version: 66.13
glider: 128
mission: 4
dive: 30
start: 1 20 118 19 20 27
data:
$ID,128
$MISSION,4
$DIVE,30
$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
$PITCH_ADJ_DBAND,0
$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,40
$R_STBD_OVSHOOT,20
$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,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$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
$GPS1,200118,191439,-310.0642,5544.2964,38,1.3,42,-4.6,1.2,161.3,7,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-72.4
$GPS2,200118,191952,-310.1177,5544.4062,21,1.3,24,-4.6,0.7,109.4,7,9.8
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,303.4,25569,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.60,-194.6,231,2253,1386,1357,0.0,0.0,0,89,0.00,0.00,-78.80,0.003,16386,0.000,0.000,230,2252,3725,3708,3742,0,0,0,0,0,0,14.88,28.83,14.90
$GC,91,-0.60,-194.6,230,2252,3709,3743,3.9,-11.3,13,112,11.77,2.40,-2.75,0.032,18692,0.441,0.088,2549,3671,3903,3896,3911,0,0,0,0,0,0,14.47,13.85,14.71
$GC,213,-0.60,-194.6,2548,3672,3901,3912,46.4,-26.1,36,221,0.00,2.28,0.00,0.000,1030,0.000,0.045,2549,2255,3907,3902,3912,0,0,0,0,0,0,14.78,14.71,14.80
$GC,527,-0.60,-194.6,2549,2250,3908,3913,96.8,-15.0,68,532,0.00,2.40,0.00,0.000,260,0.000,0.083,2549,3673,3910,3908,3913,0,0,0,0,0,0,15.02,14.77,15.04
$GC,579,-0.60,-194.6,2548,3673,3908,3914,104.9,-16.6,78,583,0.00,2.28,0.00,0.000,1030,0.000,0.043,2549,2236,3911,3908,3914,0,0,0,0,0,0,14.88,14.83,14.90
$GC,890,-0.60,-194.6,2549,2230,3910,3915,156.5,-15.6,110,894,0.00,2.42,0.00,0.000,260,0.000,0.083,2549,3674,3912,3910,3915,0,0,0,0,0,0,15.07,14.83,15.09
$GC,928,-0.60,-194.6,2549,3674,3910,3915,162.7,-15.3,118,936,0.00,2.30,0.00,0.000,1030,0.000,0.042,2549,2252,3912,3910,3915,0,0,0,0,0,0,14.90,14.86,14.92
$GC,1237,-0.60,-194.6,2548,2247,3910,3915,203.1,-12.0,149,1241,0.00,2.22,0.00,0.000,516,0.000,0.050,2549,835,3912,3910,3915,0,0,0,0,0,0,15.10,14.88,15.11
$GC,1278,-0.60,-194.6,2548,834,3910,3916,207.9,-11.7,157,1282,0.00,2.30,0.00,0.000,1030,0.000,0.057,2549,2259,3913,3910,3916,0,0,0,0,0,0,14.95,14.88,14.97
$GC,1589,-0.60,-194.6,2548,2258,3910,3915,247.7,-12.8,189,1593,0.00,2.33,0.00,0.000,260,0.000,0.086,2549,3660,3913,3910,3916,0,0,0,0,0,0,15.12,14.88,15.14
$GC,1719,-0.60,-194.6,2549,3660,3909,3915,264.0,-11.8,215,1723,0.00,2.22,0.00,0.000,1030,0.000,0.044,2549,2243,3912,3909,3915,0,0,0,0,0,0,14.99,14.93,15.00
$GC,2041,-0.60,-194.6,2549,2238,3909,3915,302.3,-11.8,229,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2239,3912,3909,3915,0,0,0,0,0,0,15.15,15.17,15.17
