version: 66.13
glider: 128
mission: 4
dive: 40
start: 1 23 118 0 41 10
data:
$ID,128
$MISSION,4
$DIVE,40
$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,0.89999998
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$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,73
$R_STBD_OVSHOOT,35
$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
$GPS1,230118,003537,-317.5834,5543.3569,35,0.7,37,-4.6,0.7,113.5,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-72.7
$GPS2,230118,004033,-317.6116,5543.4429,16,0.8,18,-4.6,0.5,38.6,11,9.0
$SPEED_LIMITS,0.143,0.221
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,249.6,43686,-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,-194.6,240,2254,993,925,0.0,0.0,0,104,0.00,0.00,-94.45,0.003,16386,0.000,0.000,240,2254,3815,3799,3832,0,0,0,0,0,0,14.83,28.83,14.85
$GC,106,-0.60,-194.6,239,2254,3799,3832,4.4,-12.6,16,128,11.85,2.33,-1.30,0.066,18692,0.441,0.077,2570,3669,3902,3893,3911,0,0,0,0,0,0,14.42,14.03,14.68
$GC,294,-0.60,-194.6,2569,3670,3898,3911,63.7,-23.8,52,299,0.00,2.22,0.00,0.000,1030,0.000,0.041,2570,2269,3905,3899,3911,0,0,0,0,0,0,14.78,14.73,14.81
$GC,605,-0.60,-194.6,2569,2264,3904,3911,116.9,-15.6,84,609,0.00,2.35,0.00,0.000,260,0.000,0.080,2569,3660,3907,3904,3911,0,0,0,0,0,0,15.01,14.76,15.02
$GC,649,-0.60,-194.6,2569,3660,3904,3910,123.5,-14.2,93,656,0.00,2.28,0.00,0.000,1030,0.000,0.043,2569,2259,3908,3906,3911,0,0,0,0,0,0,14.83,14.81,14.85
$GC,956,-0.60,-194.6,2569,2255,3908,3913,162.6,-13.0,124,960,0.00,2.35,0.00,0.000,260,0.000,0.080,2569,3655,3910,3907,3913,0,0,0,0,0,0,15.06,14.81,15.08
$GC,1007,-0.60,-194.6,2569,3655,3907,3913,169.0,-11.9,134,1012,0.00,2.22,0.00,0.000,1030,0.000,0.043,2570,2245,3910,3907,3913,0,0,0,0,0,0,14.92,14.87,14.95
$GC,1318,-0.60,-194.6,2569,2241,3908,3913,205.6,-12.0,166,1323,0.00,2.38,0.00,0.000,260,0.000,0.081,2569,3654,3910,3908,3913,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1340,-0.60,-194.6,2569,3654,3908,3913,208.3,-11.9,170,1345,0.00,2.22,0.00,0.000,1030,0.000,0.043,2569,2243,3910,3908,3913,0,0,0,0,0,0,14.96,14.90,14.97
$GC,1652,-0.60,-194.6,2569,2238,3908,3912,248.7,-13.3,202,1657,0.00,2.38,0.00,0.000,260,0.000,0.081,2570,3651,3910,3908,3913,0,0,0,0,0,0,15.11,14.87,15.14
$GC,1698,-0.60,-194.6,2569,3651,3907,3913,255.0,-12.9,211,1702,0.00,2.22,0.00,0.000,1030,0.000,0.042,2570,2240,3910,3908,3912,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2014,-0.60,-194.6,2569,2235,3907,3912,292.9,-11.8,224,2018,0.00,2.38,0.00,0.000,260,0.000,0.083,2569,3654,3910,3907,3913,0,0,0,0,0,0,15.14,14.89,15.16
$GC,2075,-0.60,-194.6,2569,3654,3906,3911,299.9,-10.8,236,2080,0.00,2.22,0.00,0.000,1030,0.000,0.044,2570,2248,3909,3906,3912,0,0,0,0,0,0,15.00,14.95,15.02
$GC,2406,-0.60,-194.6,2569,2242,3906,3910,342.1,-13.2,252,2410,0.00,2.38,0.00,0.000,260,0.000,0.083,2570,3654,3908,3906,3910,0,0,0,0,0,0,15.16,14.91,15.19
$GC,2430,-0.60,-194.6,2569,3654,3904,3910,345.6,-13.0,257,2438,0.00,2.22,0.00,0.000,1030,0.000,0.045,2569,2247,3907,3904,3910,0,0,0,0,0,0,15.02,14.97,15.04
$GC,2737,-0.60,-194.6,2569,2242,3903,3908,383.3,-12.3,268,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2243,3906,3904,3908,0,0,0,0,0,0,15.17,15.19,15.19
$GC,3037,-0.60,-194.6,2569,2243,3902,3906,418.2,-11.3,278,3042,0.00,2.38,0.00,0.000,260,0.000,0.085,2569,3651,3904,3902,3906,0,0,0,0,0,0,15.19,14.93,15.21
