version: 66.13
glider: 137
mission: 5
dive: 20
start: 3 7 117 2 10 44
data:
$ID,137
$MISSION,5
$DIVE,20
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$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,330
$T_MISSION,360
$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,280
$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,400
$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,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,33
$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
$GPS1,070317,020237,1345.6554,6118.3110,38,0.9,44,-0.7,0.3,262.0,8,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-70.9
$GPS2,070317,021008,1345.6638,6118.2744,11,1.0,20,-0.7,0.0,8.4,8,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,1347.539,6107.324
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,269.1,20000,-18.2,-10.000,-21.02,2236
$D_GRID,990
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.40,-146.0,94,2065,1056,1248,0.0,0.0,0,84,0.00,0.00,-75.43,0.000,16386,0.000,0.000,95,2066,3109,3026,3193,0,0,0,0,0,0,14.88,28.83,14.90
$GC,87,-1.40,-146.0,94,2066,3026,3193,4.1,-6.0,13,113,15.40,2.67,-5.28,0.000,19236,0.476,2.148,2863,659,3399,3297,3502,0,0,0,0,0,0,14.46,13.77,14.71
$GC,300,-1.29,-146.0,2863,659,3298,3515,48.9,-18.0,54,308,0.17,2.33,0.00,0.000,3206,0.295,0.052,2892,2047,3407,3300,3514,0,0,0,0,0,0,14.60,14.73,14.77
$GC,605,-1.29,-146.0,2892,2048,3299,3514,98.1,-15.0,85,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2047,3406,3299,3514,0,0,0,0,0,0,15.03,15.05,15.05
$GC,906,-1.29,-146.0,2892,2048,3300,3514,140.4,-13.8,115,915,0.00,2.35,0.00,0.000,260,0.000,0.069,2884,3467,3407,3300,3514,0,0,0,0,0,0,15.07,14.85,15.10
$GC,1000,-1.36,-146.0,2883,3467,3300,3514,152.9,-12.5,134,1008,0.00,2.30,0.00,0.000,1158,0.000,0.046,2883,2068,3407,3300,3514,0,0,0,0,0,0,14.95,14.88,14.95
$GC,1307,-1.42,-146.0,2883,2067,3302,3514,187.5,-10.3,165,1308,0.00,0.00,0.00,0.000,134,0.000,0.000,2883,2067,3408,3302,3514,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1608,-1.50,-146.0,2883,2067,3302,3514,219.4,-10.1,195,1610,0.12,0.00,0.00,0.000,4230,0.142,0.000,2829,2067,3408,3302,3514,0,0,0,0,0,0,14.94,15.01,15.00
$GC,1907,-1.50,-146.0,2829,2067,3302,3514,257.1,-12.0,221,1911,0.00,2.38,0.00,0.000,516,0.000,0.069,2829,638,3408,3302,3514,0,0,0,0,0,0,15.15,14.92,15.17
$GC,1941,-1.50,-146.0,2828,638,3302,3514,261.8,-13.2,228,1946,0.12,2.35,0.00,0.000,3078,0.286,0.050,2845,2063,3408,3302,3514,0,0,0,0,0,0,14.83,14.95,14.98
$GC,2263,-1.54,-146.0,2845,2063,3302,3515,296.4,-10.6,242,2268,0.00,2.40,0.00,0.000,644,0.000,0.070,2846,644,3408,3302,3514,0,0,0,0,0,0,15.16,14.94,15.19
