version: 66.13
glider: 128
mission: 4
dive: 248
start: 3 17 118 2 0 3
data:
$ID,128
$MISSION,4
$DIVE,248
$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,150
$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,72
$R_STBD_OVSHOOT,34
$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
$GPS1,170318,015337,-332.2356,5547.9863,34,0.7,36,-4.7,0.7,142.6,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-74.1
$GPS2,170318,015926,-332.3207,5548.0703,18,0.7,20,-4.7,0.7,118.7,11,8.8
$SPEED_LIMITS,0.132,0.189
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,346.4,254741,-16.0,-8.462,-21.96,2609
$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,-0.65,-146.0,252,2318,1730,1704,0.0,0.0,0,74,0.00,0.00,-64.05,0.003,16386,0.000,0.000,252,2318,3714,3697,3731,0,0,0,0,0,0,14.86,28.83,14.88
$GC,76,-0.65,-146.0,252,2318,3698,3731,4.3,-11.8,11,98,11.57,2.35,-2.92,0.030,18948,0.422,0.075,2541,981,3903,3898,3909,0,0,0,0,0,0,14.24,13.42,14.61
$GC,196,-0.65,-146.0,2541,980,3904,3909,34.7,-16.1,33,204,0.00,2.38,0.00,0.000,1030,0.000,0.054,2541,2354,3906,3904,3909,0,0,0,0,0,0,14.67,14.57,14.71
$GC,506,-0.65,-146.0,2541,2354,3906,3910,92.1,-19.2,72,510,0.00,2.33,0.00,0.000,516,0.000,0.045,2541,967,3908,3907,3909,0,0,0,0,0,0,14.99,14.65,15.00
$GC,567,-0.65,-146.0,2541,966,3907,3910,101.8,-13.2,84,571,0.00,2.38,0.00,0.000,1030,0.000,0.050,2541,2353,3908,3907,3910,0,0,0,0,0,0,14.75,14.65,14.78
$GC,878,-0.65,-146.0,2541,2352,3910,3914,135.6,-10.1,116,882,0.00,2.20,0.00,0.000,260,0.000,0.075,2541,3694,3911,3910,3913,0,0,0,0,0,0,15.04,14.64,15.06
$GC,1023,-0.65,-146.0,2541,3694,3910,3915,150.7,-9.9,145,1031,0.00,2.05,0.00,0.000,1030,0.000,0.036,2541,2357,3912,3911,3914,0,0,0,0,0,0,14.82,14.76,14.85
$GC,1329,-0.65,-146.0,2541,2357,3912,3916,185.0,-11.3,176,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2358,3913,3912,3915,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1631,-0.65,-146.0,2541,2357,3912,3915,214.3,-9.3,206,1635,0.00,2.33,0.00,0.000,516,0.000,0.045,2541,959,3914,3912,3916,0,0,0,0,0,0,15.09,14.73,15.10
$GC,1675,-0.65,-146.0,2541,958,3912,3917,218.7,-9.4,215,1682,0.00,2.38,0.00,0.000,1030,0.000,0.050,2541,2351,3914,3912,3916,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1982,-0.65,-146.0,2541,2350,3912,3917,249.2,-10.2,246,1986,0.00,2.33,0.00,0.000,516,0.000,0.044,2541,960,3914,3912,3917,0,0,0,0,0,0,15.10,14.74,15.12
$GC,2063,-0.65,-146.0,2541,960,3912,3917,257.6,-10.1,262,2067,0.00,2.38,0.00,0.000,1030,0.000,0.049,2541,2356,3914,3913,3916,0,0,0,0,0,0,14.83,14.73,14.87
$GC,2369,-0.65,-146.0,2541,2356,3911,3916,286.0,-9.1,273,2374,0.00,2.35,0.00,0.000,516,0.000,0.046,2541,964,3913,3910,3916,0,0,0,0,0,0,15.11,14.76,15.14
$GC,2439,-0.65,-146.0,2541,964,3911,3916,293.0,-9.5,287,2443,0.00,2.38,0.00,0.000,1030,0.000,0.050,2541,2356,3913,3911,3916,0,0,0,0,0,0,14.85,14.74,14.88
$GC,2761,-0.65,-146.0,2541,2356,3910,3914,324.4,-9.9,301,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2356,3912,3910,3914,0,0,0,0,0,0,15.12,15.14,15.14
$GC,3061,-0.65,-146.0,2541,2356,3909,3912,355.4,-10.5,311,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2356,3910,3909,3912,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3361,-0.65,-146.0,2541,2356,3907,3909,386.9,-10.3,321,3366,0.00,2.38,0.00,0.000,516,0.000,0.048,2541,959,3908,3907,3909,0,0,0,0,0,0,15.14,14.75,15.16
