version: 66.13
glider: 137
mission: 5
dive: 27
start: 3 8 117 11 1 48
data:
$ID,137
$MISSION,5
$DIVE,27
$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,360
$T_MISSION,450
$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,135
$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,117
$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,56
$R_STBD_OVSHOOT,45
$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
$GPS1,080317,105624,1350.3289,6114.6035,33,0.7,56,-0.6,0.0,215.7,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.5
$GPS2,080317,110112,1350.3243,6114.5869,14,0.7,22,-0.6,0.0,0.0,11,9.4
$SPEED_LIMITS,0.159,0.241
$TGT_NAME,HEADING
$TGT_LATLONG,1345.422,6124.493
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,127.6,20000,-17.9,-9.167,-20.81,2194
$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,-1.35,-131.4,99,2078,1054,1252,0.0,0.0,0,91,0.00,0.00,-82.07,0.000,16390,0.000,0.000,99,2079,3327,3248,3407,0,0,0,0,0,0,14.89,13.84,14.90
$GC,93,-1.35,-131.4,99,2079,3249,3406,4.9,-9.8,14,118,15.65,2.40,0.00,0.000,2564,0.482,0.056,2883,665,3328,3249,3408,0,0,0,0,0,0,14.46,14.66,14.70
$GC,130,-0.49,-131.4,2882,665,3249,3409,20.8,-39.0,20,138,0.75,2.30,0.00,0.000,3206,0.263,0.045,3069,2043,3329,3249,3409,0,0,0,0,0,0,14.55,14.69,14.72
$GC,441,-0.85,-131.4,3068,2044,3249,3411,39.4,-4.9,81,450,0.25,2.35,0.00,0.000,4772,0.086,0.063,2963,660,3330,3249,3411,0,0,0,0,0,0,14.80,14.78,14.83
$GC,476,-1.00,-131.4,2962,659,3249,3411,42.0,-8.4,87,483,0.00,2.30,0.00,0.000,1190,0.000,0.045,2959,2057,3330,3249,3411,0,0,0,0,0,0,14.87,14.81,14.88
$GC,786,-1.13,-131.4,2959,2057,3249,3411,70.1,-8.6,126,795,0.12,2.33,0.00,0.000,4772,0.123,0.060,2903,662,3330,3249,3411,0,0,0,0,0,0,14.88,14.83,14.90
$GC,850,-1.13,-131.4,2902,662,3249,3412,78.3,-12.6,139,858,0.12,2.30,0.00,0.000,3078,0.236,0.044,2927,2049,3330,3249,3411,0,0,0,0,0,0,14.75,14.85,14.85
$GC,1158,-1.20,-131.4,2927,2049,3249,3413,113.9,-11.2,170,1167,0.00,2.33,0.00,0.000,388,0.000,0.064,2919,3449,3330,3249,3412,0,0,0,0,0,0,15.10,14.88,15.12
$GC,1240,-1.35,-131.4,2918,3449,3249,3413,123.7,-11.3,186,1249,0.15,2.25,0.00,0.000,5254,0.116,0.041,2861,2066,3331,3249,3413,0,0,0,0,0,0,14.90,14.91,14.96
$GC,1549,-1.35,-131.4,2860,2066,3249,3414,161.2,-10.6,218,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2066,3331,3249,3414,0,0,0,0,0,0,15.13,15.15,15.15
$GC,1849,-1.35,-131.4,2860,2066,3249,3415,191.6,-10.9,248,1853,0.00,2.35,0.00,0.000,516,0.000,0.067,2861,650,3332,3249,3415,0,0,0,0,0,0,15.14,14.92,15.16
