version: 66.13
glider: 137
mission: 5
dive: 343
start: 5 17 117 11 54 31
data:
$ID,137
$MISSION,5
$DIVE,343
$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,65
$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
$GPS1,170517,114737,1219.0406,6253.9800,43,0.8,50,-1.1,0.5,1.9,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-69.0
$GPS2,170517,115332,1219.1407,6253.9541,12,0.8,26,-1.1,0.0,359.1,10,8.7
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,111.2,888371,-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,-146.0,90,1979,333,567,0.0,0.0,0,88,0.00,0.00,-78.07,0.000,16386,0.000,0.000,90,1979,2577,2506,2649,0,0,0,0,0,0,14.84,28.83,14.87
$GC,91,-1.65,-146.0,90,1979,2506,2649,4.4,-5.1,13,125,13.23,2.85,-12.32,0.000,18980,0.382,2.028,2809,543,3195,3075,3316,0,0,0,0,0,0,14.02,12.91,14.29
$GC,213,-1.72,-146.0,2809,543,3077,3316,25.0,-13.4,35,220,0.00,2.28,0.00,0.000,1158,0.000,0.030,2801,1940,3196,3077,3316,0,0,0,0,0,0,14.65,14.59,14.67
$GC,523,-1.79,-146.0,2800,1940,3078,3316,63.1,-10.2,84,532,0.00,2.30,0.00,0.000,388,0.000,0.047,2791,3349,3196,3077,3316,0,0,0,0,0,0,14.97,14.57,14.99
$GC,565,-1.90,-146.0,2790,3349,3078,3316,67.2,-10.1,92,576,0.12,2.30,0.00,0.000,5254,0.145,0.031,2738,1937,3196,3077,3316,0,0,0,0,0,0,14.59,14.66,14.69
$GC,874,-1.90,-146.0,2738,1937,3078,3316,106.9,-12.6,124,885,0.12,2.33,0.00,0.000,2564,0.265,0.052,2767,538,3197,3078,3316,0,0,0,0,0,0,14.35,14.61,14.50
$GC,968,-1.94,-146.0,2766,538,3079,3316,117.9,-11.1,142,977,0.00,2.28,0.00,0.000,1158,0.000,0.030,2758,1950,3197,3079,3316,0,0,0,0,0,0,14.78,14.71,14.79
$GC,1279,-2.00,-146.0,2758,1950,3080,3316,145.9,-9.4,174,1287,0.00,2.35,0.00,0.000,676,0.000,0.056,2758,546,3198,3080,3316,0,0,0,0,0,0,15.04,14.57,15.06
$GC,1404,-2.04,-146.0,2758,546,3081,3316,157.5,-8.8,199,1410,0.00,2.28,0.00,0.000,1190,0.000,0.032,2748,1955,3198,3081,3316,0,0,0,0,0,0,14.79,14.73,14.81
$GC,1711,-2.10,-146.0,2747,1955,3081,3316,182.9,-8.4,230,1720,0.12,2.28,0.00,0.000,4516,0.124,0.047,2687,3357,3198,3081,3316,0,0,0,0,0,0,14.74,14.62,14.77
$GC,1906,-2.10,-146.0,2686,3356,3081,3316,202.4,-9.6,268,1912,0.15,2.30,0.00,0.000,3110,0.265,0.034,2718,1941,3199,3082,3316,0,0,0,0,0,0,14.35,14.72,14.65
$GC,2222,-2.13,-146.0,2718,1941,3081,3316,231.0,-9.1,300,2229,0.00,0.00,0.00,0.000,166,0.000,0.000,2718,1941,3198,3081,3316,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2531,-2.17,-146.0,2718,1941,3081,3316,259.6,-9.8,325,2539,0.00,2.38,0.00,0.000,420,0.000,0.049,2710,3364,3198,3081,3316,0,0,0,0,0,0,15.04,14.69,15.06
