.00,0.000,1030,0.000,0.051,2538,2347,3912,3910,3914,0,0,0,0,0,0,14.86,14.76,14.89
$GC,2689,-0.63,-170.3,2538,2346,3907,3911,331.1,-11.3,275,2693,0.00,2.22,0.00,0.000,260,0.000,0.079,2538,3693,3909,3908,3911,0,0,0,0,0,0,15.13,14.70,15.15
$GC,2713,-0.63,-170.3,2538,3693,3907,3910,334.2,-11.5,280,2720,0.00,2.10,0.00,0.000,1030,0.000,0.041,2538,2346,3909,3908,3910,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3021,-0.63,-170.3,2537,2346,3907,3908,367.7,-10.6,291,3025,0.00,2.30,0.00,0.000,516,0.000,0.047,2538,959,3908,3907,3909,0,0,0,0,0,0,15.14,14.77,15.16
$GC,3105,-0.63,-170.3,2537,960,3906,3908,376.8,-10.0,308,3112,0.00,2.38,0.00,0.000,1030,0.000,0.052,2538,2350,3907,3906,3908,0,0,0,0,0,0,14.86,14.76,14.89
$GC,3413,-0.63,-170.3,2537,2350,3903,3906,408.7,-10.4,319,3417,0.00,2.25,0.00,0.000,260,0.000,0.080,2538,3696,3904,3903,3906,0,0,0,0,0,0,15.14,14.70,15.16
$GC,3453,-0.63,-170.3,2537,3695,3902,3905,413.2,-10.3,327,3457,0.00,2.10,0.00,0.000,1030,0.000,0.041,2538,2353,3903,3902,3905,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3775,-0.63,-170.3,2537,2350,3901,3903,446.8,-10.9,341,3779,0.00,2.33,0.00,0.000,516,0.000,0.047,2538,956,3902,3901,3903,0,0,0,0,0,0,15.14,14.77,15.16
$GC,3855,-0.63,-170.3,2537,956,3901,3903,455.8,-10.8,357,3859,0.00,2.38,0.00,0.000,1030,0.000,0.052,2538,2352,3901,3901,3902,0,0,0,0,0,0,14.86,14.76,14.89
$GC,4166,-0.63,-170.3,2538,2351,3900,3900,489.9,-11.1,369,4170,0.00,2.25,0.00,0.000,260,0.000,0.080,2538,3701,3899,3899,3900,0,0,0,0,0,0,15.15,14.69,15.16
$GC,4198,-0.63,-170.3,2537,3701,3898,3900,493.4,-11.0,375,4202,0.00,2.12,0.00,0.000,1030,0.000,0.040,2538,2342,3899,3898,3900,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4530,-0.63,-170.3,2537,2338,3898,3897,527.1,-9.9,391,4534,0.00,2.30,0.00,0.000,516,0.000,0.050,2538,963,3897,3898,3897,0,0,0,0,0,0,15.14,14.75,15.16
$GC,4610,-0.63,-170.3,2537,962,3898,3897,535.1,-9.4,407,4614,0.00,2.38,0.00,0.000,1030,0.000,0.054,2537,2350,3897,3898,3897,0,0,0,0,0,0,14.85,14.75,14.88
$GC,4916,-0.63,-170.3,2537,2350,3897,3896,564.4,-9.6,418,4921,0.00,2.25,0.00,0.000,260,0.000,0.083,2538,3694,3895,3896,3895,0,0,0,0,0,0,15.14,14.67,15.16
$GC,4943,-0.63,-170.3,2537,3694,3896,3895,567.0,-9.9,423,4950,0.00,2.12,0.00,0.000,1030,0.000,0.043,2537,2345,3895,3896,3895,0,0,0,0,0,0,14.89,14.82,14.91
$GC,5248,-0.63,-170.3,2537,2345,3896,3892,595.2,-9.0,434,5253,0.00,2.33,0.00,0.000,516,0.000,0.050,2537,958,3894,3896,3892,0,0,0,0,0,0,15.14,14.75,15.16
$GC,5295,-0.63,-170.3,2537,958,3895,3892,599.7,-9.2,443,5299,0.00,2.40,0.00,0.000,1030,0.000,0.058,2537,2348,3893,3895,3892,0,0,0,0,0,0,14.85,14.73,14.88
