version: 66.13
glider: 137
mission: 5
dive: 340
start: 5 16 117 19 1 32
data:
$ID,137
$MISSION,5
$DIVE,340
$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,30
$R_STBD_OVSHOOT,44
$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
$GPS1,160517,185504,1219.2644,6253.5088,43,0.8,46,-1.1,0.6,316.2,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-69.5
$GPS2,160517,190032,1219.3018,6253.4561,15,0.8,22,-1.1,0.0,276.5,9,9.6
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,119.5,889280,-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,-146.0,92,1955,329,568,0.0,0.0,0,88,0.00,0.00,-78.35,0.000,16386,0.000,0.000,92,1955,2581,2511,2651,0,0,0,0,0,0,14.85,28.83,14.88
$GC,91,-1.65,-146.0,92,1955,2512,2651,4.3,-4.3,13,124,13.65,2.83,-11.82,0.000,19236,0.397,2.025,2809,531,3195,3077,3314,0,0,0,0,0,0,14.04,12.93,14.31
$GC,216,-1.70,-146.0,2808,531,3079,3314,26.3,-14.4,36,223,0.00,2.33,0.00,0.000,1158,0.000,0.031,2800,1958,3196,3078,3314,0,0,0,0,0,0,14.66,14.59,14.67
$GC,526,-1.76,-146.0,2799,1958,3078,3314,64.7,-10.5,84,536,0.00,2.30,0.00,0.000,388,0.000,0.051,2790,3351,3196,3078,3314,0,0,0,0,0,0,14.97,14.61,15.00
$GC,592,-1.83,-146.0,2789,3351,3078,3315,71.8,-10.3,97,599,0.00,2.33,0.00,0.000,1158,0.000,0.035,2790,1933,3196,3078,3314,0,0,0,0,0,0,14.73,14.66,14.76
$GC,898,-1.91,-146.0,2789,1933,3080,3314,103.0,-10.2,128,900,0.12,0.00,0.00,0.000,4230,0.155,0.000,2737,1933,3196,3079,3314,0,0,0,0,0,0,14.68,14.79,14.76
$GC,1198,-1.91,-146.0,2737,1933,3081,3314,133.1,-10.7,158,1208,0.12,2.38,0.00,0.000,2308,0.266,0.048,2756,3351,3197,3081,3314,0,0,0,0,0,0,14.37,14.63,14.52
$GC,1313,-2.01,-146.0,2756,3352,3081,3315,144.8,-9.4,180,1323,0.00,2.28,0.00,0.000,1190,0.000,0.034,2756,1943,3197,3081,3314,0,0,0,0,0,0,14.69,14.66,14.71
$GC,1622,-2.07,-146.0,2756,1943,3083,3314,169.6,-8.1,212,1632,0.12,2.35,0.00,0.000,4516,0.130,0.047,2694,3358,3198,3083,3314,0,0,0,0,0,0,14.73,14.60,14.76
$GC,1705,-2.07,-146.0,2694,3358,3082,3314,177.3,-8.8,228,1715,0.12,2.30,0.00,0.000,3110,0.272,0.034,2719,1939,3198,3082,3314,0,0,0,0,0,0,14.37,14.73,14.64
$GC,2015,-2.07,-146.0,2718,1939,3082,3314,210.9,-12.1,260,2022,0.00,2.35,0.00,0.000,260,0.000,0.049,2710,3353,3198,3083,3314,0,0,0,0,0,0,15.03,14.69,15.05
$GC,2096,-2.07,-146.0,2710,3353,3082,3314,220.2,-11.5,274,2101,0.00,2.28,0.00,0.000,1030,0.000,0.034,2710,1952,3198,3082,3314,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2431,-2.07,-146.0,2710,1952,3082,3314,253.0,-9.6,306,2436,0.00,2.33,0.00,0.000,548,0.000,0.055,2710,546,3198,3083,3314,0,0,0,0,0,0,15.04,14.66,15.07
