version: 66.13
glider: 128
mission: 4
dive: 241
start: 3 15 118 10 46 25
data:
$ID,128
$MISSION,4
$DIVE,241
$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,80
$R_STBD_OVSHOOT,65
$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
$GPS1,150318,103957,-337.0849,5542.7246,38,0.9,42,-4.8,1.0,94.5,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-73.8
$GPS2,150318,104546,-337.1958,5542.8530,19,0.8,22,-4.8,1.2,145.5,10,8.7
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,294.4,70043,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-0.63,-170.3,232,2386,1535,1504,0.0,0.0,0,80,0.00,0.00,-70.93,0.003,16386,0.000,0.000,231,2387,3700,3682,3718,0,0,0,0,0,0,14.86,28.83,14.88
$GC,83,-0.63,-170.3,231,2387,3684,3719,4.2,-11.9,12,104,11.70,2.15,-3.17,0.028,18692,0.423,0.086,2538,3666,3902,3896,3908,0,0,0,0,0,0,14.26,13.43,14.62
$GC,212,-0.63,-170.3,2538,3666,3901,3909,36.8,-18.9,36,219,0.00,2.03,0.00,0.000,1030,0.000,0.038,2538,2379,3905,3902,3909,0,0,0,0,0,0,14.71,14.64,14.73
$GC,521,-0.63,-170.3,2538,2377,3904,3909,89.0,-11.5,73,525,0.00,2.40,0.00,0.000,516,0.000,0.047,2538,948,3907,3905,3909,0,0,0,0,0,0,15.00,14.66,15.01
$GC,535,-0.63,-170.3,2538,948,3905,3909,90.9,-11.6,76,542,0.00,2.35,0.00,0.000,1030,0.000,0.052,2538,2317,3907,3905,3909,0,0,0,0,0,0,14.76,14.66,14.78
$GC,842,-0.63,-170.3,2537,2317,3908,3911,122.5,-11.4,107,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2316,3909,3907,3911,0,0,0,0,0,0,15.04,15.06,15.06
$GC,1143,-0.63,-170.3,2538,2316,3910,3914,160.6,-11.0,137,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2316,3911,3909,3914,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1445,-0.63,-170.3,2538,2316,3909,3914,189.9,-9.1,167,1450,0.00,2.28,0.00,0.000,260,0.000,0.074,2538,3697,3912,3910,3914,0,0,0,0,0,0,15.07,14.69,15.09
$GC,1479,-0.63,-170.3,2538,3696,3909,3914,193.7,-9.2,174,1488,0.00,2.15,0.00,0.000,1030,0.000,0.037,2538,2340,3912,3910,3914,0,0,0,0,0,0,14.78,14.74,14.88
$GC,1787,-0.63,-170.3,2538,2340,3910,3914,222.5,-8.6,205,1791,0.00,2.33,0.00,0.000,516,0.000,0.045,2538,953,3912,3910,3914,0,0,0,0,0,0,15.09,14.75,15.11
$GC,1819,-0.63,-170.3,2538,953,3910,3915,225.2,-8.6,211,1823,0.00,2.38,0.00,0.000,1030,0.000,0.050,2538,2353,3912,3910,3915,0,0,0,0,0,0,14.84,14.74,14.87
$GC,2150,-0.63,-170.3,2538,2352,3910,3914,256.3,-9.7,241,2154,0.00,2.35,0.00,0.000,516,0.000,0.045,2538,953,3912,3909,3915,0,0,0,0,0,0,15.11,14.75,15.13
$GC,2175,-0.63,-170.3,2538,954,3909,3914,258.9,-10.2,246,2183,0.00,2.38,0.00,0.000,1030,0.000,0.051,2538,2348,3911,3909,3914,0,0,0,0,0,0,14.85,14.75,14.88
$GC,2482,-0.63,-170.3,2537,2348,3908,3914,286.6,-8.9,257,2486,0.00,2.22,0.00,0.000,260,0.000,0.077,2538,3700,3911,3908,3914,0,0,0,0,0,0,15.12,14.70,15.14
$GC,2506,-0.63,-170.3,2538,3700,3907,3913,288.9,-9.4,262,2514,0.00,2.10,0.00,0.000,1030,0.000,0.037,2538,2343,3910,3907,3913,0,0,0,0,0,0,14.89,14.83,14.91
$GC,2813,-0.63,-170.3,2538,2343,3906,3910,316.5,-9.3,273,2817,0.00,2.30,0.00,0.000,516,0.000,0.047,2538,963,3908,3907,3910,0,0,0,0,0,0,15.13,14.76,15.15
$GC,2863,-0.63,-170.3,2538,963,3906,3911,321.7,-10.1,283,2867,0.00,2.38,0.00,0.000,1030,0.000,0.050,2538,2355,3908,3906,3910,0,0,0,0,0,0,14.86,14.76,14.89
$GC,3169,-0.63,-170.3,2537,2354,3904,3907,354.0,-10.9,294,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2354,3905,3904,3907,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3470,-0.63,-170.3,2538,2354,3902,3906,386.2,-10.8,304,3475,0.00,2.35,0.00,0.000,516,0.000,0.048,2538,963,3904,3902,3906,0,0,0,0,0,0,15.14,14.71,15.16
