version: 66.13
glider: 128
mission: 4
dive: 32
start: 1 21 118 5 57 5
data:
$ID,128
$MISSION,4
$DIVE,32
$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,62
$R_STBD_OVSHOOT,29
$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
$GPS1,210118,055138,-309.3717,5544.2144,31,0.9,34,-4.6,0.7,161.0,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-71.6
$GPS2,210118,055629,-309.4021,5544.3184,18,0.9,22,-4.6,1.3,114.4,10,8.8
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,308.5,24499,-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,-194.6,248,2216,1515,1505,0.0,0.0,0,87,0.00,0.00,-77.95,0.003,16386,0.000,0.000,248,2216,3896,3881,3911,0,0,0,0,0,0,14.88,28.83,14.91
$GC,89,-0.60,-194.6,248,2217,3882,3911,5.3,-16.8,13,110,11.73,2.40,-0.10,0.832,18692,0.443,0.080,2548,3674,3905,3896,3915,0,0,0,0,0,0,14.46,13.83,14.65
$GC,193,-0.60,-194.6,2547,3674,3901,3915,47.5,-26.2,32,200,0.00,2.25,0.00,0.000,1030,0.000,0.042,2548,2265,3908,3902,3915,0,0,0,0,0,0,14.78,14.72,14.80
$GC,507,-0.60,-194.6,2547,2260,3908,3916,107.6,-16.9,64,511,0.00,2.25,0.00,0.000,516,0.000,0.054,2548,853,3912,3909,3916,0,0,0,0,0,0,15.01,14.79,15.02
$GC,528,-0.60,-194.6,2548,853,3910,3916,111.0,-16.3,68,533,0.00,2.28,0.00,0.000,1030,0.000,0.058,2548,2248,3912,3909,3916,0,0,0,0,0,0,14.86,14.78,14.88
$GC,840,-0.60,-194.6,2548,2249,3910,3916,153.2,-12.5,100,844,0.00,2.35,0.00,0.000,260,0.000,0.085,2548,3665,3913,3910,3916,0,0,0,0,0,0,15.06,14.81,15.08
$GC,923,-0.60,-194.6,2547,3665,3910,3916,165.0,-12.7,117,931,0.00,2.28,0.00,0.000,1030,0.000,0.041,2548,2252,3914,3911,3917,0,0,0,0,0,0,14.90,14.86,14.91
$GC,1232,-0.60,-194.6,2547,2248,3911,3917,209.7,-14.0,148,1236,0.00,2.38,0.00,0.000,260,0.000,0.083,2548,3660,3914,3911,3917,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1303,-0.60,-194.6,2547,3660,3911,3917,220.1,-14.7,162,1307,0.00,2.22,0.00,0.000,1030,0.000,0.044,2548,2244,3913,3910,3917,0,0,0,0,0,0,14.96,14.90,14.97
$GC,1634,-0.60,-194.6,2547,2239,3911,3917,269.5,-15.1,188,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2240,3914,3911,3917,0,0,0,0,0,0,15.12,15.15,15.14
$GC,1934,-0.60,-194.6,2547,2240,3910,3917,313.4,-14.2,198,1938,0.00,2.40,0.00,0.000,260,0.000,0.085,2547,3667,3913,3910,3917,0,0,0,0,0,0,15.15,14.90,15.17
$GC,1973,-0.60,-194.6,2546,3668,3910,3917,319.2,-14.2,206,1977,0.00,2.25,0.00,0.000,1030,0.000,0.043,2547,2241,3913,3910,3917,0,0,0,0,0,0,15.01,14.95,15.02
$GC,2295,-0.60,-194.6,2547,2236,3909,3916,363.2,-13.9,220,2299,0.00,2.40,0.00,0.000,260,0.000,0.085,2547,3665,3912,3909,3916,0,0,0,0,0,0,15.16,14.92,15.19
$GC,2319,-0.60,-194.6,2546,3665,3909,3916,366.7,-13.3,225,2326,0.00,2.22,0.00,0.000,1030,0.000,0.044,2547,2251,3912,3908,3916,0,0,0,0,0,0,15.02,14.97,15.04
$GC,2626,-0.60,-194.6,2546,2247,3908,3915,405.4,-12.1,236,2630,0.00,2.38,0.00,0.000,260,0.000,0.086,2547,3659,3911,3908,3915,0,0,0,0,0,0,15.18,14.92,15.19
$GC,2687,-0.60,-194.6,2547,3659,3905,3915,413.1,-12.2,248,2691,0.00,2.22,0.00,0.000,1030,0.000,0.046,2547,2250,3911,3907,3915,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3019,-0.60,-194.6,2546,2245,3907,3914,451.2,-11.2,264,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2245,3910,3907,3914,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3318,-0.60,-194.6,2546,2245,3905,3911,483.5,-10.6,274,3322,0.00,2.40,0.00,0.000,260,0.000,0.088,2547,3665,3908,3905,3911,0,0,0,0,0,0,15.19,14.93,15.21
