version: 66.13
glider: 128
mission: 4
dive: 236
start: 3 14 118 5 9 47
data:
$ID,128
$MISSION,4
$DIVE,236
$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,42
$R_STBD_OVSHOOT,31
$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
$GPS1,140318,050309,-339.1015,5539.8950,28,1.1,32,-4.8,1.1,59.5,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-72.2
$GPS2,140318,050909,-339.1558,5540.0229,18,1.0,21,-4.8,0.4,74.1,10,9.5
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,298.9,72897,-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,8,-0.63,-170.3,220,2369,1547,1518,0.0,0.0,0,82,0.00,0.00,-71.43,0.003,16386,0.000,0.000,220,2370,3746,3730,3763,0,0,0,0,0,0,14.87,28.83,14.90
$GC,84,-0.63,-170.3,220,2369,3733,3763,4.3,-11.5,12,106,11.65,2.22,-2.45,0.036,18692,0.418,0.079,2538,3707,3903,3898,3909,0,0,0,0,0,0,14.28,13.43,14.63
$GC,213,-0.63,-170.3,2538,3707,3903,3909,38.3,-17.3,36,220,0.00,2.15,0.00,0.000,1030,0.000,0.036,2538,2340,3906,3904,3909,0,0,0,0,0,0,14.72,14.66,14.74
$GC,527,-0.63,-170.3,2538,2337,3905,3909,100.0,-18.4,73,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2336,3907,3905,3909,0,0,0,0,0,0,15.01,15.03,15.02
$GC,829,-0.63,-170.3,2538,2336,3908,3910,134.4,-10.7,103,833,0.00,2.30,0.00,0.000,516,0.000,0.045,2538,939,3909,3909,3910,0,0,0,0,0,0,15.04,14.71,15.06
$GC,884,-0.63,-170.3,2538,939,3909,3912,140.4,-10.1,114,891,0.00,2.38,0.00,0.000,1030,0.000,0.049,2538,2351,3910,3909,3912,0,0,0,0,0,0,14.81,14.72,14.84
$GC,1190,-0.63,-170.3,2538,2351,3910,3914,173.2,-11.0,145,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2351,3912,3910,3914,0,0,0,0,0,0,15.08,15.10,15.10
$GC,1492,-0.63,-170.3,2538,2351,3910,3915,202.7,-8.6,175,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2351,3912,3911,3914,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1791,-0.63,-170.3,2538,2351,3911,3914,228.2,-8.5,205,1795,0.00,2.38,0.00,0.000,516,0.000,0.046,2538,934,3912,3910,3914,0,0,0,0,0,0,15.10,14.76,15.12
$GC,1843,-0.63,-170.3,2538,932,3911,3914,232.9,-8.9,215,1852,0.00,2.40,0.00,0.000,1030,0.000,0.051,2538,2354,3913,3911,3915,0,0,0,0,0,0,14.85,14.76,14.88
$GC,2173,-0.63,-170.3,2538,2354,3910,3914,265.9,-10.4,239,2178,0.00,2.20,0.00,0.000,260,0.000,0.075,2538,3694,3912,3910,3914,0,0,0,0,0,0,15.11,14.71,15.14
$GC,2214,-0.63,-170.3,2538,3694,3909,3914,270.4,-10.4,247,2218,0.00,2.12,0.00,0.000,1030,0.000,0.038,2538,2329,3911,3909,3914,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2535,-0.63,-170.3,2538,2325,3909,3913,303.5,-10.2,261,2540,0.00,2.30,0.00,0.000,516,0.000,0.045,2538,944,3911,3909,3913,0,0,0,0,0,0,15.13,14.78,15.15