$GC,1975,-1.35,-131.4,2860,650,3249,3415,206.8,-12.1,273,1980,0.12,2.30,0.00,0.000,3078,0.283,0.046,2876,2057,3332,3249,3415,0,0,0,0,0,0,14.82,14.94,14.97
$GC,2288,-1.42,-131.4,2876,2057,3249,3415,240.3,-10.6,305,2292,0.00,2.30,0.00,0.000,388,0.000,0.063,2867,3459,3332,3249,3415,0,0,0,0,0,0,15.14,14.93,15.16
$GC,2339,-1.50,-131.4,2867,3460,3249,3415,246.0,-10.6,315,2344,0.00,2.30,0.00,0.000,1158,0.000,0.044,2867,2055,3332,3249,3415,0,0,0,0,0,0,15.02,14.95,15.03
$GC,2654,-1.57,-131.4,2867,2055,3248,3415,279.2,-9.8,329,2660,0.12,2.35,0.00,0.000,4740,0.142,0.067,2817,641,3331,3248,3415,0,0,0,0,0,0,14.96,14.95,15.00
$GC,2781,-1.51,-131.4,2817,640,3248,3415,294.5,-12.2,354,2786,0.17,2.33,0.00,0.000,3206,0.276,0.048,2847,2057,3331,3248,3415,0,0,0,0,0,0,14.85,14.97,15.00
$GC,3104,-1.55,-131.4,2846,2057,3244,3415,325.4,-9.0,368,3111,0.00,2.30,0.00,0.000,420,0.000,0.069,2837,3449,3329,3244,3415,0,0,0,0,0,0,15.18,14.95,15.20
$GC,3163,-1.59,-131.4,2837,3449,3244,3415,330.7,-8.4,380,3170,0.00,2.33,0.00,0.000,1190,0.000,0.047,2837,2042,3329,3244,3415,0,0,0,0,0,0,15.04,14.97,15.05
$GC,3493,-1.59,-131.4,2837,2042,3240,3415,363.9,-10.8,396,3497,0.00,2.33,0.00,0.000,516,0.000,0.074,2837,651,3327,3240,3415,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3536,-1.59,-131.4,2837,651,3240,3415,369.3,-12.5,405,3542,0.00,2.33,0.00,0.000,1030,0.000,0.051,2827,2058,3327,3240,3415,0,0,0,0,0,0,15.04,14.97,15.06
$GC,3854,-1.59,-131.4,2827,2059,3238,3415,404.6,-11.2,418,3858,0.00,2.38,0.00,0.000,516,0.000,0.073,2827,653,3326,3238,3415,0,0,0,0,0,0,15.19,14.96,15.21
$GC,3884,-1.59,-131.4,2827,653,3239,3415,408.5,-12.3,424,3889,0.00,2.33,0.00,0.000,1030,0.000,0.053,2818,2058,3326,3238,3415,0,0,0,0,0,0,15.04,14.98,15.06
$GC,4210,-1.59,-131.4,2818,2058,3236,3415,445.4,-11.2,439,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2058,3325,3236,3415,0,0,0,0,0,0,15.19,15.22,15.21
$GC,4510,-1.59,-131.4,2817,2058,3234,3415,479.3,-11.4,449,4516,0.00,2.40,0.00,0.000,516,0.000,0.073,2818,651,3324,3234,3415,0,0,0,0,0,0,15.20,14.97,15.22
$GC,4543,-1.56,-131.4,2817,651,3234,3414,483.3,-12.8,455,4550,0.12,2.33,0.00,0.000,3206,0.289,0.054,2834,2053,3324,3234,3415,0,0,0,0,0,0,14.87,14.98,15.02
$GC,4874,-1.56,-131.4,2834,2053,3232,3415,520.8,-11.3,471,4880,0.00,2.35,0.00,0.000,260,0.000,0.073,2825,3450,3323,3232,3415,0,0,0,0,0,0,15.17,14.97,15.19
$GC,4911,-1.56,-131.4,2824,3450,3232,3415,525.6,-11.7,479,4915,0.00,2.33,0.00,0.000,1030,0.000,0.050,2825,2054,3323,3232,3415,0,0,0,0,0,0,15.05,14.98,15.07
$GC,5233,-1.56,-131.4,2825,2053,3230,3415,561.4,-10.9,493,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2054,3322,3230,3415,0,0,0,0,0,0,15.17,15.20,15.19