$GC,2329,-1.54,-146.0,2846,644,3302,3514,304.3,-11.6,255,2334,0.00,2.33,0.00,0.000,1030,0.000,0.052,2837,2053,3408,3302,3514,0,0,0,0,0,0,15.02,14.96,15.04
$GC,2652,-1.57,-146.0,2837,2053,3302,3514,342.2,-11.7,269,2653,0.00,0.00,0.00,0.000,134,0.000,0.000,2837,2053,3408,3302,3514,0,0,0,0,0,0,15.16,15.18,15.18
$GC,2951,-1.60,-146.0,2837,2053,3302,3514,372.7,-9.9,279,2956,0.00,2.40,0.00,0.000,676,0.000,0.073,2837,639,3408,3302,3514,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3021,-1.60,-146.0,2837,639,3302,3514,379.9,-9.2,293,3026,0.00,2.33,0.00,0.000,1062,0.000,0.055,2828,2053,3408,3302,3514,0,0,0,0,0,0,15.04,14.97,15.06
$GC,3343,-1.60,-146.0,2827,2053,3300,3514,413.3,-11.1,307,3349,0.00,2.40,0.00,0.000,516,0.000,0.073,2828,639,3407,3300,3514,0,0,0,0,0,0,15.19,14.96,15.21
$GC,3372,-1.60,-146.0,2827,639,3299,3514,417.0,-12.5,313,3377,0.00,2.33,0.00,0.000,1030,0.000,0.055,2819,2047,3406,3299,3514,0,0,0,0,0,0,15.04,14.97,15.06
$GC,3698,-1.60,-146.0,2818,2047,3300,3511,456.9,-12.0,328,3702,0.00,2.38,0.00,0.000,516,0.000,0.073,2819,638,3405,3299,3511,0,0,0,0,0,0,15.19,14.96,15.21
$GC,3742,-1.60,-146.0,2818,639,3298,3511,462.8,-13.2,337,3747,0.00,2.35,0.00,0.000,1030,0.000,0.054,2809,2051,3404,3298,3511,0,0,0,0,0,0,15.04,14.97,15.06
$GC,4055,-1.60,-146.0,2808,2052,3297,3509,502.3,-12.8,349,4059,0.00,2.40,0.00,0.000,516,0.000,0.073,2809,639,3403,3297,3509,0,0,0,0,0,0,15.16,14.96,15.19
$GC,4086,-1.60,-146.0,2809,639,3297,3509,506.5,-13.4,355,4093,0.12,2.33,0.00,0.000,3078,0.301,0.055,2825,2053,3403,3297,3509,0,0,0,0,0,0,14.86,14.98,15.02
$GC,4417,-1.60,-146.0,2824,2054,3292,3502,546.2,-11.8,371,4423,0.00,2.40,0.00,0.000,516,0.000,0.074,2825,642,3397,3292,3502,0,0,0,0,0,0,15.19,14.96,15.21
$GC,4455,-1.60,-146.0,2825,642,3292,3501,551.1,-12.3,379,4459,0.00,2.35,0.00,0.000,1030,0.000,0.057,2817,2057,3397,3292,3502,0,0,0,0,0,0,15.04,14.97,15.07
$GC,4776,-1.60,-146.0,2817,2058,3290,3502,586.9,-10.9,393,4780,0.00,2.40,0.00,0.000,516,0.000,0.076,2817,639,3396,3290,3502,0,0,0,0,0,0,15.19,14.96,15.21
$GC,4820,-1.60,-146.0,2817,639,3290,3502,592.3,-11.8,402,4825,0.00,2.35,0.00,0.000,1030,0.000,0.056,2808,2058,3396,3290,3502,0,0,0,0,0,0,15.04,14.97,15.07
$GC,5132,-1.60,-146.0,2807,2058,3289,3501,627.9,-11.5,414,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2058,3395,3289,3502,0,0,0,0,0,0,15.19,15.22,15.21
$GC,5434,-1.60,-146.0,2807,2058,3288,3502,662.8,-11.6,424,5440,0.00,2.40,0.00,0.000,516,0.000,0.077,2808,650,3395,3289,3501,0,0,0,0,0,0,15.18,14.96,15.20
$GC,5455,-1.60,-146.0,2807,650,3289,3501,666.0,-12.5,429,5463,0.12,2.35,0.00,0.000,3078,0.297,0.057,2823,2053,3395,3288,3502,0,0,0,0,0,0,14.86,14.98,15.02
