version: 66.13
glider: 128
mission: 4
dive: 254
start: 3 18 118 14 29 59
data:
$ID,128
$MISSION,4
$DIVE,254
$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,150
$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,54
$R_STBD_OVSHOOT,32
$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
$GPS1,180318,142033,-321.0159,5555.4053,40,1.1,44,-4.7,0.6,173.8,6,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.2
$GPS2,180318,142922,-321.1722,5555.4121,17,0.8,20,-4.7,1.0,167.8,9,9.1
$SPEED_LIMITS,0.132,0.189
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,11.8,230179,-16.0,-8.462,-21.96,2609
$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,9,-0.65,-146.0,250,2388,1726,1715,0.0,0.0,0,77,0.00,0.00,-65.75,0.003,16386,0.000,0.000,250,2388,3847,3832,3863,0,0,0,0,0,0,14.87,28.83,14.90
$GC,79,-0.65,-146.0,249,2388,3833,3864,5.3,-16.3,11,100,11.60,2.15,-0.82,0.100,18692,0.422,0.078,2534,3705,3902,3895,3910,0,0,0,0,0,0,14.26,13.73,14.62
$GC,205,-0.65,-146.0,2534,3705,3900,3910,39.1,-17.9,34,211,0.00,2.10,0.00,0.000,1030,0.000,0.035,2534,2353,3905,3901,3910,0,0,0,0,0,0,14.71,14.65,14.73
$GC,514,-0.65,-146.0,2534,2351,3903,3910,91.8,-13.6,70,518,0.00,2.35,0.00,0.000,516,0.000,0.047,2534,955,3907,3904,3910,0,0,0,0,0,0,15.00,14.65,15.02
$GC,676,-0.65,-146.0,2534,954,3906,3910,109.4,-10.9,102,685,0.00,2.38,0.00,0.000,1030,0.000,0.049,2534,2351,3908,3906,3910,0,0,0,0,0,0,14.78,14.68,14.81
$GC,986,-0.65,-146.0,2533,2350,3909,3911,146.1,-13.3,134,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3910,3909,3911,0,0,0,0,0,0,15.06,15.08,15.08
$GC,1287,-0.65,-146.0,2534,2350,3910,3913,182.5,-11.8,164,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3911,3909,3913,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1587,-0.65,-146.0,2534,2350,3909,3913,217.0,-10.5,194,1591,0.00,2.38,0.00,0.000,516,0.000,0.045,2534,944,3911,3910,3913,0,0,0,0,0,0,15.09,14.74,15.11
$GC,1622,-0.65,-146.0,2534,942,3910,3914,221.0,-10.6,201,1630,0.00,2.40,0.00,0.000,1030,0.000,0.050,2534,2350,3912,3910,3914,0,0,0,0,0,0,14.84,14.73,14.86
$GC,1949,-0.65,-146.0,2534,2350,3910,3914,257.0,-10.8,230,1953,0.00,2.35,0.00,0.000,516,0.000,0.044,2534,952,3911,3909,3914,0,0,0,0,0,0,15.11,14.75,15.13
$GC,2013,-0.65,-146.0,2534,951,3910,3914,263.6,-9.4,243,2017,0.00,2.40,0.00,0.000,1030,0.000,0.050,2534,2357,3911,3909,3914,0,0,0,0,0,0,14.84,14.74,14.87
$GC,2341,-0.65,-146.0,2534,2356,3908,3913,293.4,-9.1,258,2344,0.00,2.38,0.00,0.000,516,0.000,0.047,2534,952,3910,3908,3913,0,0,0,0,0,0,15.13,14.76,15.15
$GC,2385,-0.65,-146.0,2533,950,3908,3913,297.8,-9.3,267,2389,0.00,2.40,0.00,0.000,1030,0.000,0.051,2534,2354,3910,3908,3913,0,0,0,0,0,0,14.85,14.75,14.88
$GC,2697,-0.65,-146.0,2533,2353,3907,3910,327.2,-9.7,279,2701,0.00,2.38,0.00,0.000,516,0.000,0.046,2534,950,3908,3907,3910,0,0,0,0,0,0,15.13,14.76,15.15
$GC,2728,-0.65,-146.0,2534,948,3907,3910,330.3,-10.1,285,2733,0.00,2.40,0.00,0.000,1030,0.000,0.053,2534,2349,3908,3907,3910,0,0,0,0,0,0,14.85,14.75,14.89
$GC,3060,-0.65,-146.0,2534,2349,3905,3907,368.1,-12.1,301,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2349,3906,3905,3907,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3361,-0.65,-146.0,2534,2349,3902,3905,402.0,-10.5,311,3365,0.00,2.35,0.00,0.000,516,0.000,0.046,2534,950,3903,3902,3905,0,0,0,0,0,0,15.14,14.76,15.16
$GC,3405,-0.65,-146.0,2534,951,3902,3905,406.8,-10.0,320,3409,0.00,2.42,0.00,0.000,1030,0.000,0.054,2534,2355,3903,3902,3905,0,0,0,0,0,0,14.85,14.74,14.88
