version: 66.13
glider: 128
mission: 4
dive: 257
start: 3 19 118 9 1 25
data:
$ID,128
$MISSION,4
$DIVE,257
$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,86
$R_STBD_OVSHOOT,77
$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
$GPS1,190318,084907,-314.0666,5559.5386,38,0.7,40,-4.6,0.6,185.8,12,8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-75.2
$GPS2,190318,090045,-314.3101,5559.4658,19,0.7,21,-4.6,0.7,217.8,12,9.5
$SPEED_LIMITS,0.132,0.189
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,0.6,215458,-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,-146.0,241,2397,1724,1719,0.0,0.0,0,70,0.00,0.00,-59.88,0.004,16386,0.000,0.000,241,2398,3611,3591,3631,0,0,0,0,0,0,14.83,28.83,14.85
$GC,72,-0.65,-146.0,241,2398,3591,3633,3.9,-10.5,10,94,11.55,2.10,-4.72,0.019,18692,0.417,0.086,2534,3659,3903,3899,3907,0,0,0,0,0,0,14.23,13.39,14.59
$GC,147,-0.65,-146.0,2533,3659,3902,3908,24.3,-18.6,23,153,0.00,2.00,0.00,0.000,1030,0.000,0.035,2534,2369,3905,3903,3908,0,0,0,0,0,0,14.67,14.62,14.70
$GC,461,-0.65,-146.0,2533,2367,3906,3909,81.2,-18.0,68,466,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,957,3907,3906,3909,0,0,0,0,0,0,14.97,14.62,15.00
$GC,556,-0.65,-146.0,2533,956,3906,3909,95.8,-10.9,87,563,0.00,2.30,0.00,0.000,1030,0.000,0.047,2534,2309,3908,3907,3909,0,0,0,0,0,0,14.75,14.66,14.78
$GC,863,-0.65,-146.0,2534,2308,3909,3911,126.6,-10.9,118,867,0.00,2.25,0.00,0.000,260,0.000,0.072,2534,3696,3910,3909,3911,0,0,0,0,0,0,15.04,14.65,15.06
$GC,924,-0.65,-146.0,2533,3696,3909,3912,133.2,-10.3,130,929,0.00,2.08,0.00,0.000,1030,0.000,0.034,2534,2347,3910,3909,3912,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1236,-0.65,-146.0,2533,2343,3910,3914,166.7,-11.0,162,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2343,3912,3910,3914,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1537,-0.65,-146.0,2534,2343,3910,3914,197.8,-10.4,192,1542,0.00,2.33,0.00,0.000,516,0.000,0.044,2534,953,3912,3910,3914,0,0,0,0,0,0,15.08,14.73,15.10
$GC,1569,-0.65,-146.0,2533,953,3910,3914,201.3,-10.1,198,1578,0.00,2.38,0.00,0.000,1030,0.000,0.050,2535,2348,3912,3910,3914,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1879,-0.65,-146.0,2533,2347,3910,3914,232.0,-10.3,230,1883,0.00,2.35,0.00,0.000,516,0.000,0.044,2534,955,3912,3910,3914,0,0,0,0,0,0,15.10,14.74,15.12
$GC,1940,-0.65,-146.0,2533,955,3911,3914,238.5,-10.6,242,1949,0.00,2.38,0.00,0.000,1030,0.000,0.049,2534,2350,3911,3909,3914,0,0,0,0,0,0,14.83,14.73,14.86
$GC,2262,-0.65,-146.0,2533,2350,3909,3914,274.3,-11.3,261,2266,0.00,2.38,0.00,0.000,516,0.000,0.044,2534,953,3912,3910,3914,0,0,0,0,0,0,15.11,14.75,15.13
$GC,2326,-0.65,-146.0,2533,952,3910,3914,281.8,-10.4,274,2330,0.00,2.40,0.00,0.000,1030,0.000,0.050,2533,2352,3912,3910,3914,0,0,0,0,0,0,14.84,14.74,14.87
$GC,2654,-0.65,-146.0,2533,2351,3908,3911,314.2,-9.3,289,2658,0.00,2.38,0.00,0.000,516,0.000,0.047,2534,951,3909,3908,3911,0,0,0,0,0,0,15.13,14.74,15.15
$GC,2688,-0.65,-146.0,2533,949,3908,3911,317.7,-9.0,296,2693,0.00,2.40,0.00,0.000,1030,0.000,0.053,2533,2348,3909,3908,3911,0,0,0,0,0,0,14.85,14.74,14.88
$GC,3015,-0.65,-146.0,2533,2347,3906,3908,347.8,-9.2,311,3019,0.00,2.38,0.00,0.000,516,0.000,0.046,2534,949,3907,3906,3908,0,0,0,0,0,0,15.14,14.75,15.16
$GC,3047,-0.65,-146.0,2533,946,3906,3908,350.7,-9.1,317,3053,0.00,2.42,0.00,0.000,1030,0.000,0.052,2534,2358,3907,3906,3908,0,0,0,0,0,0,14.85,14.74,14.88
