version: 66.13
glider: 137
mission: 5
dive: 358
start: 5 20 117 21 51 26
data:
$ID,137
$MISSION,5
$DIVE,358
$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,38
$R_STBD_OVSHOOT,75
$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
$GPS1,200517,214509,1217.8824,6258.7129,36,0.8,44,-1.1,0.7,13.7,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-68.4
$GPS2,200517,215051,1218.0127,6258.7441,6,0.8,17,-1.1,0.9,44.9,10,9.9
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,131.0,880101,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.65,-175.2,96,1988,326,567,0.0,0.0,0,89,0.00,0.00,-79.43,0.000,16386,0.000,0.000,97,1988,2626,2555,2698,0,0,0,0,0,0,14.84,28.83,14.87
$GC,92,-1.65,-175.2,96,1988,2555,2699,4.5,-5.9,13,126,13.95,2.60,-12.70,0.000,18724,0.407,2.014,2797,3326,3313,3187,3440,0,0,0,0,0,0,14.04,12.92,14.31
$GC,205,-1.71,-175.2,2797,3326,3188,3441,25.7,-13.9,33,213,0.00,2.25,0.00,0.000,1158,0.000,0.035,2797,1953,3314,3189,3440,0,0,0,0,0,0,14.65,14.58,14.67
$GC,516,-1.79,-175.2,2797,1953,3189,3441,65.3,-11.6,81,521,0.00,2.33,0.00,0.000,388,0.000,0.052,2788,3342,3315,3189,3441,0,0,0,0,0,0,14.98,14.62,15.00
$GC,558,-1.88,-175.2,2787,3342,3189,3441,70.2,-11.3,89,563,0.00,2.28,0.00,0.000,1158,0.000,0.034,2788,1947,3315,3189,3441,0,0,0,0,0,0,14.73,14.66,14.76
$GC,872,-1.97,-175.2,2787,1947,3190,3441,104.8,-9.8,121,877,0.12,2.33,0.00,0.000,4772,0.142,0.053,2730,546,3315,3190,3441,0,0,0,0,0,0,14.70,14.64,14.73
$GC,924,-1.97,-175.2,2729,545,3190,3441,111.1,-11.7,131,929,0.12,2.22,0.00,0.000,3078,0.256,0.031,2744,1939,3315,3190,3441,0,0,0,0,0,0,14.40,14.72,14.64
$GC,1237,-2.00,-175.2,2744,1939,3191,3440,145.9,-10.5,163,1246,0.00,2.30,0.00,0.000,388,0.000,0.050,2736,3358,3316,3191,3441,0,0,0,0,0,0,15.05,14.60,15.07
$GC,1302,-2.08,-175.2,2735,3358,3191,3441,152.8,-10.1,176,1309,0.00,2.28,0.00,0.000,1158,0.000,0.036,2736,1955,3316,3191,3441,0,0,0,0,0,0,14.78,14.71,14.81
$GC,1609,-2.12,-175.2,2735,1955,3192,3441,183.9,-10.3,207,1619,0.10,2.33,0.00,0.000,4484,0.156,0.051,2690,3358,3316,3191,3441,0,0,0,0,0,0,14.75,14.62,14.80
$GC,1793,-2.12,-175.2,2689,3359,3192,3441,202.7,-9.0,243,1798,0.12,2.28,0.00,0.000,3110,0.267,0.036,2714,1946,3316,3191,3441,0,0,0,0,0,0,14.38,14.73,14.65
$GC,2108,-2.12,-175.2,2714,1946,3192,3441,231.6,-10.4,275,2113,0.00,2.30,0.00,0.000,516,0.000,0.056,2715,553,3316,3191,3441,0,0,0,0,0,0,15.04,14.67,15.06
$GC,2155,-2.12,-175.2,2715,552,3192,3441,237.3,-11.7,284,2162,0.00,2.25,0.00,0.000,1030,0.000,0.032,2707,1955,3316,3192,3440,0,0,0,0,0,0,14.81,14.74,14.83
