version: 66.13
glider: 128
mission: 4
dive: 249
start: 3 17 118 7 56 10
data:
$ID,128
$MISSION,4
$DIVE,249
$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,83
$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
$GPS1,170318,075001,-330.4231,5550.3701,41,0.8,43,-4.7,0.8,153.6,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-74.3
$GPS2,170318,075533,-330.4825,5550.4219,17,0.8,20,-4.7,0.7,157.6,9,9.4
$SPEED_LIMITS,0.132,0.189
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,331.4,249733,-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,7,-0.65,-146.0,244,2310,1726,1712,0.0,0.0,0,73,0.00,0.00,-63.53,0.004,16386,0.000,0.000,245,2310,3714,3697,3732,0,0,0,0,0,0,14.88,28.83,14.90
$GC,76,-0.65,-146.0,244,2311,3698,3733,4.2,-11.5,11,97,11.62,2.33,-2.95,0.030,18948,0.422,0.073,2543,983,3903,3898,3908,0,0,0,0,0,0,14.27,13.43,14.63
$GC,201,-0.65,-146.0,2543,983,3904,3908,37.0,-17.7,34,208,0.00,2.38,0.00,0.000,1030,0.000,0.055,2543,2350,3906,3904,3908,0,0,0,0,0,0,14.69,14.59,14.72
$GC,515,-0.65,-146.0,2543,2350,3906,3908,91.4,-13.1,72,519,0.00,2.30,0.00,0.000,516,0.000,0.043,2543,986,3907,3906,3908,0,0,0,0,0,0,15.00,14.67,15.02
$GC,608,-0.65,-146.0,2543,985,3907,3908,99.5,-7.3,90,612,0.00,2.35,0.00,0.000,1030,0.000,0.050,2542,2362,3907,3907,3908,0,0,0,0,0,0,14.77,14.68,14.80
$GC,919,-0.65,-146.0,2543,2362,3910,3912,130.3,-12.7,122,923,0.00,2.17,0.00,0.000,260,0.000,0.071,2543,3699,3911,3910,3912,0,0,0,0,0,0,15.06,14.67,15.07
$GC,970,-0.65,-146.0,2543,3699,3909,3912,136.8,-12.5,132,975,0.00,2.03,0.00,0.000,1030,0.000,0.034,2543,2370,3911,3910,3913,0,0,0,0,0,0,14.84,14.78,14.86
$GC,1282,-0.65,-146.0,2543,2367,3910,3914,172.1,-10.8,164,1286,0.00,2.35,0.00,0.000,516,0.000,0.047,2543,961,3912,3911,3914,0,0,0,0,0,0,15.07,14.73,15.10
$GC,1396,-0.65,-146.0,2543,961,3911,3914,184.5,-10.9,187,1403,0.00,2.38,0.00,0.000,1030,0.000,0.048,2543,2357,3913,3911,3915,0,0,0,0,0,0,14.83,14.73,14.86
$GC,1704,-0.65,-146.0,2543,2356,3911,3915,218.2,-10.6,218,1708,0.00,2.35,0.00,0.000,516,0.000,0.044,2543,961,3913,3911,3915,0,0,0,0,0,0,15.10,14.75,15.11
$GC,1736,-0.65,-146.0,2543,961,3911,3914,221.6,-10.3,224,1740,0.00,2.38,0.00,0.000,1030,0.000,0.050,2543,2359,3913,3911,3915,0,0,0,0,0,0,14.84,14.74,14.87
$GC,2047,-0.65,-146.0,2543,2358,3910,3915,250.5,-8.9,256,2052,0.00,2.35,0.00,0.000,516,0.000,0.046,2543,964,3912,3910,3914,0,0,0,0,0,0,15.11,14.75,15.12
$GC,2118,-0.65,-146.0,2543,963,3910,3914,257.6,-9.8,270,2123,0.00,2.38,0.00,0.000,1030,0.000,0.050,2543,2356,3912,3910,3914,0,0,0,0,0,0,14.85,14.75,14.88
$GC,2435,-0.65,-146.0,2543,2356,3910,3914,290.6,-10.8,283,2439,0.00,2.20,0.00,0.000,260,0.000,0.076,2543,3701,3911,3909,3914,0,0,0,0,0,0,15.12,14.71,15.14
$GC,2454,-0.65,-146.0,2543,3701,3909,3914,292.9,-10.8,287,2458,0.00,2.08,0.00,0.000,1030,0.000,0.037,2543,2349,3911,3909,3913,0,0,0,0,0,0,14.89,14.83,14.90
$GC,2766,-0.65,-146.0,2543,2345,3908,3911,323.6,-9.8,299,2771,0.00,2.30,0.00,0.000,516,0.000,0.046,2543,963,3909,3908,3911,0,0,0,0,0,0,15.14,14.73,15.16
$GC,2806,-0.65,-146.0,2543,963,3909,3911,327.8,-9.9,307,2810,0.00,2.38,0.00,0.000,1030,0.000,0.051,2543,2350,3910,3909,3911,0,0,0,0,0,0,14.86,14.76,14.89
$GC,3128,-0.65,-146.0,2543,2350,3907,3907,360.3,-10.6,321,3133,0.00,2.22,0.00,0.000,260,0.000,0.077,2543,3702,3907,3907,3908,0,0,0,0,0,0,15.14,14.71,15.16
$GC,3178,-0.65,-146.0,2543,3702,3906,3907,366.0,-10.9,331,3183,0.00,2.10,0.00,0.000,1030,0.000,0.037,2543,2352,3906,3906,3907,0,0,0,0,0,0,14.90,14.84,14.92
