version: 66.13
glider: 137
mission: 5
dive: 591
start: 8 11 117 21 11 49
data:
$ID,137
$MISSION,5
$DIVE,591
$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,50
$R_STBD_OVSHOOT,45
$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
$GPS1,110817,210256,917.1618,6654.4565,30,0.8,39,-1.9,0.0,318.5,9,8.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-69.5
$GPS2,110817,211111,917.1778,6654.4443,9,0.8,18,-1.9,0.4,10.3,10,9.4
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,137.3,332910,-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,-155.7,84,1776,646,849,0.0,0.0,0,81,0.00,0.00,-70.45,0.000,16386,0.000,0.000,83,1778,2614,2534,2694,0,0,0,0,0,0,14.84,28.83,14.86
$GC,84,-2.12,-155.7,83,1778,2535,2694,4.2,-4.0,12,117,13.23,2.78,-12.52,0.000,18724,0.399,2.013,2623,3196,3226,3107,3346,0,0,0,0,0,0,13.90,12.77,14.14
$GC,237,-2.04,-155.7,2622,3196,3109,3347,38.0,-20.9,40,245,0.15,2.30,0.00,0.000,3206,0.259,0.033,2653,1802,3228,3109,3347,0,0,0,0,0,0,14.07,14.49,14.35
$GC,553,-1.99,-155.7,2652,1802,3110,3347,99.7,-18.4,77,557,0.00,2.40,0.00,0.000,644,0.000,0.060,2654,405,3228,3110,3347,0,0,0,0,0,0,14.96,14.38,14.98
$GC,619,-1.95,-155.7,2653,405,3110,3347,112.5,-16.5,90,627,0.15,2.33,0.00,0.000,3206,0.261,0.036,2675,1800,3228,3110,3347,0,0,0,0,0,0,14.03,14.49,14.32
$GC,925,-1.95,-155.7,2675,1800,3113,3347,155.5,-14.4,121,930,0.00,2.33,0.00,0.000,260,0.000,0.050,2667,3203,3229,3113,3346,0,0,0,0,0,0,14.99,14.45,15.00
$GC,991,-1.95,-155.7,2666,3203,3113,3347,165.9,-15.2,134,997,0.00,2.33,0.00,0.000,1030,0.000,0.034,2667,1803,3230,3113,3347,0,0,0,0,0,0,14.57,14.49,14.60
$GC,1300,-1.95,-155.7,2666,1803,3115,3347,209.0,-13.0,165,1305,0.00,2.40,0.00,0.000,516,0.000,0.061,2667,400,3231,3115,3347,0,0,0,0,0,0,14.95,14.40,14.97
$GC,1401,-1.95,-155.7,2667,399,3115,3347,222.6,-12.9,184,1408,0.00,2.33,0.00,0.000,1030,0.000,0.032,2657,1809,3231,3115,3347,0,0,0,0,0,0,14.59,14.52,14.62
$GC,1719,-1.95,-155.7,2656,1809,3115,3347,263.2,-13.3,210,1724,0.00,2.47,0.00,0.000,516,0.000,0.062,2657,391,3230,3115,3346,0,0,0,0,0,0,14.95,14.37,14.98
$GC,1757,-1.95,-155.7,2656,391,3115,3347,268.8,-13.8,217,1763,0.12,2.35,0.00,0.000,3078,0.272,0.034,2670,1809,3231,3115,3347,0,0,0,0,0,0,14.07,14.50,14.28
$GC,2088,-2.00,-155.7,2670,1809,3115,3347,309.6,-11.9,232,2089,0.00,0.00,0.00,0.000,134,0.000,0.000,2670,1809,3230,3114,3347,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2392,-2.05,-155.7,2670,1809,3111,3347,347.0,-12.9,242,2397,0.00,2.50,0.00,0.000,644,0.000,0.065,2671,384,3229,3111,3347,0,0,0,0,0,0,14.95,14.34,14.97
