version: 66.13
glider: 137
mission: 5
dive: 29
start: 3 8 117 22 15 24
data:
$ID,137
$MISSION,5
$DIVE,29
$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,390
$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,125
$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,313
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,49
$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
$GPS1,080317,220936,1348.5970,6118.0747,37,0.9,42,-0.6,0.0,0.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-72.7
$GPS2,080317,221449,1348.6005,6118.0610,14,0.9,24,-0.6,0.0,0.0,10,9.8
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,HEADING
$TGT_LATLONG,1343.698,6127.966
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,125.2,20000,-17.4,-8.462,-20.45,2200
$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,-1.31,-121.7,97,2071,1424,1589,0.0,0.0,0,72,0.00,0.00,-63.33,0.000,16386,0.000,0.000,96,2072,3164,3081,3248,0,0,0,0,0,0,14.91,28.83,14.93
$GC,74,-1.31,-121.7,97,2071,3082,3248,4.1,-6.8,11,95,14.85,0.00,-2.22,0.000,18726,0.460,0.000,2882,2068,3288,3188,3388,0,0,0,0,0,0,14.47,13.87,14.73
$GC,402,-1.21,-121.7,2882,2069,3190,3389,64.5,-15.3,66,411,0.12,2.40,0.00,0.000,2692,0.321,0.060,2913,635,3289,3190,3388,0,0,0,0,0,0,14.67,14.78,14.78
$GC,433,-1.17,-121.7,2912,635,3191,3389,69.1,-13.8,72,438,0.00,2.33,0.00,0.000,1158,0.000,0.044,2904,2046,3290,3191,3389,0,0,0,0,0,0,14.87,14.81,14.88
$GC,745,-1.17,-121.7,2904,2046,3191,3389,107.4,-11.1,104,749,0.00,2.38,0.00,0.000,516,0.000,0.061,2905,636,3290,3191,3389,0,0,0,0,0,0,15.07,14.85,15.09
$GC,819,-1.17,-121.7,2904,635,3192,3389,115.6,-10.3,119,827,0.12,2.35,0.00,0.000,3078,0.275,0.043,2921,2068,3290,3192,3389,0,0,0,0,0,0,14.76,14.87,14.90
$GC,1126,-1.25,-121.7,2921,2068,3194,3389,144.2,-11.4,150,1130,0.00,2.30,0.00,0.000,388,0.000,0.067,2913,3462,3291,3194,3388,0,0,0,0,0,0,15.11,14.88,15.13
$GC,1196,-1.35,-121.7,2913,3462,3194,3389,153.0,-13.3,164,1204,0.12,2.33,0.00,0.000,5254,0.131,0.043,2862,2029,3291,3194,3389,0,0,0,0,0,0,14.91,14.91,14.97
$GC,1502,-1.35,-121.7,2862,2029,3195,3389,194.2,-11.1,195,1506,0.00,2.25,0.00,0.000,516,0.000,0.061,2862,651,3291,3195,3388,0,0,0,0,0,0,15.13,14.91,15.15
$GC,1668,-1.35,-121.7,2861,650,3195,3389,213.0,-11.2,228,1673,0.12,2.30,0.00,0.000,3078,0.284,0.043,2877,2064,3292,3195,3389,0,0,0,0,0,0,14.81,14.93,14.96
$GC,1980,-1.41,-121.7,2877,2064,3195,3389,236.4,-8.7,260,1985,0.00,2.38,0.00,0.000,644,0.000,0.063,2878,644,3292,3195,3389,0,0,0,0,0,0,15.15,14.92,15.17