$GC,5762,-1.60,-146.0,2823,2053,3287,3501,698.6,-10.7,440,5766,0.00,2.40,0.00,0.000,516,0.000,0.076,2824,646,3394,3287,3501,0,0,0,0,0,0,15.19,14.96,15.21
$GC,5848,-1.60,-146.0,2823,646,3286,3501,708.2,-11.2,457,5852,0.00,2.35,0.00,0.000,1030,0.000,0.057,2816,2053,3393,3286,3501,0,0,0,0,0,0,15.04,14.97,15.07
$GC,6174,-1.60,-146.0,2815,2054,3285,3500,744.0,-11.1,472,6178,0.00,2.40,0.00,0.000,516,0.000,0.075,2816,649,3393,3286,3500,0,0,0,0,0,0,15.19,14.96,15.21
$GC,6223,-1.60,-146.0,2815,648,3285,3500,750.2,-11.9,482,6231,0.00,2.35,0.00,0.000,1030,0.000,0.057,2806,2051,3393,3286,3500,0,0,0,0,0,0,15.05,14.97,15.07
$GC,6530,-1.60,-146.0,2806,2051,3284,3499,784.7,-11.2,493,6534,0.00,2.38,0.00,0.000,516,0.000,0.076,2806,650,3392,3285,3499,0,0,0,0,0,0,15.19,14.96,15.21
$GC,6569,-1.60,-146.0,2806,650,3284,3499,789.7,-12.2,501,6574,0.12,2.35,0.00,0.000,3078,0.301,0.058,2823,2056,3391,3284,3499,0,0,0,0,0,0,14.85,14.97,15.02
$GC,6886,-1.60,-146.0,2822,2056,3283,3498,821.6,-10.2,514,6891,0.00,2.40,0.00,0.000,516,0.000,0.076,2823,637,3390,3283,3498,0,0,0,0,0,0,15.16,14.96,15.19
$GC,6913,-1.60,-146.0,2823,637,3283,3498,824.7,-11.4,519,6919,0.00,2.38,0.00,0.000,1030,0.000,0.059,2815,2054,3391,3283,3499,0,0,0,0,0,0,15.04,14.97,15.07
$GC,7218,-1.60,-146.0,2815,2054,3282,3498,858.0,-11.2,530,7223,0.00,2.40,0.00,0.000,516,0.000,0.076,2815,647,3390,3282,3498,0,0,0,0,0,0,15.19,14.96,15.21
$GC,7257,-1.60,-146.0,2815,647,3282,3497,863.0,-12.4,538,7263,0.00,2.38,0.00,0.000,1030,0.000,0.059,2806,2046,3390,3282,3498,0,0,0,0,0,0,15.02,14.97,15.04
$GC,7581,-1.60,-146.0,2805,2046,3281,3495,901.8,-12.4,552,7587,0.00,2.40,0.00,0.000,516,0.000,0.077,2806,646,3388,3281,3496,0,0,0,0,0,0,15.16,14.95,15.19
$GC,7628,-1.60,-146.0,2806,645,3281,3496,908.6,-13.4,562,7634,0.12,2.38,0.00,0.000,3078,0.304,0.058,2823,2061,3388,3281,3496,0,0,0,0,0,0,14.85,14.97,15.02
$GC,7941,-1.64,-146.0,2822,2061,3279,3496,945.1,-11.7,574,7945,0.00,2.42,0.00,0.000,644,0.000,0.076,2823,643,3388,3280,3496,0,0,0,0,0,0,15.19,14.95,15.21
$GC,7975,-1.64,-146.0,2823,643,3279,3495,949.5,-12.2,581,7980,0.00,2.40,0.00,0.000,1030,0.000,0.060,2816,2052,3387,3279,3496,0,0,0,0,0,0,15.01,14.96,15.03
$GC,8302,-1.64,-146.0,2816,2053,3279,3494,987.4,-11.3,596,8306,0.00,2.42,0.00,0.000,516,0.000,0.076,2816,639,3386,3279,3494,0,0,0,0,0,0,15.18,14.95,15.21
$STATE,8327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8327,begin apogee
$GC,8333,-0.33,0.0,2807,2098,3278,3494,990.3,-11.4,601,8470,1.12,0.00,132.60,2.643,10246,0.290,0.000,3095,2101,2790,2675,2905,0,0,0,0,0,0,14.81,14.00,13.05