$GC,2463,-2.12,-175.2,2706,1955,3191,3440,267.8,-9.6,303,2468,0.00,2.35,0.00,0.000,548,0.000,0.056,2707,557,3316,3191,3441,0,0,0,0,0,0,15.05,14.67,15.07
$GC,2490,-2.12,-175.2,2707,556,3191,3441,271.0,-10.2,308,2497,0.00,2.28,0.00,0.000,1030,0.000,0.033,2697,1968,3316,3192,3441,0,0,0,0,0,0,14.81,14.74,14.83
$GC,2797,-2.12,-175.2,2697,1969,3191,3441,301.6,-10.4,319,2802,0.00,2.38,0.00,0.000,516,0.000,0.058,2697,563,3316,3192,3440,0,0,0,0,0,0,15.05,14.67,15.07
$GC,2835,-2.12,-175.2,2697,563,3191,3440,306.0,-10.5,326,2841,0.12,2.25,0.00,0.000,3078,0.282,0.033,2712,1963,3316,3191,3441,0,0,0,0,0,0,14.37,14.75,14.64
$GC,3165,-2.17,-175.2,2712,1965,3191,3441,338.9,-9.9,341,3173,0.00,2.38,0.00,0.000,676,0.000,0.060,2713,564,3316,3191,3441,0,0,0,0,0,0,15.05,14.66,15.07
$GC,3195,-2.17,-175.2,2713,564,3191,3440,342.4,-10.4,346,3203,0.00,2.28,0.00,0.000,1030,0.000,0.035,2704,1962,3316,3192,3441,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3502,-2.17,-175.2,2704,1962,3190,3440,374.1,-10.5,357,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1962,3315,3190,3440,0,0,0,0,0,0,15.06,15.08,15.08
$GC,3802,-2.17,-175.2,2704,1962,3188,3439,405.1,-10.4,367,3807,0.00,2.40,0.00,0.000,516,0.000,0.068,2704,568,3313,3188,3439,0,0,0,0,0,0,15.04,14.63,15.07
$GC,3881,-2.17,-175.2,2704,567,3187,3439,414.3,-11.5,382,3886,0.00,2.28,0.00,0.000,1030,0.000,0.038,2694,1956,3313,3187,3439,0,0,0,0,0,0,14.79,14.71,14.81
$GC,4199,-2.17,-175.2,2694,1956,3185,3436,449.3,-11.2,395,4204,0.00,2.40,0.00,0.000,516,0.000,0.064,2694,558,3310,3185,3436,0,0,0,0,0,0,15.04,14.63,15.07
$GC,4236,-2.17,-175.2,2694,558,3184,3436,453.9,-11.4,402,4241,0.00,2.33,0.00,0.000,1030,0.000,0.040,2685,1968,3310,3184,3436,0,0,0,0,0,0,14.78,14.70,14.81
$GC,4566,-2.17,-175.2,2684,1969,3182,3434,490.5,-11.3,417,4571,0.00,2.42,0.00,0.000,516,0.000,0.063,2684,556,3308,3182,3434,0,0,0,0,0,0,15.05,14.63,15.07
$GC,4600,-2.17,-175.2,2684,556,3182,3434,494.6,-11.5,423,4608,0.12,2.33,0.00,0.000,3078,0.291,0.042,2697,1966,3308,3182,3434,0,0,0,0,0,0,14.28,14.69,14.59
$GC,4936,-2.17,-175.2,2697,1966,3181,3431,531.3,-10.9,439,4942,0.00,2.42,0.00,0.000,516,0.000,0.068,2698,564,3306,3182,3431,0,0,0,0,0,0,15.04,14.61,15.06
$GC,4971,-2.17,-175.2,2698,564,3181,3431,535.3,-11.0,445,4977,0.00,2.30,0.00,0.000,1030,0.000,0.041,2690,1955,3306,3181,3431,0,0,0,0,0,0,14.77,14.69,14.79
$GC,5306,-2.17,-175.2,2689,1955,3180,3428,571.0,-10.6,461,5311,0.00,2.40,0.00,0.000,516,0.000,0.066,2690,564,3304,3180,3428,0,0,0,0,0,0,15.03,14.60,15.05
$GC,5349,-2.17,-175.2,2689,564,3179,3428,576.2,-10.9,469,5356,0.10,2.33,0.00,0.000,3078,0.299,0.043,2697,1974,3303,3178,3428,0,0,0,0,0,0,14.33,14.69,14.59
