version: 66.13
glider: 137
mission: 5
dive: 578
start: 8 9 117 6 8 2
data:
$ID,137
$MISSION,5
$DIVE,578
$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,48
$R_STBD_OVSHOOT,44
$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
$GPS1,090817,060127,931.1887,6633.9951,48,0.9,56,-1.9,0.5,40.6,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-66.3
$GPS2,090817,060725,931.1454,6634.0039,12,0.9,24,-1.9,0.0,211.4,8,9.7
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,134.1,378468,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-2.12,-155.7,78,1782,642,847,0.0,0.0,0,81,0.00,0.00,-70.10,0.000,16386,0.000,0.000,77,1775,2601,2524,2678,0,0,0,0,0,0,14.85,28.83,14.87
$GC,84,-2.12,-155.7,77,1777,2525,2679,4.4,-6.0,12,116,12.80,2.80,-12.93,0.000,18724,0.383,2.015,2628,3202,3227,3109,3345,0,0,0,0,0,0,13.95,12.78,14.38
$GC,205,-2.04,-155.7,2628,3202,3109,3346,30.3,-21.4,34,214,0.12,2.35,0.00,0.000,3206,0.275,0.037,2651,1789,3227,3109,3346,0,0,0,0,0,0,14.11,14.50,14.38
$GC,517,-1.96,-155.7,2650,1788,3110,3346,97.0,-21.2,73,527,0.10,2.35,0.00,0.000,2692,0.324,0.054,2669,401,3228,3110,3346,0,0,0,0,0,0,14.26,14.31,14.42
$GC,583,-1.96,-155.7,2669,401,3110,3346,110.8,-18.3,86,591,0.00,2.33,0.00,0.000,1030,0.000,0.031,2660,1808,3228,3110,3346,0,0,0,0,0,0,14.60,14.54,14.63
$GC,890,-1.96,-155.7,2660,1808,3112,3346,158.9,-13.9,117,900,0.00,2.42,0.00,0.000,516,0.000,0.056,2660,400,3229,3112,3346,0,0,0,0,0,0,14.99,14.44,15.00
$GC,966,-1.92,-155.7,2660,400,3114,3346,170.0,-14.8,132,973,0.15,2.30,0.00,0.000,3206,0.260,0.031,2680,1805,3229,3113,3346,0,0,0,0,0,0,14.06,14.55,14.35
$GC,1274,-1.92,-155.7,2680,1805,3115,3346,208.8,-13.2,163,1281,0.00,2.33,0.00,0.000,260,0.000,0.053,2672,3199,3230,3115,3346,0,0,0,0,0,0,14.95,14.47,14.97
$GC,1313,-1.97,-155.7,2672,3199,3115,3346,214.3,-12.5,170,1324,0.00,2.35,0.00,0.000,1158,0.000,0.041,2672,1796,3230,3115,3346,0,0,0,0,0,0,14.60,14.52,14.62
$GC,1644,-2.01,-155.7,2672,1796,3115,3346,258.2,-13.8,199,1651,0.00,2.38,0.00,0.000,644,0.000,0.060,2672,398,3230,3115,3346,0,0,0,0,0,0,14.95,14.43,14.97
$GC,1699,-2.01,-155.7,2672,398,3115,3346,266.5,-15.6,209,1704,0.00,2.30,0.00,0.000,1030,0.000,0.031,2662,1795,3230,3115,3346,0,0,0,0,0,0,14.62,14.54,14.64
$GC,2013,-2.01,-155.7,2662,1795,3115,3346,307.1,-12.7,221,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1795,3231,3115,3347,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2316,-2.04,-155.7,2663,1795,3113,3346,346.3,-13.2,231,2317,0.00,0.00,0.00,0.000,134,0.000,0.000,2662,1795,3229,3113,3346,0,0,0,0,0,0,14.95,14.98,14.97
