version: 66.13
glider: 128
mission: 4
dive: 253
start: 3 18 118 8 22 58
data:
$ID,128
$MISSION,4
$DIVE,253
$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,44
$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
$GPS1,180318,081702,-322.9632,5555.2622,38,1.0,41,-4.7,0.4,191.6,7,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.7
$GPS2,180318,082221,-323.0363,5555.2539,19,0.8,21,-4.7,0.6,163.1,10,9.4
$SPEED_LIMITS,0.132,0.189
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,334.7,233401,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-0.65,-146.0,250,2352,1631,1597,0.0,0.0,0,79,0.00,0.00,-69.70,0.003,16386,0.000,0.000,250,2352,3817,3803,3831,0,0,0,0,0,0,14.88,28.83,14.90
$GC,81,-0.65,-146.0,250,2352,3804,3831,4.9,-15.0,12,103,11.52,2.20,-1.30,0.066,18692,0.420,0.073,2533,3703,3902,3897,3908,0,0,0,0,0,0,14.26,13.71,14.63
$GC,175,-0.65,-146.0,2532,3703,3900,3908,29.9,-16.7,29,182,0.00,2.12,0.00,0.000,1030,0.000,0.034,2533,2344,3904,3901,3908,0,0,0,0,0,0,14.71,14.65,14.73
$GC,485,-0.65,-146.0,2533,2341,3904,3908,84.9,-16.7,70,490,0.00,2.33,0.00,0.000,516,0.000,0.044,2533,950,3906,3904,3908,0,0,0,0,0,0,15.00,14.65,15.01
$GC,631,-0.65,-146.0,2533,950,3906,3909,103.9,-12.0,99,638,0.00,2.40,0.00,0.000,1030,0.000,0.050,2533,2355,3907,3906,3909,0,0,0,0,0,0,14.76,14.66,14.80
$GC,937,-0.65,-146.0,2533,2354,3910,3911,139.4,-11.4,130,942,0.00,2.17,0.00,0.000,260,0.000,0.073,2533,3694,3910,3909,3911,0,0,0,0,0,0,15.05,14.65,15.07
$GC,969,-0.65,-146.0,2533,3694,3909,3912,143.0,-11.4,136,973,0.00,2.08,0.00,0.000,1030,0.000,0.037,2533,2349,3910,3909,3911,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1280,-0.65,-146.0,2532,2345,3909,3913,172.7,-8.7,168,1284,0.00,2.35,0.00,0.000,516,0.000,0.046,2533,942,3912,3910,3914,0,0,0,0,0,0,15.07,14.71,15.09
$GC,1321,-0.65,-146.0,2533,942,3910,3914,176.5,-9.0,176,1330,0.00,2.40,0.00,0.000,1030,0.000,0.049,2533,2355,3912,3910,3914,0,0,0,0,0,0,14.82,14.72,14.85
$GC,1631,-0.65,-146.0,2533,2355,3910,3914,210.4,-12.0,208,1635,0.00,2.38,0.00,0.000,516,0.000,0.046,2533,949,3912,3910,3914,0,0,0,0,0,0,15.09,14.73,15.11
$GC,1666,-0.65,-146.0,2532,947,3910,3914,214.7,-12.0,215,1673,0.00,2.40,0.00,0.000,1030,0.000,0.050,2532,2350,3912,3910,3914,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1972,-0.65,-146.0,2532,2350,3910,3914,247.2,-10.4,246,1977,0.00,2.38,0.00,0.000,516,0.000,0.046,2533,947,3911,3909,3914,0,0,0,0,0,0,15.10,14.73,15.12
$GC,2023,-0.65,-146.0,2532,947,3909,3914,252.4,-10.0,256,2027,0.00,2.40,0.00,0.000,1030,0.000,0.050,2533,2353,3912,3910,3914,0,0,0,0,0,0,14.83,14.73,14.86
