version: 66.13
glider: 128
mission: 4
dive: 217
start: 3 9 118 9 51 28
data:
$ID,128
$MISSION,4
$DIVE,217
$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,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$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,54
$R_STBD_OVSHOOT,33
$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
$GPS1,090318,094207,-316.5318,5536.9194,36,0.8,38,-4.6,0.7,141.8,10,9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-74.0
$GPS2,090318,095050,-316.7291,5536.9795,19,0.8,21,-4.6,1.0,162.3,11,9.3
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,177.4,43136,-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,-0.63,-170.3,232,2410,1566,1538,0.0,0.0,0,81,0.00,0.00,-71.15,0.003,16386,0.000,0.000,231,2410,3800,3786,3814,0,0,0,0,0,0,14.87,28.83,14.89
$GC,83,-0.63,-170.3,230,2410,3787,3814,4.9,-14.7,12,105,11.57,2.47,-1.58,0.055,18948,0.420,0.066,2546,957,3903,3897,3909,0,0,0,0,0,0,14.28,13.74,14.64
$GC,316,-0.63,-170.3,2546,957,3901,3908,57.1,-19.3,57,323,0.00,2.38,0.00,0.000,1030,0.000,0.049,2546,2353,3905,3901,3909,0,0,0,0,0,0,14.73,14.64,14.76
$GC,624,-0.63,-170.3,2546,2352,3903,3908,108.9,-13.5,88,628,0.00,2.35,0.00,0.000,516,0.000,0.045,2546,947,3906,3903,3909,0,0,0,0,0,0,15.02,14.70,15.03
$GC,715,-0.63,-170.3,2546,946,3906,3909,121.1,-11.7,106,720,0.00,2.38,0.00,0.000,1030,0.000,0.050,2546,2357,3907,3906,3909,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1027,-0.63,-170.3,2546,2357,3909,3911,153.8,-12.2,138,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2357,3910,3909,3911,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1328,-0.63,-170.3,2546,2357,3910,3913,183.3,-9.5,168,1332,0.00,2.35,0.00,0.000,516,0.000,0.044,2546,952,3911,3910,3912,0,0,0,0,0,0,15.08,14.77,15.10
$GC,1409,-0.63,-170.3,2546,952,3910,3914,191.7,-10.0,184,1413,0.00,2.35,0.00,0.000,1030,0.000,0.050,2546,2351,3912,3910,3914,0,0,0,0,0,0,14.86,14.77,14.90
$GC,1720,-0.63,-170.3,2546,2350,3910,3914,228.2,-12.5,216,1724,0.00,2.20,0.00,0.000,260,0.000,0.076,2546,3695,3912,3910,3914,0,0,0,0,0,0,15.11,14.73,15.13
$GC,1775,-0.63,-170.3,2546,3695,3910,3914,235.2,-12.3,227,1782,0.00,2.10,0.00,0.000,1030,0.000,0.037,2546,2334,3912,3910,3914,0,0,0,0,0,0,14.90,14.83,14.91
$GC,2092,-0.63,-170.3,2546,2334,3909,3913,269.2,-10.0,247,2096,0.00,2.28,0.00,0.000,516,0.000,0.046,2545,952,3911,3909,3913,0,0,0,0,0,0,15.12,14.79,15.14
$GC,2132,-0.63,-170.3,2546,951,3909,3913,273.2,-9.6,255,2136,0.00,2.35,0.00,0.000,1030,0.000,0.050,2546,2351,3910,3908,3913,0,0,0,0,0,0,14.88,14.78,14.91