$GC,3407,-0.65,-146.0,2541,960,3907,3909,391.7,-10.0,330,3411,0.00,2.40,0.00,0.000,1030,0.000,0.054,2541,2355,3908,3907,3909,0,0,0,0,0,0,14.85,14.73,14.88
$GC,3719,-0.65,-146.0,2541,2355,3905,3906,424.2,-10.6,342,3723,0.00,2.38,0.00,0.000,516,0.000,0.048,2542,961,3905,3905,3906,0,0,0,0,0,0,15.14,14.74,15.16
$GC,3743,-0.65,-146.0,2541,959,3905,3907,427.1,-10.8,347,3751,0.00,2.42,0.00,0.000,1030,0.000,0.055,2541,2355,3905,3904,3906,0,0,0,0,0,0,14.85,14.73,14.88
$GC,4051,-0.65,-146.0,2541,2354,3902,3904,458.9,-10.3,358,4055,0.00,2.22,0.00,0.000,260,0.000,0.080,2541,3695,3902,3902,3903,0,0,0,0,0,0,15.14,14.67,15.16
$GC,4076,-0.65,-146.0,2541,3695,3901,3903,461.7,-10.2,363,4083,0.00,2.10,0.00,0.000,1030,0.000,0.041,2541,2348,3902,3901,3903,0,0,0,0,0,0,14.88,14.82,14.91
$GC,4383,-0.65,-146.0,2541,2348,3900,3902,492.1,-9.8,374,4387,0.00,2.33,0.00,0.000,516,0.000,0.048,2541,962,3901,3901,3902,0,0,0,0,0,0,15.14,14.75,15.16
$GC,4438,-0.65,-146.0,2541,962,3901,3902,497.6,-9.3,385,4446,0.00,2.40,0.00,0.000,1030,0.000,0.053,2541,2358,3900,3900,3901,0,0,0,0,0,0,14.84,14.73,14.88
$GC,4744,-0.65,-146.0,2541,2357,3899,3900,525.8,-9.3,396,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2357,3899,3899,3899,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5045,-0.65,-146.0,2541,2357,3898,3897,554.0,-9.5,406,5049,0.00,2.38,0.00,0.000,516,0.000,0.050,2541,965,3897,3898,3897,0,0,0,0,0,0,15.14,14.73,15.16
$GC,5107,-0.65,-146.0,2541,963,3898,3897,559.9,-9.4,418,5113,0.00,2.40,0.00,0.000,1030,0.000,0.054,2541,2357,3897,3898,3897,0,0,0,0,0,0,14.83,14.73,14.87
$GC,5436,-0.65,-146.0,2541,2357,3897,3896,590.1,-8.9,434,5440,0.00,2.22,0.00,0.000,260,0.000,0.081,2541,3694,3896,3896,3896,0,0,0,0,0,0,15.14,14.65,15.16
$GC,5457,-0.65,-146.0,2541,3693,3896,3896,592.0,-9.1,438,5461,0.00,2.10,0.00,0.000,1030,0.000,0.043,2541,2356,3896,3896,3896,0,0,0,0,0,0,14.88,14.80,14.90
$GC,5769,-0.65,-146.0,2541,2352,3896,3893,618.3,-8.4,450,5773,0.00,2.38,0.00,0.000,516,0.000,0.050,2541,949,3894,3896,3893,0,0,0,0,0,0,15.14,14.72,15.16
$GC,5823,-0.65,-146.0,2541,948,3896,3893,623.2,-8.3,461,5831,0.00,2.45,0.00,0.000,1030,0.000,0.056,2541,2356,3894,3896,3892,0,0,0,0,0,0,14.83,14.71,14.87
$GC,6130,-0.65,-146.0,2541,2356,3894,3890,649.4,-8.8,472,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2356,3892,3895,3890,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6431,-0.65,-146.0,2541,2356,3893,3889,676.7,-9.4,482,6435,0.00,2.40,0.00,0.000,516,0.000,0.051,2542,960,3891,3893,3889,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6475,-0.65,-146.0,2541,958,3893,3889,681.3,-9.7,491,6480,0.00,2.42,0.00,0.000,1030,0.000,0.056,2541,2354,3890,3892,3889,0,0,0,0,0,0,14.83,14.71,14.86
$GC,6792,-0.65,-146.0,2541,2354,3891,3886,712.2,-9.9,504,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2354,3888,3891,3886,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7093,-0.65,-146.0,2541,2354,3890,3885,740.9,-9.4,514,7097,0.00,2.40,0.00,0.000,516,0.000,0.050,2541,957,3887,3890,3885,0,0,0,0,0,0,15.14,14.71,15.16
$GC,7163,-0.65,-146.0,2541,957,3890,3885,747.9,-9.5,528,7167,0.00,2.42,0.00,0.000,1030,0.000,0.055,2541,2356,3887,3890,3884,0,0,0,0,0,0,14.82,14.70,14.85
$GC,7485,-0.65,-146.0,2541,2356,3888,3882,776.0,-8.7,542,7489,0.00,2.40,0.00,0.000,516,0.000,0.050,2541,960,3885,3888,3882,0,0,0,0,0,0,15.14,14.70,15.16
$GC,7516,-0.65,-146.0,2541,958,3888,3882,778.8,-8.7,548,7524,0.00,2.42,0.00,0.000,1030,0.000,0.057,2541,2354,3885,3888,3882,0,0,0,0,0,0,14.82,14.70,14.85
