version: 66.13
glider: 137
mission: 5
dive: 571
start: 8 7 117 21 5 28
data:
$ID,137
$MISSION,5
$DIVE,571
$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,1440
$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,160
$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,450
$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,1800
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2590
$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,2.0999999
$DBDW,1700
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,9
$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
$GPS1,070817,205032,938.9955,6623.0010,37,0.9,44,-1.8,0.7,162.9,9,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-68.2
$GPS2,070817,210448,938.8016,6622.9941,6,0.9,22,-1.8,1.5,175.9,9,9.7
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,120.7,403154,-23.2,-10.000,-29.57,2379
$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,-2.12,-155.7,70,1885,642,850,0.0,0.0,0,81,0.00,0.00,-71.15,0.000,16386,0.000,0.000,70,1876,2639,2558,2721,0,0,0,0,0,0,14.86,28.83,14.88
$GC,84,-2.12,-155.7,69,1876,2558,2721,4.4,-6.0,12,117,13.07,2.53,-11.88,0.000,19236,0.389,2.003,2623,3195,3225,3109,3341,0,0,0,0,0,0,13.94,13.11,14.38
$GC,316,-2.02,-155.7,2623,3195,3109,3342,59.0,-23.1,56,327,0.15,2.30,0.00,0.000,3206,0.278,0.039,2657,1810,3226,3110,3342,0,0,0,0,0,0,13.96,14.51,14.14
$GC,626,-1.96,-155.7,2656,1810,3110,3342,119.7,-16.7,88,636,0.00,2.40,0.00,0.000,644,0.000,0.057,2658,390,3226,3110,3342,0,0,0,0,0,0,14.99,14.39,15.01
$GC,749,-1.96,-155.7,2658,390,3111,3342,139.8,-14.7,112,759,0.08,2.30,0.00,0.000,3078,0.257,0.030,2666,1808,3226,3110,3342,0,0,0,0,0,0,14.05,14.46,14.20
$GC,1058,-1.96,-155.7,2666,1808,3113,3342,184.8,-13.7,144,1063,0.00,2.30,0.00,0.000,260,0.000,0.054,2658,3199,3227,3113,3342,0,0,0,0,0,0,15.01,14.43,15.03
$GC,1094,-2.00,-155.7,2658,3200,3112,3342,190.0,-13.1,151,1101,0.00,2.33,0.00,0.000,1158,0.000,0.038,2658,1804,3227,3113,3342,0,0,0,0,0,0,14.62,14.54,14.65
$GC,1403,-2.00,-155.7,2658,1804,3113,3342,233.0,-13.4,182,1407,0.00,2.40,0.00,0.000,516,0.000,0.061,2658,394,3227,3113,3342,0,0,0,0,0,0,14.96,14.45,14.98
$GC,1430,-2.00,-155.7,2658,394,3113,3342,237.5,-14.6,187,1440,0.00,2.33,0.00,0.000,1030,0.000,0.031,2648,1806,3227,3113,3342,0,0,0,0,0,0,14.64,14.56,14.65
$GC,1760,-2.00,-155.7,2648,1806,3113,3342,286.3,-15.0,204,1764,0.00,2.45,0.00,0.000,516,0.000,0.056,2648,387,3227,3113,3342,0,0,0,0,0,0,14.97,14.46,15.00
$GC,1781,-2.00,-155.7,2647,387,3113,3342,290.0,-15.2,208,1787,0.12,2.33,0.00,0.000,3078,0.276,0.032,2661,1805,3227,3113,3342,0,0,0,0,0,0,14.13,14.57,14.41
