version: 66.13
glider: 137
mission: 5
dive: 7
start: 3 4 117 16 21 7
data:
$ID,137
$MISSION,5
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,600
$D_ABORT,750
$D_NO_BLEED,50
$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,250
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,0
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,563.99261
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2140
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$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,-84.34626
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,040317,161636,1337.2068,6123.6138,24,0.9,40,-0.7,0.0,265.4,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.9
$GPS2,040317,162033,1337.2112,6123.5874,17,0.9,28,-0.7,0.0,246.8,9,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,1348.010,6123.587
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,27.4,20000,-18.2,-10.000,-21.02,2236
$D_GRID,600
$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,-1.40,-146.0,95,2169,371,602,0.0,0.0,0,118,0.00,0.00,-108.28,0.000,16390,0.000,0.000,95,2170,3387,3311,3463,0,0,0,0,0,0,14.96,13.92,14.97
$GC,120,-1.40,-146.0,95,2170,3311,3463,5.1,-12.1,19,145,17.33,2.35,0.00,0.000,2308,0.523,0.076,2857,3537,3388,3312,3464,0,0,0,0,0,0,14.52,14.70,14.76
$GC,202,-1.26,-146.0,2857,3538,3312,3465,33.0,-21.5,34,209,0.17,2.33,0.00,0.000,3206,0.309,0.052,2893,2130,3388,3312,3465,0,0,0,0,0,0,14.61,14.76,14.79
$GC,516,-1.22,-146.0,2893,2129,3311,3465,86.4,-15.1,74,520,0.00,2.35,0.00,0.000,644,0.000,0.073,2894,728,3388,3312,3465,0,0,0,0,0,0,15.07,14.83,15.09
$GC,602,-1.22,-146.0,2893,728,3311,3466,99.4,-14.9,91,607,0.10,2.33,0.00,0.000,3078,0.314,0.057,2903,2135,3389,3312,3466,0,0,0,0,0,0,14.73,14.86,14.90
$GC,907,-1.27,-146.0,2903,2136,3312,3467,137.8,-12.2,122,911,0.00,2.38,0.00,0.000,388,0.000,0.077,2894,3550,3389,3312,3467,0,0,0,0,0,0,15.13,14.88,15.14
$GC,944,-1.35,-146.0,2894,3550,3312,3467,142.2,-11.3,129,953,0.00,2.30,0.00,0.000,1158,0.000,0.051,2894,2134,3389,3312,3467,0,0,0,0,0,0,14.98,14.91,15.00
$GC,1254,-1.43,-146.0,2894,2134,3312,3468,177.1,-11.2,161,1264,0.12,2.33,0.00,0.000,4740,0.151,0.070,2841,724,3390,3312,3468,0,0,0,0,0,0,14.93,14.91,14.97
$GC,1308,-1.43,-146.0,2841,724,3312,3468,184.4,-12.7,172,1317,0.10,2.38,0.00,0.000,3078,0.274,0.057,2857,2138,3390,3312,3468,0,0,0,0,0,0,14.80,14.92,14.92
$GC,1616,-1.47,-146.0,2857,2138,3312,3468,216.6,-10.0,203,1625,0.00,2.38,0.00,0.000,644,0.000,0.073,2858,721,3390,3312,3468,0,0,0,0,0,0,15.16,14.93,15.19
$GC,1682,-1.47,-146.0,2858,722,3312,3468,224.3,-11.6,216,1690,0.00,2.38,0.00,0.000,1030,0.000,0.057,2849,2146,3390,3312,3468,0,0,0,0,0,0,15.02,14.95,15.03
