version: 66.13
glider: 128
mission: 4
dive: 290
start: 3 28 118 0 34 30
data:
$ID,128
$MISSION,4
$DIVE,290
$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,330
$T_MISSION,380
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$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,2200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,250
$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
$GPS1,280318,002808,-233.7694,5630.6494,33,0.8,36,-4.4,0.0,178.5,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.5
$GPS2,280318,003350,-233.8257,5630.6719,18,0.8,20,-4.4,0.3,168.2,10,9.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,EQUATORS
$TGT_LATLONG,-100.000,5740.200
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,359.3,216264,-17.5,-10.000,-22.80,2583
$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,8,-0.72,-170.3,246,2232,1730,1721,0.0,0.0,0,75,0.00,0.00,-64.88,0.003,16386,0.000,0.000,247,2232,3832,3818,3846,0,0,0,0,0,0,14.87,28.83,14.89
$GC,77,-0.72,-170.3,246,2232,3819,3846,5.3,-16.0,11,99,11.55,2.17,-1.08,0.078,18692,0.421,0.082,2508,3576,3903,3897,3910,0,0,0,0,0,0,14.22,13.66,14.60
$GC,327,-0.72,-170.3,2509,3576,3902,3910,63.1,-21.4,59,332,0.00,2.15,0.00,0.000,1030,0.000,0.036,2509,2206,3906,3902,3910,0,0,0,0,0,0,14.69,14.63,14.73
$GC,639,-0.72,-170.3,2509,2201,3907,3910,104.6,-9.1,91,643,0.00,2.28,0.00,0.000,260,0.000,0.067,2509,3579,3908,3907,3910,0,0,0,0,0,0,15.01,14.59,15.02
$GC,673,-0.72,-170.3,2508,3579,3907,3910,108.1,-9.7,98,680,0.00,2.17,0.00,0.000,1030,0.000,0.035,2509,2177,3909,3908,3910,0,0,0,0,0,0,14.76,14.69,14.78
$GC,980,-0.72,-170.3,2508,2177,3910,3913,139.4,-10.4,129,985,0.00,2.33,0.00,0.000,516,0.000,0.045,2509,806,3911,3910,3913,0,0,0,0,0,0,15.04,14.66,15.07
$GC,1025,-0.72,-170.3,2508,806,3910,3914,144.1,-9.7,138,1032,0.00,2.35,0.00,0.000,1030,0.000,0.046,2509,2177,3912,3910,3914,0,0,0,0,0,0,14.76,14.68,14.81
$GC,1332,-0.72,-170.3,2509,2176,3911,3914,176.6,-12.3,169,1337,0.00,2.35,0.00,0.000,260,0.000,0.071,2509,3614,3913,3912,3914,0,0,0,0,0,0,15.07,14.63,15.09
$GC,1364,-0.72,-170.3,2508,3614,3911,3914,180.5,-12.7,175,1368,0.00,2.17,0.00,0.000,1030,0.000,0.034,2509,2197,3912,3911,3914,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1675,-0.72,-170.3,2509,2193,3911,3914,218.6,-11.1,207,1679,0.00,2.33,0.00,0.000,260,0.000,0.067,2509,3607,3912,3911,3914,0,0,0,0,0,0,15.09,14.65,15.11
$GC,1706,-0.72,-170.3,2508,3607,3911,3914,222.2,-11.7,213,1711,0.00,2.17,0.00,0.000,1030,0.000,0.037,2509,2199,3912,3911,3914,0,0,0,0,0,0,14.82,14.76,14.84
$GC,2039,-0.72,-170.3,2508,2195,3911,3914,253.2,-8.5,245,2044,0.00,2.35,0.00,0.000,260,0.000,0.070,2509,3614,3912,3911,3914,0,0,0,0,0,0,15.09,14.64,15.11
$GC,2065,-0.72,-170.3,2508,3614,3910,3914,255.8,-9.9,250,2072,0.00,2.20,0.00,0.000,1030,0.000,0.036,2509,2192,3912,3910,3914,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2371,-0.72,-170.3,2508,2191,3910,3914,286.5,-10.3,261,2376,0.00,2.35,0.00,0.000,260,0.000,0.071,2509,3610,3911,3909,3914,0,0,0,0,0,0,15.11,14.65,15.13
$GC,2391,-0.72,-170.3,2508,3610,3909,3914,288.8,-10.3,265,2396,0.00,2.20,0.00,0.000,1030,0.000,0.037,2509,2193,3911,3909,3914,0,0,0,0,0,0,14.84,14.78,14.86
$GC,2704,-0.72,-170.3,2509,2188,3908,3913,321.4,-10.5,277,2708,0.00,2.33,0.00,0.000,516,0.000,0.045,2509,814,3910,3908,3913,0,0,0,0,0,0,15.11,14.70,15.14
$GC,2729,-0.72,-170.3,2508,814,3908,3913,324.4,-11.2,282,2736,0.00,2.40,0.00,0.000,1030,0.000,0.049,2509,2210,3910,3908,3913,0,0,0,0,0,0,14.81,14.71,14.84
