version: 66.13
glider: 128
mission: 4
dive: 24
start: 1 19 118 12 35 47
data:
$ID,128
$MISSION,4
$DIVE,24
$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,62
$R_STBD_OVSHOOT,31
$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
$GPS1,190118,122929,-314.8536,5543.6514,43,1.0,48,-4.6,0.8,147.0,7,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-69.8
$GPS2,190118,123512,-314.9352,5543.7192,17,1.0,22,-4.6,0.5,165.3,7,9.4
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,327.2,32018,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.60,-194.6,253,2218,1105,1055,0.0,0.0,0,102,0.00,0.00,-91.93,0.003,16386,0.000,0.000,253,2219,3824,3808,3840,0,0,0,0,0,0,14.85,28.83,14.88
$GC,104,-0.60,-194.6,253,2218,3810,3842,4.7,-14.4,15,125,11.62,2.40,-1.17,0.073,18692,0.444,0.081,2550,3668,3903,3896,3911,0,0,0,0,0,0,14.45,14.04,14.69
$GC,208,-0.11,-194.6,2550,3668,3901,3911,42.6,-23.5,34,216,0.62,2.25,0.00,0.000,3206,0.249,0.049,2718,2278,3906,3902,3911,0,0,0,0,0,0,14.57,14.69,14.73
$GC,519,-0.93,-194.6,2718,2274,3908,3911,67.6,-4.9,69,530,0.75,2.30,0.00,0.000,4516,0.124,0.080,2461,3649,3909,3908,3911,0,0,0,0,0,0,14.73,14.73,14.80
$GC,592,-0.18,-194.6,2462,3649,3908,3911,78.8,-19.8,83,603,0.88,2.25,0.00,0.000,3206,0.295,0.043,2692,2230,3909,3908,3911,0,0,0,0,0,0,14.63,14.80,14.76
$GC,902,-0.51,-194.6,2691,2225,3911,3914,92.8,-4.1,115,912,0.28,2.42,0.00,0.000,4516,0.110,0.083,2581,3664,3912,3911,3914,0,0,0,0,0,0,14.83,14.80,14.88
$GC,928,-0.51,-194.6,2581,3664,3911,3914,94.9,-8.7,120,935,0.00,2.25,0.00,0.000,1062,0.000,0.045,2582,2243,3912,3911,3914,0,0,0,0,0,0,14.91,14.86,14.92
$GC,1235,-0.24,-194.6,2581,2239,3910,3915,134.0,-11.9,151,1245,0.32,2.40,0.00,0.000,2436,0.244,0.086,2673,3659,3912,3911,3914,0,0,0,0,0,0,14.76,14.83,14.87
$GC,1288,-0.75,-194.6,2673,3659,3910,3915,137.7,-5.3,161,1299,0.45,2.22,0.00,0.000,5286,0.084,0.045,2508,2237,3913,3912,3914,0,0,0,0,0,0,14.88,14.89,14.95
$GC,1598,-0.08,-194.6,2508,2237,3911,3914,194.7,-20.7,193,1609,0.80,2.20,0.00,0.000,2692,0.275,0.054,2726,858,3913,3912,3915,0,0,0,0,0,0,14.76,14.89,14.88
$GC,1667,-0.82,-194.6,2725,858,3912,3915,201.2,-7.2,206,1675,0.68,2.25,0.00,0.000,5286,0.114,0.054,2495,2256,3913,3911,3915,0,0,0,0,0,0,14.86,14.88,14.95
$GC,1972,-0.18,-194.6,2495,2256,3911,3915,250.0,-15.0,237,1983,0.73,2.33,0.00,0.000,2436,0.282,0.086,2690,3653,3913,3911,3915,0,0,0,0,0,0,14.76,14.87,14.90
$GC,2050,-0.82,-194.6,2689,3653,3911,3915,253.4,-2.4,252,2056,0.57,2.20,0.00,0.000,5286,0.100,0.045,2485,2254,3913,3911,3915,0,0,0,0,0,0,14.90,14.95,14.97
