version: 66.13
glider: 137
mission: 5
dive: 342
start: 5 17 117 6 16 35
data:
$ID,137
$MISSION,5
$DIVE,342
$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,44
$R_STBD_OVSHOOT,47
$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
$GPS1,170517,061024,1219.1553,6253.9658,47,0.8,52,-1.1,0.7,334.2,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-69.0
$GPS2,170517,061536,1219.2080,6253.9136,9,0.8,17,-1.1,0.6,334.4,10,10.0
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,119.3,888505,-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,8,-1.65,-146.0,92,1924,331,567,0.0,0.0,0,88,0.00,0.00,-78.35,0.000,16386,0.000,0.000,92,1925,2569,2498,2640,0,0,0,0,0,0,14.85,28.83,14.88
$GC,91,-1.65,-146.0,92,1925,2498,2640,4.2,-4.2,13,125,13.25,2.72,-12.62,0.000,18980,0.383,2.025,2808,545,3194,3076,3313,0,0,0,0,0,0,14.02,12.93,14.28
$GC,228,-1.69,-146.0,2807,545,3077,3313,26.6,-13.4,38,235,0.00,2.30,0.00,0.000,1158,0.000,0.029,2799,1955,3195,3078,3313,0,0,0,0,0,0,14.66,14.60,14.68
$GC,539,-1.76,-146.0,2799,1955,3078,3313,62.3,-10.6,88,549,0.00,2.28,0.00,0.000,388,0.000,0.048,2789,3351,3195,3078,3313,0,0,0,0,0,0,14.97,14.54,14.99
$GC,645,-1.87,-146.0,2789,3351,3078,3313,73.5,-10.0,109,653,0.00,2.30,0.00,0.000,1190,0.000,0.030,2789,1938,3196,3079,3313,0,0,0,0,0,0,14.74,14.67,14.76
$GC,953,-1.95,-146.0,2789,1937,3080,3313,106.1,-11.3,140,963,0.12,2.30,0.00,0.000,4740,0.148,0.050,2730,541,3196,3080,3313,0,0,0,0,0,0,14.68,14.57,14.71
$GC,988,-1.92,-146.0,2730,541,3080,3313,111.4,-14.1,147,996,0.17,2.28,0.00,0.000,3206,0.247,0.030,2759,1952,3196,3080,3313,0,0,0,0,0,0,14.34,14.71,14.61
$GC,1297,-1.97,-146.0,2758,1954,3081,3313,141.3,-8.0,178,1298,0.00,0.00,0.00,0.000,166,0.000,0.000,2758,1953,3197,3082,3313,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1597,-2.04,-146.0,2758,1954,3082,3313,166.9,-9.5,208,1607,0.12,2.28,0.00,0.000,4516,0.129,0.047,2696,3351,3197,3082,3313,0,0,0,0,0,0,14.73,14.61,14.76
$GC,1671,-2.04,-146.0,2696,3351,3082,3313,175.0,-10.1,222,1681,0.10,2.28,0.00,0.000,3078,0.238,0.033,2723,1941,3197,3082,3313,0,0,0,0,0,0,14.29,14.73,14.45
$GC,1982,-2.04,-146.0,2722,1941,3082,3313,204.4,-9.4,254,1989,0.00,2.35,0.00,0.000,292,0.000,0.047,2714,3357,3197,3082,3313,0,0,0,0,0,0,15.04,14.69,15.06
$GC,2066,-2.09,-146.0,2714,3357,3082,3312,211.9,-8.1,269,2077,0.00,2.28,0.00,0.000,1190,0.000,0.031,2714,1953,3197,3082,3313,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2377,-2.09,-146.0,2714,1953,3082,3312,238.1,-9.7,300,2382,0.00,2.35,0.00,0.000,548,0.000,0.057,2714,540,3197,3082,3313,0,0,0,0,0,0,15.04,14.66,15.06
