version: 66.13
glider: 128
mission: 4
dive: 42
start: 1 23 118 11 33 56
data:
$ID,128
$MISSION,4
$DIVE,42
$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,62
$R_STBD_OVSHOOT,31
$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
$GPS1,230118,112826,-320.6541,5542.7734,38,1.0,41,-4.6,0.6,114.7,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-73.0
$GPS2,230118,113321,-320.6871,5542.8755,18,1.0,20,-4.6,0.6,56.7,9,9.7
$SPEED_LIMITS,0.143,0.221
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,262.8,37958,-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,-194.6,247,2224,1489,1463,0.0,0.0,0,86,0.00,0.00,-76.57,0.003,16386,0.000,0.000,248,2224,3826,3809,3843,0,0,0,0,0,0,14.85,28.83,14.88
$GC,88,-0.60,-194.6,247,2224,3810,3843,4.9,-14.9,13,110,11.73,2.40,-1.12,0.076,18692,0.439,0.077,2567,3670,3904,3895,3914,0,0,0,0,0,0,14.44,14.03,14.69
$GC,237,-0.60,-194.6,2567,3670,3900,3913,58.2,-22.6,41,241,0.00,2.25,0.00,0.000,1030,0.000,0.041,2566,2259,3907,3901,3913,0,0,0,0,0,0,14.78,14.73,14.80
$GC,548,-0.60,-194.6,2567,2254,3908,3914,112.1,-15.8,73,552,0.00,2.38,0.00,0.000,260,0.000,0.081,2565,3656,3910,3908,3913,0,0,0,0,0,0,15.01,14.76,15.03
$GC,572,-0.60,-194.6,2565,3656,3908,3913,115.9,-15.0,78,579,0.00,2.25,0.00,0.000,1030,0.000,0.043,2565,2246,3911,3908,3914,0,0,0,0,0,0,14.88,14.82,14.89
$GC,879,-0.60,-194.6,2565,2241,3910,3914,157.1,-14.3,109,883,0.00,2.40,0.00,0.000,260,0.000,0.082,2565,3666,3912,3910,3915,0,0,0,0,0,0,15.06,14.81,15.08
$GC,983,-0.60,-194.6,2565,3665,3910,3915,172.1,-13.5,130,990,0.00,2.25,0.00,0.000,1030,0.000,0.041,2565,2244,3912,3910,3915,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1290,-0.60,-194.6,2565,2239,3910,3915,214.9,-14.2,161,1294,0.00,2.40,0.00,0.000,260,0.000,0.081,2565,3666,3912,3910,3915,0,0,0,0,0,0,15.10,14.85,15.11
$GC,1313,-0.60,-194.6,2564,3666,3910,3915,218.4,-13.8,166,1321,0.00,2.28,0.00,0.000,1030,0.000,0.042,2565,2251,3912,3910,3915,0,0,0,0,0,0,14.92,14.90,14.95
$GC,1622,-0.60,-194.6,2564,2247,3910,3915,259.3,-13.7,193,1626,0.00,2.22,0.00,0.000,516,0.000,0.051,2565,843,3912,3910,3915,0,0,0,0,0,0,15.12,14.90,15.14
$GC,1636,-0.60,-194.6,2565,843,3910,3915,261.9,-14.4,196,1641,0.00,2.28,0.00,0.000,1030,0.000,0.057,2565,2250,3912,3910,3915,0,0,0,0,0,0,14.97,14.90,14.99
$GC,1953,-0.60,-194.6,2565,2251,3909,3915,301.8,-11.7,209,1957,0.00,2.33,0.00,0.000,260,0.000,0.085,2565,3659,3912,3910,3914,0,0,0,0,0,0,15.15,14.90,15.16
$GC,2057,-0.60,-194.6,2564,3658,3909,3914,313.4,-10.7,230,2061,0.00,2.22,0.00,0.000,1030,0.000,0.043,2565,2244,3911,3909,3914,0,0,0,0,0,0,15.01,14.95,15.02
$GC,2374,-0.60,-194.6,2565,2239,3908,3914,345.4,-9.8,243,2379,0.00,2.40,0.00,0.000,260,0.000,0.085,2565,3667,3911,3908,3914,0,0,0,0,0,0,15.16,14.92,15.19
$GC,2419,-0.60,-194.6,2565,3667,3907,3913,349.8,-9.4,252,2423,0.00,2.22,0.00,0.000,1030,0.000,0.043,2565,2248,3910,3907,3914,0,0,0,0,0,0,15.02,14.97,15.04
$GC,2735,-0.60,-194.6,2565,2243,3907,3911,380.3,-10.0,265,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2243,3909,3907,3911,0,0,0,0,0,0,15.18,15.20,15.20
$GC,3035,-0.60,-194.6,2565,2243,3906,3909,413.8,-11.6,275,3040,0.00,2.38,0.00,0.000,260,0.000,0.085,2565,3659,3907,3906,3909,0,0,0,0,0,0,15.19,14.93,15.21