$GC,3377,-0.65,-146.0,2533,2357,3904,3905,384.3,-10.8,333,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2357,3904,3904,3905,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3676,-0.65,-146.0,2533,2357,3901,3903,416.3,-10.4,343,3680,0.00,2.38,0.00,0.000,516,0.000,0.046,2534,949,3901,3901,3902,0,0,0,0,0,0,15.14,14.75,15.16
$GC,3738,-0.65,-146.0,2533,947,3901,3903,422.4,-9.6,355,3745,0.00,2.42,0.00,0.000,1030,0.000,0.054,2534,2355,3901,3901,3902,0,0,0,0,0,0,14.84,14.73,14.88
$GC,4068,-0.65,-146.0,2533,2354,3900,3900,454.1,-9.6,371,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3900,3900,3900,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4369,-0.65,-146.0,2534,2353,3898,3897,482.8,-9.5,381,4373,0.00,2.38,0.00,0.000,516,0.000,0.049,2534,958,3898,3899,3897,0,0,0,0,0,0,15.14,14.73,15.16
$GC,4403,-0.65,-146.0,2533,957,3898,3897,486.5,-9.8,388,4408,0.00,2.42,0.00,0.000,1030,0.000,0.056,2534,2351,3897,3898,3897,0,0,0,0,0,0,14.83,14.72,14.87
$GC,4731,-0.65,-146.0,2533,2351,3897,3895,519.2,-10.4,403,4735,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,954,3896,3897,3895,0,0,0,0,0,0,15.14,14.71,15.16
$GC,4770,-0.65,-146.0,2533,951,3897,3895,523.8,-10.7,411,4774,0.00,2.45,0.00,0.000,1030,0.000,0.057,2533,2358,3895,3896,3894,0,0,0,0,0,0,14.83,14.71,14.86
$GC,5093,-0.65,-146.0,2534,2357,3895,3891,557.5,-10.5,425,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2358,3892,3895,3890,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5392,-0.65,-146.0,2533,2358,3893,3889,587.9,-10.0,435,5396,0.00,2.40,0.00,0.000,516,0.000,0.049,2534,963,3890,3893,3888,0,0,0,0,0,0,15.14,14.71,15.16
$GC,5443,-0.65,-146.0,2533,960,3893,3889,593.1,-10.0,445,5447,0.00,2.42,0.00,0.000,1030,0.000,0.057,2534,2351,3890,3892,3889,0,0,0,0,0,0,14.82,14.70,14.85
$GC,5749,-0.65,-146.0,2533,2350,3891,3885,622.4,-9.7,456,5754,0.00,2.40,0.00,0.000,516,0.000,0.049,2534,954,3888,3891,3885,0,0,0,0,0,0,15.14,14.71,15.16
$GC,5776,-0.65,-146.0,2534,954,3891,3886,625.0,-10.1,461,5782,0.00,2.45,0.00,0.000,1030,0.000,0.059,2534,2351,3888,3891,3885,0,0,0,0,0,0,14.82,14.70,14.85
$GC,6081,-0.65,-146.0,2534,2351,3889,3883,653.6,-9.4,472,6086,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,957,3886,3890,3883,0,0,0,0,0,0,15.14,14.71,15.16
$GC,6131,-0.65,-146.0,2533,958,3889,3882,658.6,-9.6,482,6135,0.00,2.45,0.00,0.000,1030,0.000,0.059,2533,2355,3885,3889,3882,0,0,0,0,0,0,14.81,14.69,14.85
$GC,6439,-0.65,-146.0,2533,2354,3888,3881,687.9,-9.7,493,6443,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,963,3884,3887,3881,0,0,0,0,0,0,15.14,14.69,15.16
$GC,6470,-0.65,-146.0,2533,961,3888,3881,691.1,-10.2,499,6478,0.00,2.42,0.00,0.000,1030,0.000,0.057,2534,2349,3883,3887,3880,0,0,0,0,0,0,14.82,14.70,14.85
$GC,6800,-0.65,-146.0,2534,2348,3886,3878,723.0,-9.7,515,6804,0.00,2.40,0.00,0.000,516,0.000,0.050,2534,963,3882,3886,3878,0,0,0,0,0,0,15.14,14.69,15.16
$GC,6840,-0.65,-146.0,2533,960,3886,3878,727.1,-10.1,523,6844,0.00,2.45,0.00,0.000,1030,0.000,0.058,2534,2357,3882,3886,3878,0,0,0,0,0,0,14.81,14.69,14.84
$GC,7156,-0.65,-146.0,2533,2356,3884,3877,758.0,-9.8,536,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2356,3881,3885,3877,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7456,-0.65,-146.0,2533,2356,3884,3875,788.2,-10.1,546,7461,0.00,2.42,0.00,0.000,516,0.000,0.050,2534,958,3880,3884,3876,0,0,0,0,0,0,15.14,14.69,15.16