$GC,2469,-2.07,-146.0,2710,546,3082,3314,257.3,-10.1,313,2475,0.10,2.28,0.00,0.000,3078,0.287,0.031,2719,1963,3198,3083,3314,0,0,0,0,0,0,14.42,14.74,14.66
$GC,2799,-2.11,-146.0,2719,1963,3082,3314,284.6,-7.4,328,2800,0.00,0.00,0.00,0.000,166,0.000,0.000,2719,1963,3198,3082,3314,0,0,0,0,0,0,15.05,15.07,15.07
$GC,3103,-2.15,-146.0,2718,1963,3082,3314,309.4,-8.9,338,3108,0.00,2.40,0.00,0.000,676,0.000,0.057,2720,549,3198,3082,3314,0,0,0,0,0,0,15.06,14.67,15.08
$GC,3151,-2.15,-146.0,2719,549,3082,3314,314.6,-10.5,347,3156,0.00,2.28,0.00,0.000,1030,0.000,0.032,2712,1954,3198,3082,3314,0,0,0,0,0,0,14.81,14.75,14.83
$GC,3469,-2.15,-146.0,2711,1955,3081,3314,347.7,-10.7,360,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1954,3197,3081,3314,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3773,-2.15,-146.0,2711,1955,3078,3314,379.2,-10.2,370,3777,0.00,2.40,0.00,0.000,516,0.000,0.058,2712,546,3196,3078,3314,0,0,0,0,0,0,15.05,14.66,15.07
$GC,3841,-2.15,-146.0,2711,546,3077,3314,386.8,-9.7,383,3846,0.00,2.30,0.00,0.000,1062,0.000,0.034,2703,1956,3195,3077,3313,0,0,0,0,0,0,14.80,14.73,14.82
$GC,4171,-2.15,-146.0,2702,1956,3076,3310,419.2,-10.1,398,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1956,3193,3076,3311,0,0,0,0,0,0,15.06,15.08,15.08
$GC,4471,-2.15,-146.0,2702,1956,3074,3308,450.5,-10.4,408,4475,0.00,2.42,0.00,0.000,516,0.000,0.060,2703,545,3191,3074,3308,0,0,0,0,0,0,15.04,14.63,15.07
$GC,4506,-2.15,-146.0,2703,545,3074,3307,454.2,-10.5,414,4511,0.00,2.30,0.00,0.000,1030,0.000,0.037,2695,1949,3191,3074,3308,0,0,0,0,0,0,14.79,14.72,14.81
$GC,4841,-2.15,-146.0,2695,1949,3071,3305,487.8,-9.9,430,4842,0.00,0.00,0.00,0.000,38,0.000,0.000,2695,1949,3188,3071,3306,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5141,-2.15,-146.0,2694,1948,3070,3304,514.8,-8.9,440,5146,0.00,2.42,0.00,0.000,548,0.000,0.062,2697,540,3187,3070,3304,0,0,0,0,0,0,15.04,14.62,15.07
$GC,5179,-2.15,-146.0,2697,540,3070,3304,518.8,-8.9,447,5184,0.00,2.33,0.00,0.000,1062,0.000,0.037,2688,1952,3187,3070,3304,0,0,0,0,0,0,14.78,14.71,14.81
$GC,5509,-2.15,-146.0,2688,1952,3069,3301,549.5,-9.5,462,5514,0.00,2.42,0.00,0.000,548,0.000,0.065,2689,554,3185,3069,3301,0,0,0,0,0,0,15.06,14.59,15.07
$GC,5547,-2.11,-146.0,2688,553,3068,3301,553.6,-10.4,469,5553,0.17,2.30,0.00,0.000,3206,0.271,0.037,2716,1952,3184,3068,3301,0,0,0,0,0,0,14.26,14.70,14.55
