version: 66.13
glider: 128
mission: 4
dive: 36
start: 1 22 118 2 45 27
data:
$ID,128
$MISSION,4
$DIVE,36
$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,2780
$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,76
$R_STBD_OVSHOOT,49
$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
$GPS1,220118,023927,-309.6929,5544.0962,42,1.1,46,-4.6,0.8,113.6,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-72.3
$GPS2,220118,024450,-309.7252,5544.2031,20,0.9,22,-4.6,0.9,108.8,9,9.7
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,S
$TGT_LATLONG,-340.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,233.5,58592,-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,-194.6,250,2272,1515,1505,0.0,0.0,0,86,0.00,0.00,-76.32,0.003,16386,0.000,0.000,251,2272,3859,3839,3880,0,0,0,0,0,0,14.86,28.83,14.88
$GC,88,-0.60,-194.6,250,2272,3839,3880,5.1,-15.4,13,109,11.85,2.28,-0.65,0.130,18692,0.441,0.081,2567,3651,3904,3894,3914,0,0,0,0,0,0,14.44,14.03,14.70
$GC,256,-0.60,-194.6,2567,3651,3901,3914,58.0,-15.8,45,260,0.00,2.20,0.00,0.000,1030,0.000,0.041,2568,2271,3907,3901,3914,0,0,0,0,0,0,14.79,14.73,14.81
$GC,567,-0.60,-194.6,2567,2265,3907,3914,101.9,-16.1,77,571,0.00,2.33,0.00,0.000,260,0.000,0.081,2567,3642,3910,3907,3914,0,0,0,0,0,0,15.02,14.76,15.03
$GC,638,-0.60,-194.6,2567,3642,3907,3914,112.5,-13.7,91,642,0.00,2.20,0.00,0.000,1030,0.000,0.041,2567,2249,3911,3908,3914,0,0,0,0,0,0,14.88,14.83,14.90
$GC,949,-0.60,-194.6,2567,2245,3910,3914,150.5,-11.7,123,954,0.00,2.35,0.00,0.000,260,0.000,0.081,2567,3642,3912,3910,3914,0,0,0,0,0,0,15.07,14.82,15.09
$GC,1010,-0.60,-194.6,2567,3641,3910,3914,157.6,-11.4,135,1015,0.00,2.20,0.00,0.000,1030,0.000,0.041,2567,2242,3912,3910,3915,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1322,-0.60,-194.6,2567,2237,3910,3915,194.6,-12.5,167,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2237,3912,3910,3914,0,0,0,0,0,0,15.10,15.12,15.12
$GC,1622,-0.60,-194.6,2567,2237,3910,3915,235.8,-14.0,197,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2237,3912,3910,3915,0,0,0,0,0,0,15.12,15.14,15.14
$GC,1942,-0.60,-194.6,2567,2238,3910,3915,277.6,-12.7,215,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2237,3912,3910,3914,0,0,0,0,0,0,15.14,15.17,15.16
$GC,2242,-0.60,-194.6,2567,2237,3908,3914,312.3,-10.8,225,2246,0.00,2.38,0.00,0.000,260,0.000,0.084,2567,3644,3911,3908,3914,0,0,0,0,0,0,15.16,14.92,15.19
$GC,2303,-0.60,-194.6,2567,3644,3907,3914,318.6,-10.3,237,2307,0.00,2.20,0.00,0.000,1030,0.000,0.042,2567,2244,3910,3907,3914,0,0,0,0,0,0,15.02,14.97,15.04
$GC,2634,-0.60,-194.6,2567,2239,3907,3914,354.5,-11.3,253,2637,0.00,2.38,0.00,0.000,260,0.000,0.086,2567,3635,3910,3906,3914,0,0,0,0,0,0,15.18,14.92,15.20
$GC,2688,-0.60,-194.6,2567,3635,3905,3913,360.7,-11.1,264,2695,0.00,2.20,0.00,0.000,1030,0.000,0.045,2567,2250,3909,3906,3913,0,0,0,0,0,0,15.04,14.98,15.05
$GC,2994,-0.60,-194.6,2567,2246,3905,3911,392.8,-10.8,275,2999,0.00,2.38,0.00,0.000,260,0.000,0.086,2567,3642,3907,3905,3910,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3056,-0.60,-194.6,2567,3642,3905,3910,399.6,-10.9,287,3061,0.00,2.20,0.00,0.000,1030,0.000,0.043,2567,2243,3907,3904,3910,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3388,-0.60,-194.6,2567,2239,3903,3908,434.6,-10.2,303,3392,0.00,2.38,0.00,0.000,260,0.000,0.086,2567,3643,3905,3903,3908,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3422,-0.60,-194.6,2567,3643,3901,3907,438.1,-9.9,310,3427,0.00,2.25,0.00,0.000,1030,0.000,0.044,2567,2251,3905,3902,3908,0,0,0,0,0,0,15.01,14.99,15.04