$GC,3722,-0.65,-146.0,2534,2355,3900,3902,437.8,-10.0,333,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3900,3900,3901,0,0,0,0,0,0,15.15,15.17,15.17
$GC,4022,-0.65,-146.0,2534,2354,3899,3900,470.0,-11.0,343,4026,0.00,2.38,0.00,0.000,516,0.000,0.048,2534,952,3899,3898,3900,0,0,0,0,0,0,15.15,14.75,15.17
$GC,4084,-0.65,-146.0,2534,952,3898,3900,476.7,-10.5,355,4090,0.00,2.42,0.00,0.000,1030,0.000,0.056,2534,2352,3898,3898,3899,0,0,0,0,0,0,14.84,14.73,14.88
$GC,4414,-0.65,-146.0,2534,2351,3897,3897,512.0,-10.9,371,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2351,3896,3897,3896,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4714,-0.65,-146.0,2534,2351,3896,3893,543.6,-10.3,381,4719,0.00,2.35,0.00,0.000,516,0.000,0.047,2534,950,3895,3896,3894,0,0,0,0,0,0,15.15,14.69,15.17
$GC,4770,-0.65,-146.0,2534,950,3896,3894,549.3,-9.4,392,4777,0.00,2.42,0.00,0.000,1030,0.000,0.055,2534,2351,3894,3896,3893,0,0,0,0,0,0,14.83,14.72,14.87
$GC,5077,-0.65,-146.0,2534,2350,3893,3890,579.4,-9.9,403,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3892,3894,3890,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5376,-0.65,-146.0,2534,2350,3892,3888,606.6,-9.1,413,5381,0.00,2.38,0.00,0.000,516,0.000,0.048,2534,952,3890,3892,3888,0,0,0,0,0,0,15.15,14.73,15.17
$GC,5410,-0.65,-146.0,2534,951,3892,3888,609.6,-9.1,419,5416,0.00,2.42,0.00,0.000,1030,0.000,0.056,2534,2349,3889,3892,3887,0,0,0,0,0,0,14.83,14.72,14.87
$GC,5739,-0.65,-146.0,2534,2348,3890,3885,641.1,-9.6,435,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2348,3887,3890,3885,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6039,-0.65,-146.0,2534,2349,3889,3882,668.9,-9.1,445,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2348,3885,3889,3882,0,0,0,0,0,0,15.15,15.16,15.16
$GC,6339,-0.65,-146.0,2534,2348,3887,3881,696.8,-9.3,455,6342,0.00,2.40,0.00,0.000,516,0.000,0.049,2534,947,3884,3887,3881,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6408,-0.65,-146.0,2534,942,3887,3881,703.5,-9.1,469,6413,0.00,2.45,0.00,0.000,1030,0.000,0.055,2534,2352,3883,3887,3880,0,0,0,0,0,0,14.81,14.70,14.85
$GC,6730,-0.65,-146.0,2534,2352,3886,3879,733.0,-9.3,483,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2352,3882,3886,3878,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7030,-0.65,-146.0,2534,2352,3884,3877,760.6,-9.3,493,7035,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,946,3880,3884,3877,0,0,0,0,0,0,15.14,14.69,15.16
$GC,7071,-0.65,-146.0,2534,946,3884,3877,764.6,-9.5,501,7076,0.00,2.45,0.00,0.000,1030,0.000,0.056,2534,2356,3880,3884,3877,0,0,0,0,0,0,14.81,14.69,14.84
$GC,7393,-0.65,-146.0,2534,2356,3884,3875,794.3,-9.3,515,7397,0.00,2.40,0.00,0.000,516,0.000,0.051,2534,957,3879,3883,3875,0,0,0,0,0,0,15.13,14.69,15.15
$GC,7432,-0.65,-146.0,2534,954,3884,3875,798.4,-9.9,523,7437,0.00,2.45,0.00,0.000,1030,0.000,0.060,2534,2352,3879,3883,3875,0,0,0,0,0,0,14.80,14.68,14.84
$GC,7755,-0.65,-146.0,2534,2351,3882,3873,828.1,-9.2,537,7760,0.00,2.40,0.00,0.000,516,0.000,0.049,2534,949,3877,3882,3873,0,0,0,0,0,0,15.14,14.69,15.15
$GC,7775,-0.65,-146.0,2534,949,3882,3873,830.3,-9.7,541,7780,0.00,2.45,0.00,0.000,1030,0.000,0.058,2534,2351,3877,3882,3873,0,0,0,0,0,0,14.81,14.69,14.84
$GC,8087,-0.65,-146.0,2534,2350,3880,3871,858.5,-9.0,553,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3875,3880,3871,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8387,-0.65,-146.0,2534,2350,3880,3870,886.5,-9.3,563,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3875,3880,3870,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8688,-0.65,-146.0,2534,2350,3879,3869,913.1,-8.8,573,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3874,3880,3869,0,0,0,0,0,0,15.14,15.16,15.15
