version: 66.13
glider: 137
mission: 5
dive: 336
start: 5 15 117 20 41 17
data:
$ID,137
$MISSION,5
$DIVE,336
$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,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,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,0.0031300001
$HD_B,0.023700001
$HD_C,7.0400001e-06
$HEADING,-1
$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,573.99261
$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,8
$CALL_WAIT,120
$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,1950
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2597
$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,0
$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
$GPS1,150517,203455,1219.5115,6253.4058,46,0.9,52,-1.1,0.4,311.9,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-68.8
$GPS2,150517,204018,1219.5773,6253.3574,13,0.9,18,-1.1,0.5,356.1,10,9.6
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,121.0,889732,-22.1,-10.000,-28.63,2564
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.65,-146.0,92,1990,328,571,0.0,0.0,0,89,0.00,0.00,-78.70,0.000,16386,0.000,0.000,92,1990,2606,2538,2674,0,0,0,0,0,0,14.85,28.83,14.87
$GC,91,-1.65,-146.0,92,1990,2538,2674,4.7,-6.5,13,124,13.07,2.53,-10.95,0.000,18724,0.376,2.021,2801,3318,3196,3076,3316,0,0,0,0,0,0,14.02,13.23,14.29
$GC,227,-1.73,-146.0,2801,3318,3077,3316,28.6,-13.2,38,234,0.00,2.28,0.00,0.000,1158,0.000,0.031,2802,1929,3196,3077,3316,0,0,0,0,0,0,14.65,14.59,14.67
$GC,537,-1.79,-146.0,2801,1929,3077,3316,71.0,-12.5,84,538,0.00,0.00,0.00,0.000,134,0.000,0.000,2801,1929,3197,3078,3316,0,0,0,0,0,0,14.97,14.99,14.99
$GC,838,-1.88,-146.0,2801,1929,3079,3316,101.5,-8.6,114,847,0.12,2.25,0.00,0.000,4772,0.155,0.045,2746,551,3197,3079,3316,0,0,0,0,0,0,14.65,14.57,14.69
$GC,870,-1.88,-146.0,2745,550,3079,3316,104.7,-9.4,120,881,0.12,2.20,0.00,0.000,3110,0.259,0.028,2760,1935,3197,3079,3316,0,0,0,0,0,0,14.38,14.73,14.62
$GC,1180,-1.93,-146.0,2760,1934,3081,3316,133.9,-10.3,152,1190,0.00,2.33,0.00,0.000,388,0.000,0.048,2752,3355,3198,3081,3316,0,0,0,0,0,0,15.04,14.68,15.07
$GC,1347,-1.99,-146.0,2751,3355,3081,3316,151.6,-8.6,185,1355,0.00,2.28,0.00,0.000,1190,0.000,0.028,2752,1937,3198,3081,3315,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1654,-2.06,-146.0,2751,1936,3082,3316,177.1,-8.4,216,1664,0.10,2.28,0.00,0.000,4772,0.148,0.047,2711,552,3199,3082,3316,0,0,0,0,0,0,14.76,14.68,14.81
$GC,1699,-2.06,-146.0,2711,552,3082,3316,181.6,-9.3,225,1708,0.12,2.22,0.00,0.000,3110,0.263,0.028,2726,1954,3199,3082,3316,0,0,0,0,0,0,14.42,14.76,14.66
$GC,2008,-2.09,-146.0,2726,1954,3082,3315,209.9,-10.7,256,2013,0.00,2.28,0.00,0.000,388,0.000,0.048,2718,3344,3199,3082,3316,0,0,0,0,0,0,15.03,14.69,15.05
