version: 66.13
glider: 128
mission: 4
dive: 227
start: 3 11 118 22 23 35
data:
$ID,128
$MISSION,4
$DIVE,227
$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,48
$R_STBD_OVSHOOT,35
$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
$GPS1,110318,221705,-333.5103,5537.8721,36,0.8,43,-4.7,0.5,162.4,9,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-71.8
$GPS2,110318,222257,-333.5745,5537.9434,19,0.8,21,-4.7,0.5,126.2,10,9.4
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,229.7,12430,-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,8,-0.63,-170.3,239,2406,1178,1118,0.0,0.0,0,94,0.00,0.00,-83.97,0.003,16386,0.000,0.000,239,2406,3710,3694,3727,0,0,0,0,0,0,14.85,28.83,14.87
$GC,96,-0.63,-170.3,239,2407,3695,3728,4.2,-11.8,14,118,11.57,2.17,-3.03,0.029,18692,0.421,0.092,2538,3693,3903,3897,3909,0,0,0,0,0,0,14.26,13.44,14.62
$GC,285,-0.63,-170.3,2538,3693,3902,3909,48.0,-18.8,50,292,0.00,2.12,0.00,0.000,1030,0.000,0.037,2538,2343,3906,3903,3909,0,0,0,0,0,0,14.72,14.65,14.74
$GC,599,-0.63,-170.3,2538,2339,3906,3909,95.2,-11.3,82,603,0.00,2.30,0.00,0.000,516,0.000,0.046,2538,948,3907,3906,3909,0,0,0,0,0,0,15.00,14.68,15.02
$GC,730,-0.63,-170.3,2538,948,3906,3911,111.4,-12.5,108,735,0.00,2.38,0.00,0.000,1030,0.000,0.050,2538,2349,3908,3906,3911,0,0,0,0,0,0,14.78,14.69,14.81
$GC,1042,-0.63,-170.3,2538,2350,3909,3914,143.8,-8.8,140,1047,0.00,2.20,0.00,0.000,260,0.000,0.071,2538,3702,3911,3909,3914,0,0,0,0,0,0,15.06,14.69,15.07
$GC,1124,-0.63,-170.3,2538,3702,3909,3914,152.0,-10.8,156,1129,0.00,2.10,0.00,0.000,1030,0.000,0.034,2538,2337,3911,3909,3914,0,0,0,0,0,0,14.85,14.80,14.88
$GC,1436,-0.63,-170.3,2538,2333,3910,3914,181.3,-9.9,188,1441,0.00,2.28,0.00,0.000,516,0.000,0.045,2539,958,3912,3910,3915,0,0,0,0,0,0,15.08,14.75,15.10
$GC,1471,-0.63,-170.3,2538,958,3910,3915,185.1,-10.3,195,1478,0.00,2.35,0.00,0.000,1030,0.000,0.050,2538,2351,3912,3910,3915,0,0,0,0,0,0,14.84,14.75,14.88
$GC,1779,-0.63,-170.3,2538,2351,3910,3915,218.8,-10.8,226,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2351,3912,3910,3915,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2079,-0.63,-170.3,2538,2351,3910,3915,247.3,-9.2,256,2084,0.00,2.20,0.00,0.000,260,0.000,0.076,2538,3695,3912,3909,3915,0,0,0,0,0,0,15.10,14.71,15.12
$GC,2111,-0.63,-170.3,2538,3695,3909,3915,250.5,-10.1,262,2116,0.00,2.12,0.00,0.000,1030,0.000,0.038,2538,2354,3912,3909,3915,0,0,0,0,0,0,14.80,14.76,14.83
$GC,2443,-0.63,-170.3,2538,2350,3909,3914,285.9,-11.4,278,2447,0.00,2.30,0.00,0.000,516,0.000,0.045,2538,959,3911,3909,3913,0,0,0,0,0,0,15.12,14.78,15.14
$GC,2492,-0.63,-170.3,2538,958,3909,3914,291.9,-11.5,288,2497,0.00,2.38,0.00,0.000,1030,0.000,0.050,2538,2359,3911,3909,3914,0,0,0,0,0,0,14.87,14.77,14.90
$GC,2805,-0.63,-170.3,2538,2359,3907,3910,325.8,-10.4,300,2810,0.00,2.20,0.00,0.000,260,0.000,0.078,2538,3693,3908,3907,3910,0,0,0,0,0,0,15.13,14.71,15.15
$GC,2831,-0.63,-170.3,2538,3693,3906,3909,328.6,-10.4,305,2838,0.00,2.10,0.00,0.000,1030,0.000,0.040,2538,2342,3907,3906,3909,0,0,0,0,0,0,14.90,14.84,14.92
$GC,3137,-0.63,-170.3,2538,2342,3905,3907,357.2,-9.2,316,3142,0.00,2.30,0.00,0.000,516,0.000,0.048,2538,960,3906,3905,3907,0,0,0,0,0,0,15.14,14.78,15.16
$GC,3177,-0.63,-170.3,2538,960,3905,3907,361.2,-9.2,324,3183,0.00,2.38,0.00,0.000,1030,0.000,0.052,2538,2355,3906,3905,3907,0,0,0,0,0,0,14.88,14.77,14.90
