version: 66.13
glider: 128
mission: 4
dive: 218
start: 3 9 118 15 43 24
data:
$ID,128
$MISSION,4
$DIVE,218
$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,67
$R_STBD_OVSHOOT,34
$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
$GPS1,090318,153709,-318.5177,5536.7246,31,0.9,35,-4.6,0.5,171.9,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-74.1
$GPS2,090318,154246,-318.6305,5536.7490,18,0.9,23,-4.6,0.3,168.9,8,9.4
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,175.7,39601,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.63,-170.3,245,2324,1489,1457,0.0,0.0,0,84,0.00,0.00,-72.75,0.003,16386,0.000,0.000,245,2324,3718,3700,3736,0,0,0,0,0,0,14.88,28.83,14.90
$GC,86,-0.63,-170.3,245,2324,3702,3737,4.2,-12.3,12,108,11.55,2.35,-2.90,0.031,18948,0.422,0.072,2547,965,3903,3899,3908,0,0,0,0,0,0,14.29,13.45,14.65
$GC,306,-0.63,-170.3,2546,965,3905,3908,51.1,-18.0,54,311,0.00,2.35,0.00,0.000,1030,0.000,0.050,2546,2351,3906,3905,3908,0,0,0,0,0,0,14.73,14.64,14.77
$GC,618,-0.63,-170.3,2546,2350,3907,3909,103.0,-12.6,86,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2350,3908,3907,3909,0,0,0,0,0,0,15.02,15.04,15.04
$GC,918,-0.63,-170.3,2546,2350,3910,3910,136.3,-8.9,116,922,0.00,2.30,0.00,0.000,516,0.000,0.046,2547,969,3910,3910,3910,0,0,0,0,0,0,15.06,14.74,15.07
$GC,1010,-0.63,-170.3,2546,969,3910,3912,145.5,-10.5,134,1015,0.00,2.33,0.00,0.000,1030,0.000,0.051,2546,2350,3911,3910,3912,0,0,0,0,0,0,14.83,14.74,14.87
$GC,1322,-0.63,-170.3,2546,2350,3910,3914,178.4,-9.9,166,1327,0.00,2.20,0.00,0.000,260,0.000,0.076,2546,3696,3912,3910,3914,0,0,0,0,0,0,15.09,14.72,15.11
$GC,1444,-0.63,-170.3,2546,3696,3910,3914,190.9,-10.4,190,1449,0.00,2.08,0.00,0.000,1030,0.000,0.036,2546,2348,3912,3910,3914,0,0,0,0,0,0,14.89,14.83,14.91
$GC,1756,-0.63,-170.3,2546,2346,3911,3914,223.8,-10.8,222,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2345,3912,3911,3914,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2077,-0.63,-170.3,2546,2345,3911,3914,256.4,-9.4,250,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2345,3912,3911,3914,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2376,-0.63,-170.3,2546,2345,3910,3913,285.8,-10.3,260,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2345,3911,3909,3913,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2677,-0.63,-170.3,2546,2345,3909,3911,319.0,-11.1,270,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2345,3910,3909,3911,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2976,-0.63,-170.3,2546,2345,3907,3908,349.4,-9.9,280,2980,0.00,2.30,0.00,0.000,516,0.000,0.048,2546,957,3907,3907,3908,0,0,0,0,0,0,15.16,14.81,15.17
$GC,3026,-0.63,-170.3,2546,957,3907,3909,354.6,-10.0,290,3031,0.00,2.38,0.00,0.000,1030,0.000,0.054,2546,2352,3908,3907,3909,0,0,0,0,0,0,14.90,14.79,14.92
$GC,3338,-0.63,-170.3,2546,2352,3905,3906,385.4,-9.8,302,3343,0.00,2.22,0.00,0.000,260,0.000,0.080,2546,3694,3905,3905,3905,0,0,0,0,0,0,15.16,14.74,15.17
$GC,3373,-0.63,-170.3,2546,3695,3903,3905,389.1,-10.3,309,3378,0.00,2.15,0.00,0.000,1030,0.000,0.041,2546,2348,3904,3903,3905,0,0,0,0,0,0,14.84,14.80,14.87
$GC,3701,-0.63,-170.3,2546,2345,3902,3902,422.5,-10.3,324,3705,0.00,2.30,0.00,0.000,516,0.000,0.050,2546,958,3902,3902,3902,0,0,0,0,0,0,15.16,14.80,15.18
$GC,3740,-0.63,-170.3,2546,957,3902,3902,426.9,-10.7,332,3744,0.00,2.38,0.00,0.000,1030,0.000,0.054,2546,2356,3902,3903,3902,0,0,0,0,0,0,14.89,14.78,14.92
