version: 66.13
glider: 128
mission: 4
dive: 475
start: 5 30 118 14 53 28
data:
$ID,128
$MISSION,4
$DIVE,475
$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,83
$R_STBD_OVSHOOT,32
$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
$GPS1,300518,144607,-158.3155,5856.4487,40,0.8,42,-4.6,0.4,128.0,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-70.4
$GPS2,300518,145251,-158.3378,5856.5518,18,0.8,20,-4.6,0.5,21.5,9,9.1
$SPEED_LIMITS,0.144,0.173
$TGT_NAME,MALDIVE
$TGT_LATLONG,430.000,7230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,92.2,1665184,-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,-97.3,243,2794,447,350,0.0,0.0,0,115,0.00,0.00,-104.07,0.003,16390,0.000,0.000,243,2794,3648,3627,3670,0,0,0,0,0,0,14.92,12.84,14.89
$GC,118,-0.72,-97.3,243,2794,3628,3670,4.7,-13.2,17,133,11.62,1.45,0.00,0.000,2308,0.416,0.043,2516,3721,3650,3631,3670,0,0,0,0,0,0,14.15,14.64,14.54
$GC,155,-0.72,-97.3,2516,3721,3635,3666,17.9,-26.0,23,162,0.00,1.38,0.00,0.000,1030,0.000,0.034,2516,2798,3651,3638,3664,0,0,0,0,0,0,14.66,14.65,14.69
$GC,472,-0.72,-97.3,2516,2797,3638,3661,69.2,-11.0,71,476,0.00,1.45,0.00,0.000,260,0.000,0.065,2516,3694,3649,3638,3661,0,0,0,0,0,0,15.04,14.59,15.05
$GC,513,-0.72,-97.3,2515,3694,3634,3661,73.3,-9.9,79,517,0.00,1.33,0.00,0.000,1030,0.000,0.032,2516,2785,3648,3635,3661,0,0,0,0,0,0,14.75,14.73,14.76
$GC,825,-0.72,-97.3,2515,2783,3647,3661,108.7,-11.5,111,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2783,3654,3648,3661,0,0,0,0,0,0,15.08,15.10,15.09
$GC,1127,-0.72,-97.3,2515,2783,3651,3661,133.7,-8.5,141,1132,0.00,1.50,0.00,0.000,260,0.000,0.067,2516,3702,3656,3651,3661,0,0,0,0,0,0,15.09,14.64,15.11
$GC,1194,-0.72,-97.3,2516,3702,3651,3662,140.5,-9.7,154,1201,0.00,1.33,0.00,0.000,1030,0.000,0.034,2515,2795,3656,3652,3661,0,0,0,0,0,0,14.78,14.76,14.80
$GC,1499,-0.72,-97.3,2515,2796,3653,3661,168.9,-8.9,185,1504,0.00,2.25,0.00,0.000,516,0.000,0.035,2515,1414,3657,3653,3661,0,0,0,0,0,0,15.11,14.78,15.13
$GC,1553,-0.72,-97.3,2516,1413,3653,3661,173.6,-8.9,195,1562,0.00,2.38,0.00,0.000,1030,0.000,0.050,2516,2800,3657,3653,3661,0,0,0,0,0,0,14.81,14.71,14.85
$GC,1862,-0.72,-97.3,2515,2800,3653,3660,203.3,-10.4,227,1866,0.00,2.30,0.00,0.000,516,0.000,0.036,2516,1425,3656,3653,3660,0,0,0,0,0,0,15.11,14.77,15.13
$GC,1894,-0.72,-97.3,2515,1425,3653,3660,206.8,-10.8,233,1899,0.00,2.38,0.00,0.000,1030,0.000,0.053,2516,2800,3656,3653,3660,0,0,0,0,0,0,14.81,14.71,14.84
$GC,2206,-0.72,-97.3,2515,2799,3652,3658,239.4,-9.6,265,2211,0.00,2.28,0.00,0.000,516,0.000,0.036,2516,1423,3654,3652,3657,0,0,0,0,0,0,15.11,14.77,15.13
$GC,2261,-0.72,-97.3,2515,1422,3653,3658,244.9,-9.4,276,2269,0.00,2.40,0.00,0.000,1030,0.000,0.051,2515,2814,3655,3653,3657,0,0,0,0,0,0,14.80,14.70,14.83
$GC,2570,-0.72,-97.3,2515,2813,3652,3655,271.5,-8.3,291,2573,0.00,1.40,0.00,0.000,260,0.000,0.071,2516,3691,3653,3652,3655,0,0,0,0,0,0,15.11,14.62,15.14
$GC,2609,-0.72,-97.3,2515,3691,3652,3654,275.1,-8.7,299,2613,0.00,1.30,0.00,0.000,1030,0.000,0.035,2516,2795,3653,3652,3654,0,0,0,0,0,0,14.78,14.76,14.80
$STATE,2869,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2869,begin apogee
$GC,2875,-0.15,0.0,2516,2796,3647,3650,297.8,-9.0,311,2970,0.73,0.00,86.72,1.294,10246,0.247,0.000,2706,2796,3250,3264,3237,0,0,0,0,1,0,14.29,14.38,13.54
$STATE,2971,end apogee,CONTROL_FINISHED_OK
$STATE,2971,begin climb
