version: 66.13
glider: 137
mission: 5
dive: 369
start: 5 23 117 10 57 10
data:
$ID,137
$MISSION,5
$DIVE,369
$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,51
$R_STBD_OVSHOOT,42
$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,10
$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
$GPS1,230517,104732,1214.6844,6303.8062,46,0.8,53,-1.1,0.9,40.0,10,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-68.6
$GPS2,230517,105635,1214.8188,6303.8584,16,0.8,24,-1.1,0.5,38.3,10,9.8
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,119.7,869048,-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,-175.2,90,1931,330,568,0.0,0.0,0,98,0.00,0.00,-88.28,0.000,16386,0.000,0.000,90,1932,2887,2810,2964,0,0,0,0,0,0,14.88,28.83,14.90
$GC,101,-1.65,-175.2,90,1931,2811,2964,5.0,-8.4,15,128,13.15,2.80,-7.62,0.000,18724,0.377,2.000,2799,3358,3314,3194,3434,0,0,0,0,0,0,14.04,12.91,14.48
$GC,188,-1.74,-175.2,2799,3358,3194,3435,22.7,-13.6,30,195,0.00,2.28,0.00,0.000,1158,0.000,0.032,2799,1968,3314,3194,3435,0,0,0,0,0,0,14.66,14.59,14.68
$GC,503,-1.81,-175.2,2799,1968,3194,3435,62.0,-10.8,82,512,0.00,2.33,0.00,0.000,388,0.000,0.050,2790,3369,3315,3195,3435,0,0,0,0,0,0,14.99,14.54,15.01
$GC,558,-1.94,-175.2,2789,3369,3194,3435,68.5,-10.8,93,566,0.15,2.30,0.00,0.000,5254,0.128,0.034,2730,1962,3314,3194,3435,0,0,0,0,0,0,14.62,14.66,14.71
$GC,864,-1.94,-175.2,2729,1962,3194,3435,108.2,-12.1,124,875,0.12,2.35,0.00,0.000,2564,0.250,0.055,2759,554,3315,3195,3435,0,0,0,0,0,0,14.39,14.62,14.53
$GC,950,-1.99,-175.2,2759,554,3195,3435,119.3,-12.2,141,958,0.00,2.30,0.00,0.000,1158,0.000,0.034,2751,1967,3315,3195,3435,0,0,0,0,0,0,14.77,14.70,14.79
$GC,1258,-2.04,-175.2,2750,1968,3195,3435,151.1,-8.7,172,1267,0.00,2.30,0.00,0.000,420,0.000,0.050,2741,3380,3315,3195,3435,0,0,0,0,0,0,15.05,14.69,15.07
$GC,1331,-2.12,-175.2,2740,3380,3196,3435,158.1,-10.0,186,1341,0.08,2.28,0.00,0.000,5286,0.082,0.034,2702,1959,3315,3196,3435,0,0,0,0,0,0,14.58,14.64,14.64
$GC,1640,-2.12,-175.2,2702,1958,3196,3435,191.0,-10.3,218,1650,0.00,2.33,0.00,0.000,516,0.000,0.057,2703,555,3315,3196,3435,0,0,0,0,0,0,15.07,14.66,15.09
$GC,1759,-2.12,-175.2,2702,554,3196,3435,202.8,-8.8,241,1769,0.10,2.28,0.00,0.000,3110,0.285,0.033,2709,1973,3315,3196,3435,0,0,0,0,0,0,14.42,14.73,14.66
$GC,2067,-2.12,-175.2,2709,1973,3196,3435,227.3,-7.8,272,2072,0.00,2.40,0.00,0.000,548,0.000,0.059,2710,554,3315,3196,3435,0,0,0,0,0,0,15.03,14.66,15.05
$GC,2094,-2.12,-175.2,2710,554,3196,3435,229.9,-8.9,277,2103,0.00,2.28,0.00,0.000,1062,0.000,0.034,2702,1960,3315,3196,3435,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2401,-2.12,-175.2,2702,1960,3196,3435,259.5,-10.5,302,2408,0.00,2.40,0.00,0.000,516,0.000,0.059,2702,545,3315,3196,3435,0,0,0,0,0,0,15.04,14.66,15.06
