version: 66.13
glider: 137
mission: 5
dive: 385
start: 5 27 117 2 49 2
data:
$ID,137
$MISSION,5
$DIVE,385
$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,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,12
$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,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,73
$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
$GPS1,270517,024239,1209.3062,6313.4038,41,0.9,49,-1.1,0.4,19.1,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-68.6
$GPS2,270517,024826,1209.3353,6313.4219,13,0.9,21,-1.1,0.6,338.5,9,9.6
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,121.4,848932,-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,-2.00,-175.2,91,1932,326,568,0.0,0.0,0,87,0.00,0.00,-76.45,0.000,16386,0.000,0.000,91,1932,2531,2468,2595,0,0,0,0,0,0,14.84,28.83,14.87
$GC,90,-2.00,-175.2,91,1932,2469,2596,4.3,-5.5,13,128,12.98,2.70,-15.38,0.000,18724,0.396,2.001,2649,3335,3313,3187,3440,0,0,0,0,0,0,13.99,12.83,14.35
$GC,207,-1.86,-175.2,2649,3335,3188,3440,30.0,-20.4,34,215,0.20,2.25,0.00,0.000,3206,0.302,0.031,2689,1955,3314,3188,3440,0,0,0,0,0,0,14.14,14.58,14.47
$GC,519,-1.76,-175.2,2688,1954,3189,3440,83.5,-16.4,75,528,0.12,2.33,0.00,0.000,2692,0.334,0.050,2718,559,3314,3189,3440,0,0,0,0,0,0,14.28,14.57,14.45
$GC,581,-1.76,-175.2,2718,559,3189,3440,92.8,-14.4,87,590,0.00,2.22,0.00,0.000,1030,0.000,0.030,2711,1942,3314,3189,3440,0,0,0,0,0,0,14.74,14.69,14.76
$GC,891,-1.76,-175.2,2710,1942,3190,3440,131.6,-11.5,119,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1942,3315,3190,3440,0,0,0,0,0,0,15.03,15.05,15.04
$GC,1192,-1.76,-175.2,2710,1942,3191,3440,166.3,-10.8,149,1201,0.00,2.30,0.00,0.000,516,0.000,0.053,2711,568,3315,3191,3440,0,0,0,0,0,0,15.04,14.59,15.06
$GC,1234,-1.76,-175.2,2710,568,3191,3440,170.8,-11.1,157,1244,0.00,2.25,0.00,0.000,1030,0.000,0.031,2701,1968,3315,3191,3440,0,0,0,0,0,0,14.79,14.73,14.81
$GC,1545,-1.76,-175.2,2700,1968,3191,3440,203.1,-9.5,189,1546,0.00,0.00,0.00,0.000,38,0.000,0.000,2700,1968,3315,3191,3440,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1847,-1.76,-175.2,2700,1969,3191,3440,230.5,-10.0,219,1852,0.00,2.38,0.00,0.000,516,0.000,0.054,2701,561,3315,3191,3440,0,0,0,0,0,0,15.03,14.66,15.05
$GC,1913,-1.76,-175.2,2701,561,3191,3440,238.0,-10.7,231,1919,0.12,2.28,0.00,0.000,3078,0.269,0.032,2718,1969,3315,3191,3440,0,0,0,0,0,0,14.40,14.73,14.64
$GC,2249,-1.81,-175.2,2717,1970,3192,3440,273.1,-10.6,251,2254,0.00,2.38,0.00,0.000,644,0.000,0.056,2718,567,3315,3191,3440,0,0,0,0,0,0,15.04,14.66,15.06