$GC,4057,-0.63,-170.3,2546,2356,3901,3900,459.7,-10.5,345,4061,0.00,2.22,0.00,0.000,260,0.000,0.083,2547,3695,3900,3900,3901,0,0,0,0,0,0,15.16,14.73,15.17
$GC,4081,-0.63,-170.3,2546,3695,3899,3900,462.4,-10.2,350,4089,0.00,2.12,0.00,0.000,1030,0.000,0.042,2546,2343,3899,3898,3900,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4388,-0.63,-170.3,2546,2343,3899,3898,493.3,-10.0,361,4392,0.00,2.30,0.00,0.000,516,0.000,0.050,2546,959,3898,3899,3898,0,0,0,0,0,0,15.16,14.79,15.18
$GC,4442,-0.63,-170.3,2546,959,3899,3898,499.1,-9.8,372,4450,0.00,2.38,0.00,0.000,1030,0.000,0.055,2546,2350,3898,3899,3897,0,0,0,0,0,0,14.88,14.78,14.92
$GC,4750,-0.63,-170.3,2546,2350,3897,3896,528.6,-9.5,383,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2350,3896,3897,3896,0,0,0,0,0,0,15.16,15.18,15.17
$GC,5050,-0.63,-170.3,2546,2350,3897,3893,554.7,-8.2,393,5054,0.00,2.35,0.00,0.000,516,0.000,0.049,2546,957,3895,3897,3893,0,0,0,0,0,0,15.15,14.79,15.18
$GC,5074,-0.63,-170.3,2546,957,3896,3893,556.9,-8.7,398,5082,0.00,2.40,0.00,0.000,1030,0.000,0.057,2546,2350,3894,3896,3892,0,0,0,0,0,0,14.88,14.78,14.91
$GC,5381,-0.63,-170.3,2546,2350,3895,3890,581.8,-8.3,409,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2350,3892,3895,3890,0,0,0,0,0,0,15.16,15.18,15.17
$GC,5682,-0.63,-170.3,2546,2350,3894,3888,608.6,-9.1,419,5686,0.00,2.33,0.00,0.000,516,0.000,0.049,2546,957,3891,3894,3888,0,0,0,0,0,0,15.16,14.78,15.17
$GC,5722,-0.63,-170.3,2546,957,3894,3888,612.8,-10.1,427,5726,0.00,2.40,0.00,0.000,1030,0.000,0.060,2546,2353,3891,3894,3888,0,0,0,0,0,0,14.88,14.76,14.90
$GC,6039,-0.63,-170.3,2546,2353,3892,3885,646.5,-11.1,440,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2353,3889,3892,3886,0,0,0,0,0,0,15.16,15.18,15.18
$GC,6339,-0.63,-170.3,2546,2354,3890,3883,681.2,-11.7,450,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2353,3887,3891,3883,0,0,0,0,0,0,15.16,15.18,15.17
$GC,6639,-0.63,-170.3,2546,2353,3889,3881,714.5,-10.5,460,6643,0.00,2.35,0.00,0.000,516,0.000,0.048,2546,955,3885,3889,3881,0,0,0,0,0,0,15.16,14.76,15.18
$GC,6678,-0.63,-170.3,2546,955,3889,3882,718.7,-10.0,468,6682,0.00,2.40,0.00,0.000,1030,0.000,0.059,2546,2349,3885,3889,3881,0,0,0,0,0,0,14.87,14.75,14.90
$GC,7000,-0.63,-170.3,2546,2348,3888,3880,748.5,-9.2,482,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2349,3883,3888,3879,0,0,0,0,0,0,15.15,15.17,15.17
$GC,7300,-0.63,-170.3,2546,2349,3887,3878,777.6,-9.8,492,7304,0.00,2.35,0.00,0.000,516,0.000,0.050,2547,954,3882,3887,3878,0,0,0,0,0,0,15.16,14.76,15.18
$GC,7335,-0.63,-170.3,2546,954,3887,3878,781.2,-9.8,499,7339,0.00,2.40,0.00,0.000,1030,0.000,0.062,2546,2348,3882,3887,3878,0,0,0,0,0,0,14.86,14.74,14.89
$GC,7657,-0.63,-170.3,2546,2349,3886,3877,812.9,-9.9,513,7661,0.00,2.28,0.00,0.000,260,0.000,0.088,2546,3695,3881,3885,3877,0,0,0,0,0,0,15.15,14.67,15.17
$GC,7696,-0.63,-170.3,2546,3695,3884,3877,817.2,-10.0,521,7701,0.00,2.12,0.00,0.000,1030,0.000,0.043,2546,2356,3880,3884,3877,0,0,0,0,0,0,14.89,14.82,14.92
$GC,8019,-0.63,-170.3,2546,2353,3884,3875,849.2,-9.9,535,8023,0.00,2.35,0.00,0.000,516,0.000,0.050,2546,950,3880,3884,3876,0,0,0,0,0,0,15.15,14.74,15.17
$GC,8059,-0.63,-170.3,2546,950,3884,3876,853.5,-10.2,543,8063,0.00,2.42,0.00,0.000,1030,0.000,0.062,2546,2351,3879,3884,3875,0,0,0,0,0,0,14.85,14.72,14.88
$GC,8375,-0.63,-170.3,2546,2351,3884,3873,885.2,-10.1,556,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2351,3878,3884,3873,0,0,0,0,0,0,15.15,15.17,15.16