$GC,2616,-2.07,-155.7,2662,1795,3110,3346,385.3,-13.0,241,2621,0.00,2.45,0.00,0.000,644,0.000,0.058,2662,390,3227,3109,3346,0,0,0,0,0,0,14.96,14.40,14.98
$GC,2659,-2.07,-155.7,2662,390,3109,3346,391.8,-13.3,249,2664,0.00,2.35,0.00,0.000,1030,0.000,0.033,2651,1805,3227,3109,3346,0,0,0,0,0,0,14.59,14.52,14.62
$GC,2983,-2.07,-155.7,2651,1805,3106,3346,435.5,-13.7,263,2990,0.00,2.38,0.00,0.000,260,0.000,0.057,2641,3204,3226,3106,3346,0,0,0,0,0,0,14.96,14.43,14.97
$GC,3028,-2.07,-155.7,2641,3204,3106,3346,441.9,-14.3,271,3034,0.00,2.38,0.00,0.000,1030,0.000,0.038,2641,1793,3226,3106,3346,0,0,0,0,0,0,14.57,14.47,14.59
$GC,3355,-2.07,-155.7,2641,1792,3104,3346,488.5,-14.5,285,3360,0.00,2.42,0.00,0.000,516,0.000,0.062,2641,393,3225,3104,3346,0,0,0,0,0,0,14.95,14.36,14.97
$GC,3420,-2.07,-155.7,2641,391,3103,3346,498.6,-15.2,297,3425,0.00,2.33,0.00,0.000,1030,0.000,0.032,2630,1799,3224,3103,3346,0,0,0,0,0,0,14.48,14.45,14.51
$GC,3754,-2.07,-155.7,2630,1799,3101,3346,545.7,-14.0,313,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1799,3223,3101,3346,0,0,0,0,0,0,14.94,14.97,14.96
$GC,4057,-2.07,-155.7,2630,1800,3098,3346,587.3,-14.0,323,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1800,3222,3098,3346,0,0,0,0,0,0,14.94,14.96,14.95
$GC,4357,-2.07,-155.7,2630,1800,3096,3344,630.3,-14.5,333,4362,0.00,2.47,0.00,0.000,516,0.000,0.061,2631,401,3220,3097,3344,0,0,0,0,0,0,14.95,14.33,14.97
$GC,4402,-2.04,-155.7,2630,401,3096,3344,637.5,-15.1,341,4407,0.17,2.35,0.00,0.000,3206,0.273,0.035,2658,1805,3219,3095,3343,0,0,0,0,0,0,13.83,14.46,14.01
$GC,4727,-2.08,-155.7,2658,1805,3094,3342,680.4,-13.0,355,4728,0.00,0.00,0.00,0.000,134,0.000,0.000,2658,1805,3218,3094,3342,0,0,0,0,0,0,14.95,14.97,14.97
$GC,5030,-2.13,-155.7,2658,1805,3092,3340,718.4,-12.4,365,5032,0.10,0.00,0.00,0.000,4230,0.177,0.000,2631,1809,3216,3092,3340,0,0,0,0,0,0,14.52,14.62,14.59
$GC,5328,-2.13,-155.7,2631,1809,3091,3339,758.7,-13.6,375,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1809,3215,3091,3339,0,0,0,0,0,0,14.94,14.97,14.97
$GC,5627,-2.13,-155.7,2631,1809,3090,3337,799.5,-13.6,385,5634,0.00,2.47,0.00,0.000,516,0.000,0.065,2631,405,3213,3090,3337,0,0,0,0,0,0,14.92,14.25,14.94
$GC,5687,-2.10,-155.7,2631,405,3089,3336,808.9,-15.4,396,5696,0.10,2.38,0.00,0.000,3206,0.286,0.039,2636,1800,3213,3089,3337,0,0,0,0,0,0,14.01,14.40,14.24
$GC,5996,-2.10,-155.7,2636,1800,3088,3335,850.7,-13.8,407,6001,0.00,2.45,0.00,0.000,260,0.000,0.063,2628,3202,3211,3088,3335,0,0,0,0,0,0,14.93,14.27,14.95
