version: 66.13
glider: 137
mission: 5
dive: 357
start: 5 20 117 16 27 2
data:
$ID,137
$MISSION,5
$DIVE,357
$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,180
$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,1960
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,50
$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
$GPS1,200517,162107,1217.8168,6258.3164,29,0.8,35,-1.1,0.8,322.1,11,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-68.0
$GPS2,200517,162627,1217.9216,6258.3140,6,0.8,13,-1.1,0.6,358.2,10,9.6
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,125.2,880627,-21.5,-10.000,-28.12,2673
$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,7,-1.65,-175.2,92,1949,326,565,0.0,0.0,0,87,0.00,0.00,-77.70,0.000,16386,0.000,0.000,92,1950,2582,2511,2654,0,0,0,0,0,0,14.84,28.83,14.86
$GC,90,-1.65,-175.2,92,1950,2511,2654,4.6,-5.3,13,124,14.12,2.75,-13.62,0.000,18724,0.412,2.019,2799,3350,3314,3187,3441,0,0,0,0,0,0,14.05,12.92,14.31
$GC,178,-1.71,-175.2,2799,3350,3188,3441,20.8,-12.5,28,185,0.00,2.28,0.00,0.000,1158,0.000,0.035,2799,1958,3314,3188,3441,0,0,0,0,0,0,14.64,14.57,14.66
$GC,494,-1.79,-175.2,2799,1958,3190,3440,59.0,-9.9,82,502,0.00,2.33,0.00,0.000,676,0.000,0.056,2799,551,3315,3189,3441,0,0,0,0,0,0,14.97,14.51,14.98
$GC,585,-1.89,-175.2,2799,551,3190,3441,68.4,-10.4,100,596,0.10,2.28,0.00,0.000,5254,0.151,0.031,2747,1969,3315,3190,3441,0,0,0,0,0,0,14.59,14.66,14.69
$GC,895,-1.89,-175.2,2747,1969,3191,3441,106.9,-12.6,132,904,0.00,2.28,0.00,0.000,260,0.000,0.051,2736,3360,3316,3191,3441,0,0,0,0,0,0,15.02,14.64,15.05
$GC,937,-1.94,-175.2,2736,3360,3191,3441,112.2,-12.6,140,947,0.00,2.28,0.00,0.000,1158,0.000,0.035,2737,1951,3316,3191,3441,0,0,0,0,0,0,14.76,14.69,14.78
$GC,1247,-1.94,-175.2,2736,1951,3192,3441,145.7,-10.0,172,1256,0.00,2.35,0.00,0.000,260,0.000,0.050,2726,3365,3316,3192,3441,0,0,0,0,0,0,15.04,14.66,15.07
$GC,1302,-1.99,-175.2,2726,3365,3192,3441,151.4,-10.5,183,1309,0.00,2.28,0.00,0.000,1158,0.000,0.034,2726,1957,3316,3192,3441,0,0,0,0,0,0,14.78,14.71,14.81
$GC,1610,-1.99,-175.2,2726,1957,3193,3441,180.9,-10.3,214,1618,0.00,2.30,0.00,0.000,260,0.000,0.050,2716,3357,3317,3193,3441,0,0,0,0,0,0,15.05,14.59,15.07
$GC,1712,-2.05,-175.2,2715,3357,3193,3441,191.5,-10.9,234,1721,0.00,2.25,0.00,0.000,1158,0.000,0.034,2716,1955,3317,3193,3441,0,0,0,0,0,0,14.74,14.73,14.76
$GC,2023,-2.05,-175.2,2715,1954,3193,3441,223.9,-9.9,266,2028,0.00,2.30,0.00,0.000,548,0.000,0.054,2716,554,3317,3193,3441,0,0,0,0,0,0,15.03,14.66,15.05
$GC,2105,-2.05,-175.2,2715,553,3194,3441,232.4,-10.8,280,2111,0.12,2.25,0.00,0.000,3078,0.256,0.032,2732,1965,3317,3193,3441,0,0,0,0,0,0,14.41,14.73,14.65
