version: 66.13
glider: 128
mission: 4
dive: 47
start: 1 24 118 14 40 15
data:
$ID,128
$MISSION,4
$DIVE,47
$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,400
$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,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,27
$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
$GPS1,240118,143437,-327.1570,5540.5210,33,0.9,35,-4.7,0.0,82.0,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-74.8
$GPS2,240118,143939,-327.1377,5540.5967,13,0.9,16,-4.7,0.5,51.0,9,8.9
$SPEED_LIMITS,0.143,0.221
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,238.8,25291,-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,-194.6,231,2409,1714,1693,0.0,0.0,0,73,0.00,0.00,-64.45,0.004,16386,0.000,0.000,231,2409,3654,3633,3675,0,0,0,0,0,0,14.88,28.83,14.90
$GC,75,-0.60,-194.6,231,2409,3633,3676,3.9,-11.2,11,96,11.88,0.00,-3.72,0.025,18950,0.442,0.000,2579,2409,3903,3896,3911,0,0,0,0,0,0,14.45,13.83,14.71
$GC,398,-0.60,-194.6,2579,2409,3906,3912,77.4,-12.8,56,402,0.00,2.30,0.00,0.000,516,0.000,0.049,2579,979,3909,3907,3912,0,0,0,0,0,0,14.99,14.77,15.00
$GC,490,-0.60,-194.6,2579,979,3908,3913,88.9,-11.4,74,494,0.00,2.25,0.00,0.000,1030,0.000,0.056,2579,2353,3910,3908,3913,0,0,0,0,0,0,14.85,14.78,14.88
$GC,801,-0.60,-194.6,2579,2353,3910,3915,133.5,-14.3,106,805,0.00,2.22,0.00,0.000,260,0.000,0.084,2580,3692,3912,3910,3915,0,0,0,0,0,0,15.06,14.81,15.08
$GC,872,-0.60,-194.6,2579,3693,3910,3915,142.4,-11.4,120,876,0.00,2.08,0.00,0.000,1030,0.000,0.039,2580,2370,3912,3910,3915,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1184,-0.60,-194.6,2579,2367,3911,3916,176.8,-11.2,152,1188,0.00,2.25,0.00,0.000,260,0.000,0.083,2580,3699,3913,3911,3916,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1215,-0.60,-194.6,2579,3699,3911,3915,180.4,-12.0,158,1219,0.00,2.12,0.00,0.000,1030,0.000,0.041,2579,2340,3913,3911,3916,0,0,0,0,0,0,14.96,14.90,14.97
$GC,1526,-0.60,-194.6,2579,2336,3910,3916,215.5,-12.2,190,1530,0.00,2.17,0.00,0.000,516,0.000,0.048,2580,954,3912,3910,3915,0,0,0,0,0,0,15.12,14.90,15.14
$GC,1550,-0.60,-194.6,2579,954,3911,3916,218.9,-13.4,195,1558,0.00,2.30,0.00,0.000,1030,0.000,0.056,2579,2345,3913,3911,3916,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1857,-0.60,-194.6,2579,2344,3910,3916,254.0,-11.9,224,1861,0.00,2.22,0.00,0.000,260,0.000,0.085,2580,3693,3913,3910,3916,0,0,0,0,0,0,15.14,14.89,15.16
$GC,1896,-0.60,-194.6,2579,3693,3910,3915,258.9,-11.7,232,1901,0.00,2.12,0.00,0.000,1030,0.000,0.040,2580,2331,3912,3910,3915,0,0,0,0,0,0,15.00,14.95,15.01
$GC,2219,-0.60,-194.6,2579,2327,3910,3915,291.3,-9.7,246,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2327,3912,3910,3915,0,0,0,0,0,0,15.16,15.18,15.18
$GC,2518,-0.60,-194.6,2579,2327,3909,3915,322.4,-10.9,256,2522,0.00,2.30,0.00,0.000,260,0.000,0.084,2580,3697,3911,3909,3914,0,0,0,0,0,0,15.17,14.93,15.19
$GC,2557,-0.60,-194.6,2579,3697,3908,3915,327.1,-11.3,264,2562,0.00,2.10,0.00,0.000,1030,0.000,0.041,2580,2350,3911,3908,3914,0,0,0,0,0,0,15.03,14.98,15.05
$GC,2880,-0.60,-194.6,2579,2346,3908,3914,363.3,-11.4,278,2884,0.00,2.20,0.00,0.000,516,0.000,0.050,2580,954,3911,3908,3914,0,0,0,0,0,0,15.19,14.97,15.20
$GC,2943,-0.60,-194.6,2579,953,3908,3913,370.6,-10.9,291,2948,0.00,2.30,0.00,0.000,1030,0.000,0.057,2579,2348,3910,3908,3913,0,0,0,0,0,0,15.00,14.95,15.02