$GC,1999,-1.50,-146.0,2849,2146,3310,3468,256.8,-10.4,244,2004,0.00,2.40,0.00,0.000,644,0.000,0.073,2849,731,3389,3310,3468,0,0,0,0,0,0,15.19,14.95,15.20
$GC,2105,-1.50,-146.0,2849,731,3309,3468,269.2,-11.7,265,2109,0.00,2.35,0.00,0.000,1030,0.000,0.060,2839,2141,3388,3309,3468,0,0,0,0,0,0,15.03,14.95,15.04
$GC,2416,-1.50,-146.0,2839,2140,3307,3468,307.8,-12.6,277,2422,0.00,2.40,0.00,0.000,516,0.000,0.074,2839,725,3387,3307,3468,0,0,0,0,0,0,15.19,14.95,15.21
$GC,2514,-1.50,-146.0,2839,724,3306,3468,320.9,-12.7,297,2518,0.00,2.38,0.00,0.000,1030,0.000,0.062,2830,2159,3386,3305,3467,0,0,0,0,0,0,15.04,14.97,15.06
$GC,2836,-1.50,-146.0,2829,2159,3303,3468,361.3,-12.4,311,2843,0.00,2.42,0.00,0.000,516,0.000,0.077,2830,722,3385,3302,3468,0,0,0,0,0,0,15.18,14.96,15.20
$GC,2879,-1.50,-146.0,2829,722,3303,3468,367.2,-13.3,320,2885,0.12,2.38,0.00,0.000,3078,0.307,0.062,2845,2141,3385,3302,3468,0,0,0,0,0,0,14.85,14.97,15.02
$GC,3198,-1.55,-146.0,2845,2140,3299,3468,401.7,-10.9,333,3204,0.00,2.38,0.00,0.000,644,0.000,0.081,2845,729,3383,3299,3468,0,0,0,0,0,0,15.19,14.96,15.21
$GC,3226,-1.55,-146.0,2845,728,3299,3468,405.1,-11.3,339,3230,0.00,2.35,0.00,0.000,1030,0.000,0.063,2836,2146,3383,3298,3468,0,0,0,0,0,0,15.05,14.98,15.07
$GC,3553,-1.55,-146.0,2836,2146,3296,3468,442.5,-11.8,354,3559,0.00,2.42,0.00,0.000,516,0.000,0.078,2836,725,3381,3295,3468,0,0,0,0,0,0,15.18,14.97,15.21
$GC,3650,-1.55,-146.0,2836,724,3295,3468,455.0,-12.5,374,3655,0.00,2.35,0.00,0.000,1030,0.000,0.063,2826,2140,3381,3295,3468,0,0,0,0,0,0,15.06,14.97,15.07
$GC,3972,-1.55,-146.0,2826,2140,3294,3468,491.0,-10.6,388,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2140,3381,3294,3468,0,0,0,0,0,0,15.21,15.23,15.23
$GC,4273,-1.55,-146.0,2826,2140,3292,3468,520.9,-9.7,398,4279,0.00,2.40,0.00,0.000,548,0.000,0.083,2827,728,3379,3291,3468,0,0,0,0,0,0,15.19,14.97,15.21
$GC,4386,-1.55,-146.0,2826,728,3291,3468,532.5,-10.1,421,4393,0.10,2.38,0.00,0.000,3078,0.314,0.064,2835,2141,3379,3291,3468,0,0,0,0,0,0,14.85,14.98,15.03
$GC,4694,-1.59,-146.0,2835,2140,3289,3468,560.3,-9.4,432,4698,0.00,2.40,0.00,0.000,676,0.000,0.080,2835,724,3379,3290,3468,0,0,0,0,0,0,15.19,14.97,15.22
$GC,4748,-1.59,-146.0,2835,724,3289,3468,566.5,-11.0,443,4755,0.00,2.40,0.00,0.000,1030,0.000,0.066,2827,2147,3378,3289,3468,0,0,0,0,0,0,15.06,14.98,15.07
$GC,5055,-1.59,-146.0,2826,2147,3288,3468,599.3,-11.1,454,5060,0.00,2.40,0.00,0.000,516,0.000,0.080,2827,733,3378,3288,3468,0,0,0,0,0,0,15.21,14.96,15.23
$STATE,5063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5063,begin apogee
$GC,5068,-0.33,0.0,2820,1817,3288,3468,600.6,-11.5,456,5193,1.05,0.00,120.53,2.061,10246,0.280,0.000,3095,1820,2789,2674,2905,0,0,0,0,0,0,14.83,14.17,13.45
