version: 66.13
glider: 128
mission: 4
dive: 56
start: 1 26 118 17 34 21
data:
$ID,128
$MISSION,4
$DIVE,56
$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,84
$R_STBD_OVSHOOT,71
$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
$GPS1,260118,172841,-337.6566,5536.0649,40,1.2,46,-4.7,0.3,50.1,7,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.2
$GPS2,260118,173343,-337.6247,5536.1118,17,1.2,23,-4.7,0.3,61.6,7,10.0
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,347.9,69681,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.57,-170.3,230,2394,1511,1484,0.0,0.0,0,83,0.00,0.00,-72.75,0.003,16386,0.000,0.000,230,2394,3749,3732,3767,0,0,0,0,0,0,14.88,28.83,14.90
$GC,84,-0.57,-170.3,230,2395,3733,3768,4.9,-13.8,12,105,11.95,0.00,-2.25,0.039,18950,0.441,0.000,2587,2395,3905,3896,3914,0,0,0,0,0,0,14.44,13.79,14.70
$GC,412,-0.57,-170.3,2587,2395,3907,3914,87.3,-12.2,56,416,0.00,2.28,0.00,0.000,516,0.000,0.049,2587,986,3910,3907,3914,0,0,0,0,0,0,14.98,14.76,15.00
$GC,606,-0.57,-170.3,2587,987,3910,3915,109.3,-10.5,95,614,0.00,2.17,0.00,0.000,1030,0.000,0.054,2587,2321,3912,3910,3915,0,0,0,0,0,0,14.87,14.79,14.89
$GC,913,-0.57,-170.3,2587,2321,3911,3915,142.5,-10.5,126,918,0.00,2.12,0.00,0.000,516,0.000,0.047,2586,986,3913,3911,3916,0,0,0,0,0,0,15.07,14.85,15.09
$GC,948,-0.57,-170.3,2587,987,3911,3916,146.6,-10.8,133,955,0.00,2.22,0.00,0.000,1030,0.000,0.055,2587,2358,3913,3911,3916,0,0,0,0,0,0,14.92,14.84,14.94
$GC,1255,-0.57,-170.3,2587,2358,3911,3916,178.3,-11.4,164,1259,0.00,2.20,0.00,0.000,516,0.000,0.048,2587,985,3913,3911,3916,0,0,0,0,0,0,15.10,14.88,15.11
$GC,1318,-0.57,-170.3,2587,985,3911,3917,185.9,-11.3,177,1326,0.00,2.25,0.00,0.000,1030,0.000,0.055,2587,2344,3914,3911,3917,0,0,0,0,0,0,14.90,14.85,14.93
$GC,1625,-0.57,-170.3,2587,2344,3911,3917,222.3,-12.3,208,1629,0.00,2.17,0.00,0.000,516,0.000,0.047,2587,981,3913,3911,3916,0,0,0,0,0,0,15.11,14.90,15.14
$GC,1676,-0.57,-170.3,2587,981,3911,3916,228.6,-12.3,218,1681,0.00,2.22,0.00,0.000,1030,0.000,0.056,2587,2351,3914,3911,3917,0,0,0,0,0,0,14.97,14.89,14.99
$GC,2008,-0.57,-170.3,2587,2351,3910,3916,267.1,-11.3,242,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2351,3913,3910,3916,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2308,-0.57,-170.3,2587,2351,3910,3914,301.2,-11.2,252,2312,0.00,2.22,0.00,0.000,260,0.000,0.086,2587,3695,3912,3910,3915,0,0,0,0,0,0,15.16,14.91,15.18
$GC,2377,-0.57,-170.3,2587,3695,3909,3914,308.3,-9.4,266,2382,0.00,2.05,0.00,0.000,1030,0.000,0.041,2587,2377,3911,3909,3914,0,0,0,0,0,0,15.02,14.97,15.03
$GC,2699,-0.57,-170.3,2587,2375,3908,3913,336.7,-8.9,280,2703,0.00,2.25,0.00,0.000,516,0.000,0.050,2587,954,3910,3908,3913,0,0,0,0,0,0,15.17,14.95,15.19
$GC,2738,-0.57,-170.3,2587,954,3908,3913,340.6,-9.5,288,2742,0.00,2.28,0.00,0.000,1030,0.000,0.057,2587,2349,3910,3908,3913,0,0,0,0,0,0,15.02,14.94,15.04
$GC,3060,-0.57,-170.3,2587,2349,3907,3910,373.4,-10.3,302,3065,0.00,2.22,0.00,0.000,260,0.000,0.086,2587,3695,3907,3906,3909,0,0,0,0,0,0,15.18,14.93,15.20
$GC,3100,-0.57,-170.3,2587,3695,3905,3909,377.8,-10.6,310,3106,0.00,2.10,0.00,0.000,1030,0.000,0.042,2587,2350,3907,3906,3909,0,0,0,0,0,0,15.04,14.99,15.05
$GC,3423,-0.57,-170.3,2587,2346,3905,3907,410.1,-9.8,324,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2346,3906,3905,3907,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3722,-0.57,-170.3,2587,2346,3903,3906,439.3,-9.8,334,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2346,3904,3903,3906,0,0,0,0,0,0,15.19,15.22,15.21