$GC,2046,-1.44,-121.7,2878,644,3195,3389,243.2,-10.7,273,2052,0.00,2.30,0.00,0.000,1158,0.000,0.044,2870,2053,3292,3195,3389,0,0,0,0,0,0,15.01,14.95,15.02
$GC,2352,-1.49,-121.7,2869,2053,3195,3389,275.1,-10.0,288,2357,0.00,2.35,0.00,0.000,644,0.000,0.063,2870,641,3291,3194,3389,0,0,0,0,0,0,15.16,14.94,15.19
$GC,2407,-1.53,-121.7,2869,640,3195,3388,280.8,-10.2,299,2414,0.00,2.33,0.00,0.000,1158,0.000,0.046,2861,2057,3292,3195,3389,0,0,0,0,0,0,15.02,14.96,15.04
$GC,2714,-1.56,-121.7,2860,2057,3194,3389,306.9,-8.4,310,2721,0.12,2.35,0.00,0.000,4772,0.136,0.063,2810,651,3291,3194,3388,0,0,0,0,0,0,14.96,14.95,15.00
$GC,2776,-1.48,-121.7,2809,651,3193,3388,314.0,-10.4,323,2782,0.22,2.33,0.00,0.000,3206,0.269,0.046,2852,2056,3291,3193,3389,0,0,0,0,0,0,14.84,14.97,15.00
$GC,3105,-1.48,-121.7,2852,2056,3190,3389,342.6,-8.7,338,3111,0.00,2.33,0.00,0.000,516,0.000,0.066,2854,650,3289,3190,3389,0,0,0,0,0,0,15.16,14.95,15.19
$GC,3136,-1.48,-121.7,2853,650,3190,3389,346.1,-9.5,345,3141,0.00,2.33,0.00,0.000,1030,0.000,0.049,2845,2059,3289,3190,3389,0,0,0,0,0,0,15.04,14.97,15.05
$GC,3463,-1.48,-121.7,2845,2060,3188,3388,376.8,-9.7,360,3468,0.00,2.38,0.00,0.000,516,0.000,0.067,2845,642,3288,3188,3389,0,0,0,0,0,0,15.19,14.96,15.21
$GC,3538,-1.48,-121.7,2845,642,3188,3388,385.3,-11.6,375,3542,0.00,2.30,0.00,0.000,1030,0.000,0.047,2835,2054,3288,3188,3389,0,0,0,0,0,0,15.04,14.98,15.06
$GC,3855,-1.48,-121.7,2835,2054,3187,3389,421.0,-11.7,388,3860,0.00,2.38,0.00,0.000,516,0.000,0.070,2836,654,3287,3186,3389,0,0,0,0,0,0,15.16,14.96,15.19
$GC,3916,-1.48,-121.7,2835,654,3186,3389,428.8,-12.4,400,3922,0.12,2.30,0.00,0.000,3078,0.278,0.050,2852,2053,3286,3185,3388,0,0,0,0,0,0,14.86,14.97,15.02
$GC,4249,-1.51,-121.7,2851,2053,3183,3389,465.6,-10.9,416,4254,0.00,2.35,0.00,0.000,388,0.000,0.073,2843,3453,3286,3183,3389,0,0,0,0,0,0,15.19,14.96,15.21
$GC,4283,-1.55,-121.7,2842,3453,3183,3389,469.6,-10.3,423,4288,0.00,2.35,0.00,0.000,1158,0.000,0.049,2843,2052,3285,3183,3388,0,0,0,0,0,0,15.02,14.97,15.04
$GC,4610,-1.55,-121.7,2842,2050,3182,3384,504.8,-10.7,438,4614,0.00,2.35,0.00,0.000,516,0.000,0.073,2842,639,3283,3182,3384,0,0,0,0,0,0,15.19,14.96,15.21
$GC,4679,-1.55,-121.7,2842,639,3182,3384,513.1,-11.8,452,4684,0.00,2.33,0.00,0.000,1030,0.000,0.050,2833,2050,3283,3182,3384,0,0,0,0,0,0,15.04,14.98,15.06
$GC,4996,-1.55,-121.7,2832,2051,3182,3384,546.0,-10.4,465,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2051,3282,3181,3384,0,0,0,0,0,0,15.19,15.21,15.21
