version: 66.13
glider: 137
mission: 5
dive: 594
start: 8 12 117 11 46 31
data:
$ID,137
$MISSION,5
$DIVE,594
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,120817,114030,914.3154,6658.6660,40,1.1,48,-1.9,1.2,81.7,7,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-68.7
$GPS2,120817,114553,914.3391,6658.6782,10,0.8,18,-1.9,0.0,49.6,10,9.4
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,135.1,323534,-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,-155.7,82,1778,646,850,0.0,0.0,0,82,0.00,0.00,-72.68,0.000,16386,0.000,0.000,82,1774,2681,2601,2761,0,0,0,0,0,0,14.84,28.83,14.86
$GC,86,-2.12,-155.7,82,1774,2601,2761,4.4,-5.1,12,118,12.90,2.78,-10.77,0.000,18724,0.386,2.018,2626,3212,3227,3110,3345,0,0,0,0,0,0,13.94,12.80,14.38
$GC,232,-2.04,-155.7,2626,3212,3112,3345,37.3,-21.4,39,240,0.15,2.38,0.00,0.000,3206,0.269,0.037,2655,1784,3228,3112,3345,0,0,0,0,0,0,14.05,14.49,14.35
$GC,549,-1.97,-155.7,2655,1784,3113,3345,99.0,-19.5,76,550,0.00,0.00,0.00,0.000,134,0.000,0.000,2655,1784,3229,3113,3346,0,0,0,0,0,0,14.95,14.97,14.97
$GC,850,-1.93,-155.7,2655,1784,3115,3345,147.1,-14.9,106,859,0.10,2.42,0.00,0.000,2436,0.315,0.048,2665,3214,3230,3116,3345,0,0,0,0,0,0,14.27,14.32,14.42
$GC,913,-1.93,-155.7,2664,3213,3116,3345,157.1,-15.4,118,922,0.00,2.35,0.00,0.000,1030,0.000,0.041,2665,1802,3230,3116,3345,0,0,0,0,0,0,14.40,14.35,14.43
$GC,1225,-1.93,-155.7,2664,1801,3118,3345,204.0,-13.3,150,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1801,3231,3118,3345,0,0,0,0,0,0,14.95,14.98,14.97
$GC,1535,-1.93,-155.7,2664,1801,3119,3345,246.5,-12.9,181,1541,0.00,2.40,0.00,0.000,260,0.000,0.047,2654,3215,3232,3119,3345,0,0,0,0,0,0,14.94,14.46,14.96
$GC,1671,-1.93,-155.7,2654,3215,3118,3345,264.2,-11.8,207,1678,0.12,2.38,0.00,0.000,3078,0.265,0.035,2678,1786,3231,3118,3345,0,0,0,0,0,0,14.04,14.48,14.25
$GC,1998,-1.98,-155.7,2677,1785,3118,3345,302.0,-12.2,221,2004,0.00,2.45,0.00,0.000,388,0.000,0.049,2670,3215,3232,3119,3345,0,0,0,0,0,0,14.94,14.43,14.96
$GC,2056,-2.04,-155.7,2669,3215,3118,3345,309.5,-12.3,232,2066,0.00,2.38,0.00,0.000,1158,0.000,0.037,2670,1799,3231,3118,3345,0,0,0,0,0,0,14.56,14.47,14.59
$GC,2363,-2.08,-155.7,2669,1799,3116,3345,349.5,-13.4,243,2369,0.10,2.40,0.00,0.000,4484,0.162,0.047,2623,3211,3230,3115,3345,0,0,0,0,0,0,14.58,14.39,14.62
$GC,2386,-2.08,-155.7,2623,3210,3115,3345,353.0,-14.5,247,2391,0.12,2.38,0.00,0.000,3078,0.262,0.037,2647,1790,3230,3115,3345,0,0,0,0,0,0,14.04,14.47,14.24