$GC,3407,-0.60,-194.6,2547,3665,3903,3911,493.2,-10.5,292,3412,0.00,2.22,0.00,0.000,1030,0.000,0.044,2547,2249,3906,3903,3910,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3734,-0.60,-194.6,2547,2245,3903,3909,530.5,-11.9,307,3739,0.00,2.40,0.00,0.000,260,0.000,0.088,2547,3665,3905,3902,3909,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3774,-0.60,-194.6,2546,3665,3902,3908,535.6,-12.2,315,3779,0.00,2.25,0.00,0.000,1030,0.000,0.046,2547,2242,3905,3902,3908,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4096,-0.60,-194.6,2546,2237,3901,3906,573.3,-11.6,329,4100,0.00,2.40,0.00,0.000,260,0.000,0.088,2547,3665,3903,3901,3906,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4135,-0.60,-194.6,2547,3665,3900,3906,578.1,-11.9,337,4140,0.00,2.22,0.00,0.000,1030,0.000,0.046,2547,2248,3903,3901,3906,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4457,-0.60,-194.6,2546,2243,3900,3903,616.1,-12.1,351,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2244,3901,3900,3903,0,0,0,0,0,0,15.20,15.23,15.22
$GC,4757,-0.60,-194.6,2546,2243,3899,3902,652.9,-12.4,361,4761,0.00,2.40,0.00,0.000,260,0.000,0.090,2546,3663,3900,3899,3902,0,0,0,0,0,0,15.21,14.95,15.23
$GC,4812,-0.60,-194.6,2546,3663,3898,3901,659.8,-12.2,372,4818,0.00,2.25,0.00,0.000,1030,0.000,0.047,2547,2247,3899,3898,3901,0,0,0,0,0,0,15.06,15.01,15.07
$GC,5118,-0.60,-194.6,2546,2243,3898,3900,696.6,-11.8,383,5123,0.00,2.40,0.00,0.000,260,0.000,0.090,2547,3659,3899,3898,3900,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5193,-0.60,-194.6,2547,3659,3898,3899,705.6,-11.8,398,5197,0.00,2.25,0.00,0.000,1030,0.000,0.049,2547,2248,3898,3897,3899,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5509,-0.60,-194.6,2547,2242,3897,3898,741.3,-11.2,411,5514,0.00,2.40,0.00,0.000,260,0.000,0.091,2547,3658,3897,3897,3897,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5549,-0.60,-194.6,2546,3658,3896,3897,746.0,-11.0,419,5555,0.00,2.25,0.00,0.000,1030,0.000,0.049,2547,2246,3897,3897,3897,0,0,0,0,0,0,15.06,15.00,15.08
$GC,5872,-0.60,-194.6,2546,2242,3897,3897,780.9,-11.0,433,5876,0.00,2.40,0.00,0.000,260,0.000,0.090,2547,3657,3897,3897,3897,0,0,0,0,0,0,15.21,14.95,15.22
$GC,5936,-0.60,-194.6,2546,3657,3896,3896,788.2,-10.9,446,5940,0.00,2.25,0.00,0.000,1030,0.000,0.049,2547,2249,3896,3897,3896,0,0,0,0,0,0,15.06,15.00,15.07
$GC,6263,-0.60,-194.6,2546,2244,3896,3894,823.7,-11.0,461,6267,0.00,2.42,0.00,0.000,260,0.000,0.092,2547,3669,3895,3896,3894,0,0,0,0,0,0,15.21,14.95,15.22
$GC,6321,-0.60,-194.6,2546,3668,3895,3894,830.7,-11.5,473,6327,0.00,2.30,0.00,0.000,1030,0.000,0.047,2547,2250,3895,3896,3894,0,0,0,0,0,0,15.02,14.99,15.04
$GC,6649,-0.60,-194.6,2546,2245,3896,3891,866.8,-11.1,488,6655,0.00,2.40,0.00,0.000,260,0.000,0.091,2547,3658,3893,3895,3891,0,0,0,0,0,0,15.21,14.95,15.22
$GC,6769,-0.60,-194.6,2546,3658,3894,3890,880.6,-11.2,512,6773,0.00,2.25,0.00,0.000,1030,0.000,0.050,2547,2247,3892,3894,3890,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7101,-0.60,-194.6,2546,2243,3894,3889,915.9,-10.2,528,7107,0.00,2.42,0.00,0.000,260,0.000,0.092,2547,3664,3890,3893,3888,0,0,0,0,0,0,15.20,14.95,15.22
$GC,7161,-0.60,-194.6,2546,3665,3892,3888,922.0,-10.1,540,7165,0.00,2.25,0.00,0.000,1030,0.000,0.049,2547,2249,3890,3893,3888,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7492,-0.60,-194.6,2546,2243,3892,3886,952.2,-8.8,556,7497,0.00,2.42,0.00,0.000,260,0.000,0.093,2547,3658,3889,3892,3886,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7572,-0.60,-194.6,2547,3657,3892,3886,959.8,-9.2,572,7576,0.00,2.28,0.00,0.000,1030,0.000,0.050,2547,2243,3889,3892,3886,0,0,0,0,0,0,15.05,15.00,15.07