$GC,2420,-2.11,-175.2,2732,1964,3193,3441,261.0,-9.0,304,2427,0.00,2.28,0.00,0.000,420,0.000,0.053,2724,3358,3317,3193,3441,0,0,0,0,0,0,15.04,14.67,15.06
$GC,2465,-2.18,-175.2,2723,3358,3193,3440,265.2,-8.6,312,2473,0.10,2.25,0.00,0.000,5286,0.165,0.034,2693,1958,3317,3193,3441,0,0,0,0,0,0,14.62,14.73,14.74
$GC,2793,-2.18,-175.2,2693,1958,3193,3441,301.0,-11.8,326,2798,0.00,2.33,0.00,0.000,516,0.000,0.057,2696,556,3317,3193,3441,0,0,0,0,0,0,15.05,14.66,15.07
$GC,2875,-2.18,-175.2,2696,556,3193,3441,311.7,-12.7,342,2880,0.00,2.25,0.00,0.000,1030,0.000,0.033,2688,1956,3317,3193,3441,0,0,0,0,0,0,14.81,14.73,14.82
$GC,3190,-2.18,-175.2,2687,1956,3192,3441,348.4,-11.6,354,3195,0.00,2.35,0.00,0.000,516,0.000,0.058,2691,565,3317,3193,3441,0,0,0,0,0,0,15.06,14.65,15.07
$GC,3233,-2.18,-175.2,2690,565,3193,3441,353.9,-11.7,362,3238,0.00,2.28,0.00,0.000,1030,0.000,0.035,2682,1970,3317,3193,3441,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3556,-2.18,-175.2,2682,1970,3191,3439,391.9,-12.0,376,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1970,3315,3191,3440,0,0,0,0,0,0,15.04,15.07,15.06
$GC,3859,-2.18,-175.2,2682,1970,3190,3439,427.1,-11.4,386,3864,0.00,2.40,0.00,0.000,516,0.000,0.060,2686,563,3314,3190,3438,0,0,0,0,0,0,15.05,14.64,15.07
$GC,3926,-2.18,-175.2,2686,562,3189,3438,435.6,-11.0,399,3931,0.10,2.28,0.00,0.000,3078,0.301,0.037,2694,1961,3313,3189,3438,0,0,0,0,0,0,14.36,14.71,14.62
$GC,4256,-2.18,-175.2,2694,1962,3187,3436,470.4,-10.7,414,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1962,3311,3187,3436,0,0,0,0,0,0,15.05,15.08,15.07
$GC,4556,-2.18,-175.2,2694,1962,3185,3434,501.3,-10.2,424,4561,0.00,2.40,0.00,0.000,516,0.000,0.062,2702,560,3309,3185,3434,0,0,0,0,0,0,15.03,14.62,15.05
$GC,4612,-2.18,-175.2,2702,560,3184,3434,507.6,-11.3,434,4617,0.00,2.28,0.00,0.000,1030,0.000,0.037,2695,1956,3309,3184,3434,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4927,-2.18,-175.2,2694,1956,3183,3431,540.5,-10.7,446,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1956,3306,3182,3431,0,0,0,0,0,0,15.05,15.08,15.07
$GC,5227,-2.18,-175.2,2694,1956,3182,3429,572.0,-10.4,456,5232,0.00,2.40,0.00,0.000,516,0.000,0.063,2696,563,3305,3181,3429,0,0,0,0,0,0,15.03,14.61,15.05
$GC,5312,-2.18,-175.2,2696,562,3182,3429,581.4,-10.8,472,5317,0.00,2.30,0.00,0.000,1030,0.000,0.038,2688,1960,3305,3182,3429,0,0,0,0,0,0,14.76,14.69,14.78
$GC,5626,-2.18,-175.2,2687,1960,3181,3427,613.6,-10.5,484,5631,0.00,2.40,0.00,0.000,516,0.000,0.063,2696,566,3304,3181,3427,0,0,0,0,0,0,15.03,14.59,15.05