$GC,2330,-0.65,-146.0,2533,2352,3908,3913,283.7,-10.2,267,2334,0.00,2.20,0.00,0.000,260,0.000,0.076,2533,3696,3910,3908,3913,0,0,0,0,0,0,15.12,14.69,15.14
$GC,2350,-0.65,-146.0,2532,3696,3908,3911,285.9,-9.9,271,2354,0.00,2.10,0.00,0.000,1030,0.000,0.037,2533,2340,3910,3908,3912,0,0,0,0,0,0,14.88,14.83,14.90
$GC,2662,-0.65,-146.0,2530,2331,3909,3909,314.5,-9.6,283,2666,0.00,2.33,0.00,0.000,516,0.000,0.045,2530,944,3909,3910,3909,0,0,0,0,0,0,15.13,14.75,15.15
$GC,2742,-0.65,-146.0,2530,944,3909,3909,322.7,-9.2,299,2746,0.00,2.40,0.00,0.000,1030,0.000,0.049,2530,2353,3909,3909,3909,0,0,0,0,0,0,14.85,14.76,14.88
$GC,3048,-0.65,-146.0,2530,2353,3908,3906,351.5,-9.8,310,3053,0.00,2.20,0.00,0.000,260,0.000,0.076,2530,3694,3906,3907,3906,0,0,0,0,0,0,15.14,14.69,15.16
$GC,3124,-0.65,-146.0,2530,3694,3907,3905,359.4,-10.3,325,3128,0.00,2.10,0.00,0.000,1030,0.000,0.039,2530,2343,3906,3907,3906,0,0,0,0,0,0,14.88,14.81,14.90
$GC,3440,-0.65,-146.0,2530,2339,3906,3903,394.0,-11.3,338,3445,0.00,2.33,0.00,0.000,516,0.000,0.047,2530,953,3904,3906,3903,0,0,0,0,0,0,15.14,14.75,15.16
$GC,3496,-0.65,-146.0,2530,953,3906,3903,400.5,-11.1,349,3503,0.00,2.40,0.00,0.000,1030,0.000,0.052,2530,2348,3903,3905,3902,0,0,0,0,0,0,14.85,14.74,14.88
$GC,3802,-0.65,-146.0,2530,2348,3903,3900,436.7,-12.2,360,3806,0.00,2.22,0.00,0.000,260,0.000,0.080,2530,3695,3901,3902,3900,0,0,0,0,0,0,15.15,14.68,15.16
$GC,3851,-0.65,-146.0,2530,3694,3901,3900,442.9,-12.2,370,3857,0.00,2.10,0.00,0.000,1030,0.000,0.039,2530,2348,3900,3901,3900,0,0,0,0,0,0,14.88,14.81,14.90
$GC,4164,-0.65,-146.0,2530,2343,3900,3897,479.9,-11.7,382,4169,0.00,2.33,0.00,0.000,516,0.000,0.047,2530,958,3898,3900,3897,0,0,0,0,0,0,15.14,14.74,15.16
$GC,4220,-0.65,-146.0,2530,957,3899,3897,486.5,-11.4,393,4227,0.00,2.42,0.00,0.000,1030,0.000,0.054,2530,2356,3898,3899,3897,0,0,0,0,0,0,14.84,14.73,14.88
$GC,4527,-0.65,-146.0,2530,2355,3898,3895,519.4,-10.7,404,4530,0.00,2.22,0.00,0.000,260,0.000,0.078,2530,3699,3896,3898,3895,0,0,0,0,0,0,15.14,14.67,15.16
$GC,4576,-0.65,-146.0,2530,3699,3898,3894,524.7,-10.2,414,4581,0.00,2.10,0.00,0.000,1030,0.000,0.038,2530,2346,3896,3897,3895,0,0,0,0,0,0,14.88,14.82,14.90
$GC,4889,-0.65,-146.0,2530,2342,3897,3892,554.8,-9.6,426,4893,0.00,2.33,0.00,0.000,516,0.000,0.047,2530,960,3894,3897,3892,0,0,0,0,0,0,15.14,14.74,15.16
$GC,4960,-0.65,-146.0,2529,960,3896,3892,561.6,-8.9,440,4964,0.00,2.40,0.00,0.000,1030,0.000,0.053,2530,2352,3894,3897,3891,0,0,0,0,0,0,14.83,14.73,14.86
