version: 66.13
glider: 128
mission: 4
dive: 255
start: 3 18 118 20 28 6
data:
$ID,128
$MISSION,4
$DIVE,255
$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,64
$R_STBD_OVSHOOT,33
$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
$GPS1,180318,202032,-318.8912,5557.2275,40,1.1,43,-4.7,0.8,183.7,7,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.6
$GPS2,180318,202727,-319.0130,5557.2061,16,0.9,19,-4.7,1.3,192.7,10,8.9
$SPEED_LIMITS,0.132,0.189
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,353.9,225120,-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,-146.0,233,2335,1727,1706,0.0,0.0,0,73,0.00,0.00,-63.33,0.004,16386,0.000,0.000,232,2336,3711,3693,3730,0,0,0,0,0,0,14.85,28.83,14.87
$GC,75,-0.65,-146.0,232,2336,3695,3730,4.4,-12.6,11,97,11.48,2.28,-2.92,0.030,18692,0.412,0.080,2534,3700,3903,3898,3908,0,0,0,0,0,0,14.24,13.40,14.61
$GC,169,-0.65,-146.0,2534,3700,3902,3909,29.7,-16.6,28,176,0.00,2.08,0.00,0.000,1030,0.000,0.034,2535,2362,3906,3904,3909,0,0,0,0,0,0,14.69,14.64,14.71
$GC,479,-0.65,-146.0,2534,2360,3906,3909,84.7,-16.8,70,483,0.00,2.38,0.00,0.000,516,0.000,0.045,2534,954,3907,3906,3909,0,0,0,0,0,0,14.99,14.64,15.00
$GC,631,-0.65,-146.0,2534,952,3908,3911,101.2,-9.4,100,641,0.00,2.40,0.00,0.000,1030,0.000,0.049,2535,2356,3909,3907,3911,0,0,0,0,0,0,14.76,14.66,14.79
$GC,940,-0.65,-146.0,2534,2356,3910,3914,134.1,-12.3,132,945,0.00,2.17,0.00,0.000,260,0.000,0.072,2534,3697,3912,3910,3914,0,0,0,0,0,0,15.05,14.66,15.07
$GC,974,-0.65,-146.0,2534,3697,3910,3914,138.5,-12.8,139,982,0.00,2.12,0.00,0.000,1030,0.000,0.035,2534,2343,3912,3910,3914,0,0,0,0,0,0,14.74,14.71,14.76
$GC,1282,-0.65,-146.0,2534,2343,3910,3915,177.0,-11.9,170,1286,0.00,2.25,0.00,0.000,260,0.000,0.070,2534,3704,3913,3911,3915,0,0,0,0,0,0,15.07,14.67,15.09
$GC,1313,-0.65,-146.0,2534,3704,3911,3915,180.7,-11.7,176,1317,0.00,2.08,0.00,0.000,1030,0.000,0.034,2535,2349,3912,3911,3914,0,0,0,0,0,0,14.85,14.80,14.88
$GC,1624,-0.65,-146.0,2534,2344,3911,3914,212.5,-9.3,208,1628,0.00,2.33,0.00,0.000,516,0.000,0.045,2534,952,3913,3911,3915,0,0,0,0,0,0,15.10,14.73,15.11
$GC,1676,-0.65,-146.0,2534,951,3911,3916,217.4,-9.6,218,1685,0.00,2.40,0.00,0.000,1030,0.000,0.051,2534,2360,3913,3911,3916,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1996,-0.65,-146.0,2534,2360,3911,3915,253.5,-11.1,249,2001,0.00,2.38,0.00,0.000,516,0.000,0.045,2534,955,3913,3911,3915,0,0,0,0,0,0,15.10,14.74,15.12
$GC,2046,-0.65,-146.0,2534,955,3911,3915,259.1,-10.2,259,2050,0.00,2.40,0.00,0.000,1030,0.000,0.051,2534,2354,3913,3911,3916,0,0,0,0,0,0,14.83,14.73,14.86
