version: 66.13
glider: 128
mission: 4
dive: 267
start: 3 21 118 23 12 58
data:
$ID,128
$MISSION,4
$DIVE,267
$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,54
$R_STBD_OVSHOOT,35
$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
$GPS1,210318,230633,-252.3719,5609.8032,41,1.1,45,-4.5,0.6,185.3,6,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-76.0
$GPS2,210318,231221,-252.4630,5609.7515,20,1.0,23,-4.5,0.7,187.7,7,9.3
$SPEED_LIMITS,0.147,0.210
$TGT_NAME,S3
$TGT_LATLONG,-130.000,5651.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,17.2,170750,-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,8,-0.65,-146.0,246,2404,1728,1714,0.0,0.0,0,75,0.00,0.00,-64.32,0.003,16386,0.000,0.000,246,2404,3749,3734,3765,0,0,0,0,0,0,14.87,28.83,14.89
$GC,77,-0.65,-146.0,246,2405,3734,3766,4.5,-13.2,11,99,11.70,2.15,-2.38,0.037,18692,0.425,0.084,2534,3704,3903,3898,3909,0,0,0,0,0,0,14.23,13.41,14.62
$GC,227,-0.65,-146.0,2533,3704,3903,3909,39.3,-15.4,39,233,0.00,2.10,0.00,0.000,1030,0.000,0.035,2534,2351,3907,3905,3909,0,0,0,0,0,0,14.70,14.64,14.73
$GC,541,-0.65,-146.0,2533,2348,3907,3909,90.8,-11.2,76,545,0.00,2.22,0.00,0.000,260,0.000,0.071,2534,3691,3908,3907,3909,0,0,0,0,0,0,15.00,14.59,15.02
$GC,593,-0.65,-146.0,2533,3691,3907,3909,97.0,-11.6,86,597,0.00,2.08,0.00,0.000,1030,0.000,0.037,2534,2344,3908,3907,3909,0,0,0,0,0,0,14.76,14.71,14.79
$GC,905,-0.65,-146.0,2533,2341,3910,3912,134.7,-12.2,118,909,0.00,2.35,0.00,0.000,516,0.000,0.047,2534,952,3911,3910,3913,0,0,0,0,0,0,15.04,14.67,15.07
$GC,1009,-0.65,-146.0,2533,953,3910,3914,147.9,-11.8,139,1016,0.00,2.40,0.00,0.000,1030,0.000,0.049,2533,2349,3912,3910,3914,0,0,0,0,0,0,14.78,14.68,14.81
$GC,1317,-0.65,-146.0,2533,2347,3911,3914,178.4,-8.1,170,1321,0.00,2.17,0.00,0.000,260,0.000,0.072,2533,3698,3912,3911,3914,0,0,0,0,0,0,15.07,14.66,15.09
$GC,1341,-0.65,-146.0,2533,3698,3911,3914,180.5,-8.0,175,1348,0.00,2.10,0.00,0.000,1030,0.000,0.034,2533,2342,3912,3911,3914,0,0,0,0,0,0,14.74,14.71,14.77
$GC,1649,-0.65,-146.0,2533,2342,3911,3914,213.1,-12.9,206,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2342,3912,3911,3914,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1949,-0.65,-146.0,2533,2342,3912,3915,250.9,-11.4,236,1954,0.00,2.30,0.00,0.000,516,0.000,0.046,2534,969,3912,3911,3914,0,0,0,0,0,0,15.09,14.71,15.11
$GC,2020,-0.65,-146.0,2533,969,3911,3915,258.7,-10.1,250,2024,0.00,2.38,0.00,0.000,1030,0.000,0.049,2534,2356,3912,3911,3914,0,0,0,0,0,0,14.81,14.71,14.84
