version: 66.13
glider: 128
mission: 4
dive: 473
start: 5 30 118 11 8 31
data:
$ID,128
$MISSION,4
$DIVE,473
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,200
$T_MISSION,80
$T_ABORT,1600
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,28800
$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,100
$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,1800
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,109
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3250
$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,2
$LOITER_DBDW,400
$LOITER_D_NO_PUMP,500
$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,8
$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
$GPS1,300518,110452,-158.6828,5856.1226,11,1.0,20,-4.6,0.4,137.6,7,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.9
$GPS2,300518,110755,-158.7109,5856.1611,15,1.0,28,-4.6,0.0,123.5,7,10.0
$SPEED_LIMITS,0.144,0.173
$TGT_NAME,MALDIVE
$TGT_LATLONG,430.000,7230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,56.7,1666133,-20.3,-8.333,-25.69,1777
$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,9,-0.72,-97.3,237,1766,1624,1621,0.0,0.0,0,76,0.00,0.00,-63.67,0.004,16390,0.000,0.000,237,1766,3648,3632,3665,0,0,0,0,0,0,14.90,12.62,14.82
$GC,79,-0.72,-97.3,237,1766,3633,3665,4.6,-13.1,11,100,11.57,2.35,0.00,0.000,2308,0.403,0.051,2511,3143,3652,3641,3664,0,0,0,0,0,0,14.03,14.53,14.43
$GC,147,-0.72,-97.3,2510,3143,3648,3660,23.1,-16.0,23,154,0.00,2.25,0.00,0.000,1030,0.000,0.034,2510,1789,3654,3650,3658,0,0,0,0,0,0,14.64,14.57,14.66
$GC,463,-0.72,-97.3,2510,1784,3656,3657,68.6,-12.4,72,467,0.00,2.28,0.00,0.000,516,0.000,0.047,2510,407,3656,3656,3657,0,0,0,0,0,0,15.00,14.54,15.02
$GC,498,-0.72,-97.3,2510,407,3658,3657,72.9,-11.7,79,505,0.00,2.15,0.00,0.000,1030,0.000,0.037,2510,1730,3657,3659,3655,0,0,0,0,0,0,14.69,14.60,14.72
$GC,807,-0.72,-97.3,2510,1729,3662,3655,102.4,-8.0,110,811,0.00,2.20,0.00,0.000,516,0.000,0.048,2511,406,3658,3662,3655,0,0,0,0,0,0,15.03,14.59,15.05
$GC,851,-0.72,-97.3,2510,406,3662,3655,106.6,-9.1,119,858,0.00,2.17,0.00,0.000,1030,0.000,0.038,2510,1738,3659,3663,3655,0,0,0,0,0,0,14.71,14.63,14.75
$GC,1159,-0.72,-97.3,2510,1738,3666,3655,134.5,-9.6,150,1163,0.00,2.22,0.00,0.000,516,0.000,0.046,2510,394,3660,3666,3655,0,0,0,0,0,0,15.07,14.60,15.08
$GC,1201,-0.72,-97.3,2510,394,3666,3656,139.0,-10.8,158,1205,0.00,2.17,0.00,0.000,1030,0.000,0.038,2510,1735,3661,3666,3656,0,0,0,0,0,0,14.73,14.65,14.77
$GC,1513,-0.72,-97.3,2510,1734,3666,3656,170.3,-8.6,190,1518,0.00,2.22,0.00,0.000,516,0.000,0.047,2510,399,3660,3666,3655,0,0,0,0,0,0,15.07,14.60,15.09
$GC,1548,-0.72,-97.3,2510,399,3666,3656,173.4,-8.4,197,1556,0.00,2.17,0.00,0.000,1030,0.000,0.039,2510,1729,3660,3666,3655,0,0,0,0,0,0,14.73,14.65,14.77
$GC,1855,-0.72,-97.3,2510,1728,3666,3655,197.9,-8.1,228,1859,0.00,2.22,0.00,0.000,516,0.000,0.051,2510,399,3659,3665,3654,0,0,0,0,0,0,15.08,14.59,15.10
$GC,1880,-0.72,-97.3,2510,399,3667,3654,200.2,-8.6,233,1887,0.00,2.20,0.00,0.000,1030,0.000,0.041,2510,1739,3660,3666,3654,0,0,0,0,0,0,14.73,14.64,14.76
$GC,2187,-0.72,-97.3,2510,1738,3666,3651,228.6,-8.8,264,2191,0.00,2.22,0.00,0.000,516,0.000,0.048,2510,401,3658,3666,3651,0,0,0,0,0,0,15.09,14.60,15.11
$GC,2208,-0.72,-97.3,2510,401,3666,3651,230.5,-9.3,268,2212,0.00,2.17,0.00,0.000,1030,0.000,0.041,2511,1729,3658,3666,3651,0,0,0,0,0,0,14.73,14.65,14.76
$STATE,2407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2408,begin apogee
