version: 66.13
glider: 128
mission: 4
dive: 474
start: 5 30 118 12 57 57
data:
$ID,128
$MISSION,4
$DIVE,474
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,200
$T_MISSION,95
$T_ABORT,1600
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,28800
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$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,2800
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3250
$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,2
$LOITER_DBDW,400
$LOITER_D_NO_PUMP,500
$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
$GPS1,300518,125315,-158.5581,5856.3560,15,0.9,18,-4.6,0.6,90.2,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-71.3
$GPS2,300518,125721,-158.5678,5856.4307,18,0.8,20,-4.6,0.3,108.3,9,9.9
$SPEED_LIMITS,0.144,0.173
$TGT_NAME,MALDIVE
$TGT_LATLONG,430.000,7230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,88.7,1665570,-20.3,-8.333,-25.69,1777
$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,-0.72,-97.3,244,2775,439,351,0.0,0.0,0,115,0.00,0.00,-102.07,0.003,16390,0.000,0.000,243,2775,3648,3632,3665,0,0,0,0,0,0,14.97,12.78,14.90
$GC,119,-0.72,-97.3,243,2775,3632,3665,4.9,-14.6,18,139,11.55,1.35,0.00,0.000,2308,0.409,0.042,2516,3676,3651,3639,3663,0,0,0,0,0,0,14.14,14.61,14.53
$GC,166,-0.72,-97.3,2516,3676,3640,3660,19.5,-15.6,26,173,0.00,1.35,0.00,0.000,1030,0.000,0.033,2517,2754,3650,3643,3658,0,0,0,0,0,0,14.69,14.66,14.71
$GC,478,-0.72,-97.3,2516,2753,3645,3656,61.7,-11.6,77,482,0.00,1.45,0.00,0.000,260,0.000,0.062,2512,3658,3650,3645,3656,0,0,0,0,0,0,15.04,14.59,15.06
$GC,502,-0.72,-97.3,2512,3658,3645,3655,65.1,-13.0,82,509,0.00,1.25,0.00,0.000,1030,0.000,0.033,2513,2793,3650,3645,3656,0,0,0,0,0,0,14.73,14.70,14.75
$GC,810,-0.72,-97.3,2512,2793,3649,3656,101.3,-10.8,113,814,0.00,2.22,0.00,0.000,516,0.000,0.035,2512,1430,3652,3649,3656,0,0,0,0,0,0,15.07,14.74,15.09
$GC,894,-0.72,-97.3,2512,1430,3650,3655,109.1,-9.0,129,898,0.00,2.28,0.00,0.000,1030,0.000,0.050,2512,2759,3652,3650,3655,0,0,0,0,0,0,14.78,14.69,14.81
$GC,1206,-0.72,-97.3,2511,2759,3653,3656,136.3,-9.6,161,1210,0.00,2.20,0.00,0.000,516,0.000,0.033,2511,1426,3654,3653,3655,0,0,0,0,0,0,15.09,14.76,15.11
$GC,1278,-0.72,-97.3,2511,1426,3653,3656,143.5,-10.2,175,1287,0.00,2.38,0.00,0.000,1030,0.000,0.051,2512,2811,3654,3653,3655,0,0,0,0,0,0,14.80,14.69,14.83
$GC,1588,-0.72,-97.3,2511,2810,3654,3655,174.1,-9.1,207,1591,0.00,1.40,0.00,0.000,260,0.000,0.067,2512,3695,3654,3654,3655,0,0,0,0,0,0,15.11,14.62,15.12
$GC,1670,-0.72,-97.3,2511,3694,3654,3653,181.5,-9.3,223,1674,0.00,1.30,0.00,0.000,1030,0.000,0.034,2512,2794,3653,3654,3653,0,0,0,0,0,0,14.78,14.76,14.80
$GC,1981,-0.72,-97.3,2511,2794,3654,3650,208.8,-8.4,255,1985,0.00,2.25,0.00,0.000,516,0.000,0.035,2511,1421,3652,3654,3650,0,0,0,0,0,0,15.11,14.76,15.13
$GC,2026,-0.72,-97.3,2511,1421,3654,3650,212.7,-8.9,264,2034,0.00,2.40,0.00,0.000,1030,0.000,0.053,2512,2802,3652,3654,3650,0,0,0,0,0,0,14.78,14.68,14.82
$GC,2334,-0.72,-97.3,2511,2802,3653,3645,241.3,-9.1,295,2338,0.00,1.42,0.00,0.000,260,0.000,0.070,2512,3698,3649,3653,3645,0,0,0,0,0,0,15.10,14.60,15.11
$GC,2358,-0.72,-97.3,2511,3698,3653,3644,243.6,-8.7,300,2366,0.00,1.33,0.00,0.000,1030,0.000,0.036,2512,2802,3648,3653,3644,0,0,0,0,0,0,14.76,14.73,14.78
$GC,2675,-0.72,-97.3,2511,2802,3653,3641,267.7,-6.9,316,2680,0.00,1.45,0.00,0.000,260,0.000,0.070,2512,3690,3647,3653,3641,0,0,0,0,0,0,15.11,14.59,15.14
$GC,2697,-0.72,-97.3,2511,3691,3653,3641,269.2,-6.9,320,2702,0.00,1.33,0.00,0.000,1030,0.000,0.035,2512,2786,3647,3653,3641,0,0,0,0,0,0,14.77,14.74,14.79
$STATE,2857,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2857,begin apogee
