version: 66.13
glider: 128
mission: 4
dive: 21
start: 1 18 118 22 9 40
data:
$ID,128
$MISSION,4
$DIVE,21
$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,360
$T_MISSION,430
$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,2760
$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,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,34
$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
$GPS1,180118,220339,-317.6683,5542.8135,35,1.1,38,-4.6,0.3,175.1,7,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-69.4
$GPS2,180118,220904,-317.7102,5542.8535,22,1.1,22,-4.6,0.0,0.0,7,6.5
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,319.7,35872,-14.5,-9.167,-20.51,3205
$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,6,-0.60,-194.6,236,2218,675,585,0.0,0.0,0,118,0.00,0.00,-108.32,0.003,16390,0.000,0.000,235,2219,3901,3888,3915,0,0,0,0,0,0,14.90,13.90,14.90
$GC,120,-0.60,-194.6,235,2219,3889,3915,5.5,-16.6,18,140,11.80,2.40,0.00,0.000,2308,0.451,0.063,2548,3663,3905,3895,3916,0,0,0,0,0,0,14.48,14.68,14.73
$GC,217,0.04,-194.6,2547,3663,3898,3915,43.7,-24.8,36,225,0.82,2.28,0.00,0.000,3206,0.274,0.050,2766,2259,3907,3899,3915,0,0,0,0,0,0,14.59,14.72,14.76
$GC,533,-0.99,-194.6,2766,2253,3905,3914,62.1,-4.8,71,543,1.02,2.22,0.00,0.000,4772,0.184,0.048,2447,833,3909,3905,3914,0,0,0,0,0,0,14.71,14.78,14.80
$GC,559,-0.90,-194.6,2447,833,3905,3914,64.6,-10.3,76,566,0.00,2.30,0.00,0.000,1158,0.000,0.060,2447,2240,3910,3906,3914,0,0,0,0,0,0,14.86,14.78,14.88
$GC,866,0.04,-194.6,2447,2241,3907,3914,134.5,-20.7,107,876,1.23,2.35,0.00,0.000,2436,0.311,0.083,2760,3666,3911,3908,3915,0,0,0,0,0,0,14.69,14.80,14.83
$GC,902,-0.84,-194.6,2759,3666,3909,3915,137.6,-1.7,114,910,0.85,2.25,0.00,0.000,5286,0.159,0.044,2489,2223,3912,3910,3914,0,0,0,0,0,0,14.78,14.87,14.90
$GC,1209,-0.13,-194.6,2488,2223,3910,3915,185.7,-16.6,145,1211,0.85,0.00,0.00,0.000,2182,0.289,0.000,2710,2223,3912,3910,3915,0,0,0,0,0,0,14.73,14.95,14.92
$GC,1510,-1.19,-194.6,2710,2223,3910,3915,200.6,-6.3,175,1519,0.98,2.10,0.00,0.000,4772,0.137,0.044,2384,859,3913,3911,3915,0,0,0,0,0,0,14.84,14.90,14.91
$GC,1532,-1.25,-194.6,2384,859,3910,3914,202.9,-10.7,179,1537,0.00,2.28,0.00,0.000,1158,0.000,0.063,2382,2258,3912,3910,3915,0,0,0,0,0,0,14.96,14.88,14.97
$GC,1864,-0.11,-194.6,2382,2257,3909,3915,280.7,-24.4,205,1872,1.30,2.30,0.00,0.000,2436,0.321,0.083,2705,3658,3912,3910,3915,0,0,0,0,0,0,14.76,14.88,14.90
$GC,1944,-0.84,-194.6,2704,3657,3909,3915,286.8,-4.9,221,1949,0.62,2.20,0.00,0.000,5286,0.116,0.046,2489,2253,3912,3910,3915,0,0,0,0,0,0,14.89,14.95,14.97