$GC,3500,-0.63,-170.3,2538,2355,3902,3905,394.7,-11.2,338,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2355,3904,3903,3905,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3800,-0.63,-170.3,2538,2355,3900,3902,428.5,-10.9,348,3805,0.00,2.35,0.00,0.000,516,0.000,0.047,2538,961,3901,3901,3902,0,0,0,0,0,0,15.14,14.78,15.16
$GC,3826,-0.63,-170.3,2538,961,3901,3902,431.5,-10.8,353,3833,0.00,2.38,0.00,0.000,1030,0.000,0.053,2538,2351,3901,3900,3902,0,0,0,0,0,0,14.88,14.77,14.90
$GC,4132,-0.63,-170.3,2538,2350,3899,3900,462.4,-10.1,364,4136,0.00,2.33,0.00,0.000,516,0.000,0.047,2538,963,3899,3899,3900,0,0,0,0,0,0,15.15,14.78,15.16
$GC,4164,-0.63,-170.3,2538,963,3899,3900,465.5,-9.7,370,4168,0.00,2.38,0.00,0.000,1030,0.000,0.054,2538,2350,3900,3900,3900,0,0,0,0,0,0,14.88,14.77,14.90
$GC,4495,-0.63,-170.3,2538,2351,3897,3897,499.4,-10.5,386,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2351,3897,3897,3897,0,0,0,0,0,0,15.14,15.17,15.16
$GC,4795,-0.63,-170.3,2538,2350,3896,3896,532.5,-11.2,396,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2351,3896,3897,3896,0,0,0,0,0,0,15.15,15.17,15.17
$GC,5095,-0.63,-170.3,2538,2351,3895,3893,563.6,-9.9,406,5099,0.00,2.35,0.00,0.000,516,0.000,0.047,2538,964,3894,3895,3893,0,0,0,0,0,0,15.15,14.77,15.17
$GC,5130,-0.63,-170.3,2538,964,3895,3893,567.1,-9.4,413,5135,0.00,2.38,0.00,0.000,1030,0.000,0.054,2538,2349,3894,3895,3893,0,0,0,0,0,0,14.87,14.76,14.90
$GC,5457,-0.63,-170.3,2538,2349,3894,3890,596.4,-8.9,428,5461,0.00,2.25,0.00,0.000,260,0.000,0.083,2538,3694,3891,3893,3890,0,0,0,0,0,0,15.15,14.69,15.17
$GC,5489,-0.63,-170.3,2538,3694,3892,3890,599.3,-9.3,434,5493,0.00,2.10,0.00,0.000,1030,0.000,0.043,2538,2356,3891,3892,3890,0,0,0,0,0,0,14.90,14.83,14.92
$GC,5821,-0.63,-170.3,2538,2352,3892,3888,629.1,-9.1,450,5825,0.00,2.35,0.00,0.000,516,0.000,0.049,2538,949,3890,3892,3888,0,0,0,0,0,0,15.14,14.76,15.16
$GC,5876,-0.63,-170.3,2538,949,3892,3888,634.4,-9.2,461,5883,0.00,2.42,0.00,0.000,1030,0.000,0.055,2538,2359,3889,3892,3887,0,0,0,0,0,0,14.85,14.75,14.89
$GC,6182,-0.63,-170.3,2538,2359,3890,3885,665.2,-10.5,472,6187,0.00,2.25,0.00,0.000,260,0.000,0.085,2538,3700,3887,3890,3885,0,0,0,0,0,0,15.14,14.67,15.16
$GC,6218,-0.63,-170.3,2538,3700,3889,3885,669.2,-11.0,479,6222,0.00,2.12,0.00,0.000,1030,0.000,0.042,2538,2349,3887,3889,3885,0,0,0,0,0,0,14.89,14.82,14.91
$GC,6544,-0.63,-170.3,2538,2348,3889,3883,704.3,-10.8,494,6548,0.00,2.35,0.00,0.000,516,0.000,0.050,2538,949,3885,3889,3882,0,0,0,0,0,0,15.14,14.74,15.16
$GC,6594,-0.63,-170.3,2538,949,3889,3883,709.9,-10.8,504,6599,0.00,2.42,0.00,0.000,1030,0.000,0.057,2538,2353,3885,3889,3882,0,0,0,0,0,0,14.85,14.73,14.88
$GC,6906,-0.63,-170.3,2538,2352,3887,3881,742.5,-10.5,516,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2353,3884,3887,3881,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7206,-0.63,-170.3,2538,2352,3886,3880,772.9,-10.1,526,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2353,3883,3886,3880,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7507,-0.63,-170.3,2538,2352,3885,3878,802.7,-9.9,536,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2352,3882,3886,3878,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7806,-0.63,-170.3,2538,2352,3884,3877,831.6,-9.4,546,7810,0.00,2.38,0.00,0.000,516,0.000,0.050,2538,957,3881,3885,3878,0,0,0,0,0,0,15.14,14.73,15.16
$GC,7856,-0.63,-170.3,2538,957,3884,3878,836.4,-8.7,556,7861,0.00,2.40,0.00,0.000,1030,0.000,0.057,2538,2350,3880,3884,3877,0,0,0,0,0,0,14.84,14.73,14.87
