version: 66.13
glider: 137
mission: 5
dive: 586
start: 8 10 117 20 50 5
data:
$ID,137
$MISSION,5
$DIVE,586
$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,36
$R_STBD_OVSHOOT,49
$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
$GPS1,100817,204007,922.4184,6647.1338,33,0.8,39,-1.9,1.2,246.7,10,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-67.8
$GPS2,100817,204928,922.3888,6647.1226,8,0.8,19,-1.9,1.3,278.3,10,9.9
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,139.7,349457,-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,-155.7,81,1821,638,849,0.0,0.0,0,81,0.00,0.00,-71.30,0.000,16386,0.000,0.000,81,1818,2623,2542,2704,0,0,0,0,0,0,14.83,28.83,14.86
$GC,85,-2.12,-155.7,81,1819,2542,2704,4.3,-5.6,12,117,12.93,2.60,-12.27,0.000,18724,0.386,2.013,2623,3190,3225,3106,3344,0,0,0,0,0,0,13.90,13.09,14.35
$GC,211,-2.05,-155.7,2623,3190,3108,3344,31.6,-20.3,35,218,0.15,2.33,0.00,0.000,3206,0.280,0.037,2652,1786,3226,3108,3344,0,0,0,0,0,0,14.04,14.49,14.35
$GC,526,-1.99,-155.7,2651,1786,3109,3345,94.6,-19.1,75,535,0.00,2.33,0.00,0.000,644,0.000,0.058,2652,409,3226,3109,3344,0,0,0,0,0,0,14.96,14.31,14.98
$GC,592,-1.91,-155.7,2652,409,3109,3344,106.7,-17.4,88,599,0.17,2.30,0.00,0.000,3206,0.262,0.031,2680,1808,3226,3109,3344,0,0,0,0,0,0,14.01,14.52,14.31
$GC,898,-1.91,-155.7,2680,1808,3111,3344,150.9,-13.5,119,906,0.00,2.30,0.00,0.000,260,0.000,0.049,2671,3196,3227,3111,3344,0,0,0,0,0,0,14.98,14.47,15.01
$GC,1010,-1.91,-155.7,2671,3196,3112,3344,167.0,-15.3,141,1015,0.00,2.33,0.00,0.000,1030,0.000,0.037,2672,1795,3228,3112,3344,0,0,0,0,0,0,14.58,14.50,14.62
$GC,1325,-1.91,-155.7,2672,1795,3113,3345,209.7,-13.2,173,1330,0.00,2.38,0.00,0.000,516,0.000,0.057,2672,392,3228,3113,3344,0,0,0,0,0,0,14.95,14.42,14.97
$GC,1386,-1.91,-155.7,2671,391,3113,3344,218.8,-13.8,184,1394,0.10,2.33,0.00,0.000,3078,0.282,0.031,2678,1806,3229,3113,3345,0,0,0,0,0,0,14.16,14.53,14.38
$GC,1693,-1.96,-155.7,2678,1806,3113,3344,258.7,-12.8,211,1698,0.00,2.47,0.00,0.000,644,0.000,0.063,2680,391,3229,3114,3344,0,0,0,0,0,0,14.95,14.39,14.97
$GC,1732,-1.96,-155.7,2679,391,3113,3344,264.3,-13.6,218,1737,0.00,2.33,0.00,0.000,1030,0.000,0.031,2671,1794,3228,3113,3344,0,0,0,0,0,0,14.59,14.52,14.62
$GC,2063,-2.00,-155.7,2671,1794,3113,3344,308.5,-13.5,233,2069,0.00,2.45,0.00,0.000,644,0.000,0.060,2671,393,3228,3113,3344,0,0,0,0,0,0,14.95,14.40,14.97
$GC,2106,-2.00,-155.7,2671,393,3113,3344,315.4,-14.0,241,2112,0.00,2.35,0.00,0.000,1030,0.000,0.033,2661,1802,3228,3112,3344,0,0,0,0,0,0,14.59,14.51,14.61