$GC,2250,-0.23,-194.6,2489,2253,3910,3914,330.4,-15.3,232,2252,0.73,0.00,0.00,0.000,2182,0.282,0.000,2680,2253,3912,3910,3914,0,0,0,0,0,0,14.81,15.01,14.98
$GC,2550,-0.96,-194.6,2679,2253,3909,3913,345.1,-5.1,242,2556,0.65,2.38,0.00,0.000,4516,0.125,0.085,2456,3671,3910,3909,3912,0,0,0,0,0,0,14.91,14.92,14.97
$GC,2781,-0.31,-194.6,2456,3671,3906,3911,383.1,-18.2,288,2787,0.75,2.22,0.00,0.000,3206,0.282,0.044,2653,2256,3908,3906,3910,0,0,0,0,0,0,14.82,14.97,14.99
$GC,3089,-0.62,-194.6,2653,2252,3906,3909,401.4,-5.4,299,3096,0.25,2.35,0.00,0.000,4516,0.113,0.088,2552,3651,3907,3906,3908,0,0,0,0,0,0,14.96,14.92,15.00
$GC,3137,-0.50,-194.6,2552,3651,3905,3908,405.9,-10.6,309,3142,0.17,2.22,0.00,0.000,3206,0.253,0.046,2594,2246,3907,3906,3908,0,0,0,0,0,0,14.85,14.98,15.00
$GC,3449,-0.50,-194.6,2594,2241,3905,3906,430.1,-7.3,321,3453,0.00,2.40,0.00,0.000,292,0.000,0.093,2594,3657,3905,3905,3906,0,0,0,0,0,0,15.19,14.92,15.21
$GC,3473,-0.50,-194.6,2594,3657,3904,3906,431.9,-6.8,326,3481,0.00,2.22,0.00,0.000,1062,0.000,0.050,2595,2248,3905,3904,3906,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3780,-0.50,-194.6,2594,2248,3903,3903,450.3,-5.9,337,3784,0.00,2.40,0.00,0.000,292,0.000,0.093,2594,3660,3903,3903,3903,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3814,-0.62,-194.6,2594,3660,3903,3902,452.6,-6.6,344,3819,0.12,2.25,0.00,0.000,5286,0.149,0.050,2548,2243,3902,3902,3902,0,0,0,0,0,0,14.98,15.00,15.04
$GC,4142,-0.36,-194.6,2547,2239,3901,3901,484.4,-10.5,359,4149,0.32,2.40,0.00,0.000,2436,0.256,0.093,2637,3656,3901,3901,3901,0,0,0,0,0,0,14.87,14.93,14.98
$GC,4202,-0.78,-194.6,2636,3656,3900,3900,488.6,-5.8,371,4210,0.38,2.22,0.00,0.000,5286,0.103,0.050,2501,2245,3900,3901,3900,0,0,0,0,0,0,14.97,15.00,15.04
$GC,4532,-0.27,-194.6,2500,2244,3898,3897,534.5,-14.4,387,4540,0.60,2.20,0.00,0.000,2692,0.277,0.056,2664,853,3897,3898,3897,0,0,0,0,0,0,14.85,14.97,14.97
$GC,4575,-0.73,-194.6,2663,854,3898,3897,538.0,-5.1,396,4581,0.43,2.28,0.00,0.000,5286,0.104,0.063,2514,2254,3897,3898,3897,0,0,0,0,0,0,14.97,14.96,15.04
$GC,4888,-0.32,-194.6,2514,2254,3898,3895,574.8,-11.8,408,4895,0.50,2.38,0.00,0.000,2436,0.266,0.096,2651,3668,3896,3898,3895,0,0,0,0,0,0,14.86,14.94,14.97
$GC,4952,-0.80,-194.6,2651,3668,3898,3894,578.3,-4.2,421,4957,0.45,2.25,0.00,0.000,5286,0.099,0.049,2488,2249,3896,3898,3894,0,0,0,0,0,0,14.97,15.00,15.04
