version: 66.13
glider: 128
mission: 4
dive: 256
start: 3 19 118 2 39 17
data:
$ID,128
$MISSION,4
$DIVE,256
$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,52
$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
$GPS1,190318,023108,-316.4434,5557.8140,32,0.8,34,-4.7,0.5,169.3,8,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.8
$GPS2,190318,023839,-316.5856,5557.8096,16,0.8,18,-4.7,0.5,205.3,8,9.2
$SPEED_LIMITS,0.132,0.189
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,15.7,220596,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.65,-146.0,229,2352,1726,1714,0.0,0.0,0,76,0.00,0.00,-66.10,0.003,16386,0.000,0.000,229,2352,3845,3831,3859,0,0,0,0,0,0,14.85,28.83,14.86
$GC,78,-0.65,-146.0,229,2352,3831,3860,5.2,-16.0,11,100,11.65,2.17,-0.88,0.095,18692,0.419,0.069,2533,3705,3902,3896,3909,0,0,0,0,0,0,14.22,13.70,14.60
$GC,162,-0.65,-146.0,2533,3705,3900,3909,30.0,-17.0,26,169,0.00,2.12,0.00,0.000,1030,0.000,0.036,2533,2345,3904,3900,3909,0,0,0,0,0,0,14.68,14.62,14.71
$GC,471,-0.65,-146.0,2533,2341,3902,3909,88.7,-16.9,67,475,0.00,2.38,0.00,0.000,516,0.000,0.049,2533,945,3906,3903,3909,0,0,0,0,0,0,14.99,14.62,15.00
$GC,552,-0.65,-146.0,2533,944,3905,3909,97.4,-9.1,83,561,0.00,2.40,0.00,0.000,1030,0.000,0.048,2533,2349,3907,3905,3909,0,0,0,0,0,0,14.74,14.65,14.78
$GC,862,-0.65,-146.0,2533,2348,3908,3910,130.9,-13.9,115,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2348,3909,3908,3910,0,0,0,0,0,0,15.04,15.07,15.06
$GC,1163,-0.65,-146.0,2533,2348,3910,3913,168.6,-10.8,145,1168,0.00,2.40,0.00,0.000,516,0.000,0.047,2533,943,3911,3910,3913,0,0,0,0,0,0,15.07,14.71,15.09
$GC,1189,-0.65,-146.0,2533,943,3910,3914,171.7,-10.7,150,1195,0.00,2.40,0.00,0.000,1030,0.000,0.050,2533,2349,3912,3910,3914,0,0,0,0,0,0,14.81,14.71,14.85
$GC,1495,-0.65,-146.0,2533,2348,3910,3914,203.3,-9.7,181,1499,0.00,2.20,0.00,0.000,260,0.000,0.073,2533,3701,3912,3910,3914,0,0,0,0,0,0,15.09,14.68,15.11
$GC,1517,-0.65,-146.0,2533,3701,3910,3914,205.2,-9.4,185,1522,0.00,2.10,0.00,0.000,1030,0.000,0.034,2533,2331,3912,3910,3914,0,0,0,0,0,0,14.87,14.81,14.88
$GC,1829,-0.65,-146.0,2533,2327,3910,3914,233.1,-9.5,217,1834,0.00,2.30,0.00,0.000,516,0.000,0.047,2533,958,3912,3910,3914,0,0,0,0,0,0,15.10,14.73,15.11
$GC,1883,-0.65,-146.0,2533,958,3910,3914,239.0,-10.3,228,1891,0.00,2.40,0.00,0.000,1030,0.000,0.051,2533,2353,3912,3910,3914,0,0,0,0,0,0,14.83,14.72,14.85
$GC,2202,-0.65,-146.0,2533,2352,3909,3914,272.8,-10.5,246,2206,0.00,2.38,0.00,0.000,516,0.000,0.047,2533,956,3911,3909,3913,0,0,0,0,0,0,15.11,14.74,15.13
$GC,2294,-0.65,-146.0,2533,955,3908,3914,282.6,-10.2,264,2302,0.00,2.40,0.00,0.000,1030,0.000,0.052,2533,2356,3911,3909,3914,0,0,0,0,0,0,14.83,14.73,14.85
$GC,2624,-0.65,-146.0,2533,2355,3908,3911,317.6,-10.6,280,2628,0.00,2.38,0.00,0.000,516,0.000,0.046,2533,961,3909,3907,3911,0,0,0,0,0,0,15.12,14.75,15.14
$GC,2656,-0.65,-146.0,2533,959,3908,3912,320.9,-10.4,286,2662,0.00,2.40,0.00,0.000,1030,0.000,0.054,2533,2347,3909,3907,3911,0,0,0,0,0,0,14.84,14.73,14.88
$GC,2986,-0.65,-146.0,2533,2347,3906,3908,354.4,-10.0,302,2990,0.00,2.38,0.00,0.000,516,0.000,0.048,2533,958,3907,3906,3909,0,0,0,0,0,0,15.14,14.74,15.15
$GC,3035,-0.65,-146.0,2533,956,3906,3909,359.7,-10.1,312,3039,0.00,2.40,0.00,0.000,1030,0.000,0.054,2533,2350,3907,3906,3909,0,0,0,0,0,0,14.85,14.73,14.88