$GC,2096,-2.00,-155.7,2661,1804,3112,3342,329.4,-11.9,220,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1804,3227,3112,3342,0,0,0,0,0,0,14.96,14.99,14.98
$GC,2399,-2.03,-155.7,2661,1805,3108,3342,367.5,-13.0,230,2406,0.00,2.45,0.00,0.000,644,0.000,0.060,2662,400,3225,3108,3342,0,0,0,0,0,0,14.97,14.43,14.99
$GC,2458,-2.03,-155.7,2662,399,3107,3342,376.3,-14.3,241,2466,0.00,2.35,0.00,0.000,1030,0.000,0.035,2653,1803,3224,3107,3342,0,0,0,0,0,0,14.61,14.52,14.63
$GC,2766,-2.03,-155.7,2653,1803,3103,3342,417.2,-13.5,252,2770,0.00,2.45,0.00,0.000,516,0.000,0.060,2653,400,3223,3104,3342,0,0,0,0,0,0,14.97,14.42,15.00
$GC,2809,-2.03,-155.7,2653,400,3103,3342,423.9,-14.9,260,2814,0.00,2.35,0.00,0.000,1030,0.000,0.036,2642,1803,3222,3103,3342,0,0,0,0,0,0,14.60,14.52,14.62
$GC,3133,-2.03,-155.7,2642,1803,3100,3342,469.7,-14.6,274,3140,0.00,2.47,0.00,0.000,516,0.000,0.061,2642,393,3221,3100,3342,0,0,0,0,0,0,14.96,14.40,14.99
$GC,3172,-2.03,-155.7,2642,393,3100,3342,476.2,-16.2,281,3180,0.12,2.38,0.00,0.000,3078,0.272,0.037,2656,1808,3220,3099,3342,0,0,0,0,0,0,14.08,14.50,14.29
$GC,3505,-2.07,-155.7,2656,1808,3096,3342,523.1,-13.7,296,3510,0.00,2.40,0.00,0.000,388,0.000,0.065,2647,3199,3219,3096,3342,0,0,0,0,0,0,14.95,14.38,14.97
$GC,3541,-2.11,-155.7,2647,3199,3096,3342,527.9,-13.4,302,3546,0.00,2.38,0.00,0.000,1158,0.000,0.044,2647,1799,3219,3096,3342,0,0,0,0,0,0,14.56,14.47,14.59
$GC,3876,-2.11,-155.7,2647,1799,3095,3341,573.7,-13.4,318,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1799,3217,3094,3341,0,0,0,0,0,0,14.97,15.00,15.00
$GC,4177,-2.11,-155.7,2647,1799,3092,3340,612.9,-13.1,328,4181,0.00,2.45,0.00,0.000,260,0.000,0.055,2638,3208,3215,3091,3340,0,0,0,0,0,0,14.93,14.40,14.95
$GC,4220,-2.11,-155.7,2637,3208,3092,3339,619.3,-13.1,336,4225,0.00,2.42,0.00,0.000,1030,0.000,0.047,2638,1794,3215,3092,3339,0,0,0,0,0,0,14.54,14.45,14.57
$GC,4545,-2.11,-155.7,2637,1794,3090,3337,663.8,-14.4,350,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1794,3213,3090,3337,0,0,0,0,0,0,14.97,15.00,14.99
$GC,4845,-2.11,-155.7,2637,1794,3089,3335,708.0,-14.9,360,4850,0.00,2.47,0.00,0.000,516,0.000,0.071,2640,389,3212,3089,3335,0,0,0,0,0,0,14.93,14.32,14.96
$GC,4867,-2.11,-155.7,2640,389,3088,3334,712.0,-16.0,364,4872,0.00,2.38,0.00,0.000,1030,0.000,0.037,2632,1797,3211,3088,3334,0,0,0,0,0,0,14.54,14.46,14.57
$GC,5181,-2.11,-155.7,2632,1796,3087,3333,759.0,-15.0,376,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1796,3210,3087,3333,0,0,0,0,0,0,14.94,14.97,14.96
$GC,5484,-2.11,-155.7,2632,1796,3086,3331,803.1,-14.9,386,5490,0.00,2.47,0.00,0.000,516,0.000,0.067,2632,400,3208,3086,3331,0,0,0,0,0,0,14.93,14.29,14.96