$GC,2550,-2.20,-146.0,2710,3364,3081,3316,262.0,-10.4,328,2557,0.00,2.33,0.00,0.000,1158,0.000,0.036,2710,1946,3198,3081,3316,0,0,0,0,0,0,14.79,14.71,14.81
$GC,2873,-2.20,-146.0,2710,1945,3081,3316,292.8,-8.9,341,2878,0.00,2.35,0.00,0.000,548,0.000,0.058,2710,537,3198,3081,3316,0,0,0,0,0,0,15.05,14.66,15.07
$GC,2907,-2.20,-146.0,2710,537,3081,3316,295.9,-9.0,347,2914,0.00,2.28,0.00,0.000,1062,0.000,0.032,2701,1947,3198,3081,3316,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3242,-2.20,-146.0,2701,1947,3080,3316,327.2,-9.9,363,3247,0.00,2.42,0.00,0.000,548,0.000,0.063,2701,539,3198,3080,3317,0,0,0,0,0,0,15.04,14.64,15.07
$GC,3285,-2.20,-146.0,2701,539,3080,3316,332.1,-10.5,371,3290,0.00,2.30,0.00,0.000,1030,0.000,0.036,2691,1950,3197,3079,3316,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3609,-2.20,-146.0,2691,1950,3077,3316,365.7,-10.5,385,3614,0.00,2.42,0.00,0.000,516,0.000,0.063,2691,544,3196,3077,3316,0,0,0,0,0,0,15.05,14.63,15.07
$GC,3637,-2.20,-146.0,2691,543,3077,3315,369.1,-10.9,390,3645,0.00,2.33,0.00,0.000,1030,0.000,0.038,2681,1951,3196,3077,3315,0,0,0,0,0,0,14.78,14.71,14.81
$GC,3944,-2.20,-146.0,2681,1951,3076,3313,402.0,-11.0,401,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1951,3194,3076,3313,0,0,0,0,0,0,15.05,15.08,15.07
$GC,4244,-2.20,-146.0,2681,1951,3074,3310,435.4,-11.0,411,4249,0.00,2.42,0.00,0.000,516,0.000,0.063,2681,546,3192,3074,3310,0,0,0,0,0,0,15.04,14.62,15.06
$GC,4299,-2.17,-146.0,2681,546,3073,3310,441.7,-11.1,421,4306,0.15,2.33,0.00,0.000,3206,0.288,0.038,2701,1962,3191,3072,3310,0,0,0,0,0,0,14.26,14.71,14.57
$GC,4615,-2.17,-146.0,2701,1962,3070,3308,472.2,-9.4,433,4617,0.00,0.00,0.00,0.000,38,0.000,0.000,2701,1962,3189,3070,3308,0,0,0,0,0,0,15.05,15.08,15.08
$GC,4916,-2.17,-146.0,2701,1962,3069,3305,500.1,-9.2,443,4921,0.00,2.47,0.00,0.000,548,0.000,0.067,2702,531,3187,3069,3305,0,0,0,0,0,0,15.04,14.58,15.07
$GC,4960,-2.17,-146.0,2702,530,3069,3305,504.7,-9.6,451,4965,0.00,2.35,0.00,0.000,1062,0.000,0.040,2693,1943,3187,3069,3305,0,0,0,0,0,0,14.76,14.68,14.79
$GC,5284,-2.17,-146.0,2693,1943,3067,3303,536.5,-10.1,465,5289,0.00,2.42,0.00,0.000,516,0.000,0.067,2693,551,3185,3067,3303,0,0,0,0,0,0,15.05,14.59,15.07
$GC,5311,-2.17,-146.0,2693,550,3066,3303,539.8,-10.9,470,5319,0.00,2.35,0.00,0.000,1030,0.000,0.039,2684,1967,3185,3066,3304,0,0,0,0,0,0,14.77,14.69,14.79
$GC,5619,-2.17,-146.0,2684,1967,3065,3301,572.4,-10.9,481,5624,0.00,2.47,0.00,0.000,516,0.000,0.063,2686,531,3183,3065,3301,0,0,0,0,0,0,15.05,14.57,15.07
$GC,5653,-2.13,-146.0,2686,531,3065,3301,576.4,-10.9,487,5661,0.15,2.35,0.00,0.000,3206,0.281,0.041,2709,1954,3183,3065,3301,0,0,0,0,0,0,14.24,14.69,14.49