$GC,2454,-0.63,-170.3,2546,2351,3907,3910,304.6,-9.8,269,2458,0.00,2.20,0.00,0.000,260,0.000,0.076,2546,3693,3908,3907,3910,0,0,0,0,0,0,15.14,14.74,15.15
$GC,2478,-0.63,-170.3,2545,3693,3906,3910,307.2,-9.3,274,2486,0.00,2.08,0.00,0.000,1030,0.000,0.039,2546,2349,3908,3907,3910,0,0,0,0,0,0,14.92,14.85,14.94
$GC,2785,-0.63,-170.3,2546,2349,3905,3907,338.4,-10.7,285,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2349,3906,3905,3907,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3086,-0.63,-170.3,2546,2349,3903,3906,368.9,-9.6,295,3090,0.00,2.30,0.00,0.000,516,0.000,0.046,2546,961,3904,3903,3906,0,0,0,0,0,0,15.15,14.81,15.17
$GC,3141,-0.63,-170.3,2546,961,3903,3906,374.3,-9.2,306,3150,0.00,2.35,0.00,0.000,1030,0.000,0.051,2546,2353,3904,3903,3905,0,0,0,0,0,0,14.90,14.80,14.92
$GC,3447,-0.63,-170.3,2546,2352,3901,3902,403.5,-9.7,317,3451,0.00,2.33,0.00,0.000,516,0.000,0.046,2546,961,3901,3901,3902,0,0,0,0,0,0,15.16,14.81,15.17
$GC,3479,-0.63,-170.3,2546,961,3901,3903,406.6,-9.5,323,3483,0.00,2.35,0.00,0.000,1030,0.000,0.051,2546,2350,3901,3901,3902,0,0,0,0,0,0,14.90,14.80,14.92
$GC,3811,-0.63,-170.3,2546,2350,3899,3899,436.7,-8.6,339,3815,0.00,2.22,0.00,0.000,260,0.000,0.080,2546,3693,3899,3899,3899,0,0,0,0,0,0,15.15,14.73,15.16
$GC,3835,-0.63,-170.3,2546,3693,3898,3898,439.0,-9.1,344,3842,0.00,2.10,0.00,0.000,1030,0.000,0.041,2546,2346,3898,3898,3899,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4142,-0.63,-170.3,2546,2346,3898,3897,465.5,-8.7,355,4146,0.00,2.30,0.00,0.000,516,0.000,0.048,2546,960,3897,3898,3897,0,0,0,0,0,0,15.16,14.80,15.17
$GC,4204,-0.63,-170.3,2546,959,3898,3897,470.9,-8.6,367,4208,0.00,2.35,0.00,0.000,1030,0.000,0.053,2546,2349,3897,3897,3897,0,0,0,0,0,0,14.89,14.78,14.92
$GC,4536,-0.63,-170.3,2545,2348,3897,3893,500.3,-9.0,383,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2348,3894,3896,3893,0,0,0,0,0,0,15.15,15.17,15.17
$GC,4835,-0.63,-170.3,2546,2348,3895,3891,528.8,-9.8,393,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2348,3893,3895,3891,0,0,0,0,0,0,15.16,15.18,15.18
$GC,5136,-0.63,-170.3,2546,2348,3893,3889,560.2,-10.7,403,5140,0.00,2.35,0.00,0.000,516,0.000,0.049,2546,958,3891,3893,3889,0,0,0,0,0,0,15.16,14.78,15.17
$GC,5198,-0.63,-170.3,2546,956,3893,3889,567.1,-11.1,415,5204,0.00,2.38,0.00,0.000,1030,0.000,0.056,2546,2346,3889,3892,3887,0,0,0,0,0,0,14.88,14.77,14.91
$GC,5528,-0.63,-170.3,2545,2346,3891,3885,603.0,-10.8,431,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2346,3888,3891,3885,0,0,0,0,0,0,15.15,15.17,15.17