$GC,3342,-0.65,-146.0,2533,2350,3903,3906,391.4,-10.6,323,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2350,3904,3903,3906,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3642,-0.65,-146.0,2533,2350,3901,3903,423.6,-10.5,333,3647,0.00,2.38,0.00,0.000,516,0.000,0.048,2533,959,3902,3901,3903,0,0,0,0,0,0,15.15,14.74,15.16
$GC,3688,-0.65,-146.0,2533,959,3901,3903,428.5,-10.1,342,3692,0.00,2.40,0.00,0.000,1030,0.000,0.054,2533,2350,3902,3901,3903,0,0,0,0,0,0,14.84,14.73,14.88
$GC,4000,-0.65,-146.0,2533,2349,3900,3901,459.2,-9.7,354,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2349,3900,3900,3901,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4300,-0.65,-146.0,2533,2349,3898,3898,487.8,-9.5,364,4304,0.00,2.40,0.00,0.000,516,0.000,0.048,2533,956,3898,3898,3898,0,0,0,0,0,0,15.15,14.73,15.16
$GC,4334,-0.65,-146.0,2533,956,3898,3898,491.2,-9.5,371,4338,0.00,2.42,0.00,0.000,1030,0.000,0.057,2533,2348,3898,3898,3898,0,0,0,0,0,0,14.83,14.72,14.87
$GC,4662,-0.65,-146.0,2533,2348,3897,3896,522.3,-10.0,386,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2348,3896,3897,3896,0,0,0,0,0,0,15.15,15.16,15.16
$GC,4961,-0.65,-146.0,2533,2348,3896,3893,553.8,-10.6,396,4965,0.00,2.40,0.00,0.000,516,0.000,0.050,2533,956,3894,3896,3893,0,0,0,0,0,0,15.15,14.72,15.17
$GC,5023,-0.65,-146.0,2533,954,3896,3893,560.3,-10.4,408,5030,0.00,2.45,0.00,0.000,1030,0.000,0.057,2533,2353,3893,3895,3892,0,0,0,0,0,0,14.83,14.71,14.86
$GC,5352,-0.65,-146.0,2533,2352,3894,3890,595.0,-10.6,424,5356,0.00,2.38,0.00,0.000,516,0.000,0.049,2533,960,3892,3894,3890,0,0,0,0,0,0,15.14,14.72,15.16
$GC,5377,-0.65,-146.0,2533,958,3894,3890,597.9,-11.3,429,5385,0.00,2.42,0.00,0.000,1030,0.000,0.057,2533,2351,3891,3893,3890,0,0,0,0,0,0,14.83,14.71,14.86
$GC,5684,-0.65,-146.0,2533,2350,3891,3888,630.0,-10.6,440,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2350,3889,3891,3888,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5984,-0.65,-146.0,2533,2350,3890,3886,660.3,-9.9,450,5988,0.00,2.38,0.00,0.000,516,0.000,0.050,2534,961,3887,3890,3885,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6029,-0.65,-146.0,2533,960,3890,3886,665.0,-10.2,459,6033,0.00,2.42,0.00,0.000,1030,0.000,0.057,2533,2351,3887,3890,3885,0,0,0,0,0,0,14.82,14.70,14.85
$GC,6341,-0.65,-146.0,2533,2350,3889,3882,695.4,-9.8,471,6345,0.00,2.25,0.00,0.000,260,0.000,0.083,2533,3702,3885,3888,3882,0,0,0,0,0,0,15.14,14.63,15.16
$GC,6360,-0.65,-146.0,2533,3702,3887,3883,697.6,-9.7,475,6364,0.00,2.12,0.00,0.000,1030,0.000,0.041,2533,2346,3884,3887,3882,0,0,0,0,0,0,14.87,14.80,14.89
$GC,6672,-0.65,-146.0,2533,2342,3887,3881,727.7,-9.6,487,6676,0.00,2.35,0.00,0.000,516,0.000,0.050,2533,959,3884,3887,3881,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6733,-0.65,-146.0,2533,960,3886,3881,733.8,-9.6,499,6740,0.00,2.42,0.00,0.000,1030,0.000,0.056,2533,2355,3883,3887,3880,0,0,0,0,0,0,14.81,14.70,14.85
$GC,7064,-0.65,-146.0,2533,2355,3886,3878,765.6,-9.7,515,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2354,3882,3886,3879,0,0,0,0,0,0,15.14,15.16,15.15
$GC,7363,-0.65,-146.0,2533,2354,3885,3878,794.1,-9.3,525,7368,0.00,2.42,0.00,0.000,516,0.000,0.050,2533,952,3881,3884,3878,0,0,0,0,0,0,15.14,14.69,15.15
$GC,7404,-0.65,-146.0,2533,952,3885,3877,798.0,-9.2,533,7409,0.00,2.45,0.00,0.000,1030,0.000,0.058,2533,2353,3881,3885,3877,0,0,0,0,0,0,14.81,14.69,14.84
