version: 66.13
glider: 128
mission: 4
dive: 31
start: 1 21 118 0 39 52
data:
$ID,128
$MISSION,4
$DIVE,31
$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,66
$R_STBD_OVSHOOT,60
$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
$GPS1,210118,003408,-310.0230,5544.0239,34,1.1,37,-4.6,1.1,142.4,7,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-71.5
$GPS2,210118,003916,-310.0931,5544.1362,18,1.1,21,-4.6,0.7,110.0,7,8.9
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,314.4,25198,-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,-194.6,244,2284,1518,1504,0.0,0.0,0,89,0.00,0.00,-78.72,0.003,16390,0.000,0.000,244,2285,3902,3889,3916,0,0,0,0,0,0,14.86,13.85,14.87
$GC,91,-0.60,-194.6,244,2285,3890,3917,5.5,-16.8,13,111,11.73,2.22,0.00,0.000,2308,0.441,0.059,2549,3639,3906,3896,3916,0,0,0,0,0,0,14.45,14.65,14.70
$GC,187,-0.60,-194.6,2548,3640,3900,3916,49.2,-29.8,31,195,0.00,2.20,0.00,0.000,1030,0.000,0.044,2549,2274,3908,3901,3916,0,0,0,0,0,0,14.76,14.70,14.78
$GC,493,-0.60,-194.6,2549,2269,3908,3916,102.8,-14.0,62,499,0.00,2.28,0.00,0.000,516,0.000,0.053,2549,832,3912,3908,3916,0,0,0,0,0,0,15.00,14.77,15.02
$GC,508,-0.60,-194.6,2549,831,3909,3917,105.1,-13.9,65,516,0.00,2.30,0.00,0.000,1030,0.000,0.057,2549,2217,3912,3909,3916,0,0,0,0,0,0,14.82,14.76,14.84
$GC,816,-0.60,-194.6,2548,2218,3910,3917,146.6,-13.8,96,825,0.00,2.40,0.00,0.000,260,0.000,0.085,2549,3657,3913,3910,3917,0,0,0,0,0,0,15.05,14.81,15.07
$GC,959,-0.60,-194.6,2548,3657,3911,3917,166.6,-13.5,125,967,0.00,2.28,0.00,0.000,1030,0.000,0.044,2549,2249,3914,3911,3917,0,0,0,0,0,0,14.94,14.86,14.95
$GC,1267,-0.60,-194.6,2548,2244,3911,3917,208.9,-14.5,156,1271,0.00,2.20,0.00,0.000,516,0.000,0.050,2549,849,3914,3912,3917,0,0,0,0,0,0,15.09,14.88,15.11
$GC,1281,-0.60,-194.6,2548,849,3912,3918,211.3,-14.3,159,1289,0.00,2.28,0.00,0.000,1030,0.000,0.057,2549,2252,3915,3912,3918,0,0,0,0,0,0,14.95,14.88,14.97
$GC,1588,-0.60,-194.6,2548,2251,3912,3918,254.4,-13.7,188,1592,0.00,2.33,0.00,0.000,260,0.000,0.086,2549,3658,3914,3911,3918,0,0,0,0,0,0,15.12,14.87,15.14
$GC,1762,-0.60,-194.6,2548,3658,3910,3918,278.2,-13.9,223,1770,0.00,2.22,0.00,0.000,1030,0.000,0.044,2549,2241,3914,3910,3918,0,0,0,0,0,0,14.99,14.93,15.00
$GC,2069,-0.60,-194.6,2548,2240,3910,3918,320.2,-13.5,234,2072,0.00,2.40,0.00,0.000,260,0.000,0.086,2548,3669,3914,3910,3918,0,0,0,0,0,0,15.15,14.90,15.17
$GC,2129,-0.60,-194.6,2548,3669,3909,3917,328.3,-13.3,246,2134,0.00,2.22,0.00,0.000,1030,0.000,0.043,2548,2253,3913,3909,3917,0,0,0,0,0,0,15.02,14.96,15.02
$GC,2461,-0.60,-194.6,2548,2249,3909,3916,369.9,-12.3,262,2464,0.00,2.40,0.00,0.000,260,0.000,0.087,2549,3665,3912,3908,3916,0,0,0,0,0,0,15.17,14.92,15.19
$GC,2510,-0.60,-194.6,2549,3665,3908,3915,376.1,-12.2,272,2514,0.00,2.22,0.00,0.000,1030,0.000,0.044,2549,2250,3911,3907,3915,0,0,0,0,0,0,15.03,14.97,15.04
$GC,2822,-0.60,-194.6,2549,2244,3908,3914,413.1,-12.2,284,2826,0.00,2.40,0.00,0.000,260,0.000,0.087,2548,3669,3910,3907,3914,0,0,0,0,0,0,15.18,14.93,15.20
$GC,2841,-0.60,-194.6,2548,3669,3906,3914,415.7,-12.7,288,2846,0.00,2.25,0.00,0.000,1030,0.000,0.045,2549,2242,3910,3906,3914,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3153,-0.60,-194.6,2548,2238,3906,3911,454.8,-12.7,300,3158,0.00,2.38,0.00,0.000,260,0.000,0.088,2549,3650,3908,3905,3912,0,0,0,0,0,0,15.19,14.93,15.21
$GC,3228,-0.60,-194.6,2548,3650,3904,3911,464.6,-12.5,315,3233,0.00,2.22,0.00,0.000,1030,0.000,0.046,2549,2246,3907,3904,3911,0,0,0,0,0,0,15.04,15.00,15.06