$GC,5827,-0.63,-170.3,2546,2346,3890,3883,632.6,-9.2,441,5831,0.00,2.35,0.00,0.000,516,0.000,0.050,2546,958,3886,3890,3883,0,0,0,0,0,0,15.16,14.77,15.18
$GC,5867,-0.63,-170.3,2546,958,3890,3883,636.3,-9.0,449,5871,0.00,2.40,0.00,0.000,1030,0.000,0.056,2546,2357,3886,3890,3882,0,0,0,0,0,0,14.88,14.76,14.90
$GC,6190,-0.63,-170.3,2546,2356,3888,3881,663.2,-8.3,463,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2356,3884,3888,3881,0,0,0,0,0,0,15.15,15.17,15.16
$GC,6489,-0.63,-170.3,2546,2356,3887,3879,690.2,-9.3,473,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2356,3883,3887,3879,0,0,0,0,0,0,15.16,15.18,15.17
$GC,6789,-0.63,-170.3,2546,2356,3886,3878,718.6,-9.8,483,6793,0.00,2.35,0.00,0.000,516,0.000,0.048,2546,963,3882,3886,3878,0,0,0,0,0,0,15.15,14.77,15.17
$GC,6834,-0.63,-170.3,2546,963,3886,3878,723.3,-9.8,492,6838,0.00,2.38,0.00,0.000,1030,0.000,0.055,2546,2351,3882,3886,3878,0,0,0,0,0,0,14.86,14.76,14.90
$GC,7146,-0.63,-170.3,2546,2351,3885,3877,753.2,-9.6,504,7150,0.00,2.35,0.00,0.000,516,0.000,0.050,2546,963,3881,3885,3877,0,0,0,0,0,0,15.15,14.76,15.16
$GC,7177,-0.63,-170.3,2546,964,3885,3876,756.3,-9.8,510,7182,0.00,2.40,0.00,0.000,1030,0.000,0.058,2546,2358,3880,3884,3877,0,0,0,0,0,0,14.86,14.75,14.90
$GC,7510,-0.63,-170.3,2546,2358,3884,3874,785.2,-8.2,526,7515,0.00,2.25,0.00,0.000,260,0.000,0.088,2546,3694,3878,3883,3874,0,0,0,0,0,0,15.15,14.66,15.16
$GC,7560,-0.63,-170.3,2546,3694,3882,3873,789.5,-8.3,536,7564,0.00,2.12,0.00,0.000,1030,0.000,0.044,2546,2362,3878,3883,3874,0,0,0,0,0,0,14.89,14.82,14.91
$GC,7872,-0.63,-170.3,2546,2358,3883,3873,815.3,-8.6,548,7876,0.00,2.38,0.00,0.000,516,0.000,0.053,2546,951,3878,3883,3873,0,0,0,0,0,0,15.15,14.73,15.16
$GC,7936,-0.63,-170.3,2546,950,3882,3873,821.1,-8.5,561,7940,0.00,2.42,0.00,0.000,1030,0.000,0.058,2546,2351,3877,3883,3872,0,0,0,0,0,0,14.85,14.73,14.88
$GC,8263,-0.63,-170.3,2546,2351,3881,3871,849.8,-9.0,576,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2351,3876,3881,3871,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8563,-0.63,-170.3,2545,2351,3880,3870,876.7,-8.9,586,8568,0.00,2.28,0.00,0.000,260,0.000,0.086,2546,3694,3875,3880,3870,0,0,0,0,0,0,15.15,14.65,15.16
$GC,8598,-0.63,-170.3,2546,3694,3880,3870,880.1,-9.4,593,8603,0.00,2.15,0.00,0.000,1030,0.000,0.045,2546,2344,3875,3880,3870,0,0,0,0,0,0,14.88,14.81,14.90
$GC,8925,-0.63,-170.3,2546,2340,3880,3867,909.0,-8.8,608,8929,0.00,2.35,0.00,0.000,516,0.000,0.053,2546,948,3873,3879,3868,0,0,0,0,0,0,15.15,14.73,15.16
$GC,8975,-0.63,-170.3,2546,949,3879,3868,913.4,-8.7,618,8980,0.00,2.42,0.00,0.000,1030,0.000,0.062,2546,2349,3873,3879,3868,0,0,0,0,0,0,14.84,14.71,14.88