$GC,2109,-2.14,-146.0,2718,3345,3082,3316,221.4,-10.0,275,2116,0.00,2.25,0.00,0.000,1158,0.000,0.028,2718,1941,3198,3082,3315,0,0,0,0,0,0,14.81,14.76,14.83
$GC,2417,-2.14,-146.0,2718,1942,3082,3316,248.4,-8.5,306,2424,0.00,2.30,0.00,0.000,548,0.000,0.052,2718,553,3199,3082,3316,0,0,0,0,0,0,15.03,14.66,15.05
$GC,2457,-2.14,-146.0,2718,553,3082,3316,252.4,-9.2,313,2465,0.00,2.22,0.00,0.000,1062,0.000,0.030,2708,1942,3199,3082,3316,0,0,0,0,0,0,14.81,14.76,14.83
$GC,2789,-2.14,-146.0,2708,1942,3082,3315,285.6,-10.6,328,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1942,3198,3081,3316,0,0,0,0,0,0,15.03,15.06,15.06
$GC,3090,-2.14,-146.0,2708,1942,3082,3316,316.0,-9.8,338,3091,0.00,0.00,0.00,0.000,38,0.000,0.000,2708,1942,3199,3082,3316,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3391,-2.14,-146.0,2708,1942,3081,3316,346.0,-10.1,348,3396,0.00,2.38,0.00,0.000,516,0.000,0.059,2708,549,3198,3081,3315,0,0,0,0,0,0,15.05,14.65,15.07
$GC,3433,-2.14,-146.0,2708,549,3081,3316,351.3,-11.4,356,3438,0.00,2.30,0.00,0.000,1030,0.000,0.039,2698,1946,3198,3081,3316,0,0,0,0,0,0,14.80,14.71,14.82
$GC,3756,-2.14,-146.0,2698,1947,3079,3313,385.7,-10.8,370,3763,0.00,2.35,0.00,0.000,260,0.000,0.054,2688,3365,3196,3079,3313,0,0,0,0,0,0,15.05,14.68,15.07
$GC,3823,-2.14,-146.0,2687,3365,3079,3312,392.9,-10.5,382,3830,0.00,2.30,0.00,0.000,1030,0.000,0.035,2688,1958,3195,3079,3312,0,0,0,0,0,0,14.80,14.72,14.82
$GC,4159,-2.14,-146.0,2688,1958,3077,3310,427.6,-10.0,398,4164,0.00,2.38,0.00,0.000,548,0.000,0.060,2689,549,3193,3077,3310,0,0,0,0,0,0,15.05,14.64,15.07
$GC,4228,-2.14,-146.0,2688,549,3076,3310,434.9,-9.4,411,4236,0.12,2.33,0.00,0.000,3110,0.287,0.038,2704,1960,3193,3076,3310,0,0,0,0,0,0,14.32,14.70,14.62
$GC,4560,-2.14,-146.0,2704,1960,3074,3308,462.9,-8.6,426,4561,0.00,0.00,0.00,0.000,38,0.000,0.000,2704,1960,3190,3073,3308,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4861,-2.14,-146.0,2704,1960,3072,3305,488.8,-8.7,436,4868,0.00,2.35,0.00,0.000,292,0.000,0.058,2696,3362,3188,3072,3305,0,0,0,0,0,0,15.04,14.65,15.07
$GC,4891,-2.14,-146.0,2695,3362,3072,3305,491.8,-9.5,441,4900,0.00,2.35,0.00,0.000,1062,0.000,0.039,2696,1949,3188,3072,3305,0,0,0,0,0,0,14.78,14.69,14.81
$GC,5197,-2.14,-146.0,2695,1949,3070,3303,519.2,-9.3,452,5204,0.00,2.38,0.00,0.000,548,0.000,0.061,2696,542,3186,3070,3303,0,0,0,0,0,0,15.04,14.64,15.07
$GC,5236,-2.14,-146.0,2695,542,3070,3303,523.4,-9.9,459,5241,0.10,2.33,0.00,0.000,3110,0.288,0.037,2705,1949,3186,3070,3303,0,0,0,0,0,0,14.35,14.69,14.61