$GC,7726,-0.65,-146.0,2533,2351,3883,3876,825.5,-8.4,547,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2351,3879,3883,3876,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8026,-0.65,-146.0,2533,2351,3883,3875,850.1,-8.1,557,8031,0.00,2.42,0.00,0.000,516,0.000,0.052,2533,953,3879,3883,3875,0,0,0,0,0,0,15.14,14.67,15.16
$GC,8058,-0.65,-146.0,2533,953,3883,3874,852.8,-8.3,563,8064,0.00,2.45,0.00,0.000,1030,0.000,0.060,2533,2348,3878,3882,3874,0,0,0,0,0,0,14.80,14.68,14.83
$GC,8388,-0.65,-146.0,2533,2348,3881,3873,879.9,-8.4,579,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2348,3877,3881,3873,0,0,0,0,0,0,15.13,15.15,15.15
$GC,8688,-0.65,-146.0,2533,2348,3881,3871,907.4,-9.6,589,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2348,3875,3880,3871,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8988,-0.65,-146.0,2533,2347,3880,3870,937.5,-10.2,599,8992,0.00,2.40,0.00,0.000,516,0.000,0.052,2533,961,3875,3880,3870,0,0,0,0,0,0,15.14,14.66,15.16
$GC,9028,-0.65,-146.0,2533,961,3880,3870,941.9,-10.2,607,9033,0.00,2.45,0.00,0.000,1030,0.000,0.059,2533,2356,3875,3880,3870,0,0,0,0,0,0,14.78,14.66,14.83
$GC,9345,-0.65,-146.0,2533,2356,3879,3867,974.5,-10.3,620,9349,0.00,2.25,0.00,0.000,260,0.000,0.085,2533,3696,3872,3878,3867,0,0,0,0,0,0,15.13,14.57,15.15
$GC,9384,-0.65,-146.0,2533,3696,3878,3867,978.7,-10.4,628,9388,0.00,2.12,0.00,0.000,1030,0.000,0.044,2533,2360,3872,3878,3867,0,0,0,0,0,0,14.83,14.76,14.85
$STATE,9524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9524,begin apogee
$GC,9530,-0.15,0.0,2533,2416,3877,3867,992.8,-10.0,636,9708,0.62,0.00,173.80,1.688,10246,0.229,0.000,2703,2417,3344,3367,3322,0,0,0,0,0,0,14.44,14.09,13.38
$STATE,9708,end apogee,CONTROL_FINISHED_OK
$STATE,9709,begin climb
$GC,9710,0.65,146.0,2703,2416,3364,3318,1001.7,0.0,642,9871,0.85,2.28,149.27,1.922,10500,0.142,0.080,2962,3676,2742,2783,2702,0,0,0,0,0,0,14.06,13.91,13.17
$GC,9932,0.65,146.0,2962,3676,2770,2701,992.1,8.7,687,9936,0.00,2.10,0.00,0.000,1030,0.000,0.043,2961,2403,2735,2770,2701,0,0,0,0,0,0,14.28,14.21,14.30
$GC,10249,0.66,146.0,2961,2403,2763,2697,967.9,7.8,700,10256,0.00,2.47,0.00,0.000,580,0.000,0.059,2961,991,2730,2764,2697,0,0,0,0,0,0,14.82,14.49,14.85
$GC,10288,0.67,146.0,2961,991,2763,2697,964.8,7.8,708,10292,0.00,2.47,0.00,0.000,1094,0.000,0.055,2961,2395,2730,2763,2697,0,0,0,0,0,0,14.62,14.52,14.65
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$STATE,22052,end climb,SURFACE_DEPTH_REACHED
$STATE,22052,begin surface coast
$FINISH,0.5,1.022097
$STATE,22077,end surface coast,CONTROL_FINISHED_OK
$STATE,22078,begin surface
$SM_CCo,22095,18.65,0.077,0,0,1714,400.08
$SM_GC,0.51,8.77,0.10,18.65,0.099,0.119,0.077,251,2302,1714,-7.80,1.19,400.08,0,0,0,0,0,0,14.52,14.69,14.59
$IRIDIUM_FIX,-319.88,5559.42,180318,202206
$TT8_MAMPS,0.018725,0.15729
$HUMID,58.30
$INTERNAL_PRESSURE,8.53162
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,13.17,83.622
$10V_AH,13.25,0.000
$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,22.400,199.625,524.575,18.650,0.000,0.000,0.000,347.975,0.000,0.000,18.991,3307.895,15709.738,706.884,2599.439,245.619,0.000,2348.102,0.000,2236.515,0.000,0.547,0.000
$DEVICE_MAMPS,419.220,149.940,1921.680,77.265,0.000,0.000,0.000,140.760,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304012
$DATA_FILE_SIZE,66731,1573
$CAP_FILE_SIZE,186345,0
$CFSIZE,260034560,237002752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.140,69.19,1
$GPS,190318,084907,-314.067,5559.539,38,0.7,40,-4.6,0.6,185.8,12,8.3