version: 66.13
glider: 128
mission: 4
dive: 221
start: 3 10 118 10 11 58
data:
$ID,128
$MISSION,4
$DIVE,221
$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,52
$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
$GPS1,100318,100537,-324.0118,5537.1562,30,0.8,32,-4.7,1.0,156.1,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-74.1
$GPS2,100318,101120,-324.1094,5537.2119,16,0.8,18,-4.7,0.6,166.7,10,9.5
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,193.5,29514,-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,-170.3,251,2403,1726,1712,0.0,0.0,0,74,0.00,0.00,-64.47,0.003,16386,0.000,0.000,251,2404,3710,3690,3730,0,0,0,0,0,0,14.88,28.83,14.89
$GC,77,-0.63,-170.3,251,2404,3692,3730,4.1,-12.2,11,98,11.68,2.55,-3.03,0.029,18948,0.427,0.073,2548,956,3903,3898,3909,0,0,0,0,0,0,14.27,13.44,14.63
$GC,286,-0.63,-170.3,2548,956,3905,3909,49.5,-17.5,51,293,0.00,2.40,0.00,0.000,1030,0.000,0.049,2548,2356,3906,3904,3909,0,0,0,0,0,0,14.71,14.62,14.74
$GC,592,-0.63,-170.3,2548,2355,3907,3909,98.2,-10.0,82,596,0.00,2.38,0.00,0.000,516,0.000,0.047,2548,947,3908,3907,3909,0,0,0,0,0,0,15.01,14.68,15.03
$GC,696,-0.63,-170.3,2548,944,3908,3910,108.3,-9.8,103,703,0.00,2.40,0.00,0.000,1030,0.000,0.049,2548,2354,3909,3908,3911,0,0,0,0,0,0,14.78,14.69,14.82
$GC,1004,-0.63,-170.3,2548,2354,3910,3914,140.3,-11.8,134,1008,0.00,2.38,0.00,0.000,516,0.000,0.046,2548,945,3912,3910,3914,0,0,0,0,0,0,15.06,14.73,15.08
$GC,1088,-0.63,-170.3,2548,945,3910,3915,151.1,-12.0,151,1095,0.00,2.38,0.00,0.000,1030,0.000,0.048,2548,2349,3912,3910,3915,0,0,0,0,0,0,14.82,14.72,14.85
$GC,1396,-0.63,-170.3,2548,2350,3911,3915,183.2,-8.6,182,1399,0.00,2.20,0.00,0.000,260,0.000,0.076,2548,3698,3913,3911,3915,0,0,0,0,0,0,15.09,14.71,15.11
$GC,1499,-0.63,-170.3,2548,3698,3912,3915,192.9,-9.3,203,1507,0.00,2.12,0.00,0.000,1030,0.000,0.034,2548,2342,3912,3911,3914,0,0,0,0,0,0,14.79,14.76,14.82
$GC,1807,-0.63,-170.3,2548,2343,3912,3915,224.2,-11.0,234,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2343,3913,3912,3915,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2118,-0.63,-170.3,2548,2342,3911,3915,255.6,-9.0,261,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2343,3913,3912,3915,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2417,-0.63,-170.3,2548,2342,3910,3915,281.6,-8.8,271,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2342,3912,3910,3915,0,0,0,0,0,0,15.13,15.16,15.15
$GC,2717,-0.63,-170.3,2548,2342,3909,3914,310.5,-9.9,281,2722,0.00,2.30,0.00,0.000,516,0.000,0.046,2548,960,3912,3910,3914,0,0,0,0,0,0,15.14,14.78,15.16
$GC,2823,-0.63,-170.3,2548,960,3910,3914,321.5,-10.2,302,2827,0.00,2.35,0.00,0.000,1030,0.000,0.050,2548,2350,3911,3909,3914,0,0,0,0,0,0,14.88,14.78,14.91
$GC,3139,-0.63,-170.3,2548,2349,3908,3911,353.5,-10.4,315,3143,0.00,2.22,0.00,0.000,260,0.000,0.079,2548,3696,3909,3908,3911,0,0,0,0,0,0,15.15,14.72,15.16
$GC,3178,-0.63,-170.3,2548,3696,3907,3910,357.9,-10.9,323,3183,0.00,2.10,0.00,0.000,1030,0.000,0.039,2548,2348,3909,3908,3910,0,0,0,0,0,0,14.91,14.85,14.93
$GC,3500,-0.63,-170.3,2548,2345,3906,3908,390.5,-9.8,337,3505,0.00,2.30,0.00,0.000,516,0.000,0.048,2548,962,3907,3906,3908,0,0,0,0,0,0,15.15,14.78,15.17
$GC,3576,-0.63,-170.3,2548,962,3906,3908,397.9,-9.2,352,3580,0.00,2.35,0.00,0.000,1030,0.000,0.051,2548,2350,3907,3906,3908,0,0,0,0,0,0,14.88,14.78,14.91