$GC,2337,-0.65,-146.0,2533,2355,3910,3914,288.3,-9.1,263,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2355,3912,3910,3914,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2636,-0.65,-146.0,2533,2354,3909,3914,314.5,-9.0,273,2641,0.00,2.35,0.00,0.000,516,0.000,0.043,2534,965,3911,3909,3914,0,0,0,0,0,0,15.13,14.74,15.15
$GC,2687,-0.65,-146.0,2533,966,3909,3914,319.6,-10.0,283,2691,0.00,2.38,0.00,0.000,1030,0.000,0.050,2533,2350,3912,3910,3914,0,0,0,0,0,0,14.83,14.73,14.86
$GC,2999,-0.65,-146.0,2533,2349,3908,3911,352.4,-10.8,295,3003,0.00,2.35,0.00,0.000,516,0.000,0.046,2533,968,3909,3908,3911,0,0,0,0,0,0,15.13,14.73,15.14
$GC,3038,-0.65,-146.0,2533,967,3908,3911,357.0,-10.9,303,3043,0.00,2.38,0.00,0.000,1030,0.000,0.050,2533,2353,3909,3908,3911,0,0,0,0,0,0,14.76,14.71,14.80
$GC,3361,-0.65,-146.0,2533,2352,3906,3909,389.6,-10.0,317,3365,0.00,2.38,0.00,0.000,516,0.000,0.047,2534,960,3907,3906,3909,0,0,0,0,0,0,15.14,14.73,15.16
$GC,3401,-0.65,-146.0,2533,960,3907,3909,394.0,-10.4,325,3406,0.00,2.40,0.00,0.000,1030,0.000,0.054,2533,2350,3908,3907,3909,0,0,0,0,0,0,14.83,14.71,14.86
$GC,3723,-0.65,-146.0,2533,2349,3904,3906,425.6,-9.8,339,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2349,3905,3904,3906,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4024,-0.65,-146.0,2533,2349,3902,3903,455.0,-9.8,349,4028,0.00,2.38,0.00,0.000,516,0.000,0.047,2533,962,3902,3902,3903,0,0,0,0,0,0,15.14,14.72,15.16
$GC,4074,-0.65,-146.0,2533,962,3902,3904,460.2,-9.8,359,4079,0.00,2.40,0.00,0.000,1030,0.000,0.052,2534,2351,3903,3902,3904,0,0,0,0,0,0,14.82,14.71,14.85
$GC,4381,-0.65,-146.0,2533,2351,3900,3901,488.6,-9.3,370,4387,0.00,2.38,0.00,0.000,516,0.000,0.047,2534,965,3900,3900,3901,0,0,0,0,0,0,15.14,14.71,15.16
$GC,4404,-0.65,-146.0,2533,965,3902,3901,491.0,-10.1,375,4411,0.00,2.42,0.00,0.000,1030,0.000,0.054,2533,2357,3900,3900,3901,0,0,0,0,0,0,14.83,14.71,14.85
$GC,4711,-0.65,-146.0,2533,2356,3899,3899,519.5,-9.3,386,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2356,3899,3899,3899,0,0,0,0,0,0,15.13,15.16,15.14
$GC,5011,-0.65,-146.0,2533,2357,3898,3897,547.5,-9.5,396,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2357,3897,3898,3897,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5311,-0.65,-146.0,2533,2356,3896,3896,577.0,-9.9,406,5315,0.00,2.40,0.00,0.000,516,0.000,0.047,2534,964,3896,3897,3896,0,0,0,0,0,0,15.14,14.71,15.16
$GC,5375,-0.65,-146.0,2533,958,3897,3895,583.7,-10.2,419,5380,0.00,2.45,0.00,0.000,1030,0.000,0.056,2534,2355,3896,3897,3895,0,0,0,0,0,0,14.80,14.69,14.83
$GC,5703,-0.65,-146.0,2533,2354,3896,3892,615.0,-9.5,434,5707,0.00,2.40,0.00,0.000,516,0.000,0.047,2534,964,3894,3896,3892,0,0,0,0,0,0,15.14,14.70,15.16