$GC,2496,-2.05,-155.7,2670,385,3110,3347,362.5,-14.1,262,2501,0.00,2.38,0.00,0.000,1030,0.000,0.037,2662,1799,3228,3110,3347,0,0,0,0,0,0,14.55,14.47,14.58
$GC,2821,-2.09,-155.7,2662,1799,3108,3347,406.7,-13.8,276,2828,0.00,2.47,0.00,0.000,644,0.000,0.063,2662,398,3227,3108,3347,0,0,0,0,0,0,14.94,14.33,14.96
$GC,2857,-2.09,-155.7,2661,398,3108,3347,411.9,-14.1,282,2862,0.00,2.38,0.00,0.000,1030,0.000,0.040,2651,1803,3227,3108,3347,0,0,0,0,0,0,14.54,14.46,14.57
$GC,3191,-2.09,-155.7,2651,1804,3105,3347,455.9,-12.8,298,3196,0.00,2.50,0.00,0.000,516,0.000,0.067,2651,390,3226,3105,3347,0,0,0,0,0,0,14.94,14.30,14.96
$GC,3228,-2.09,-155.7,2651,390,3105,3347,461.2,-13.0,305,3234,0.00,2.40,0.00,0.000,1030,0.000,0.043,2641,1799,3226,3105,3347,0,0,0,0,0,0,14.52,14.43,14.55
$GC,3559,-2.09,-155.7,2641,1799,3102,3346,502.7,-12.8,320,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1799,3224,3102,3347,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3860,-2.09,-155.7,2641,1799,3100,3346,542.2,-13.3,330,3865,0.00,2.50,0.00,0.000,516,0.000,0.071,2641,401,3223,3100,3346,0,0,0,0,0,0,14.92,14.26,14.95
$GC,3910,-2.09,-155.7,2641,401,3099,3345,549.9,-14.6,339,3917,0.00,2.38,0.00,0.000,1030,0.000,0.039,2631,1801,3221,3098,3345,0,0,0,0,0,0,14.52,14.42,14.54
$GC,4232,-2.09,-155.7,2631,1801,3097,3343,595.6,-14.6,352,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1801,3220,3097,3343,0,0,0,0,0,0,14.95,14.97,14.97
$GC,4533,-2.09,-155.7,2632,1801,3095,3341,639.2,-14.6,362,4538,0.00,2.50,0.00,0.000,516,0.000,0.069,2632,400,3218,3096,3341,0,0,0,0,0,0,14.92,14.21,14.94
$GC,4560,-2.06,-155.7,2631,400,3095,3340,644.1,-16.5,367,4569,0.15,2.40,0.00,0.000,3206,0.266,0.040,2651,1805,3217,3095,3340,0,0,0,0,0,0,13.90,14.39,14.19
$GC,4868,-2.10,-155.7,2651,1805,3093,3339,686.4,-13.7,378,4870,0.00,0.00,0.00,0.000,134,0.000,0.000,2651,1805,3216,3093,3339,0,0,0,0,0,0,14.93,14.96,14.95
$GC,5170,-2.14,-155.7,2651,1805,3091,3338,725.7,-13.0,388,5171,0.00,0.00,0.00,0.000,134,0.000,0.000,2651,1805,3215,3092,3338,0,0,0,0,0,0,14.94,14.96,14.96
$GC,5470,-2.18,-155.7,2651,1805,3090,3337,764.2,-12.6,398,5475,0.12,2.50,0.00,0.000,4740,0.150,0.067,2611,408,3213,3090,3336,0,0,0,0,0,0,14.44,14.12,14.46
$GC,5498,-2.12,-155.7,2612,408,3090,3336,768.6,-13.9,403,5506,0.17,2.40,0.00,0.000,3206,0.265,0.044,2637,1798,3213,3090,3336,0,0,0,0,0,0,13.81,14.33,14.12
$GC,5805,-2.12,-155.7,2637,1798,3089,3334,809.3,-13.6,414,5811,0.00,2.50,0.00,0.000,516,0.000,0.067,2638,397,3211,3089,3334,0,0,0,0,0,0,14.92,14.20,14.95