$GC,2414,-0.15,0.0,2511,2195,3665,3649,247.4,-8.0,289,2493,0.73,0.00,75.35,1.196,10246,0.246,0.000,2701,2195,3248,3272,3225,0,0,0,0,0,0,14.02,14.38,13.59
$STATE,2494,end apogee,CONTROL_FINISHED_OK
$STATE,2494,begin climb
$GC,2496,0.72,97.3,2701,2195,3269,3221,250.2,0.0,295,2582,0.93,2.35,72.05,1.158,10500,0.169,0.065,2978,3584,2847,2881,2814,0,0,0,0,0,0,14.29,14.24,13.52
$GC,2659,0.79,162.2,2977,3583,2873,2812,245.1,4.6,332,2716,0.12,2.10,49.30,1.151,11302,0.159,0.032,3019,2227,2583,2627,2540,0,0,0,0,0,0,14.38,14.50,13.58
$GC,3016,0.83,162.2,3018,2227,2618,2538,223.8,6.7,373,3020,0.00,2.22,0.00,0.000,324,0.000,0.064,3018,3585,2577,2617,2538,0,0,0,0,0,0,14.92,14.54,14.94
$GC,3048,0.85,162.2,3018,3585,2615,2537,221.3,7.3,379,3052,0.00,2.05,0.00,0.000,1094,0.000,0.034,3021,2259,2576,2615,2538,0,0,0,0,0,0,14.71,14.64,14.73
$GC,3360,0.85,162.2,3021,2255,2612,2535,193.8,9.8,411,3364,0.00,2.17,0.00,0.000,260,0.000,0.063,3022,3588,2573,2612,2535,0,0,0,0,0,0,15.01,14.59,15.02
$GC,3452,0.85,162.2,3021,3588,2609,2535,184.6,9.6,429,3457,0.00,2.08,0.00,0.000,1030,0.000,0.034,3022,2239,2571,2609,2534,0,0,0,0,0,0,14.76,14.69,14.78
$GC,3766,0.89,202.4,3021,2235,2605,2532,162.5,6.0,461,3805,0.00,2.42,31.27,1.104,8740,0.000,0.047,3022,850,2418,2464,2373,0,0,0,0,0,0,15.04,14.59,13.81
$GC,3841,0.95,244.2,3022,850,2464,2371,157.7,5.9,476,3881,0.12,2.33,34.03,1.089,11302,0.150,0.039,3072,2187,2251,2298,2205,0,0,0,0,0,0,14.56,14.62,13.74
$GC,4189,0.97,244.2,3071,2186,2290,2204,131.8,7.2,515,4193,0.00,2.38,0.00,0.000,580,0.000,0.049,3072,849,2246,2290,2203,0,0,0,0,0,0,14.96,14.57,14.97
$GC,4211,0.99,244.2,3071,846,2290,2204,130.2,7.3,519,4220,0.00,2.35,0.00,0.000,1094,0.000,0.041,3071,2192,2246,2290,2203,0,0,0,0,0,0,14.70,14.62,14.72
$GC,4521,0.99,244.2,3071,2192,2286,2203,102.2,9.4,551,4525,0.00,2.38,0.00,0.000,516,0.000,0.048,3071,846,2244,2285,2203,0,0,0,0,0,0,15.02,14.62,15.04
$GC,4577,0.99,244.2,3071,846,2285,2203,97.3,8.1,562,4584,0.00,2.35,0.00,0.000,1030,0.000,0.041,3072,2195,2244,2285,2203,0,0,0,0,0,0,14.73,14.66,14.77
$GC,4816,1.58,736.0,3071,2194,2282,2202,80.9,6.2,586,5188,0.55,2.33,358.77,0.917,11044,0.093,0.060,3264,3595,395,452,339,0,0,0,0,0,0,14.50,14.28,13.72
$GC,5222,1.58,736.0,3264,3595,444,337,18.7,14.5,655,5229,0.00,2.12,0.00,0.000,1030,0.000,0.035,3264,2269,391,445,337,0,0,0,0,0,0,14.48,14.42,14.51
$STATE,5320,end climb,SURFACE_DEPTH_REACHED
$STATE,5320,begin surface coast
$FINISH,-0.5,1.022134
$STATE,5338,end surface coast,CONTROL_FINISHED_OK
$STATE,5338,begin surface
$SM_CCo,5416,0.00,0.000,0,0,389,701.79
$SM_GC,0.26,9.07,0.85,0.00,0.090,0.037,0.000,246,1801,389,-7.81,1.22,701.79,0,0,0,0,0,0,14.46,14.57,14.57
$IRIDIUM_FIX,-157.28,5858.47,300518,110148
$TT8_MAMPS,0.018725,0.156541
$HUMID,58.78
$INTERNAL_PRESSURE,8.43396
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,12.62,152.398
$10V_AH,13.66,0.000
$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,23.100,64.350,620.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,29.190,1420.287,2376.722,604.400,1002.480,109.373,0.000,1214.520,0.000,971.026,0.000,0.549,0.000
$DEVICE_MAMPS,403.155,65.025,1196.460,0.000,0.000,0.000,0.000,0.000,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,302992
$DATA_FILE_SIZE,30081,677
$CAP_FILE_SIZE,90423,2
$CFSIZE,260034560,215425024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,345.07,1
$GPS,300518,124002,-158.520,5856.126,37,1.0,40,-4.6,0.8,88.6,6,9.2