$GC,2700,-2.08,-155.7,2646,1790,3113,3345,396.3,-13.7,259,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1790,3229,3114,3345,0,0,0,0,0,0,14.94,14.96,14.95
$GC,3002,-2.08,-155.7,2646,1790,3111,3345,436.0,-13.1,269,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1790,3228,3111,3345,0,0,0,0,0,0,14.92,14.95,14.95
$GC,3302,-2.08,-155.7,2646,1790,3110,3345,477.8,-14.3,279,3308,0.00,2.45,0.00,0.000,260,0.000,0.051,2638,3208,3227,3109,3345,0,0,0,0,0,0,14.92,14.39,14.95
$GC,3332,-2.08,-155.7,2638,3208,3109,3345,482.5,-15.0,284,3340,0.00,2.38,0.00,0.000,1030,0.000,0.037,2638,1806,3226,3109,3344,0,0,0,0,0,0,14.52,14.43,14.55
$GC,3637,-2.08,-155.7,2638,1806,3107,3345,528.2,-15.0,295,3644,0.00,2.45,0.00,0.000,260,0.000,0.054,2628,3214,3225,3106,3344,0,0,0,0,0,0,14.93,14.37,14.95
$GC,3682,-2.08,-155.7,2628,3214,3107,3343,535.0,-15.1,303,3687,0.00,2.42,0.00,0.000,1030,0.000,0.042,2628,1801,3225,3107,3343,0,0,0,0,0,0,14.50,14.41,14.53
$GC,4005,-2.08,-155.7,2628,1800,3105,3341,583.8,-14.9,317,4011,0.00,2.47,0.00,0.000,260,0.000,0.056,2618,3217,3223,3105,3341,0,0,0,0,0,0,14.92,14.35,14.95
$GC,4057,-2.08,-155.7,2618,3217,3105,3339,591.3,-15.0,326,4064,0.10,2.42,0.00,0.000,3078,0.270,0.040,2639,1789,3221,3104,3339,0,0,0,0,0,0,13.97,14.40,14.09
$GC,4379,-2.08,-155.7,2639,1789,3102,3338,634.6,-13.0,339,4384,0.00,2.47,0.00,0.000,260,0.000,0.054,2630,3222,3220,3102,3339,0,0,0,0,0,0,14.95,14.33,14.97
$GC,4413,-2.08,-155.7,2630,3222,3102,3338,639.0,-12.6,345,4421,0.00,2.42,0.00,0.000,1030,0.000,0.042,2630,1806,3220,3102,3338,0,0,0,0,0,0,14.48,14.39,14.51
$GC,4749,-2.08,-155.7,2629,1805,3100,3337,683.0,-13.2,361,4755,0.00,2.47,0.00,0.000,516,0.000,0.064,2630,386,3218,3100,3337,0,0,0,0,0,0,14.92,14.24,14.95
$GC,4807,-2.05,-155.7,2630,386,3099,3336,690.8,-14.7,371,4813,0.12,2.40,0.00,0.000,3206,0.275,0.033,2648,1819,3217,3098,3336,0,0,0,0,0,0,13.84,14.41,14.00
$GC,5123,-2.05,-155.7,2648,1819,3097,3335,729.8,-12.4,383,5127,0.00,2.40,0.00,0.000,260,0.000,0.063,2639,3193,3215,3097,3334,0,0,0,0,0,0,14.94,14.26,14.96
$GC,5195,-2.09,-155.7,2639,3193,3097,3334,739.4,-12.9,397,5203,0.00,2.42,0.00,0.000,1158,0.000,0.048,2640,1796,3215,3097,3334,0,0,0,0,0,0,14.43,14.33,14.47
$GC,5523,-2.09,-155.7,2639,1796,3095,3333,780.9,-13.0,411,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1796,3214,3095,3333,0,0,0,0,0,0,14.93,14.96,14.95
$GC,5823,-2.09,-155.7,2639,1796,3093,3332,820.9,-13.4,421,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1796,3213,3094,3332,0,0,0,0,0,0,14.90,14.92,14.93
