version: 66.13
glider: 128
mission: 4
dive: 261
start: 3 20 118 10 3 36
data:
$ID,128
$MISSION,4
$DIVE,261
$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,1
$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,81
$R_STBD_OVSHOOT,62
$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
$GPS1,200318,095737,-304.6479,5603.2637,35,0.8,37,-4.6,0.6,228.9,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.3
$GPS2,200318,100257,-304.7444,5603.2275,16,0.8,19,-4.6,0.9,212.6,10,9.2
$SPEED_LIMITS,0.147,0.210
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,24.6,196496,-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,-146.0,234,2381,1725,1718,0.0,0.0,0,73,0.00,0.00,-63.60,0.003,16386,0.000,0.000,234,2382,3729,3709,3749,0,0,0,0,0,0,14.86,28.83,14.88
$GC,76,-0.65,-146.0,234,2381,3710,3750,4.5,-13.4,11,96,11.70,0.00,-2.70,0.032,18438,0.422,0.000,2541,2382,3904,3898,3910,0,0,0,0,0,0,14.23,13.42,14.61
$GC,403,-0.65,-146.0,2541,2381,3905,3909,69.5,-17.5,64,407,0.00,2.40,0.00,0.000,516,0.000,0.049,2541,990,3908,3906,3910,0,0,0,0,0,0,14.97,14.60,14.99
$GC,448,-0.65,-146.0,2541,989,3906,3910,77.3,-15.0,73,456,0.00,2.30,0.00,0.000,1030,0.000,0.050,2540,2323,3908,3906,3910,0,0,0,0,0,0,14.71,14.62,14.75
$GC,755,-0.65,-146.0,2541,2323,3909,3912,109.0,-9.2,104,759,0.00,2.25,0.00,0.000,260,0.000,0.072,2541,3701,3910,3909,3912,0,0,0,0,0,0,15.02,14.62,15.04
$GC,789,-0.65,-146.0,2541,3701,3909,3912,112.6,-10.6,111,796,0.00,2.08,0.00,0.000,1030,0.000,0.033,2542,2363,3911,3910,3913,0,0,0,0,0,0,14.70,14.66,14.73
$GC,1097,-0.65,-146.0,2541,2363,3911,3915,148.1,-11.7,142,1101,0.00,2.35,0.00,0.000,516,0.000,0.044,2541,964,3913,3911,3915,0,0,0,0,0,0,15.06,14.69,15.08
$GC,1168,-0.65,-146.0,2541,964,3911,3916,156.2,-10.8,156,1178,0.00,2.38,0.00,0.000,1030,0.000,0.049,2541,2353,3913,3911,3916,0,0,0,0,0,0,14.79,14.69,14.83
$GC,1478,-0.65,-146.0,2541,2353,3911,3916,184.6,-9.1,188,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2353,3913,3911,3916,0,0,0,0,0,0,15.08,15.11,15.10
$GC,1780,-0.65,-146.0,2541,2353,3911,3916,214.9,-10.7,218,1789,0.00,2.33,0.00,0.000,516,0.000,0.044,2541,967,3913,3911,3916,0,0,0,0,0,0,15.08,14.72,15.10
$GC,1812,-0.65,-146.0,2541,967,3911,3916,218.6,-11.7,224,1822,0.00,2.38,0.00,0.000,1030,0.000,0.052,2542,2350,3913,3911,3916,0,0,0,0,0,0,14.81,14.71,14.84
$GC,2142,-0.65,-146.0,2541,2349,3911,3916,258.4,-12.4,254,2146,0.00,2.33,0.00,0.000,516,0.000,0.045,2541,967,3913,3911,3916,0,0,0,0,0,0,15.11,14.72,15.13
$GC,2216,-0.65,-146.0,2541,967,3911,3916,268.0,-12.4,269,2221,0.00,2.38,0.00,0.000,1030,0.000,0.050,2542,2351,3913,3911,3916,0,0,0,0,0,0,14.82,14.71,14.85