$GC,2340,-0.60,-194.6,2548,2238,3908,3914,342.1,-14.4,239,2344,0.00,2.40,0.00,0.000,260,0.000,0.086,2549,3665,3911,3908,3914,0,0,0,0,0,0,15.17,14.92,15.19
$GC,2359,-0.60,-194.6,2548,3665,3906,3914,345.1,-14.4,243,2363,0.00,2.22,0.00,0.000,1030,0.000,0.044,2549,2249,3910,3907,3914,0,0,0,0,0,0,15.03,14.97,15.04
$GC,2671,-0.60,-194.6,2548,2244,3906,3911,391.4,-14.5,255,2675,0.00,2.38,0.00,0.000,260,0.000,0.086,2549,3658,3908,3906,3911,0,0,0,0,0,0,15.18,14.93,15.20
$GC,2761,-0.60,-194.6,2549,3658,3905,3910,404.4,-14.1,273,2765,0.00,2.22,0.00,0.000,1030,0.000,0.046,2549,2247,3907,3905,3910,0,0,0,0,0,0,15.04,14.98,15.06
$GC,3087,-0.60,-194.6,2549,2242,3904,3908,446.1,-12.4,288,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2242,3906,3904,3909,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3387,-0.60,-194.6,2548,2242,3902,3906,482.3,-12.1,298,3391,0.00,2.40,0.00,0.000,260,0.000,0.089,2549,3662,3904,3902,3906,0,0,0,0,0,0,15.20,14.95,15.22
$GC,3450,-0.60,-194.6,2549,3662,3901,3906,490.0,-11.4,311,3455,0.00,2.25,0.00,0.000,1030,0.000,0.047,2549,2241,3903,3901,3906,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3777,-0.60,-194.6,2548,2236,3901,3903,527.3,-11.4,326,3781,0.00,2.40,0.00,0.000,260,0.000,0.088,2549,3657,3901,3900,3903,0,0,0,0,0,0,15.20,14.95,15.22
$GC,3838,-0.60,-194.6,2548,3657,3900,3902,534.3,-11.4,338,3842,0.00,2.25,0.00,0.000,1030,0.000,0.047,2549,2242,3900,3899,3902,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4169,-0.60,-194.6,2548,2238,3899,3900,571.8,-11.5,354,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2238,3900,3899,3901,0,0,0,0,0,0,15.20,15.22,15.23
$GC,4469,-0.60,-194.6,2548,2238,3899,3898,606.9,-11.7,364,4474,0.00,2.40,0.00,0.000,260,0.000,0.090,2549,3657,3898,3898,3898,0,0,0,0,0,0,15.21,14.95,15.23
$GC,4519,-0.60,-194.6,2549,3657,3898,3898,613.2,-11.9,374,4523,0.00,2.25,0.00,0.000,1030,0.000,0.050,2549,2244,3898,3898,3898,0,0,0,0,0,0,15.07,15.01,15.08
$GC,4831,-0.60,-194.6,2549,2238,3897,3897,650.0,-11.5,386,4835,0.00,2.22,0.00,0.000,516,0.000,0.057,2549,844,3897,3898,3897,0,0,0,0,0,0,15.21,14.98,15.23
$GC,4850,-0.60,-194.6,2548,844,3898,3897,652.3,-11.9,390,4854,0.00,2.30,0.00,0.000,1030,0.000,0.063,2549,2253,3897,3897,3897,0,0,0,0,0,0,15.06,14.97,15.07
$GC,5162,-0.60,-194.6,2549,2253,3897,3895,685.6,-10.8,402,5166,0.00,2.35,0.00,0.000,260,0.000,0.092,2549,3663,3895,3897,3894,0,0,0,0,0,0,15.21,14.96,15.23
$GC,5240,-0.60,-194.6,2549,3663,3896,3893,694.3,-10.7,418,5245,0.00,2.28,0.00,0.000,1030,0.000,0.048,2549,2258,3895,3896,3894,0,0,0,0,0,0,15.03,15.00,15.05