$GC,2575,-0.63,-170.3,2538,944,3909,3913,307.7,-9.3,269,2579,0.00,2.40,0.00,0.000,1030,0.000,0.051,2538,2356,3911,3909,3913,0,0,0,0,0,0,14.87,14.77,14.90
$GC,2898,-0.63,-170.3,2538,2356,3907,3909,342.7,-11.6,283,2902,0.00,2.35,0.00,0.000,516,0.000,0.047,2538,953,3908,3907,3909,0,0,0,0,0,0,15.14,14.77,15.16
$GC,2938,-0.63,-170.3,2538,954,3907,3909,347.8,-12.0,291,2942,0.00,2.38,0.00,0.000,1030,0.000,0.054,2538,2349,3908,3907,3909,0,0,0,0,0,0,14.87,14.77,14.90
$GC,3254,-0.63,-170.3,2538,2349,3904,3907,384.2,-11.3,304,3258,0.00,2.22,0.00,0.000,260,0.000,0.077,2538,3698,3905,3904,3906,0,0,0,0,0,0,15.15,14.71,15.16
$GC,3279,-0.63,-170.3,2538,3698,3903,3906,387.1,-11.2,309,3286,0.00,2.10,0.00,0.000,1030,0.000,0.039,2538,2345,3904,3902,3906,0,0,0,0,0,0,14.91,14.85,14.93
$GC,3586,-0.63,-170.3,2538,2345,3902,3903,418.7,-10.1,320,3590,0.00,2.30,0.00,0.000,516,0.000,0.047,2538,959,3902,3902,3903,0,0,0,0,0,0,15.14,14.78,15.16
$GC,3630,-0.63,-170.3,2538,959,3902,3903,423.6,-10.4,329,3635,0.00,2.38,0.00,0.000,1030,0.000,0.054,2538,2351,3902,3902,3903,0,0,0,0,0,0,14.88,14.76,14.90
$GC,3947,-0.63,-170.3,2538,2351,3900,3901,455.7,-10.5,342,3952,0.00,2.22,0.00,0.000,260,0.000,0.079,2538,3696,3900,3899,3901,0,0,0,0,0,0,15.15,14.71,15.17
$GC,3983,-0.63,-170.3,2538,3696,3899,3900,459.6,-10.6,349,3987,0.00,2.10,0.00,0.000,1030,0.000,0.041,2538,2351,3899,3898,3901,0,0,0,0,0,0,14.91,14.84,14.92
$GC,4309,-0.63,-170.3,2538,2347,3898,3898,493.4,-10.4,364,4313,0.00,2.33,0.00,0.000,516,0.000,0.047,2538,953,3898,3898,3898,0,0,0,0,0,0,15.15,14.77,15.17
$GC,4373,-0.63,-170.3,2538,953,3898,3898,500.4,-10.6,377,4378,0.00,2.40,0.00,0.000,1030,0.000,0.053,2538,2355,3898,3898,3898,0,0,0,0,0,0,14.87,14.76,14.90
$GC,4700,-0.63,-170.3,2538,2355,3898,3896,534.5,-10.4,392,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2355,3896,3897,3896,0,0,0,0,0,0,15.15,15.17,15.16
$GC,5000,-0.63,-170.3,2538,2355,3896,3893,564.3,-9.7,402,5005,0.00,2.38,0.00,0.000,516,0.000,0.047,2538,948,3894,3896,3893,0,0,0,0,0,0,15.15,14.76,15.17
$GC,5041,-0.63,-170.3,2538,948,3896,3893,568.4,-9.3,410,5046,0.00,2.40,0.00,0.000,1030,0.000,0.055,2538,2350,3894,3896,3892,0,0,0,0,0,0,14.86,14.76,14.90
$GC,5363,-0.63,-170.3,2539,2349,3894,3890,596.7,-8.7,424,5367,0.00,2.25,0.00,0.000,260,0.000,0.080,2538,3699,3891,3893,3890,0,0,0,0,0,0,15.15,14.68,15.17
$GC,5383,-0.63,-170.3,2538,3698,3892,3890,598.6,-8.8,428,5387,0.00,2.12,0.00,0.000,1030,0.000,0.042,2538,2350,3890,3892,3889,0,0,0,0,0,0,14.90,14.83,14.92