$GC,3545,-0.60,-194.6,2549,2243,3903,3909,503.5,-12.2,328,3549,0.00,2.40,0.00,0.000,260,0.000,0.088,2548,3661,3906,3903,3909,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3569,-0.60,-194.6,2548,3661,3902,3908,506.7,-11.8,333,3576,0.00,2.25,0.00,0.000,1030,0.000,0.047,2549,2242,3905,3902,3908,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3877,-0.60,-194.6,2548,2239,3902,3907,540.4,-10.6,344,3880,0.00,2.40,0.00,0.000,260,0.000,0.089,2549,3658,3903,3901,3906,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3925,-0.60,-194.6,2548,3658,3900,3906,545.8,-10.5,354,3930,0.00,2.25,0.00,0.000,1030,0.000,0.048,2549,2249,3903,3900,3906,0,0,0,0,0,0,15.05,15.00,15.07
$GC,4237,-0.60,-194.6,2548,2244,3901,3903,579.0,-11.0,366,4241,0.00,2.40,0.00,0.000,260,0.000,0.090,2549,3658,3901,3900,3903,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4307,-0.60,-194.6,2548,3658,3899,3903,587.1,-11.6,380,4311,0.00,2.25,0.00,0.000,1030,0.000,0.049,2549,2248,3901,3899,3903,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4628,-0.60,-194.6,2548,2243,3899,3901,626.3,-12.6,394,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2243,3900,3899,3902,0,0,0,0,0,0,15.20,15.22,15.22
$GC,4929,-0.60,-194.6,2547,2242,3898,3898,665.2,-13.0,404,4933,0.00,2.40,0.00,0.000,260,0.000,0.092,2547,3663,3898,3898,3898,0,0,0,0,0,0,15.21,14.95,15.23
$GC,4978,-0.60,-194.6,2547,3663,3898,3898,672.1,-13.4,414,4982,0.00,2.25,0.00,0.000,1030,0.000,0.049,2548,2243,3897,3897,3898,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5290,-0.60,-194.6,2547,2239,3898,3897,711.5,-12.4,426,5294,0.00,2.40,0.00,0.000,260,0.000,0.090,2548,3657,3897,3897,3897,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5389,-0.60,-194.6,2547,3657,3897,3896,723.9,-12.1,446,5393,0.00,2.25,0.00,0.000,1030,0.000,0.050,2547,2249,3897,3897,3897,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5706,-0.60,-194.6,2547,2244,3897,3895,759.7,-11.0,459,5710,0.00,2.40,0.00,0.000,260,0.000,0.092,2547,3655,3896,3897,3895,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5760,-0.60,-194.6,2547,3655,3896,3894,765.8,-10.6,470,5768,0.00,2.25,0.00,0.000,1030,0.000,0.050,2547,2246,3895,3896,3895,0,0,0,0,0,0,15.07,15.00,15.07
$GC,6067,-0.60,-194.6,2547,2244,3896,3893,797.1,-10.2,481,6071,0.00,2.40,0.00,0.000,260,0.000,0.092,2547,3656,3894,3896,3893,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6106,-0.60,-194.6,2547,3656,3895,3892,801.2,-10.2,489,6111,0.00,2.25,0.00,0.000,1030,0.000,0.050,2547,2246,3893,3895,3892,0,0,0,0,0,0,15.06,15.00,15.08
$GC,6428,-0.60,-194.6,2547,2243,3894,3891,833.8,-10.3,503,6433,0.00,2.42,0.00,0.000,260,0.000,0.093,2548,3667,3892,3894,3890,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6478,-0.60,-194.6,2547,3667,3894,3890,839.2,-10.6,513,6482,0.00,2.28,0.00,0.000,1030,0.000,0.049,2547,2240,3892,3895,3890,0,0,0,0,0,0,15.07,15.01,15.07
$GC,6789,-0.60,-194.6,2547,2235,3894,3889,871.4,-10.4,525,6794,0.00,2.42,0.00,0.000,260,0.000,0.093,2548,3657,3891,3894,3889,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6854,-0.60,-194.6,2547,3657,3893,3888,878.3,-10.4,538,6858,0.00,2.25,0.00,0.000,1030,0.000,0.050,2547,2247,3890,3893,3888,0,0,0,0,0,0,15.06,15.01,15.07
$GC,7176,-0.60,-194.6,2547,2243,3892,3887,911.4,-10.3,552,7182,0.00,2.42,0.00,0.000,260,0.000,0.093,2547,3663,3889,3892,3886,0,0,0,0,0,0,15.21,14.95,15.22