$GC,5296,-1.55,-121.7,2832,2051,3179,3384,576.7,-10.2,475,5300,0.00,2.38,0.00,0.000,516,0.000,0.070,2833,641,3281,3179,3384,0,0,0,0,0,0,15.19,14.97,15.22
$GC,5371,-1.55,-121.7,2832,641,3179,3384,584.8,-11.0,490,5375,0.00,2.33,0.00,0.000,1030,0.000,0.050,2823,2050,3281,3179,3384,0,0,0,0,0,0,15.05,14.98,15.07
$GC,5677,-1.55,-121.7,2823,2050,3178,3384,615.8,-10.2,501,5684,0.00,2.38,0.00,0.000,516,0.000,0.072,2823,640,3280,3177,3384,0,0,0,0,0,0,15.19,14.96,15.21
$GC,5731,-1.50,-121.7,2823,640,3177,3384,621.9,-11.5,512,5739,0.15,2.35,0.00,0.000,3206,0.272,0.050,2846,2060,3280,3177,3384,0,0,0,0,0,0,14.85,14.98,15.02
$GC,6037,-1.53,-121.7,2846,2060,3176,3384,650.2,-9.3,523,6044,0.00,2.40,0.00,0.000,644,0.000,0.072,2847,636,3280,3176,3384,0,0,0,0,0,0,15.19,14.96,15.21
$GC,6086,-1.53,-121.7,2847,636,3176,3383,655.2,-10.3,533,6090,0.00,2.35,0.00,0.000,1030,0.000,0.051,2838,2057,3279,3176,3383,0,0,0,0,0,0,15.04,14.98,15.06
$GC,6392,-1.53,-121.7,2837,2057,3175,3382,685.1,-9.9,544,6396,0.00,2.38,0.00,0.000,516,0.000,0.070,2838,647,3278,3175,3382,0,0,0,0,0,0,15.19,14.96,15.21
$GC,6461,-1.53,-121.7,2837,647,3175,3382,692.6,-10.3,558,6466,0.00,2.33,0.00,0.000,1030,0.000,0.050,2828,2055,3278,3174,3382,0,0,0,0,0,0,15.04,14.98,15.06
$GC,6783,-1.53,-121.7,2828,2055,3174,3382,724.1,-9.9,572,6788,0.00,2.38,0.00,0.000,516,0.000,0.072,2829,647,3277,3173,3382,0,0,0,0,0,0,15.19,14.95,15.21
$GC,6852,-1.53,-121.7,2828,647,3173,3381,731.9,-10.8,586,6858,0.10,2.30,0.00,0.000,3078,0.301,0.051,2837,2052,3277,3173,3381,0,0,0,0,0,0,14.85,14.97,15.02
$GC,7175,-1.53,-121.7,2836,2052,3172,3381,763.9,-10.2,600,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2052,3276,3171,3381,0,0,0,0,0,0,15.19,15.21,15.21
$GC,7474,-1.53,-121.7,2836,2051,3171,3380,795.3,-10.5,610,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2051,3275,3171,3380,0,0,0,0,0,0,15.19,15.22,15.21
$GC,7774,-1.53,-121.7,2836,2051,3171,3380,825.2,-9.7,620,7779,0.00,2.38,0.00,0.000,516,0.000,0.072,2837,647,3275,3171,3380,0,0,0,0,0,0,15.19,14.96,15.22
$GC,7839,-1.53,-121.7,2837,646,3170,3380,832.2,-10.0,633,7843,0.00,2.33,0.00,0.000,1030,0.000,0.053,2830,2046,3275,3170,3380,0,0,0,0,0,0,15.04,14.98,15.07
$GC,8161,-1.53,-121.7,2829,2047,3170,3379,862.5,-9.1,647,8169,0.00,2.38,0.00,0.000,516,0.000,0.072,2830,646,3274,3170,3379,0,0,0,0,0,0,15.16,14.95,15.19
$GC,8229,-1.53,-121.7,2829,646,3168,3379,869.6,-10.1,661,8233,0.00,2.35,0.00,0.000,1030,0.000,0.053,2820,2054,3274,3169,3379,0,0,0,0,0,0,15.04,14.97,15.06