$GC,3749,-0.60,-194.6,2567,2246,3902,3906,466.4,-8.5,325,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2246,3904,3902,3906,0,0,0,0,0,0,15.19,15.22,15.21
$GC,4049,-0.60,-194.6,2567,2246,3900,3904,496.6,-10.8,335,4054,0.00,2.35,0.00,0.000,260,0.000,0.087,2567,3634,3901,3900,3903,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4069,-0.60,-194.6,2567,3634,3900,3903,499.0,-10.9,339,4075,0.00,2.20,0.00,0.000,1030,0.000,0.047,2567,2249,3901,3900,3903,0,0,0,0,0,0,15.06,15.00,15.08
$GC,4381,-0.60,-194.6,2567,2243,3900,3901,532.4,-10.5,351,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2243,3901,3900,3902,0,0,0,0,0,0,15.21,15.23,15.23
$GC,4682,-0.60,-194.6,2567,2243,3898,3900,562.0,-9.6,361,4686,0.00,2.38,0.00,0.000,260,0.000,0.090,2567,3642,3899,3898,3900,0,0,0,0,0,0,15.21,14.96,15.23
$GC,4786,-0.60,-194.6,2567,3642,3898,3899,572.5,-9.9,382,4790,0.00,2.22,0.00,0.000,1030,0.000,0.044,2567,2236,3898,3898,3899,0,0,0,0,0,0,15.07,15.02,15.08
$GC,5102,-0.60,-194.6,2567,2232,3897,3898,603.3,-9.7,395,5107,0.00,2.20,0.00,0.000,516,0.000,0.057,2567,855,3898,3898,3898,0,0,0,0,0,0,15.21,14.99,15.23
$GC,5117,-0.60,-194.6,2567,855,3898,3897,605.0,-9.6,398,5122,0.00,2.25,0.00,0.000,1030,0.000,0.061,2567,2233,3897,3898,3897,0,0,0,0,0,0,15.05,14.97,15.07
$GC,5434,-0.60,-194.6,2567,2233,3897,3896,635.5,-9.7,411,5439,0.00,2.38,0.00,0.000,260,0.000,0.092,2567,3658,3896,3897,3896,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5509,-0.60,-194.6,2567,3658,3896,3895,643.1,-10.0,426,5514,0.00,2.22,0.00,0.000,1030,0.000,0.049,2567,2254,3896,3897,3896,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5826,-0.60,-194.6,2567,2248,3896,3894,674.6,-9.8,439,5831,0.00,2.42,0.00,0.000,260,0.000,0.091,2567,3670,3895,3896,3894,0,0,0,0,0,0,15.21,14.96,15.23
$GC,5876,-0.60,-194.6,2567,3670,3895,3893,679.5,-9.6,449,5880,0.00,2.25,0.00,0.000,1030,0.000,0.046,2567,2247,3894,3895,3893,0,0,0,0,0,0,15.07,15.01,15.07
$GC,6187,-0.60,-194.6,2567,2241,3895,3891,708.3,-9.3,461,6191,0.00,2.40,0.00,0.000,260,0.000,0.090,2567,3660,3893,3895,3891,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6226,-0.60,-194.6,2567,3659,3894,3891,712.2,-10.0,469,6231,0.00,2.25,0.00,0.000,1030,0.000,0.049,2567,2247,3892,3894,3891,0,0,0,0,0,0,15.07,15.00,15.07
$GC,6548,-0.60,-194.6,2565,2242,3892,3888,741.7,-9.1,483,6553,0.00,2.42,0.00,0.000,260,0.000,0.091,2567,3662,3890,3892,3888,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6610,-0.60,-194.6,2566,3662,3892,3887,747.7,-9.7,495,6615,0.00,2.28,0.00,0.000,1030,0.000,0.049,2566,2240,3890,3892,3888,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6942,-0.60,-194.6,2566,2235,3892,3887,779.1,-9.5,511,6946,0.00,2.42,0.00,0.000,260,0.000,0.091,2567,3661,3889,3892,3886,0,0,0,0,0,0,15.20,14.95,15.22
$GC,6976,-0.60,-194.6,2566,3661,3890,3886,782.6,-9.9,518,6981,0.00,2.30,0.00,0.000,1030,0.000,0.049,2567,2249,3888,3891,3886,0,0,0,0,0,0,15.02,14.99,15.04