$GC,3100,-0.60,-194.6,2565,3659,3904,3908,421.7,-11.9,288,3105,0.00,2.22,0.00,0.000,1030,0.000,0.045,2565,2251,3906,3904,3908,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3427,-0.60,-194.6,2565,2247,3903,3907,459.2,-11.3,303,3432,0.00,2.40,0.00,0.000,260,0.000,0.086,2565,3665,3904,3903,3906,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3453,-0.60,-194.6,2565,3665,3902,3906,462.3,-11.5,308,3460,0.00,2.22,0.00,0.000,1030,0.000,0.044,2565,2253,3904,3902,3906,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3759,-0.60,-194.6,2565,2248,3901,3904,497.7,-11.9,319,3764,0.00,2.40,0.00,0.000,260,0.000,0.088,2565,3660,3902,3901,3903,0,0,0,0,0,0,15.19,14.95,15.22
$GC,3826,-0.60,-194.6,2565,3660,3900,3903,506.1,-12.3,332,3830,0.00,2.25,0.00,0.000,1030,0.000,0.047,2565,2241,3901,3900,3903,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4152,-0.60,-194.6,2564,2237,3900,3901,545.1,-11.6,347,4156,0.00,2.40,0.00,0.000,260,0.000,0.088,2565,3657,3900,3900,3901,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4177,-0.60,-194.6,2565,3657,3899,3901,548.2,-11.2,352,4184,0.00,2.25,0.00,0.000,1030,0.000,0.048,2565,2243,3900,3899,3901,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4483,-0.60,-194.6,2565,2238,3898,3899,580.7,-10.5,363,4488,0.00,2.42,0.00,0.000,260,0.000,0.089,2565,3664,3898,3898,3899,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4503,-0.60,-194.6,2565,3664,3898,3898,583.0,-10.4,367,4509,0.00,2.25,0.00,0.000,1030,0.000,0.047,2565,2249,3898,3898,3898,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4816,-0.60,-194.6,2564,2244,3898,3897,613.7,-9.9,379,4821,0.00,2.40,0.00,0.000,260,0.000,0.090,2565,3657,3897,3898,3897,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4855,-0.60,-194.6,2564,3656,3897,3897,617.8,-9.8,387,4861,0.00,2.25,0.00,0.000,1030,0.000,0.048,2565,2244,3897,3898,3897,0,0,0,0,0,0,15.06,15.00,15.07
$GC,5179,-0.60,-194.6,2564,2240,3897,3896,649.5,-9.8,401,5185,0.00,2.42,0.00,0.000,260,0.000,0.090,2565,3667,3896,3897,3895,0,0,0,0,0,0,15.20,14.95,15.22
$GC,5238,-0.60,-194.6,2564,3667,3896,3895,655.5,-9.8,413,5242,0.00,2.25,0.00,0.000,1030,0.000,0.046,2565,2245,3896,3897,3895,0,0,0,0,0,0,15.06,15.00,15.07
$GC,5569,-0.60,-194.6,2565,2241,3896,3893,688.2,-10.1,429,5573,0.00,2.40,0.00,0.000,260,0.000,0.090,2565,3656,3894,3896,3893,0,0,0,0,0,0,15.20,14.95,15.22
$GC,5630,-0.60,-194.6,2564,3656,3895,3892,694.3,-9.6,441,5634,0.00,2.25,0.00,0.000,1030,0.000,0.049,2565,2243,3893,3895,3892,0,0,0,0,0,0,15.06,15.00,15.07
$GC,5961,-0.60,-194.6,2565,2237,3895,3890,726.3,-9.8,457,5968,0.00,2.42,0.00,0.000,260,0.000,0.091,2565,3663,3892,3894,3890,0,0,0,0,0,0,15.20,14.95,15.22
$GC,5999,-0.60,-194.6,2564,3663,3894,3890,730.3,-10.1,465,6004,0.00,2.25,0.00,0.000,1030,0.000,0.047,2565,2247,3891,3894,3889,0,0,0,0,0,0,15.06,15.00,15.07
$GC,6321,-0.60,-194.6,2565,2242,3893,3888,764.1,-11.0,479,6326,0.00,2.42,0.00,0.000,260,0.000,0.093,2565,3665,3890,3893,3888,0,0,0,0,0,0,15.20,14.95,15.22
$GC,6361,-0.60,-194.6,2564,3664,3892,3887,768.9,-11.6,487,6367,0.00,2.28,0.00,0.000,1030,0.000,0.048,2565,2240,3889,3892,3887,0,0,0,0,0,0,15.06,15.00,15.07
$GC,6684,-0.60,-194.6,2564,2235,3892,3886,806.3,-11.8,501,6690,0.00,2.42,0.00,0.000,260,0.000,0.091,2565,3659,3889,3892,3886,0,0,0,0,0,0,15.20,14.94,15.22
$GC,6743,-0.60,-194.6,2565,3658,3891,3885,813.6,-12.0,513,6747,0.00,2.25,0.00,0.000,1030,0.000,0.048,2565,2246,3888,3891,3885,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7074,-0.60,-194.6,2564,2241,3891,3883,851.6,-11.2,529,7081,0.00,2.42,0.00,0.000,260,0.000,0.092,2565,3661,3887,3891,3883,0,0,0,0,0,0,15.20,14.94,15.21
