version: 66.13
glider: 128
mission: 4
dive: 19
start: 1 18 118 13 6 51
data:
$ID,128
$MISSION,4
$DIVE,19
$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,330
$T_MISSION,390
$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,200
$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,450
$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,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,50
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,180118,130129,-319.3005,5542.0283,40,0.9,44,-4.6,0.5,84.0,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-72.3
$GPS2,180118,130612,-319.3171,5542.0913,21,0.9,21,-4.6,0.3,67.8,8,5.0
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.0,38104,-16.1,-10.000,-21.60,2947
$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,5,begin dive
$GC,6,-0.64,-194.6,249,2272,1512,1488,0.0,0.0,0,79,0.00,0.00,-70.25,0.003,16386,0.000,0.000,249,2274,3596,3574,3618,0,0,0,0,0,0,14.86,28.83,14.88
$GC,81,-0.64,-194.6,249,2273,3576,3618,4.0,-11.3,12,108,12.00,2.30,-4.62,0.025,18692,0.452,0.090,2575,3650,3905,3898,3912,0,0,0,0,0,0,14.42,13.83,14.60
$GC,166,-0.44,-194.6,2574,3649,3902,3913,33.7,-23.7,27,174,0.32,2.20,0.00,0.000,3206,0.275,0.048,2655,2289,3908,3903,3913,0,0,0,0,0,0,14.54,14.68,14.73
$GC,481,-0.54,-194.6,2655,2285,3908,3913,76.4,-8.9,66,486,0.00,2.30,0.00,0.000,676,0.000,0.054,2655,837,3910,3908,3913,0,0,0,0,0,0,14.99,14.76,15.01
$GC,544,-0.68,-194.6,2655,838,3909,3913,82.0,-9.1,78,550,0.22,2.25,0.00,0.000,5286,0.110,0.056,2575,2228,3911,3909,3913,0,0,0,0,0,0,14.78,14.77,14.85
$GC,857,-0.57,-194.6,2575,2228,3910,3915,124.6,-10.2,110,862,0.12,2.40,0.00,0.000,2436,0.295,0.088,2605,3660,3912,3910,3915,0,0,0,0,0,0,14.71,14.79,14.83
$GC,940,-0.66,-194.6,2605,3660,3910,3916,130.4,-5.7,126,945,0.00,2.25,0.00,0.000,1190,0.000,0.046,2606,2236,3913,3910,3916,0,0,0,0,0,0,14.92,14.87,14.94
$GC,1251,-0.66,-194.6,2605,2231,3911,3916,156.7,-10.4,158,1256,0.00,2.17,0.00,0.000,516,0.000,0.053,2606,850,3913,3911,3916,0,0,0,0,0,0,15.09,14.88,15.11
$GC,1286,-0.70,-194.6,2605,850,3911,3917,160.6,-10.6,165,1294,0.00,2.30,0.00,0.000,1158,0.000,0.057,2606,2240,3914,3911,3917,0,0,0,0,0,0,14.96,14.85,14.97
$GC,1593,-0.70,-194.6,2605,2240,3911,3917,196.0,-11.8,196,1597,0.00,2.38,0.00,0.000,260,0.000,0.090,2606,3666,3914,3912,3917,0,0,0,0,0,0,15.11,14.86,15.14
$GC,1617,-0.76,-194.6,2605,3666,3911,3917,199.0,-11.2,201,1625,0.15,2.25,0.00,0.000,5254,0.129,0.045,2549,2240,3914,3911,3917,0,0,0,0,0,0,14.91,14.92,14.97
$GC,1924,-0.62,-194.6,2548,2236,3911,3917,241.1,-13.4,232,1934,0.17,2.40,0.00,0.000,2436,0.273,0.087,2593,3660,3914,3911,3917,0,0,0,0,0,0,14.79,14.88,14.91