$GC,5653,-2.18,-175.2,2696,566,3181,3427,616.7,-10.6,489,5663,0.00,2.30,0.00,0.000,1030,0.000,0.040,2688,1961,3304,3181,3427,0,0,0,0,0,0,14.76,14.68,14.78
$GC,5959,-2.18,-175.2,2687,1961,3178,3425,647.1,-9.9,500,5964,0.00,2.42,0.00,0.000,548,0.000,0.066,2687,559,3301,3178,3425,0,0,0,0,0,0,15.04,14.58,15.06
$GC,6003,-2.18,-175.2,2687,558,3178,3425,652.1,-10.7,508,6009,0.10,2.33,0.00,0.000,3078,0.290,0.040,2694,1968,3301,3178,3425,0,0,0,0,0,0,14.31,14.66,14.57
$GC,6329,-2.18,-175.2,2694,1968,3177,3423,682.1,-9.3,522,6330,0.00,0.00,0.00,0.000,38,0.000,0.000,2694,1967,3300,3177,3423,0,0,0,0,0,0,15.05,15.07,15.07
$GC,6629,-2.18,-175.2,2694,1967,3176,3422,709.2,-9.1,532,6634,0.00,2.45,0.00,0.000,548,0.000,0.073,2695,569,3299,3176,3422,0,0,0,0,0,0,15.03,14.54,15.05
$GC,6664,-2.18,-175.2,2694,568,3175,3422,712.5,-9.5,538,6669,0.00,2.33,0.00,0.000,1062,0.000,0.041,2687,1964,3298,3175,3422,0,0,0,0,0,0,14.73,14.66,14.76
$GC,7000,-2.18,-175.2,2686,1964,3174,3420,744.5,-9.7,554,7004,0.00,2.40,0.00,0.000,548,0.000,0.060,2688,570,3297,3174,3420,0,0,0,0,0,0,15.04,14.57,15.07
$GC,7021,-2.18,-175.2,2688,570,3174,3420,747.2,-10.8,558,7026,0.00,2.33,0.00,0.000,1030,0.000,0.041,2681,1968,3296,3173,3420,0,0,0,0,0,0,14.73,14.64,14.76
$GC,7335,-2.18,-175.2,2680,1968,3172,3418,779.7,-10.8,570,7340,0.00,2.42,0.00,0.000,516,0.000,0.062,2688,566,3295,3172,3418,0,0,0,0,0,0,15.03,14.55,15.05
$GC,7362,-2.18,-175.2,2688,564,3172,3418,783.1,-11.4,575,7371,0.00,2.33,0.00,0.000,1030,0.000,0.041,2680,1962,3295,3172,3418,0,0,0,0,0,0,14.72,14.64,14.75
$GC,7668,-2.18,-175.2,2680,1962,3171,3417,817.0,-11.3,586,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1962,3294,3171,3417,0,0,0,0,0,0,15.03,15.05,15.05
$GC,7970,-2.18,-175.2,2680,1962,3170,3417,851.7,-11.7,596,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1962,3293,3170,3416,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8271,-2.18,-175.2,2680,1962,3170,3416,887.3,-11.9,606,8275,0.00,2.45,0.00,0.000,516,0.000,0.068,2680,559,3293,3169,3417,0,0,0,0,0,0,15.03,14.53,15.06
$GC,8328,-2.18,-175.2,2680,559,3169,3416,894.7,-12.1,617,8337,0.15,2.35,0.00,0.000,3078,0.301,0.043,2698,1963,3292,3169,3416,0,0,0,0,0,0,14.08,14.61,14.42
$GC,8634,-2.18,-175.2,2698,1963,3168,3416,927.4,-10.5,628,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1963,3292,3168,3416,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8937,-2.18,-175.2,2698,1963,3167,3415,957.5,-9.8,638,8942,0.00,2.45,0.00,0.000,548,0.000,0.073,2699,571,3291,3167,3415,0,0,0,0,0,0,15.03,14.50,15.05