$GC,5695,-0.63,-170.3,2538,2347,3892,3887,623.6,-8.0,440,5699,0.00,2.33,0.00,0.000,516,0.000,0.050,2538,957,3890,3893,3887,0,0,0,0,0,0,15.14,14.75,15.16
$GC,5756,-0.63,-170.3,2538,956,3892,3888,628.6,-8.1,452,5763,0.00,2.40,0.00,0.000,1030,0.000,0.056,2538,2350,3889,3892,3886,0,0,0,0,0,0,14.85,14.74,14.88
$GC,6087,-0.63,-170.3,2538,2350,3891,3885,657.9,-9.3,468,6091,0.00,2.25,0.00,0.000,260,0.000,0.083,2537,3694,3887,3890,3885,0,0,0,0,0,0,15.14,14.66,15.16
$GC,6122,-0.63,-170.3,2538,3694,3890,3884,661.4,-9.7,475,6126,0.00,2.12,0.00,0.000,1030,0.000,0.043,2537,2345,3886,3889,3884,0,0,0,0,0,0,14.88,14.81,14.91
$GC,6449,-0.63,-170.3,2538,2342,3889,3881,693.2,-9.9,490,6454,0.00,2.35,0.00,0.000,516,0.000,0.051,2538,950,3885,3888,3882,0,0,0,0,0,0,15.14,14.73,15.16
$GC,6500,-0.63,-170.3,2538,950,3889,3882,698.5,-10.0,500,6505,0.00,2.42,0.00,0.000,1030,0.000,0.057,2538,2358,3885,3889,3882,0,0,0,0,0,0,14.84,14.73,14.88
$GC,6807,-0.63,-170.3,2538,2358,3888,3881,729.7,-10.5,511,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2358,3884,3887,3881,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7106,-0.63,-170.3,2537,2358,3886,3879,762.5,-11.0,521,7110,0.00,2.40,0.00,0.000,516,0.000,0.050,2538,950,3882,3886,3879,0,0,0,0,0,0,15.15,14.73,15.16
$GC,7140,-0.63,-170.3,2538,946,3887,3879,766.4,-10.8,528,7144,0.00,2.42,0.00,0.000,1030,0.000,0.055,2538,2351,3882,3886,3879,0,0,0,0,0,0,14.84,14.73,14.88
$GC,7468,-0.63,-170.3,2538,2351,3886,3877,801.8,-11.0,543,7472,0.00,2.35,0.00,0.000,516,0.000,0.048,2538,954,3881,3886,3877,0,0,0,0,0,0,15.14,14.73,15.16
$GC,7508,-0.63,-170.3,2538,954,3886,3878,806.4,-11.0,551,7512,0.00,2.40,0.00,0.000,1030,0.000,0.057,2538,2349,3881,3885,3877,0,0,0,0,0,0,14.84,14.73,14.87
$GC,7824,-0.63,-170.3,2538,2349,3884,3876,838.5,-9.8,564,7828,0.00,2.28,0.00,0.000,260,0.000,0.084,2538,3703,3880,3884,3877,0,0,0,0,0,0,15.14,14.65,15.16
$GC,7859,-0.63,-170.3,2538,3704,3883,3876,841.9,-9.1,571,7864,0.00,2.15,0.00,0.000,1030,0.000,0.042,2538,2336,3879,3883,3876,0,0,0,0,0,0,14.88,14.81,14.90
$GC,8186,-0.63,-170.3,2537,2332,3883,3875,870.8,-8.8,586,8191,0.00,2.33,0.00,0.000,516,0.000,0.051,2538,956,3878,3882,3874,0,0,0,0,0,0,15.14,14.71,15.16
$GC,8241,-0.63,-170.3,2537,956,3883,3875,875.9,-9.0,597,8248,0.00,2.42,0.00,0.000,1030,0.000,0.057,2538,2356,3878,3883,3873,0,0,0,0,0,0,14.83,14.71,14.86
$GC,8548,-0.63,-170.3,2537,2356,3882,3873,902.4,-9.0,608,8552,0.00,2.25,0.00,0.000,260,0.000,0.083,2538,3698,3877,3881,3873,0,0,0,0,0,0,15.14,14.64,15.15