$GC,1990,-0.73,-194.6,2593,3660,3911,3917,247.7,-8.4,245,1997,0.00,2.22,0.00,0.000,1190,0.000,0.047,2594,2249,3914,3911,3917,0,0,0,0,0,0,14.99,14.93,15.00
$GC,2296,-0.73,-194.6,2593,2244,3910,3916,270.7,-7.1,258,2301,0.00,2.40,0.00,0.000,292,0.000,0.090,2593,3667,3913,3910,3916,0,0,0,0,0,0,15.15,14.90,15.17
$GC,2324,-0.77,-194.6,2594,3667,3910,3916,272.7,-7.1,263,2331,0.15,2.22,0.00,0.000,5286,0.132,0.046,2539,2246,3913,3910,3916,0,0,0,0,0,0,14.94,14.95,15.00
$GC,2628,-0.62,-194.6,2538,2244,3910,3915,310.5,-13.2,274,2634,0.20,2.20,0.00,0.000,2692,0.269,0.055,2590,858,3912,3910,3915,0,0,0,0,0,0,14.83,14.95,14.95
$GC,2665,-0.66,-194.6,2590,858,3910,3915,314.9,-10.4,281,2669,0.00,2.28,0.00,0.000,1158,0.000,0.063,2591,2257,3912,3910,3915,0,0,0,0,0,0,15.02,14.93,15.03
$GC,2991,-0.66,-194.6,2591,2257,3910,3914,349.9,-11.3,296,2995,0.00,2.35,0.00,0.000,260,0.000,0.093,2591,3666,3911,3909,3914,0,0,0,0,0,0,15.18,14.92,15.20
$GC,3048,-0.77,-194.6,2591,3666,3909,3913,356.2,-10.8,307,3053,0.12,2.22,0.00,0.000,5254,0.145,0.047,2543,2250,3911,3909,3913,0,0,0,0,0,0,14.97,14.98,15.03
$GC,3381,-0.65,-194.6,2543,2245,3908,3911,397.9,-11.9,323,3388,0.15,2.40,0.00,0.000,2436,0.275,0.090,2581,3658,3909,3908,3911,0,0,0,0,0,0,14.85,14.93,14.97
$GC,3420,-0.70,-194.6,2580,3658,3907,3910,401.7,-8.9,331,3424,0.00,2.22,0.00,0.000,1190,0.000,0.050,2581,2251,3909,3907,3911,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3741,-0.70,-194.6,2581,2247,3907,3909,425.4,-7.6,345,3742,0.00,0.00,0.00,0.000,38,0.000,0.000,2581,2247,3908,3907,3909,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4042,-0.70,-194.6,2581,2247,3907,3907,450.7,-9.2,355,4046,0.00,2.40,0.00,0.000,292,0.000,0.093,2581,3662,3906,3906,3907,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4083,-0.79,-194.6,2581,3661,3904,3907,455.0,-9.9,363,4088,0.12,2.25,0.00,0.000,5286,0.157,0.050,2537,2249,3905,3904,3907,0,0,0,0,0,0,14.98,15.00,15.05
$GC,4405,-0.66,-194.6,2537,2244,3903,3905,498.0,-13.8,377,4407,0.17,0.00,0.00,0.000,2182,0.269,0.000,2579,2244,3904,3903,3905,0,0,0,0,0,0,14.88,15.06,15.03
$GC,4705,-0.66,-194.6,2578,2244,3902,3903,530.0,-10.4,387,4711,0.00,2.40,0.00,0.000,260,0.000,0.096,2579,3657,3902,3902,3903,0,0,0,0,0,0,15.21,14.95,15.23
$GC,4774,-0.74,-194.6,2578,3657,3901,3902,536.9,-9.2,401,4778,0.00,2.22,0.00,0.000,1190,0.000,0.050,2579,2250,3901,3901,3902,0,0,0,0,0,0,15.06,15.00,15.08
$GC,5096,-0.74,-194.6,2578,2245,3901,3901,566.8,-9.2,415,5100,0.00,2.40,0.00,0.000,292,0.000,0.095,2579,3656,3900,3900,3901,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5141,-0.81,-194.6,2578,3656,3900,3901,571.2,-9.3,424,5146,0.12,2.25,0.00,0.000,5286,0.153,0.052,2533,2243,3900,3900,3901,0,0,0,0,0,0,14.99,15.01,15.06