$GC,7846,-0.65,-146.0,2541,2354,3887,3881,806.3,-8.3,564,7850,0.00,2.40,0.00,0.000,516,0.000,0.050,2541,959,3883,3887,3880,0,0,0,0,0,0,15.14,14.70,15.16
$GC,7880,-0.65,-146.0,2541,955,3887,3881,809.4,-8.7,571,7884,0.00,2.42,0.00,0.000,1030,0.000,0.057,2541,2351,3883,3887,3880,0,0,0,0,0,0,14.81,14.70,14.85
$GC,8208,-0.65,-146.0,2541,2351,3886,3879,837.1,-8.6,586,8212,0.00,2.28,0.00,0.000,260,0.000,0.086,2541,3698,3882,3886,3879,0,0,0,0,0,0,15.13,14.60,15.15
$GC,8232,-0.65,-146.0,2541,3698,3885,3879,839.5,-9.0,591,8239,0.00,2.15,0.00,0.000,1030,0.000,0.043,2541,2343,3882,3885,3879,0,0,0,0,0,0,14.85,14.78,14.88
$GC,8540,-0.65,-146.0,2541,2343,3885,3879,868.2,-9.6,602,8544,0.00,2.35,0.00,0.000,516,0.000,0.050,2541,958,3881,3885,3878,0,0,0,0,0,0,15.13,14.69,15.15
$GC,8610,-0.65,-146.0,2541,958,3885,3879,875.3,-10.0,616,8614,0.00,2.42,0.00,0.000,1030,0.000,0.056,2541,2354,3882,3885,3879,0,0,0,0,0,0,14.81,14.69,14.84
$GC,8927,-0.65,-146.0,2541,2354,3884,3878,905.9,-9.6,629,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2354,3880,3884,3877,0,0,0,0,0,0,15.13,15.15,15.14
$GC,9227,-0.65,-146.0,2541,2353,3883,3877,933.1,-8.7,639,9231,0.00,2.40,0.00,0.000,516,0.000,0.051,2541,959,3880,3884,3877,0,0,0,0,0,0,15.13,14.68,15.15
$GC,9261,-0.65,-146.0,2541,958,3884,3877,936.3,-8.7,646,9266,0.00,2.42,0.00,0.000,1030,0.000,0.057,2541,2349,3880,3884,3877,0,0,0,0,0,0,14.81,14.68,14.84
$GC,9583,-0.65,-146.0,2541,2349,3883,3875,962.8,-8.4,660,9587,0.00,2.40,0.00,0.000,516,0.000,0.050,2541,958,3879,3883,3875,0,0,0,0,0,0,15.13,14.69,15.14
$GC,9607,-0.65,-146.0,2541,955,3883,3875,965.1,-9.3,665,9615,0.00,2.45,0.00,0.000,1030,0.000,0.058,2541,2357,3879,3883,3875,0,0,0,0,0,0,14.81,14.69,14.84
$STATE,9912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9912,begin apogee
$GC,9918,-0.15,0.0,2541,2413,3882,3873,992.0,-9.0,676,10065,0.60,0.00,139.93,1.917,10246,0.223,0.000,2707,2413,3338,3361,3316,0,0,0,0,0,0,14.45,14.08,13.28
$STATE,10065,end apogee,CONTROL_FINISHED_OK
$STATE,10066,begin climb
$GC,10067,0.65,146.0,2707,2413,3360,3315,999.3,0.0,681,10229,0.82,2.30,150.05,1.916,10500,0.142,0.082,2959,3679,2742,2781,2703,0,0,0,0,0,0,14.09,13.90,13.16
$GC,10320,0.67,146.0,2959,3679,2768,2701,989.3,7.4,732,10324,0.00,2.10,0.00,0.000,1094,0.000,0.043,2965,2403,2734,2768,2701,0,0,0,0,0,0,14.33,14.26,14.35
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$STATE,20849,end climb,SURFACE_DEPTH_REACHED
$STATE,20850,begin surface coast
$FINISH,0.1,1.022196
$STATE,20891,end surface coast,CONTROL_FINISHED_OK
$STATE,20891,begin surface
$SM_CCo,20908,10.62,0.077,0,0,1714,400.08
$SM_GC,1.67,8.45,0.05,10.62,0.090,0.213,0.077,244,2313,1714,-7.82,1.41,400.08,0,0,0,0,0,0,14.57,14.73,14.62
$IRIDIUM_FIX,-332.95,5545.63,160318,193708
$TT8_MAMPS,0.018725,0.15729
$HUMID,58.78
$INTERNAL_PRESSURE,8.54138
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.16,81.125
$10V_AH,13.48,0.000
$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
$DEVICE_SECS,22.100,209.775,527.700,10.625,0.000,0.000,0.000,243.700,0.000,0.000,21.496,3267.204,14598.505,700.649,2481.518,224.405,0.000,2236.649,0.000,2205.427,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303984
$DATA_FILE_SIZE,66656,1551
$CAP_FILE_SIZE,183178,0
$CFSIZE,260034560,237699072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.274,86.69,1
$GPS,170318,075001,-330.423,5550.370,41,0.8,43,-4.7,0.8,153.6,9,8.9