$GC,5834,-2.12,-155.7,2637,397,3090,3334,814.0,-14.9,419,5841,0.00,2.42,0.00,0.000,1030,0.000,0.040,2629,1805,3211,3089,3334,0,0,0,0,0,0,14.44,14.35,14.47
$GC,6142,-2.12,-155.7,2629,1805,3088,3333,857.3,-14.5,430,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1805,3211,3089,3333,0,0,0,0,0,0,14.94,14.97,14.96
$GC,6443,-2.12,-155.7,2629,1805,3088,3331,901.4,-14.7,440,6447,0.00,2.53,0.00,0.000,516,0.000,0.068,2629,399,3209,3088,3331,0,0,0,0,0,0,14.89,14.14,14.92
$GC,6529,-2.09,-155.7,2629,398,3087,3331,915.4,-16.2,456,6535,0.10,2.42,0.00,0.000,3206,0.281,0.044,2639,1802,3209,3087,3331,0,0,0,0,0,0,13.87,14.31,14.00
$GC,6843,-2.09,-155.7,2639,1802,3087,3329,959.6,-14.1,468,6848,0.00,2.45,0.00,0.000,260,0.000,0.063,2631,3201,3208,3087,3329,0,0,0,0,0,0,14.90,14.22,14.92
$GC,6871,-2.09,-155.7,2630,3201,3087,3329,963.6,-14.5,473,6882,0.00,2.42,0.00,0.000,1030,0.000,0.046,2631,1809,3208,3087,3329,0,0,0,0,0,0,14.38,14.26,14.42
$STATE,7085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7086,begin apogee
$GC,7093,-0.42,0.0,2631,1897,3086,3328,994.4,-14.3,481,7243,1.58,0.00,146.32,2.740,10246,0.262,0.000,3006,1901,2589,2465,2714,0,0,0,0,0,0,13.64,13.88,12.44
$STATE,7244,end apogee,CONTROL_FINISHED_OK
$STATE,7244,begin climb
$GC,7248,2.12,155.7,3006,1901,2460,2713,1000.2,0.0,486,7406,1.92,2.45,147.12,2.736,10500,0.161,0.061,3561,3248,1951,1819,2084,0,0,0,0,0,0,13.93,13.94,12.46
$GC,7418,1.93,155.7,3560,3248,1819,2080,987.1,13.9,522,7424,0.20,2.45,0.00,0.000,5254,0.321,0.055,3526,1871,1949,1819,2080,0,0,0,0,0,0,13.83,14.18,14.05
$GC,7748,1.80,155.7,3526,1871,1808,2079,941.7,13.7,537,7753,0.15,2.47,0.00,0.000,4740,0.373,0.068,3504,460,1944,1808,2080,0,0,0,0,0,0,13.93,14.32,14.17
$GC,7789,1.68,155.7,3503,460,1806,2079,935.5,14.1,545,7795,0.15,2.40,0.00,0.000,5254,0.362,0.047,3470,1863,1942,1805,2079,0,0,0,0,0,0,13.89,14.49,14.35
$GC,8114,1.64,155.7,3470,1863,1803,2079,897.1,12.0,559,8115,0.00,0.00,0.00,0.000,134,0.000,0.000,3470,1863,1941,1804,2079,0,0,0,0,0,0,14.94,14.97,14.97
$GC,8413,1.61,155.7,3470,1863,1801,2080,860.4,12.4,569,8414,0.00,0.00,0.00,0.000,134,0.000,0.000,3470,1863,1940,1801,2079,0,0,0,0,0,0,14.97,15.00,14.99
$GC,8713,1.57,155.7,3470,1863,1800,2079,822.8,12.5,579,8715,0.15,0.00,0.00,0.000,4230,0.390,0.000,3445,1865,1939,1800,2079,0,0,0,0,0,0,13.83,14.39,14.27
$GC,9013,1.57,155.7,3445,1865,1800,2079,788.0,11.5,589,9018,0.00,2.58,0.00,0.000,516,0.000,0.078,3454,457,1939,1799,2080,0,0,0,0,0,0,14.97,14.28,15.00