$GC,5607,-0.63,-170.3,2537,2347,3894,3890,629.4,-9.7,455,5611,0.00,2.35,0.00,0.000,516,0.000,0.050,2537,960,3892,3894,3890,0,0,0,0,0,0,15.14,14.74,15.16
$GC,5638,-0.63,-170.3,2537,960,3894,3890,632.6,-10.2,461,5646,0.00,2.40,0.00,0.000,1030,0.000,0.058,2537,2352,3891,3894,3889,0,0,0,0,0,0,14.85,14.73,14.88
$GC,5969,-0.63,-170.3,2537,2352,3892,3888,664.1,-9.4,477,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2352,3889,3892,3887,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6270,-0.63,-170.3,2537,2351,3891,3886,692.7,-9.6,487,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2351,3888,3891,3885,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6569,-0.63,-170.3,2537,2351,3890,3884,720.4,-9.1,497,6572,0.00,2.38,0.00,0.000,516,0.000,0.049,2537,956,3886,3890,3883,0,0,0,0,0,0,15.14,14.74,15.16
$GC,6593,-0.63,-170.3,2537,955,3890,3884,722.8,-9.7,502,6601,0.00,2.42,0.00,0.000,1030,0.000,0.057,2538,2356,3886,3890,3882,0,0,0,0,0,0,14.85,14.73,14.88
$GC,6900,-0.63,-170.3,2537,2356,3888,3882,749.2,-8.6,513,6904,0.00,2.38,0.00,0.000,516,0.000,0.049,2538,960,3885,3889,3881,0,0,0,0,0,0,15.14,14.73,15.16
$GC,6944,-0.63,-170.3,2537,959,3889,3882,753.4,-8.9,522,6949,0.00,2.42,0.00,0.000,1030,0.000,0.057,2537,2355,3885,3889,3881,0,0,0,0,0,0,14.84,14.72,14.88
$GC,7263,-0.63,-170.3,2537,2356,3887,3880,781.8,-9.2,535,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2356,3883,3887,3880,0,0,0,0,0,0,15.14,15.16,15.15
$GC,7562,-0.63,-170.3,2537,2356,3886,3879,810.6,-9.7,545,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2356,3882,3886,3878,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7862,-0.63,-170.3,2537,2356,3886,3878,838.4,-9.0,555,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2356,3881,3886,3877,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8162,-0.63,-170.3,2537,2356,3885,3877,865.0,-9.0,565,8165,0.00,2.40,0.00,0.000,516,0.000,0.050,2537,956,3881,3885,3877,0,0,0,0,0,0,15.14,14.72,15.16
$GC,8212,-0.63,-170.3,2537,953,3884,3877,869.8,-9.2,575,8216,0.00,2.42,0.00,0.000,1030,0.000,0.058,2538,2351,3880,3884,3877,0,0,0,0,0,0,14.83,14.71,14.86
$GC,8518,-0.63,-170.3,2537,2350,3884,3875,896.9,-8.9,586,8522,0.00,2.35,0.00,0.000,516,0.000,0.049,2537,954,3879,3884,3875,0,0,0,0,0,0,15.14,14.72,15.16
$GC,8543,-0.63,-170.3,2537,954,3884,3875,899.3,-9.5,591,8550,0.00,2.42,0.00,0.000,1030,0.000,0.059,2537,2350,3879,3884,3875,0,0,0,0,0,0,14.83,14.71,14.86
$GC,8850,-0.63,-170.3,2537,2349,3883,3873,926.1,-8.8,602,8855,0.00,2.28,0.00,0.000,260,0.000,0.088,2538,3694,3877,3882,3873,0,0,0,0,0,0,15.13,14.62,15.16