$GC,5878,-2.15,-146.0,2715,1952,3066,3300,583.4,-9.0,484,5879,0.00,0.00,0.00,0.000,166,0.000,0.000,2716,1952,3182,3066,3299,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6181,-2.18,-146.0,2716,1952,3065,3298,611.4,-9.4,494,6186,0.00,2.42,0.00,0.000,676,0.000,0.063,2717,551,3181,3065,3298,0,0,0,0,0,0,15.05,14.59,15.07
$GC,6219,-2.18,-146.0,2717,551,3064,3298,615.7,-10.0,501,6224,0.00,2.33,0.00,0.000,1062,0.000,0.037,2708,1957,3181,3064,3298,0,0,0,0,0,0,14.76,14.69,14.78
$GC,6548,-2.18,-146.0,2708,1957,3063,3297,649.1,-10.2,516,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1957,3179,3063,3296,0,0,0,0,0,0,15.03,15.06,15.05
$GC,6852,-2.18,-146.0,2708,1956,3063,3295,679.2,-9.8,526,6856,0.00,2.42,0.00,0.000,548,0.000,0.059,2709,551,3178,3062,3295,0,0,0,0,0,0,15.04,14.59,15.07
$GC,6916,-2.18,-146.0,2708,551,3061,3295,686.0,-9.8,538,6920,0.00,2.33,0.00,0.000,1062,0.000,0.037,2699,1957,3178,3061,3295,0,0,0,0,0,0,14.75,14.67,14.77
$GC,7249,-2.18,-146.0,2699,1956,3060,3294,718.0,-9.5,554,7251,0.00,0.00,0.00,0.000,38,0.000,0.000,2699,1957,3176,3059,3294,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7551,-2.18,-146.0,2699,1957,3058,3293,746.4,-9.4,564,7552,0.00,0.00,0.00,0.000,38,0.000,0.000,2699,1957,3176,3059,3293,0,0,0,0,0,0,15.03,15.06,15.05
$GC,7852,-2.18,-146.0,2699,1957,3058,3291,773.7,-9.1,574,7857,0.00,2.45,0.00,0.000,548,0.000,0.059,2701,541,3174,3058,3291,0,0,0,0,0,0,15.04,14.57,15.07
$GC,7900,-2.18,-146.0,2700,540,3058,3291,778.6,-9.6,583,7905,0.00,2.35,0.00,0.000,1062,0.000,0.038,2692,1954,3174,3058,3291,0,0,0,0,0,0,14.73,14.65,14.76
$GC,8218,-2.18,-146.0,2692,1954,3057,3291,807.2,-8.8,596,8220,0.00,0.00,0.00,0.000,38,0.000,0.000,2692,1954,3174,3057,3291,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8522,-2.18,-146.0,2692,1954,3057,3290,835.1,-9.3,606,8526,0.00,2.42,0.00,0.000,548,0.000,0.057,2697,550,3173,3056,3291,0,0,0,0,0,0,15.04,14.55,15.06
$GC,8585,-2.18,-146.0,2696,550,3056,3290,841.8,-9.4,618,8590,0.00,2.35,0.00,0.000,1062,0.000,0.042,2688,1953,3172,3055,3290,0,0,0,0,0,0,14.71,14.62,14.73
$GC,8919,-2.18,-146.0,2688,1953,3055,3289,875.2,-10.4,634,8924,0.00,2.40,0.00,0.000,260,0.000,0.063,2678,3358,3172,3055,3289,0,0,0,0,0,0,15.02,14.54,15.04
$GC,8956,-2.18,-146.0,2677,3358,3055,3288,879.7,-10.8,641,8962,0.10,2.38,0.00,0.000,3078,0.278,0.047,2696,1960,3172,3055,3289,0,0,0,0,0,0,14.26,14.57,14.47
$GC,9287,-2.18,-146.0,2695,1960,3055,3288,914.0,-10.4,656,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1960,3171,3055,3287,0,0,0,0,0,0,15.03,15.05,15.05
$GC,9588,-2.18,-146.0,2695,1960,3055,3286,944.3,-9.9,666,9593,0.00,2.45,0.00,0.000,548,0.000,0.065,2696,539,3170,3055,3286,0,0,0,0,0,0,15.02,14.52,15.04