$GC,8975,-2.18,-175.2,2699,570,3167,3415,961.9,-10.2,645,8981,0.00,2.33,0.00,0.000,1030,0.000,0.042,2691,1961,3291,3167,3415,0,0,0,0,0,0,14.69,14.61,14.72
$STATE,9272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9272,begin apogee
$GC,9278,-0.33,0.0,2691,1841,3167,3414,990.7,-9.7,659,9443,1.67,0.00,160.70,2.697,10246,0.276,0.000,3096,1836,2596,2475,2718,0,0,0,0,0,0,13.91,13.90,12.58
$STATE,9444,end apogee,CONTROL_FINISHED_OK
$STATE,9444,begin climb
$GC,9446,1.65,175.2,3096,1836,2472,2716,994.8,0.0,664,9617,1.48,0.00,163.30,2.710,10502,0.146,0.000,3531,1836,1881,1747,2015,0,0,0,0,0,0,13.91,13.70,12.45
$GC,9904,1.50,175.2,3530,1836,1732,2013,940.0,14.0,710,9910,0.12,2.38,0.00,0.000,4740,0.350,0.079,3515,482,1872,1732,2013,0,0,0,0,0,0,14.19,14.47,14.41
$GC,10003,1.36,175.2,3515,482,1729,2013,926.6,13.3,730,10010,0.17,2.33,0.00,0.000,5254,0.362,0.048,3476,1860,1870,1728,2013,0,0,0,0,0,0,14.17,14.59,14.57
$GC,10324,1.31,175.2,3476,1861,1727,2012,889.7,11.2,744,10329,0.00,2.45,0.00,0.000,644,0.000,0.080,3482,476,1870,1727,2013,0,0,0,0,0,0,14.97,14.54,14.99
$GC,10364,1.23,175.2,3482,476,1726,2013,884.7,12.2,752,10370,0.20,2.30,0.00,0.000,5254,0.369,0.046,3445,1859,1869,1726,2013,0,0,0,0,0,0,14.17,14.66,14.59
$GC,10683,1.24,179.9,3445,1859,1725,2013,853.1,9.8,765,10688,0.00,2.40,0.00,0.000,548,0.000,0.066,3454,465,1868,1724,2013,0,0,0,0,0,0,15.00,14.62,15.02
$GC,10703,1.25,192.5,3454,464,1724,2013,850.9,9.5,769,10724,0.00,2.30,15.80,2.365,9254,0.000,0.045,3454,1839,1811,1667,1956,0,0,0,0,0,0,14.75,14.67,13.20
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$STATE,18905,end climb,SURFACE_DEPTH_REACHED
$STATE,18905,begin surface coast
$FINISH,1.5,0.998690
$STATE,18933,end surface coast,CONTROL_FINISHED_OK
$STATE,18933,begin surface
$SM_CCo,18952,43.85,0.080,0,0,449,526.65
$SM_CCo,18999,-0.20,0.000,0,0,452,526.65
$SM_CCo,19002,0.52,0.099,0,0,449,526.65
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$IRIDIUM_FIX,1212.33,6300.44,200517,105420
$TT8_MAMPS,0.024717,0.15729
$HUMID,51.06
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.40
$XPDR_PINGS,7
$24V_AH,12.45,139.620
$10V_AH,12.71,0.000
$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
$DEVICE_SECS,29.925,199.725,515.575,44.375,0.000,0.000,0.000,214.700,106.000,0.000,14.148,3067.706,12566.902,757.446,2609.401,320.885,0.000,2225.199,0.000,2075.515,0.000,700.752,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225668
$DATA_FILE_SIZE,63311,1459
$CAP_FILE_SIZE,221313,0
$CFSIZE,260034560,227397632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,311.66,1
$GPS,200517,214509,1217.882,6258.713,36,0.8,44,-1.1,0.7,13.7,9,9.6