$GC,5524,-2.08,-155.7,2632,400,3086,3330,810.1,-16.4,393,5532,0.12,2.38,0.00,0.000,3206,0.274,0.037,2645,1811,3208,3086,3330,0,0,0,0,0,0,13.97,14.45,14.19
$GC,5856,-2.08,-155.7,2644,1810,3085,3329,857.5,-14.3,408,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1810,3207,3085,3329,0,0,0,0,0,0,14.93,14.96,14.95
$GC,6159,-2.08,-155.7,2644,1810,3083,3328,899.6,-14.0,418,6166,0.00,2.53,0.00,0.000,516,0.000,0.069,2645,398,3205,3083,3327,0,0,0,0,0,0,14.92,14.20,14.95
$GC,6229,-2.08,-155.7,2645,398,3082,3327,910.4,-14.3,431,6234,0.00,2.38,0.00,0.000,1030,0.000,0.038,2636,1798,3204,3082,3327,0,0,0,0,0,0,14.51,14.42,14.53
$GC,6558,-2.08,-155.7,2636,1797,3082,3326,955.2,-13.5,446,6565,0.00,2.50,0.00,0.000,516,0.000,0.066,2636,396,3203,3081,3326,0,0,0,0,0,0,14.94,14.22,14.96
$GC,6595,-2.04,-155.7,2636,395,3081,3326,960.2,-14.2,452,6600,0.15,2.40,0.00,0.000,3206,0.267,0.041,2658,1805,3203,3081,3326,0,0,0,0,0,0,13.83,14.38,13.99
$STATE,6837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6837,begin apogee
$GC,6844,-0.42,0.0,2659,1897,3081,3326,990.6,-12.1,465,6993,1.45,0.00,144.90,2.725,10246,0.261,0.000,3006,1900,2589,2464,2714,0,0,0,0,0,0,13.58,13.93,12.45
$STATE,6994,end apogee,CONTROL_FINISHED_OK
$STATE,6994,begin climb
$GC,6996,2.12,155.7,3006,1900,2460,2713,994.4,0.0,470,7155,1.90,2.62,148.02,2.704,11012,0.160,0.076,3572,475,1950,1817,2084,0,0,0,0,0,0,14.02,13.64,12.48
$GC,7173,1.91,155.7,3572,475,1813,2083,976.9,16.8,492,7178,0.25,2.40,0.00,0.000,5254,0.344,0.045,3520,1876,1947,1812,2083,0,0,0,0,0,0,13.94,14.30,14.28
$GC,7497,1.79,155.7,3520,1876,1801,2083,926.8,15.4,506,7503,0.12,2.38,0.00,0.000,4484,0.387,0.067,3491,3241,1942,1801,2083,0,0,0,0,0,0,13.98,14.38,14.23
$GC,7515,1.69,155.7,3491,3241,1801,2083,923.7,15.2,510,7525,0.17,2.38,0.00,0.000,5254,0.392,0.051,3470,1857,1942,1801,2083,0,0,0,0,0,0,13.95,14.53,14.40
$GC,7827,1.65,155.7,3470,1857,1799,2083,882.9,12.8,522,7828,0.00,0.00,0.00,0.000,134,0.000,0.000,3470,1857,1941,1799,2083,0,0,0,0,0,0,14.95,14.98,14.98
$GC,8126,1.62,155.7,3470,1857,1797,2083,844.6,12.8,532,8133,0.00,2.40,0.00,0.000,644,0.000,0.063,3479,471,1939,1796,2083,0,0,0,0,0,0,14.97,14.41,15.00
$GC,8165,1.56,155.7,3479,471,1796,2083,839.5,12.9,540,8170,0.15,2.35,0.00,0.000,5254,0.355,0.044,3444,1850,1939,1795,2083,0,0,0,0,0,0,13.89,14.50,14.34
$GC,8483,1.56,155.7,3444,1848,1794,2083,804.0,11.0,553,8488,0.00,2.53,0.00,0.000,260,0.000,0.073,3444,3269,1938,1794,2083,0,0,0,0,0,0,14.98,14.38,15.00