$GC,6044,-2.10,-155.7,2628,3201,3088,3335,857.9,-15.0,416,6049,0.00,2.42,0.00,0.000,1030,0.000,0.045,2628,1795,3211,3089,3334,0,0,0,0,0,0,14.46,14.37,14.50
$GC,6363,-2.10,-155.7,2628,1795,3088,3333,903.1,-14.1,429,6368,0.00,2.47,0.00,0.000,516,0.000,0.064,2628,372,3210,3088,3333,0,0,0,0,0,0,14.92,14.24,14.94
$GC,6401,-2.06,-155.7,2628,372,3088,3333,909.2,-15.1,436,6407,0.12,2.42,0.00,0.000,3206,0.263,0.038,2647,1800,3210,3088,3332,0,0,0,0,0,0,13.71,14.37,13.87
$GC,6732,-2.06,-155.7,2646,1800,3087,3331,952.8,-13.2,451,6737,0.00,2.40,0.00,0.000,260,0.000,0.061,2638,3189,3209,3087,3331,0,0,0,0,0,0,14.94,14.18,14.97
$GC,6777,-2.10,-155.7,2638,3189,3088,3331,958.9,-13.7,459,6782,0.00,2.40,0.00,0.000,1158,0.000,0.046,2638,1802,3209,3087,3331,0,0,0,0,0,0,14.44,14.34,14.47
$STATE,7008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7008,begin apogee
$GC,7015,-0.42,0.0,2639,1886,3088,3330,991.2,-14.0,470,7166,1.55,0.00,146.82,2.738,10246,0.272,0.000,3002,1890,2589,2466,2713,0,0,0,0,0,0,13.60,13.90,12.44
$STATE,7167,end apogee,CONTROL_FINISHED_OK
$STATE,7167,begin climb
$GC,7170,2.12,155.7,3002,1890,2462,2712,996.8,0.0,475,7329,1.98,2.47,147.98,2.726,10500,0.180,0.062,3555,3257,1952,1820,2084,0,0,0,0,0,0,13.97,13.97,12.46
$GC,7346,1.93,155.7,3555,3258,1819,2079,982.7,13.6,512,7351,0.20,2.47,0.00,0.000,5254,0.327,0.054,3525,1867,1948,1819,2078,0,0,0,0,0,0,13.97,14.24,14.24
$GC,7669,1.80,155.7,3525,1867,1810,2078,937.4,14.1,526,7676,0.15,2.42,0.00,0.000,4740,0.411,0.060,3505,462,1943,1809,2078,0,0,0,0,0,0,13.87,14.33,14.16
$GC,7692,1.69,155.7,3505,461,1807,2078,934.1,13.3,530,7698,0.17,2.38,0.00,0.000,5254,0.404,0.040,3469,1856,1942,1807,2078,0,0,0,0,0,0,13.85,14.50,14.36
$GC,8007,1.65,155.7,3470,1856,1805,2078,896.7,11.9,542,8012,0.00,2.50,0.00,0.000,388,0.000,0.070,3466,3272,1941,1805,2078,0,0,0,0,0,0,14.95,14.45,14.97
$GC,8040,1.60,155.7,3466,3272,1805,2078,892.5,13.0,548,8046,0.10,2.42,0.00,0.000,5254,0.330,0.045,3455,1855,1941,1805,2078,0,0,0,0,0,0,14.01,14.52,14.21
$GC,8370,1.60,155.7,3454,1855,1803,2078,854.3,11.8,564,8376,0.00,2.40,0.00,0.000,516,0.000,0.065,3463,475,1940,1802,2078,0,0,0,0,0,0,14.97,14.37,14.99
$GC,8418,1.56,155.7,3462,474,1801,2078,848.3,11.3,574,8423,0.00,2.38,0.00,0.000,1158,0.000,0.038,3456,1876,1939,1801,2078,0,0,0,0,0,0,14.58,14.49,14.62
$GC,8730,1.56,155.7,3456,1876,1801,2078,812.6,11.3,586,8735,0.00,2.47,0.00,0.000,260,0.000,0.070,3456,3275,1939,1801,2078,0,0,0,0,0,0,14.98,14.37,15.00
