version: 66.13
glider: 128
mission: 4
dive: 55
start: 1 26 118 11 32 16
data:
$ID,128
$MISSION,4
$DIVE,55
$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,390
$T_MISSION,450
$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,175
$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,76
$R_STBD_OVSHOOT,42
$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
$GPS1,260118,112635,-340.0139,5536.2539,38,0.8,41,-4.8,0.5,93.8,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.6
$GPS2,260118,113138,-339.9948,5536.3477,16,0.8,18,-4.8,0.8,42.3,11,8.5
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,345.6,74073,-14.4,-8.462,-20.64,3036
$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,7,-0.57,-170.3,230,2305,1717,1714,0.0,0.0,0,76,0.00,0.00,-67.20,0.003,16386,0.000,0.000,230,2305,3850,3831,3869,0,0,0,0,0,0,14.88,28.83,14.90
$GC,78,-0.57,-170.3,230,2305,3831,3871,5.3,-15.4,11,99,11.77,2.30,-0.77,0.109,19204,0.435,0.077,2578,3700,3903,3893,3914,0,0,0,0,0,0,14.45,14.02,14.71
$GC,122,-0.57,-170.3,2578,3700,3897,3914,28.8,-45.0,18,129,0.00,2.12,0.00,0.000,1030,0.000,0.048,2578,2392,3906,3898,3914,0,0,0,0,0,0,14.75,14.68,14.77
$GC,431,-0.57,-170.3,2577,2389,3904,3914,90.2,-13.5,56,435,0.00,2.20,0.00,0.000,260,0.000,0.080,2578,3688,3909,3904,3914,0,0,0,0,0,0,15.00,14.75,15.02
$GC,622,-0.57,-170.3,2578,3688,3907,3914,113.6,-11.7,94,626,0.00,2.15,0.00,0.000,1030,0.000,0.040,2578,2317,3911,3908,3914,0,0,0,0,0,0,14.89,14.83,14.91
$GC,933,-0.57,-170.3,2578,2313,3909,3915,150.5,-10.1,126,937,0.00,2.15,0.00,0.000,516,0.000,0.047,2578,956,3912,3910,3915,0,0,0,0,0,0,15.08,14.86,15.10
$GC,997,-0.57,-170.3,2578,956,3910,3916,157.6,-10.8,139,1005,0.00,2.28,0.00,0.000,1030,0.000,0.053,2578,2339,3912,3910,3915,0,0,0,0,0,0,14.89,14.84,14.91
$GC,1305,-0.57,-170.3,2578,2339,3910,3916,195.6,-12.9,170,1309,0.00,2.20,0.00,0.000,516,0.000,0.048,2578,956,3913,3910,3916,0,0,0,0,0,0,15.11,14.88,15.13
$GC,1339,-0.57,-170.3,2578,956,3910,3916,199.8,-11.2,177,1347,0.00,2.28,0.00,0.000,1030,0.000,0.054,2578,2358,3913,3910,3916,0,0,0,0,0,0,14.96,14.88,14.97
$GC,1646,-0.57,-170.3,2578,2359,3909,3915,234.5,-12.6,208,1650,0.00,2.25,0.00,0.000,516,0.000,0.047,2578,948,3913,3910,3916,0,0,0,0,0,0,15.12,14.91,15.14
$GC,1707,-0.57,-170.3,2577,948,3909,3916,241.8,-11.4,220,1711,0.00,2.28,0.00,0.000,1030,0.000,0.055,2578,2352,3913,3910,3916,0,0,0,0,0,0,14.97,14.90,15.00
$GC,2027,-0.57,-170.3,2578,2352,3908,3915,277.8,-11.3,237,2032,0.00,2.22,0.00,0.000,260,0.000,0.084,2578,3701,3911,3907,3915,0,0,0,0,0,0,15.15,14.90,15.17
$GC,2098,-0.57,-170.3,2578,3701,3907,3915,285.9,-11.1,251,2102,0.00,2.12,0.00,0.000,1030,0.000,0.042,2579,2346,3911,3907,3915,0,0,0,0,0,0,15.01,14.96,15.02
$GC,2419,-0.57,-170.3,2577,2342,3906,3914,320.1,-10.7,265,2424,0.00,2.20,0.00,0.000,516,0.000,0.050,2578,950,3910,3906,3914,0,0,0,0,0,0,15.16,14.95,15.19
$GC,2452,-0.57,-170.3,2578,951,3907,3914,323.5,-10.3,271,2456,0.00,2.30,0.00,0.000,1030,0.000,0.057,2578,2360,3909,3906,3913,0,0,0,0,0,0,15.02,14.93,15.03
$GC,2782,-0.57,-170.3,2578,2361,3904,3910,356.0,-10.1,287,2786,0.00,2.20,0.00,0.000,260,0.000,0.086,2577,3694,3907,3904,3910,0,0,0,0,0,0,15.18,14.92,15.20