$GC,5567,-2.14,-146.0,2704,1950,3069,3302,554.4,-9.8,474,5568,0.00,0.00,0.00,0.000,38,0.000,0.000,2705,1950,3185,3069,3301,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5866,-2.14,-146.0,2705,1949,3067,3300,583.6,-9.7,484,5871,0.00,2.40,0.00,0.000,292,0.000,0.063,2697,3364,3183,3067,3300,0,0,0,0,0,0,15.04,14.62,15.06
$GC,5893,-2.14,-146.0,2696,3364,3067,3299,586.6,-9.2,489,5903,0.00,2.38,0.00,0.000,1062,0.000,0.044,2697,1951,3183,3067,3299,0,0,0,0,0,0,14.76,14.66,14.78
$GC,6200,-2.14,-146.0,2696,1950,3065,3299,616.1,-9.6,500,6204,0.00,2.40,0.00,0.000,292,0.000,0.057,2687,3355,3181,3065,3298,0,0,0,0,0,0,15.04,14.62,15.06
$GC,6226,-2.14,-146.0,2687,3355,3065,3298,619.0,-10.1,505,6236,0.00,2.38,0.00,0.000,1030,0.000,0.041,2687,1940,3181,3065,3298,0,0,0,0,0,0,14.74,14.65,14.77
$GC,6533,-2.14,-146.0,2687,1940,3064,3297,647.8,-9.5,516,6538,0.10,2.40,0.00,0.000,2340,0.301,0.055,2697,3353,3180,3064,3296,0,0,0,0,0,0,14.41,14.58,14.59
$GC,6600,-2.18,-146.0,2696,3353,3064,3295,654.0,-9.0,528,6606,0.00,2.35,0.00,0.000,1190,0.000,0.043,2697,1948,3179,3064,3295,0,0,0,0,0,0,14.64,14.60,14.69
$GC,6934,-2.18,-146.0,2696,1948,3063,3295,684.7,-9.0,544,6939,0.00,2.40,0.00,0.000,548,0.000,0.062,2697,539,3179,3063,3295,0,0,0,0,0,0,15.03,14.58,15.05
$GC,7034,-2.18,-146.0,2696,538,3062,3295,694.2,-9.0,562,7039,0.00,2.33,0.00,0.000,1062,0.000,0.033,2688,1955,3178,3062,3295,0,0,0,0,0,0,14.74,14.67,14.77
$GC,7369,-2.18,-146.0,2688,1955,3061,3293,726.4,-9.7,578,7370,0.00,0.00,0.00,0.000,38,0.000,0.000,2688,1955,3177,3060,3294,0,0,0,0,0,0,15.05,15.07,15.07
$GC,7669,-2.18,-146.0,2688,1955,3059,3292,756.5,-9.9,588,7670,0.00,0.00,0.00,0.000,38,0.000,0.000,2688,1955,3175,3059,3292,0,0,0,0,0,0,15.03,15.05,15.05
$GC,7969,-2.18,-146.0,2688,1955,3059,3291,786.1,-9.8,598,7970,0.00,0.00,0.00,0.000,38,0.000,0.000,2688,1955,3175,3059,3291,0,0,0,0,0,0,15.04,15.06,15.06
$GC,8270,-2.18,-146.0,2688,1955,3058,3291,815.2,-9.7,608,8275,0.00,2.45,0.00,0.000,548,0.000,0.060,2688,541,3174,3058,3291,0,0,0,0,0,0,15.04,14.55,15.05
$GC,8334,-2.18,-146.0,2687,541,3058,3291,822.0,-9.3,620,8342,0.00,2.33,0.00,0.000,1062,0.000,0.038,2679,1943,3174,3057,3291,0,0,0,0,0,0,14.71,14.64,14.74
$GC,8671,-2.18,-146.0,2679,1943,3057,3290,855.1,-9.7,636,8676,0.00,2.45,0.00,0.000,548,0.000,0.060,2679,531,3173,3057,3290,0,0,0,0,0,0,15.02,14.56,15.04
$GC,8716,-2.14,-146.0,2679,530,3057,3290,859.9,-10.5,644,8722,0.15,2.40,0.00,0.000,3206,0.282,0.044,2704,1954,3173,3057,3290,0,0,0,0,0,0,14.08,14.59,14.27
$GC,9043,-2.14,-146.0,2704,1954,3055,3290,889.0,-9.0,658,9044,0.00,0.00,0.00,0.000,38,0.000,0.000,2704,1954,3172,3055,3290,0,0,0,0,0,0,15.03,15.06,15.05
$GC,9341,-2.14,-146.0,2704,1954,3056,3289,916.7,-9.3,668,9346,0.00,2.42,0.00,0.000,292,0.000,0.065,2696,3365,3172,3055,3289,0,0,0,0,0,0,15.02,14.52,15.04