$GC,8772,1.53,155.7,3456,3275,1801,2078,807.7,12.5,594,8777,0.15,2.42,0.00,0.000,5254,0.330,0.047,3439,1863,1939,1801,2078,0,0,0,0,0,0,13.85,14.47,14.29
$GC,9095,1.53,155.7,3438,1863,1800,2078,774.3,10.3,608,9101,0.00,2.45,0.00,0.000,516,0.000,0.065,3447,466,1939,1800,2078,0,0,0,0,0,0,14.98,14.38,15.00
$GC,9156,1.53,155.7,3447,465,1799,2078,767.7,11.3,620,9162,0.00,2.38,0.00,0.000,1030,0.000,0.039,3442,1873,1938,1798,2078,0,0,0,0,0,0,14.45,14.40,14.48
$GC,9485,1.53,155.7,3442,1873,1798,2078,734.2,10.1,636,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1873,1938,1798,2078,0,0,0,0,0,0,14.98,15.01,15.01
$GC,9785,1.53,155.7,3442,1873,1797,2078,703.7,10.4,646,9790,0.00,2.50,0.00,0.000,516,0.000,0.066,3451,475,1937,1797,2078,0,0,0,0,0,0,14.98,14.33,15.01
$GC,9821,1.53,155.7,3450,474,1797,2078,699.6,12.1,653,9826,0.00,2.40,0.00,0.000,1030,0.000,0.039,3443,1878,1937,1797,2078,0,0,0,0,0,0,14.52,14.42,14.56
$GC,10148,1.53,155.7,3442,1878,1797,2078,663.4,11.5,668,10153,0.00,2.47,0.00,0.000,260,0.000,0.068,3442,3273,1937,1797,2078,0,0,0,0,0,0,14.98,14.30,15.01
$GC,10168,1.53,155.7,3442,3273,1797,2078,660.9,11.4,672,10173,0.00,2.42,0.00,0.000,1030,0.000,0.047,3450,1873,1937,1797,2078,0,0,0,0,0,0,14.51,14.42,14.55
$GC,10477,1.53,155.7,3450,1872,1797,2078,624.2,12.0,683,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1872,1937,1797,2078,0,0,0,0,0,0,14.97,15.00,15.00
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$STATE,16829,end climb,SURFACE_DEPTH_REACHED
$STATE,16829,begin surface coast
$FINISH,1.8,0.997446
$STATE,16851,end surface coast,CONTROL_FINISHED_OK
$STATE,16852,begin surface
$SM_CCo,16873,81.78,0.078,0,0,754,450.12
$SM_GC,2.69,10.65,0.10,81.78,0.094,0.135,0.078,90,1757,754,-13.77,0.82,450.12,0,0,0,0,0,0,14.39,14.59,14.38
$IRIDIUM_FIX,927.63,6632.00,090817,012028
$TT8_MAMPS,0.023968,0.15729
$HUMID,52.71
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.70
$XPDR_PINGS,6
$24V_AH,12.44,222.702
$10V_AH,12.50,0.000
$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,29.325,175.325,387.100,81.775,0.000,0.000,0.000,236.400,80.000,0.000,25.758,2666.707,11423.690,643.315,2240.076,342.675,0.000,1932.821,0.000,1755.149,0.000,533.858,0.000
$DEVICE_MAMPS,410.805,2015.010,2737.935,78.030,0.000,0.000,0.000,170.595,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225480
$DATA_FILE_SIZE,53360,1232
$CAP_FILE_SIZE,186920,0
$CFSIZE,260034560,207769600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.051,169.12,1
$GPS,090817,105200,929.509,6635.500,31,0.9,44,-1.9,0.6,67.7,10,9.7