$GC,5734,-0.65,-146.0,2533,964,3896,3892,618.1,-9.4,440,5742,0.00,2.42,0.00,0.000,1030,0.000,0.056,2533,2352,3893,3895,3891,0,0,0,0,0,0,14.80,14.69,14.84
$GC,6065,-0.65,-146.0,2533,2351,3894,3890,647.7,-8.8,456,6070,0.00,2.28,0.00,0.000,260,0.000,0.082,2534,3704,3891,3893,3889,0,0,0,0,0,0,15.13,14.61,15.14
$GC,6090,-0.65,-146.0,2533,3703,3892,3889,650.2,-9.1,461,6098,0.00,2.10,0.00,0.000,1030,0.000,0.041,2534,2359,3890,3892,3889,0,0,0,0,0,0,14.85,14.78,14.87
$GC,6397,-0.65,-146.0,2533,2358,3892,3887,678.1,-9.3,472,6401,0.00,2.40,0.00,0.000,516,0.000,0.049,2534,957,3889,3892,3887,0,0,0,0,0,0,15.13,14.69,15.15
$GC,6452,-0.65,-146.0,2533,952,3892,3887,683.6,-10.0,483,6458,0.00,2.45,0.00,0.000,1030,0.000,0.056,2533,2352,3889,3892,3886,0,0,0,0,0,0,14.79,14.68,14.83
$GC,6758,-0.65,-146.0,2533,2351,3890,3884,714.3,-10.3,494,6762,0.00,2.25,0.00,0.000,260,0.000,0.083,2534,3698,3887,3890,3884,0,0,0,0,0,0,15.14,14.59,15.15
$GC,6778,-0.65,-146.0,2532,3698,3889,3884,716.5,-10.4,498,6782,0.00,2.12,0.00,0.000,1030,0.000,0.041,2534,2343,3887,3889,3885,0,0,0,0,0,0,14.84,14.77,14.86
$GC,7091,-0.65,-146.0,2533,2340,3889,3882,749.7,-10.8,510,7095,0.00,2.38,0.00,0.000,516,0.000,0.050,2533,951,3885,3889,3882,0,0,0,0,0,0,15.12,14.68,15.14
$GC,7145,-0.65,-146.0,2533,949,3889,3882,755.8,-10.6,521,7153,0.00,2.47,0.00,0.000,1030,0.000,0.059,2533,2349,3885,3889,3881,0,0,0,0,0,0,14.78,14.66,14.82
$GC,7452,-0.65,-146.0,2533,2349,3887,3880,787.5,-10.4,532,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2349,3883,3887,3880,0,0,0,0,0,0,15.13,15.16,15.15
$GC,7753,-0.65,-146.0,2533,2349,3886,3879,818.8,-10.6,542,7759,0.00,2.42,0.00,0.000,516,0.000,0.050,2533,954,3882,3886,3879,0,0,0,0,0,0,15.13,14.66,15.15
$GC,7791,-0.65,-146.0,2533,955,3886,3879,823.1,-10.8,550,7795,0.00,2.47,0.00,0.000,1030,0.000,0.061,2533,2350,3882,3886,3879,0,0,0,0,0,0,14.77,14.65,14.81
$GC,8108,-0.65,-146.0,2533,2349,3885,3877,857.1,-10.6,563,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2349,3881,3885,3878,0,0,0,0,0,0,15.13,15.15,15.15
$GC,8408,-0.65,-146.0,2533,2349,3884,3877,887.1,-9.7,573,8413,0.00,2.42,0.00,0.000,516,0.000,0.050,2534,957,3880,3884,3877,0,0,0,0,0,0,15.12,14.65,15.14
$GC,8460,-0.65,-146.0,2533,957,3884,3877,892.2,-9.6,583,8464,0.00,2.47,0.00,0.000,1030,0.000,0.063,2534,2349,3880,3884,3877,0,0,0,0,0,0,14.76,14.62,14.80
$GC,8767,-0.65,-146.0,2533,2349,3883,3875,919.4,-8.8,594,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2349,3879,3884,3874,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9066,-0.65,-146.0,2533,2349,3883,3873,945.4,-8.6,604,9074,0.00,2.42,0.00,0.000,516,0.000,0.052,2534,953,3878,3883,3873,0,0,0,0,0,0,15.12,14.64,15.14