$GC,5279,-0.25,-194.6,2488,2245,3897,3893,621.6,-14.4,436,5281,0.70,0.00,0.00,0.000,2182,0.279,0.000,2672,2244,3895,3897,3893,0,0,0,0,0,0,14.85,15.05,15.02
$GC,5579,-0.98,-194.6,2672,2244,3897,3891,638.1,-5.8,446,5585,0.65,2.20,0.00,0.000,4772,0.118,0.050,2446,841,3894,3897,3891,0,0,0,0,0,0,14.95,15.00,15.02
$GC,5735,-0.32,-194.6,2446,841,3896,3890,661.4,-17.0,477,5740,0.77,2.30,0.00,0.000,3206,0.287,0.066,2650,2248,3893,3896,3890,0,0,0,0,0,0,14.85,14.96,15.02
$GC,6059,-0.71,-194.6,2650,2249,3896,3887,681.6,-6.0,491,6066,0.32,2.35,0.00,0.000,4516,0.105,0.094,2525,3658,3891,3896,3887,0,0,0,0,0,0,14.97,14.94,15.02
$GC,6151,-0.46,-194.6,2525,3658,3894,3886,692.8,-12.9,510,6157,0.32,2.22,0.00,0.000,3206,0.259,0.052,2609,2257,3890,3894,3886,0,0,0,0,0,0,14.86,15.00,15.02
$GC,6480,-0.59,-194.6,2608,2254,3894,3885,719.2,-7.7,525,6488,0.12,2.40,0.00,0.000,4516,0.155,0.095,2553,3661,3889,3894,3885,0,0,0,0,0,0,14.99,14.94,15.02
$GC,6511,-0.50,-194.6,2552,3661,3893,3884,722.1,-10.5,531,6518,0.17,2.25,0.00,0.000,3206,0.254,0.053,2595,2247,3889,3894,3884,0,0,0,0,0,0,14.87,15.00,15.02
$GC,6841,-0.50,-194.6,2594,2243,3894,3882,747.8,-7.4,547,6847,0.00,2.42,0.00,0.000,292,0.000,0.099,2595,3659,3887,3893,3882,0,0,0,0,0,0,15.20,14.94,15.22
$GC,6889,-0.68,-194.6,2594,3659,3892,3882,751.3,-7.3,557,6894,0.17,2.25,0.00,0.000,5286,0.131,0.053,2533,2249,3887,3893,3882,0,0,0,0,0,0,14.98,15.00,15.05
$GC,7196,-0.41,-194.6,2532,2245,3892,3881,782.2,-10.3,568,7203,0.32,2.42,0.00,0.000,2436,0.265,0.097,2620,3658,3886,3892,3881,0,0,0,0,0,0,14.86,14.94,14.97
$GC,7234,-0.76,-194.6,2620,3657,3892,3881,785.0,-5.7,576,7239,0.32,2.25,0.00,0.000,5286,0.105,0.054,2502,2250,3886,3892,3881,0,0,0,0,0,0,14.98,15.00,15.05
$GC,7551,-0.32,-194.6,2501,2245,3891,3880,823.4,-13.1,589,7560,0.52,2.42,0.00,0.000,2436,0.273,0.097,2644,3658,3885,3891,3880,0,0,0,0,0,0,14.85,14.94,14.98
$GC,7586,-0.79,-194.6,2644,3657,3891,3880,826.3,-6.0,596,7591,0.40,2.25,0.00,0.000,5286,0.103,0.054,2500,2250,3884,3890,3879,0,0,0,0,0,0,14.97,15.00,15.05
$GC,7914,-0.34,-194.6,2499,2246,3890,3878,869.7,-14.0,611,7921,0.52,2.40,0.00,0.000,2436,0.272,0.099,2642,3652,3883,3890,3877,0,0,0,0,0,0,14.85,14.93,14.97
$GC,7947,-0.77,-194.6,2642,3652,3890,3878,872.9,-6.6,618,7952,0.40,2.25,0.00,0.000,5286,0.107,0.054,2499,2248,3883,3890,3877,0,0,0,0,0,0,14.97,15.00,15.04
$GC,8274,-0.35,-194.6,2499,2244,3889,3877,917.3,-13.8,633,8283,0.50,2.45,0.00,0.000,2436,0.272,0.098,2634,3667,3882,3888,3877,0,0,0,0,0,0,14.85,14.94,14.97
$GC,8319,-0.81,-194.6,2634,3667,3888,3877,921.1,-7.0,642,8324,0.40,2.28,0.00,0.000,5286,0.100,0.051,2486,2240,3882,3888,3877,0,0,0,0,0,0,14.98,15.00,15.05