$GC,2358,-0.65,-146.0,2534,2353,3910,3915,289.6,-9.9,271,2362,0.00,2.35,0.00,0.000,516,0.000,0.046,2534,954,3912,3910,3914,0,0,0,0,0,0,15.12,14.75,15.14
$GC,2413,-0.65,-146.0,2534,954,3910,3915,295.4,-9.9,282,2420,0.00,2.40,0.00,0.000,1030,0.000,0.052,2534,2352,3912,3910,3915,0,0,0,0,0,0,14.84,14.74,14.87
$GC,2719,-0.65,-146.0,2534,2351,3909,3914,325.6,-10.0,293,2724,0.00,2.35,0.00,0.000,516,0.000,0.047,2534,958,3911,3909,3914,0,0,0,0,0,0,15.13,14.76,15.15
$GC,2751,-0.65,-146.0,2534,958,3909,3914,328.8,-9.8,299,2757,0.00,2.40,0.00,0.000,1030,0.000,0.052,2533,2357,3911,3909,3914,0,0,0,0,0,0,14.85,14.75,14.88
$GC,3082,-0.65,-146.0,2534,2356,3907,3910,359.8,-9.2,315,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2355,3908,3907,3910,0,0,0,0,0,0,15.13,15.16,15.15
$GC,3381,-0.65,-146.0,2534,2355,3906,3908,388.9,-10.0,325,3386,0.00,2.38,0.00,0.000,516,0.000,0.047,2534,958,3907,3906,3908,0,0,0,0,0,0,15.14,14.76,15.16
$GC,3421,-0.65,-146.0,2534,958,3906,3908,393.2,-10.0,333,3426,0.00,2.42,0.00,0.000,1030,0.000,0.056,2534,2356,3907,3906,3908,0,0,0,0,0,0,14.84,14.73,14.88
$GC,3744,-0.65,-146.0,2534,2355,3903,3905,425.4,-9.9,347,3748,0.00,2.40,0.00,0.000,516,0.000,0.048,2534,955,3904,3903,3905,0,0,0,0,0,0,15.14,14.74,15.16
$GC,3768,-0.65,-146.0,2534,952,3903,3906,428.1,-10.0,352,3775,0.00,2.45,0.00,0.000,1030,0.000,0.057,2534,2357,3904,3903,3905,0,0,0,0,0,0,14.85,14.73,14.88
$GC,4075,-0.65,-146.0,2534,2356,3902,3902,457.5,-9.4,363,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2357,3901,3901,3902,0,0,0,0,0,0,15.14,15.17,15.16
$GC,4376,-0.65,-146.0,2534,2356,3900,3900,485.2,-9.2,373,4381,0.00,2.40,0.00,0.000,516,0.000,0.048,2534,955,3900,3900,3901,0,0,0,0,0,0,15.14,14.73,15.16
$GC,4391,-0.65,-146.0,2534,956,3900,3901,486.9,-9.2,376,4395,0.00,2.42,0.00,0.000,1030,0.000,0.057,2534,2351,3900,3900,3901,0,0,0,0,0,0,14.84,14.73,14.88
$GC,4708,-0.65,-146.0,2534,2350,3898,3898,517.3,-10.0,389,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3898,3898,3898,0,0,0,0,0,0,15.15,15.17,15.17
$GC,5008,-0.65,-146.0,2534,2350,3897,3897,547.9,-10.0,399,5012,0.00,2.38,0.00,0.000,516,0.000,0.050,2534,964,3897,3897,3897,0,0,0,0,0,0,15.15,14.72,15.17
$GC,5063,-0.65,-146.0,2534,960,3897,3897,553.6,-9.8,410,5070,0.00,2.42,0.00,0.000,1030,0.000,0.056,2533,2353,3896,3897,3896,0,0,0,0,0,0,14.83,14.72,14.87
$GC,5369,-0.65,-146.0,2534,2352,3896,3893,583.5,-9.9,421,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2352,3894,3896,3893,0,0,0,0,0,0,15.15,15.16,15.16