$GC,5458,-0.69,-194.6,2533,2238,3900,3899,610.5,-12.9,437,5460,0.17,0.00,0.00,0.000,2182,0.273,0.000,2573,2238,3899,3899,3900,0,0,0,0,0,0,14.88,15.07,15.04
$GC,5758,-0.69,-194.6,2573,2238,3899,3897,642.4,-10.4,447,5765,0.00,2.42,0.00,0.000,260,0.000,0.096,2574,3662,3898,3899,3897,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5821,-0.76,-194.6,2573,3662,3898,3897,649.1,-10.4,460,5825,0.00,2.25,0.00,0.000,1158,0.000,0.050,2574,2246,3897,3898,3897,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6148,-0.76,-194.6,2573,2241,3898,3896,683.4,-10.5,475,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2241,3897,3898,3896,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6447,-0.76,-194.6,2573,2241,3898,3895,715.0,-10.4,485,6452,0.00,2.42,0.00,0.000,260,0.000,0.095,2574,3667,3896,3898,3895,0,0,0,0,0,0,15.21,14.96,15.23
$GC,6518,-0.84,-194.6,2573,3667,3897,3895,722.3,-10.3,499,6523,0.15,2.25,0.00,0.000,5254,0.143,0.049,2522,2247,3895,3897,3894,0,0,0,0,0,0,14.99,15.01,15.06
$GC,6835,-0.70,-194.6,2522,2242,3897,3893,762.8,-12.5,512,6837,0.20,0.00,0.00,0.000,2182,0.268,0.000,2570,2242,3895,3897,3893,0,0,0,0,0,0,14.88,15.07,15.04
$GC,7135,-0.70,-194.6,2569,2242,3895,3890,790.3,-9.1,522,7140,0.00,2.42,0.00,0.000,292,0.000,0.098,2570,3661,3893,3896,3891,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7198,-0.78,-194.6,2569,3661,3895,3891,796.1,-9.2,534,7203,0.00,2.28,0.00,0.000,1190,0.000,0.052,2570,2246,3893,3896,3891,0,0,0,0,0,0,15.07,15.01,15.09
$GC,7530,-0.78,-194.6,2570,2241,3895,3889,827.0,-9.4,550,7535,0.00,2.42,0.00,0.000,292,0.000,0.096,2571,3662,3892,3896,3889,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7577,-0.86,-194.6,2569,3661,3895,3888,831.5,-9.5,559,7582,0.15,2.25,0.00,0.000,5286,0.149,0.053,2519,2249,3891,3895,3888,0,0,0,0,0,0,14.98,15.01,15.06
$GC,7889,-0.72,-194.6,2518,2245,3894,3886,871.5,-13.3,571,7894,0.15,2.25,0.00,0.000,2692,0.281,0.060,2557,839,3891,3895,3887,0,0,0,0,0,0,14.87,14.97,14.99
$GC,7920,-0.72,-194.6,2557,838,3894,3887,875.3,-10.8,577,7925,0.00,2.30,0.00,0.000,1030,0.000,0.066,2557,2249,3890,3894,3886,0,0,0,0,0,0,15.06,14.97,15.07
$GC,8252,-0.72,-194.6,2557,2249,3893,3885,907.9,-9.8,593,8259,0.00,2.38,0.00,0.000,292,0.000,0.099,2557,3660,3888,3892,3885,0,0,0,0,0,0,15.21,14.95,15.22
$GC,8343,-0.78,-194.6,2557,3660,3892,3884,916.8,-9.8,611,8347,0.00,2.25,0.00,0.000,1190,0.000,0.054,2557,2250,3888,3892,3885,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8675,-0.78,-194.6,2557,2245,3891,3883,949.0,-9.7,627,8681,0.00,2.42,0.00,0.000,292,0.000,0.099,2558,3661,3887,3891,3883,0,0,0,0,0,0,15.20,14.94,15.22