$GC,5675,-2.17,-175.2,2696,1974,3177,3426,608.9,-10.1,483,5680,0.00,2.45,0.00,0.000,516,0.000,0.069,2697,567,3301,3177,3426,0,0,0,0,0,0,15.04,14.59,15.07
$GC,5729,-2.17,-175.2,2697,566,3177,3425,614.7,-10.8,493,5736,0.00,2.30,0.00,0.000,1030,0.000,0.041,2689,1954,3301,3177,3426,0,0,0,0,0,0,14.76,14.66,14.78
$GC,6044,-2.17,-175.2,2689,1954,3176,3424,646.5,-10.0,505,6052,0.00,2.42,0.00,0.000,516,0.000,0.067,2689,556,3299,3175,3423,0,0,0,0,0,0,15.03,14.58,15.05
$GC,6083,-2.17,-175.2,2689,556,3175,3423,651.0,-10.3,512,6091,0.12,2.35,0.00,0.000,3078,0.288,0.043,2702,1971,3299,3175,3424,0,0,0,0,0,0,14.26,14.65,14.49
$GC,6415,-2.20,-175.2,2702,1971,3172,3421,682.2,-9.3,527,6416,0.00,0.00,0.00,0.000,166,0.000,0.000,2702,1971,3296,3172,3421,0,0,0,0,0,0,15.04,15.06,15.06
$GC,6716,-2.23,-175.2,2702,1971,3171,3420,711.3,-9.8,537,6723,0.00,2.45,0.00,0.000,676,0.000,0.070,2703,568,3295,3171,3420,0,0,0,0,0,0,15.04,14.57,15.06
$GC,6767,-2.27,-175.2,2703,567,3171,3420,717.1,-11.3,546,6772,0.00,2.33,0.00,0.000,1158,0.000,0.045,2695,1957,3295,3171,3420,0,0,0,0,0,0,14.73,14.64,14.76
$GC,7085,-2.27,-175.2,2695,1957,3169,3418,751.6,-11.0,559,7090,0.00,2.42,0.00,0.000,516,0.000,0.068,2695,566,3294,3170,3418,0,0,0,0,0,0,15.03,14.54,15.05
$GC,7112,-2.27,-175.2,2695,566,3170,3418,754.9,-12.5,564,7121,0.00,2.35,0.00,0.000,1030,0.000,0.045,2685,1963,3294,3170,3418,0,0,0,0,0,0,14.72,14.63,14.76
$GC,7418,-2.27,-175.2,2685,1963,3169,3417,789.7,-11.4,575,7423,0.00,2.45,0.00,0.000,516,0.000,0.068,2685,560,3293,3169,3417,0,0,0,0,0,0,15.02,14.54,15.04
$GC,7453,-2.27,-175.2,2685,559,3169,3417,793.7,-12.5,581,7458,0.00,2.35,0.00,0.000,1030,0.000,0.047,2676,1965,3293,3169,3417,0,0,0,0,0,0,14.73,14.64,14.76
$GC,7787,-2.27,-175.2,2676,1966,3168,3416,833.1,-11.8,597,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1966,3292,3168,3416,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8089,-2.27,-175.2,2676,1966,3166,3416,868.1,-11.6,607,8094,0.00,2.45,0.00,0.000,516,0.000,0.071,2676,568,3291,3166,3416,0,0,0,0,0,0,15.03,14.52,15.05
$GC,8142,-2.27,-175.2,2676,568,3166,3416,875.0,-12.6,617,8150,0.00,2.33,0.00,0.000,1030,0.000,0.044,2666,1962,3290,3166,3415,0,0,0,0,0,0,14.72,14.64,14.74
$GC,8458,-2.27,-175.2,2666,1962,3165,3414,910.9,-11.1,629,8466,0.00,2.45,0.00,0.000,516,0.000,0.067,2668,559,3289,3165,3414,0,0,0,0,0,0,15.02,14.53,15.04
$GC,8498,-2.21,-175.2,2667,559,3165,3414,915.8,-11.9,636,8505,0.15,2.35,0.00,0.000,3206,0.320,0.047,2689,1964,3289,3165,3414,0,0,0,0,0,0,14.00,14.62,14.22