$GC,3490,-0.65,-146.0,2543,2349,3904,3906,399.5,-10.6,343,3494,0.00,2.35,0.00,0.000,516,0.000,0.047,2543,949,3905,3904,3906,0,0,0,0,0,0,15.14,14.76,15.16
$GC,3552,-0.65,-146.0,2543,949,3904,3906,405.8,-10.1,355,3556,0.00,2.42,0.00,0.000,1030,0.000,0.053,2543,2350,3905,3904,3906,0,0,0,0,0,0,14.85,14.75,14.89
$GC,3883,-0.65,-146.0,2543,2350,3901,3902,438.2,-9.8,371,3887,0.00,2.20,0.00,0.000,260,0.000,0.078,2544,3695,3901,3901,3902,0,0,0,0,0,0,15.14,14.69,15.16
$GC,3918,-0.65,-146.0,2543,3695,3900,3902,441.9,-10.3,378,3922,0.00,2.10,0.00,0.000,1030,0.000,0.041,2543,2351,3901,3900,3902,0,0,0,0,0,0,14.90,14.82,14.91
$GC,4246,-0.65,-146.0,2543,2347,3900,3900,475.2,-10.1,393,4250,0.00,2.35,0.00,0.000,516,0.000,0.047,2543,948,3900,3900,3900,0,0,0,0,0,0,15.14,14.76,15.16
$GC,4291,-0.65,-146.0,2543,947,3900,3900,479.9,-9.6,402,4296,0.00,2.42,0.00,0.000,1030,0.000,0.053,2543,2355,3900,3900,3900,0,0,0,0,0,0,14.85,14.75,14.88
$GC,4604,-0.65,-146.0,2543,2355,3898,3897,508.4,-9.0,414,4608,0.00,2.40,0.00,0.000,516,0.000,0.050,2543,955,3897,3898,3897,0,0,0,0,0,0,15.14,14.74,15.16
$GC,4644,-0.65,-146.0,2543,952,3898,3897,512.4,-9.3,422,4648,0.00,2.42,0.00,0.000,1030,0.000,0.057,2543,2352,3897,3898,3897,0,0,0,0,0,0,14.85,14.73,14.88
$GC,4960,-0.65,-146.0,2543,2351,3897,3896,542.3,-9.7,435,4964,0.00,2.38,0.00,0.000,516,0.000,0.048,2543,959,3896,3897,3896,0,0,0,0,0,0,15.14,14.75,15.16
$GC,4992,-0.65,-146.0,2543,957,3897,3895,545.5,-10.5,441,4997,0.00,2.42,0.00,0.000,1030,0.000,0.055,2543,2359,3896,3898,3895,0,0,0,0,0,0,14.85,14.73,14.88
$GC,5325,-0.65,-146.0,2543,2358,3896,3891,579.4,-10.3,457,5330,0.00,2.22,0.00,0.000,260,0.000,0.081,2543,3702,3893,3895,3891,0,0,0,0,0,0,15.14,14.66,15.16
$GC,5357,-0.65,-146.0,2543,3703,3893,3891,582.9,-11.4,463,5361,0.00,2.12,0.00,0.000,1030,0.000,0.041,2543,2340,3892,3894,3891,0,0,0,0,0,0,14.88,14.81,14.90
$GC,5688,-0.65,-146.0,2543,2337,3894,3889,617.2,-10.3,479,5692,0.00,2.33,0.00,0.000,516,0.000,0.050,2543,959,3891,3894,3889,0,0,0,0,0,0,15.14,14.73,15.16
$GC,5743,-0.65,-146.0,2543,959,3894,3889,623.1,-10.6,490,5750,0.00,2.42,0.00,0.000,1030,0.000,0.054,2543,2360,3891,3894,3888,0,0,0,0,0,0,14.84,14.73,14.87
$GC,6050,-0.65,-146.0,2543,2359,3892,3886,653.5,-9.9,501,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2360,3889,3892,3886,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6350,-0.65,-146.0,2543,2360,3891,3885,682.6,-9.6,511,6354,0.00,2.40,0.00,0.000,516,0.000,0.049,2543,961,3888,3891,3885,0,0,0,0,0,0,15.14,14.72,15.16
$GC,6394,-0.65,-146.0,2543,959,3891,3884,687.2,-9.6,520,6399,0.00,2.42,0.00,0.000,1030,0.000,0.055,2543,2353,3887,3891,3883,0,0,0,0,0,0,14.83,14.71,14.87
$GC,6711,-0.65,-146.0,2543,2353,3889,3882,716.6,-9.3,533,6716,0.00,2.40,0.00,0.000,516,0.000,0.050,2543,955,3885,3889,3882,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6738,-0.65,-146.0,2543,955,3889,3882,719.3,-9.5,538,6745,0.00,2.42,0.00,0.000,1030,0.000,0.057,2543,2350,3885,3889,3881,0,0,0,0,0,0,14.83,14.71,14.87
$GC,7043,-0.65,-146.0,2543,2349,3888,3880,746.0,-8.7,549,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2349,3884,3888,3880,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7343,-0.65,-146.0,2542,2350,3887,3879,769.7,-7.7,559,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2349,3883,3887,3879,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7643,-0.65,-146.0,2543,2349,3886,3877,792.4,-7.7,569,7648,0.00,2.40,0.00,0.000,516,0.000,0.050,2543,960,3882,3886,3878,0,0,0,0,0,0,15.14,14.70,15.16