$GC,5532,-1.56,-131.4,2825,2053,3229,3415,592.3,-10.2,503,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2053,3322,3229,3415,0,0,0,0,0,0,15.20,15.23,15.22
$GC,5833,-1.56,-131.4,2825,2053,3228,3414,621.0,-9.4,513,5838,0.00,2.40,0.00,0.000,516,0.000,0.079,2825,636,3320,3228,3413,0,0,0,0,0,0,15.18,14.97,15.20
$GC,5864,-1.56,-131.4,2825,636,3227,3413,624.2,-9.8,519,5869,0.00,2.35,0.00,0.000,1030,0.000,0.056,2815,2048,3320,3227,3413,0,0,0,0,0,0,15.06,14.99,15.07
$GC,6191,-1.56,-131.4,2815,2048,3225,3412,656.1,-9.8,534,6197,0.10,2.38,0.00,0.000,2308,0.296,0.073,2825,3461,3319,3226,3412,0,0,0,0,0,0,14.87,14.97,15.02
$GC,6224,-1.56,-131.4,2825,3461,3225,3412,659.6,-9.1,541,6229,0.00,2.35,0.00,0.000,1062,0.000,0.052,2825,2049,3318,3225,3412,0,0,0,0,0,0,15.05,14.98,15.07
$GC,6551,-1.56,-131.4,2824,2049,3224,3412,691.6,-10.1,556,6555,0.00,2.35,0.00,0.000,516,0.000,0.079,2825,647,3317,3224,3411,0,0,0,0,0,0,15.19,14.96,15.22
$GC,6595,-1.56,-131.4,2824,647,3224,3411,696.8,-11.6,565,6601,0.10,2.33,0.00,0.000,3078,0.303,0.056,2833,2059,3317,3224,3411,0,0,0,0,0,0,14.86,14.98,15.02
$GC,6907,-1.56,-131.4,2833,2059,3222,3410,729.4,-10.5,577,6912,0.00,2.40,0.00,0.000,516,0.000,0.076,2834,645,3317,3223,3411,0,0,0,0,0,0,15.19,14.96,15.21
$GC,6962,-1.56,-131.4,2833,645,3222,3411,735.8,-11.4,588,6969,0.00,2.35,0.00,0.000,1030,0.000,0.056,2825,2053,3316,3222,3410,0,0,0,0,0,0,15.05,14.98,15.07
$GC,7269,-1.56,-131.4,2825,2053,3221,3409,768.5,-10.7,599,7273,0.00,2.40,0.00,0.000,516,0.000,0.076,2825,643,3315,3222,3409,0,0,0,0,0,0,15.19,14.95,15.21
$GC,7303,-1.56,-131.4,2825,642,3221,3409,772.5,-11.1,606,7307,0.00,2.35,0.00,0.000,1030,0.000,0.057,2816,2049,3315,3221,3409,0,0,0,0,0,0,15.05,14.98,15.07
$GC,7620,-1.56,-131.4,2815,2050,3221,3408,804.9,-10.1,619,7626,0.00,2.38,0.00,0.000,260,0.000,0.075,2806,3458,3314,3221,3408,0,0,0,0,0,0,15.19,14.96,15.21
$GC,7649,-1.56,-131.4,2804,3459,3217,3403,808.0,-10.8,625,7655,0.12,2.33,0.00,0.000,3078,0.270,0.054,2831,2050,3310,3218,3403,0,0,0,0,0,0,14.86,14.97,15.02
$GC,7982,-1.56,-131.4,2831,2050,3217,3403,837.7,-8.9,641,7986,0.00,2.38,0.00,0.000,548,0.000,0.077,2831,637,3310,3217,3403,0,0,0,0,0,0,15.19,14.95,15.21
$GC,8051,-1.56,-131.4,2831,637,3217,3403,844.5,-9.6,655,8056,0.00,2.38,0.00,0.000,1030,0.000,0.056,2823,2044,3309,3216,3403,0,0,0,0,0,0,15.05,14.97,15.07
$GC,8373,-1.56,-131.4,2823,2045,3215,3403,872.9,-9.0,669,8378,0.00,2.40,0.00,0.000,548,0.000,0.076,2823,646,3309,3215,3403,0,0,0,0,0,0,15.19,14.95,15.21
