version: 66.13
glider: 128
mission: 4
dive: 259
start: 3 19 118 21 25 48
data:
$ID,128
$MISSION,4
$DIVE,259
$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,47
$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
$GPS1,190318,211738,-309.5282,5601.5605,43,0.9,45,-4.6,1.2,197.4,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-74.8
$GPS2,190318,212509,-309.6763,5601.5234,16,0.9,18,-4.6,0.7,198.0,10,9.3
$SPEED_LIMITS,0.132,0.189
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,7.6,206077,-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,-146.0,234,2404,1666,1643,0.0,0.0,0,73,0.00,0.00,-63.17,0.004,16386,0.000,0.000,234,2405,3619,3601,3638,0,0,0,0,0,0,14.83,28.83,14.85
$GC,76,-0.65,-146.0,234,2405,3602,3640,3.9,-10.3,11,97,11.73,2.17,-4.53,0.021,18692,0.422,0.088,2534,3700,3904,3900,3908,0,0,0,0,0,0,14.23,13.39,14.59
$GC,140,-0.65,-146.0,2534,3700,3903,3909,22.5,-17.8,22,147,0.00,2.12,0.00,0.000,1030,0.000,0.035,2534,2345,3907,3905,3909,0,0,0,0,0,0,14.67,14.62,14.70
$GC,455,-0.65,-146.0,2534,2342,3906,3909,78.3,-16.3,68,459,0.00,2.35,0.00,0.000,516,0.000,0.046,2534,948,3907,3906,3909,0,0,0,0,0,0,14.97,14.63,15.00
$GC,488,-0.65,-146.0,2534,948,3907,3910,82.6,-12.8,74,497,0.00,2.42,0.00,0.000,1030,0.000,0.054,2534,2364,3908,3906,3910,0,0,0,0,0,0,14.62,14.59,14.65
$GC,797,-0.65,-146.0,2534,2364,3909,3911,116.7,-12.6,106,801,0.00,2.17,0.00,0.000,260,0.000,0.073,2534,3704,3910,3909,3911,0,0,0,0,0,0,15.03,14.64,15.04
$GC,838,-0.65,-146.0,2534,3703,3909,3911,122.2,-12.8,114,843,0.00,2.10,0.00,0.000,1030,0.000,0.035,2534,2338,3910,3909,3912,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1150,-0.65,-146.0,2534,2334,3910,3914,157.6,-10.6,146,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2334,3912,3910,3914,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1451,-0.65,-146.0,2534,2334,3910,3914,192.4,-12.1,176,1455,0.00,2.33,0.00,0.000,516,0.000,0.044,2534,944,3912,3911,3914,0,0,0,0,0,0,15.08,14.73,15.10
$GC,1495,-0.65,-146.0,2534,944,3911,3916,197.9,-11.3,185,1503,0.00,2.40,0.00,0.000,1030,0.000,0.050,2534,2352,3913,3911,3915,0,0,0,0,0,0,14.82,14.73,14.86
$GC,1802,-0.65,-146.0,2534,2352,3911,3915,227.9,-8.8,216,1806,0.00,2.35,0.00,0.000,516,0.000,0.046,2534,955,3912,3910,3915,0,0,0,0,0,0,15.10,14.74,15.12
$GC,1835,-0.65,-146.0,2534,955,3911,3915,230.6,-8.9,222,1844,0.00,2.40,0.00,0.000,1030,0.000,0.052,2534,2358,3913,3911,3915,0,0,0,0,0,0,14.80,14.73,14.81
$GC,2165,-0.65,-146.0,2533,2358,3910,3915,265.5,-12.1,248,2168,0.00,2.38,0.00,0.000,516,0.000,0.046,2534,958,3912,3909,3915,0,0,0,0,0,0,15.11,14.74,15.13
$GC,2225,-0.65,-146.0,2534,956,3910,3915,273.2,-12.1,260,2233,0.00,2.38,0.00,0.000,1030,0.000,0.051,2534,2350,3912,3910,3915,0,0,0,0,0,0,14.83,14.73,14.86
$GC,2556,-0.65,-146.0,2534,2349,3909,3914,309.3,-9.7,276,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2349,3911,3909,3914,0,0,0,0,0,0,15.13,15.15,15.14
$GC,2857,-0.65,-146.0,2534,2349,3908,3911,334.9,-8.4,286,2861,0.00,2.40,0.00,0.000,516,0.000,0.047,2534,948,3909,3908,3911,0,0,0,0,0,0,15.13,14.75,15.15
$GC,2911,-0.65,-146.0,2534,948,3908,3911,340.0,-8.7,297,2919,0.00,2.40,0.00,0.000,1030,0.000,0.052,2534,2351,3909,3908,3911,0,0,0,0,0,0,14.85,14.74,14.88
$GC,3218,-0.65,-146.0,2534,2350,3906,3908,369.0,-10.2,308,3222,0.00,2.38,0.00,0.000,516,0.000,0.047,2534,951,3907,3906,3908,0,0,0,0,0,0,15.14,14.75,15.16