$GC,3892,-0.63,-170.3,2548,2349,3903,3906,426.1,-8.7,365,3897,0.00,2.22,0.00,0.000,260,0.000,0.080,2548,3693,3904,3903,3905,0,0,0,0,0,0,15.15,14.71,15.17
$GC,3924,-0.63,-170.3,2547,3693,3902,3905,428.8,-8.9,371,3928,0.00,2.10,0.00,0.000,1030,0.000,0.041,2548,2351,3903,3902,3905,0,0,0,0,0,0,14.91,14.85,14.93
$GC,4255,-0.63,-170.3,2548,2347,3901,3902,460.0,-9.2,387,4259,0.00,2.33,0.00,0.000,516,0.000,0.047,2548,951,3901,3901,3902,0,0,0,0,0,0,15.15,14.78,15.17
$GC,4295,-0.63,-170.3,2548,951,3901,3903,464.0,-9.5,395,4299,0.00,2.40,0.00,0.000,1030,0.000,0.054,2549,2356,3901,3901,3902,0,0,0,0,0,0,14.88,14.77,14.90
$GC,4617,-0.63,-170.3,2548,2356,3900,3901,492.5,-9.1,409,4622,0.00,2.22,0.00,0.000,260,0.000,0.082,2548,3694,3900,3899,3901,0,0,0,0,0,0,15.15,14.71,15.16
$GC,4643,-0.63,-170.3,2548,3694,3899,3901,495.0,-9.6,414,4650,0.00,2.12,0.00,0.000,1030,0.000,0.042,2548,2340,3899,3899,3900,0,0,0,0,0,0,14.91,14.84,14.92
$GC,4949,-0.63,-170.3,2548,2340,3898,3898,523.3,-9.4,425,4954,0.00,2.30,0.00,0.000,516,0.000,0.050,2548,962,3898,3898,3898,0,0,0,0,0,0,15.15,14.77,15.17
$GC,5011,-0.63,-170.3,2548,962,3898,3898,529.2,-9.4,437,5016,0.00,2.38,0.00,0.000,1030,0.000,0.054,2549,2351,3898,3898,3898,0,0,0,0,0,0,14.87,14.76,14.90
$GC,5343,-0.63,-170.3,2548,2350,3897,3896,562.9,-10.4,453,5348,0.00,2.28,0.00,0.000,260,0.000,0.083,2549,3698,3896,3897,3896,0,0,0,0,0,0,15.15,14.69,15.17
$GC,5383,-0.63,-170.3,2548,3698,3897,3896,567.4,-10.9,461,5389,0.00,2.12,0.00,0.000,1030,0.000,0.040,2548,2341,3896,3897,3896,0,0,0,0,0,0,14.90,14.84,14.92
$GC,5707,-0.63,-170.3,2548,2341,3896,3893,601.2,-10.3,475,5711,0.00,2.30,0.00,0.000,516,0.000,0.050,2548,962,3894,3896,3893,0,0,0,0,0,0,15.15,14.76,15.16
$GC,5762,-0.63,-170.3,2548,962,3896,3893,606.9,-9.7,486,5769,0.00,2.38,0.00,0.000,1030,0.000,0.054,2548,2350,3894,3896,3892,0,0,0,0,0,0,14.87,14.76,14.90
$GC,6068,-0.63,-170.3,2548,2350,3895,3891,635.2,-9.1,497,6073,0.00,2.25,0.00,0.000,260,0.000,0.084,2548,3693,3892,3894,3891,0,0,0,0,0,0,15.15,14.68,15.17
$GC,6094,-0.63,-170.3,2548,3693,3894,3890,637.7,-9.6,502,6101,0.00,2.12,0.00,0.000,1030,0.000,0.043,2548,2347,3892,3894,3891,0,0,0,0,0,0,14.90,14.83,14.92
$GC,6400,-0.63,-170.3,2548,2347,3893,3889,665.3,-9.1,513,6405,0.00,2.33,0.00,0.000,516,0.000,0.049,2548,956,3891,3894,3889,0,0,0,0,0,0,15.15,14.76,15.17
$GC,6466,-0.63,-170.3,2548,957,3893,3889,671.6,-9.4,526,6470,0.00,2.40,0.00,0.000,1030,0.000,0.057,2548,2352,3891,3893,3889,0,0,0,0,0,0,14.85,14.74,14.89
$GC,6787,-0.63,-170.3,2548,2351,3892,3887,703.7,-10.5,540,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2351,3889,3892,3886,0,0,0,0,0,0,15.15,15.17,15.16
$GC,7087,-0.63,-170.3,2548,2351,3891,3885,736.5,-11.0,550,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2351,3888,3891,3885,0,0,0,0,0,0,15.15,15.17,15.17
$GC,7387,-0.63,-170.3,2548,2351,3890,3883,766.9,-9.7,560,7391,0.00,2.35,0.00,0.000,516,0.000,0.049,2548,957,3886,3890,3883,0,0,0,0,0,0,15.15,14.75,15.17
$GC,7432,-0.63,-170.3,2548,956,3890,3883,771.2,-9.0,569,7437,0.00,2.40,0.00,0.000,1030,0.000,0.057,2548,2350,3885,3889,3882,0,0,0,0,0,0,14.85,14.73,14.88
$GC,7750,-0.63,-170.3,2548,2350,3888,3881,796.5,-7.6,582,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2350,3884,3888,3881,0,0,0,0,0,0,15.15,15.16,15.16
$GC,8050,-0.63,-170.3,2548,2350,3887,3881,816.1,-6.3,592,8051,0.00,0.00,0.00,0.000,38,0.000,0.000,2548,2350,3884,3888,3880,0,0,0,0,0,0,15.15,15.17,15.16