$GC,2319,-1.86,-175.2,2718,566,3191,3440,280.9,-9.9,264,2326,0.00,2.25,0.00,0.000,1190,0.000,0.033,2710,1957,3315,3191,3440,0,0,0,0,0,0,14.81,14.74,14.82
$GC,2651,-1.91,-175.2,2710,1957,3191,3440,311.5,-9.1,279,2656,0.12,2.35,0.00,0.000,4772,0.152,0.054,2664,567,3315,3191,3440,0,0,0,0,0,0,14.66,14.65,14.71
$GC,2706,-1.87,-175.2,2663,566,3191,3440,317.7,-11.1,289,2712,0.17,2.28,0.00,0.000,3206,0.276,0.034,2689,1969,3315,3191,3440,0,0,0,0,0,0,14.31,14.73,14.62
$GC,3021,-1.87,-175.2,2689,1970,3191,3439,348.6,-10.1,301,3026,0.00,2.30,0.00,0.000,260,0.000,0.052,2681,3365,3315,3191,3440,0,0,0,0,0,0,15.04,14.68,15.07
$GC,3064,-1.87,-175.2,2681,3365,3191,3440,353.2,-10.3,309,3069,0.00,2.30,0.00,0.000,1030,0.000,0.036,2681,1961,3316,3191,3441,0,0,0,0,0,0,14.80,14.72,14.81
$GC,3387,-1.87,-175.2,2681,1961,3191,3439,386.7,-10.4,323,3394,0.00,2.35,0.00,0.000,516,0.000,0.057,2681,556,3314,3190,3439,0,0,0,0,0,0,15.04,14.66,15.06
$GC,3422,-1.87,-175.2,2681,556,3190,3439,390.5,-10.7,329,3427,0.00,2.28,0.00,0.000,1030,0.000,0.034,2673,1958,3314,3190,3439,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3756,-1.87,-175.2,2672,1959,3188,3437,426.7,-10.9,345,3761,0.00,2.40,0.00,0.000,516,0.000,0.058,2673,553,3312,3187,3437,0,0,0,0,0,0,15.03,14.65,15.05
$GC,3794,-1.83,-175.2,2673,553,3188,3437,431.3,-11.2,352,3800,0.17,2.30,0.00,0.000,3206,0.272,0.035,2700,1961,3312,3187,3437,0,0,0,0,0,0,14.29,14.72,14.57
$GC,4125,-1.87,-175.2,2699,1961,3186,3435,464.5,-10.2,367,4130,0.00,2.33,0.00,0.000,388,0.000,0.054,2691,3362,3310,3185,3435,0,0,0,0,0,0,15.05,14.65,15.07
$GC,4147,-1.90,-175.2,2691,3363,3185,3435,467.3,-10.9,371,4152,0.00,2.33,0.00,0.000,1158,0.000,0.038,2691,1953,3310,3185,3435,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4461,-1.90,-175.2,2691,1953,3183,3433,498.9,-10.0,383,4466,0.00,2.38,0.00,0.000,548,0.000,0.061,2698,548,3307,3183,3432,0,0,0,0,0,0,15.04,14.63,15.07
$GC,4511,-1.90,-175.2,2698,548,3182,3433,504.2,-10.4,392,4517,0.00,2.33,0.00,0.000,1030,0.000,0.035,2689,1965,3307,3182,3432,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4832,-1.90,-175.2,2689,1965,3182,3431,534.3,-9.2,405,4837,0.00,2.45,0.00,0.000,548,0.000,0.064,2689,551,3306,3182,3430,0,0,0,0,0,0,15.04,14.61,15.07
$GC,4881,-1.90,-175.2,2689,550,3182,3430,539.1,-9.8,414,4887,0.00,2.33,0.00,0.000,1062,0.000,0.037,2679,1961,3306,3182,3430,0,0,0,0,0,0,14.77,14.70,14.79
$GC,5201,-1.90,-175.2,2679,1962,3181,3428,568.4,-9.3,427,5208,0.00,2.42,0.00,0.000,548,0.000,0.063,2679,556,3304,3181,3427,0,0,0,0,0,0,15.04,14.62,15.06
$GC,5256,-1.90,-175.2,2679,556,3180,3428,574.2,-10.6,437,5261,0.00,2.33,0.00,0.000,1030,0.000,0.039,2669,1960,3303,3180,3427,0,0,0,0,0,0,14.77,14.69,14.79