$GC,3268,-0.65,-146.0,2534,949,3906,3909,374.4,-10.2,318,3272,0.00,2.40,0.00,0.000,1030,0.000,0.054,2534,2350,3907,3907,3908,0,0,0,0,0,0,14.85,14.73,14.88
$GC,3574,-0.65,-146.0,2533,2349,3904,3906,405.1,-9.7,329,3579,0.00,2.38,0.00,0.000,516,0.000,0.047,2534,949,3904,3904,3905,0,0,0,0,0,0,15.14,14.75,15.16
$GC,3594,-0.65,-146.0,2534,949,3905,3906,407.3,-10.2,333,3600,0.00,2.42,0.00,0.000,1030,0.000,0.054,2534,2355,3905,3905,3905,0,0,0,0,0,0,14.85,14.73,14.88
$GC,3907,-0.65,-146.0,2534,2354,3902,3902,437.8,-10.0,345,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3902,3902,3903,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4207,-0.65,-146.0,2533,2354,3900,3901,468.6,-10.5,355,4211,0.00,2.40,0.00,0.000,516,0.000,0.049,2534,955,3900,3900,3901,0,0,0,0,0,0,15.14,14.73,15.16
$GC,4246,-0.65,-146.0,2534,952,3901,3900,473.0,-10.7,363,4250,0.00,2.42,0.00,0.000,1030,0.000,0.055,2534,2355,3900,3900,3901,0,0,0,0,0,0,14.84,14.73,14.87
$GC,4563,-0.65,-146.0,2533,2354,3899,3897,506.3,-10.6,376,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3898,3898,3898,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4863,-0.65,-146.0,2534,2354,3897,3896,536.7,-10.2,386,4867,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,957,3896,3897,3896,0,0,0,0,0,0,15.15,14.72,15.17
$GC,4897,-0.65,-146.0,2533,955,3897,3896,540.4,-9.8,393,4903,0.00,2.47,0.00,0.000,1030,0.000,0.057,2534,2354,3896,3897,3896,0,0,0,0,0,0,14.75,14.68,14.79
$GC,5225,-0.65,-146.0,2533,2353,3896,3892,572.0,-9.7,408,5229,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,958,3894,3896,3892,0,0,0,0,0,0,15.14,14.71,15.16
$GC,5250,-0.65,-146.0,2534,955,3896,3893,574.7,-9.9,413,5258,0.00,2.42,0.00,0.000,1030,0.000,0.057,2534,2350,3894,3896,3892,0,0,0,0,0,0,14.82,14.71,14.86
$GC,5557,-0.65,-146.0,2534,2349,3894,3890,602.5,-9.0,424,5561,0.00,2.40,0.00,0.000,516,0.000,0.049,2534,956,3892,3894,3890,0,0,0,0,0,0,15.14,14.72,15.16
$GC,5592,-0.65,-146.0,2533,956,3894,3890,605.8,-9.3,431,5596,0.00,2.42,0.00,0.000,1030,0.000,0.057,2534,2350,3892,3894,3890,0,0,0,0,0,0,14.83,14.71,14.86
$GC,5919,-0.65,-146.0,2534,2349,3891,3887,634.8,-9.0,446,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3889,3892,3887,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6219,-0.65,-146.0,2534,2350,3891,3885,662.2,-9.3,456,6223,0.00,2.38,0.00,0.000,516,0.000,0.048,2534,958,3888,3891,3885,0,0,0,0,0,0,15.14,14.66,15.16
$GC,6259,-0.65,-146.0,2533,958,3891,3885,666.2,-9.3,464,6263,0.00,2.42,0.00,0.000,1030,0.000,0.057,2534,2351,3887,3890,3885,0,0,0,0,0,0,14.82,14.69,14.85
$GC,6575,-0.65,-146.0,2533,2350,3889,3882,696.5,-9.8,477,6580,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,957,3886,3889,3883,0,0,0,0,0,0,15.14,14.70,15.16
$GC,6616,-0.65,-146.0,2534,957,3889,3882,700.8,-10.0,485,6621,0.00,2.42,0.00,0.000,1030,0.000,0.058,2534,2350,3885,3889,3882,0,0,0,0,0,0,14.81,14.69,14.85
$GC,6939,-0.65,-146.0,2534,2349,3887,3881,732.1,-9.8,499,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2349,3884,3887,3881,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7238,-0.65,-146.0,2533,2348,3886,3879,761.4,-9.6,509,7243,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,957,3882,3886,3879,0,0,0,0,0,0,15.14,14.69,15.16
$GC,7284,-0.65,-146.0,2534,957,3886,3879,766.0,-9.6,518,7288,0.00,2.45,0.00,0.000,1030,0.000,0.057,2534,2359,3882,3886,3879,0,0,0,0,0,0,14.80,14.68,14.84
$GC,7597,-0.65,-146.0,2534,2358,3885,3878,794.7,-9.0,530,7603,0.00,2.42,0.00,0.000,516,0.000,0.050,2534,954,3881,3885,3878,0,0,0,0,0,0,15.13,14.68,15.15