$GC,5277,-0.65,-146.0,2530,2351,3895,3888,590.4,-9.1,453,5281,0.00,2.22,0.00,0.000,260,0.000,0.081,2530,3699,3892,3895,3889,0,0,0,0,0,0,15.14,14.62,15.16
$GC,5327,-0.65,-146.0,2530,3699,3894,3888,595.4,-9.8,463,5331,0.00,2.10,0.00,0.000,1030,0.000,0.040,2530,2350,3891,3894,3888,0,0,0,0,0,0,14.87,14.80,14.89
$GC,5639,-0.65,-146.0,2529,2345,3893,3886,627.7,-11.0,475,5643,0.00,2.35,0.00,0.000,516,0.000,0.049,2530,955,3889,3893,3886,0,0,0,0,0,0,15.14,14.72,15.16
$GC,5679,-0.65,-146.0,2529,954,3893,3886,632.5,-11.4,483,5684,0.00,2.42,0.00,0.000,1030,0.000,0.055,2530,2355,3889,3892,3886,0,0,0,0,0,0,14.83,14.72,14.86
$GC,5996,-0.65,-146.0,2530,2355,3891,3884,669.9,-12.0,496,6000,0.00,2.25,0.00,0.000,260,0.000,0.081,2530,3703,3886,3890,3883,0,0,0,0,0,0,15.14,14.64,15.16
$GC,6020,-0.65,-146.0,2530,3703,3890,3883,673.1,-11.9,501,6027,0.00,2.12,0.00,0.000,1030,0.000,0.040,2530,2346,3886,3890,3883,0,0,0,0,0,0,14.88,14.80,14.89
$GC,6328,-0.65,-146.0,2530,2347,3890,3881,707.7,-11.2,512,6332,0.00,2.35,0.00,0.000,516,0.000,0.050,2530,958,3886,3890,3882,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6391,-0.65,-146.0,2529,958,3889,3882,714.9,-10.6,525,6396,0.00,2.42,0.00,0.000,1030,0.000,0.055,2530,2353,3885,3889,3881,0,0,0,0,0,0,14.82,14.71,14.85
$GC,6719,-0.65,-146.0,2530,2352,3888,3879,747.4,-9.6,540,6723,0.00,2.25,0.00,0.000,260,0.000,0.081,2530,3697,3883,3887,3879,0,0,0,0,0,0,15.13,14.63,15.15
$GC,6759,-0.65,-146.0,2529,3696,3886,3879,751.5,-9.8,548,6763,0.00,2.12,0.00,0.000,1030,0.000,0.041,2530,2350,3883,3887,3879,0,0,0,0,0,0,14.85,14.78,14.88
$GC,7080,-0.65,-146.0,2530,2347,3886,3877,780.9,-9.0,562,7085,0.00,2.35,0.00,0.000,516,0.000,0.049,2530,958,3882,3886,3878,0,0,0,0,0,0,15.14,14.71,15.15
$GC,7121,-0.65,-146.0,2530,959,3886,3878,784.7,-9.0,570,7126,0.00,2.42,0.00,0.000,1030,0.000,0.055,2529,2356,3882,3887,3878,0,0,0,0,0,0,14.81,14.70,14.85
$GC,7443,-0.65,-146.0,2530,2355,3885,3877,814.0,-9.4,584,7447,0.00,2.40,0.00,0.000,516,0.000,0.050,2530,961,3881,3885,3877,0,0,0,0,0,0,15.14,14.69,15.16
$GC,7468,-0.65,-146.0,2530,959,3885,3876,816.5,-10.0,589,7475,0.00,2.42,0.00,0.000,1030,0.000,0.057,2530,2352,3880,3884,3876,0,0,0,0,0,0,14.82,14.70,14.85
$GC,7775,-0.65,-146.0,2530,2351,3884,3874,844.7,-9.1,600,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2351,3879,3884,3874,0,0,0,0,0,0,15.13,15.15,15.15
$GC,8075,-0.65,-146.0,2530,2351,3884,3873,870.6,-8.5,610,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2351,3878,3884,3873,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8374,-0.65,-146.0,2529,2351,3882,3872,898.2,-9.2,620,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2351,3877,3882,3872,0,0,0,0,0,0,15.14,15.16,15.15
