version: 66.13
glider: 128
mission: 4
dive: 240
start: 3 15 118 4 51 40
data:
$ID,128
$MISSION,4
$DIVE,240
$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,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
$GPS1,150318,044507,-337.3698,5541.8232,29,0.8,31,-4.8,1.0,87.3,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.7
$GPS2,150318,045103,-337.4282,5541.9336,14,0.8,17,-4.8,0.3,109.1,11,8.8
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,295.8,70180,-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,-170.3,224,2387,1722,1697,0.0,0.0,0,75,0.00,0.00,-65.15,0.003,16386,0.000,0.000,225,2388,3798,3783,3814,0,0,0,0,0,0,14.87,28.83,14.89
$GC,78,-0.63,-170.3,225,2388,3784,3815,5.2,-15.4,11,99,11.77,2.15,-1.55,0.056,18692,0.425,0.080,2538,3700,3903,3897,3910,0,0,0,0,0,0,14.25,13.71,14.62
$GC,232,-0.63,-170.3,2537,3700,3901,3910,44.5,-17.6,40,239,0.00,2.12,0.00,0.000,1030,0.000,0.037,2538,2351,3906,3902,3910,0,0,0,0,0,0,14.71,14.65,14.73
$GC,546,-0.63,-170.3,2538,2347,3905,3909,97.7,-12.5,74,551,0.00,2.35,0.00,0.000,516,0.000,0.047,2538,943,3907,3905,3910,0,0,0,0,0,0,15.00,14.65,15.02
$GC,721,-0.63,-170.3,2538,943,3907,3911,117.5,-11.5,109,730,0.00,2.40,0.00,0.000,1030,0.000,0.048,2538,2358,3909,3907,3911,0,0,0,0,0,0,14.77,14.66,14.81
$GC,1029,-0.63,-170.3,2537,2357,3909,3914,154.5,-11.7,140,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2357,3912,3910,3914,0,0,0,0,0,0,15.05,15.08,15.07
$GC,1330,-0.63,-170.3,2537,2357,3910,3914,188.2,-11.0,170,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2357,3912,3910,3914,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1630,-0.63,-170.3,2537,2357,3910,3915,224.2,-13.2,200,1634,0.00,2.38,0.00,0.000,516,0.000,0.046,2538,941,3912,3910,3915,0,0,0,0,0,0,15.09,14.74,15.10
$GC,1664,-0.63,-170.3,2537,939,3910,3916,229.0,-12.8,207,1671,0.00,2.40,0.00,0.000,1030,0.000,0.049,2538,2357,3912,3910,3915,0,0,0,0,0,0,14.83,14.73,14.86
$GC,1973,-0.63,-170.3,2537,2356,3910,3916,265.8,-12.2,230,1977,0.00,2.35,0.00,0.000,516,0.000,0.044,2538,946,3913,3910,3916,0,0,0,0,0,0,15.10,14.76,15.11
$GC,2008,-0.63,-170.3,2537,946,3910,3915,270.4,-11.6,237,2013,0.00,2.38,0.00,0.000,1030,0.000,0.050,2538,2350,3913,3910,3916,0,0,0,0,0,0,14.85,14.75,14.88
$GC,2335,-0.63,-170.3,2538,2350,3909,3915,305.7,-10.8,252,2339,0.00,2.22,0.00,0.000,260,0.000,0.076,2538,3699,3912,3909,3915,0,0,0,0,0,0,15.12,14.70,15.14
$GC,2369,-0.63,-170.3,2537,3699,3909,3915,309.8,-11.7,259,2374,0.00,2.15,0.00,0.000,1030,0.000,0.037,2538,2347,3911,3909,3914,0,0,0,0,0,0,14.81,14.77,14.83