$GC,7619,-0.65,-146.0,2534,955,3885,3878,797.0,-10.2,535,7626,0.00,2.45,0.00,0.000,1030,0.000,0.060,2534,2348,3881,3885,3877,0,0,0,0,0,0,14.81,14.69,14.84
$GC,7926,-0.65,-146.0,2534,2348,3884,3876,823.1,-8.4,546,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2349,3880,3884,3876,0,0,0,0,0,0,15.14,15.15,15.15
$GC,8226,-0.65,-146.0,2534,2348,3883,3875,847.3,-7.9,556,8230,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,961,3879,3883,3875,0,0,0,0,0,0,15.13,14.68,15.15
$GC,8265,-0.65,-146.0,2533,957,3883,3875,850.6,-8.0,564,8269,0.00,2.45,0.00,0.000,1030,0.000,0.061,2534,2350,3879,3883,3875,0,0,0,0,0,0,14.79,14.66,14.83
$GC,8588,-0.65,-146.0,2533,2350,3882,3872,875.9,-8.0,578,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2350,3877,3882,3873,0,0,0,0,0,0,15.13,15.15,15.15
$GC,8888,-0.65,-146.0,2534,2350,3881,3871,901.3,-8.7,588,8895,0.00,2.40,0.00,0.000,516,0.000,0.051,2534,957,3876,3881,3871,0,0,0,0,0,0,15.13,14.66,15.15
$GC,8925,-0.65,-146.0,2533,958,3881,3871,905.1,-9.3,596,8930,0.00,2.45,0.00,0.000,1030,0.000,0.059,2534,2351,3875,3880,3871,0,0,0,0,0,0,14.78,14.66,14.83
$GC,9249,-0.65,-146.0,2534,2351,3880,3870,935.4,-9.6,610,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2351,3875,3880,3870,0,0,0,0,0,0,15.13,15.15,15.14
$GC,9548,-0.65,-146.0,2533,2351,3881,3868,964.6,-9.6,620,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2351,3873,3879,3868,0,0,0,0,0,0,15.13,15.15,15.15
$STATE,9816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9816,begin apogee
$GC,9821,-0.15,0.0,2532,2424,3879,3866,990.9,-10.0,629,9961,0.62,0.00,137.27,1.941,10246,0.228,0.000,2704,2424,3345,3368,3322,0,0,0,0,0,0,14.41,14.08,13.28
$STATE,9962,end apogee,CONTROL_FINISHED_OK
$STATE,9962,begin climb
$GC,9964,0.65,146.0,2704,2424,3362,3315,997.5,0.0,633,10123,0.85,2.28,147.75,1.935,10500,0.146,0.081,2961,3682,2742,2780,2704,0,0,0,0,0,0,14.05,13.91,13.15
$GC,10159,0.67,146.0,2961,3682,2773,2702,992.8,7.3,677,10163,0.00,2.12,0.00,0.000,1094,0.000,0.043,2964,2402,2737,2773,2702,0,0,0,0,0,0,14.21,14.14,14.23
$GC,10482,0.70,146.0,2964,2402,2765,2697,971.0,6.8,691,10483,0.00,0.00,0.00,0.000,70,0.000,0.000,2964,2402,2731,2765,2698,0,0,0,0,0,0,14.81,14.83,14.83
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$STATE,22133,end climb,SURFACE_DEPTH_REACHED
$STATE,22133,begin surface coast
$FINISH,-0.1,1.022270
$STATE,22160,end surface coast,CONTROL_FINISHED_OK
$STATE,22160,begin surface
$SM_CCo,22176,11.00,0.078,0,0,1714,400.08
$SM_GC,1.20,8.88,0.00,11.00,0.098,0.000,0.078,245,2408,1714,-7.82,1.61,400.08,0,0,0,0,0,0,14.50,14.92,14.55
$IRIDIUM_FIX,-311.21,5559.42,190318,151145
$TT8_MAMPS,0.019474,0.156541
$HUMID,60.35
$INTERNAL_PRESSURE,8.51208
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,13.15,84.546
$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,22.425,180.875,492.950,11.000,0.000,0.000,0.000,347.775,0.000,0.000,19.076,3244.119,16033.706,634.957,2486.177,244.623,0.000,2222.053,0.000,2130.830,0.000,0.547,0.000
$DEVICE_MAMPS,422.280,164.475,1940.805,78.030,0.000,0.000,0.000,140.760,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.616,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304096
$DATA_FILE_SIZE,63187,1498
$CAP_FILE_SIZE,178458,0
$CFSIZE,260034560,236752896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.077,20.05,1
$GPS,200318,033654,-306.863,5601.792,41,0.8,42,-4.6,0.7,193.7,10,9.8