$GC,9399,-2.18,-146.0,2695,3365,3055,3288,922.3,-9.8,678,9404,0.00,2.42,0.00,0.000,1190,0.000,0.048,2695,1945,3171,3055,3288,0,0,0,0,0,0,14.67,14.57,14.70
$GC,9715,-2.18,-146.0,2695,1945,3054,3288,951.8,-9.4,690,9719,0.00,2.42,0.00,0.000,548,0.000,0.067,2696,541,3171,3054,3288,0,0,0,0,0,0,15.03,14.50,15.05
$GC,9767,-2.18,-146.0,2695,541,3054,3288,957.6,-10.6,700,9774,0.00,2.38,0.00,0.000,1030,0.000,0.041,2687,1947,3170,3054,3287,0,0,0,0,0,0,14.67,14.58,14.71
$GC,10082,-2.18,-146.0,2686,1947,3054,3286,988.0,-9.6,712,10083,0.00,0.00,0.00,0.000,38,0.000,0.000,2687,1947,3170,3054,3286,0,0,0,0,0,0,15.02,15.04,15.04
$STATE,10111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10111,begin apogee
$GC,10117,-0.33,0.0,2686,1761,3054,3286,991.0,-9.7,713,10255,1.65,0.00,133.55,2.713,10246,0.259,0.000,3096,1760,2596,2475,2717,0,0,0,0,0,0,13.90,13.93,12.62
$STATE,10256,end apogee,CONTROL_FINISHED_OK
$STATE,10256,begin climb
$GC,10258,1.65,146.0,3096,1760,2472,2716,993.9,0.0,717,10404,1.45,2.67,137.35,2.715,11012,0.135,0.063,3526,3172,1997,1866,2129,0,0,0,0,0,0,13.94,13.72,12.44
$GC,10425,1.51,146.0,3526,3171,1866,2123,979.1,12.3,736,10430,0.15,2.55,0.00,0.000,5254,0.366,0.061,3509,1776,1994,1866,2122,0,0,0,0,0,0,13.69,13.95,14.00
$GC,10739,1.41,146.0,3509,1775,1857,2122,938.8,13.0,748,10745,0.12,2.45,0.00,0.000,4740,0.377,0.067,3492,357,1988,1855,2122,0,0,0,0,0,0,14.18,14.49,14.40
$GC,10806,1.32,146.0,3492,357,1853,2122,930.1,12.4,762,10812,0.15,2.40,0.00,0.000,5254,0.334,0.041,3465,1777,1987,1853,2122,0,0,0,0,0,0,14.19,14.59,14.56
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$STATE,19543,end climb,SURFACE_DEPTH_REACHED
$STATE,19543,begin surface coast
$FINISH,1.6,0.999540
$STATE,19570,end surface coast,CONTROL_FINISHED_OK
$STATE,19570,begin surface
$SM_CCo,19590,64.72,0.081,0,0,449,526.65
$SM_CCo,19657,-0.17,0.000,0,0,452,526.65
$SM_CCo,19661,0.47,0.101,0,0,449,526.65
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$IRIDIUM_FIX,1214.53,6254.50,150517,150949
$TT8_MAMPS,0.024717,0.158039
$HUMID,51.37
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,24.00
$XPDR_PINGS,8
$24V_AH,12.44,131.236
$10V_AH,12.80,0.000
$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
$DEVICE_SECS,29.300,187.400,468.150,65.200,0.000,0.000,0.000,215.175,118.750,0.000,19.116,3143.589,13161.264,762.865,2622.760,318.598,0.000,2187.487,0.000,2052.607,0.000,787.050,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225688
$DATA_FILE_SIZE,63303,1443
$CAP_FILE_SIZE,229548,0
$CFSIZE,260034560,229400576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,8334.71,0x233daa,0,24
$CURRENT,0.124,284.64,1
$GPS,160517,021031,1219.114,6253.337,46,0.7,53,-1.1,0.7,322.2,11,9.8