$STATE,5194,end apogee,CONTROL_FINISHED_OK
$STATE,5194,begin climb
$GC,5195,1.40,146.0,3095,1820,2668,2900,603.7,0.0,460,5345,1.30,2.50,139.18,1.899,10500,0.181,0.084,3475,3200,2189,2048,2331,0,0,0,0,0,0,14.12,14.00,13.47
$GC,5376,1.28,146.0,3475,3199,2043,2329,590.3,13.5,498,5381,0.15,2.45,0.00,0.000,5254,0.361,0.069,3459,1811,2186,2043,2329,0,0,0,0,0,0,14.17,14.31,14.37
$GC,5693,1.22,146.0,3459,1810,2034,2329,553.2,11.6,511,5694,0.00,0.00,0.00,0.000,134,0.000,0.000,3459,1811,2181,2034,2329,0,0,0,0,0,0,14.93,14.96,14.96
$GC,5993,1.17,146.0,3459,1811,2032,2329,519.4,11.1,521,5998,0.12,2.40,0.00,0.000,4484,0.372,0.082,3426,3206,2180,2031,2329,0,0,0,0,0,0,14.67,14.81,14.81
$GC,6033,1.17,146.0,3425,3206,2031,2329,514.7,10.8,529,6038,0.00,2.40,0.00,0.000,1030,0.000,0.070,3434,1793,2180,2031,2329,0,0,0,0,0,0,14.90,14.82,14.92
$GC,6355,1.17,146.0,3434,1793,2029,2328,481.0,10.7,543,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1793,2179,2029,2329,0,0,0,0,0,0,15.09,15.12,15.12
$GC,6655,1.17,146.0,3434,1793,2027,2329,448.8,10.6,553,6660,0.00,2.45,0.00,0.000,260,0.000,0.083,3434,3205,2178,2027,2329,0,0,0,0,0,0,15.12,14.89,15.15
$GC,6765,1.13,146.0,3434,3205,2027,2328,436.3,11.2,575,6769,0.00,2.40,0.00,0.000,1158,0.000,0.071,3436,1796,2178,2027,2329,0,0,0,0,0,0,14.98,14.90,15.00
$GC,7076,1.13,146.0,3436,1796,2025,2329,400.4,12.1,587,7080,0.00,2.47,0.00,0.000,516,0.000,0.098,3447,382,2177,2025,2329,0,0,0,0,0,0,15.15,14.90,15.17
$GC,7111,1.08,146.0,3446,382,2023,2329,395.9,13.3,594,7116,0.15,2.38,0.00,0.000,5254,0.317,0.063,3412,1797,2176,2023,2329,0,0,0,0,0,0,14.78,14.92,14.98
$GC,7428,1.08,146.0,3411,1797,2022,2329,360.1,11.2,607,7432,0.00,2.40,0.00,0.000,260,0.000,0.082,3407,3210,2176,2023,2329,0,0,0,0,0,0,15.16,14.92,15.19
$GC,7527,1.08,146.0,3407,3210,2023,2328,348.4,11.3,627,7531,0.00,2.42,0.00,0.000,1030,0.000,0.069,3416,1801,2176,2023,2329,0,0,0,0,0,0,14.97,14.92,15.00
$GC,7844,1.10,156.8,3416,1801,2022,2329,316.8,9.5,640,7857,0.00,2.42,8.00,1.603,8484,0.000,0.082,3413,3212,2145,1993,2297,0,0,0,0,0,0,15.17,14.87,14.20
$GC,7917,1.10,162.7,3413,3212,1993,2293,309.2,9.7,655,7930,0.00,2.42,4.50,1.348,9254,0.000,0.069,3422,1788,2125,1975,2275,0,0,0,0,0,0,14.96,14.88,14.06
$GC,8229,1.10,162.7,3422,1788,1978,2275,278.2,10.0,667,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1788,2126,1978,2275,0,0,0,0,0,0,15.12,15.14,15.14
$GC,8529,1.10,162.7,3422,1788,1978,2275,245.7,11.2,679,8534,0.00,2.45,0.00,0.000,260,0.000,0.081,3422,3216,2126,1978,2275,0,0,0,0,0,0,15.15,14.90,15.17
$GC,8640,1.10,162.7,3422,3216,1978,2275,232.4,11.8,701,8645,0.00,2.40,0.00,0.000,1030,0.000,0.068,3429,1789,2126,1978,2275,0,0,0,0,0,0,15.00,14.92,15.02
