version: 66.13
glider: 128
mission: 4
dive: 252
start: 3 18 118 2 23 14
data:
$ID,128
$MISSION,4
$DIVE,252
$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,49
$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
$GPS1,180318,021703,-324.9178,5553.2998,42,0.7,45,-4.7,1.0,146.6,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.1
$GPS2,180318,022238,-324.9855,5553.3354,15,0.7,17,-4.7,0.4,149.1,11,9.2
$SPEED_LIMITS,0.132,0.189
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,7.0,238215,-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,-146.0,240,2402,1727,1718,0.0,0.0,0,74,0.00,0.00,-63.62,0.004,16386,0.000,0.000,240,2402,3751,3734,3769,0,0,0,0,0,0,14.88,28.83,14.90
$GC,76,-0.65,-146.0,240,2402,3734,3769,4.8,-13.9,11,98,11.62,2.17,-2.33,0.037,18692,0.422,0.084,2533,3698,3904,3898,3910,0,0,0,0,0,0,14.26,13.43,14.62
$GC,164,-0.65,-146.0,2533,3698,3902,3910,29.1,-16.9,27,171,0.00,2.12,0.00,0.000,1030,0.000,0.036,2533,2347,3907,3904,3910,0,0,0,0,0,0,14.70,14.64,14.73
$GC,479,-0.65,-146.0,2533,2344,3906,3910,85.6,-16.1,69,484,0.00,2.35,0.00,0.000,516,0.000,0.047,2533,946,3908,3906,3910,0,0,0,0,0,0,15.00,14.64,15.01
$GC,622,-0.65,-146.0,2533,945,3908,3911,104.4,-10.0,97,627,0.00,2.38,0.00,0.000,1030,0.000,0.047,2533,2350,3909,3908,3911,0,0,0,0,0,0,14.76,14.67,14.80
$GC,934,-0.65,-146.0,2533,2349,3910,3914,134.3,-9.5,129,939,0.00,2.20,0.00,0.000,260,0.000,0.073,2533,3701,3911,3910,3913,0,0,0,0,0,0,15.05,14.66,15.07
$GC,1056,-0.65,-146.0,2533,3701,3910,3914,148.2,-12.2,153,1061,0.00,2.10,0.00,0.000,1030,0.000,0.034,2533,2334,3912,3910,3914,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1368,-0.65,-146.0,2533,2330,3911,3915,185.0,-10.1,185,1373,0.00,2.30,0.00,0.000,516,0.000,0.047,2533,957,3913,3912,3915,0,0,0,0,0,0,15.09,14.73,15.11
$GC,1422,-0.65,-146.0,2533,956,3912,3916,190.4,-8.9,196,1430,0.00,2.38,0.00,0.000,1030,0.000,0.047,2533,2354,3914,3912,3916,0,0,0,0,0,0,14.82,14.72,14.85
$GC,1730,-0.65,-146.0,2533,2353,3912,3916,218.2,-10.2,227,1734,0.00,2.35,0.00,0.000,516,0.000,0.045,2533,957,3914,3912,3917,0,0,0,0,0,0,15.10,14.73,15.11
$GC,1774,-0.65,-146.0,2533,957,3912,3916,223.0,-10.1,236,1781,0.00,2.38,0.00,0.000,1030,0.000,0.049,2533,2353,3914,3912,3916,0,0,0,0,0,0,14.83,14.73,14.86
$GC,2102,-0.65,-146.0,2533,2353,3911,3916,263.0,-13.2,263,2106,0.00,2.35,0.00,0.000,516,0.000,0.045,2533,957,3913,3911,3916,0,0,0,0,0,0,15.11,14.74,15.13
$GC,2166,-0.65,-146.0,2532,957,3910,3917,271.4,-12.4,276,2171,0.00,2.38,0.00,0.000,1030,0.000,0.049,2533,2350,3913,3911,3916,0,0,0,0,0,0,14.83,14.73,14.86
$GC,2494,-0.65,-146.0,2533,2349,3910,3916,303.2,-8.1,291,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2349,3912,3910,3915,0,0,0,0,0,0,15.13,15.14,15.15
$GC,2795,-0.65,-146.0,2533,2349,3909,3914,329.9,-9.3,301,2799,0.00,2.35,0.00,0.000,516,0.000,0.044,2533,955,3911,3909,3914,0,0,0,0,0,0,15.13,14.76,15.15
$GC,2834,-0.65,-146.0,2533,955,3909,3914,334.1,-9.9,309,2840,0.00,2.40,0.00,0.000,1030,0.000,0.050,2533,2356,3911,3909,3914,0,0,0,0,0,0,14.85,14.75,14.88
$GC,3157,-0.65,-146.0,2533,2354,3907,3911,365.7,-10.2,323,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2354,3908,3907,3910,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3457,-0.65,-146.0,2533,2354,3906,3908,399.1,-11.1,333,3462,0.00,2.38,0.00,0.000,516,0.000,0.047,2533,957,3907,3906,3909,0,0,0,0,0,0,15.14,14.75,15.16