$GC,9625,-2.18,-146.0,2696,538,3054,3286,948.8,-10.4,673,9631,0.00,2.38,0.00,0.000,1030,0.000,0.040,2688,1956,3170,3054,3286,0,0,0,0,0,0,14.69,14.61,14.71
$GC,9956,-2.18,-146.0,2687,1956,3054,3286,981.2,-10.0,688,9961,0.00,2.38,0.00,0.000,292,0.000,0.060,2677,3357,3169,3053,3285,0,0,0,0,0,0,15.03,14.54,15.05
$GC,10004,-2.18,-146.0,2677,3357,3054,3285,986.7,-10.3,697,10011,0.10,2.38,0.00,0.000,3078,0.279,0.038,2694,1932,3169,3054,3285,0,0,0,0,0,0,14.23,14.60,14.48
$STATE,10052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10052,begin apogee
$GC,10058,-0.33,0.0,2694,1770,3054,3285,991.3,-9.4,701,10196,1.62,0.00,133.93,2.705,10246,0.265,0.000,3096,1770,2596,2475,2718,0,0,0,0,0,0,13.88,13.93,12.63
$STATE,10197,end apogee,CONTROL_FINISHED_OK
$STATE,10197,begin climb
$GC,10199,1.65,146.0,3096,1769,2472,2716,994.7,0.0,705,10342,1.48,0.00,138.32,2.715,10502,0.154,0.000,3527,1770,2001,1870,2132,0,0,0,0,0,0,13.93,13.71,12.46
$GC,10625,1.52,146.0,3527,1770,1852,2129,948.1,13.2,725,10632,0.12,2.40,0.00,0.000,4740,0.361,0.064,3515,372,1990,1851,2129,0,0,0,0,0,0,14.13,14.47,14.37
$GC,10655,1.40,146.0,3514,372,1850,2129,943.8,13.3,731,10662,0.10,2.35,0.00,0.000,5254,0.340,0.037,3484,1782,1989,1850,2129,0,0,0,0,0,0,14.17,14.55,14.39
$GC,10986,1.34,146.0,3483,1783,1848,2129,903.9,12.1,747,10992,0.00,2.35,0.00,0.000,388,0.000,0.063,3478,3171,1988,1848,2129,0,0,0,0,0,0,14.95,14.58,14.97
$GC,11029,1.27,146.0,3478,3172,1849,2128,898.5,12.2,756,11036,0.17,2.38,0.00,0.000,5254,0.334,0.049,3453,1775,1988,1848,2128,0,0,0,0,0,0,14.23,14.64,14.60
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$STATE,19546,end climb,SURFACE_DEPTH_REACHED
$STATE,19546,begin surface coast
$FINISH,1.5,0.997926
$STATE,19579,end surface coast,CONTROL_FINISHED_OK
$STATE,19579,begin surface
$SM_CCo,19598,72.47,0.080,0,0,449,526.65
$SM_CCo,19674,-0.15,0.000,0,0,451,526.65
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$TT8_MAMPS,0.024717,0.15729
$HUMID,51.96
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.10
$XPDR_PINGS,7
$24V_AH,12.46,132.772
$10V_AH,12.27,0.000
$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
$SENSOR_SECS,700.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225692
$DATA_FILE_SIZE,63306,1453
$CAP_FILE_SIZE,226576,0
$CFSIZE,260034560,229011456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,10054.87,0x213b14,2,24
$CURRENT,0.126,272.77,1
$GPS,170517,003056,1218.793,6253.606,39,0.8,47,-1.1,0.6,333.5,10,9.9