$GC,2431,-2.04,-155.7,2661,1802,3110,3344,356.2,-12.4,255,2432,0.00,0.00,0.00,0.000,134,0.000,0.000,2661,1802,3227,3110,3344,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2734,-2.08,-155.7,2661,1803,3109,3345,393.3,-12.3,265,2740,0.00,2.47,0.00,0.000,644,0.000,0.061,2661,394,3226,3109,3344,0,0,0,0,0,0,14.95,14.36,14.97
$GC,2756,-2.08,-155.7,2661,394,3109,3344,397.1,-13.6,269,2762,0.00,2.38,0.00,0.000,1030,0.000,0.037,2651,1802,3226,3108,3344,0,0,0,0,0,0,14.56,14.47,14.59
$GC,3072,-2.08,-155.7,2650,1802,3106,3344,437.8,-13.2,281,3077,0.00,2.40,0.00,0.000,260,0.000,0.059,2640,3211,3225,3106,3344,0,0,0,0,0,0,14.93,14.41,14.95
$GC,3089,-2.08,-155.7,2640,3210,3106,3344,440.5,-13.3,284,3094,0.00,2.40,0.00,0.000,1030,0.000,0.041,2640,1793,3225,3106,3344,0,0,0,0,0,0,14.54,14.45,14.57
$GC,3408,-2.08,-155.7,2640,1793,3104,3344,485.4,-14.5,297,3414,0.00,2.42,0.00,0.000,516,0.000,0.064,2641,398,3224,3104,3344,0,0,0,0,0,0,14.93,14.34,14.95
$GC,3452,-2.08,-155.7,2641,398,3103,3344,492.5,-15.3,305,3458,0.00,2.38,0.00,0.000,1030,0.000,0.035,2631,1809,3223,3102,3344,0,0,0,0,0,0,14.55,14.47,14.57
$GC,3778,-2.08,-155.7,2630,1809,3101,3341,540.5,-14.7,319,3783,0.00,2.50,0.00,0.000,516,0.000,0.063,2630,390,3221,3101,3341,0,0,0,0,0,0,14.95,14.30,14.97
$GC,3832,-2.05,-155.7,2630,389,3101,3340,549.1,-16.3,329,3841,0.12,2.38,0.00,0.000,3206,0.273,0.036,2647,1805,3220,3100,3340,0,0,0,0,0,0,13.92,14.45,14.08
$GC,4150,-2.08,-155.7,2647,1806,3098,3339,590.6,-12.8,341,4151,0.00,0.00,0.00,0.000,134,0.000,0.000,2648,1806,3218,3098,3339,0,0,0,0,0,0,14.94,14.97,14.96
$GC,4453,-2.11,-155.7,2647,1806,3096,3337,628.5,-12.6,351,4458,0.00,2.50,0.00,0.000,644,0.000,0.065,2648,395,3216,3096,3337,0,0,0,0,0,0,14.94,14.26,14.96
$GC,4492,-2.11,-155.7,2647,395,3096,3336,634.3,-13.0,358,4497,0.00,2.38,0.00,0.000,1030,0.000,0.039,2639,1789,3216,3096,3337,0,0,0,0,0,0,14.50,14.41,14.53
$GC,4820,-2.11,-155.7,2639,1789,3094,3334,676.5,-12.9,373,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1789,3214,3094,3334,0,0,0,0,0,0,14.92,14.95,14.95
$GC,5124,-2.11,-155.7,2639,1789,3092,3333,715.4,-12.9,383,5129,0.00,2.47,0.00,0.000,516,0.000,0.066,2639,397,3212,3092,3333,0,0,0,0,0,0,14.92,14.23,14.94
$GC,5196,-2.11,-155.7,2639,397,3091,3332,726.4,-14.0,397,5204,0.00,2.40,0.00,0.000,1030,0.000,0.041,2629,1801,3212,3092,3332,0,0,0,0,0,0,14.47,14.38,14.51
$GC,5525,-2.11,-155.7,2629,1802,3090,3331,771.4,-14.2,411,5529,0.00,2.45,0.00,0.000,260,0.000,0.066,2619,3203,3210,3090,3331,0,0,0,0,0,0,14.94,14.26,14.96