$GC,5569,-1.90,-175.2,2669,1960,3178,3425,605.1,-10.0,449,5574,0.00,2.45,0.00,0.000,548,0.000,0.063,2669,546,3301,3178,3425,0,0,0,0,0,0,15.03,14.59,15.05
$GC,5637,-1.90,-175.2,2669,546,3177,3425,612.3,-10.4,461,5642,0.12,2.35,0.00,0.000,3078,0.288,0.037,2682,1970,3301,3177,3425,0,0,0,0,0,0,14.28,14.69,14.57
$GC,5970,-1.90,-175.2,2682,1970,3176,3423,646.1,-10.2,477,5975,0.00,2.45,0.00,0.000,516,0.000,0.065,2683,559,3299,3176,3423,0,0,0,0,0,0,15.02,14.58,15.04
$GC,6038,-1.90,-175.2,2682,558,3176,3423,653.4,-10.5,489,6043,0.00,2.33,0.00,0.000,1030,0.000,0.041,2674,1956,3299,3175,3423,0,0,0,0,0,0,14.74,14.66,14.77
$GC,6371,-1.90,-175.2,2674,1956,3174,3420,686.9,-10.0,505,6376,0.00,2.45,0.00,0.000,516,0.000,0.065,2674,548,3297,3174,3420,0,0,0,0,0,0,15.02,14.57,15.04
$GC,6416,-1.87,-175.2,2674,548,3173,3420,691.6,-10.3,513,6421,0.12,2.38,0.00,0.000,3206,0.278,0.043,2687,1966,3296,3173,3420,0,0,0,0,0,0,14.27,14.64,14.49
$GC,6742,-1.87,-175.2,2686,1967,3171,3419,720.8,-8.9,527,6747,0.00,2.47,0.00,0.000,548,0.000,0.068,2688,552,3295,3171,3419,0,0,0,0,0,0,15.04,14.55,15.06
$GC,6769,-1.87,-175.2,2687,552,3171,3419,723.7,-9.9,532,6777,0.00,2.38,0.00,0.000,1062,0.000,0.042,2679,1967,3295,3171,3419,0,0,0,0,0,0,14.73,14.65,14.76
$GC,7077,-1.87,-175.2,2679,1967,3170,3418,750.3,-8.8,543,7082,0.00,2.47,0.00,0.000,548,0.000,0.067,2679,553,3294,3171,3418,0,0,0,0,0,0,15.04,14.54,15.06
$GC,7144,-1.87,-175.2,2679,553,3170,3417,757.0,-9.9,556,7149,0.10,2.38,0.00,0.000,3110,0.274,0.045,2686,1966,3293,3170,3417,0,0,0,0,0,0,14.32,14.63,14.55
$GC,7475,-1.87,-175.2,2686,1966,3169,3417,786.0,-9.2,571,7480,0.00,2.47,0.00,0.000,548,0.000,0.069,2687,545,3293,3169,3417,0,0,0,0,0,0,15.03,14.52,15.05
$GC,7523,-1.87,-175.2,2687,545,3169,3416,791.3,-10.7,580,7528,0.00,2.38,0.00,0.000,1030,0.000,0.045,2679,1956,3292,3168,3417,0,0,0,0,0,0,14.71,14.62,14.73
$GC,7841,-1.87,-175.2,2678,1956,3168,3416,823.4,-10.4,593,7848,0.00,2.47,0.00,0.000,516,0.000,0.070,2679,542,3292,3168,3416,0,0,0,0,0,0,15.02,14.51,15.04
$GC,7892,-1.87,-175.2,2678,541,3167,3416,829.5,-11.5,602,7899,0.12,2.38,0.00,0.000,3078,0.282,0.038,2692,1967,3291,3167,3416,0,0,0,0,0,0,14.22,14.64,14.45
$GC,8212,-1.87,-175.2,2692,1968,3166,3415,862.4,-10.4,615,8217,0.00,2.47,0.00,0.000,516,0.000,0.065,2693,542,3290,3166,3415,0,0,0,0,0,0,15.02,14.51,15.04
$GC,8279,-1.87,-175.2,2693,542,3165,3415,869.7,-10.0,627,8284,0.00,2.38,0.00,0.000,1030,0.000,0.041,2684,1959,3290,3166,3415,0,0,0,0,0,0,14.70,14.62,14.73
$GC,8612,-1.87,-175.2,2684,1959,3165,3413,904.1,-10.2,643,8617,0.00,2.47,0.00,0.000,516,0.000,0.067,2687,540,3289,3165,3414,0,0,0,0,0,0,15.02,14.49,15.04