$GC,7684,-0.65,-146.0,2543,960,3886,3877,795.8,-7.9,577,7689,0.00,2.42,0.00,0.000,1030,0.000,0.055,2543,2352,3881,3886,3877,0,0,0,0,0,0,14.82,14.71,14.85
$GC,8006,-0.65,-146.0,2543,2352,3884,3876,821.1,-8.2,591,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2352,3880,3885,3876,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8306,-0.65,-146.0,2543,2352,3884,3875,847.5,-9.0,601,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2352,3879,3884,3875,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8606,-0.65,-146.0,2543,2352,3883,3873,875.3,-9.3,611,8611,0.00,2.42,0.00,0.000,516,0.000,0.051,2543,956,3878,3884,3873,0,0,0,0,0,0,15.14,14.69,15.16
$GC,8626,-0.65,-146.0,2543,956,3884,3873,877.4,-9.7,615,8631,0.00,2.45,0.00,0.000,1030,0.000,0.057,2543,2351,3878,3883,3873,0,0,0,0,0,0,14.81,14.70,14.85
$GC,8934,-0.65,-146.0,2543,2351,3882,3871,905.5,-9.2,626,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2350,3876,3882,3871,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9233,-0.65,-146.0,2543,2350,3881,3870,932.5,-9.0,636,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2350,3875,3881,3870,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9533,-0.65,-146.0,2543,2351,3880,3869,959.3,-9.1,646,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2351,3875,3881,3870,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9833,-0.65,-146.0,2543,2350,3880,3868,986.1,-8.7,656,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2351,3874,3880,3868,0,0,0,0,0,0,15.14,15.16,15.16
$STATE,9892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9892,begin apogee
$GC,9897,-0.15,0.0,2543,2413,3880,3868,991.2,-8.6,658,10044,0.57,0.00,138.45,1.925,10246,0.219,0.000,2704,2413,3339,3361,3317,0,0,0,0,0,0,14.46,13.92,13.28
$STATE,10045,end apogee,CONTROL_FINISHED_OK
$STATE,10045,begin climb
$GC,10047,0.65,146.0,2704,2413,3360,3316,997.5,0.0,663,10207,0.82,2.33,149.00,1.932,10500,0.143,0.082,2957,3690,2742,2782,2703,0,0,0,0,0,0,14.07,13.92,13.17
$GC,10258,0.65,146.0,2957,3690,2771,2703,987.9,8.6,706,10263,0.00,2.12,0.00,0.000,1030,0.000,0.044,2961,2413,2737,2771,2703,0,0,0,0,0,0,14.24,14.18,14.27
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$STATE,20828,end climb,SURFACE_DEPTH_REACHED
$STATE,20828,begin surface coast
$FINISH,0.1,1.022096
$STATE,20860,end surface coast,CONTROL_FINISHED_OK
$STATE,20860,begin surface
$SM_CCo,20936,0.00,0.000,0,0,1633,420.19
$SM_GC,0.83,8.62,0.00,0.00,0.096,0.000,0.000,248,2400,1633,-7.80,1.39,420.19,0,0,0,0,0,0,14.56,14.95,14.68
$IRIDIUM_FIX,-330.67,5546.84,170318,015512
$TT8_MAMPS,0.018725,0.15729
$HUMID,58.38
$INTERNAL_PRESSURE,8.53162
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.17,81.442
$10V_AH,13.21,0.000
$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,22.325,211.600,550.975,0.000,0.000,0.000,0.000,228.000,0.000,0.000,20.986,3255.963,14592.637,675.614,2515.674,230.500,0.000,2223.564,0.000,2250.688,0.000,0.546,0.000
$DEVICE_MAMPS,422.280,196.605,1931.625,0.000,0.000,0.000,0.000,135.405,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.184,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304012
$DATA_FILE_SIZE,69935,1583
$CAP_FILE_SIZE,185062,0
$CFSIZE,260034560,237604864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$INTR,0,15738.69,0x234cb8,1,24
$CURRENT,0.148,74.59,1
$GPS,170318,134625,-328.731,5550.823,43,0.8,45,-4.7,0.2,108.9,9,9.0