$GC,8674,-0.65,-146.0,2530,2351,3882,3870,927.7,-10.1,630,8679,0.00,2.28,0.00,0.000,260,0.000,0.083,2530,3702,3876,3881,3871,0,0,0,0,0,0,15.14,14.60,15.16
$GC,8707,-0.65,-146.0,2529,3702,3880,3870,931.0,-10.7,636,8711,0.00,2.12,0.00,0.000,1030,0.000,0.042,2530,2348,3875,3880,3870,0,0,0,0,0,0,14.84,14.76,14.86
$GC,9038,-0.65,-146.0,2530,2344,3880,3869,964.6,-10.2,652,9042,0.00,2.35,0.00,0.000,516,0.000,0.050,2530,963,3874,3880,3869,0,0,0,0,0,0,15.14,14.67,15.16
$GC,9083,-0.65,-146.0,2530,963,3880,3868,969.4,-10.0,661,9087,0.00,2.42,0.00,0.000,1030,0.000,0.055,2530,2349,3874,3880,3869,0,0,0,0,0,0,14.80,14.68,14.83
$STATE,9308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9308,begin apogee
$GC,9314,-0.15,0.0,2530,2428,3880,3867,992.4,-10.3,671,9454,0.65,0.00,136.50,1.946,10246,0.236,0.000,2705,2428,3345,3369,3321,0,0,0,0,0,0,14.43,14.09,13.28
$STATE,9455,end apogee,CONTROL_FINISHED_OK
$STATE,9455,begin climb
$GC,9456,0.65,146.0,2705,2428,3361,3315,998.5,0.0,675,9615,0.82,2.25,147.35,1.937,10500,0.148,0.077,2957,3676,2743,2783,2703,0,0,0,0,0,0,14.05,13.93,13.14
$GC,9691,0.65,146.0,2957,3676,2769,2701,989.0,8.6,727,9695,0.00,2.10,0.00,0.000,1030,0.000,0.043,2960,2409,2735,2769,2701,0,0,0,0,0,0,14.31,14.24,14.33
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$STATE,21308,end climb,SURFACE_DEPTH_REACHED
$STATE,21310,begin surface coast
$FINISH,0.0,1.022124
$STATE,21346,end surface coast,CONTROL_FINISHED_OK
$STATE,21346,begin surface
$SM_CCo,21362,12.45,0.077,0,0,1714,400.08
$SM_GC,1.44,8.62,0.00,12.45,0.103,0.000,0.077,252,2390,1714,-7.80,1.13,400.08,0,0,0,0,0,0,14.55,14.99,14.62
$IRIDIUM_FIX,-324.21,5543.84,180318,021840
$TT8_MAMPS,0.018725,0.15729
$HUMID,59.13
$INTERNAL_PRESSURE,8.54138
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.14,82.675
$10V_AH,13.50,0.000
$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,22.000,234.600,508.025,12.450,0.000,0.000,0.000,213.200,0.000,0.000,21.962,3432.581,14717.290,687.089,2615.416,246.268,0.000,2280.613,0.000,2363.652,0.000,0.546,0.000
$DEVICE_MAMPS,419.985,164.475,1946.160,77.265,0.000,0.000,0.000,138.465,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,764.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73191,1663
$CAP_FILE_SIZE,194695,0
$CFSIZE,260034560,237252608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.098,66.50,1
$GPS,180318,142033,-321.016,5555.405,40,1.1,44,-4.7,0.6,173.8,6,9.9