$GC,4023,-0.57,-170.3,2587,2346,3901,3903,469.4,-9.9,344,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2346,3902,3901,3903,0,0,0,0,0,0,15.20,15.22,15.22
$GC,4323,-0.57,-170.3,2587,2346,3900,3902,498.1,-9.4,354,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2346,3901,3901,3902,0,0,0,0,0,0,15.21,15.23,15.23
$GC,4623,-0.57,-170.3,2587,2346,3900,3900,525.6,-9.1,364,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2346,3900,3900,3900,0,0,0,0,0,0,15.21,15.23,15.23
$GC,4923,-0.57,-170.3,2587,2346,3898,3898,551.1,-8.3,374,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2346,3898,3898,3898,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5222,-0.57,-170.3,2587,2346,3898,3897,576.4,-8.6,384,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2346,3897,3897,3897,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5523,-0.57,-170.3,2586,2346,3897,3896,603.0,-9.1,394,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2346,3897,3898,3896,0,0,0,0,0,0,15.21,15.23,15.23
$GC,5823,-0.57,-170.3,2587,2346,3897,3894,628.2,-8.3,404,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2346,3895,3897,3894,0,0,0,0,0,0,15.22,15.24,15.23
$GC,6123,-0.57,-170.3,2587,2346,3896,3891,652.9,-8.2,414,6127,0.00,2.22,0.00,0.000,516,0.000,0.055,2587,952,3893,3896,3890,0,0,0,0,0,0,15.22,14.99,15.23
$GC,6148,-0.57,-170.3,2586,952,3896,3891,655.3,-8.8,419,6155,0.00,2.30,0.00,0.000,1030,0.000,0.062,2587,2354,3893,3896,3891,0,0,0,0,0,0,15.06,14.97,15.07
$GC,6454,-0.57,-170.3,2587,2354,3894,3889,681.8,-9.0,430,6459,0.00,2.25,0.00,0.000,260,0.000,0.092,2587,3701,3891,3894,3889,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6500,-0.57,-170.3,2587,3701,3893,3889,686.1,-9.1,439,6504,0.00,2.12,0.00,0.000,1030,0.000,0.048,2587,2353,3891,3893,3889,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6816,-0.57,-170.3,2587,2350,3893,3887,715.1,-9.5,452,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2349,3890,3893,3887,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7116,-0.57,-170.3,2587,2349,3892,3885,741.9,-8.8,462,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2349,3889,3892,3886,0,0,0,0,0,0,15.21,15.23,15.23
$GC,7416,-0.57,-170.3,2587,2350,3891,3884,765.9,-7.7,472,7419,0.00,2.30,0.00,0.000,260,0.000,0.092,2587,3701,3887,3891,3884,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7439,-0.57,-170.3,2587,3701,3891,3884,768.0,-7.8,477,7447,0.00,2.15,0.00,0.000,1030,0.000,0.049,2587,2342,3887,3890,3884,0,0,0,0,0,0,15.07,15.01,15.08
$GC,7747,-0.57,-170.3,2587,2341,3890,3883,791.2,-7.6,488,7751,0.00,2.22,0.00,0.000,516,0.000,0.054,2587,950,3886,3891,3882,0,0,0,0,0,0,15.21,14.98,15.23
$GC,7779,-0.57,-170.3,2587,949,3890,3882,793.6,-7.5,494,7784,0.00,2.33,0.00,0.000,1030,0.000,0.063,2587,2357,3886,3890,3882,0,0,0,0,0,0,15.04,14.96,15.07
$GC,8110,-0.57,-170.3,2587,2356,3889,3881,818.6,-7.7,510,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2356,3885,3889,3881,0,0,0,0,0,0,15.21,15.23,15.23
$GC,8410,-0.57,-170.3,2587,2356,3889,3880,842.9,-8.2,520,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2356,3884,3888,3880,0,0,0,0,0,0,15.21,15.23,15.22
$GC,8710,-0.57,-170.3,2587,2356,3888,3878,867.4,-8.2,530,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2356,3883,3888,3878,0,0,0,0,0,0,15.21,15.23,15.23