$GC,8829,-2.21,-175.2,2689,1964,3165,3412,949.5,-10.1,651,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1964,3289,3165,3413,0,0,0,0,0,0,15.01,15.04,15.03
$GC,9130,-2.21,-175.2,2689,1964,3165,3411,979.2,-9.8,661,9137,0.00,2.45,0.00,0.000,548,0.000,0.070,2690,566,3288,3165,3411,0,0,0,0,0,0,15.02,14.51,15.04
$GC,9169,-2.21,-175.2,2690,566,3165,3411,983.5,-10.4,668,9175,0.00,2.35,0.00,0.000,1030,0.000,0.047,2682,1957,3288,3165,3411,0,0,0,0,0,0,14.68,14.58,14.71
$STATE,9257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9257,begin apogee
$GC,9262,-0.33,0.0,2682,1842,3165,3411,992.0,-9.6,675,9426,1.75,0.00,159.82,2.702,10246,0.288,0.000,3097,1834,2595,2473,2718,0,0,0,0,0,0,13.89,13.91,12.59
$STATE,9427,end apogee,CONTROL_FINISHED_OK
$STATE,9427,begin climb
$GC,9430,1.65,175.2,3097,1834,2470,2717,996.0,0.0,680,9606,1.50,2.62,164.98,2.675,10756,0.164,0.080,3542,461,1879,1744,2015,0,0,0,0,0,0,13.91,13.79,12.52
$GC,9652,1.47,175.2,3541,461,1735,2014,973.2,15.1,729,9658,0.25,2.42,0.00,0.000,5254,0.358,0.047,3496,1861,1874,1735,2014,0,0,0,0,0,0,13.89,14.19,14.21
$GC,9981,1.39,175.2,3496,1861,1729,2014,929.6,13.3,744,9982,0.00,0.00,0.00,0.000,134,0.000,0.000,3497,1861,1871,1729,2014,0,0,0,0,0,0,14.89,14.92,14.92
$GC,10282,1.30,175.2,3496,1861,1728,2014,889.6,13.3,754,10288,0.17,2.42,0.00,0.000,4740,0.401,0.069,3470,459,1870,1726,2014,0,0,0,0,0,0,14.16,14.56,14.42
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$STATE,18936,end climb,SURFACE_DEPTH_REACHED
$STATE,18936,begin surface coast
$FINISH,1.6,1.021656
$STATE,18973,end surface coast,CONTROL_FINISHED_OK
$STATE,18973,begin surface
$SM_CCo,18992,67.90,0.080,0,0,449,526.65
$SM_CCo,19064,-0.17,0.000,0,0,451,526.65
$SM_CCo,19067,0.30,0.112,0,0,449,526.65
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$IRIDIUM_FIX,1212.33,6300.44,200517,162258
$TT8_MAMPS,0.023968,0.158788
$HUMID,50.90
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.30
$XPDR_PINGS,14
$24V_AH,12.52,140.032
$10V_AH,12.72,0.000
$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
$DEVICE_SECS,29.975,210.075,494.025,68.200,0.000,0.000,0.000,232.400,113.000,0.000,18.406,3088.609,12566.208,785.769,2668.306,299.563,0.000,2285.925,0.000,2092.379,0.000,739.316,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,689.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225660
$DATA_FILE_SIZE,63340,1471
$CAP_FILE_SIZE,227765,0
$CFSIZE,260034560,227295232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.101,309.63,1
$GPS,210517,031036,1217.583,6259.161,38,0.7,43,-1.1,0.9,30.9,11,9.8