$GC,2363,-0.14,-194.6,2484,2250,3910,3915,294.2,-14.4,264,2370,0.80,2.38,0.00,0.000,2436,0.283,0.087,2701,3657,3912,3910,3915,0,0,0,0,0,0,14.80,14.89,14.92
$GC,2401,-0.87,-194.6,2700,3656,3910,3915,296.7,-2.1,272,2407,0.65,2.22,0.00,0.000,5286,0.122,0.047,2482,2236,3912,3910,3914,0,0,0,0,0,0,14.90,14.95,14.99
$GC,2719,-0.20,-194.6,2481,2232,3910,3915,344.7,-16.4,285,2728,0.75,2.40,0.00,0.000,2436,0.278,0.087,2683,3651,3912,3910,3914,0,0,0,0,0,0,14.81,14.91,14.93
$GC,2781,-0.87,-194.6,2683,3652,3910,3914,348.9,-4.4,297,2789,0.60,2.20,0.00,0.000,5286,0.101,0.046,2470,2248,3911,3909,3914,0,0,0,0,0,0,14.94,14.96,15.01
$GC,3111,-0.15,-194.6,2470,2248,3908,3913,402.8,-17.5,313,3120,0.85,2.35,0.00,0.000,2436,0.282,0.088,2701,3645,3910,3909,3911,0,0,0,0,0,0,14.82,14.92,14.95
$GC,3136,-0.29,-194.6,2700,3645,3908,3910,405.5,-8.2,318,3144,0.12,2.20,0.00,0.000,5286,0.178,0.047,2663,2246,3909,3908,3911,0,0,0,0,0,0,14.91,14.98,15.01
$GC,3443,-1.01,-194.6,2663,2244,3908,3909,424.5,-6.8,329,3450,0.62,2.35,0.00,0.000,4516,0.113,0.086,2439,3648,3907,3906,3909,0,0,0,0,0,0,14.95,14.93,15.00
$GC,3676,-0.24,-194.6,2438,3647,3904,3908,469.0,-19.9,376,3684,0.90,2.20,0.00,0.000,3206,0.290,0.045,2673,2255,3906,3904,3908,0,0,0,0,0,0,14.82,14.98,15.00
$GC,3983,-0.95,-194.6,2674,2251,3904,3906,490.1,-6.8,387,3990,0.62,2.20,0.00,0.000,4772,0.106,0.048,2452,844,3905,3904,3906,0,0,0,0,0,0,14.95,14.97,15.00
$GC,4167,-0.28,-194.6,2451,844,3902,3906,519.1,-16.8,424,4173,0.80,2.28,0.00,0.000,3206,0.279,0.063,2663,2243,3903,3902,3905,0,0,0,0,0,0,14.84,14.95,15.01
$GC,4491,-0.90,-194.6,2663,2244,3902,3902,539.2,-6.3,438,4496,0.52,2.25,0.00,0.000,4772,0.100,0.049,2470,832,3902,3902,3902,0,0,0,0,0,0,14.97,14.97,15.01
$GC,4666,-0.33,-194.6,2469,831,3901,3902,564.9,-16.0,473,4674,0.65,2.33,0.00,0.000,3206,0.269,0.063,2643,2253,3901,3901,3901,0,0,0,0,0,0,14.85,14.95,15.01
$GC,4973,-0.63,-194.6,2643,2253,3900,3898,583.3,-5.1,484,4980,0.22,2.35,0.00,0.000,4516,0.105,0.093,2552,3660,3899,3900,3898,0,0,0,0,0,0,14.98,14.94,15.02
$GC,5036,-0.51,-194.6,2551,3661,3898,3897,588.8,-9.3,497,5041,0.15,2.28,0.00,0.000,3206,0.259,0.050,2587,2240,3897,3898,3897,0,0,0,0,0,0,14.86,14.99,15.02
$GC,5363,-0.51,-194.6,2587,2236,3898,3897,610.4,-6.0,512,5370,0.00,2.42,0.00,0.000,292,0.000,0.093,2588,3667,3897,3898,3897,0,0,0,0,0,0,15.20,14.94,15.21
$GC,5407,-0.62,-194.6,2587,3667,3898,3896,613.1,-6.0,521,5411,0.00,2.25,0.00,0.000,1190,0.000,0.048,2587,2243,3897,3898,3897,0,0,0,0,0,0,15.05,15.00,15.07