$GC,3036,-0.72,-170.3,2508,2209,3907,3910,355.9,-10.0,293,3041,0.00,2.30,0.00,0.000,260,0.000,0.075,2509,3604,3908,3907,3909,0,0,0,0,0,0,15.13,14.64,15.14
$GC,3085,-0.72,-170.3,2508,3604,3906,3908,361.1,-9.9,303,3090,0.00,2.17,0.00,0.000,1030,0.000,0.037,2509,2199,3907,3906,3908,0,0,0,0,0,0,14.83,14.76,14.85
$GC,3398,-0.72,-170.3,2508,2194,3905,3906,390.1,-9.3,315,3404,0.00,2.35,0.00,0.000,260,0.000,0.073,2509,3604,3905,3904,3906,0,0,0,0,0,0,15.13,14.64,15.15
$GC,3416,-0.72,-170.3,2508,3604,3904,3906,392.1,-9.7,319,3420,0.00,2.20,0.00,0.000,1030,0.000,0.038,2509,2193,3905,3904,3906,0,0,0,0,0,0,14.85,14.78,14.87
$GC,3728,-0.72,-170.3,2508,2187,3903,3905,424.0,-10.8,331,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2187,3904,3903,3905,0,0,0,0,0,0,15.12,15.15,15.14
$GC,4028,-0.72,-170.3,2508,2187,3901,3902,457.4,-11.2,341,4033,0.00,2.38,0.00,0.000,260,0.000,0.073,2509,3604,3901,3901,3902,0,0,0,0,0,0,15.13,14.63,15.15
$GC,4062,-0.72,-170.3,2508,3604,3900,3901,461.7,-11.3,348,4067,0.00,2.20,0.00,0.000,1030,0.000,0.038,2509,2196,3901,3900,3902,0,0,0,0,0,0,14.84,14.77,14.86
$GC,4390,-0.72,-170.3,2508,2190,3899,3900,497.4,-10.7,363,4397,0.00,2.40,0.00,0.000,260,0.000,0.076,2509,3612,3899,3899,3900,0,0,0,0,0,0,15.12,14.61,15.15
$GC,4423,-0.72,-170.3,2508,3611,3898,3900,501.1,-10.7,370,4427,0.00,2.22,0.00,0.000,1030,0.000,0.040,2509,2195,3899,3898,3900,0,0,0,0,0,0,14.83,14.76,14.86
$GC,4750,-0.72,-170.3,2508,2190,3898,3897,533.2,-9.8,385,4755,0.00,2.40,0.00,0.000,260,0.000,0.078,2509,3605,3897,3898,3896,0,0,0,0,0,0,15.14,14.59,15.15
$GC,4765,-0.72,-170.3,2509,3604,3898,3897,534.9,-9.8,388,4770,0.00,2.22,0.00,0.000,1030,0.000,0.041,2509,2193,3897,3897,3897,0,0,0,0,0,0,14.83,14.76,14.85
$GC,5082,-0.72,-170.3,2509,2189,3897,3895,566.3,-10.0,401,5087,0.00,2.40,0.00,0.000,260,0.000,0.078,2509,3604,3895,3896,3895,0,0,0,0,0,0,15.14,14.59,15.16
$GC,5108,-0.72,-170.3,2508,3604,3895,3895,569.1,-10.0,406,5115,0.00,2.22,0.00,0.000,1030,0.000,0.040,2509,2189,3895,3896,3894,0,0,0,0,0,0,14.83,14.76,14.85
$GC,5415,-0.72,-170.3,2508,2189,3895,3892,598.6,-9.2,417,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2189,3893,3895,3892,0,0,0,0,0,0,15.13,15.15,15.15
$GC,5714,-0.72,-170.3,2509,2189,3894,3890,624.3,-8.4,427,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2189,3891,3894,3889,0,0,0,0,0,0,15.14,15.16,15.15
$GC,6014,-0.72,-170.3,2508,2189,3892,3888,650.1,-8.8,437,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2189,3889,3892,3887,0,0,0,0,0,0,15.14,15.16,15.15
$GC,6315,-0.72,-170.3,2508,2189,3891,3886,675.7,-8.3,447,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2189,3888,3891,3885,0,0,0,0,0,0,15.13,15.15,15.15
$GC,6614,-0.72,-170.3,2508,2189,3890,3883,701.6,-8.8,457,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2189,3886,3890,3883,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6914,-0.72,-170.3,2508,2189,3888,3882,728.4,-8.9,467,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2189,3885,3889,3882,0,0,0,0,0,0,15.13,15.16,15.15
$GC,7214,-0.72,-170.3,2508,2189,3887,3880,756.6,-9.4,477,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2189,3883,3887,3880,0,0,0,0,0,0,15.14,15.16,15.15
$GC,7515,-0.72,-170.3,2508,2189,3886,3879,784.3,-9.2,487,7521,0.00,2.42,0.00,0.000,260,0.000,0.081,2509,3601,3882,3885,3879,0,0,0,0,0,0,15.13,14.53,15.15
$GC,7544,-0.72,-170.3,2508,3601,3885,3879,787.0,-9.5,493,7549,0.00,2.22,0.00,0.000,1030,0.000,0.041,2509,2197,3882,3885,3879,0,0,0,0,0,0,14.80,14.73,14.82