$GC,2426,-2.09,-146.0,2714,539,3082,3313,243.2,-9.6,309,2435,0.00,2.28,0.00,0.000,1062,0.000,0.031,2704,1951,3197,3082,3312,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2743,-2.09,-146.0,2704,1951,3082,3313,271.3,-8.6,325,2749,0.00,2.30,0.00,0.000,292,0.000,0.048,2694,3362,3197,3082,3312,0,0,0,0,0,0,15.04,14.69,15.06
$GC,2771,-2.09,-146.0,2694,3362,3082,3313,274.0,-9.1,330,2782,0.12,2.30,0.00,0.000,3110,0.269,0.034,2719,1948,3197,3082,3312,0,0,0,0,0,0,14.38,14.72,14.64
$GC,3078,-2.12,-146.0,2718,1948,3082,3312,300.9,-9.3,341,3084,0.00,2.35,0.00,0.000,676,0.000,0.058,2719,546,3197,3082,3313,0,0,0,0,0,0,15.05,14.66,15.07
$GC,3113,-2.12,-146.0,2719,546,3082,3312,304.5,-10.4,347,3118,0.00,2.28,0.00,0.000,1030,0.000,0.034,2711,1947,3197,3082,3312,0,0,0,0,0,0,14.81,14.74,14.83
$GC,3448,-2.12,-146.0,2711,1947,3080,3312,338.1,-10.4,363,3453,0.00,2.40,0.00,0.000,516,0.000,0.060,2711,543,3196,3080,3313,0,0,0,0,0,0,15.05,14.65,15.07
$GC,3489,-2.12,-146.0,2711,543,3080,3313,343.0,-11.3,371,3494,0.00,2.30,0.00,0.000,1030,0.000,0.036,2701,1952,3196,3080,3312,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3812,-2.12,-146.0,2701,1952,3077,3313,375.4,-10.0,385,3818,0.00,2.40,0.00,0.000,516,0.000,0.060,2701,552,3195,3078,3312,0,0,0,0,0,0,15.04,14.64,15.07
$GC,3847,-2.12,-146.0,2701,552,3077,3312,378.9,-11.1,391,3852,0.00,2.30,0.00,0.000,1030,0.000,0.036,2691,1957,3194,3077,3312,0,0,0,0,0,0,14.80,14.73,14.82
$GC,4182,-2.12,-146.0,2691,1957,3076,3309,411.2,-9.5,407,4183,0.00,0.00,0.00,0.000,38,0.000,0.000,2692,1957,3192,3076,3309,0,0,0,0,0,0,15.06,15.08,15.08
$GC,4482,-2.12,-146.0,2691,1957,3074,3307,440.1,-9.9,417,4483,0.00,0.00,0.00,0.000,38,0.000,0.000,2692,1957,3190,3074,3307,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4781,-2.12,-146.0,2691,1957,3072,3305,470.9,-10.4,427,4789,0.10,2.40,0.00,0.000,2564,0.303,0.060,2710,556,3188,3072,3305,0,0,0,0,0,0,14.45,14.59,14.63
$GC,4849,-2.12,-146.0,2710,556,3071,3305,478.2,-10.2,439,4854,0.00,2.30,0.00,0.000,1030,0.000,0.037,2701,1952,3188,3071,3305,0,0,0,0,0,0,14.78,14.71,14.81
$GC,5184,-2.12,-146.0,2701,1952,3069,3302,513.1,-10.7,455,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1952,3186,3069,3303,0,0,0,0,0,0,15.05,15.07,15.07
$GC,5483,-2.12,-146.0,2701,1952,3068,3300,545.7,-11.0,465,5489,0.00,2.45,0.00,0.000,516,0.000,0.067,2702,546,3184,3069,3300,0,0,0,0,0,0,15.03,14.59,15.06
$GC,5540,-2.12,-146.0,2701,546,3068,3300,552.4,-12.2,475,5545,0.00,2.33,0.00,0.000,1030,0.000,0.038,2692,1947,3184,3068,3300,0,0,0,0,0,0,14.76,14.69,14.78