$GC,8670,-1.87,-175.2,2687,540,3165,3414,910.6,-10.9,654,8679,0.00,2.40,0.00,0.000,1030,0.000,0.042,2679,1965,3289,3165,3414,0,0,0,0,0,0,14.69,14.61,14.72
$GC,8979,-1.87,-175.2,2678,1965,3165,3412,940.3,-9.6,665,8984,0.00,2.47,0.00,0.000,548,0.000,0.066,2682,549,3288,3165,3412,0,0,0,0,0,0,15.02,14.48,15.04
$GC,9022,-1.87,-175.2,2682,549,3165,3411,945.1,-10.0,673,9027,0.00,2.38,0.00,0.000,1030,0.000,0.044,2674,1959,3288,3165,3412,0,0,0,0,0,0,14.69,14.60,14.71
$GC,9347,-1.87,-175.2,2674,1959,3164,3410,975.4,-9.4,687,9348,0.00,0.00,0.00,0.000,38,0.000,0.000,2674,1960,3287,3165,3410,0,0,0,0,0,0,15.02,15.04,15.04
$STATE,9524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9524,begin apogee
$GC,9530,-0.42,0.0,2674,1696,3165,3409,992.6,-9.6,693,9695,1.33,0.00,160.88,2.715,10246,0.252,0.000,3005,1695,2596,2473,2720,0,0,0,0,0,0,13.94,13.91,12.52
$STATE,9696,end apogee,CONTROL_FINISHED_OK
$STATE,9696,begin climb
$GC,9698,2.00,175.2,3005,1695,2470,2717,997.4,0.0,698,9873,1.88,2.60,164.55,2.688,10500,0.178,0.060,3533,3135,1878,1743,2014,0,0,0,0,0,0,13.92,13.54,12.47
$GC,9919,1.84,175.2,3533,3135,1744,2004,977.1,12.8,747,9925,0.22,2.53,0.00,0.000,5254,0.369,0.052,3503,1718,1873,1743,2004,0,0,0,0,0,0,13.91,14.23,14.25
$GC,10248,1.74,175.2,3503,1717,1736,2003,939.6,11.1,762,10256,0.12,2.42,0.00,0.000,4484,0.382,0.057,3469,3110,1870,1736,2004,0,0,0,0,0,0,14.19,14.54,14.42
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$STATE,19277,end climb,SURFACE_DEPTH_REACHED
$STATE,19277,begin surface coast
$FINISH,1.6,1.014612
$STATE,19305,end surface coast,CONTROL_FINISHED_OK
$STATE,19305,begin surface
$SM_CCo,19324,48.47,0.079,0,0,449,526.65
$SM_CCo,19376,-0.22,0.000,0,0,450,526.65
$SM_CCo,19380,0.00,0.000,0,0,450,526.65
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$IRIDIUM_FIX,1205.71,6311.30,260517,211601
$TT8_MAMPS,0.023968,0.16478
$HUMID,51.65
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.40
$XPDR_PINGS,8
$24V_AH,12.47,151.734
$10V_AH,12.20,0.000
$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
$DEVICE_SECS,28.650,227.025,539.950,48.475,0.000,0.000,0.000,227.600,129.000,0.000,22.713,3169.591,12533.959,766.019,2893.713,360.667,0.000,2357.235,0.000,2270.455,0.000,858.326,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,678.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70027,1597
$CAP_FILE_SIZE,242733,0
$CFSIZE,260034560,224649216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.049,273.80,1
$GPS,270517,081337,1209.280,6314.289,50,0.9,56,-1.1,0.5,120.5,9,9.9