$GC,9010,-0.57,-170.3,2587,2356,3887,3878,893.2,-8.8,540,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2356,3882,3887,3877,0,0,0,0,0,0,15.21,15.23,15.23
$GC,9310,-0.57,-170.3,2587,2356,3887,3877,918.2,-7.8,550,9315,0.00,2.25,0.00,0.000,260,0.000,0.095,2587,3695,3881,3886,3877,0,0,0,0,0,0,15.21,14.94,15.23
$GC,9350,-0.57,-170.3,2587,3696,3886,3877,921.4,-7.7,558,9356,0.00,2.15,0.00,0.000,1030,0.000,0.048,2587,2342,3881,3886,3876,0,0,0,0,0,0,15.05,15.00,15.07
$GC,9673,-0.57,-170.3,2587,2341,3885,3875,946.9,-8.0,572,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2341,3880,3886,3875,0,0,0,0,0,0,15.21,15.23,15.22
$GC,9973,-0.57,-170.3,2587,2341,3885,3874,971.3,-8.2,582,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2341,3879,3885,3874,0,0,0,0,0,0,15.20,15.22,15.22
$STATE,10212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10212,begin apogee
$GC,10216,-0.12,0.0,2587,2413,3885,3873,990.1,-7.8,590,10397,0.50,0.00,177.55,1.654,10246,0.217,0.000,2733,2413,3345,3367,3324,0,0,0,0,0,0,14.87,14.12,13.52
$STATE,10398,end apogee,CONTROL_FINISHED_OK
$STATE,10398,begin climb
$GC,10399,0.57,170.3,2733,2413,3362,3318,996.8,0.0,596,10587,0.75,2.33,179.40,1.851,11012,0.138,0.091,2959,3694,2645,2687,2604,0,0,0,0,0,0,14.10,13.95,13.29
$GC,10622,0.57,170.3,2959,3693,2677,2597,986.6,10.7,637,10627,0.00,2.17,0.00,0.000,1030,0.000,0.048,2960,2417,2637,2677,2597,0,0,0,0,0,0,14.25,14.19,14.26
$GC,10934,0.57,170.3,2959,2416,2668,2593,956.5,9.4,649,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2416,2630,2668,2593,0,0,0,0,0,0,14.79,14.81,14.81
$GC,11235,0.57,170.3,2959,2416,2665,2592,928.2,9.5,659,11239,0.00,2.20,0.00,0.000,260,0.000,0.086,2959,3686,2628,2665,2591,0,0,0,0,0,0,14.92,14.68,14.94
$GC,11284,0.57,170.3,2959,3685,2663,2591,922.6,11.2,669,11288,0.00,2.10,0.00,0.000,1030,0.000,0.050,2960,2398,2627,2664,2591,0,0,0,0,0,0,14.79,14.73,14.81
$GC,11596,0.57,170.3,2959,2396,2663,2591,891.7,10.1,681,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2396,2627,2663,2591,0,0,0,0,0,0,15.00,15.02,15.02
$GC,11896,0.57,170.3,2959,2396,2661,2590,863.0,9.4,691,11900,0.00,2.22,0.00,0.000,260,0.000,0.086,2960,3690,2626,2662,2590,0,0,0,0,0,0,15.04,14.80,15.07
$GC,11936,0.57,170.3,2959,3690,2661,2590,858.8,10.2,699,11941,0.00,2.10,0.00,0.000,1030,0.000,0.050,2960,2393,2625,2661,2590,0,0,0,0,0,0,14.90,14.84,14.92
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$STATE,22065,end climb,SURFACE_DEPTH_REACHED
$STATE,22065,begin surface coast
$FINISH,-0.1,1.022662
$STATE,22087,end surface coast,CONTROL_FINISHED_OK
$STATE,22087,begin surface
$SM_CCo,22102,4.38,0.081,0,0,1715,400.08
$SM_GC,1.84,8.45,0.10,4.38,0.092,0.123,0.081,246,2296,1715,-7.88,1.10,400.08,0,0,0,0,0,0,14.65,14.72,14.67
$IRIDIUM_FIX,-339.45,5537.84,260118,112801
$TT8_MAMPS,0.019474,0.156541
$HUMID,60.12
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.29,21.158
$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
$DEVICE_SECS,22.050,158.550,548.450,4.375,0.000,0.000,0.000,204.000,0.000,0.000,24.931,3263.854,15930.963,680.867,2395.555,147.005,0.000,2117.750,0.000,2157.250,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.808,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66686,1517
$CAP_FILE_SIZE,175740,0
$CFSIZE,260034560,254095360
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10411.52,0x2147b6,1,24
$INTR,1,10436.51,0x234cba,1,24
$CURRENT,0.061,62.01,1
$GPS,260118,234407,-335.105,5535.913,41,0.9,43,-4.7,0.8,72.3,8,9.4