$GC,3507,-0.65,-146.0,2533,957,3906,3908,405.0,-11.2,343,3512,0.00,2.40,0.00,0.000,1030,0.000,0.052,2533,2352,3907,3906,3908,0,0,0,0,0,0,14.85,14.74,14.88
$GC,3819,-0.65,-146.0,2533,2352,3903,3906,439.9,-11.7,355,3823,0.00,2.22,0.00,0.000,260,0.000,0.077,2533,3694,3904,3903,3906,0,0,0,0,0,0,15.15,14.68,15.17
$GC,3844,-0.65,-146.0,2533,3695,3901,3905,442.9,-11.3,360,3851,0.00,2.10,0.00,0.000,1030,0.000,0.039,2533,2343,3903,3902,3905,0,0,0,0,0,0,14.89,14.82,14.91
$GC,4150,-0.65,-146.0,2533,2343,3901,3902,476.1,-10.7,371,4154,0.00,2.33,0.00,0.000,516,0.000,0.047,2533,957,3901,3901,3902,0,0,0,0,0,0,15.15,14.75,15.16
$GC,4212,-0.65,-146.0,2533,957,3900,3902,482.6,-10.4,383,4218,0.00,2.40,0.00,0.000,1030,0.000,0.052,2533,2357,3901,3901,3902,0,0,0,0,0,0,14.84,14.73,14.88
$GC,4542,-0.65,-146.0,2533,2357,3899,3900,515.1,-9.9,399,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2357,3899,3899,3900,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4842,-0.65,-146.0,2532,2356,3898,3898,544.7,-9.8,409,4847,0.00,2.38,0.00,0.000,516,0.000,0.048,2533,964,3898,3898,3898,0,0,0,0,0,0,15.15,14.73,15.17
$GC,4888,-0.65,-146.0,2532,964,3898,3897,549.3,-9.7,418,4892,0.00,2.40,0.00,0.000,1030,0.000,0.052,2533,2355,3897,3897,3897,0,0,0,0,0,0,14.84,14.73,14.88
$GC,5200,-0.65,-146.0,2533,2354,3897,3896,578.1,-8.9,430,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3896,3897,3896,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5499,-0.65,-146.0,2532,2353,3895,3893,604.3,-9.1,440,5503,0.00,2.38,0.00,0.000,516,0.000,0.049,2533,968,3894,3895,3893,0,0,0,0,0,0,15.15,14.72,15.16
$GC,5539,-0.65,-146.0,2533,966,3895,3893,608.2,-9.4,448,5543,0.00,2.40,0.00,0.000,1030,0.000,0.054,2533,2353,3894,3895,3893,0,0,0,0,0,0,14.83,14.72,14.87
$GC,5862,-0.65,-146.0,2533,2352,3893,3890,636.6,-9.0,462,5866,0.00,2.25,0.00,0.000,260,0.000,0.080,2533,3699,3891,3893,3890,0,0,0,0,0,0,15.14,14.64,15.16
$GC,5886,-0.65,-146.0,2532,3699,3892,3890,639.2,-9.9,467,5893,0.00,2.10,0.00,0.000,1030,0.000,0.040,2533,2349,3891,3892,3890,0,0,0,0,0,0,14.87,14.80,14.90
$GC,6194,-0.65,-146.0,2533,2349,3892,3888,666.6,-8.8,478,6198,0.00,2.35,0.00,0.000,516,0.000,0.050,2533,964,3890,3892,3888,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6248,-0.65,-146.0,2533,963,3892,3888,671.4,-8.5,489,6256,0.00,2.40,0.00,0.000,1030,0.000,0.051,2533,2351,3889,3892,3887,0,0,0,0,0,0,14.83,14.72,14.86
$GC,6555,-0.65,-146.0,2533,2350,3890,3886,698.0,-8.9,500,6559,0.00,2.25,0.00,0.000,260,0.000,0.080,2533,3700,3887,3889,3886,0,0,0,0,0,0,15.14,14.64,15.16
$GC,6579,-0.65,-146.0,2532,3701,3889,3886,700.5,-9.8,505,6587,0.00,2.12,0.00,0.000,1030,0.000,0.041,2533,2344,3887,3889,3885,0,0,0,0,0,0,14.87,14.80,14.89
$GC,6886,-0.65,-146.0,2532,2344,3889,3883,731.0,-10.3,516,6891,0.00,2.35,0.00,0.000,516,0.000,0.049,2534,965,3886,3889,3884,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6926,-0.65,-146.0,2533,965,3889,3883,735.5,-10.4,524,6930,0.00,2.40,0.00,0.000,1030,0.000,0.053,2533,2350,3885,3889,3882,0,0,0,0,0,0,14.82,14.71,14.85
$GC,7248,-0.65,-146.0,2533,2350,3887,3881,769.3,-10.5,538,7253,0.00,2.40,0.00,0.000,516,0.000,0.049,2533,959,3884,3887,3881,0,0,0,0,0,0,15.14,14.70,15.16
$GC,7273,-0.65,-146.0,2533,959,3887,3881,772.2,-10.8,543,7280,0.00,2.42,0.00,0.000,1030,0.000,0.054,2533,2355,3883,3886,3881,0,0,0,0,0,0,14.83,14.71,14.85