$GC,8637,-0.32,-194.6,2486,2236,3888,3874,964.1,-13.8,655,8640,0.62,0.00,0.00,0.000,2182,0.275,0.000,2651,2235,3881,3887,3875,0,0,0,0,0,0,14.85,15.05,15.02
$GC,8937,-0.95,-194.6,2651,2235,3887,3873,980.0,-5.2,665,8945,0.57,2.17,0.00,0.000,4772,0.120,0.054,2451,853,3880,3887,3873,0,0,0,0,0,0,14.96,14.99,15.01
$STATE,9026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9026,begin apogee
$GC,9033,-0.12,0.0,2451,2357,3886,3872,990.6,-13.8,683,9218,0.98,0.00,181.50,1.615,10246,0.283,0.000,2713,2357,3345,3369,3321,0,0,0,0,0,0,14.84,14.10,13.50
$STATE,9219,end apogee,CONTROL_FINISHED_OK
$STATE,9219,begin climb
$GC,9220,0.60,194.6,2713,2358,3362,3314,996.3,0.0,689,9441,0.77,2.50,208.88,1.798,10500,0.150,0.095,2945,3694,2542,2592,2493,0,0,0,0,0,0,14.08,13.94,13.32
$GC,9598,0.43,194.6,2945,3694,2576,2483,969.0,10.2,767,9606,0.20,2.22,0.00,0.000,5254,0.291,0.053,2902,2369,2529,2576,2483,0,0,0,0,0,0,14.32,14.43,14.49
$GC,9929,0.71,298.3,2902,2368,2571,2478,948.5,5.8,783,10068,0.25,2.53,128.45,1.623,10916,0.112,0.070,2991,941,2120,2169,2071,0,0,0,0,0,0,14.65,14.04,13.42
$GC,10123,0.71,298.3,2990,941,2159,2067,927.4,11.0,822,10129,0.00,2.45,0.00,0.000,1030,0.000,0.061,2990,2358,2113,2159,2067,0,0,0,0,0,0,14.37,14.28,14.39
$GC,10441,0.56,298.3,2990,2359,2153,2062,891.2,11.4,835,10448,0.17,2.28,0.00,0.000,4484,0.259,0.086,2947,3694,2107,2152,2062,0,0,0,0,0,0,14.52,14.59,14.63
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$STATE,16534,end climb,SURFACE_DEPTH_REACHED
$STATE,16535,begin surface coast
$FINISH,0.7,1.022754
$STATE,16551,end surface coast,CONTROL_FINISHED_OK
$STATE,16551,begin surface
$SM_CCo,16626,0.00,0.000,0,0,1254,512.91
$SM_GC,0.57,8.45,0.20,0.00,0.099,0.089,0.000,254,2212,1254,-7.80,0.68,512.91,0,0,0,0,0,0,14.70,14.77,14.79
$IRIDIUM_FIX,-315.61,5545.63,180118,180412
$TT8_MAMPS,0.019474,0.15729
$HUMID,64.29
$INTERNAL_PRESSURE,8.39489
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,13.32,9.601
$10V_AH,13.60,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,53.000,186.025,760.750,0.000,0.000,0.000,0.000,240.500,0.000,0.000,22.976,2607.855,11146.231,894.174,2208.203,109.174,0.000,2328.776,0.000,1915.613,0.000,0.544,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304624
$DATA_FILE_SIZE,60018,1345
$CAP_FILE_SIZE,180650,0
$CFSIZE,260034560,256880640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.116,151.26,1
$GPS,190118,024807,-316.633,5542.244,43,0.9,45,-4.6,0.9,174.8,9,9.9