$GC,9104,-0.65,-146.0,2533,953,3883,3873,949.0,-8.9,612,9109,0.00,2.50,0.00,0.000,1030,0.000,0.063,2534,2354,3877,3882,3873,0,0,0,0,0,0,14.76,14.63,14.80
$GC,9427,-0.65,-146.0,2533,2354,3881,3871,976.9,-8.8,626,9431,0.00,2.28,0.00,0.000,260,0.000,0.088,2532,3697,3876,3881,3871,0,0,0,0,0,0,15.12,14.54,15.14
$GC,9467,-0.65,-146.0,2531,3697,3880,3871,980.6,-9.0,634,9472,0.00,2.15,0.00,0.000,1030,0.000,0.045,2532,2350,3875,3880,3871,0,0,0,0,0,0,14.81,14.73,14.83
$STATE,9577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9577,begin apogee
$GC,9582,-0.15,0.0,2532,2418,3881,3870,990.2,-8.7,641,9730,0.65,0.00,139.45,1.915,10246,0.230,0.000,2708,2417,3339,3362,3316,0,0,0,0,0,0,14.40,13.90,13.26
$STATE,9731,end apogee,CONTROL_FINISHED_OK
$STATE,9731,begin climb
$GC,9733,0.65,146.0,2708,2417,3360,3315,996.7,0.0,646,9893,0.82,2.28,149.82,1.916,10500,0.142,0.080,2960,3678,2743,2784,2702,0,0,0,0,0,0,14.07,13.90,13.14
$GC,9974,0.65,146.0,2960,3678,2770,2700,985.2,8.4,695,9979,0.00,2.15,0.00,0.000,1030,0.000,0.042,2960,2402,2735,2770,2700,0,0,0,0,0,0,14.24,14.21,14.26
$GC,10303,0.67,146.0,2960,2401,2764,2697,961.0,7.3,710,10309,0.00,2.45,0.00,0.000,580,0.000,0.058,2960,999,2730,2763,2697,0,0,0,0,0,0,14.83,14.49,14.85
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$STATE,21966,end climb,SURFACE_DEPTH_REACHED
$STATE,21966,begin surface coast
$FINISH,0.1,1.022150
$STATE,21984,end surface coast,CONTROL_FINISHED_OK
$STATE,21984,begin surface
$SM_CCo,22061,0.00,0.000,0,0,1574,434.66
$SM_GC,0.71,9.05,0.00,0.00,0.097,0.000,0.000,244,2402,1574,-7.82,1.47,434.66,0,0,0,0,0,0,14.47,14.85,14.58
$IRIDIUM_FIX,-251.60,5608.41,210318,170213
$TT8_MAMPS,0.018725,0.15729
$HUMID,59.80
$INTERNAL_PRESSURE,8.48279
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.14,87.049
$10V_AH,13.46,0.000
$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,22.875,208.375,544.675,0.000,0.000,0.000,0.000,240.350,0.000,0.000,23.953,3298.396,15556.070,700.482,2618.098,237.749,0.000,2298.052,0.000,2333.830,0.000,0.546,0.000
$DEVICE_MAMPS,424.575,132.345,1916.325,0.000,0.000,0.000,0.000,135.405,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303820
$DATA_FILE_SIZE,70123,1642
$CAP_FILE_SIZE,189589,0
$CFSIZE,260034560,236040192
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$INTR,0,14876.89,0x234cb8,1,24
$INTR,1,20591.66,0x234cb8,1,24
$CURRENT,0.035,71.54,1
$GPS,220318,052157,-250.553,5610.325,41,1.1,44,-4.5,0.3,220.8,7,9.3