$GC,3272,-0.60,-194.6,2579,2349,3906,3911,405.3,-10.8,306,3276,0.00,2.25,0.00,0.000,260,0.000,0.088,2579,3700,3908,3906,3910,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3316,-0.60,-194.6,2579,3700,3905,3910,410.5,-10.8,315,3320,0.00,2.12,0.00,0.000,1030,0.000,0.044,2580,2349,3907,3905,3909,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3632,-0.60,-194.6,2579,2346,3904,3908,442.9,-10.0,328,3636,0.00,2.20,0.00,0.000,516,0.000,0.052,2579,957,3906,3905,3908,0,0,0,0,0,0,15.20,14.98,15.22
$GC,3664,-0.60,-194.6,2579,957,3905,3907,445.9,-9.9,334,3668,0.00,2.28,0.00,0.000,1030,0.000,0.058,2579,2360,3906,3904,3908,0,0,0,0,0,0,15.04,14.96,15.06
$GC,3995,-0.60,-194.6,2579,2359,3903,3906,476.1,-8.9,350,3999,0.00,2.22,0.00,0.000,260,0.000,0.089,2579,3700,3904,3902,3906,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4039,-0.60,-194.6,2579,3700,3901,3904,480.3,-8.9,359,4044,0.00,2.12,0.00,0.000,1030,0.000,0.044,2580,2349,3903,3901,3905,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4356,-0.60,-194.6,2579,2346,3901,3903,507.1,-8.3,372,4360,0.00,2.20,0.00,0.000,516,0.000,0.053,2580,957,3901,3901,3902,0,0,0,0,0,0,15.21,14.98,15.22
$GC,4400,-0.60,-194.6,2579,956,3901,3903,511.0,-8.3,381,4406,0.00,2.28,0.00,0.000,1030,0.000,0.058,2580,2353,3902,3901,3903,0,0,0,0,0,0,15.05,14.97,15.07
$GC,4718,-0.60,-194.6,2579,2354,3900,3901,538.2,-8.9,394,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2353,3900,3900,3901,0,0,0,0,0,0,15.21,15.23,15.22
$GC,5017,-0.60,-194.6,2579,2353,3899,3900,569.1,-11.0,404,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2353,3899,3899,3899,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5318,-0.60,-194.6,2579,2355,3898,3896,603.6,-11.4,414,5322,0.00,2.22,0.00,0.000,260,0.000,0.090,2580,3693,3896,3897,3896,0,0,0,0,0,0,15.21,14.96,15.23
$GC,5382,-0.60,-194.6,2579,3693,3897,3897,611.0,-10.7,427,5387,0.00,2.15,0.00,0.000,1030,0.000,0.044,2580,2352,3897,3898,3896,0,0,0,0,0,0,15.03,15.00,15.05
$GC,5710,-0.60,-194.6,2579,2349,3898,3895,642.8,-8.9,442,5714,0.00,2.22,0.00,0.000,516,0.000,0.054,2580,950,3896,3898,3895,0,0,0,0,0,0,15.21,14.99,15.23
$GC,5754,-0.60,-194.6,2579,949,3896,3895,646.7,-8.3,451,5758,0.00,2.30,0.00,0.000,1030,0.000,0.060,2580,2356,3896,3897,3895,0,0,0,0,0,0,15.06,14.97,15.07
$GC,6070,-0.60,-194.6,2580,2356,3897,3893,671.6,-7.9,464,6074,0.00,2.22,0.00,0.000,260,0.000,0.091,2580,3693,3894,3896,3892,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6121,-0.60,-194.6,2579,3693,3896,3891,675.8,-8.0,474,6125,0.00,2.12,0.00,0.000,1030,0.000,0.045,2580,2342,3893,3895,3892,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6432,-0.60,-194.6,2579,2338,3896,3891,702.0,-8.7,486,6436,0.00,2.20,0.00,0.000,516,0.000,0.053,2580,952,3893,3896,3891,0,0,0,0,0,0,15.21,14.99,15.23
$GC,6481,-0.60,-194.6,2579,952,3896,3891,706.7,-9.0,496,6485,0.00,2.30,0.00,0.000,1030,0.000,0.059,2580,2361,3893,3895,3891,0,0,0,0,0,0,15.05,14.97,15.07
$GC,6793,-0.60,-194.6,2579,2361,3894,3889,735.2,-9.5,508,6797,0.00,2.22,0.00,0.000,260,0.000,0.092,2580,3696,3892,3895,3889,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6843,-0.60,-194.6,2580,3696,3894,3888,740.1,-9.7,518,6847,0.00,2.12,0.00,0.000,1030,0.000,0.046,2580,2349,3891,3894,3888,0,0,0,0,0,0,15.07,15.00,15.07
$GC,7155,-0.60,-194.6,2579,2345,3894,3887,769.4,-9.4,530,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2345,3890,3894,3887,0,0,0,0,0,0,15.21,15.23,15.22