$GC,5552,-0.60,-194.6,2548,2253,3896,3892,726.3,-10.1,430,5556,0.00,2.38,0.00,0.000,260,0.000,0.091,2549,3660,3894,3896,3892,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5601,-0.60,-194.6,2548,3660,3895,3891,731.5,-10.1,440,5607,0.00,2.25,0.00,0.000,1030,0.000,0.050,2549,2242,3893,3895,3891,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5913,-0.60,-194.6,2549,2238,3895,3889,761.9,-9.7,452,5918,0.00,2.40,0.00,0.000,260,0.000,0.091,2549,3659,3892,3895,3889,0,0,0,0,0,0,15.21,14.96,15.23
$GC,5975,-0.60,-194.6,2549,3659,3893,3889,767.8,-9.5,464,5980,0.00,2.25,0.00,0.000,1030,0.000,0.050,2549,2245,3891,3893,3889,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6307,-0.60,-194.6,2548,2240,3893,3887,798.0,-9.0,480,6312,0.00,2.42,0.00,0.000,260,0.000,0.092,2549,3671,3889,3892,3887,0,0,0,0,0,0,15.20,14.95,15.22
$GC,6352,-0.60,-194.6,2548,3670,3892,3887,802.3,-9.3,489,6357,0.00,2.25,0.00,0.000,1030,0.000,0.048,2549,2249,3889,3892,3886,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6669,-0.60,-194.6,2549,2244,3892,3885,830.8,-9.4,502,6673,0.00,2.42,0.00,0.000,260,0.000,0.095,2549,3665,3888,3892,3885,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6726,-0.60,-194.6,2548,3665,3891,3884,836.4,-10.1,513,6730,0.00,2.25,0.00,0.000,1030,0.000,0.050,2549,2253,3887,3891,3884,0,0,0,0,0,0,15.06,15.00,15.08
$GC,7057,-0.60,-194.6,2548,2248,3890,3882,871.4,-11.0,529,7064,0.00,2.42,0.00,0.000,260,0.000,0.095,2549,3669,3886,3890,3882,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7135,-0.60,-194.6,2548,3669,3890,3882,880.7,-12.1,545,7139,0.00,2.25,0.00,0.000,1030,0.000,0.048,2549,2247,3886,3890,3882,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7447,-0.60,-194.6,2548,2242,3889,3880,916.5,-11.6,557,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2242,3885,3889,3881,0,0,0,0,0,0,15.21,15.23,15.22
$GC,7746,-0.60,-194.6,2548,2242,3888,3879,949.7,-10.8,567,7751,0.00,2.42,0.00,0.000,260,0.000,0.093,2549,3663,3883,3887,3879,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7806,-0.60,-194.6,2548,3664,3887,3879,956.2,-10.4,579,7810,0.00,2.28,0.00,0.000,1030,0.000,0.050,2549,2242,3883,3887,3879,0,0,0,0,0,0,15.07,15.00,15.08
$GC,8133,-0.60,-194.6,2548,2237,3886,3877,988.2,-9.5,594,8137,0.00,2.42,0.00,0.000,260,0.000,0.093,2549,3657,3882,3887,3877,0,0,0,0,0,0,15.21,14.95,15.23
$STATE,8151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8151,begin apogee
$GC,8156,-0.12,0.0,2549,2348,3886,3878,990.2,-9.8,598,8305,0.57,0.00,145.38,1.838,10246,0.231,0.000,2712,2347,3345,3365,3325,0,0,0,0,0,0,14.88,14.12,13.45
$STATE,8306,end apogee,CONTROL_FINISHED_OK
$STATE,8306,begin climb
$GC,8308,0.60,194.6,2712,2347,3358,3317,994.6,0.0,603,8528,0.80,2.47,211.20,1.799,11012,0.157,0.093,2954,3698,2544,2590,2499,0,0,1,0,0,0,14.09,13.97,13.35
