version: 66.13
glider: 128
mission: 4
dive: 50
start: 1 25 118 7 18 38
data:
$ID,128
$MISSION,4
$DIVE,50
$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,38
$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
$GPS1,250118,071303,-332.0728,5538.7998,38,0.9,42,-4.7,1.0,134.1,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-72.8
$GPS2,250118,071803,-332.1029,5538.8975,18,0.8,20,-4.7,1.4,99.9,10,9.1
$SPEED_LIMITS,0.143,0.221
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,225.0,15575,-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,-194.6,226,2393,1722,1709,0.0,0.0,0,73,0.00,0.00,-63.30,0.004,16386,0.000,0.000,227,2393,3641,3619,3663,0,0,0,0,0,0,14.87,28.83,14.90
$GC,75,-0.60,-194.6,226,2393,3621,3663,3.9,-10.4,10,97,11.70,2.45,-3.95,0.023,19204,0.435,0.081,2576,947,3905,3897,3914,0,0,0,0,0,0,14.45,13.78,14.70
$GC,324,-0.60,-194.6,2576,946,3906,3914,65.0,-13.3,58,328,0.00,2.30,0.00,0.000,1030,0.000,0.057,2576,2351,3909,3906,3913,0,0,0,0,0,0,14.81,14.73,14.83
$GC,635,-0.60,-194.6,2576,2351,3910,3915,112.1,-12.4,90,639,0.00,2.25,0.00,0.000,260,0.000,0.085,2576,3703,3912,3910,3915,0,0,0,0,0,0,15.03,14.78,15.05
$GC,676,-0.60,-194.6,2576,3704,3910,3915,116.6,-10.7,98,680,0.00,2.15,0.00,0.000,1030,0.000,0.042,2576,2336,3912,3910,3915,0,0,0,0,0,0,14.90,14.85,14.91
$GC,987,-0.60,-194.6,2576,2332,3911,3916,152.5,-11.6,130,991,0.00,2.30,0.00,0.000,260,0.000,0.082,2576,3702,3913,3911,3916,0,0,0,0,0,0,15.08,14.83,15.10
$GC,1037,-0.60,-194.6,2575,3702,3911,3916,158.0,-10.5,140,1043,0.00,2.12,0.00,0.000,1030,0.000,0.041,2576,2344,3913,3911,3916,0,0,0,0,0,0,14.95,14.90,14.96
$GC,1349,-0.60,-194.6,2575,2340,3911,3916,196.7,-13.7,172,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2340,3914,3912,3916,0,0,0,0,0,0,15.11,15.13,15.13
$GC,1650,-0.60,-194.6,2575,2340,3911,3916,233.1,-11.7,202,1654,0.00,2.28,0.00,0.000,260,0.000,0.082,2576,3696,3914,3912,3916,0,0,0,0,0,0,15.12,14.88,15.14
$GC,1724,-0.60,-194.6,2576,3696,3911,3916,241.5,-10.4,217,1731,0.00,2.10,0.00,0.000,1030,0.000,0.040,2576,2342,3913,3911,3916,0,0,0,0,0,0,14.99,14.94,15.00
$GC,2050,-0.60,-194.6,2576,2341,3910,3916,276.1,-10.9,234,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2342,3913,3911,3916,0,0,0,0,0,0,15.15,15.17,15.17
$GC,2350,-0.60,-194.6,2576,2342,3910,3915,309.4,-11.1,244,2355,0.00,2.17,0.00,0.000,516,0.000,0.049,2576,964,3913,3911,3916,0,0,0,0,0,0,15.16,14.95,15.19
$GC,2376,-0.60,-194.6,2576,964,3909,3916,312.5,-11.3,249,2383,0.00,2.28,0.00,0.000,1030,0.000,0.058,2576,2363,3912,3910,3915,0,0,0,0,0,0,15.02,14.94,15.03
$GC,2682,-0.60,-194.6,2575,2363,3909,3914,346.8,-11.4,260,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2363,3912,3909,3915,0,0,0,0,0,0,15.18,15.20,15.20
$GC,2982,-0.60,-194.6,2576,2363,3908,3913,382.1,-12.0,270,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2362,3910,3908,3913,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3282,-0.60,-194.6,2576,2363,3907,3910,416.4,-11.3,280,3287,0.00,2.22,0.00,0.000,516,0.000,0.050,2576,964,3908,3906,3910,0,0,0,0,0,0,15.19,14.98,15.21
$GC,3314,-0.60,-194.6,2576,964,3907,3910,419.9,-11.1,286,3318,0.00,2.25,0.00,0.000,1030,0.000,0.059,2576,2351,3908,3907,3910,0,0,0,0,0,0,15.04,14.97,15.06
$GC,3644,-0.60,-194.6,2576,2352,3905,3908,451.9,-9.2,302,3648,0.00,2.22,0.00,0.000,260,0.000,0.088,2576,3698,3906,3905,3907,0,0,0,0,0,0,15.20,14.95,15.22