$GC,9288,-0.63,-170.3,2546,2349,3878,3866,939.6,-8.4,630,9292,0.00,2.30,0.00,0.000,260,0.000,0.089,2546,3702,3872,3878,3866,0,0,0,0,0,0,15.14,14.64,15.16
$GC,9358,-0.63,-170.3,2546,3701,3877,3866,946.1,-8.9,644,9362,0.00,2.15,0.00,0.000,1030,0.000,0.044,2546,2352,3871,3877,3866,0,0,0,0,0,0,14.87,14.80,14.90
$GC,9680,-0.63,-170.3,2546,2344,3877,3863,974.3,-8.9,658,9685,0.00,2.35,0.00,0.000,516,0.000,0.051,2547,953,3869,3876,3862,0,0,0,0,0,0,15.14,14.72,15.16
$GC,9730,-0.63,-170.3,2546,953,3877,3862,979.0,-9.1,668,9735,0.00,2.42,0.00,0.000,1030,0.000,0.060,2547,2352,3870,3877,3863,0,0,0,0,0,0,14.83,14.71,14.87
$STATE,9855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9855,begin apogee
$GC,9860,-0.15,0.0,2547,2425,3877,3863,990.2,-9.0,673,10007,0.57,0.00,139.02,1.916,10246,0.219,0.000,2707,2424,3337,3361,3314,0,0,0,0,0,0,14.52,14.10,13.31
$STATE,10008,end apogee,CONTROL_FINISHED_OK
$STATE,10008,begin climb
$GC,10010,0.63,170.3,2707,2424,3360,3314,996.8,0.0,678,10197,0.82,2.30,175.50,1.899,10500,0.142,0.086,2959,3681,2644,2688,2601,0,0,0,0,0,0,14.09,13.90,13.16
$GC,10227,0.63,170.3,2958,3681,2680,2600,989.3,8.6,722,10231,0.00,2.15,0.00,0.000,1030,0.000,0.044,2959,2405,2639,2680,2599,0,0,0,0,0,0,14.19,14.13,14.21
$GC,10550,0.64,170.3,2959,2405,2671,2594,964.1,7.9,736,10556,0.00,2.47,0.00,0.000,580,0.000,0.060,2959,996,2632,2670,2594,0,0,0,0,0,0,14.80,14.50,14.82
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$STATE,20564,end climb,SURFACE_DEPTH_REACHED
$STATE,20564,begin surface coast
$FINISH,0.1,1.022568
$STATE,20595,end surface coast,CONTROL_FINISHED_OK
$STATE,20595,begin surface
$SM_CCo,20671,0.00,0.000,0,0,1472,458.95
$SM_GC,0.60,8.45,0.10,0.00,0.093,0.126,0.000,245,2325,1472,-7.82,1.30,458.95,0,0,0,0,0,0,14.57,14.70,14.69
$IRIDIUM_FIX,-315.53,5536.05,090318,094347
$TT8_MAMPS,0.018725,0.158788
$HUMID,57.16
$INTERNAL_PRESSURE,8.50232
$TCM_TEMP,24.00
$XPDR_PINGS,5
$24V_AH,13.16,71.148
$10V_AH,13.48,0.000
$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,21.825,217.500,593.000,0.000,0.000,0.000,0.000,355.425,1.250,0.000,22.394,3248.673,14339.202,735.346,2658.215,213.312,0.000,2424.549,0.000,2264.856,0.000,0.546,0.000
$DEVICE_MAMPS,419.985,171.360,1915.560,0.000,0.000,0.000,0.000,134.640,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303880
$DATA_FILE_SIZE,69902,1593
$CAP_FILE_SIZE,185575,0
$CFSIZE,260034560,240328704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$CURRENT,0.041,294.11,1
$GPS,090318,153709,-318.518,5536.725,31,0.9,35,-4.6,0.5,171.9,8,8.9