$GC,3057,-0.60,-194.6,2569,3650,3901,3906,420.6,-10.7,282,3062,0.00,2.22,0.00,0.000,1030,0.000,0.045,2569,2244,3903,3901,3906,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3369,-0.60,-194.6,2569,2239,3900,3903,454.4,-10.9,294,3374,0.00,2.40,0.00,0.000,260,0.000,0.086,2570,3660,3901,3900,3902,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3419,-0.60,-194.6,2569,3660,3899,3902,459.9,-10.3,304,3424,0.00,2.25,0.00,0.000,1030,0.000,0.046,2569,2246,3900,3899,3902,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3731,-0.60,-194.6,2569,2242,3899,3901,491.9,-10.7,316,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2242,3900,3899,3901,0,0,0,0,0,0,15.19,15.22,15.21
$GC,4031,-0.60,-194.6,2569,2242,3898,3898,525.5,-11.5,326,4036,0.00,2.40,0.00,0.000,260,0.000,0.088,2570,3650,3898,3898,3898,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4077,-0.60,-194.6,2569,3650,3898,3897,531.0,-11.6,335,4081,0.00,2.22,0.00,0.000,1030,0.000,0.045,2569,2245,3897,3897,3897,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4393,-0.60,-194.6,2569,2240,3897,3896,567.3,-11.5,348,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2240,3896,3897,3896,0,0,0,0,0,0,15.20,15.22,15.23
$GC,4693,-0.60,-194.6,2569,2240,3896,3894,599.1,-10.4,358,4698,0.00,2.40,0.00,0.000,260,0.000,0.089,2570,3650,3894,3896,3893,0,0,0,0,0,0,15.21,14.95,15.23
$GC,4763,-0.60,-194.6,2570,3650,3895,3892,606.9,-10.7,372,4768,0.00,2.22,0.00,0.000,1030,0.000,0.045,2569,2245,3894,3895,3893,0,0,0,0,0,0,15.07,15.01,15.08
$GC,5085,-0.60,-194.6,2569,2241,3895,3890,639.2,-9.8,386,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2241,3892,3895,3890,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5385,-0.60,-194.6,2569,2241,3893,3888,667.0,-8.9,396,5389,0.00,2.40,0.00,0.000,260,0.000,0.090,2570,3650,3890,3892,3888,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5424,-0.60,-194.6,2569,3650,3892,3887,670.7,-9.1,404,5429,0.00,2.22,0.00,0.000,1030,0.000,0.047,2569,2248,3889,3892,3887,0,0,0,0,0,0,15.07,15.01,15.08
$GC,5746,-0.60,-194.6,2569,2244,3892,3885,698.4,-8.7,418,5751,0.00,2.40,0.00,0.000,260,0.000,0.090,2569,3654,3888,3892,3885,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5796,-0.60,-194.6,2569,3654,3891,3885,702.9,-8.7,428,5801,0.00,2.22,0.00,0.000,1030,0.000,0.047,2569,2252,3888,3891,3885,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6108,-0.60,-194.6,2569,2246,3891,3883,730.4,-9.1,440,6112,0.00,2.40,0.00,0.000,260,0.000,0.090,2570,3658,3886,3890,3883,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6142,-0.60,-194.6,2569,3658,3890,3883,733.7,-9.5,447,6146,0.00,2.25,0.00,0.000,1030,0.000,0.050,2569,2248,3886,3890,3883,0,0,0,0,0,0,15.07,15.00,15.08
$GC,6469,-0.60,-194.6,2569,2242,3890,3882,762.5,-8.8,462,6473,0.00,2.40,0.00,0.000,260,0.000,0.090,2569,3650,3885,3889,3882,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6523,-0.60,-194.6,2569,3650,3888,3881,767.6,-8.8,473,6531,0.00,2.22,0.00,0.000,1030,0.000,0.047,2570,2244,3884,3888,3881,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6830,-0.60,-194.6,2569,2243,3888,3880,797.2,-10.2,484,6834,0.00,2.40,0.00,0.000,260,0.000,0.092,2570,3649,3883,3887,3880,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6885,-0.60,-194.6,2569,3650,3887,3880,803.1,-10.7,495,6892,0.00,2.22,0.00,0.000,1030,0.000,0.048,2570,2251,3883,3887,3879,0,0,0,0,0,0,15.06,15.01,15.07