$GC,2419,-2.12,-175.2,2702,545,3196,3435,261.8,-10.6,305,2428,0.10,2.30,0.00,0.000,3078,0.272,0.038,2710,1962,3315,3196,3435,0,0,0,0,0,0,14.44,14.73,14.66
$GC,2743,-2.16,-175.2,2710,1961,3196,3435,294.9,-10.3,318,2744,0.00,0.00,0.00,0.000,134,0.000,0.000,2710,1961,3315,3196,3435,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3044,-2.20,-175.2,2710,1962,3195,3435,323.5,-9.4,328,3048,0.00,2.42,0.00,0.000,676,0.000,0.064,2711,548,3315,3195,3435,0,0,0,0,0,0,15.05,14.65,15.07
$GC,3088,-2.23,-175.2,2711,548,3195,3435,328.4,-10.5,336,3093,0.00,2.30,0.00,0.000,1158,0.000,0.038,2702,1956,3314,3195,3434,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3414,-2.23,-175.2,2702,1956,3192,3435,358.5,-9.3,350,3415,0.00,0.00,0.00,0.000,38,0.000,0.000,2702,1956,3313,3192,3435,0,0,0,0,0,0,15.06,15.08,15.08
$GC,3714,-2.26,-175.2,2702,1956,3191,3435,386.9,-9.3,360,3719,0.00,2.40,0.00,0.000,676,0.000,0.065,2702,562,3312,3191,3434,0,0,0,0,0,0,15.05,14.64,15.07
$GC,3774,-2.26,-175.2,2702,561,3190,3434,393.3,-9.4,371,3781,0.00,2.33,0.00,0.000,1062,0.000,0.041,2692,1963,3312,3189,3435,0,0,0,0,0,0,14.78,14.70,14.81
$GC,4083,-2.26,-175.2,2692,1963,3188,3432,421.9,-9.5,382,4084,0.00,0.00,0.00,0.000,38,0.000,0.000,2693,1963,3310,3188,3432,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4382,-2.26,-175.2,2692,1964,3186,3430,452.3,-10.4,392,4387,0.00,2.42,0.00,0.000,516,0.000,0.064,2693,554,3308,3186,3430,0,0,0,0,0,0,15.04,14.63,15.06
$GC,4449,-2.26,-175.2,2693,553,3185,3429,460.1,-10.9,404,4454,0.00,2.35,0.00,0.000,1030,0.000,0.043,2682,1973,3306,3184,3429,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4782,-2.26,-175.2,2682,1974,3182,3426,497.7,-11.5,420,4787,0.00,2.45,0.00,0.000,516,0.000,0.064,2683,554,3304,3182,3426,0,0,0,0,0,0,15.04,14.62,15.06
$GC,4820,-2.26,-175.2,2682,555,3182,3426,502.5,-11.6,427,4825,0.00,2.33,0.00,0.000,1030,0.000,0.038,2673,1967,3304,3182,3426,0,0,0,0,0,0,14.78,14.71,14.81
$GC,5150,-2.26,-175.2,2672,1966,3182,3424,540.8,-11.6,442,5155,0.00,2.42,0.00,0.000,516,0.000,0.063,2673,559,3303,3182,3424,0,0,0,0,0,0,15.05,14.62,15.07
$GC,5204,-2.23,-175.2,2672,558,3182,3424,547.8,-13.0,452,5211,0.12,2.33,0.00,0.000,3206,0.294,0.041,2685,1967,3302,3181,3424,0,0,0,0,0,0,14.28,14.70,14.57
$GC,5520,-2.23,-175.2,2685,1967,3180,3421,583.6,-11.2,464,5527,0.00,2.45,0.00,0.000,516,0.000,0.067,2685,556,3300,3180,3421,0,0,0,0,0,0,15.03,14.59,15.05