$GC,5723,-0.62,-194.6,2587,2237,3898,3895,633.1,-6.9,534,5728,0.00,2.42,0.00,0.000,292,0.000,0.094,2588,3663,3896,3898,3894,0,0,0,0,0,0,15.19,14.94,15.22
$GC,5764,-0.72,-194.6,2587,3663,3897,3894,636.3,-7.7,542,5770,0.20,2.25,0.00,0.000,5286,0.116,0.051,2515,2245,3896,3898,3894,0,0,0,0,0,0,14.98,15.00,15.04
$GC,6088,-0.30,-194.6,2514,2241,3897,3892,677.5,-13.6,556,6095,0.50,2.42,0.00,0.000,2436,0.262,0.093,2653,3670,3894,3897,3892,0,0,0,0,0,0,14.85,14.94,14.97
$GC,6131,-0.84,-194.6,2652,3670,3897,3892,681.3,-6.4,565,6137,0.47,2.25,0.00,0.000,5286,0.098,0.050,2481,2245,3894,3896,3892,0,0,0,0,0,0,14.98,15.00,15.05
$GC,6444,-0.26,-194.6,2481,2242,3896,3891,731.5,-16.9,577,6446,0.70,0.00,0.00,0.000,2182,0.274,0.000,2668,2241,3893,3896,3890,0,0,0,0,0,0,14.85,15.06,15.02
$GC,6744,-0.96,-194.6,2668,2241,3896,3890,753.7,-7.2,587,6751,0.62,2.17,0.00,0.000,4772,0.114,0.050,2448,854,3892,3896,3889,0,0,0,0,0,0,14.96,14.99,15.02
$GC,6907,-0.33,-194.6,2448,854,3893,3888,778.5,-16.3,620,6913,0.75,2.30,0.00,0.000,3206,0.277,0.067,2647,2256,3890,3893,3887,0,0,0,0,0,0,14.85,14.95,15.02
$GC,7220,-0.87,-194.6,2646,2256,3892,3886,795.5,-4.9,632,7228,0.47,2.35,0.00,0.000,4516,0.096,0.091,2469,3663,3888,3892,3885,0,0,0,0,0,0,14.98,14.95,15.02
$GC,7454,-0.32,-194.6,2469,3663,3892,3885,826.0,-13.9,679,7461,0.68,2.25,0.00,0.000,3206,0.276,0.052,2646,2254,3888,3892,3885,0,0,0,0,0,0,14.84,14.99,15.02
$GC,7761,-0.69,-194.6,2646,2251,3892,3883,838.2,-3.8,690,7766,0.30,2.42,0.00,0.000,4516,0.099,0.095,2528,3671,3887,3892,3883,0,0,0,0,0,0,14.98,14.93,15.02
$GC,7811,-0.49,-194.6,2528,3671,3891,3882,842.8,-10.1,700,7816,0.28,2.28,0.00,0.000,3206,0.256,0.050,2598,2243,3886,3891,3882,0,0,0,0,0,0,14.85,14.99,15.02
$GC,8119,-0.58,-194.6,2598,2239,3892,3882,863.8,-6.8,711,8125,0.00,2.42,0.00,0.000,420,0.000,0.096,2598,3659,3886,3891,3881,0,0,0,0,0,0,15.19,14.94,15.21
$GC,8166,-0.81,-194.6,2598,3659,3891,3881,867.4,-7.4,721,8171,0.30,2.25,0.00,0.000,5286,0.108,0.054,2492,2248,3885,3890,3881,0,0,0,0,0,0,14.97,15.00,15.04
$GC,8473,-0.32,-194.6,2492,2244,3889,3880,907.0,-13.3,732,8481,0.57,2.42,0.00,0.000,2436,0.274,0.096,2648,3660,3885,3890,3880,0,0,0,0,0,0,14.85,14.93,14.97
$GC,8521,-0.88,-194.6,2647,3660,3890,3880,910.4,-4.9,742,8527,0.50,2.25,0.00,0.000,5286,0.096,0.054,2466,2245,3884,3889,3880,0,0,0,0,0,0,14.98,15.00,15.04
$GC,8834,-0.27,-194.6,2465,2242,3888,3878,954.1,-14.5,754,8837,0.75,0.00,0.00,0.000,2182,0.283,0.000,2664,2241,3883,3888,3879,0,0,0,0,0,0,14.85,15.05,15.02