$GC,2534,-0.65,-146.0,2542,2350,3910,3916,303.4,-10.3,282,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2350,3913,3910,3916,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2833,-0.65,-146.0,2541,2350,3910,3914,332.6,-9.6,292,2837,0.00,2.33,0.00,0.000,516,0.000,0.047,2542,970,3911,3909,3914,0,0,0,0,0,0,15.13,14.73,15.15
$GC,2884,-0.65,-146.0,2541,970,3909,3914,337.6,-9.7,302,2888,0.00,2.38,0.00,0.000,1030,0.000,0.050,2542,2352,3911,3909,3914,0,0,0,0,0,0,14.83,14.73,14.86
$GC,3190,-0.65,-146.0,2541,2351,3908,3913,368.4,-10.4,313,3194,0.00,2.35,0.00,0.000,516,0.000,0.046,2541,963,3910,3908,3913,0,0,0,0,0,0,15.14,14.73,15.16
$GC,3240,-0.65,-146.0,2541,963,3908,3913,374.0,-10.7,323,3245,0.00,2.40,0.00,0.000,1030,0.000,0.051,2541,2361,3910,3908,3913,0,0,0,0,0,0,14.83,14.73,14.86
$GC,3547,-0.65,-146.0,2541,2360,3905,3909,404.3,-9.8,334,3551,0.00,2.35,0.00,0.000,516,0.000,0.044,2542,967,3908,3907,3909,0,0,0,0,0,0,15.14,14.74,15.16
$GC,3578,-0.65,-146.0,2541,966,3906,3910,407.4,-9.5,340,3586,0.00,2.40,0.00,0.000,1030,0.000,0.053,2541,2350,3907,3906,3909,0,0,0,0,0,0,14.83,14.72,14.86
$GC,3909,-0.65,-146.0,2541,2349,3904,3906,438.9,-9.3,356,3916,0.00,2.35,0.00,0.000,516,0.000,0.047,2542,966,3905,3904,3906,0,0,0,0,0,0,15.14,14.73,15.15
$GC,3939,-0.65,-146.0,2541,965,3904,3907,441.7,-9.5,362,3945,0.00,2.40,0.00,0.000,1030,0.000,0.054,2542,2353,3905,3904,3906,0,0,0,0,0,0,14.83,14.71,14.86
$GC,4269,-0.65,-146.0,2541,2352,3901,3904,472.9,-9.6,378,4273,0.00,2.35,0.00,0.000,516,0.000,0.047,2542,970,3902,3902,3903,0,0,0,0,0,0,15.14,14.72,15.16
$GC,4323,-0.65,-146.0,2541,970,3902,3903,478.6,-9.7,389,4331,0.00,2.42,0.00,0.000,1030,0.000,0.056,2542,2358,3902,3901,3903,0,0,0,0,0,0,14.82,14.71,14.85
$GC,4630,-0.65,-146.0,2541,2357,3900,3901,510.7,-10.8,400,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2357,3900,3900,3901,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4931,-0.65,-146.0,2541,2356,3898,3900,543.0,-10.8,410,4935,0.00,2.38,0.00,0.000,516,0.000,0.047,2542,967,3899,3898,3900,0,0,0,0,0,0,15.14,14.71,15.16
$GC,4971,-0.65,-146.0,2541,964,3899,3900,547.4,-10.8,418,4975,0.00,2.42,0.00,0.000,1030,0.000,0.056,2542,2358,3899,3898,3900,0,0,0,0,0,0,14.82,14.70,14.85
$GC,5287,-0.65,-146.0,2541,2357,3897,3897,579.7,-10.1,431,5291,0.00,2.38,0.00,0.000,516,0.000,0.048,2541,969,3897,3898,3897,0,0,0,0,0,0,15.14,14.71,15.16
$GC,5323,-0.65,-146.0,2541,967,3897,3897,583.4,-10.0,438,5327,0.00,2.42,0.00,0.000,1030,0.000,0.057,2542,2358,3897,3897,3897,0,0,0,0,0,0,14.82,14.70,14.85