$GC,8905,-0.63,-170.3,2537,3694,3882,3873,931.1,-8.8,613,8912,0.00,2.12,0.00,0.000,1030,0.000,0.044,2538,2354,3877,3882,3873,0,0,0,0,0,0,14.85,14.78,14.88
$GC,9212,-0.63,-170.3,2537,2354,3882,3872,955.9,-7.7,624,9216,0.00,2.38,0.00,0.000,516,0.000,0.052,2537,955,3876,3882,3871,0,0,0,0,0,0,15.14,14.70,15.16
$GC,9262,-0.63,-170.3,2537,955,3882,3872,959.8,-7.5,634,9267,0.00,2.42,0.00,0.000,1030,0.000,0.060,2537,2350,3876,3881,3871,0,0,0,0,0,0,14.81,14.69,14.85
$GC,9574,-0.63,-170.3,2537,2349,3880,3871,982.9,-7.6,646,9579,0.00,2.28,0.00,0.000,260,0.000,0.087,2537,3694,3875,3880,3870,0,0,0,0,0,0,15.14,14.61,15.16
$GC,9589,-0.63,-170.3,2537,3694,3880,3870,984.2,-7.7,649,9593,0.00,2.15,0.00,0.000,1030,0.000,0.046,2537,2351,3875,3880,3870,0,0,0,0,0,0,14.85,14.78,14.88
$STATE,9695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9695,begin apogee
$GC,9700,-0.15,0.0,2537,2417,3880,3870,992.3,-7.7,655,9847,0.62,0.00,139.23,1.916,10246,0.233,0.000,2708,2417,3337,3360,3314,0,0,0,0,0,0,14.47,13.92,13.26
$STATE,9848,end apogee,CONTROL_FINISHED_OK
$STATE,9848,begin climb
$GC,9850,0.63,170.3,2708,2417,3359,3314,996.8,0.0,660,10035,0.80,2.15,175.07,1.901,10500,0.147,0.083,2952,3687,2643,2687,2600,0,0,0,0,0,0,14.07,13.76,13.10
$GC,10118,0.63,170.3,2952,3687,2674,2597,980.3,10.0,714,10123,0.00,2.12,0.00,0.000,1030,0.000,0.044,2957,2408,2635,2674,2597,0,0,0,0,0,0,14.31,14.23,14.33
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$STATE,21107,end climb,SURFACE_DEPTH_REACHED
$STATE,21107,begin surface coast
$FINISH,-0.1,1.022580
$STATE,21137,end surface coast,CONTROL_FINISHED_OK
$STATE,21137,begin surface
$SM_CCo,21153,1.75,0.083,0,0,1714,400.08
$SM_GC,1.63,8.57,0.00,1.75,0.100,0.000,0.083,250,2394,1714,-7.80,1.24,400.08,0,0,0,0,0,0,14.57,14.99,14.64
$IRIDIUM_FIX,-337.28,5537.84,120318,164241
$TT8_MAMPS,0.018725,0.15729
$HUMID,59.01
$INTERNAL_PRESSURE,8.52185
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.10,75.560
$10V_AH,13.11,0.000
$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,22.150,208.100,542.725,1.750,0.000,0.000,0.000,207.800,0.000,0.000,22.504,3323.422,14738.535,719.478,2476.709,216.252,0.000,2223.678,0.000,2231.349,0.000,0.546,0.000
$DEVICE_MAMPS,420.750,130.815,1916.325,82.620,0.000,0.000,0.000,139.230,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303856
$DATA_FILE_SIZE,66601,1569
$CAP_FILE_SIZE,184351,0
$CFSIZE,260034560,239128576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.192,93.57,1
$GPS,130318,044225,-338.672,5538.468,42,0.9,43,-4.8,0.7,126.8,8,9.4