$GC,5574,-2.11,-155.7,2619,3203,3090,3331,778.8,-14.5,420,5580,0.10,2.42,0.00,0.000,3078,0.264,0.047,2641,1793,3210,3090,3331,0,0,0,0,0,0,13.93,14.35,14.06
$GC,5893,-2.11,-155.7,2641,1792,3089,3330,822.5,-13.7,433,5901,0.00,2.47,0.00,0.000,516,0.000,0.068,2641,384,3209,3089,3330,0,0,0,0,0,0,14.92,14.21,14.94
$GC,5970,-2.11,-155.7,2641,384,3089,3330,834.1,-14.7,447,5975,0.00,2.42,0.00,0.000,1030,0.000,0.036,2633,1809,3209,3089,3329,0,0,0,0,0,0,14.47,14.39,14.50
$GC,6296,-2.11,-155.7,2632,1809,3088,3328,877.7,-13.4,461,6301,0.00,2.50,0.00,0.000,516,0.000,0.067,2633,408,3208,3088,3328,0,0,0,0,0,0,14.92,14.16,14.95
$GC,6340,-2.07,-155.7,2633,408,3088,3328,884.3,-14.1,469,6346,0.12,2.38,0.00,0.000,3206,0.265,0.038,2645,1804,3207,3087,3328,0,0,0,0,0,0,13.89,14.36,14.10
$GC,6665,-2.07,-155.7,2645,1805,3086,3327,925.4,-12.6,483,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1805,3206,3086,3327,0,0,0,0,0,0,14.91,14.94,14.93
$GC,6969,-2.07,-155.7,2645,1805,3086,3326,963.7,-12.9,493,6974,0.00,2.50,0.00,0.000,516,0.000,0.068,2645,408,3206,3086,3326,0,0,0,0,0,0,14.91,14.15,14.93
$GC,7007,-2.07,-155.7,2645,408,3085,3325,969.7,-14.3,500,7012,0.00,2.40,0.00,0.000,1030,0.000,0.042,2636,1797,3205,3086,3325,0,0,0,0,0,0,14.42,14.32,14.45
$STATE,7188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7188,begin apogee
$GC,7194,-0.42,0.0,2636,1896,3085,3325,993.9,-13.5,510,7344,1.55,0.00,145.98,2.739,10246,0.264,0.000,3004,1901,2589,2465,2713,0,0,0,0,0,0,13.64,13.89,12.45
$STATE,7345,end apogee,CONTROL_FINISHED_OK
$STATE,7345,begin climb
$GC,7348,2.12,155.7,3004,1901,2461,2712,999.9,0.0,515,7501,1.95,0.00,148.82,2.746,10246,0.167,0.000,3559,1902,1954,1821,2088,0,0,0,0,0,0,13.97,13.88,12.45
$GC,7788,1.94,155.7,3559,1902,1803,2085,945.5,15.5,530,7795,0.15,2.53,0.00,0.000,4740,0.329,0.067,3537,467,1943,1802,2084,0,0,0,0,0,0,14.00,14.35,14.23
$GC,7841,1.78,155.7,3537,467,1800,2085,936.6,15.4,541,7849,0.22,2.38,0.00,0.000,5254,0.383,0.041,3489,1861,1943,1801,2085,0,0,0,0,0,0,13.83,14.49,14.34
$GC,8149,1.72,155.7,3489,1861,1799,2085,896.6,12.8,552,8155,0.00,2.47,0.00,0.000,388,0.000,0.073,3489,3265,1941,1798,2085,0,0,0,0,0,0,14.93,14.34,14.96
$GC,8172,1.64,155.7,3489,3265,1798,2085,893.4,13.1,557,8180,0.20,2.42,0.00,0.000,5254,0.361,0.049,3462,1860,1941,1798,2084,0,0,0,0,0,0,13.80,14.50,14.31
$GC,8478,1.64,155.7,3462,1861,1796,2085,857.6,11.5,568,8482,0.00,2.47,0.00,0.000,516,0.000,0.068,3471,464,1940,1796,2085,0,0,0,0,0,0,14.97,14.39,14.99
$GC,8530,1.59,155.7,3470,463,1795,2084,851.6,11.5,578,8535,0.00,2.40,0.00,0.000,1158,0.000,0.042,3464,1867,1940,1795,2085,0,0,0,0,0,0,14.56,14.46,14.60