$GC,5855,-2.12,-146.0,2691,1947,3066,3298,587.7,-11.5,487,5859,0.00,2.38,0.00,0.000,260,0.000,0.056,2681,3364,3182,3066,3298,0,0,0,0,0,0,15.05,14.63,15.07
$GC,5881,-2.12,-146.0,2681,3364,3066,3298,591.3,-12.1,492,5889,0.15,2.35,0.00,0.000,3078,0.272,0.040,2712,1948,3182,3066,3298,0,0,0,0,0,0,14.25,14.67,14.54
$GC,6189,-2.16,-146.0,2712,1948,3064,3296,625.4,-11.2,503,6194,0.00,2.38,0.00,0.000,644,0.000,0.061,2712,553,3180,3064,3297,0,0,0,0,0,0,15.05,14.59,15.07
$GC,6237,-2.16,-146.0,2712,553,3064,3296,631.5,-12.7,512,6242,0.00,2.35,0.00,0.000,1030,0.000,0.041,2704,1959,3179,3063,3296,0,0,0,0,0,0,14.74,14.66,14.77
$GC,6555,-2.16,-146.0,2704,1960,3063,3295,666.5,-10.8,525,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1959,3179,3063,3295,0,0,0,0,0,0,15.03,15.06,15.05
$GC,6858,-2.16,-146.0,2704,1959,3062,3294,697.4,-10.2,535,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1960,3178,3062,3294,0,0,0,0,0,0,15.04,15.06,15.06
$GC,7156,-2.16,-146.0,2704,1960,3060,3293,727.0,-10.0,545,7162,0.00,2.47,0.00,0.000,548,0.000,0.068,2704,538,3176,3060,3293,0,0,0,0,0,0,15.04,14.55,15.06
$GC,7226,-2.16,-146.0,2704,537,3059,3292,734.7,-10.2,558,7233,0.00,2.38,0.00,0.000,1030,0.000,0.042,2694,1952,3175,3059,3292,0,0,0,0,0,0,14.72,14.63,14.76
$GC,7557,-2.16,-146.0,2694,1953,3058,3291,766.6,-9.7,573,7558,0.00,0.00,0.00,0.000,38,0.000,0.000,2694,1953,3174,3058,3291,0,0,0,0,0,0,15.03,15.05,15.05
$GC,7858,-2.16,-146.0,2694,1953,3057,3291,796.2,-9.8,583,7864,0.00,2.45,0.00,0.000,548,0.000,0.064,2694,550,3174,3058,3291,0,0,0,0,0,0,15.03,14.55,15.05
$GC,7893,-2.16,-146.0,2694,550,3057,3291,800.1,-10.9,589,7899,0.00,2.35,0.00,0.000,1030,0.000,0.041,2685,1957,3174,3057,3291,0,0,0,0,0,0,14.72,14.65,14.76
$GC,8228,-2.16,-146.0,2684,1957,3057,3289,833.3,-9.8,605,8234,0.00,2.47,0.00,0.000,548,0.000,0.065,2685,534,3173,3057,3290,0,0,0,0,0,0,15.03,14.51,15.05
$GC,8274,-2.13,-146.0,2684,534,3057,3289,838.3,-10.1,613,8280,0.15,2.38,0.00,0.000,3206,0.298,0.039,2709,1960,3172,3056,3289,0,0,0,0,0,0,14.06,14.64,14.26
$GC,8601,-2.16,-146.0,2708,1960,3055,3289,868.0,-9.0,627,8602,0.00,0.00,0.00,0.000,166,0.000,0.000,2709,1960,3172,3055,3289,0,0,0,0,0,0,15.04,15.07,15.06
$GC,8900,-2.20,-146.0,2708,1961,3055,3288,894.5,-8.6,637,8906,0.00,2.38,0.00,0.000,420,0.000,0.063,2700,3352,3171,3055,3287,0,0,0,0,0,0,15.03,14.53,15.05
$GC,8924,-2.24,-146.0,2700,3351,3055,3287,896.9,-9.5,641,8930,0.00,2.38,0.00,0.000,1190,0.000,0.045,2700,1948,3171,3055,3287,0,0,0,0,0,0,14.69,14.60,14.72