$GC,7128,-0.60,-194.6,2565,3661,3890,3882,857.7,-10.5,540,7135,0.00,2.25,0.00,0.000,1030,0.000,0.050,2565,2245,3886,3890,3883,0,0,0,0,0,0,15.05,15.00,15.07
$GC,7434,-0.60,-194.6,2565,2245,3890,3882,889.2,-10.0,551,7439,0.00,2.40,0.00,0.000,260,0.000,0.093,2565,3655,3886,3890,3882,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7480,-0.60,-194.6,2565,3655,3889,3881,893.8,-9.8,560,7484,0.00,2.25,0.00,0.000,1030,0.000,0.051,2565,2251,3885,3889,3882,0,0,0,0,0,0,15.05,15.00,15.07
$GC,7796,-0.60,-194.6,2564,2246,3889,3880,921.7,-8.4,573,7800,0.00,2.42,0.00,0.000,260,0.000,0.093,2565,3665,3884,3889,3880,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7835,-0.60,-194.6,2564,3664,3888,3880,925.2,-8.4,581,7840,0.00,2.28,0.00,0.000,1030,0.000,0.047,2565,2241,3884,3888,3880,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8152,-0.60,-194.6,2565,2236,3888,3878,950.8,-8.0,594,8160,0.00,2.42,0.00,0.000,260,0.000,0.092,2565,3655,3882,3887,3878,0,0,0,0,0,0,15.19,14.93,15.22
$GC,8190,-0.60,-194.6,2564,3655,3887,3879,954.2,-8.6,602,8195,0.00,2.28,0.00,0.000,1030,0.000,0.050,2565,2240,3882,3887,3878,0,0,0,0,0,0,15.05,15.00,15.07
$GC,8513,-0.60,-194.6,2565,2235,3887,3877,979.3,-7.7,616,8519,0.00,2.42,0.00,0.000,260,0.000,0.093,2565,3654,3882,3887,3877,0,0,0,0,0,0,15.19,14.93,15.22
$GC,8586,-0.60,-194.6,2564,3655,3886,3877,985.2,-7.8,631,8591,0.00,2.28,0.00,0.000,1030,0.000,0.050,2565,2240,3881,3886,3877,0,0,0,0,0,0,15.05,14.99,15.07
$STATE,8662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8662,begin apogee
$GC,8666,-0.12,0.0,2565,2370,3886,3877,990.8,-7.5,636,8845,0.60,0.00,174.90,1.668,10246,0.235,0.000,2736,2370,3346,3368,3324,0,0,0,0,0,0,14.86,14.12,13.50
$STATE,8846,end apogee,CONTROL_FINISHED_OK
$STATE,8846,begin climb
$GC,8848,0.60,194.6,2736,2370,3363,3318,995.3,0.0,642,9056,0.77,2.45,198.80,1.874,10500,0.134,0.090,2972,3679,2545,2591,2499,0,0,0,0,0,0,14.10,13.94,13.30
$GC,9101,0.60,194.6,2973,3678,2582,2494,976.5,13.6,678,9105,0.00,2.25,0.00,0.000,1030,0.000,0.053,2973,2373,2537,2582,2493,0,0,0,0,0,0,14.28,14.22,14.31
$GC,9418,0.60,194.6,2973,2373,2573,2488,938.5,11.6,691,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2372,2530,2573,2488,0,0,0,0,0,0,14.81,14.83,14.83
$GC,9718,0.60,194.6,2973,2373,2570,2486,906.0,10.3,701,9723,0.00,2.38,0.00,0.000,516,0.000,0.069,2973,938,2528,2570,2487,0,0,0,0,0,0,14.94,14.71,14.96
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$STATE,18947,end climb,SURFACE_DEPTH_REACHED
$STATE,18948,begin surface coast
$FINISH,0.3,1.022702
$STATE,18964,end surface coast,CONTROL_FINISHED_OK
$STATE,18964,begin surface
$SM_CCo,19040,0.00,0.000,0,0,1152,537.69
$SM_GC,0.72,8.73,0.17,0.00,0.102,0.086,0.000,246,2211,1152,-7.88,1.27,537.69,0,0,0,0,0,0,14.51,14.59,14.61
$IRIDIUM_FIX,-319.91,5540.84,230118,055500
$TT8_MAMPS,0.018725,0.15729
$HUMID,59.52
$INTERNAL_PRESSURE,8.43396
$TCM_TEMP,22.70
$XPDR_PINGS,8
$24V_AH,13.30,16.857
$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
$DEVICE_SECS,22.275,193.400,667.925,0.000,0.000,0.000,0.000,202.950,2.000,0.000,22.078,2835.259,13346.554,806.977,2216.419,135.515,0.000,2181.059,0.000,1980.253,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.741,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304596
$DATA_FILE_SIZE,60001,1391
$CAP_FILE_SIZE,165254,0
$CFSIZE,260034560,255217664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9717.82,0x234cba,1,24
$CURRENT,0.149,111.42,1
$GPS,230118,165231,-321.543,5542.185,40,0.8,42,-4.6,0.7,45.7,10,8.6