$GC,9134,-0.98,-194.6,2663,2241,3888,3878,970.9,-5.8,764,9142,0.62,2.20,0.00,0.000,4772,0.121,0.053,2446,842,3882,3887,3877,0,0,0,0,0,0,14.95,14.98,15.01
$GC,9267,-0.38,-194.6,2445,842,3887,3878,988.3,-14.4,791,9273,0.70,2.33,0.00,0.000,3206,0.275,0.069,2631,2254,3881,3886,3877,0,0,0,0,0,0,14.85,14.95,15.02
$STATE,9310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9310,begin apogee
$GC,9314,-0.12,0.0,2631,2374,3887,3877,991.6,-8.3,794,9466,0.30,0.00,148.35,1.825,10246,0.205,0.000,2720,2374,3345,3368,3323,0,0,0,0,0,0,14.90,14.10,13.47
$STATE,9467,end apogee,CONTROL_FINISHED_OK
$STATE,9467,begin climb
$GC,9468,0.60,194.6,2720,2374,3361,3315,996.1,0.0,799,9702,0.75,2.45,218.85,1.761,10500,0.145,0.095,2946,3685,2542,2589,2495,0,0,0,0,0,0,14.07,13.95,13.40
$GC,9773,0.44,194.6,2946,3685,2581,2490,975.0,10.8,861,9778,0.20,2.25,0.00,0.000,5254,0.281,0.055,2902,2370,2535,2581,2490,0,0,0,0,0,0,14.19,14.30,14.35
$GC,10096,0.65,240.5,2902,2369,2574,2486,949.7,7.7,875,10157,0.17,2.45,51.30,1.729,10916,0.129,0.070,2971,937,2354,2403,2306,0,0,0,0,0,0,14.62,14.23,13.63
$GC,10202,0.65,240.5,2971,937,2396,2303,937.8,11.5,896,10207,0.00,2.40,0.00,0.000,1030,0.000,0.063,2971,2339,2349,2396,2303,0,0,0,0,0,0,14.45,14.36,14.47
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$STATE,17079,end climb,SURFACE_DEPTH_REACHED
$STATE,17079,begin surface coast
$FINISH,0.1,1.022735
$STATE,17096,end surface coast,CONTROL_FINISHED_OK
$STATE,17096,begin surface
$SM_CCo,17172,0.00,0.000,0,0,1105,549.71
$SM_GC,0.51,8.60,0.12,0.00,0.103,0.126,0.000,246,2212,1105,-7.82,0.88,549.71,0,0,0,0,0,0,14.72,14.78,14.81
$IRIDIUM_FIX,-313.37,5543.84,190118,073129
$TT8_MAMPS,0.019474,0.15729
$HUMID,66.57
$INTERNAL_PRESSURE,8.34606
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,13.40,10.857
$10V_AH,13.63,0.000
$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,51.200,172.625,777.000,0.000,0.000,0.000,0.000,248.550,0.000,0.000,23.473,2662.942,11519.582,891.507,2324.637,120.362,0.000,2373.811,0.000,2028.242,0.000,0.544,0.000
$DEVICE_MAMPS,443.700,132.345,1824.525,0.000,0.000,0.000,0.000,134.640,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.495,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304632
$DATA_FILE_SIZE,63326,1425
$CAP_FILE_SIZE,182200,0
$CFSIZE,260034560,256622592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.103,129.27,1
$GPS,190118,172307,-313.716,5544.085,33,0.8,35,-4.6,0.7,106.6,10,8.9