$GC,3663,-0.60,-194.6,2576,3698,3903,3907,453.8,-9.2,306,3668,0.00,2.15,0.00,0.000,1030,0.000,0.045,2576,2329,3905,3904,3907,0,0,0,0,0,0,15.06,15.00,15.07
$GC,3975,-0.60,-194.6,2576,2325,3903,3906,482.6,-9.4,318,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2325,3904,3903,3906,0,0,0,0,0,0,15.20,15.22,15.22
$GC,4275,-0.60,-194.6,2576,2325,3902,3903,512.3,-10.1,328,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2325,3902,3901,3903,0,0,0,0,0,0,15.21,15.23,15.23
$GC,4575,-0.60,-194.6,2576,2325,3900,3902,543.5,-10.5,338,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2325,3901,3901,3902,0,0,0,0,0,0,15.21,15.23,15.23
$GC,4875,-0.60,-194.6,2576,2325,3899,3900,574.2,-9.9,348,4880,0.00,2.17,0.00,0.000,516,0.000,0.053,2576,953,3900,3900,3900,0,0,0,0,0,0,15.21,14.99,15.23
$GC,4901,-0.60,-194.6,2575,953,3899,3900,576.9,-9.8,353,4908,0.00,2.28,0.00,0.000,1030,0.000,0.060,2576,2349,3900,3900,3900,0,0,0,0,0,0,15.06,14.98,15.08
$GC,5207,-0.60,-194.6,2576,2349,3898,3898,606.0,-9.6,364,5212,0.00,2.25,0.00,0.000,260,0.000,0.090,2576,3699,3898,3898,3898,0,0,0,0,0,0,15.21,14.96,15.23
$GC,5277,-0.60,-194.6,2576,3700,3898,3897,612.8,-9.4,378,5281,0.00,2.12,0.00,0.000,1030,0.000,0.047,2576,2347,3897,3898,3897,0,0,0,0,0,0,15.06,15.01,15.08
$GC,5599,-0.60,-194.6,2576,2344,3897,3897,643.7,-10.1,392,5604,0.00,2.20,0.00,0.000,516,0.000,0.054,2576,955,3897,3898,3897,0,0,0,0,0,0,15.21,14.99,15.23
$GC,5644,-0.60,-194.6,2575,955,3898,3897,648.5,-10.1,401,5648,0.00,2.28,0.00,0.000,1030,0.000,0.060,2576,2352,3897,3898,3897,0,0,0,0,0,0,15.05,14.97,15.07
$GC,5961,-0.60,-194.6,2576,2352,3897,3895,679.7,-9.8,414,5965,0.00,2.22,0.00,0.000,260,0.000,0.090,2576,3692,3895,3897,3894,0,0,0,0,0,0,15.21,14.95,15.22
$GC,6004,-0.60,-194.6,2576,3693,3896,3894,684.1,-9.6,423,6009,0.00,2.10,0.00,0.000,1030,0.000,0.044,2576,2351,3895,3896,3894,0,0,0,0,0,0,15.06,15.00,15.07
$GC,6321,-0.60,-194.6,2576,2348,3896,3893,713.4,-9.3,436,6326,0.00,2.22,0.00,0.000,516,0.000,0.055,2576,951,3894,3896,3892,0,0,0,0,0,0,15.21,14.98,15.23
$GC,6347,-0.60,-194.6,2576,950,3896,3892,716.0,-9.3,441,6354,0.00,2.30,0.00,0.000,1030,0.000,0.060,2576,2358,3894,3897,3892,0,0,0,0,0,0,15.05,14.97,15.07
$GC,6653,-0.60,-194.6,2575,2358,3895,3890,743.5,-9.0,452,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2359,3892,3895,3890,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6953,-0.60,-194.6,2576,2358,3895,3889,770.7,-9.1,462,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2358,3892,3895,3889,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7253,-0.60,-194.6,2576,2358,3893,3887,797.2,-8.7,472,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2358,3890,3894,3887,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7553,-0.60,-194.6,2575,2359,3892,3885,820.6,-7.3,482,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2360,3888,3892,3885,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7853,-0.60,-194.6,2574,2360,3892,3883,842.7,-7.7,492,7858,0.00,2.25,0.00,0.000,260,0.000,0.096,2575,3697,3887,3891,3883,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7885,-0.60,-194.6,2574,3697,3890,3883,845.3,-8.7,498,7889,0.00,2.12,0.00,0.000,1030,0.000,0.049,2575,2354,3887,3891,3883,0,0,0,0,0,0,15.07,15.01,15.08
$GC,8216,-0.60,-194.6,2574,2350,3890,3882,874.8,-9.2,514,8220,0.00,2.25,0.00,0.000,516,0.000,0.057,2574,949,3886,3891,3882,0,0,0,0,0,0,15.21,14.98,15.23