$GC,5989,-2.16,-146.0,2708,1955,3063,3300,609.4,-9.4,503,5991,0.00,0.00,0.00,0.000,166,0.000,0.000,2708,1955,3181,3064,3299,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6291,-2.19,-146.0,2708,1955,3062,3299,635.5,-8.5,513,6292,0.00,0.00,0.00,0.000,166,0.000,0.000,2708,1955,3180,3062,3299,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6592,-2.22,-146.0,2708,1955,3060,3298,659.8,-8.1,523,6597,0.00,2.45,0.00,0.000,676,0.000,0.066,2709,548,3178,3060,3297,0,0,0,0,0,0,15.04,14.57,15.07
$GC,6620,-2.22,-146.0,2709,548,3059,3297,662.8,-8.9,528,6628,0.00,2.35,0.00,0.000,1062,0.000,0.044,2701,1947,3178,3059,3297,0,0,0,0,0,0,14.73,14.65,14.76
$GC,6928,-2.22,-146.0,2700,1947,3059,3296,688.0,-8.4,539,6933,0.00,2.45,0.00,0.000,548,0.000,0.067,2701,548,3177,3058,3296,0,0,0,0,0,0,15.04,14.55,15.07
$GC,6967,-2.22,-146.0,2700,548,3058,3296,691.6,-8.8,546,6972,0.00,2.35,0.00,0.000,1062,0.000,0.043,2691,1945,3177,3058,3296,0,0,0,0,0,0,14.72,14.63,14.75
$GC,7295,-2.22,-146.0,2690,1945,3057,3294,721.2,-9.3,561,7303,0.00,2.45,0.00,0.000,548,0.000,0.069,2691,550,3175,3057,3294,0,0,0,0,0,0,15.03,14.53,15.05
$GC,7331,-2.22,-146.0,2690,549,3057,3294,724.8,-9.8,567,7336,0.00,2.38,0.00,0.000,1062,0.000,0.046,2681,1955,3175,3057,3294,0,0,0,0,0,0,14.71,14.62,14.74
$GC,7664,-2.22,-146.0,2681,1955,3057,3293,758.2,-10.3,583,7669,0.00,2.47,0.00,0.000,516,0.000,0.069,2681,538,3175,3057,3293,0,0,0,0,0,0,15.02,14.51,15.04
$GC,7709,-2.19,-146.0,2680,538,3057,3293,763.4,-11.4,591,7714,0.12,2.38,0.00,0.000,3206,0.304,0.041,2693,1963,3174,3056,3293,0,0,0,0,0,0,14.16,14.64,14.41
$GC,8035,-2.19,-146.0,2692,1964,3055,3292,796.6,-10.4,605,8040,0.00,2.38,0.00,0.000,260,0.000,0.063,2685,3357,3173,3055,3291,0,0,0,0,0,0,15.03,14.54,15.05
$GC,8056,-2.19,-146.0,2685,3357,3055,3291,799.3,-10.5,609,8062,0.00,2.35,0.00,0.000,1030,0.000,0.040,2689,1958,3173,3055,3291,0,0,0,0,0,0,14.70,14.62,14.73
$GC,8370,-2.19,-146.0,2688,1958,3054,3291,831.2,-10.2,621,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1958,3172,3054,3291,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8671,-2.19,-146.0,2688,1957,3053,3290,861.1,-9.8,631,8672,0.00,0.00,0.00,0.000,38,0.000,0.000,2689,1957,3171,3053,3290,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8973,-2.19,-146.0,2688,1957,3054,3289,889.9,-9.5,641,8979,0.00,2.42,0.00,0.000,292,0.000,0.063,2681,3353,3171,3053,3289,0,0,0,0,0,0,15.03,14.54,15.05
$GC,9032,-2.19,-146.0,2680,3353,3053,3289,896.0,-9.7,652,9040,0.00,2.40,0.00,0.000,1062,0.000,0.047,2681,1946,3171,3053,3289,0,0,0,0,0,0,14.67,14.57,14.71