$GC,8350,-0.63,-170.3,2548,2350,3886,3879,836.3,-7.0,602,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2350,3883,3887,3879,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8649,-0.63,-170.3,2548,2350,3886,3878,860.3,-8.4,612,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2350,3882,3886,3878,0,0,0,0,0,0,15.15,15.17,15.17
$GC,8950,-0.63,-170.3,2548,2350,3885,3878,887.9,-9.5,622,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2350,3881,3885,3878,0,0,0,0,0,0,15.15,15.17,15.16
$GC,9250,-0.63,-170.3,2548,2350,3885,3877,919.8,-11.1,632,9253,0.00,2.38,0.00,0.000,516,0.000,0.050,2548,954,3881,3885,3877,0,0,0,0,0,0,15.15,14.73,15.16
$GC,9274,-0.63,-170.3,2548,951,3885,3878,922.9,-11.9,637,9282,0.00,2.42,0.00,0.000,1030,0.000,0.058,2549,2348,3880,3884,3876,0,0,0,0,0,0,14.84,14.72,14.88
$GC,9581,-0.63,-170.3,2548,2350,3884,3874,958.0,-11.6,648,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2349,3879,3884,3874,0,0,0,0,0,0,15.14,15.16,15.16
$STATE,9880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9880,begin apogee
$GC,9885,-0.15,0.0,2549,2421,3883,3874,990.8,-10.7,658,10032,0.57,0.00,139.43,1.909,10246,0.222,0.000,2709,2421,3339,3362,3316,0,0,0,0,0,0,14.50,13.93,13.29
$STATE,10033,end apogee,CONTROL_FINISHED_OK
$STATE,10033,begin climb
$GC,10034,0.63,170.3,2709,2421,3360,3315,999.2,0.0,663,10217,0.80,2.30,172.90,1.913,10500,0.143,0.085,2955,3677,2645,2689,2601,0,0,0,0,0,0,14.09,13.90,13.17
$GC,10283,0.63,170.3,2954,3677,2678,2596,989.4,8.9,713,10287,0.00,2.10,0.00,0.000,1030,0.000,0.043,2957,2412,2637,2678,2596,0,0,0,0,0,0,14.28,14.22,14.31
$GC,10605,0.63,170.3,2957,2410,2671,2593,963.8,8.1,727,10612,0.00,2.45,0.00,0.000,516,0.000,0.058,2959,1002,2631,2670,2593,0,0,0,0,0,0,14.83,14.52,14.85
$GC,10654,0.64,170.3,2958,1002,2670,2593,959.9,7.9,737,10658,0.00,2.42,0.00,0.000,1094,0.000,0.055,2958,2388,2631,2670,2593,0,0,0,0,0,0,14.64,14.54,14.66
$GC,10960,0.65,170.3,2958,2388,2665,2593,935.8,7.9,748,10964,0.00,2.42,0.00,0.000,580,0.000,0.058,2960,1002,2629,2666,2593,0,0,0,0,0,0,14.95,14.62,14.97
$GC,10991,0.67,170.3,2959,1001,2665,2593,933.3,7.7,754,10997,0.00,2.45,0.00,0.000,1094,0.000,0.057,2960,2408,2629,2665,2593,0,0,0,0,0,0,14.73,14.62,14.76
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$STATE,22189,end climb,SURFACE_DEPTH_REACHED
$STATE,22189,begin surface coast
$FINISH,-0.1,1.022568
$STATE,22218,end surface coast,CONTROL_FINISHED_OK
$STATE,22219,begin surface
$SM_CCo,22295,0.00,0.000,0,0,1692,405.47
$SM_GC,0.84,8.77,0.00,0.00,0.099,0.000,0.000,245,2401,1692,-7.81,1.47,405.47,0,0,0,0,0,0,14.54,14.92,14.66
$IRIDIUM_FIX,-326.40,5533.05,100318,035847
$TT8_MAMPS,0.019474,0.15729
$HUMID,58.30
$INTERNAL_PRESSURE,8.51208
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,13.17,72.377
$10V_AH,13.49,0.000
$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,22.300,193.400,536.375,0.000,0.000,0.000,0.000,242.425,0.000,0.000,18.677,3379.210,15822.836,686.731,2548.745,203.872,0.000,2233.696,0.000,2270.213,0.000,0.546,0.000
$DEVICE_MAMPS,426.870,167.535,1913.265,0.000,0.000,0.000,0.000,133.875,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303856
$DATA_FILE_SIZE,69970,1597
$CAP_FILE_SIZE,185451,0
$CFSIZE,260034560,239984640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.039,46.66,1
$GPS,100318,162438,-325.828,5537.417,27,1.0,30,-4.7,0.7,109.5,8,9.0