$GC,3515,-0.63,-170.3,2537,963,3902,3906,391.3,-10.7,313,3519,0.00,2.38,0.00,0.000,1030,0.000,0.052,2538,2349,3903,3901,3906,0,0,0,0,0,0,14.86,14.76,14.89
$GC,3832,-0.63,-170.3,2538,2349,3900,3902,424.4,-10.8,326,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2349,3901,3900,3902,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4132,-0.63,-170.3,2538,2349,3898,3901,458.1,-11.2,336,4136,0.00,2.38,0.00,0.000,516,0.000,0.047,2538,955,3899,3899,3900,0,0,0,0,0,0,15.14,14.76,15.16
$GC,4163,-0.63,-170.3,2538,953,3898,3900,461.6,-11.2,342,4169,0.00,2.40,0.00,0.000,1030,0.000,0.054,2538,2349,3899,3898,3901,0,0,0,0,0,0,14.85,14.75,14.89
$GC,4496,-0.63,-170.3,2537,2349,3897,3898,495.3,-9.7,358,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2349,3897,3897,3898,0,0,0,0,0,0,15.14,15.16,15.17
$GC,4796,-0.63,-170.3,2537,2349,3896,3896,521.5,-8.4,368,4800,0.00,2.38,0.00,0.000,516,0.000,0.047,2538,956,3896,3896,3896,0,0,0,0,0,0,15.15,14.75,15.16
$GC,4835,-0.63,-170.3,2538,954,3896,3896,525.1,-8.3,376,4840,0.00,2.40,0.00,0.000,1030,0.000,0.054,2538,2352,3896,3896,3896,0,0,0,0,0,0,14.85,14.74,14.88
$GC,5157,-0.63,-170.3,2538,2351,3895,3893,552.7,-9.1,390,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2351,3894,3895,3893,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5458,-0.63,-170.3,2537,2351,3893,3891,581.8,-9.9,400,5462,0.00,2.38,0.00,0.000,516,0.000,0.049,2538,964,3892,3893,3891,0,0,0,0,0,0,15.14,14.73,15.16
$GC,5493,-0.63,-170.3,2538,963,3893,3891,585.5,-9.9,407,5498,0.00,2.42,0.00,0.000,1030,0.000,0.054,2538,2357,3892,3893,3891,0,0,0,0,0,0,14.85,14.73,14.88
$GC,5820,-0.63,-170.3,2538,2357,3891,3889,617.2,-9.9,422,5825,0.00,2.40,0.00,0.000,516,0.000,0.050,2538,954,3890,3891,3889,0,0,0,0,0,0,15.14,14.73,15.16
$GC,5846,-0.63,-170.3,2537,955,3891,3888,620.2,-10.7,427,5853,0.00,2.42,0.00,0.000,1030,0.000,0.057,2538,2351,3889,3891,3888,0,0,0,0,0,0,14.84,14.73,14.88
$GC,6152,-0.63,-170.3,2537,2351,3889,3886,652.0,-10.7,438,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2351,3888,3890,3886,0,0,0,0,0,0,15.14,15.17,15.16
$GC,6452,-0.63,-170.3,2537,2350,3889,3885,683.8,-10.4,448,6456,0.00,2.38,0.00,0.000,516,0.000,0.048,2538,954,3887,3889,3885,0,0,0,0,0,0,15.15,14.73,15.16
$GC,6492,-0.63,-170.3,2537,954,3888,3885,688.1,-10.5,456,6496,0.00,2.42,0.00,0.000,1030,0.000,0.056,2537,2352,3886,3888,3884,0,0,0,0,0,0,14.83,14.72,14.87
$GC,6808,-0.63,-170.3,2538,2351,3887,3882,720.7,-10.4,469,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2352,3884,3887,3882,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7109,-0.63,-170.3,2538,2352,3886,3881,751.0,-10.1,479,7113,0.00,2.38,0.00,0.000,516,0.000,0.049,2538,958,3883,3886,3881,0,0,0,0,0,0,15.14,14.71,15.16
$GC,7144,-0.63,-170.3,2538,956,3885,3881,754.8,-10.2,486,7149,0.00,2.42,0.00,0.000,1030,0.000,0.057,2538,2352,3883,3886,3881,0,0,0,0,0,0,14.83,14.71,14.86
$GC,7471,-0.63,-170.3,2537,2352,3884,3879,786.4,-9.5,501,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2352,3881,3885,3878,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7772,-0.63,-170.3,2538,2352,3884,3878,813.6,-8.9,511,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2352,3881,3884,3878,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8072,-0.63,-170.3,2538,2352,3883,3877,839.8,-8.7,521,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2352,3880,3883,3877,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