$GC,5645,-0.65,-146.0,2541,2357,3896,3895,613.3,-9.1,452,5649,0.00,2.38,0.00,0.000,516,0.000,0.047,2541,972,3895,3896,3895,0,0,0,0,0,0,15.14,14.71,15.15
$GC,5684,-0.65,-146.0,2541,970,3896,3895,617.2,-9.3,460,5688,0.00,2.40,0.00,0.000,1030,0.000,0.056,2541,2349,3895,3896,3895,0,0,0,0,0,0,14.81,14.70,14.85
$GC,6007,-0.65,-146.0,2541,2349,3894,3892,646.1,-9.2,474,6011,0.00,2.38,0.00,0.000,516,0.000,0.050,2541,970,3893,3895,3892,0,0,0,0,0,0,15.14,14.69,15.16
$GC,6047,-0.65,-146.0,2541,968,3895,3892,650.3,-9.7,482,6051,0.00,2.42,0.00,0.000,1030,0.000,0.057,2541,2352,3893,3894,3892,0,0,0,0,0,0,14.81,14.69,14.84
$GC,6363,-0.65,-146.0,2541,2351,3892,3889,682.1,-10.2,495,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2351,3891,3893,3890,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6664,-0.65,-146.0,2541,2351,3892,3887,712.6,-10.0,505,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2351,3889,3891,3887,0,0,0,0,0,0,15.14,15.16,15.15
$GC,6964,-0.65,-146.0,2541,2351,3890,3886,739.1,-8.6,515,6968,0.00,2.38,0.00,0.000,516,0.000,0.050,2542,975,3888,3890,3886,0,0,0,0,0,0,15.14,14.67,15.16
$GC,7008,-0.65,-146.0,2541,974,3890,3885,743.2,-9.0,524,7012,0.00,2.42,0.00,0.000,1030,0.000,0.058,2542,2352,3887,3890,3885,0,0,0,0,0,0,14.80,14.67,14.83
$GC,7325,-0.65,-146.0,2541,2352,3889,3883,771.0,-9.0,537,7330,0.00,2.38,0.00,0.000,516,0.000,0.050,2541,973,3886,3889,3883,0,0,0,0,0,0,15.14,14.67,15.16
$GC,7361,-0.65,-146.0,2541,973,3889,3883,774.4,-9.2,544,7365,0.00,2.42,0.00,0.000,1030,0.000,0.058,2542,2352,3885,3888,3883,0,0,0,0,0,0,14.79,14.67,14.83
$GC,7683,-0.65,-146.0,2541,2351,3887,3881,804.5,-9.8,558,7684,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2351,3884,3887,3881,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7982,-0.65,-146.0,2541,2351,3886,3881,834.1,-9.9,568,7986,0.00,2.40,0.00,0.000,516,0.000,0.051,2541,969,3883,3886,3880,0,0,0,0,0,0,15.14,14.66,15.16
$GC,8027,-0.65,-146.0,2541,965,3886,3880,838.8,-10.1,577,8032,0.00,2.42,0.00,0.000,1030,0.000,0.058,2541,2349,3883,3886,3881,0,0,0,0,0,0,14.78,14.66,14.82
$GC,8344,-0.65,-146.0,2541,2348,3885,3879,868.7,-9.2,590,8348,0.00,2.38,0.00,0.000,516,0.000,0.050,2542,974,3882,3885,3879,0,0,0,0,0,0,15.13,14.65,15.15
$GC,8388,-0.65,-146.0,2541,974,3885,3878,873.1,-9.4,599,8393,0.00,2.42,0.00,0.000,1030,0.000,0.060,2542,2349,3881,3885,3878,0,0,0,0,0,0,14.78,14.66,14.82
$GC,8705,-0.65,-146.0,2541,2350,3884,3877,900.2,-8.5,612,8709,0.00,2.38,0.00,0.000,516,0.000,0.050,2541,974,3880,3884,3877,0,0,0,0,0,0,15.13,14.66,15.15