$GC,7580,-0.65,-146.0,2533,2355,3886,3880,801.4,-9.2,554,7584,0.00,2.40,0.00,0.000,516,0.000,0.050,2533,963,3883,3886,3880,0,0,0,0,0,0,15.14,14.69,15.16
$GC,7614,-0.65,-146.0,2533,959,3886,3880,804.7,-9.1,561,7620,0.00,2.42,0.00,0.000,1030,0.000,0.055,2533,2353,3883,3886,3880,0,0,0,0,0,0,14.82,14.71,14.85
$GC,7942,-0.65,-146.0,2533,2353,3885,3878,832.5,-8.6,576,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2353,3881,3885,3878,0,0,0,0,0,0,15.13,15.15,15.15
$GC,8242,-0.65,-146.0,2533,2353,3884,3877,856.8,-7.9,586,8246,0.00,2.40,0.00,0.000,516,0.000,0.050,2533,965,3881,3884,3878,0,0,0,0,0,0,15.14,14.69,15.15
$GC,8276,-0.65,-146.0,2533,962,3884,3877,859.8,-8.4,593,8282,0.00,2.42,0.00,0.000,1030,0.000,0.055,2533,2350,3880,3884,3877,0,0,0,0,0,0,14.81,14.69,14.85
$GC,8605,-0.65,-146.0,2533,2349,3883,3876,886.9,-8.5,608,8609,0.00,2.28,0.00,0.000,260,0.000,0.083,2533,3699,3879,3883,3876,0,0,0,0,0,0,15.13,14.60,15.15
$GC,8639,-0.65,-146.0,2533,3699,3882,3876,890.1,-8.9,615,8643,0.00,2.17,0.00,0.000,1030,0.000,0.041,2533,2358,3879,3882,3876,0,0,0,0,0,0,14.74,14.71,14.77
$GC,8967,-0.65,-146.0,2533,2355,3882,3874,920.3,-9.8,630,8971,0.00,2.40,0.00,0.000,516,0.000,0.051,2533,955,3878,3882,3874,0,0,0,0,0,0,15.14,14.68,15.15
$GC,9016,-0.65,-146.0,2533,952,3882,3874,925.6,-10.0,640,9021,0.00,2.45,0.00,0.000,1030,0.000,0.057,2533,2352,3877,3882,3873,0,0,0,0,0,0,14.80,14.68,14.83
$GC,9323,-0.65,-146.0,2533,2351,3880,3872,957.9,-10.7,651,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2351,3876,3880,3873,0,0,0,0,0,0,15.13,15.15,15.15
$STATE,9621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9621,begin apogee
$GC,9626,-0.15,0.0,2533,2410,3880,3871,990.1,-10.4,661,9773,0.62,0.00,138.18,1.922,10246,0.227,0.000,2704,2409,3339,3362,3316,0,0,0,0,0,0,14.44,14.09,13.28
$STATE,9774,end apogee,CONTROL_FINISHED_OK
$STATE,9774,begin climb
$GC,9776,0.65,146.0,2704,2409,3360,3316,998.6,0.0,666,9936,0.82,2.33,148.85,1.921,10500,0.145,0.082,2957,3686,2743,2783,2703,0,0,0,0,0,0,14.08,13.93,13.15
$GC,9993,0.65,146.0,2957,3686,2771,2701,991.2,8.1,710,9997,0.00,2.12,0.00,0.000,1030,0.000,0.044,2960,2403,2737,2772,2702,0,0,0,0,0,0,14.27,14.20,14.29
$GC,10315,0.67,146.0,2959,2401,2764,2698,969.1,7.2,724,10322,0.00,2.45,0.00,0.000,580,0.000,0.059,2960,1003,2731,2764,2698,0,0,0,0,0,0,14.83,14.50,14.85
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$STATE,21043,end climb,SURFACE_DEPTH_REACHED
$STATE,21044,begin surface coast
$FINISH,-0.0,1.022078
$STATE,21075,end surface coast,CONTROL_FINISHED_OK
$STATE,21076,begin surface
$SM_CCo,21154,0.00,0.000,0,0,1618,423.87
$SM_GC,0.89,8.57,2.17,0.00,0.096,0.035,0.000,250,2356,1618,-7.80,1.50,423.87,0,0,0,0,0,0,14.54,14.65,14.66
$IRIDIUM_FIX,-324.18,5602.42,170318,200608
$TT8_MAMPS,0.018725,0.15729
$HUMID,58.15
$INTERNAL_PRESSURE,8.53162
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,13.15,82.363
$10V_AH,13.23,0.000
$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
$DEVICE_SECS,22.350,220.050,561.775,0.000,0.000,0.000,0.000,231.325,0.000,0.000,18.465,3312.417,14672.357,714.155,2565.476,223.512,0.000,2283.148,0.000,2294.321,0.000,0.547,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.029,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303876
$DATA_FILE_SIZE,70037,1614
$CAP_FILE_SIZE,187078,0
$CFSIZE,260034560,237346816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.185,83.96,1
$GPS,180318,081702,-322.963,5555.262,38,1.0,41,-4.7,0.4,191.6,7,10.0