$GC,5556,-2.23,-175.2,2685,556,3180,3421,587.7,-11.3,470,5561,0.00,2.33,0.00,0.000,1030,0.000,0.039,2677,1960,3300,3179,3421,0,0,0,0,0,0,14.77,14.69,14.79
$GC,5891,-2.23,-175.2,2677,1960,3178,3419,624.8,-11.0,486,5896,0.00,2.42,0.00,0.000,516,0.000,0.061,2681,552,3298,3177,3419,0,0,0,0,0,0,15.03,14.60,15.05
$GC,5934,-2.23,-175.2,2680,551,3177,3419,630.1,-10.9,494,5939,0.00,2.35,0.00,0.000,1030,0.000,0.041,2673,1968,3297,3177,3418,0,0,0,0,0,0,14.76,14.69,14.78
$GC,6258,-2.23,-175.2,2672,1968,3176,3417,664.2,-10.5,508,6263,0.00,2.35,0.00,0.000,260,0.000,0.057,2662,3372,3296,3176,3417,0,0,0,0,0,0,15.04,14.62,15.06
$GC,6292,-2.23,-175.2,2662,3372,3176,3417,667.9,-10.1,514,6299,0.12,2.38,0.00,0.000,3078,0.287,0.047,2684,1957,3296,3176,3417,0,0,0,0,0,0,14.25,14.64,14.48
$GC,6628,-2.23,-175.2,2684,1957,3174,3417,700.2,-9.3,530,6635,0.00,2.40,0.00,0.000,548,0.000,0.063,2687,542,3295,3174,3416,0,0,0,0,0,0,15.04,14.59,15.06
$GC,6713,-2.23,-175.2,2686,542,3173,3416,708.8,-10.3,546,6720,0.00,2.35,0.00,0.000,1030,0.000,0.037,2678,1965,3294,3173,3416,0,0,0,0,0,0,14.74,14.66,14.77
$GC,7029,-2.23,-175.2,2678,1965,3171,3415,737.4,-9.3,558,7030,0.00,0.00,0.00,0.000,38,0.000,0.000,2678,1965,3293,3171,3415,0,0,0,0,0,0,15.04,15.06,15.06
$GC,7331,-2.23,-175.2,2678,1964,3170,3413,765.5,-9.4,568,7336,0.00,2.45,0.00,0.000,548,0.000,0.060,2679,546,3292,3170,3414,0,0,0,0,0,0,15.04,14.57,15.06
$GC,7386,-2.23,-175.2,2679,545,3170,3413,771.5,-10.2,578,7393,0.00,2.35,0.00,0.000,1030,0.000,0.041,2671,1958,3291,3170,3413,0,0,0,0,0,0,14.73,14.66,14.76
$GC,7702,-2.23,-175.2,2671,1958,3169,3412,802.8,-10.3,590,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1958,3290,3169,3412,0,0,0,0,0,0,15.02,15.05,15.05
$GC,8003,-2.23,-175.2,2671,1958,3169,3410,835.1,-11.0,600,8008,0.00,2.45,0.00,0.000,516,0.000,0.060,2671,542,3289,3169,3410,0,0,0,0,0,0,15.03,14.56,15.05
$GC,8052,-2.23,-175.2,2671,542,3169,3410,841.2,-11.6,609,8059,0.12,2.38,0.00,0.000,3078,0.291,0.043,2683,1964,3289,3169,3410,0,0,0,0,0,0,14.19,14.63,14.43
$GC,8372,-2.23,-175.2,2683,1964,3169,3408,876.4,-11.0,622,8379,0.00,2.47,0.00,0.000,516,0.000,0.069,2684,542,3288,3169,3408,0,0,0,0,0,0,15.02,14.50,15.05
$GC,8408,-2.23,-175.2,2683,542,3169,3409,880.4,-10.7,628,8413,0.00,2.38,0.00,0.000,1030,0.000,0.044,2675,1954,3288,3169,3408,0,0,0,0,0,0,14.70,14.61,14.73
$GC,8742,-2.23,-175.2,2675,1954,3168,3407,918.0,-11.2,644,8747,0.00,2.45,0.00,0.000,516,0.000,0.067,2675,556,3288,3168,3408,0,0,0,0,0,0,15.01,14.51,15.03
$GC,8777,-2.18,-175.2,2675,555,3168,3408,922.0,-12.5,650,8783,0.15,2.38,0.00,0.000,3206,0.294,0.045,2696,1966,3288,3168,3408,0,0,0,0,0,0,14.05,14.60,14.25