$GC,9239,-2.24,-146.0,2700,1948,3055,3285,925.7,-9.3,653,9244,0.00,2.42,0.00,0.000,548,0.000,0.064,2703,539,3170,3055,3285,0,0,0,0,0,0,15.02,14.52,15.04
$GC,9297,-2.24,-146.0,2703,539,3055,3285,931.9,-9.9,664,9305,0.00,2.38,0.00,0.000,1062,0.000,0.039,2694,1954,3170,3055,3285,0,0,0,0,0,0,14.69,14.61,14.72
$GC,9606,-2.24,-146.0,2694,1954,3054,3285,961.1,-9.8,675,9607,0.00,0.00,0.00,0.000,38,0.000,0.000,2694,1954,3169,3054,3285,0,0,0,0,0,0,15.03,15.06,15.05
$STATE,9904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9904,begin apogee
$GC,9910,-0.33,0.0,2694,1758,3053,3284,991.1,-10.0,685,10048,1.65,0.00,133.77,2.696,10246,0.269,0.000,3098,1753,2596,2475,2718,0,0,0,0,0,0,13.88,13.93,12.62
$STATE,10049,end apogee,CONTROL_FINISHED_OK
$STATE,10049,begin climb
$GC,10051,1.65,146.0,3098,1754,2472,2716,995.2,0.0,689,10198,1.48,2.62,137.07,2.704,10500,0.154,0.066,3526,3169,1999,1869,2129,0,0,0,0,0,0,13.93,13.76,12.47
$GC,10265,1.49,146.0,3526,3169,1868,2118,977.0,12.0,737,10270,0.17,2.50,0.00,0.000,5254,0.393,0.055,3505,1767,1993,1868,2118,0,0,0,0,0,0,13.88,14.21,14.23
$GC,10589,1.40,146.0,3504,1766,1861,2118,941.5,10.9,751,10591,0.12,0.00,0.00,0.000,4230,0.378,0.000,3484,1765,1989,1860,2118,0,0,0,0,0,0,14.21,14.64,14.57
$GC,10889,1.35,146.0,3484,1765,1859,2117,910.9,10.0,761,10895,0.00,2.45,0.00,0.000,644,0.000,0.073,3493,355,1988,1858,2118,0,0,0,0,0,0,14.96,14.55,14.98
$GC,10908,1.29,154.6,3492,355,1857,2117,909.0,9.7,765,10922,0.15,2.38,7.78,2.196,13478,0.351,0.040,3457,1776,1964,1831,2098,0,0,0,0,0,0,14.19,14.65,13.18
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$STATE,19652,end climb,SURFACE_DEPTH_REACHED
$STATE,19652,begin surface coast
$FINISH,1.6,1.006728
$STATE,19684,end surface coast,CONTROL_FINISHED_OK
$STATE,19685,begin surface
$SM_CCo,19704,61.47,0.081,0,0,450,526.65
$SM_CCo,19769,-0.15,0.000,0,0,451,526.65
$SM_CCo,19772,0.12,0.161,0,0,451,526.65
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$IRIDIUM_FIX,1212.33,6255.50,170517,003241
$TT8_MAMPS,0.024717,0.158039
$HUMID,51.65
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.10
$XPDR_PINGS,10
$24V_AH,12.47,133.542
$10V_AH,12.76,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,711.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225696
$DATA_FILE_SIZE,66763,1506
$CAP_FILE_SIZE,231631,0
$CFSIZE,260034560,228810752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,17140.25,0x233daa,1,24
$CURRENT,0.135,283.85,1
$GPS,170517,114737,1219.041,6253.980,43,0.8,50,-1.1,0.5,1.9,10,9.6