$GC,7303,-0.60,-194.6,2566,2244,3891,3885,812.9,-9.2,533,7310,0.00,2.38,0.00,0.000,260,0.000,0.092,2566,3658,3887,3890,3885,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7370,-0.60,-194.6,2566,3658,3890,3885,819.4,-9.4,546,7375,0.00,2.25,0.00,0.000,1030,0.000,0.050,2567,2248,3887,3890,3885,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7697,-0.60,-194.6,2566,2245,3890,3883,849.2,-9.2,561,7701,0.00,2.42,0.00,0.000,260,0.000,0.093,2566,3664,3886,3890,3883,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7736,-0.60,-194.6,2566,3665,3890,3883,853.0,-9.5,569,7740,0.00,2.25,0.00,0.000,1030,0.000,0.047,2566,2250,3886,3890,3883,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8058,-0.60,-194.6,2566,2245,3890,3882,882.9,-9.5,583,8063,0.00,2.42,0.00,0.000,260,0.000,0.093,2567,3665,3886,3890,3882,0,0,0,0,0,0,15.20,14.95,15.22
$GC,8119,-0.60,-194.6,2566,3665,3889,3882,888.8,-9.3,595,8124,0.00,2.25,0.00,0.000,1030,0.000,0.047,2566,2250,3885,3889,3881,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8452,-0.60,-194.6,2566,2246,3889,3880,918.5,-8.8,611,8456,0.00,2.42,0.00,0.000,260,0.000,0.093,2566,3664,3884,3889,3880,0,0,0,0,0,0,15.19,14.94,15.21
$GC,8506,-0.60,-194.6,2566,3664,3888,3880,923.6,-8.8,622,8514,0.00,2.28,0.00,0.000,1030,0.000,0.049,2566,2238,3884,3888,3880,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8813,-0.60,-194.6,2566,2238,3888,3879,949.5,-8.5,633,8818,0.00,2.42,0.00,0.000,260,0.000,0.093,2566,3658,3883,3887,3879,0,0,0,0,0,0,15.20,14.94,15.22
$GC,8858,-0.60,-194.6,2566,3658,3887,3878,953.6,-8.8,642,8862,0.00,2.25,0.00,0.000,1030,0.000,0.051,2566,2255,3882,3887,3878,0,0,0,0,0,0,15.05,15.00,15.07
$GC,9169,-0.60,-194.6,2566,2251,3887,3878,980.7,-8.9,654,9174,0.00,2.42,0.00,0.000,260,0.000,0.095,2566,3666,3882,3887,3878,0,0,0,0,0,0,15.20,14.94,15.21
$GC,9234,-0.60,-194.6,2566,3666,3887,3878,986.9,-9.4,667,9239,0.00,2.28,0.00,0.000,1030,0.000,0.050,2566,2249,3882,3887,3877,0,0,0,0,0,0,15.05,14.99,15.07
$STATE,9285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9285,begin apogee
$GC,9290,-0.12,0.0,2567,2365,3887,3877,991.6,-9.5,672,9473,0.57,0.00,179.52,1.685,10246,0.230,0.000,2731,2365,3346,3367,3325,0,0,0,0,0,0,14.87,14.11,13.48
$STATE,9473,end apogee,CONTROL_FINISHED_OK
$STATE,9474,begin climb
$GC,9475,0.60,194.6,2731,2365,3360,3322,999.0,0.0,678,9686,0.80,2.40,204.05,1.893,10500,0.141,0.091,2973,3678,2545,2592,2498,0,0,0,0,0,0,14.08,13.83,13.28
$GC,9703,0.60,194.6,2972,3678,2583,2495,988.8,10.3,690,9707,0.00,2.30,0.00,0.000,1030,0.000,0.057,2973,2364,2539,2583,2495,0,0,0,0,0,0,14.16,14.09,14.19
$GC,10034,0.60,194.6,2972,2364,2571,2488,953.6,10.7,706,10038,0.00,2.35,0.00,0.000,260,0.000,0.090,2973,3690,2530,2572,2488,0,0,0,0,0,0,14.80,14.55,14.82
$GC,10053,0.60,194.6,2972,3690,2570,2487,951.2,11.5,710,10057,0.00,2.28,0.00,0.000,1030,0.000,0.057,2973,2343,2529,2571,2487,0,0,0,0,0,0,14.66,14.59,14.69
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$STATE,19598,end climb,SURFACE_DEPTH_REACHED
$STATE,19598,begin surface coast
$FINISH,0.3,1.022884
$STATE,19621,end surface coast,CONTROL_FINISHED_OK
$STATE,19621,begin surface
$SM_CCo,19696,0.00,0.000,0,0,1283,506.29
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$IRIDIUM_FIX,-304.67,5546.84,210118,211358
$TT8_MAMPS,0.018725,0.156541
$HUMID,59.29
$INTERNAL_PRESSURE,8.42419
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.28,14.904
$10V_AH,13.58,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.357,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304644
$DATA_FILE_SIZE,63299,1480
$CAP_FILE_SIZE,175504,0
$CFSIZE,260034560,255672320
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,952.53,0x214550,0,24
$INTR,1,7305.67,0x234cb8,0,24
$CURRENT,0.217,114.16,1
$GPS,220118,081503,-312.132,5544.512,42,1.0,46,-4.6,0.7,108.1,7,9.9