$GC,7191,-0.60,-194.6,2569,2250,3887,3878,834.7,-10.2,506,7196,0.00,2.38,0.00,0.000,260,0.000,0.092,2570,3650,3882,3886,3878,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7237,-0.60,-194.6,2569,3650,3886,3878,839.5,-10.1,515,7241,0.00,2.22,0.00,0.000,1030,0.000,0.048,2570,2252,3882,3886,3878,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7553,-0.60,-194.6,2569,2248,3886,3877,870.3,-9.7,528,7557,0.00,2.40,0.00,0.000,260,0.000,0.090,2570,3657,3881,3886,3877,0,0,0,0,0,0,15.21,14.95,15.22
$GC,7591,-0.60,-194.6,2569,3657,3885,3876,874.3,-10.0,536,7596,0.00,2.25,0.00,0.000,1030,0.000,0.050,2569,2253,3881,3885,3877,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7913,-0.60,-194.6,2569,2246,3885,3874,904.4,-9.4,550,7918,0.00,2.40,0.00,0.000,260,0.000,0.091,2569,3653,3879,3885,3874,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7988,-0.60,-194.6,2569,3653,3885,3874,911.7,-9.6,565,7993,0.00,2.25,0.00,0.000,1030,0.000,0.049,2569,2245,3878,3883,3873,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8305,-0.60,-194.6,2569,2241,3885,3872,940.3,-8.8,578,8310,0.00,2.42,0.00,0.000,260,0.000,0.093,2570,3656,3878,3884,3872,0,0,0,0,0,0,15.20,14.94,15.22
$GC,8345,-0.60,-194.6,2569,3656,3883,3872,944.1,-9.3,586,8351,0.00,2.28,0.00,0.000,1030,0.000,0.051,2570,2244,3877,3883,3871,0,0,0,0,0,0,15.05,15.00,15.07
$GC,8667,-0.60,-194.6,2569,2240,3883,3870,972.1,-8.7,600,8671,0.00,2.42,0.00,0.000,260,0.000,0.093,2569,3654,3876,3883,3870,0,0,0,0,0,0,15.20,14.93,15.21
$GC,8729,-0.60,-194.6,2569,3654,3882,3870,977.4,-8.7,612,8733,0.00,2.25,0.00,0.000,1030,0.000,0.051,2570,2249,3876,3882,3870,0,0,0,0,0,0,15.05,14.99,15.07
$STATE,8878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8878,begin apogee
$GC,8882,-0.12,0.0,2570,2365,3882,3869,990.0,-8.3,622,9061,0.57,0.00,174.55,1.654,10246,0.234,0.000,2733,2365,3344,3368,3321,0,0,0,0,0,0,14.87,14.12,13.52
$STATE,9062,end apogee,CONTROL_FINISHED_OK
$STATE,9062,begin climb
$GC,9063,0.60,194.6,2733,2365,3364,3317,995.7,0.0,628,9272,0.77,2.47,198.93,1.870,10500,0.141,0.092,2967,3681,2545,2593,2498,0,0,0,0,0,0,14.10,13.94,13.29
$GC,9322,0.60,194.6,2967,3681,2582,2492,978.7,12.4,680,9326,0.00,2.28,0.00,0.000,1030,0.000,0.054,2970,2367,2537,2582,2492,0,0,0,0,0,0,14.30,14.23,14.32
$GC,9634,0.60,194.6,2970,2367,2574,2487,943.2,11.3,692,9637,0.00,2.42,0.00,0.000,516,0.000,0.069,2970,931,2530,2574,2486,0,0,0,0,0,0,14.81,14.58,14.83
$GC,9664,0.60,194.6,2970,930,2572,2486,939.9,10.5,698,9670,0.00,2.35,0.00,0.000,1030,0.000,0.061,2970,2336,2528,2571,2486,0,0,0,0,0,0,14.68,14.60,14.71
$GC,9996,0.60,194.6,2970,2336,2569,2486,903.8,10.7,714,10001,0.00,2.30,0.00,0.000,260,0.000,0.088,2970,3691,2527,2569,2486,0,0,0,0,0,0,14.95,14.71,14.97
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$STATE,18590,end climb,SURFACE_DEPTH_REACHED
$STATE,18590,begin surface coast
$FINISH,-0.0,1.022791
$STATE,18612,end surface coast,CONTROL_FINISHED_OK
$STATE,18612,begin surface
$SM_CCo,18688,0.00,0.000,0,0,1364,486.18
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$IRIDIUM_FIX,-315.47,5542.06,220118,191255
$TT8_MAMPS,0.019474,0.156541
$HUMID,59.64
$INTERNAL_PRESSURE,8.45349
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.29,16.208
$10V_AH,13.60,0.000
$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
$DEVICE_SECS,22.050,202.350,654.350,0.000,0.000,0.000,0.000,208.450,0.000,0.000,19.989,2865.878,12925.076,786.401,2302.957,113.732,0.000,2207.222,0.000,2048.242,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63351,1439
$CAP_FILE_SIZE,169096,0
$CFSIZE,260034560,255369216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,11743.73,0x234cba,1,24
$CURRENT,0.144,114.94,1
$GPS,230118,055337,-319.077,5542.732,26,0.9,29,-4.6,0.9,57.3,7,8.3