$GC,2697,-0.63,-170.3,2537,2345,3908,3914,346.7,-11.0,274,2701,0.00,2.33,0.00,0.000,516,0.000,0.046,2538,945,3911,3908,3914,0,0,0,0,0,0,15.13,14.76,15.15
$GC,2752,-0.63,-170.3,2538,945,3908,3914,352.7,-10.7,285,2759,0.00,2.40,0.00,0.000,1030,0.000,0.051,2538,2354,3911,3908,3914,0,0,0,0,0,0,14.85,14.76,14.88
$GC,3058,-0.63,-170.3,2537,2353,3906,3910,386.2,-11.5,296,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2354,3908,3906,3910,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3359,-0.63,-170.3,2537,2353,3904,3907,422.1,-12.0,306,3363,0.00,2.38,0.00,0.000,516,0.000,0.047,2538,948,3906,3904,3908,0,0,0,0,0,0,15.14,14.76,15.16
$GC,3390,-0.63,-170.3,2537,946,3904,3907,425.9,-11.7,312,3394,0.00,2.40,0.00,0.000,1030,0.000,0.054,2538,2348,3905,3904,3907,0,0,0,0,0,0,14.85,14.75,14.89
$GC,3722,-0.63,-170.3,2537,2348,3901,3905,461.0,-10.1,328,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2348,3903,3901,3905,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4022,-0.63,-170.3,2537,2348,3900,3903,489.1,-9.2,338,4026,0.00,2.38,0.00,0.000,516,0.000,0.048,2538,949,3901,3900,3902,0,0,0,0,0,0,15.14,14.75,15.16
$GC,4046,-0.63,-170.3,2537,949,3900,3902,491.6,-9.7,343,4053,0.00,2.40,0.00,0.000,1030,0.000,0.054,2538,2350,3900,3899,3902,0,0,0,0,0,0,14.85,14.75,14.89
$GC,4354,-0.63,-170.3,2537,2350,3898,3901,519.1,-8.8,354,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2350,3899,3898,3901,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4653,-0.63,-170.3,2537,2349,3897,3898,545.2,-8.7,364,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2348,3897,3897,3898,0,0,0,0,0,0,15.15,15.17,15.16
$GC,4954,-0.63,-170.3,2537,2349,3896,3897,574.1,-9.9,374,4958,0.00,2.35,0.00,0.000,516,0.000,0.047,2538,956,3896,3896,3897,0,0,0,0,0,0,15.15,14.75,15.17
$GC,4989,-0.63,-170.3,2537,956,3896,3897,578.0,-10.4,381,4995,0.00,2.40,0.00,0.000,1030,0.000,0.055,2538,2357,3896,3896,3897,0,0,0,0,0,0,14.85,14.73,14.88
$GC,5317,-0.63,-170.3,2537,2356,3895,3894,612.4,-10.6,396,5321,0.00,2.25,0.00,0.000,260,0.000,0.083,2538,3694,3894,3894,3894,0,0,0,0,0,0,15.15,14.66,15.16
$GC,5336,-0.63,-170.3,2537,3693,3893,3894,614.7,-10.9,400,5341,0.00,2.12,0.00,0.000,1030,0.000,0.044,2538,2352,3893,3894,3893,0,0,0,0,0,0,14.88,14.82,14.90
$GC,5649,-0.63,-170.3,2537,2348,3893,3891,646.8,-9.9,412,5653,0.00,2.35,0.00,0.000,516,0.000,0.050,2538,950,3892,3893,3891,0,0,0,0,0,0,15.14,14.73,15.16
$GC,5699,-0.63,-170.3,2537,949,3893,3891,651.9,-9.7,422,5703,0.00,2.40,0.00,0.000,1030,0.000,0.055,2538,2350,3892,3893,3891,0,0,0,0,0,0,14.84,14.73,14.88