$GC,9337,-2.19,-146.0,2680,1947,3053,3288,924.8,-9.6,663,9344,0.00,2.45,0.00,0.000,548,0.000,0.067,2681,531,3170,3053,3288,0,0,0,0,0,0,15.02,14.50,15.04
$GC,9407,-2.16,-146.0,2680,530,3052,3288,932.1,-10.6,676,9413,0.15,2.38,0.00,0.000,3206,0.295,0.039,2701,1957,3170,3052,3288,0,0,0,0,0,0,14.01,14.62,14.21
$GC,9738,-2.16,-146.0,2701,1957,3051,3288,962.7,-9.4,691,9745,0.00,2.38,0.00,0.000,292,0.000,0.060,2693,3357,3169,3051,3287,0,0,0,0,0,0,15.01,14.53,15.03
$GC,9761,-2.16,-146.0,2693,3357,3051,3287,965.3,-10.0,695,9766,0.00,2.40,0.00,0.000,1030,0.000,0.044,2693,1947,3169,3051,3288,0,0,0,0,0,0,14.66,14.57,14.70
$STATE,10043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10043,begin apogee
$GC,10049,-0.33,0.0,2694,1758,3051,3287,992.4,-9.7,706,10187,1.70,0.00,133.95,2.707,10246,0.284,0.000,3099,1755,2596,2474,2718,0,0,0,0,0,0,13.85,13.93,12.61
$STATE,10188,end apogee,CONTROL_FINISHED_OK
$STATE,10188,begin climb
$GC,10190,1.65,146.0,3098,1755,2471,2716,995.9,0.0,710,10338,1.48,2.62,137.32,2.707,10500,0.157,0.066,3527,3162,1998,1869,2127,0,0,0,0,0,0,13.93,13.74,12.43
$GC,10369,1.50,146.0,3526,3161,1869,2118,981.0,12.2,751,10377,0.15,2.50,0.00,0.000,5254,0.382,0.060,3502,1785,1993,1869,2118,0,0,0,0,0,0,13.77,14.04,14.07
$GC,10677,1.41,146.0,3502,1785,1860,2118,945.5,11.6,762,10683,0.00,2.50,0.00,0.000,644,0.000,0.073,3511,354,1988,1859,2118,0,0,0,0,0,0,14.85,14.50,14.88
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$STATE,19840,end climb,SURFACE_DEPTH_REACHED
$STATE,19840,begin surface coast
$FINISH,1.6,1.004326
$STATE,19871,end surface coast,CONTROL_FINISHED_OK
$STATE,19871,begin surface
$SM_CCo,19893,72.12,0.080,0,0,449,526.65
$SM_CCo,19968,-0.20,0.000,0,0,451,526.65
$SM_CCo,19972,0.25,0.121,0,0,450,526.65
$SM_GC,2.54,10.35,2.67,0.25,0.083,0.027,0.121,89,1971,450,-14.12,-1.05,526.65,0,0,0,0,0,0,14.52,14.64,14.55
$IRIDIUM_FIX,1210.12,6255.50,170517,061218
$TT8_MAMPS,0.023968,0.158039
$HUMID,51.41
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,24.20
$XPDR_PINGS,6
$24V_AH,12.43,133.924
$10V_AH,12.76,0.000
$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
$DEVICE_SECS,28.925,217.000,451.625,72.375,0.000,0.000,0.000,236.825,112.250,0.000,27.746,3202.029,13382.646,738.984,2711.224,315.868,0.000,2259.383,0.000,2120.502,0.000,748.991,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225652
$DATA_FILE_SIZE,66642,1491
$CAP_FILE_SIZE,235510,0
$CFSIZE,260034560,228708352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.130,291.49,1
$GPS,170517,172855,1219.233,6254.213,47,0.8,53,-1.1,0.7,10.1,11,10.0