$GC,7518,-0.65,-146.0,2533,957,3884,3876,794.3,-9.7,558,7524,0.00,2.45,0.00,0.000,1030,0.000,0.058,2534,2350,3878,3883,3874,0,0,0,0,0,0,14.79,14.68,14.83
$GC,7848,-0.65,-146.0,2533,2349,3882,3873,826.8,-9.8,574,7852,0.00,2.28,0.00,0.000,260,0.000,0.084,2534,3697,3877,3881,3873,0,0,0,0,0,0,15.14,14.60,15.16
$GC,7883,-0.65,-146.0,2533,3697,3881,3872,830.3,-10.1,581,7888,0.00,2.12,0.00,0.000,1030,0.000,0.043,2534,2349,3877,3881,3873,0,0,0,0,0,0,14.84,14.76,14.86
$GC,8210,-0.65,-146.0,2533,2347,3881,3871,861.7,-9.6,596,8215,0.00,2.38,0.00,0.000,516,0.000,0.052,2534,957,3876,3881,3871,0,0,0,0,0,0,15.14,14.67,15.15
$GC,8280,-0.65,-146.0,2534,957,3880,3871,868.8,-9.5,610,8285,0.00,2.42,0.00,0.000,1030,0.000,0.059,2534,2347,3875,3880,3870,0,0,0,0,0,0,14.68,14.62,14.73
$GC,8603,-0.65,-146.0,2533,2347,3879,3868,899.6,-9.7,624,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2346,3874,3880,3868,0,0,0,0,0,0,15.12,15.15,15.14
$GC,8902,-0.65,-146.0,2533,2346,3879,3867,929.3,-9.9,634,8907,0.00,2.45,0.00,0.000,516,0.000,0.053,2534,949,3873,3879,3868,0,0,0,0,0,0,15.13,14.65,15.15
$GC,8953,-0.65,-146.0,2533,949,3879,3868,934.5,-9.7,644,8958,0.00,2.47,0.00,0.000,1030,0.000,0.061,2534,2351,3873,3879,3867,0,0,0,0,0,0,14.78,14.65,14.82
$GC,9266,-0.65,-146.0,2533,2350,3878,3866,964.7,-9.8,656,9270,0.00,2.28,0.00,0.000,260,0.000,0.086,2533,3701,3872,3878,3866,0,0,0,0,0,0,15.13,14.58,15.14
$GC,9298,-0.65,-146.0,2533,3701,3877,3866,967.8,-9.7,662,9302,0.00,2.15,0.00,0.000,1030,0.000,0.044,2534,2348,3871,3877,3866,0,0,0,0,0,0,14.83,14.75,14.85
$STATE,9537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9538,begin apogee
$GC,9542,-0.15,0.0,2534,2419,3877,3865,991.3,-9.8,675,9682,0.62,0.00,136.40,1.928,10246,0.230,0.000,2703,2418,3345,3368,3322,0,0,0,0,0,0,14.43,14.09,13.28
$STATE,9683,end apogee,CONTROL_FINISHED_OK
$STATE,9683,begin climb
$GC,9685,0.65,146.0,2703,2419,3362,3316,997.5,0.0,679,9842,0.85,2.30,146.77,1.938,10500,0.146,0.079,2962,3688,2744,2785,2704,0,0,0,0,0,0,14.06,13.93,13.14
$GC,9913,0.65,146.0,2961,3688,2770,2701,989.1,8.2,729,9918,0.00,2.12,0.00,0.000,1030,0.000,0.045,2964,2400,2736,2771,2701,0,0,0,0,0,0,14.30,14.23,14.32
$GC,10235,0.67,146.0,2963,2400,2764,2697,965.9,7.2,743,10242,0.00,2.45,0.00,0.000,580,0.000,0.059,2964,1001,2730,2764,2697,0,0,0,0,0,0,14.83,14.50,14.85
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$STATE,21993,end climb,SURFACE_DEPTH_REACHED
$STATE,21993,begin surface coast
$FINISH,-0.1,1.022149
$STATE,22025,end surface coast,CONTROL_FINISHED_OK
$STATE,22025,begin surface
$SM_CCo,22042,12.18,0.078,0,0,1714,400.08
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$IRIDIUM_FIX,-309.04,5559.42,190318,085055
$TT8_MAMPS,0.019474,0.15729
$HUMID,59.52
$INTERNAL_PRESSURE,8.51208
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,13.14,83.930
$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
$DEVICE_SECS,22.375,223.800,489.100,12.175,0.000,0.000,0.000,531.100,0.000,0.000,21.796,3423.747,15489.261,650.790,2930.813,264.633,0.000,2555.900,0.000,2382.986,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303988
$DATA_FILE_SIZE,73223,1677
$CAP_FILE_SIZE,197342,0
$CFSIZE,260034560,236900352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.086,22.98,1
$GPS,190318,151007,-311.572,5559.542,29,0.8,31,-4.6,0.7,166.1,9,9.7