8372,-0.63,-170.3,2537,2352,3882,3877,866.4,-9.0,531,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2352,3879,3882,3877,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8671,-0.63,-170.3,2537,2352,3881,3875,894.1,-9.5,541,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2352,3878,3881,3875,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8972,-0.63,-170.3,2538,2352,3880,3873,923.8,-10.0,551,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2352,3876,3880,3873,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9272,-0.63,-170.3,2537,2352,3880,3872,954.9,-10.3,561,9276,0.00,2.38,0.00,0.000,516,0.000,0.050,2539,965,3876,3880,3872,0,0,0,0,0,0,15.14,14.68,15.16
$GC,9311,-0.63,-170.3,2537,964,3879,3872,959.3,-10.6,569,9315,0.00,2.42,0.00,0.000,1030,0.000,0.057,2538,2354,3875,3879,3872,0,0,0,0,0,0,14.81,14.69,14.84
$GC,9634,-0.63,-170.3,2536,2355,3880,3869,988.6,-8.6,583,9638,0.00,2.28,0.00,0.000,260,0.000,0.085,2536,3705,3874,3880,3869,0,0,0,0,0,0,15.14,14.60,15.16
$GC,9643,-0.63,-170.3,2536,3705,3879,3869,989.6,-8.7,585,9648,0.00,2.15,0.00,0.000,1030,0.000,0.045,2536,2362,3874,3879,3869,0,0,0,0,0,0,14.85,14.78,14.88
$STATE,9652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9652,begin apogee
$GC,9657,-0.15,0.0,2536,2407,3879,3869,990.5,-8.8,587,9836,0.62,0.00,170.77,1.709,10246,0.247,0.000,2703,2407,3340,3362,3318,0,0,0,0,0,0,14.46,14.09,13.40
$STATE,9837,end apogee,CONTROL_FINISHED_OK
$STATE,9837,begin climb
$GC,9838,0.63,170.3,2704,2407,3361,3317,999.6,0.0,593,10024,0.82,2.35,174.10,1.914,10500,0.152,0.082,2954,3692,2643,2686,2601,0,0,0,0,0,0,14.07,13.90,13.13
$GC,10070,0.63,170.3,2954,3692,2676,2598,990.0,8.7,640,10077,0.00,2.15,0.00,0.000,1030,0.000,0.046,2959,2409,2636,2676,2597,0,0,0,0,0,0,14.22,14.15,14.24
$GC,10377,0.63,170.3,2958,2409,2668,2594,964.2,8.7,651,10382,0.00,2.50,0.00,0.000,516,0.000,0.061,2960,993,2630,2668,2593,0,0,0,0,0,0,14.80,14.49,14.81
$GC,10444,0.63,170.3,2960,993,2667,2593,958.1,9.2,664,10451,0.00,2.47,0.00,0.000,1030,0.000,0.055,2960,2399,2630,2667,2593,0,0,0,0,0,0,14.62,14.53,14.66
$GC,10770,0.63,170.3,2959,2399,2663,2592,929.4,8.7,679,10774,0.00,2.47,0.00,0.000,516,0.000,0.058,2963,999,2627,2663,2592,0,0,0,0,0,0,14.94,14.59,14.96
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$STATE,21217,end climb,SURFACE_DEPTH_REACHED
$STATE,21217,begin surface coast
$FINISH,0.1,1.022553
$STATE,21244,end surface coast,CONTROL_FINISHED_OK
$STATE,21244,begin surface
$SM_CCo,21322,0.00,0.000,0,0,1500,452.82
$SM_GC,0.78,8.73,0.10,0.00,0.102,0.121,0.000,252,2320,1500,-7.80,1.33,452.82,0,0,0,0,0,0,14.53,14.66,14.66
$IRIDIUM_FIX,-335.15,5542.62,150318,044647
$TT8_MAMPS,0.018725,0.158788
$HUMID,58.11
$INTERNAL_PRESSURE,8.50232
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,13.13,78.833
$10V_AH,13.47,0.000
$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,22.450,174.525,610.250,0.000,0.000,0.000,0.000,243.400,0.000,0.000,23.188,3235.390,15135.722,725.936,2361.207,217.368,0.000,2196.683,0.000,2091.965,0.000,0.547,0.000
$DEVICE_MAMPS,423.045,154.530,1914.030,0.000,0.000,0.000,0.000,133.875,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.853,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63360,1470
$CAP_FILE_SIZE,173646,0
$CFSIZE,260034560,238276608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9914.26,0x234cb8,1,24
$CURRENT,0.224,92.64,1
$GPS,150318,164304,-336.619,5543.424,37,0.9,43,-4.8,0.7,122.7,9,8.3