$GC,8438,-1.56,-131.4,2823,646,3214,3403,879.6,-9.9,682,8444,0.10,2.35,0.00,0.000,3078,0.335,0.057,2831,2054,3308,3214,3403,0,0,0,0,0,0,14.83,14.97,15.01
$GC,8766,-1.56,-131.4,2831,2054,3213,3403,909.4,-9.4,697,8771,0.00,2.40,0.00,0.000,516,0.000,0.076,2832,641,3308,3213,3404,0,0,0,0,0,0,15.19,14.95,15.21
$GC,8811,-1.56,-131.4,2831,641,3212,3403,914.4,-10.8,706,8815,0.00,2.38,0.00,0.000,1030,0.000,0.057,2823,2057,3308,3213,3403,0,0,0,0,0,0,15.04,14.97,15.06
$GC,9128,-1.56,-131.4,2823,2057,3211,3403,946.6,-10.4,719,9132,0.00,2.42,0.00,0.000,516,0.000,0.076,2823,645,3307,3211,3403,0,0,0,0,0,0,15.19,14.95,15.21
$GC,9191,-1.56,-131.4,2823,644,3211,3403,954.2,-10.9,732,9197,0.10,2.38,0.00,0.000,3078,0.328,0.057,2830,2063,3306,3210,3403,0,0,0,0,0,0,14.83,14.97,15.02
$GC,9514,-1.56,-131.4,2830,2063,3210,3403,985.1,-9.5,746,9520,0.00,2.42,0.00,0.000,516,0.000,0.076,2831,643,3306,3210,3403,0,0,0,0,0,0,15.19,14.95,15.21
$STATE,9560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9561,begin apogee
$GC,9567,-0.33,0.0,2823,2106,3209,3403,990.3,-10.1,756,9687,1.08,0.00,116.28,2.663,10246,0.288,0.000,3102,2107,2789,2680,2898,0,0,0,0,0,0,14.81,14.04,13.07
$STATE,9688,end apogee,CONTROL_FINISHED_OK
$STATE,9688,begin climb
$GC,9689,1.35,131.4,3101,2107,2674,2895,992.4,0.0,760,9816,1.30,0.00,122.90,2.585,10246,0.184,0.000,3468,2108,2253,2128,2379,0,0,0,0,0,0,14.02,13.94,13.02
$GC,10105,1.22,131.4,3468,2108,2103,2374,949.1,12.8,774,10111,0.12,2.45,0.00,0.000,4740,0.340,0.076,3449,698,2237,2101,2374,0,0,0,0,0,0,14.46,14.58,14.59
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$STATE,19307,end climb,SURFACE_DEPTH_REACHED
$STATE,19308,begin surface coast
$FINISH,1.2,1.009803
$STATE,19337,end surface coast,CONTROL_FINISHED_OK
$STATE,19337,begin surface
$SM_CCo,19353,55.38,0.079,0,0,1159,400.08
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$IRIDIUM_FIX,1343.07,6113.98,080317,052905
$TT8_MAMPS,0.023968,0.15729
$HUMID,46.65
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,24.20
$XPDR_PINGS,11
$24V_AH,13.02,10.886
$10V_AH,13.65,0.000
$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
$DEVICE_SECS,31.575,214.775,354.450,55.375,0.000,0.000,0.000,192.375,12.750,0.000,23.821,3052.663,13303.595,650.332,2576.332,120.532,0.000,2124.166,0.000,2298.292,0.000,67.743,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225880
$DATA_FILE_SIZE,69989,1614
$CAP_FILE_SIZE,192502,0
$CFSIZE,260034560,257089536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.067,326.50,1
$GPS,080317,162638,1349.105,6116.044,39,0.8,46,-0.6,0.3,284.4,10,9.8