$GC,6005,-0.63,-170.3,2537,2350,3891,3889,680.4,-9.4,433,6010,0.00,2.38,0.00,0.000,516,0.000,0.049,2538,948,3890,3891,3889,0,0,0,0,0,0,15.14,14.73,15.16
$GC,6032,-0.63,-170.3,2537,948,3891,3889,683.1,-9.7,438,6038,0.00,2.42,0.00,0.000,1030,0.000,0.057,2538,2351,3889,3891,3888,0,0,0,0,0,0,14.84,14.73,14.87
$GC,6337,-0.63,-170.3,2537,2350,3889,3886,712.5,-10.0,449,6343,0.00,2.38,0.00,0.000,516,0.000,0.050,2538,951,3888,3890,3887,0,0,0,0,0,0,15.14,14.73,15.16
$GC,6378,-0.63,-170.3,2537,951,3890,3887,716.8,-10.3,457,6383,0.00,2.42,0.00,0.000,1030,0.000,0.057,2538,2350,3887,3889,3886,0,0,0,0,0,0,14.83,14.71,14.87
$GC,6701,-0.63,-170.3,2537,2350,3888,3884,749.1,-10.1,471,6705,0.00,2.28,0.00,0.000,260,0.000,0.086,2538,3700,3886,3887,3885,0,0,0,0,0,0,15.14,14.64,15.16
$GC,6720,-0.63,-170.3,2537,3701,3887,3884,751.3,-9.8,475,6724,0.00,2.15,0.00,0.000,1030,0.000,0.044,2537,2342,3885,3886,3884,0,0,0,0,0,0,14.88,14.80,14.90
$GC,7032,-0.63,-170.3,2537,2338,3887,3882,781.9,-9.7,487,7036,0.00,2.33,0.00,0.000,516,0.000,0.053,2538,958,3884,3887,3882,0,0,0,0,0,0,15.14,14.71,15.16
$GC,7094,-0.63,-170.3,2537,958,3887,3882,787.9,-9.8,499,7100,0.00,2.40,0.00,0.000,1030,0.000,0.057,2538,2351,3884,3886,3882,0,0,0,0,0,0,14.83,14.71,14.85
$GC,7423,-0.63,-170.3,2537,2351,3886,3881,820.2,-9.9,515,7427,0.00,2.28,0.00,0.000,260,0.000,0.085,2538,3699,3883,3885,3881,0,0,0,0,0,0,15.14,14.62,15.16
$GC,7458,-0.63,-170.3,2537,3699,3884,3881,823.8,-10.0,522,7462,0.00,2.15,0.00,0.000,1030,0.000,0.044,2538,2346,3882,3884,3880,0,0,0,0,0,0,14.85,14.78,14.88
$GC,7785,-0.63,-170.3,2537,2342,3884,3879,857.9,-10.8,537,7790,0.00,2.35,0.00,0.000,516,0.000,0.054,2538,955,3881,3884,3879,0,0,0,0,0,0,15.13,14.70,15.15
$GC,7831,-0.63,-170.3,2537,955,3884,3879,863.2,-11.1,546,7835,0.00,2.42,0.00,0.000,1030,0.000,0.061,2537,2349,3881,3884,3879,0,0,0,0,0,0,14.81,14.69,14.85
$GC,8143,-0.63,-170.3,2537,2349,3883,3878,898.0,-11.6,558,8147,0.00,2.28,0.00,0.000,260,0.000,0.088,2536,3693,3880,3883,3878,0,0,0,0,0,0,15.14,14.60,15.15
$GC,8187,-0.63,-170.3,2535,3692,3882,3878,903.8,-12.3,567,8192,0.00,2.15,0.00,0.000,1030,0.000,0.047,2536,2349,3879,3882,3877,0,0,0,0,0,0,14.85,14.76,14.88
$GC,8504,-0.63,-170.3,2535,2346,3882,3877,942.3,-12.3,580,8508,0.00,2.38,0.00,0.000,516,0.000,0.052,2536,947,3879,3881,3877,0,0,0,0,0,0,15.14,14.69,15.15
$GC,8544,-0.63,-170.3,2535,945,3881,3877,947.4,-12.1,588,8549,0.00,2.45,0.00,0.000,1030,0.000,0.060,2535,2354,3879,3882,3877,0,0,0,0,0,0,14.81,14.69,14.85