$GC,8718,-0.83,-194.6,2557,3660,3891,3882,953.4,-9.7,636,8722,0.00,2.28,0.00,0.000,1190,0.000,0.055,2557,2243,3886,3891,3882,0,0,0,0,0,0,15.06,15.00,15.07
$GC,9034,-0.83,-194.6,2557,2237,3891,3881,982.1,-9.1,649,9041,0.00,2.42,0.00,0.000,292,0.000,0.097,2557,3660,3885,3890,3881,0,0,0,0,0,0,15.20,14.94,15.22
$STATE,9116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9116,begin apogee
$GC,9122,-0.12,0.0,2557,2291,3890,3882,990.1,-9.3,666,9318,0.68,0.00,192.52,1.589,10246,0.231,0.000,2752,2287,3346,3368,3324,0,0,0,0,0,0,14.87,14.10,13.52
$STATE,9319,end apogee,CONTROL_FINISHED_OK
$STATE,9319,begin climb
$GC,9320,0.64,194.6,2752,2287,3360,3316,997.0,0.0,672,9579,0.80,2.65,247.75,1.637,10500,0.112,0.095,3004,3694,2542,2585,2499,0,0,0,0,0,0,14.09,13.97,13.47
$GC,9625,0.42,194.6,3004,3695,2575,2489,973.4,14.8,712,9633,0.30,2.38,0.00,0.000,5254,0.308,0.055,2938,2308,2531,2575,2488,0,0,0,0,0,0,14.11,14.24,14.29
$GC,9932,0.44,209.0,2938,2307,2568,2483,943.8,9.5,723,9945,0.00,2.50,5.18,1.605,8484,0.000,0.090,2939,3693,2493,2537,2449,0,0,0,0,0,0,14.81,14.53,13.76
$GC,9962,0.45,217.7,2938,3694,2537,2449,940.8,9.7,729,9985,0.00,2.33,17.67,1.807,9254,0.000,0.056,2939,2300,2457,2504,2411,0,0,0,0,0,0,14.64,14.57,13.81
$GC,10292,0.47,239.3,2938,2300,2485,2395,909.9,9.2,745,10324,0.00,2.45,24.60,1.746,8740,0.000,0.072,2938,891,2359,2405,2314,0,0,0,0,0,0,14.88,14.45,13.85
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$STATE,17581,end climb,SURFACE_DEPTH_REACHED
$STATE,17582,begin surface coast
$FINISH,-0.5,1.022976
$STATE,17594,end surface coast,CONTROL_FINISHED_OK
$STATE,17594,begin surface
$SM_CCo,17672,0.00,0.000,0,0,993,577.18
$SM_GC,0.60,8.95,2.47,0.00,0.099,0.047,0.000,247,2239,993,-7.94,0.88,577.18,0,0,0,0,0,0,14.31,14.36,14.40
$IRIDIUM_FIX,-317.71,5543.84,180118,080426
$TT8_MAMPS,0.018725,0.15729
$HUMID,60.75
$INTERNAL_PRESSURE,8.36559
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,13.47,8.706
$10V_AH,13.11,0.000
$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,28.175,195.500,860.575,0.000,0.000,0.000,0.000,194.275,0.000,0.000,22.431,2727.402,11943.301,973.377,2212.703,109.881,0.000,2357.160,0.000,1974.380,0.000,0.544,0.000
$DEVICE_MAMPS,452.115,181.305,1806.930,0.000,0.000,0.000,0.000,136.170,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.842,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304648
$DATA_FILE_SIZE,60110,1387
$CAP_FILE_SIZE,177498,0
$CFSIZE,260034560,257040384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.156,112.83,1
$GPS,180118,180243,-318.282,5542.451,37,1.6,44,-4.6,0.7,75.8,4,9.6