$GC,8587,-0.63,-170.3,2537,3698,3880,3872,906.4,-9.9,616,8592,0.00,2.12,0.00,0.000,1030,0.000,0.043,2538,2356,3876,3881,3872,0,0,0,0,0,0,14.86,14.79,14.88
$GC,8909,-0.63,-170.3,2537,2353,3880,3871,938.1,-9.9,630,8914,0.00,2.38,0.00,0.000,516,0.000,0.052,2537,953,3875,3880,3871,0,0,0,0,0,0,15.14,14.70,15.16
$GC,8960,-0.63,-170.3,2537,952,3880,3871,943.4,-10.0,640,8964,0.00,2.42,0.00,0.000,1030,0.000,0.060,2538,2351,3875,3880,3871,0,0,0,0,0,0,14.82,14.70,14.85
$GC,9267,-0.63,-170.3,2537,2350,3880,3870,976.3,-11.3,651,9271,0.00,2.28,0.00,0.000,260,0.000,0.084,2537,3703,3875,3880,3870,0,0,0,0,0,0,15.14,14.63,15.16
$GC,9311,-0.63,-170.3,2537,3703,3879,3869,981.8,-11.9,660,9316,0.00,2.15,0.00,0.000,1030,0.000,0.042,2538,2344,3874,3879,3869,0,0,0,0,0,0,14.85,14.78,14.88
$STATE,9387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9387,begin apogee
$GC,9392,-0.15,0.0,2536,2414,3878,3868,990.9,-12.1,665,9532,0.62,0.00,136.77,1.929,10246,0.231,0.000,2709,2413,3344,3368,3321,0,0,0,0,0,0,14.48,14.09,13.29
$STATE,9533,end apogee,CONTROL_FINISHED_OK
$STATE,9533,begin climb
$GC,9535,0.63,170.3,2709,2413,3361,3316,999.5,0.0,669,9721,0.82,2.33,170.93,1.939,10500,0.143,0.083,2958,3686,2643,2684,2602,0,0,0,0,0,0,14.07,13.92,13.16
$GC,9785,0.63,170.3,2958,3686,2676,2598,992.7,8.4,723,9789,0.00,2.10,0.00,0.000,1030,0.000,0.044,2960,2414,2637,2676,2598,0,0,0,0,0,0,14.29,14.22,14.31
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$STATE,20331,end climb,SURFACE_DEPTH_REACHED
$STATE,20331,begin surface coast
$FINISH,0.3,1.022551
$STATE,20358,end surface coast,CONTROL_FINISHED_OK
$STATE,20358,begin surface
$SM_CCo,20435,0.00,0.000,0,0,1501,452.57
$SM_GC,0.66,8.52,0.03,0.00,0.090,0.323,0.000,249,2324,1501,-7.81,1.47,452.57,0,0,0,0,0,0,14.54,14.68,14.67
$IRIDIUM_FIX,-339.41,5540.84,130318,230330
$TT8_MAMPS,0.018725,0.15729
$HUMID,58.58
$INTERNAL_PRESSURE,8.49255
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,13.16,77.204
$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,22.100,216.725,590.825,0.000,0.000,0.000,0.000,255.050,0.000,0.000,22.290,3235.640,14090.713,715.135,2549.362,208.033,0.000,2293.219,0.000,2248.388,0.000,0.546,0.000
$DEVICE_MAMPS,418.455,322.830,1938.510,0.000,0.000,0.000,0.000,137.700,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,719.735,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304064
$DATA_FILE_SIZE,69944,1581
$CAP_FILE_SIZE,184523,0
$CFSIZE,260034560,238686208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.171,101.46,1
$GPS,140318,105139,-338.738,5540.209,40,0.9,43,-4.8,1.1,85.8,9,9.3