$GC,8553,0.60,194.6,2954,3697,2579,2493,977.8,12.4,648,8558,0.00,2.30,0.00,0.000,1030,0.000,0.054,2954,2365,2535,2579,2492,0,0,0,0,0,0,14.23,14.16,14.25
$GC,8875,0.60,194.6,2954,2364,2569,2487,941.0,11.6,662,8879,0.00,2.33,0.00,0.000,260,0.000,0.089,2954,3693,2527,2569,2486,0,0,0,0,0,0,14.81,14.57,14.83
$GC,8906,0.60,194.6,2954,3694,2568,2486,937.1,12.6,668,8911,0.00,2.25,0.00,0.000,1030,0.000,0.054,2955,2341,2527,2568,2486,0,0,0,0,0,0,14.69,14.63,14.71
$GC,9238,0.60,194.6,2954,2341,2566,2485,898.4,11.6,684,9243,0.00,2.35,0.00,0.000,260,0.000,0.089,2955,3699,2525,2565,2485,0,0,0,0,0,0,14.96,14.72,14.97
$GC,9257,0.60,194.6,2954,3699,2564,2484,895.7,12.6,688,9263,0.00,2.22,0.00,0.000,1030,0.000,0.053,2954,2348,2524,2564,2485,0,0,0,0,0,0,14.82,14.75,14.84
$GC,9570,0.60,194.6,2954,2348,2562,2485,862.8,9.9,700,9575,0.00,2.33,0.00,0.000,260,0.000,0.088,2954,3699,2523,2562,2485,0,0,0,0,0,0,15.02,14.78,15.04
$GC,9604,0.60,194.6,2954,3698,2562,2484,859.0,10.6,707,9609,0.00,2.28,0.00,0.000,1030,0.000,0.053,2955,2345,2523,2562,2485,0,0,0,0,0,0,14.85,14.81,14.87
$GC,9931,0.60,194.6,2954,2344,2561,2484,829.3,9.0,722,9935,0.00,2.33,0.00,0.000,260,0.000,0.089,2955,3699,2522,2561,2484,0,0,0,0,0,0,15.07,14.82,15.09
$GC,9965,0.60,194.6,2954,3699,2560,2483,825.8,10.7,729,9970,0.00,2.22,0.00,0.000,1030,0.000,0.053,2954,2339,2521,2559,2483,0,0,0,0,0,0,14.92,14.87,14.95
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$STATE,18706,end climb,SURFACE_DEPTH_REACHED
$STATE,18707,begin surface coast
$FINISH,-0.3,1.022916
$STATE,18728,end surface coast,CONTROL_FINISHED_OK
$STATE,18728,begin surface
$SM_CCo,18743,5.15,0.083,0,0,1511,450.12
$SM_GC,1.29,8.40,0.15,5.15,0.093,0.097,0.083,247,2212,1511,-7.81,0.93,450.12,0,0,0,0,0,0,14.63,14.71,14.64
$IRIDIUM_FIX,-309.03,5543.84,200118,140400
$TT8_MAMPS,0.019474,0.155792
$HUMID,61.69
$INTERNAL_PRESSURE,8.45349
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,13.35,12.938
$10V_AH,13.64,0.000
$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,21.900,197.000,591.200,5.150,0.000,0.000,0.000,218.675,0.000,0.000,25.886,2907.705,13037.079,704.498,2305.573,115.345,0.000,2119.759,0.000,2038.012,0.000,0.546,0.000
$DEVICE_MAMPS,441.405,97.155,1838.295,82.620,0.000,0.000,0.000,133.110,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304608
$DATA_FILE_SIZE,63333,1432
$CAP_FILE_SIZE,168168,0
$CFSIZE,260034560,256155648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$INTR,0,18722.00,0x214550,7,24
$CURRENT,0.182,127.00,1
$GPS,210118,003408,-310.023,5544.024,34,1.1,37,-4.6,1.1,142.4,7,8.9