$GC,2826,-0.57,-170.3,2578,3694,3902,3909,360.9,-10.7,296,2831,0.00,2.10,0.00,0.000,1030,0.000,0.041,2578,2349,3906,3902,3910,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3143,-0.57,-170.3,2578,2345,3902,3908,395.6,-10.6,309,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2345,3904,3902,3907,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3443,-0.57,-170.3,2577,2345,3901,3906,424.9,-9.6,319,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2345,3903,3901,3906,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3743,-0.57,-170.3,2578,2345,3900,3903,454.2,-9.9,329,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2345,3901,3900,3903,0,0,0,0,0,0,15.20,15.22,15.22
$GC,4043,-0.57,-170.3,2578,2345,3898,3902,484.4,-10.3,339,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2345,3900,3898,3902,0,0,0,0,0,0,15.21,15.23,15.22
$GC,4343,-0.57,-170.3,2578,2345,3897,3900,515.4,-10.2,349,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2345,3899,3898,3900,0,0,0,0,0,0,15.21,15.23,15.23
$GC,4643,-0.57,-170.3,2577,2345,3897,3898,545.2,-9.7,359,4647,0.00,2.22,0.00,0.000,516,0.000,0.054,2578,948,3897,3897,3897,0,0,0,0,0,0,15.21,14.99,15.23
$GC,4682,-0.57,-170.3,2578,948,3897,3898,549.1,-9.3,367,4687,0.00,2.30,0.00,0.000,1030,0.000,0.060,2578,2356,3897,3897,3898,0,0,0,0,0,0,15.05,14.97,15.07
$GC,5004,-0.57,-170.3,2578,2357,3896,3896,577.9,-8.9,381,5009,0.00,2.22,0.00,0.000,260,0.000,0.090,2578,3694,3896,3896,3896,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5035,-0.57,-170.3,2578,3694,3895,3896,580.6,-8.8,387,5039,0.00,2.12,0.00,0.000,1030,0.000,0.045,2578,2342,3895,3895,3896,0,0,0,0,0,0,15.07,15.01,15.08
$GC,5366,-0.57,-170.3,2578,2338,3895,3894,609.5,-8.7,403,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2338,3894,3895,3894,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5666,-0.57,-170.3,2578,2338,3894,3891,635.9,-8.7,413,5671,0.00,2.20,0.00,0.000,516,0.000,0.052,2578,951,3892,3894,3891,0,0,0,0,0,0,15.21,14.99,15.23
$GC,5701,-0.57,-170.3,2578,951,3894,3891,639.1,-8.4,420,5705,0.00,2.30,0.00,0.000,1030,0.000,0.059,2578,2356,3892,3894,3891,0,0,0,0,0,0,15.05,14.97,15.07
$GC,6028,-0.57,-170.3,2578,2356,3892,3889,669.0,-9.4,435,6032,0.00,2.22,0.00,0.000,260,0.000,0.090,2578,3692,3891,3893,3889,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6059,-0.57,-170.3,2578,3692,3891,3889,672.1,-10.2,441,6064,0.00,2.12,0.00,0.000,1030,0.000,0.046,2578,2341,3890,3891,3889,0,0,0,0,0,0,15.07,15.01,15.07
$GC,6391,-0.57,-170.3,2578,2337,3891,3887,704.6,-9.6,457,6395,0.00,2.20,0.00,0.000,516,0.000,0.053,2578,955,3889,3891,3887,0,0,0,0,0,0,15.21,14.98,15.23
$GC,6430,-0.57,-170.3,2578,955,3891,3887,708.6,-9.5,465,6436,0.00,2.28,0.00,0.000,1030,0.000,0.060,2578,2350,3888,3891,3886,0,0,0,0,0,0,15.05,14.97,15.07
$GC,6753,-0.57,-170.3,2576,2351,3889,3882,736.6,-8.3,479,6757,0.00,2.25,0.00,0.000,260,0.000,0.091,2577,3694,3885,3889,3882,0,0,0,0,0,0,15.20,14.95,15.22
$GC,6784,-0.57,-170.3,2576,3694,3889,3882,739.2,-8.4,485,6789,0.00,2.12,0.00,0.000,1030,0.000,0.047,2577,2348,3885,3889,3882,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7116,-0.57,-170.3,2576,2344,3889,3882,765.2,-7.6,501,7121,0.00,2.22,0.00,0.000,516,0.000,0.055,2577,954,3885,3889,3882,0,0,0,0,0,0,15.21,14.97,15.22
$GC,7142,-0.57,-170.3,2576,954,3889,3882,767.3,-7.7,506,7149,0.00,2.30,0.00,0.000,1030,0.000,0.062,2577,2353,3885,3889,3882,0,0,0,0,0,0,15.04,14.96,15.07
$GC,7447,-0.57,-170.3,2576,2353,3888,3881,790.5,-7.8,517,7452,0.00,2.25,0.00,0.000,260,0.000,0.093,2576,3696,3884,3888,3881,0,0,0,0,0,0,15.20,14.94,15.22
$GC,7473,-0.57,-170.3,2576,3696,3887,3881,792.7,-8.4,522,7480,0.00,2.12,0.00,0.000,1030,0.000,0.047,2577,2348,3884,3887,3881,0,0,0,0,0,0,15.05,15.00,15.07