$GC,2863,-0.15,0.0,2512,2786,3653,3638,279.8,-6.7,327,2956,0.75,0.00,84.70,1.276,10246,0.252,0.000,2707,2786,3250,3270,3230,0,0,0,0,1,0,14.25,14.38,13.53
$STATE,2957,end apogee,CONTROL_FINISHED_OK
$STATE,2957,begin climb
$GC,2959,0.72,97.3,2707,2786,3270,3230,283.0,0.0,330,3061,0.90,1.58,87.82,1.312,10500,0.171,0.067,2979,3706,2853,2883,2824,0,0,0,0,1,0,14.31,14.26,13.42
$GC,3152,0.78,150.1,2978,3706,2890,2824,277.4,5.3,370,3208,0.00,1.38,50.20,1.147,9254,0.000,0.034,2981,2794,2634,2671,2597,0,0,0,0,0,0,14.55,14.55,13.66
$GC,3523,0.86,213.2,2981,2794,2644,2580,259.5,4.7,393,3583,0.12,2.33,49.05,1.147,11044,0.165,0.043,3035,1426,2372,2410,2335,0,0,0,0,0,0,14.62,14.48,13.73
$GC,3648,0.87,213.2,3035,1426,2408,2332,250.8,7.4,418,3653,0.00,2.40,0.00,0.000,1094,0.000,0.049,3035,2802,2370,2408,2332,0,0,0,0,0,0,14.63,14.54,14.66
$GC,3961,0.90,213.2,3035,2802,2404,2329,228.5,6.8,451,3965,0.00,1.45,0.00,0.000,324,0.000,0.067,3036,3701,2366,2404,2329,0,0,0,0,0,0,15.00,14.59,15.02
$GC,4003,0.93,213.2,3035,3701,2402,2329,225.5,7.1,459,4006,0.00,1.35,0.00,0.000,1094,0.000,0.037,3039,2797,2365,2402,2329,0,0,0,0,0,0,14.71,14.69,14.73
$GC,4314,0.93,213.2,3039,2794,2396,2328,201.7,8.3,491,4318,0.00,2.30,0.00,0.000,516,0.000,0.044,3041,1422,2362,2397,2328,0,0,0,0,0,0,15.05,14.71,15.07
$GC,4359,0.93,213.2,3040,1422,2394,2327,197.9,8.1,500,4367,0.00,2.40,0.00,0.000,1030,0.000,0.049,3041,2810,2360,2394,2326,0,0,0,0,0,0,14.77,14.68,14.81
$GC,4666,0.93,213.2,3040,2810,2397,2325,171.3,8.9,531,4670,0.00,1.42,0.00,0.000,260,0.000,0.069,3041,3694,2360,2397,2324,0,0,0,0,0,0,15.08,14.60,15.09
$GC,4719,0.93,213.2,3041,3694,2396,2324,166.4,9.0,541,4723,0.00,1.33,0.00,0.000,1030,0.000,0.036,3042,2795,2360,2396,2325,0,0,0,0,0,0,14.74,14.72,14.76
$GC,5032,0.98,257.0,3041,2792,2395,2323,143.6,5.8,573,5075,0.10,2.30,37.50,1.050,11044,0.177,0.041,3081,1424,2194,2230,2158,0,0,0,0,0,0,14.73,14.38,13.87
$GC,5113,0.98,257.0,3081,1424,2228,2157,137.6,8.0,588,5118,0.00,2.40,0.00,0.000,1030,0.000,0.049,3081,2803,2192,2227,2157,0,0,0,0,0,0,14.70,14.61,14.73
$GC,5426,0.98,257.0,3081,2803,2224,2156,109.1,8.6,620,5430,0.00,1.42,0.00,0.000,260,0.000,0.068,3081,3694,2190,2225,2156,0,0,0,0,0,0,15.02,14.56,15.04
$GC,5448,0.98,257.0,3081,3694,2223,2156,107.3,7.9,624,5453,0.00,1.33,0.00,0.000,1030,0.000,0.036,3083,2808,2189,2223,2156,0,0,0,0,0,0,14.70,14.67,14.72
$GC,5712,1.52,699.1,3082,2809,2222,2156,87.9,8.3,651,6083,0.45,1.52,359.38,0.894,11012,0.106,0.060,3242,3707,398,466,330,0,0,0,0,0,0,14.57,14.32,13.79
$GC,6090,1.52,699.1,3241,3707,460,322,32.8,13.8,718,6097,0.00,1.40,0.00,0.000,1030,0.000,0.034,3242,2794,390,459,322,0,0,0,0,0,0,14.41,14.38,14.42
$STATE,6313,end climb,SURFACE_DEPTH_REACHED
$STATE,6313,begin surface coast
$FINISH,-0.2,1.022188
$STATE,6334,end surface coast,CONTROL_FINISHED_OK
$STATE,6335,begin surface
$SM_CCo,6413,0.00,0.000,0,0,392,701.06
$SM_GC,0.41,8.95,0.00,0.00,0.096,0.000,0.000,246,2794,392,-7.81,-0.17,701.06,0,0,0,0,0,0,14.53,14.92,14.64
$IRIDIUM_FIX,-159.45,5858.47,300518,125042
$TT8_MAMPS,0.018725,0.155792
$HUMID,61.45
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,12.78,152.657
$10V_AH,12.08,0.000
$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,22.825,55.650,668.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,22.066,1559.463,3015.745,678.390,1123.597,125.181,0.000,1364.443,0.000,1096.918,0.000,0.548,0.000
$DEVICE_MAMPS,409.275,69.615,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.764,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303008
$DATA_FILE_SIZE,33414,766
$CAP_FILE_SIZE,96305,1
$CFSIZE,260034560,215367680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.074,356.88,1
$GPS,300518,144607,-158.316,5856.449,40,0.8,42,-4.6,0.4,128.0,9,9.3