$GC,8240,-0.60,-194.6,2574,949,3891,3882,877.2,-9.7,519,8247,0.00,2.33,0.00,0.000,1030,0.000,0.063,2575,2357,3886,3891,3882,0,0,0,0,0,0,15.05,14.97,15.07
$GC,8547,-0.60,-194.6,2574,2357,3890,3881,904.3,-9.1,530,8551,0.00,2.28,0.00,0.000,516,0.000,0.056,2575,953,3885,3890,3881,0,0,0,0,0,0,15.21,14.97,15.23
$GC,8582,-0.60,-194.6,2574,953,3890,3881,907.7,-9.1,537,8587,0.00,2.30,0.00,0.000,1030,0.000,0.063,2575,2350,3885,3890,3881,0,0,0,0,0,0,15.05,14.96,15.07
$GC,8908,-0.60,-194.6,2574,2350,3889,3879,935.1,-8.3,552,8913,0.00,2.25,0.00,0.000,260,0.000,0.096,2575,3693,3884,3889,3879,0,0,0,0,0,0,15.21,14.94,15.23
$GC,8958,-0.60,-194.6,2574,3693,3889,3879,939.6,-8.8,562,8963,0.00,2.15,0.00,0.000,1030,0.000,0.048,2575,2341,3883,3888,3879,0,0,0,0,0,0,15.06,15.00,15.07
$GC,9270,-0.60,-194.6,2574,2337,3888,3878,965.7,-8.4,574,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2337,3883,3889,3878,0,0,0,0,0,0,15.20,15.23,15.22
$STATE,9569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9569,begin apogee
$GC,9573,-0.12,0.0,2575,2411,3888,3877,990.4,-8.2,584,9756,0.55,0.00,179.48,1.639,10246,0.221,0.000,2735,2411,3345,3367,3324,0,0,0,0,0,0,14.88,14.12,13.51
$STATE,9757,end apogee,CONTROL_FINISHED_OK
$STATE,9757,begin climb
$GC,9759,0.60,194.6,2735,2411,3363,3318,997.2,0.0,590,9970,0.77,2.30,201.95,1.850,10500,0.135,0.088,2970,3682,2545,2592,2498,0,0,0,0,0,0,14.10,13.85,13.29
$GC,9995,0.60,194.6,2970,3682,2583,2494,986.5,11.0,639,9999,0.00,2.17,0.00,0.000,1030,0.000,0.052,2971,2414,2538,2583,2494,0,0,0,0,0,0,14.21,14.14,14.23
$GC,10317,0.60,194.6,2971,2413,2573,2487,952.0,10.8,653,10321,0.00,2.40,0.00,0.000,516,0.000,0.068,2971,992,2530,2573,2487,0,0,0,0,0,0,14.80,14.57,14.82
$GC,10337,0.60,194.6,2971,991,2571,2487,949.8,9.9,657,10341,0.00,2.38,0.00,0.000,1030,0.000,0.063,2972,2394,2528,2571,2486,0,0,0,0,0,0,14.66,14.58,14.69
$GC,10649,0.60,194.6,2971,2395,2569,2486,917.5,10.0,669,10653,0.00,2.22,0.00,0.000,260,0.000,0.090,2971,3697,2527,2569,2486,0,0,0,0,0,0,14.93,14.69,14.95
$GC,10710,0.60,194.6,2971,3697,2568,2486,910.8,11.0,681,10714,0.00,2.12,0.00,0.000,1030,0.000,0.050,2971,2393,2527,2568,2486,0,0,0,0,0,0,14.81,14.74,14.83
$GC,11042,0.60,194.6,2971,2393,2566,2485,879.3,9.4,697,11046,0.00,2.33,0.00,0.000,516,0.000,0.067,2971,991,2525,2566,2485,0,0,0,0,0,0,15.02,14.78,15.04
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$STATE,19917,end climb,SURFACE_DEPTH_REACHED
$STATE,19917,begin surface coast
$FINISH,0.6,1.022657
$STATE,19944,end surface coast,CONTROL_FINISHED_OK
$STATE,19944,begin surface
$SM_CCo,19959,12.40,0.081,0,0,1714,400.08
$SM_GC,0.87,8.38,0.05,12.40,0.099,0.217,0.081,249,2311,1714,-7.87,1.16,400.08,0,0,0,0,0,0,14.69,14.75,14.72
$IRIDIUM_FIX,-332.95,5537.84,250118,013701
$TT8_MAMPS,0.018725,0.156541
$HUMID,60.51
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,13.29,19.369
$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,21.600,160.250,551.875,12.400,0.000,0.000,0.000,207.025,0.000,0.000,22.032,3043.819,14200.398,659.385,2252.500,122.750,0.000,2024.372,0.000,2004.355,0.000,0.546,0.000
$DEVICE_MAMPS,434.520,217.260,1849.770,81.090,0.000,0.000,0.000,135.405,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304624
$DATA_FILE_SIZE,59966,1408
$CAP_FILE_SIZE,163660,0
$CFSIZE,260034560,254603264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.114,101.13,1
$GPS,250118,125237,-334.180,5538.758,30,0.8,32,-4.7,0.5,115.4,10,9.5