$GC,7780,-0.57,-170.3,2576,2348,3887,3879,816.8,-7.9,533,7785,0.00,2.25,0.00,0.000,516,0.000,0.056,2576,951,3883,3886,3880,0,0,0,0,0,0,15.20,14.97,15.22
$GC,7815,-0.57,-170.3,2576,951,3887,3879,819.9,-8.1,540,7819,0.00,2.30,0.00,0.000,1030,0.000,0.061,2576,2351,3883,3887,3880,0,0,0,0,0,0,15.04,14.95,15.07
$GC,8142,-0.57,-170.3,2576,2351,3886,3878,845.0,-7.7,555,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2351,3882,3887,3878,0,0,0,0,0,0,15.20,15.22,15.22
$GC,8442,-0.57,-170.3,2576,2351,3886,3877,868.8,-7.9,565,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2351,3881,3886,3877,0,0,0,0,0,0,15.20,15.23,15.22
$GC,8741,-0.57,-170.3,2576,2351,3885,3876,892.1,-7.8,575,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2351,3880,3885,3876,0,0,0,0,0,0,15.21,15.23,15.22
$GC,9042,-0.57,-170.3,2576,2351,3885,3874,919.2,-9.9,585,9047,0.00,2.28,0.00,0.000,516,0.000,0.057,2577,955,3879,3885,3873,0,0,0,0,0,0,15.21,14.97,15.23
$GC,9074,-0.57,-170.3,2576,955,3884,3874,922.6,-10.4,591,9078,0.00,2.30,0.00,0.000,1030,0.000,0.063,2577,2349,3879,3885,3873,0,0,0,0,0,0,15.04,14.96,15.07
$GC,9404,-0.57,-170.3,2576,2350,3884,3873,953.8,-10.2,607,9408,0.00,2.25,0.00,0.000,260,0.000,0.095,2577,3694,3878,3884,3872,0,0,0,0,0,0,15.20,14.93,15.22
$GC,9429,-0.57,-170.3,2576,3694,3883,3872,956.5,-11.1,612,9436,0.00,2.12,0.00,0.000,1030,0.000,0.050,2576,2349,3877,3883,3872,0,0,0,0,0,0,15.05,14.99,15.07
$GC,9735,-0.57,-170.3,2576,2349,3883,3871,985.6,-9.2,623,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2349,3877,3883,3871,0,0,0,0,0,0,15.20,15.22,15.21
$STATE,9794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9794,begin apogee
$GC,9798,-0.12,0.0,2577,2411,3883,3871,991.1,-9.1,625,9981,0.55,0.00,179.35,1.645,10246,0.219,0.000,2738,2411,3345,3367,3324,0,0,0,0,0,0,14.86,14.12,13.50
$STATE,9982,end apogee,CONTROL_FINISHED_OK
$STATE,9982,begin climb
$GC,9983,0.57,170.3,2738,2411,3363,3319,999.2,0.0,631,10175,0.73,2.35,181.10,1.845,11012,0.136,0.090,2958,3679,2643,2685,2602,0,0,0,0,0,0,14.09,13.95,13.30
$GC,10200,0.57,170.3,2958,3680,2678,2597,992.1,9.5,666,10205,0.00,2.17,0.00,0.000,1030,0.000,0.051,2958,2412,2637,2678,2597,0,0,0,0,0,0,14.23,14.16,14.25
$GC,10517,0.57,170.3,2958,2412,2668,2593,962.2,9.7,679,10521,0.00,2.22,0.00,0.000,260,0.000,0.087,2958,3682,2630,2668,2593,0,0,0,0,0,0,14.80,14.55,14.82
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$STATE,21209,end climb,SURFACE_DEPTH_REACHED
$STATE,21209,begin surface coast
$FINISH,-0.3,0.999440
$STATE,21231,end surface coast,CONTROL_FINISHED_OK
$STATE,21231,begin surface
$SM_CCo,21306,0.00,0.000,0,0,1503,452.08
$SM_GC,0.69,8.43,0.10,0.00,0.096,0.126,0.000,252,2305,1503,-7.86,1.22,452.08,0,0,0,0,0,0,14.63,14.69,14.72
$IRIDIUM_FIX,-339.45,5537.84,260118,054530
$TT8_MAMPS,0.019474,0.15729
$HUMID,60.04
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,13.30,20.858
$10V_AH,13.27,0.000
$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,21.825,197.575,625.525,0.000,0.000,0.000,0.000,209.575,0.000,0.000,19.473,3175.565,15133.523,772.654,2394.901,138.325,0.000,2238.019,0.000,2144.806,0.000,0.546,0.000
$DEVICE_MAMPS,434.520,161.415,1845.180,0.000,0.000,0.000,0.000,136.935,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304656
$DATA_FILE_SIZE,66651,1508
$CAP_FILE_SIZE,180840,0
$CFSIZE,260034560,254169088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,68.46,1
$GPS,260118,172841,-337.657,5536.065,40,1.2,46,-4.7,0.3,50.1,7,9.5