$GC,8952,1.15,199.0,3429,1789,1978,2275,202.3,8.3,733,8994,0.00,2.55,35.33,1.502,8484,0.000,0.081,3429,3212,1971,1822,2120,0,0,0,0,0,0,15.16,14.64,14.11
$GC,9016,1.15,199.9,3429,3212,1822,2116,196.5,10.0,742,9025,0.00,2.47,0.00,0.000,1062,0.000,0.068,3436,1788,1968,1821,2116,0,0,0,0,0,0,14.75,14.67,14.77
$GC,9327,1.21,213.9,3436,1788,1817,2115,165.4,9.4,774,9347,0.00,2.47,12.75,1.430,8612,0.000,0.079,3437,3218,1908,1760,2057,0,0,0,0,0,0,15.02,14.62,14.14
$GC,9370,1.24,213.9,3436,3218,1760,2053,161.2,10.2,782,9379,0.00,2.42,0.00,0.000,1158,0.000,0.067,3444,1796,1906,1759,2054,0,0,0,0,0,0,14.79,14.71,14.81
$GC,9680,1.29,213.9,3444,1796,1755,2054,128.6,10.0,814,9689,0.00,2.45,0.00,0.000,388,0.000,0.080,3443,3217,1904,1755,2054,0,0,0,0,0,0,15.04,14.80,15.06
$GC,9835,1.39,246.1,3442,3217,1755,2054,114.2,8.5,845,9873,0.12,2.42,28.35,1.325,11430,0.135,0.063,3490,1791,1779,1628,1930,0,0,0,0,0,0,14.83,14.84,14.14
$GC,10172,1.39,246.1,3490,1790,1620,1929,76.7,12.6,882,10180,0.00,2.42,0.00,0.000,516,0.000,0.086,3501,387,1774,1619,1929,0,0,0,0,0,0,15.00,14.76,15.02
$GC,10233,1.35,246.1,3501,387,1618,1929,68.2,14.0,894,10243,0.12,2.38,0.00,0.000,5254,0.306,0.057,3469,1807,1773,1618,1929,0,0,0,0,0,0,14.67,14.80,14.85
$GC,10543,1.38,246.1,3469,1807,1618,1928,31.8,10.8,942,10550,0.00,2.35,0.00,0.000,388,0.000,0.077,3469,3210,1773,1618,1929,0,0,0,0,0,0,15.06,14.83,15.08
$GC,10567,1.42,246.1,3468,3210,1618,1929,29.1,11.6,946,10574,0.00,2.40,0.00,0.000,1158,0.000,0.066,3476,1795,1773,1618,1929,0,0,0,0,0,0,14.92,14.84,14.95
$STATE,10794,end climb,SURFACE_DEPTH_REACHED
$STATE,10794,begin surface coast
$FINISH,0.8,1.010738
$STATE,10816,end surface coast,CONTROL_FINISHED_OK
$STATE,10816,begin surface
$SM_CCo,10832,141.30,0.081,0,0,489,564.18
$SM_GC,1.58,9.80,0.60,141.30,0.082,0.068,0.081,97,2143,489,-14.11,-0.93,564.18,0,0,0,0,0,0,14.81,14.87,14.79
$IRIDIUM_FIX,1329.75,6126.03,040317,131311
$TT8_MAMPS,0.024717,0.156541
$HUMID,46.53
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,24.20
$XPDR_PINGS,16
$24V_AH,13.45,5.018
$10V_AH,13.39,0.000
$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,30.875,120.050,348.625,141.300,0.000,0.000,0.000,151.625,9.250,0.000,29.378,1930.556,6932.376,665.067,1634.453,67.092,0.000,1640.138,0.000,1423.437,0.000,36.054,0.000
$DEVICE_MAMPS,523.260,97.920,2060.910,81.090,0.000,0.000,0.000,181.305,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,224396
$DATA_FILE_SIZE,43363,995
$CAP_FILE_SIZE,116420,0
$CFSIZE,260034560,258686976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.145,336.09,1
$GPS,040317,192506,1339.507,6123.486,25,0.9,31,-0.7,0.5,314.6,9,10.0