$GC,8843,1.59,155.7,3464,1867,1794,2085,817.5,10.6,590,8849,0.00,2.47,0.00,0.000,260,0.000,0.070,3464,3276,1939,1794,2085,0,0,0,0,0,0,14.97,14.28,15.00
$GC,8861,1.59,155.7,3464,3276,1794,2085,815.4,10.1,594,8866,0.15,2.42,0.00,0.000,5126,0.343,0.046,3446,1866,1939,1794,2085,0,0,0,0,0,0,13.80,14.46,14.26
$GC,9168,1.59,155.7,3446,1866,1793,2084,786.8,9.1,605,9173,0.00,2.47,0.00,0.000,516,0.000,0.067,3455,468,1938,1793,2084,0,0,0,0,0,0,14.97,14.34,15.00
$GC,9235,1.59,155.7,3454,468,1791,2085,780.4,10.1,618,9239,0.00,2.40,0.00,0.000,1030,0.000,0.041,3450,1874,1938,1792,2084,0,0,0,0,0,0,14.52,14.42,14.57
$GC,9557,1.59,155.7,3449,1873,1791,2084,750.3,9.6,632,9564,0.00,2.47,0.00,0.000,260,0.000,0.065,3449,3276,1937,1791,2084,0,0,0,0,0,0,14.98,14.31,15.00
$GC,9601,1.59,155.7,3449,3276,1791,2083,745.8,10.6,641,9606,0.00,2.42,0.00,0.000,1030,0.000,0.046,3455,1873,1937,1791,2083,0,0,0,0,0,0,14.52,14.42,14.56
$GC,9919,1.59,155.7,3455,1871,1791,2083,711.6,11.1,654,9923,0.00,2.47,0.00,0.000,516,0.000,0.063,3466,468,1937,1791,2083,0,0,0,0,0,0,14.98,14.31,15.00
$GC,9965,1.54,155.7,3465,466,1790,2083,706.0,11.9,663,9970,0.12,2.38,0.00,0.000,5254,0.350,0.034,3437,1883,1936,1790,2083,0,0,0,0,0,0,13.77,14.45,14.19
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$GC,17186,1.96,293.4,3528,1874,1220,1551,5.4,9.4,1269,17194,0.00,2.47,0.00,0.000,516,0.000,0.071,3539,464,1385,1219,1551,0,0,0,0,0,0,14.90,14.35,14.92
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$STATE,17220,end climb,SURFACE_DEPTH_REACHED
$STATE,17220,begin surface coast
$FINISH,1.9,1.022958
$STATE,17246,end surface coast,CONTROL_FINISHED_OK
$STATE,17246,begin surface
$SM_CCo,17267,70.62,0.079,0,0,755,450.12
$SM_GC,2.75,10.40,0.15,70.62,0.076,0.096,0.079,93,1763,755,-13.77,0.85,450.12,0,0,0,0,0,0,14.35,14.55,14.38
$IRIDIUM_FIX,918.88,6649.52,100817,204158
$TT8_MAMPS,0.023968,0.158788
$HUMID,53.26
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.60
$XPDR_PINGS,7
$24V_AH,12.45,225.554
$10V_AH,13.16,0.000
$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,28.650,200.150,405.775,70.625,0.000,0.000,0.000,323.900,88.000,0.000,20.352,2762.350,11631.787,721.509,2402.644,385.956,0.000,2124.914,0.000,1821.551,0.000,582.883,0.000
$DEVICE_MAMPS,385.560,2012.715,2745.585,78.795,0.000,0.000,0.000,186.660,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225460
$DATA_FILE_SIZE,56653,1279
$CAP_FILE_SIZE,198637,0
$CFSIZE,260034560,207118336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.018,31.20,1
$GPS,110817,014104,921.200,6648.351,78,0.8,81,-1.9,0.5,163.3,10,9.1