$GC,8168,-0.63,-170.3,2538,2349,3883,3876,862.4,-8.2,568,8173,0.00,2.28,0.00,0.000,260,0.000,0.086,2538,3696,3880,3883,3877,0,0,0,0,0,0,15.14,14.64,15.16
$GC,8204,-0.63,-170.3,2538,3696,3882,3877,865.5,-8.3,575,8208,0.00,2.15,0.00,0.000,1030,0.000,0.044,2538,2347,3879,3882,3877,0,0,0,0,0,0,14.88,14.81,14.90
$GC,8530,-0.63,-170.3,2538,2344,3882,3876,892.3,-8.6,590,8534,0.00,2.35,0.00,0.000,516,0.000,0.052,2538,950,3879,3882,3876,0,0,0,0,0,0,15.14,14.72,15.16
$GC,8574,-0.63,-170.3,2538,950,3882,3875,896.4,-8.9,599,8579,0.00,2.42,0.00,0.000,1030,0.000,0.060,2538,2349,3878,3882,3875,0,0,0,0,0,0,14.83,14.71,14.87
$GC,8892,-0.63,-170.3,2538,2348,3881,3873,922.9,-8.5,612,8896,0.00,2.28,0.00,0.000,260,0.000,0.086,2538,3695,3876,3879,3873,0,0,0,0,0,0,15.14,14.63,15.16
$GC,8947,-0.63,-170.3,2538,3694,3880,3873,927.9,-8.4,623,8954,0.00,2.15,0.00,0.000,1030,0.000,0.045,2538,2347,3876,3880,3873,0,0,0,0,0,0,14.86,14.79,14.88
$GC,9254,-0.63,-170.3,2538,2348,3879,3872,954.2,-8.8,634,9258,0.00,2.35,0.00,0.000,516,0.000,0.050,2538,954,3875,3879,3871,0,0,0,0,0,0,15.14,14.71,15.15
$GC,9304,-0.63,-170.3,2539,954,3879,3872,958.9,-9.0,644,9309,0.00,2.42,0.00,0.000,1030,0.000,0.058,2538,2354,3875,3879,3871,0,0,0,0,0,0,14.82,14.70,14.86
$GC,9616,-0.63,-170.3,2538,2353,3879,3870,987.0,-9.1,656,9621,0.00,2.28,0.00,0.000,260,0.000,0.086,2538,3694,3875,3880,3870,0,0,0,0,0,0,15.13,14.62,15.15
$STATE,9646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9646,begin apogee
$GC,9653,-0.15,0.0,2538,2397,3879,3870,990.0,-9.3,662,9798,0.60,0.00,138.05,1.926,10246,0.221,0.000,2703,2396,3337,3360,3314,0,0,0,0,0,0,14.49,13.93,13.28
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9799,begin climb
$GC,9802,0.63,170.3,2703,2396,3359,3314,997.0,0.0,667,9988,0.82,2.40,173.70,1.905,10500,0.143,0.082,2957,3697,2642,2685,2600,0,0,1,0,0,0,14.08,13.91,13.14
$GC,10030,0.63,170.3,2956,3696,2677,2600,987.0,9.0,713,10034,0.00,2.17,0.00,0.000,1030,0.000,0.045,2960,2403,2638,2677,2599,0,0,0,0,0,0,14.22,14.16,14.24
$GC,10342,0.63,170.3,2959,2402,2670,2594,961.7,8.1,725,10346,0.00,2.45,0.00,0.000,516,0.000,0.059,2960,999,2631,2669,2594,0,0,0,0,0,0,14.81,14.50,14.83
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$STATE,21544,end climb,SURFACE_DEPTH_REACHED
$STATE,21544,begin surface coast
$FINISH,0.0,1.022545
$STATE,21570,end surface coast,CONTROL_FINISHED_OK
$STATE,21570,begin surface
$SM_CCo,21586,2.40,0.083,0,0,1713,400.08
$SM_GC,1.82,8.73,0.00,2.40,0.096,0.000,0.083,251,2393,1713,-7.80,1.22,400.08,0,0,0,0,0,0,14.54,14.95,14.59
$IRIDIUM_FIX,-330.81,5534.83,110318,161945
$TT8_MAMPS,0.019474,0.15729
$HUMID,60.35
$INTERNAL_PRESSURE,8.50232
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,13.14,74.302
$10V_AH,13.46,0.000
$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,22.375,198.400,517.775,2.400,0.000,0.000,0.000,248.850,0.000,0.000,22.106,3312.322,15255.990,673.842,2503.199,202.433,0.000,2211.360,0.000,2213.274,0.000,0.546,0.000
$DEVICE_MAMPS,420.750,91.800,1925.505,83.385,0.000,0.000,0.000,133.875,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.272,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66646,1556
$CAP_FILE_SIZE,182964,0
$CFSIZE,260034560,239480832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.134,92.32,1
$GPS,120318,042437,-335.070,5538.134,34,0.8,36,-4.7,0.3,84.6,10,8.7