$GC,8987,-0.65,-146.0,2534,2350,3879,3867,939.4,-8.8,583,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3873,3879,3867,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9287,-0.65,-146.0,2534,2350,3878,3865,966.3,-9.1,593,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3872,3878,3866,0,0,0,0,0,0,15.14,15.16,15.16
$STATE,9556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9556,begin apogee
$GC,9562,-0.15,0.0,2534,2426,3877,3864,991.6,-9.5,602,9702,0.62,0.00,136.85,1.927,10246,0.230,0.000,2704,2426,3345,3368,3322,0,0,0,0,0,0,14.42,14.09,13.29
$STATE,9703,end apogee,CONTROL_FINISHED_OK
$STATE,9703,begin climb
$GC,9705,0.65,146.0,2704,2426,3362,3316,997.8,0.0,606,9863,0.82,2.22,148.48,1.923,10500,0.144,0.082,2957,3682,2744,2785,2704,0,0,0,0,0,0,14.06,13.93,13.15
$GC,9934,0.67,146.0,2957,3682,2770,2702,990.0,7.5,657,9938,0.00,2.10,0.00,0.000,1094,0.000,0.044,2959,2408,2736,2771,2702,0,0,0,0,0,0,14.30,14.23,14.32
$GC,10251,0.70,146.0,2959,2407,2764,2698,969.0,6.7,670,10258,0.00,2.47,0.00,0.000,580,0.000,0.059,2959,1001,2730,2764,2697,0,0,0,0,0,0,14.83,14.50,14.85
$GC,10275,0.77,202.4,2959,1001,2764,2698,967.3,6.2,675,10346,0.15,2.45,62.95,1.781,11302,0.138,0.056,3010,2389,2513,2558,2469,0,0,0,0,0,0,14.51,14.52,13.47
$GC,10674,0.77,202.4,3010,2389,2544,2463,927.6,10.1,704,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2389,2503,2543,2463,0,0,0,0,0,0,14.85,14.87,14.87
$GC,10974,0.77,202.4,3010,2389,2540,2461,897.6,9.9,714,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2389,2500,2540,2461,0,0,0,0,0,0,14.94,14.96,14.96
$GC,11274,0.77,202.4,3010,2389,2538,2460,867.4,10.0,724,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2388,2498,2538,2459,0,0,0,0,0,0,15.00,15.02,15.02
$GC,11573,0.77,202.4,3010,2389,2536,2459,837.3,10.0,734,11580,0.00,2.45,0.00,0.000,516,0.000,0.059,3015,1002,2497,2535,2459,0,0,0,0,0,0,15.03,14.64,15.05
$GC,11597,0.77,202.4,3016,1002,2535,2459,834.8,9.5,739,11605,0.00,2.45,0.00,0.000,1030,0.000,0.054,3015,2404,2496,2535,2458,0,0,0,0,0,0,14.77,14.66,14.81
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$STATE,20907,end climb,SURFACE_DEPTH_REACHED
$STATE,20907,begin surface coast
$FINISH,-0.1,1.022260
$STATE,20933,end surface coast,CONTROL_FINISHED_OK
$STATE,20933,begin surface
$SM_CCo,20952,1.17,0.084,0,0,1714,400.08
$SM_GC,1.52,8.60,2.15,1.17,0.096,0.037,0.084,252,2344,1714,-7.80,1.75,400.08,0,0,0,0,0,0,14.57,14.70,14.57
$IRIDIUM_FIX,-322.12,5553.42,180318,142224
$TT8_MAMPS,0.018725,0.15729
$HUMID,59.72
$INTERNAL_PRESSURE,8.52185
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,13.15,82.995
$10V_AH,13.32,0.000
$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,22.350,179.075,535.500,1.175,0.000,0.000,0.000,359.350,0.000,0.000,20.901,3151.367,14955.459,666.686,2473.033,237.156,0.000,2253.186,0.000,2096.891,0.000,0.548,0.000
$DEVICE_MAMPS,421.515,170.595,1927.035,84.150,0.000,0.000,0.000,136.935,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.721,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303888
$DATA_FILE_SIZE,63336,1474
$CAP_FILE_SIZE,174413,0
$CFSIZE,260034560,237191168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.146,77.17,1
$GPS,180318,202032,-318.891,5557.228,40,1.1,43,-4.7,0.8,183.7,7,9.4