$GC,8861,-0.63,-170.3,2535,2354,3881,3875,980.8,-9.8,601,8866,0.00,2.28,0.00,0.000,260,0.000,0.086,2536,3696,3877,3880,3875,0,0,0,0,0,0,15.13,14.60,15.15
$GC,8907,-0.63,-170.3,2535,3696,3880,3875,985.1,-9.2,610,8911,0.00,2.15,0.00,0.000,1030,0.000,0.046,2535,2349,3877,3880,3875,0,0,0,0,0,0,14.84,14.76,14.87
$STATE,8981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8981,begin apogee
$GC,8987,-0.15,0.0,2536,2417,3880,3875,991.6,-8.6,615,9127,0.62,0.00,137.02,1.942,10246,0.231,0.000,2706,2417,3345,3368,3323,0,0,0,0,0,0,14.47,14.09,13.28
$STATE,9128,end apogee,CONTROL_FINISHED_OK
$STATE,9128,begin climb
$GC,9130,0.63,170.3,2706,2417,3361,3316,995.9,0.0,619,9314,0.82,2.30,171.02,1.934,10500,0.149,0.081,2957,3680,2644,2685,2603,0,0,0,0,0,0,14.05,13.89,13.15
$GC,9396,0.63,170.3,2957,3679,2675,2599,976.7,11.4,677,9401,0.00,2.12,0.00,0.000,1030,0.000,0.044,2959,2402,2636,2674,2598,0,0,0,0,0,0,14.32,14.25,14.34
$GC,9708,0.63,170.3,2959,2402,2668,2595,944.0,10.4,689,9713,0.00,2.45,0.00,0.000,516,0.000,0.060,2959,1000,2632,2668,2596,0,0,0,0,0,0,14.83,14.52,14.85
$GC,9754,0.63,170.3,2959,1001,2668,2594,939.1,10.4,698,9759,0.00,2.42,0.00,0.000,1030,0.000,0.054,2960,2388,2630,2667,2594,0,0,0,0,0,0,14.64,14.54,14.67
$GC,10066,0.63,170.3,2959,2387,2664,2594,909.0,9.4,710,10070,0.00,2.22,0.00,0.000,260,0.000,0.080,2959,3703,2629,2664,2594,0,0,0,0,0,0,14.95,14.58,14.97
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$STATE,20719,end climb,SURFACE_DEPTH_REACHED
$STATE,20719,begin surface coast
$FINISH,-0.2,1.022492
$STATE,20745,end surface coast,CONTROL_FINISHED_OK
$STATE,20745,begin surface
$SM_CCo,20822,0.00,0.000,0,0,1524,446.93
$SM_GC,0.65,8.75,0.10,0.00,0.100,0.121,0.000,247,2313,1524,-7.81,1.36,446.93,0,0,0,0,0,0,14.50,14.65,14.64
$IRIDIUM_FIX,-335.15,5542.62,140318,224444
$TT8_MAMPS,0.018725,0.15729
$HUMID,58.66
$INTERNAL_PRESSURE,8.50232
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,13.15,78.498
$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,22.450,220.450,565.900,0.000,0.000,0.000,0.000,257.050,0.000,0.000,17.745,3220.352,14547.597,695.207,2498.287,220.166,0.000,2258.171,0.000,2206.194,0.000,0.546,0.000
$DEVICE_MAMPS,424.575,134.640,1941.570,0.000,0.000,0.000,0.000,133.875,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66602,1551
$CAP_FILE_SIZE,185812,0
$CFSIZE,260034560,238346240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.229,97.65,1
$GPS,150318,103957,-337.085,5542.725,38,0.9,42,-4.8,1.0,94.5,8,9.2