$GC,7876,-0.72,-170.3,2508,2192,3885,3878,815.9,-8.5,509,7881,0.00,2.40,0.00,0.000,516,0.000,0.050,2509,804,3881,3885,3877,0,0,0,0,0,0,15.13,14.61,15.14
$GC,7892,-0.72,-170.3,2508,804,3885,3877,817.4,-8.5,512,7897,0.00,2.45,0.00,0.000,1030,0.000,0.054,2509,2206,3880,3884,3877,0,0,0,0,0,0,14.76,14.64,14.79
$GC,8204,-0.72,-170.3,2508,2206,3883,3876,843.4,-8.3,524,8211,0.00,2.38,0.00,0.000,260,0.000,0.079,2509,3619,3879,3883,3876,0,0,0,0,0,0,15.12,14.54,15.14
$GC,8247,-0.72,-170.3,2508,3619,3882,3876,847.3,-8.7,533,8252,0.00,2.25,0.00,0.000,1030,0.000,0.041,2508,2198,3879,3882,3876,0,0,0,0,0,0,14.79,14.72,14.81
$GC,8565,-0.72,-170.3,2508,2193,3882,3874,874.6,-8.7,546,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2193,3878,3882,3874,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8864,-0.72,-170.3,2508,2193,3882,3873,900.9,-8.8,556,8871,0.00,2.45,0.00,0.000,260,0.000,0.083,2509,3614,3876,3880,3872,0,0,0,0,0,0,15.12,14.51,15.14
$GC,8882,-0.72,-170.3,2508,3614,3880,3872,902.6,-8.8,560,8887,0.00,2.25,0.00,0.000,1030,0.000,0.044,2509,2205,3876,3880,3872,0,0,0,0,0,0,14.79,14.71,14.82
$GC,9195,-0.72,-170.3,2508,2200,3880,3871,930.0,-8.9,572,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2200,3876,3881,3871,0,0,0,0,0,0,15.12,15.14,15.14
$GC,9495,-0.72,-170.3,2508,2200,3880,3870,958.1,-9.6,582,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2200,3875,3880,3870,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9794,-0.72,-170.3,2507,2199,3880,3866,988.5,-10.4,592,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2199,3873,3880,3866,0,0,0,0,0,0,15.12,15.14,15.14
$STATE,9822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9823,begin apogee
$GC,9828,-0.15,0.0,2507,2412,3880,3867,991.8,-10.6,593,9968,0.73,0.00,136.57,1.891,10246,0.237,0.000,2702,2412,3345,3368,3322,0,0,0,0,0,0,14.33,14.07,13.26
$STATE,9969,end apogee,CONTROL_FINISHED_OK
$STATE,9969,begin climb
$GC,9971,0.72,170.3,2703,2412,3361,3316,999.8,0.0,597,10156,0.93,2.33,169.95,1.888,10500,0.143,0.080,2984,3692,2642,2683,2601,0,0,0,0,0,0,14.04,13.88,13.12
$GC,10162,0.82,256.6,2983,3692,2681,2600,997.2,6.6,640,10258,0.12,2.15,89.75,1.856,11302,0.158,0.044,3026,2403,2299,2350,2249,0,0,0,0,0,0,13.97,14.02,13.10
$GC,10577,0.82,256.6,3025,2402,2326,2236,956.8,10.3,672,10584,0.00,2.53,0.00,0.000,516,0.000,0.060,3029,999,2281,2326,2236,0,0,0,0,0,0,14.76,14.45,14.78
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$STATE,19723,end climb,SURFACE_DEPTH_REACHED
$STATE,19723,begin surface coast
$FINISH,0.4,1.022074
$STATE,19745,end surface coast,CONTROL_FINISHED_OK
$STATE,19745,begin surface
$SM_CCo,19822,0.00,0.000,0,0,1244,514.39
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$IRIDIUM_FIX,-234.25,5631.77,270318,174829
$TT8_MAMPS,0.018725,0.15729
$HUMID,59.25
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,23.30
$XPDR_PINGS,0
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$10V_AH,13.40,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.850,201.400,638.075,0.000,0.000,0.000,0.000,230.800,0.000,0.000,21.120,2934.185,13993.360,744.095,2268.034,224.422,0.000,2193.081,0.000,2009.551,0.000,0.547,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.261,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303400
$DATA_FILE_SIZE,63301,1412
$CAP_FILE_SIZE,172361,0
$CFSIZE,260034560,233967616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.166,132.39,1
$GPS,280318,060607,-233.125,5632.178,38,0.8,40,-4.4,0.0,0.0,11,9.2