$GC,8530,1.56,155.7,3443,3269,1794,2083,798.4,11.6,562,8534,0.00,2.42,0.00,0.000,1030,0.000,0.050,3452,1865,1938,1794,2083,0,0,0,0,0,0,14.59,14.50,14.62
$GC,8843,1.56,155.7,3452,1865,1793,2084,762.8,11.6,574,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1865,1938,1793,2083,0,0,0,0,0,0,14.98,15.01,15.00
$GC,9142,1.56,155.7,3452,1865,1792,2083,729.0,11.3,584,9149,0.00,2.53,0.00,0.000,260,0.000,0.062,3452,3278,1937,1792,2083,0,0,0,0,0,0,15.00,14.37,15.02
$GC,9172,1.56,155.7,3452,3278,1792,2083,725.4,12.2,590,9179,0.08,2.40,0.00,0.000,5126,0.308,0.044,3446,1866,1937,1792,2083,0,0,0,0,0,0,13.90,14.40,14.10
$GC,9503,1.56,155.7,3446,1865,1791,2083,689.8,10.9,606,9509,0.00,2.50,0.00,0.000,260,0.000,0.066,3443,3271,1937,1791,2083,0,0,0,0,0,0,14.98,14.26,15.00
$GC,9525,1.56,155.7,3442,3272,1791,2083,687.1,11.3,611,9532,0.00,2.42,0.00,0.000,1030,0.000,0.050,3451,1877,1937,1791,2083,0,0,0,0,0,0,14.53,14.44,14.57
$GC,9832,1.56,155.7,3451,1877,1790,2083,653.0,11.1,622,9839,0.00,2.42,0.00,0.000,516,0.000,0.063,3461,472,1936,1789,2083,0,0,0,0,0,0,14.99,14.28,15.01
$GC,9856,1.56,155.7,3461,472,1789,2083,650.2,12.3,627,9863,0.12,2.40,0.00,0.000,5126,0.308,0.041,3441,1876,1936,1789,2083,0,0,0,0,0,0,13.89,14.42,14.26
$GC,10162,1.59,155.7,3440,1876,1789,2083,616.8,11.1,638,10164,0.00,0.00,0.00,0.000,134,0.000,0.000,3441,1876,1936,1789,2083,0,0,0,0,0,0,14.99,15.01,15.01
$GC,10462,1.59,155.7,3440,1876,1789,2083,583.1,11.4,648,10469,0.00,2.53,0.00,0.000,516,0.000,0.067,3450,469,1935,1788,2083,0,0,0,0,0,0,15.00,14.30,15.01
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$STATE,16417,end climb,SURFACE_DEPTH_REACHED
$STATE,16417,begin surface coast
$FINISH,1.8,0.998474
$STATE,16444,end surface coast,CONTROL_FINISHED_OK
$STATE,16444,begin surface
$SM_CCo,16465,63.70,0.078,0,0,754,450.12
$SM_GC,2.65,10.15,0.15,63.70,0.060,0.094,0.078,91,1767,754,-13.78,0.85,450.12,0,0,0,0,0,0,14.34,14.57,14.38
$IRIDIUM_FIX,934.19,6622.24,070817,205744
$TT8_MAMPS,0.023968,0.15729
$HUMID,53.58
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.80
$XPDR_PINGS,6
$24V_AH,12.45,220.300
$10V_AH,12.54,0.000
$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,28.675,179.825,415.700,63.700,0.000,0.000,0.000,378.725,78.250,0.000,23.237,2605.458,11402.846,702.476,2338.231,344.987,0.000,2123.909,0.000,1720.175,0.000,520.113,0.000
$DEVICE_MAMPS,392.445,2002.770,2724.930,78.030,0.000,0.000,0.000,179.010,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225432
$DATA_FILE_SIZE,53367,1207
$CAP_FILE_SIZE,186588,0
$CFSIZE,260034560,208318464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,205.18,1
$GPS,080817,014211,937.622,6624.375,23,0.9,33,-1.8,0.3,6.7,9,9.9