$STATE,8471,end apogee,CONTROL_FINISHED_OK
$STATE,8471,begin climb
$GC,8472,1.40,146.0,3095,2101,2671,2902,993.0,0.0,605,8618,1.33,2.65,134.73,2.567,10500,0.188,0.087,3470,3509,2188,2056,2320,0,0,0,0,0,0,13.98,13.93,13.02
$GC,8648,1.25,146.0,3470,3509,2052,2316,978.5,14.4,645,8654,0.17,2.50,0.00,0.000,5254,0.392,0.063,3450,2109,2184,2052,2316,0,0,0,0,0,0,14.04,14.19,14.26
$GC,8955,1.17,146.0,3449,2109,2042,2316,937.0,13.5,656,8961,0.00,2.47,0.00,0.000,644,0.000,0.086,3459,691,2179,2042,2316,0,0,0,0,0,0,14.84,14.62,14.86
$GC,9049,1.06,146.0,3458,691,2040,2316,923.9,14.1,675,9054,0.25,2.42,0.00,0.000,5254,0.363,0.061,3409,2104,2178,2040,2316,0,0,0,0,0,0,14.51,14.68,14.73
$GC,9371,1.06,146.0,3408,2104,2037,2316,889.0,10.4,689,9375,0.00,2.50,0.00,0.000,516,0.000,0.085,3417,686,2176,2037,2316,0,0,0,0,0,0,14.99,14.76,15.02
$GC,9430,1.02,146.0,3417,687,2036,2316,882.5,11.5,701,9434,0.00,2.42,0.00,0.000,1158,0.000,0.062,3418,2107,2176,2036,2316,0,0,0,0,0,0,14.86,14.78,14.88
$GC,9757,0.99,146.0,3417,2107,2035,2316,848.1,10.6,716,9764,0.12,2.45,0.00,0.000,4740,0.383,0.083,3403,691,2175,2035,2316,0,0,0,0,0,0,14.66,14.82,14.82
$GC,9831,0.99,146.0,3403,691,2034,2316,840.2,10.3,731,9835,0.00,2.40,0.00,0.000,1030,0.000,0.060,3399,2109,2175,2034,2316,0,0,0,0,0,0,14.92,14.84,14.94
$GC,10142,0.99,146.0,3398,2109,2034,2316,807.7,10.5,743,10148,0.00,2.47,0.00,0.000,516,0.000,0.081,3408,688,2175,2034,2316,0,0,0,0,0,0,15.09,14.86,15.11
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$STATE,17461,end climb,SURFACE_DEPTH_REACHED
$STATE,17461,begin surface coast
$FINISH,1.0,1.011101
$STATE,17488,end surface coast,CONTROL_FINISHED_OK
$STATE,17489,begin surface
$SM_CCo,17505,47.90,0.080,0,0,1159,400.08
$SM_GC,2.13,9.95,0.15,47.90,0.098,0.110,0.080,97,2008,1159,-14.11,0.59,400.08,0,0,0,0,0,0,14.78,14.85,14.81
$IRIDIUM_FIX,1340.85,6118.94,070317,020402
$TT8_MAMPS,0.024717,0.156541
$HUMID,47.40
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.20
$XPDR_PINGS,15
$24V_AH,13.02,8.641
$10V_AH,13.34,0.000
$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,29.525,193.050,392.425,47.900,0.000,0.000,0.000,300.275,13.750,0.000,21.709,2707.764,12118.847,595.614,2482.906,109.210,0.000,2087.501,0.000,2103.438,0.000,67.756,0.000
$DEVICE_MAMPS,475.830,2148.120,2643.075,79.560,0.000,0.000,0.000,179.775,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,226020
$DATA_FILE_SIZE,63328,1476
$CAP_FILE_SIZE,175620,0
$CFSIZE,260034560,257662976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.081,324.70,1
$GPS,070317,070437,1346.780,6115.472,39,0.8,45,-0.6,0.4,228.9,9,10.0