$GC,7884,-0.60,-194.6,2546,2239,3891,3884,988.6,-9.3,584,7890,0.00,2.42,0.00,0.000,260,0.000,0.093,2547,3657,3888,3892,3884,0,0,0,0,0,0,15.19,14.94,15.21
$STATE,7901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7901,begin apogee
$GC,7907,-0.12,0.0,2547,2344,3891,3884,990.5,-9.5,588,8077,0.60,0.00,166.65,1.696,10246,0.230,0.000,2717,2340,3345,3366,3325,0,0,0,0,0,0,14.88,14.13,13.54
$STATE,8078,end apogee,CONTROL_FINISHED_OK
$STATE,8078,begin climb
$GC,8079,0.60,194.6,2717,2340,3360,3320,995.4,0.0,593,8296,0.77,2.42,204.30,1.828,10756,0.152,0.064,2948,959,2542,2590,2495,0,0,0,0,0,0,14.10,13.97,13.31
$GC,8321,0.60,194.6,2948,959,2584,2492,983.0,9.0,646,8329,0.00,2.42,0.00,0.000,1030,0.000,0.061,2948,2349,2538,2585,2491,0,0,0,0,0,0,14.23,14.15,14.25
$GC,8629,0.60,194.6,2947,2349,2576,2486,955.3,9.1,657,8633,0.00,2.33,0.00,0.000,260,0.000,0.090,2948,3694,2530,2575,2486,0,0,0,0,0,0,14.80,14.56,14.82
$GC,8683,0.60,194.6,2947,3694,2571,2485,949.4,10.8,668,8691,0.00,2.22,0.00,0.000,1030,0.000,0.051,2947,2356,2528,2571,2485,0,0,0,0,0,0,14.69,14.62,14.71
$GC,8990,0.60,194.6,2947,2355,2569,2485,920.8,9.3,679,8994,0.00,2.35,0.00,0.000,516,0.000,0.069,2948,939,2527,2569,2485,0,0,0,0,0,0,14.95,14.71,14.97
$GC,9022,0.60,194.6,2947,938,2569,2485,918.1,9.0,685,9026,0.00,2.35,0.00,0.000,1030,0.000,0.063,2948,2354,2527,2569,2485,0,0,0,0,0,0,14.81,14.73,14.83
$GC,9353,0.60,194.6,2947,2353,2567,2485,888.3,8.8,701,9357,0.00,2.28,0.00,0.000,260,0.000,0.090,2948,3699,2525,2566,2485,0,0,0,0,0,0,15.02,14.78,15.04
$GC,9402,0.60,194.6,2947,3699,2565,2485,883.3,10.0,711,9407,0.00,2.22,0.00,0.000,1030,0.000,0.052,2948,2341,2525,2565,2485,0,0,0,0,0,0,14.88,14.82,14.90
$GC,9715,0.62,194.6,2947,2340,2564,2485,857.2,8.1,723,9719,0.00,2.33,0.00,0.000,324,0.000,0.087,2948,3698,2524,2564,2485,0,0,0,0,0,0,15.07,14.82,15.09
$GC,9748,0.62,194.6,2947,3698,2563,2485,853.9,9.6,730,9753,0.00,2.25,0.00,0.000,1030,0.000,0.052,2948,2350,2523,2562,2484,0,0,0,0,0,0,14.88,14.85,14.91
$GC,10076,0.65,194.6,2947,2349,2562,2485,828.1,7.8,745,10080,0.00,2.30,0.00,0.000,324,0.000,0.087,2948,3693,2523,2562,2485,0,0,0,0,0,0,15.09,14.85,15.11
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$STATE,18241,end climb,SURFACE_DEPTH_REACHED
$STATE,18241,begin surface coast
$FINISH,-0.1,1.022874
$STATE,18268,end surface coast,CONTROL_FINISHED_OK
$STATE,18268,begin surface
$SM_CCo,18283,8.77,0.083,0,0,1511,450.12
$SM_GC,0.79,8.57,0.15,8.77,0.107,0.097,0.083,250,2206,1511,-7.81,1.13,450.12,0,0,0,0,0,0,14.62,14.72,14.66
$IRIDIUM_FIX,-309.03,5543.84,210118,003529
$TT8_MAMPS,0.019474,0.15729
$HUMID,61.85
$INTERNAL_PRESSURE,8.43396
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.31,13.569
$10V_AH,13.61,0.000
$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,22.050,198.275,596.725,8.775,0.000,0.000,0.000,198.700,0.000,0.000,23.063,2940.416,12375.870,718.017,2435.520,123.129,0.000,2175.510,0.000,2186.094,0.000,0.545,0.000
$DEVICE_MAMPS,442.935,97.155,1827.585,82.620,0.000,0.000,0.000,133.875,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304616
$DATA_FILE_SIZE,66703,1537
$CAP_FILE_SIZE,170046,0
$CFSIZE,260034560,255995904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.225,120.43,1
$GPS,210118,110307,-309.024,5545.016,33,0.9,35,-4.6,1.6,45.2,9,9.3