$GC,8675,-0.63,-170.3,2546,2351,3883,3872,914.8,-9.7,566,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2351,3877,3883,3871,0,0,0,0,0,0,15.15,15.17,15.17
$GC,8976,-0.63,-170.3,2546,2351,3881,3871,943.1,-9.2,576,8980,0.00,2.30,0.00,0.000,260,0.000,0.089,2546,3704,3876,3881,3871,0,0,0,0,0,0,15.14,14.65,15.16
$GC,9020,-0.63,-170.3,2546,3704,3881,3870,947.4,-9.2,585,9024,0.00,2.15,0.00,0.000,1030,0.000,0.043,2546,2350,3875,3880,3870,0,0,0,0,0,0,14.88,14.81,14.90
$GC,9337,-0.63,-170.3,2546,2346,3880,3869,975.4,-8.8,598,9342,0.00,2.35,0.00,0.000,516,0.000,0.053,2546,953,3874,3880,3869,0,0,0,0,0,0,15.14,14.72,15.16
$GC,9399,-0.63,-170.3,2546,953,3880,3869,980.9,-8.8,610,9404,0.00,2.42,0.00,0.000,1030,0.000,0.062,2546,2352,3874,3880,3868,0,0,0,0,0,0,14.83,14.71,14.87
$STATE,9520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9520,begin apogee
$GC,9525,-0.15,0.0,2547,2425,3880,3868,991.3,-8.5,619,9672,0.57,0.00,138.27,1.920,10246,0.221,0.000,2706,2424,3338,3361,3316,0,0,0,0,0,0,14.51,14.10,13.28
$STATE,9673,end apogee,CONTROL_FINISHED_OK
$STATE,9673,begin climb
$GC,9675,0.63,170.3,2705,2425,3360,3315,997.2,0.0,624,9861,0.80,2.22,175.07,1.911,10500,0.140,0.083,2953,3679,2641,2683,2599,0,0,0,0,0,0,14.09,13.78,13.14
$GC,9932,0.63,170.3,2953,3679,2672,2597,983.0,9.9,676,9936,0.00,2.10,0.00,0.000,1030,0.000,0.042,2958,2412,2634,2672,2597,0,0,0,0,0,0,14.31,14.25,14.33
$GC,10244,0.63,170.3,2957,2410,2666,2594,955.5,8.8,688,10251,0.00,2.45,0.00,0.000,516,0.000,0.060,2959,1001,2629,2665,2593,0,0,0,0,0,0,14.83,14.52,14.85
$GC,10317,0.63,170.3,2959,1002,2665,2593,949.0,8.6,703,10322,0.00,2.40,0.00,0.000,1030,0.000,0.057,2959,2390,2628,2665,2592,0,0,1,0,0,0,14.65,14.55,14.68
$GC,10635,0.63,170.3,2959,2389,2663,2591,921.7,8.6,716,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2389,2627,2663,2591,0,0,0,0,0,0,14.96,14.98,14.97
$GC,10934,0.63,170.3,2958,2389,2661,2591,895.9,8.6,726,10938,0.00,2.22,0.00,0.000,260,0.000,0.082,2959,3701,2626,2661,2591,0,0,0,0,0,0,15.01,14.63,15.03
$GC,10954,0.63,170.3,2959,3701,2660,2590,893.9,9.0,730,10958,0.00,2.10,0.00,0.000,1030,0.000,0.046,2959,2398,2625,2660,2590,0,0,0,0,0,0,14.79,14.72,14.82
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$STATE,21552,end climb,SURFACE_DEPTH_REACHED
$STATE,21553,begin surface coast
$FINISH,0.1,1.022610
$STATE,21580,end surface coast,CONTROL_FINISHED_OK
$STATE,21580,begin surface
$SM_CCo,21658,0.00,0.000,0,0,1614,424.61
$SM_GC,0.72,8.62,2.33,0.00,0.099,0.041,0.000,250,2355,1614,-7.80,-0.93,424.61,0,0,0,0,0,0,14.59,14.64,14.71
$IRIDIUM_FIX,-315.50,5539.06,090318,094755
$TT8_MAMPS,0.018725,0.156541
$HUMID,58.23
$INTERNAL_PRESSURE,8.50232
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,13.14,71.462
$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,22.025,174.775,557.600,0.000,0.000,0.000,0.000,232.575,0.000,0.000,23.601,3327.752,15334.710,662.171,2466.580,208.114,0.000,2161.256,0.000,2198.505,0.000,0.547,0.000
$DEVICE_MAMPS,421.515,171.360,1920.150,0.000,0.000,0.000,0.000,133.875,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.069,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303844
$DATA_FILE_SIZE,66702,1546
$CAP_FILE_SIZE,177455,0
$CFSIZE,260034560,240254976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$CURRENT,0.024,319.69,1
$GPS,090318,214538,-320.464,5536.838,38,0.8,41,-4.6,0.5,107.9,9,8.8