$GC,9113,-2.18,-175.2,2696,1967,3166,3407,956.4,-10.1,666,9118,0.00,2.47,0.00,0.000,516,0.000,0.072,2697,554,3286,3166,3407,0,0,0,0,0,0,15.03,14.47,15.05
$GC,9160,-2.18,-175.2,2697,554,3166,3407,961.6,-10.1,675,9165,0.00,2.38,0.00,0.000,1030,0.000,0.044,2689,1960,3286,3166,3407,0,0,0,0,0,0,14.68,14.59,14.71
$STATE,9447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9447,begin apogee
$GC,9452,-0.33,0.0,2689,1831,3165,3406,990.3,-9.9,687,9617,1.67,0.00,160.15,2.686,10246,0.273,0.000,3096,1827,2596,2476,2717,0,0,0,0,0,0,13.89,13.92,12.55
$STATE,9618,end apogee,CONTROL_FINISHED_OK
$STATE,9618,begin climb
$GC,9621,1.65,175.2,3096,1827,2472,2716,995.0,0.0,692,9796,1.52,2.62,163.90,2.703,10756,0.168,0.078,3544,454,1878,1743,2013,0,0,0,0,0,0,13.93,13.81,12.47
$GC,9827,1.46,175.2,3543,454,1735,2013,975.7,14.4,723,9832,0.22,2.45,0.00,0.000,5254,0.376,0.041,3500,1873,1874,1735,2013,0,0,0,0,0,0,13.83,14.16,14.16
$GC,10135,1.38,175.2,3499,1873,1728,2013,936.9,12.6,734,10142,0.12,2.47,0.00,0.000,4740,0.400,0.073,3484,459,1870,1728,2013,0,0,0,0,0,0,14.20,14.52,14.43
$GC,10167,1.31,175.2,3483,459,1726,2013,932.6,13.1,741,10173,0.12,2.35,0.00,0.000,5254,0.327,0.047,3463,1843,1870,1727,2013,0,0,0,0,0,0,14.25,14.60,14.59
$GC,10496,1.31,175.2,3462,1843,1725,2013,896.2,11.0,756,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1843,1869,1725,2013,0,0,0,0,0,0,14.97,15.00,15.00
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$STATE,19020,end climb,SURFACE_DEPTH_REACHED
$STATE,19020,begin surface coast
$FINISH,1.6,1.010025
$STATE,19047,end surface coast,CONTROL_FINISHED_OK
$STATE,19047,begin surface
$SM_CCo,19067,53.65,0.079,0,0,450,526.65
$SM_CCo,19124,-0.15,0.000,0,0,451,526.65
$SM_CCo,19127,0.00,0.000,0,0,451,526.65
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$IRIDIUM_FIX,1210.12,6305.37,230517,104921
$TT8_MAMPS,0.023968,0.15729
$HUMID,52.48
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,24.30
$XPDR_PINGS,8
$24V_AH,12.47,144.765
$10V_AH,13.20,0.000
$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,29.350,196.975,513.800,53.650,0.000,0.000,0.000,305.550,115.000,0.000,25.203,3089.552,12745.407,784.457,2723.969,326.063,0.000,2313.448,0.000,2068.388,0.000,764.831,0.000
$DEVICE_MAMPS,400.095,2000.475,2702.745,78.795,0.000,0.000,0.000,186.660,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,683.376,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225648
$DATA_FILE_SIZE,63315,1454
$CAP_FILE_SIZE,227456,0
$CFSIZE,260034560,226234368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.085,294.39,1
$GPS,230517,161730,1214.328,6304.316,49,0.8,54,-1.1,0.5,2.7,10,9.3