$GC,7254,-0.60,-194.6,2547,3663,3892,3886,919.8,-10.5,568,7258,0.00,2.28,0.00,0.000,1030,0.000,0.050,2548,2247,3889,3892,3886,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7566,-0.60,-194.6,2547,2242,3892,3885,951.9,-10.3,580,7571,0.00,2.42,0.00,0.000,260,0.000,0.095,2547,3658,3888,3892,3884,0,0,0,0,0,0,15.20,14.95,15.22
$GC,7636,-0.60,-194.6,2547,3658,3890,3884,959.3,-10.2,594,7640,0.00,2.25,0.00,0.000,1030,0.000,0.051,2547,2252,3887,3891,3884,0,0,0,0,0,0,15.06,15.00,15.07
$STATE,7957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7957,begin apogee
$GC,7961,-0.12,0.0,2548,2368,3890,3882,991.2,-9.9,608,8141,0.60,0.00,176.35,1.655,10246,0.245,0.000,2716,2368,3346,3367,3325,0,0,0,0,0,0,14.88,14.12,13.52
$STATE,8142,end apogee,CONTROL_FINISHED_OK
$STATE,8142,begin climb
$GC,8143,0.60,194.6,2716,2368,3359,3320,997.3,0.0,614,8371,0.77,2.42,218.32,1.754,11012,0.151,0.091,2947,3672,2546,2592,2501,0,0,0,0,0,0,14.09,13.96,13.40
$GC,8401,0.60,194.6,2946,3673,2584,2497,980.9,11.1,662,8409,0.00,2.25,0.00,0.000,1030,0.000,0.051,2947,2367,2540,2584,2497,0,0,0,0,0,0,14.25,14.19,14.27
$GC,8709,0.60,194.6,2946,2366,2577,2492,948.2,10.8,673,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2367,2534,2576,2492,0,0,0,0,0,0,14.81,14.83,14.83
$GC,9008,0.60,194.6,2946,2367,2572,2490,915.6,10.8,683,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2367,2531,2572,2490,0,0,0,0,0,0,14.94,14.96,14.96
$GC,9309,0.60,194.6,2946,2367,2570,2490,884.8,10.0,693,9313,0.00,2.28,0.00,0.000,260,0.000,0.088,2947,3686,2530,2570,2490,0,0,0,0,0,0,15.01,14.76,15.03
$GC,9333,0.60,194.6,2946,3686,2569,2490,882.0,11.1,698,9340,0.00,2.22,0.00,0.000,1030,0.000,0.054,2947,2338,2530,2570,2490,0,0,0,0,0,0,14.87,14.80,14.89
$GC,9640,0.60,194.6,2946,2338,2569,2489,853.5,9.0,709,9644,0.00,2.33,0.00,0.000,260,0.000,0.087,2946,3686,2529,2569,2489,0,0,0,0,0,0,15.05,14.81,15.07
$GC,9671,0.60,194.6,2947,3686,2567,2489,850.5,9.8,715,9675,0.00,2.20,0.00,0.000,1030,0.000,0.054,2947,2342,2528,2568,2489,0,0,0,0,0,0,14.91,14.85,14.93
$GC,10002,0.61,194.6,2946,2342,2567,2489,822.1,8.6,731,10006,0.00,2.30,0.00,0.000,324,0.000,0.088,2947,3684,2527,2567,2488,0,0,0,0,0,0,15.09,14.84,15.11
$GC,10026,0.61,194.6,2946,3683,2567,2488,819.6,9.8,736,10034,0.00,2.20,0.00,0.000,1030,0.000,0.055,2947,2340,2526,2565,2488,0,0,0,0,0,0,14.95,14.88,14.97
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$STATE,18572,end climb,SURFACE_DEPTH_REACHED
$STATE,18572,begin surface coast
$FINISH,-0.3,1.022899
$STATE,18601,end surface coast,CONTROL_FINISHED_OK
$STATE,18601,begin surface
$SM_CCo,18616,20.48,0.082,0,0,1510,450.12
$SM_GC,0.86,8.35,0.15,20.48,0.098,0.100,0.082,252,2221,1510,-7.80,1.05,450.12,0,0,0,0,0,0,14.69,14.77,14.71
$IRIDIUM_FIX,-309.03,5543.84,200118,191601
$TT8_MAMPS,0.019474,0.156541
$HUMID,62.60
$INTERNAL_PRESSURE,8.42419
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,13.40,13.252
$10V_AH,13.66,0.000
$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,21.800,178.475,599.025,20.475,0.000,0.000,0.000,216.600,0.000,0.000,22.196,2869.358,12961.542,744.292,2276.770,101.855,0.000,2132.240,0.000,2013.500,0.000,0.545,0.000
$DEVICE_MAMPS,440.640,177.480,1754.145,81.855,0.000,0.000,0.000,134.640,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304636
$DATA_FILE_SIZE,60039,1415
$CAP_FILE_SIZE,162958,0
$CFSIZE,260034560,256090112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,493.47,0x234cb8,0,24
$CURRENT,0.177,119.45,1
$GPS,210118,055138,-309.372,5544.214,31,0.9,34,-4.6,0.7,161.0,9,8.9