$GC,7454,-0.60,-194.6,2579,2345,3893,3886,797.3,-9.1,540,7458,0.00,2.30,0.00,0.000,260,0.000,0.091,2580,3700,3889,3893,3886,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7478,-0.60,-194.6,2579,3700,3892,3885,799.6,-9.8,545,7487,0.00,2.15,0.00,0.000,1030,0.000,0.048,2580,2342,3889,3893,3886,0,0,0,0,0,0,15.07,15.00,15.08
$GC,7785,-0.60,-194.6,2579,2342,3892,3884,823.8,-7.6,556,7789,0.00,2.22,0.00,0.000,516,0.000,0.054,2580,948,3888,3892,3884,0,0,0,0,0,0,15.21,14.98,15.23
$GC,7809,-0.60,-194.6,2579,948,3893,3884,825.8,-7.6,561,7817,0.00,2.30,0.00,0.000,1030,0.000,0.062,2580,2351,3888,3892,3884,0,0,0,0,0,0,15.05,14.97,15.07
$GC,8116,-0.60,-194.6,2580,2351,3892,3882,848.4,-7.5,572,8120,0.00,2.25,0.00,0.000,260,0.000,0.093,2580,3698,3886,3891,3882,0,0,0,0,0,0,15.21,14.95,15.23
$GC,8160,-0.60,-194.6,2580,3698,3891,3882,852.1,-8.2,581,8166,0.00,2.15,0.00,0.000,1030,0.000,0.047,2580,2347,3886,3891,3882,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8479,-0.60,-194.6,2579,2347,3890,3881,878.6,-8.7,594,8483,0.00,2.22,0.00,0.000,516,0.000,0.056,2580,955,3885,3890,3881,0,0,0,0,0,0,15.20,14.97,15.22
$GC,8509,-0.60,-194.6,2579,956,3890,3881,881.6,-9.3,600,8514,0.00,2.30,0.00,0.000,1030,0.000,0.063,2580,2359,3885,3890,3881,0,0,0,0,0,0,15.05,14.97,15.07
$GC,8840,-0.60,-194.6,2579,2360,3890,3879,913.0,-9.7,616,8844,0.00,2.25,0.00,0.000,260,0.000,0.095,2580,3700,3884,3889,3879,0,0,0,0,0,0,15.20,14.94,15.22
$GC,8872,-0.60,-194.6,2579,3700,3889,3879,916.0,-9.9,622,8876,0.00,2.15,0.00,0.000,1030,0.000,0.050,2580,2346,3884,3889,3879,0,0,0,0,0,0,15.06,15.00,15.07
$GC,9203,-0.60,-194.6,2579,2342,3889,3878,946.2,-8.8,638,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2342,3883,3889,3878,0,0,0,0,0,0,15.20,15.22,15.22
$GC,9503,-0.60,-194.6,2579,2342,3887,3877,971.1,-8.1,648,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2342,3882,3888,3877,0,0,0,0,0,0,15.20,15.23,15.22
$STATE,9741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9741,begin apogee
$GC,9746,-0.12,0.0,2580,2412,3888,3876,991.3,-8.5,656,9927,0.52,0.00,177.93,1.647,10246,0.223,0.000,2732,2412,3346,3368,3324,0,0,0,0,0,0,14.88,14.13,13.51
$STATE,9928,end apogee,CONTROL_FINISHED_OK
$STATE,9928,begin climb
$GC,9929,0.60,194.6,2732,2412,3362,3318,998.2,0.0,662,10194,0.77,0.00,257.20,1.616,10758,0.138,0.000,2967,2412,2548,2594,2503,0,0,0,0,0,0,14.10,14.00,13.43
$GC,10493,0.60,194.6,2967,2412,2576,2493,958.1,9.6,706,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2412,2535,2577,2494,0,0,0,0,0,0,14.77,14.79,14.78
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$STATE,20761,end climb,SURFACE_DEPTH_REACHED
$STATE,20761,begin surface coast
$FINISH,0.2,1.022666
$STATE,20795,end surface coast,CONTROL_FINISHED_OK
$STATE,20795,begin surface
$SM_CCo,20871,0.00,0.000,0,0,1689,406.70
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$IRIDIUM_FIX,-324.21,5543.84,240118,090436
$TT8_MAMPS,0.019474,0.155792
$HUMID,59.17
$INTERNAL_PRESSURE,8.49255
$TCM_TEMP,23.20
$XPDR_PINGS,4
$24V_AH,13.43,18.431
$10V_AH,13.68,0.000
$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
$DEVICE_SECS,21.700,176.475,624.250,0.000,0.000,0.000,0.000,214.325,1.000,0.000,17.627,3214.371,14737.041,731.910,2367.203,129.585,0.000,2162.793,0.000,2120.108,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304628
$DATA_FILE_SIZE,63376,1490
$CAP_FILE_SIZE,173111,0
$CFSIZE,260034560,254820352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,99.10,1
$GPS,240118,202908,-328.823,5540.075,26,1.0,29,-4.7,0.9,111.7,7,9.3