$GC,9040,1.57,155.7,3454,457,1798,2079,784.8,11.6,594,9048,0.00,2.42,0.00,0.000,1030,0.000,0.044,3445,1871,1938,1797,2079,0,0,0,0,0,0,14.53,14.44,14.57
$GC,9346,1.57,155.7,3445,1871,1797,2079,750.1,11.2,605,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1871,1938,1797,2079,0,0,0,0,0,0,14.97,15.00,15.00
$GC,9647,1.57,155.7,3445,1871,1797,2079,716.7,11.2,615,9653,0.00,2.55,0.00,0.000,516,0.000,0.072,3454,457,1938,1797,2079,0,0,0,0,0,0,14.97,14.23,14.99
$GC,9684,1.57,155.7,3454,457,1796,2080,712.1,12.1,623,9689,0.00,2.42,0.00,0.000,1030,0.000,0.044,3445,1871,1937,1796,2079,0,0,0,0,0,0,14.50,14.40,14.54
$GC,10001,1.57,155.7,3445,1871,1796,2079,677.8,10.7,636,10008,0.00,2.55,0.00,0.000,516,0.000,0.070,3454,457,1937,1796,2079,0,0,0,0,0,0,14.97,14.23,15.00
$GC,10040,1.57,155.7,3454,458,1795,2080,673.4,11.6,644,10045,0.00,2.42,0.00,0.000,1030,0.000,0.041,3445,1874,1937,1795,2079,0,0,0,0,0,0,14.48,14.39,14.53
$GC,10357,1.57,155.7,3445,1874,1795,2079,639.9,10.6,657,10362,0.00,2.58,0.00,0.000,516,0.000,0.070,3454,454,1937,1795,2079,0,0,0,0,0,0,14.98,14.22,15.00
$GC,10384,1.57,155.7,3453,455,1794,2079,637.0,11.4,662,10391,0.00,2.45,0.00,0.000,1030,0.000,0.042,3445,1880,1936,1794,2079,0,0,0,0,0,0,14.47,14.38,14.51
$GC,10691,1.57,155.7,3445,1880,1794,2079,604.5,10.5,673,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1880,1936,1794,2079,0,0,0,0,0,0,14.97,15.00,14.99
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$STATE,16784,end climb,SURFACE_DEPTH_REACHED
$STATE,16784,begin surface coast
$FINISH,1.9,1.009413
$STATE,16810,end surface coast,CONTROL_FINISHED_OK
$STATE,16811,begin surface
$SM_CCo,16832,55.90,0.080,0,0,754,450.12
$SM_GC,2.89,10.45,0.15,55.90,0.080,0.098,0.080,93,1783,754,-13.76,0.93,450.12,0,0,0,0,0,0,14.32,14.54,14.35
$IRIDIUM_FIX,912.33,6654.40,110817,161328
$TT8_MAMPS,0.025466,0.158039
$HUMID,55.04
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.50
$XPDR_PINGS,6
$24V_AH,12.44,227.331
$10V_AH,12.48,0.000
$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,29.275,177.275,430.675,55.900,0.000,0.000,0.000,257.300,82.250,0.000,19.304,2610.055,11531.349,664.992,2232.951,347.854,0.000,1974.274,0.000,1725.898,0.000,548.628,0.000
$DEVICE_MAMPS,398.565,2013.480,2740.230,79.560,0.000,0.000,0.000,178.245,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225448
$DATA_FILE_SIZE,53354,1211
$CAP_FILE_SIZE,186204,0
$CFSIZE,260034560,206729216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.020,40.75,1
$GPS,120817,015446,916.083,6655.855,34,1.4,49,-1.9,0.6,350.2,7,9.9