$GC,5669,-0.65,-146.0,2534,2352,3894,3891,612.3,-9.4,431,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2352,3892,3894,3891,0,0,0,0,0,0,15.15,15.17,15.16
$GC,5969,-0.65,-146.0,2534,2352,3893,3889,640.9,-9.8,441,5974,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,960,3891,3893,3890,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6009,-0.65,-146.0,2534,961,3893,3890,645.3,-10.1,449,6014,0.00,2.42,0.00,0.000,1030,0.000,0.057,2534,2351,3890,3892,3889,0,0,0,0,0,0,14.82,14.71,14.86
$GC,6332,-0.65,-146.0,2534,2351,3891,3887,678.5,-10.4,463,6336,0.00,2.40,0.00,0.000,516,0.000,0.051,2534,964,3889,3891,3887,0,0,0,0,0,0,15.14,14.69,15.16
$GC,6381,-0.65,-146.0,2534,961,3892,3887,683.9,-10.1,473,6386,0.00,2.42,0.00,0.000,1030,0.000,0.056,2534,2349,3888,3890,3886,0,0,0,0,0,0,14.82,14.70,14.85
$GC,6693,-0.65,-146.0,2534,2348,3890,3884,715.3,-10.1,485,6698,0.00,2.25,0.00,0.000,260,0.000,0.083,2534,3699,3886,3889,3884,0,0,0,0,0,0,15.14,14.62,15.16
$GC,6719,-0.65,-146.0,2534,3699,3887,3885,718.0,-10.0,490,6726,0.00,2.12,0.00,0.000,1030,0.000,0.041,2534,2337,3886,3888,3884,0,0,0,0,0,0,14.86,14.78,14.88
$GC,7026,-0.65,-146.0,2534,2337,3888,3882,747.5,-9.4,501,7030,0.00,2.35,0.00,0.000,516,0.000,0.050,2534,961,3885,3888,3882,0,0,0,0,0,0,15.14,14.70,15.16
$GC,7087,-0.65,-146.0,2534,961,3888,3882,753.3,-8.9,513,7092,0.00,2.42,0.00,0.000,1030,0.000,0.056,2534,2350,3885,3888,3882,0,0,0,0,0,0,14.81,14.69,14.84
$GC,7419,-0.65,-146.0,2534,2350,3887,3881,782.2,-8.7,529,7424,0.00,2.40,0.00,0.000,516,0.000,0.051,2534,967,3883,3886,3880,0,0,0,0,0,0,15.14,14.69,15.15
$GC,7452,-0.65,-146.0,2534,966,3886,3881,785.0,-8.6,535,7458,0.00,2.42,0.00,0.000,1030,0.000,0.058,2534,2348,3883,3887,3880,0,0,0,0,0,0,14.81,14.69,14.84
$GC,7782,-0.65,-146.0,2534,2348,3885,3879,812.2,-8.3,551,7786,0.00,2.40,0.00,0.000,516,0.000,0.052,2534,970,3882,3886,3879,0,0,0,0,0,0,15.13,14.69,15.15
$GC,7821,-0.65,-146.0,2534,967,3886,3878,815.6,-8.2,559,7825,0.00,2.45,0.00,0.000,1030,0.000,0.057,2535,2359,3882,3886,3879,0,0,0,0,0,0,14.80,14.68,14.84
$GC,8138,-0.65,-146.0,2534,2358,3883,3877,841.7,-8.6,572,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2358,3880,3884,3877,0,0,0,0,0,0,15.13,15.15,15.14
$GC,8438,-0.65,-146.0,2534,2357,3884,3877,870.3,-10.0,582,8442,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,969,3880,3884,3877,0,0,0,0,0,0,15.13,14.69,15.15
$GC,8463,-0.65,-146.0,2534,965,3884,3877,873.1,-10.7,587,8470,0.00,2.42,0.00,0.000,1030,0.000,0.057,2534,2349,3880,3884,3876,0,0,0,0,0,0,14.81,14.69,14.84