$GC,8780,-0.65,-146.0,2541,973,3884,3878,907.2,-9.4,627,8784,0.00,2.45,0.00,0.000,1030,0.000,0.062,2542,2356,3880,3884,3877,0,0,0,0,0,0,14.77,14.64,14.81
$GC,9097,-0.65,-146.0,2541,2355,3883,3877,936.8,-9.5,640,9101,0.00,2.28,0.00,0.000,260,0.000,0.087,2541,3703,3880,3883,3877,0,0,0,0,0,0,15.12,14.57,15.14
$GC,9122,-0.65,-146.0,2541,3704,3883,3876,939.4,-9.8,645,9130,0.00,2.12,0.00,0.000,1030,0.000,0.044,2542,2362,3879,3882,3876,0,0,0,0,0,0,14.83,14.77,14.85
$GC,9428,-0.65,-146.0,2541,2363,3882,3876,968.8,-9.6,656,9432,0.00,2.45,0.00,0.000,516,0.000,0.051,2541,943,3878,3882,3875,0,0,0,0,0,0,15.13,14.64,15.14
$GC,9483,-0.65,-146.0,2541,943,3882,3876,974.4,-9.6,667,9490,0.00,2.47,0.00,0.000,1030,0.000,0.059,2542,2349,3878,3882,3874,0,0,0,0,0,0,14.77,14.64,14.81
$STATE,9668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9669,begin apogee
$GC,9674,-0.15,0.0,2542,2420,3881,3874,991.6,-9.4,674,9853,0.60,0.00,175.90,1.691,10246,0.226,0.000,2707,2420,3345,3368,3323,0,0,0,0,0,0,14.43,14.08,13.38
$STATE,9854,end apogee,CONTROL_FINISHED_OK
$STATE,9854,begin climb
$GC,9856,0.65,146.0,2707,2420,3363,3318,1001.1,0.0,680,10014,0.88,2.62,150.85,1.931,10756,0.143,0.054,2972,1009,2743,2785,2702,0,0,0,0,0,0,14.05,13.76,13.14
$GC,10050,0.68,146.0,2972,1009,2777,2697,995.7,6.9,700,10057,0.00,2.53,0.00,0.000,1094,0.000,0.056,2973,2389,2736,2776,2696,0,0,0,0,0,0,14.18,14.09,14.20
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$STATE,21078,end climb,SURFACE_DEPTH_REACHED
$STATE,21078,begin surface coast
$FINISH,-0.1,1.022280
$STATE,21105,end surface coast,CONTROL_FINISHED_OK
$STATE,21106,begin surface
$SM_CCo,21182,0.00,0.000,0,0,1507,451.10
$SM_GC,0.77,8.60,0.00,0.00,0.083,0.000,0.000,247,2408,1507,-7.81,1.64,451.10,0,0,0,0,0,0,14.52,14.91,14.64
$IRIDIUM_FIX,-306.87,5551.63,200318,033836
$TT8_MAMPS,0.019474,0.158039
$HUMID,58.42
$INTERNAL_PRESSURE,8.50232
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,13.14,85.172
$10V_AH,13.29,0.000
$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,22.550,222.300,617.525,0.000,0.000,0.000,0.000,214.375,0.000,0.000,20.176,3242.610,14764.994,794.636,2475.092,226.428,0.000,2314.537,0.000,2223.715,0.000,0.546,0.000
$DEVICE_MAMPS,422.280,176.715,1930.860,0.000,0.000,0.000,0.000,139.230,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303860
$DATA_FILE_SIZE,69945,1564
$CAP_FILE_SIZE,185183,0
$CFSIZE,260034560,236568576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.048,350.07,1
$GPS,200318,155756,-302.306,5603.742,42,1.0,45,-4.6,0.7,185.9,8,8.7