$GC,8545,-1.53,-121.7,2820,2054,3169,3378,899.6,-9.5,674,8550,0.00,2.40,0.00,0.000,516,0.000,0.073,2820,641,3273,3169,3378,0,0,0,0,0,0,15.19,14.95,15.21
$GC,8630,-1.50,-121.7,2820,641,3169,3378,908.6,-10.8,691,8638,0.17,2.35,0.00,0.000,3206,0.278,0.052,2849,2051,3273,3168,3378,0,0,0,0,0,0,14.84,14.97,15.01
$GC,8937,-1.54,-121.7,2849,2051,3167,3378,934.7,-8.6,702,8938,0.00,0.00,0.00,0.000,134,0.000,0.000,2850,2052,3272,3167,3378,0,0,0,0,0,0,15.19,15.21,15.21
$GC,9238,-1.59,-121.7,2850,2052,3167,3377,961.3,-8.8,712,9243,0.00,2.38,0.00,0.000,644,0.000,0.072,2850,647,3271,3167,3376,0,0,0,0,0,0,15.16,14.95,15.19
$GC,9299,-1.59,-121.7,2850,647,3167,3376,967.2,-8.8,724,9304,0.00,2.33,0.00,0.000,1030,0.000,0.054,2842,2057,3271,3166,3376,0,0,0,0,0,0,15.04,14.97,15.06
$STATE,9569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9570,begin apogee
$GC,9573,-0.33,0.0,2842,1785,3166,3376,991.9,-8.9,738,9685,0.98,0.00,107.65,2.664,10246,0.278,0.000,3096,1785,2789,2675,2903,0,0,0,0,0,0,14.82,14.06,13.09
$STATE,9686,end apogee,CONTROL_FINISHED_OK
$STATE,9686,begin climb
$GC,9687,1.31,121.7,3096,1785,2670,2900,993.7,0.0,741,9813,1.25,2.65,112.88,2.583,10500,0.184,0.077,3445,3203,2286,2161,2412,0,0,0,0,0,0,14.03,13.95,13.02
$GC,9859,1.16,121.7,3445,3203,2155,2410,981.9,11.4,780,9864,0.15,2.45,0.00,0.000,5254,0.386,0.057,3429,1810,2282,2154,2410,0,0,0,0,0,0,14.09,14.26,14.31
$GC,10177,1.07,121.7,3429,1809,2147,2410,947.8,10.6,793,10183,0.00,2.50,0.00,0.000,644,0.000,0.080,3438,389,2278,2146,2410,0,0,0,0,0,0,14.85,14.63,14.88
$GC,10215,0.95,121.7,3438,388,2143,2410,943.3,11.7,801,10220,0.28,2.40,0.00,0.000,5254,0.355,0.051,3382,1807,2276,2142,2410,0,0,0,0,0,0,14.49,14.68,14.71
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$STATE,19962,end climb,SURFACE_DEPTH_REACHED
$STATE,19962,begin surface coast
$FINISH,1.2,1.009351
$STATE,19992,end surface coast,CONTROL_FINISHED_OK
$STATE,19993,begin surface
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$TT8_MAMPS,0.024717,0.158788
$HUMID,47.55
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,24.40
$XPDR_PINGS,8
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$10V_AH,13.39,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,226008
$DATA_FILE_SIZE,69881,1610
$CAP_FILE_SIZE,195012,0
$CFSIZE,260034560,256905216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,10532.80,0x233da8,1,24
$CURRENT,0.057,317.47,1
$GPS,090317,035042,1348.048,6120.274,35,0.6,46,-0.7,0.0,343.7,11,9.4