$GC,8770,-0.65,-146.0,2534,2347,3883,3875,905.1,-10.4,598,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2347,3879,3883,3875,0,0,0,0,0,0,15.13,15.15,15.14
$GC,9069,-0.65,-146.0,2534,2347,3882,3874,934.6,-9.5,608,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2347,3877,3882,3873,0,0,0,0,0,0,15.14,15.16,15.15
$GC,9370,-0.65,-146.0,2532,2352,3882,3871,961.6,-8.7,618,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2352,3876,3882,3871,0,0,0,0,0,0,15.14,15.16,15.15
$GC,9670,-0.65,-146.0,2532,2352,3881,3871,987.2,-8.3,628,9677,0.00,2.42,0.00,0.000,516,0.000,0.053,2532,959,3876,3881,3871,0,0,0,0,0,0,15.13,14.65,15.15
$STATE,9702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9702,begin apogee
$GC,9709,-0.15,0.0,2532,2399,3881,3871,990.1,-8.1,635,9885,0.62,0.00,170.55,1.711,10246,0.223,0.000,2706,2399,3342,3366,3318,0,0,0,0,0,0,14.45,14.09,13.38
$STATE,9886,end apogee,CONTROL_FINISHED_OK
$STATE,9886,begin climb
$GC,9888,0.65,146.0,2705,2399,3363,3317,996.2,0.0,641,10049,0.82,2.35,149.23,1.915,10500,0.138,0.078,2960,3697,2742,2782,2703,0,0,0,0,0,0,14.07,13.92,13.15
$GC,10060,0.66,146.0,2960,3696,2776,2703,989.7,7.7,676,10066,0.00,2.15,0.00,0.000,1094,0.000,0.044,2960,2409,2738,2775,2702,0,0,0,0,0,0,14.12,14.06,14.14
$GC,10367,0.70,146.0,2960,2410,2765,2697,967.7,6.8,687,10374,0.00,2.50,0.00,0.000,580,0.000,0.059,2960,993,2730,2764,2697,0,0,0,0,0,0,14.78,14.46,14.80
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$STATE,21657,end climb,SURFACE_DEPTH_REACHED
$STATE,21657,begin surface coast
$FINISH,0.3,1.022276
$STATE,21684,end surface coast,CONTROL_FINISHED_OK
$STATE,21684,begin surface
$SM_CCo,21703,8.20,0.076,0,0,1714,400.08
$SM_GC,1.58,8.75,2.15,8.20,0.102,0.036,0.076,248,2358,1714,-7.81,1.81,400.08,0,0,0,0,0,0,14.52,14.65,14.58
$IRIDIUM_FIX,-319.88,5559.42,180318,142640
$TT8_MAMPS,0.018725,0.156541
$HUMID,58.58
$INTERNAL_PRESSURE,8.53162
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.15,83.315
$10V_AH,13.47,0.000
$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,22.375,227.300,536.100,8.200,0.000,0.000,0.000,313.675,0.000,0.000,19.748,3370.534,15148.033,720.269,2648.483,248.292,0.000,2385.068,0.000,2312.871,0.000,0.546,0.000
$DEVICE_MAMPS,412.335,82.620,1914.795,76.500,0.000,0.000,0.000,142.290,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303996
$DATA_FILE_SIZE,70026,1627
$CAP_FILE_SIZE,190660,0
$CFSIZE,260034560,237080576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.104,55.49,1
$GPS,190318,023108,-316.443,5557.814,32,0.8,34,-4.7,0.5,169.3,8,8.2