$GC,2973,0.72,97.3,2706,2796,3264,3237,303.1,0.0,314,3075,0.90,1.52,87.68,1.341,10500,0.162,0.067,2981,3694,2852,2879,2826,0,0,0,0,1,0,14.31,14.26,13.43
$GC,3152,0.80,170.2,2980,3694,2888,2827,303.2,4.1,352,3238,0.08,1.35,79.82,1.109,11302,0.126,0.035,3017,2802,2554,2593,2515,0,0,0,0,0,0,14.39,14.52,13.66
$GC,3561,0.80,170.2,3017,2802,2572,2500,273.1,8.0,383,3565,0.00,2.33,0.00,0.000,516,0.000,0.042,3017,1420,2535,2571,2499,0,0,0,0,0,0,14.97,14.68,15.00
$GC,3627,0.84,170.2,3017,1419,2575,2499,268.6,6.4,396,3631,0.00,2.40,0.00,0.000,1094,0.000,0.048,3017,2811,2537,2575,2499,0,0,0,0,0,0,14.75,14.66,14.78
$GC,3950,0.90,214.7,3017,2810,2558,2497,250.2,5.8,410,3993,0.00,1.42,37.38,1.137,8484,0.000,0.070,3017,3691,2365,2401,2329,0,0,0,0,0,0,15.06,14.59,13.82
$GC,4032,0.90,214.7,3017,3691,2397,2326,244.3,8.2,426,4036,0.00,1.35,0.00,0.000,1030,0.000,0.034,3017,2786,2362,2398,2326,0,0,0,0,0,0,14.65,14.62,14.70
$GC,4344,0.91,214.7,3017,2783,2395,2322,220.2,7.6,458,4346,0.12,0.00,0.00,0.000,2118,0.145,0.000,3064,2783,2358,2395,2322,0,0,0,0,0,0,14.69,14.81,14.78
$GC,4644,0.91,214.7,3063,2783,2400,2321,194.8,9.0,488,4648,0.00,1.50,0.00,0.000,260,0.000,0.067,3064,3693,2360,2400,2321,0,0,0,0,0,0,15.06,14.61,15.08
$GC,4679,0.91,214.7,3063,3692,2399,2321,191.1,9.8,495,4686,0.00,1.33,0.00,0.000,1030,0.000,0.035,3068,2811,2360,2399,2321,0,0,0,0,0,0,14.74,14.71,14.76
$GC,4987,0.91,214.7,3068,2811,2390,2319,161.5,8.7,526,4991,0.00,1.45,0.00,0.000,260,0.000,0.067,3068,3695,2354,2390,2319,0,0,0,0,0,0,15.08,14.60,15.10
$GC,5002,0.91,214.7,3068,3695,2389,2319,160.0,8.5,529,5010,0.00,1.35,0.00,0.000,1030,0.000,0.036,3070,2807,2354,2389,2319,0,0,0,0,0,0,14.74,14.71,14.76
$GC,5309,0.96,254.2,3068,2807,2386,2318,136.9,6.1,560,5352,0.00,2.40,36.33,1.039,8996,0.000,0.043,3069,1411,2204,2239,2170,0,0,0,0,0,0,15.09,14.61,13.85
$GC,5400,1.00,291.0,3069,1411,2235,2167,131.5,6.2,577,5441,0.00,2.42,35.12,1.017,9254,0.000,0.048,3070,2809,2062,2098,2027,0,0,0,0,0,0,14.71,14.62,13.83
$GC,5710,1.50,699.1,3069,2809,2084,2014,106.0,8.6,612,6125,0.47,2.53,401.30,0.886,11012,0.100,0.047,3241,1418,393,455,332,0,0,0,0,0,0,14.54,14.33,13.78
$GC,6183,1.50,699.1,3241,1418,446,329,28.1,16.9,701,6191,0.00,2.42,0.00,0.000,1030,0.000,0.044,3241,2806,387,445,329,0,0,0,0,0,0,14.54,14.46,14.57
$STATE,6354,end climb,SURFACE_DEPTH_REACHED
$STATE,6354,begin surface coast
$FINISH,-0.1,1.022221
$STATE,6376,end surface coast,CONTROL_FINISHED_OK
$STATE,6376,begin surface
$SM_CCo,6453,0.00,0.000,0,0,385,702.77
$SM_GC,0.35,8.80,0.00,0.00,0.084,0.000,0.000,247,2807,385,-7.81,0.17,702.77,0,0,0,0,0,0,14.52,14.92,14.64
$IRIDIUM_FIX,-201.64,5903.29,300518,125353
$TT8_MAMPS,0.018725,0.15729
$HUMID,62.99
$INTERNAL_PRESSURE,8.44372
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,12.84,152.926
$10V_AH,12.78,0.000
$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,22.725,50.875,764.350,0.000,0.000,0.000,0.000,291.325,0.000,0.000,22.090,1464.293,3151.243,731.751,1356.067,170.346,0.000,1712.179,0.000,1059.042,0.000,0.548,0.000
$DEVICE_MAMPS,416.160,71.145,1341.045,0.000,0.000,0.000,0.000,139.230,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303000
$DATA_FILE_SIZE,33422,738
$CAP_FILE_SIZE,77066,1
$CFSIZE,260034560,215334912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.081,36.26,1
$GPS,300518,164208,-158.149,5856.744,29,1.0,32,-4.6,0.9,68.3,9,9.0