$GC,6124,-2.09,-155.7,2640,1796,3092,3331,861.2,-13.2,431,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1796,3211,3092,3331,0,0,0,0,0,0,14.90,14.92,14.92
$GC,6425,-2.09,-155.7,2639,1796,3091,3329,900.9,-13.5,441,6430,0.00,2.50,0.00,0.000,516,0.000,0.067,2640,375,3210,3091,3329,0,0,0,0,0,0,14.92,14.17,14.94
$GC,6453,-2.09,-155.7,2639,375,3090,3329,905.6,-14.6,446,6461,0.00,2.42,0.00,0.000,1030,0.000,0.036,2630,1794,3209,3090,3329,0,0,0,0,0,0,14.42,14.35,14.46
$GC,6760,-2.09,-155.7,2630,1795,3090,3327,946.9,-13.6,457,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1796,3208,3090,3327,0,0,0,0,0,0,14.92,14.95,14.95
$GC,7061,-2.09,-155.7,2630,1795,3090,3326,987.5,-13.6,467,7066,0.00,2.47,0.00,0.000,260,0.000,0.063,2620,3216,3208,3090,3326,0,0,0,0,0,0,14.89,14.16,14.91
$STATE,7076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7076,begin apogee
$GC,7085,-0.42,0.0,2620,1863,3090,3325,990.4,-13.6,470,7236,1.62,0.00,146.20,2.743,10246,0.268,0.000,3004,1858,2589,2465,2714,0,0,0,0,0,0,13.68,13.89,12.48
$STATE,7237,end apogee,CONTROL_FINISHED_OK
$STATE,7237,begin climb
$GC,7239,2.12,155.7,3004,1858,2461,2712,995.4,0.0,475,7398,1.98,2.62,147.65,2.728,10756,0.175,0.080,3570,464,1952,1817,2087,0,0,0,0,0,0,13.93,13.93,12.45
$GC,7450,1.90,155.7,3570,464,1806,2086,974.5,16.3,509,7456,0.28,2.45,0.00,0.000,5254,0.325,0.047,3516,1883,1946,1806,2086,0,0,0,0,0,0,13.92,14.34,14.31
$GC,7774,1.80,155.7,3516,1883,1800,2086,928.6,14.1,523,7776,0.12,0.00,0.00,0.000,4230,0.400,0.000,3497,1884,1942,1799,2086,0,0,0,0,0,0,13.96,14.48,14.38
$GC,8074,1.72,155.7,3497,1883,1797,2086,889.7,12.7,533,8079,0.12,2.50,0.00,0.000,4740,0.431,0.061,3483,460,1941,1796,2086,0,0,0,0,0,0,13.80,14.24,14.07
$GC,8102,1.65,155.7,3483,460,1795,2086,886.3,12.0,538,8109,0.00,2.42,0.00,0.000,1158,0.000,0.045,3479,1867,1940,1795,2086,0,0,0,0,0,0,14.55,14.44,14.59
$GC,8408,1.61,155.7,3478,1866,1794,2086,851.1,11.3,549,8410,0.15,0.00,0.00,0.000,4230,0.369,0.000,3453,1868,1940,1794,2086,0,0,0,0,0,0,13.85,14.41,14.29
$GC,8708,1.61,155.7,3453,1868,1793,2086,819.2,10.7,559,8714,0.00,2.53,0.00,0.000,516,0.000,0.068,3462,454,1939,1793,2086,0,0,0,0,0,0,14.96,14.30,14.99
$GC,8741,1.58,155.7,3461,454,1792,2086,815.6,11.5,566,8746,0.00,2.45,0.00,0.000,1158,0.000,0.047,3456,1869,1939,1792,2086,0,0,0,0,0,0,14.51,14.40,14.56
$GC,9063,1.58,155.7,3455,1869,1791,2086,779.9,11.2,580,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1869,1938,1791,2086,0,0,0,0,0,0,14.97,15.00,15.00
$GC,9365,1.58,155.7,3455,1869,1789,2086,746.0,11.4,590,9371,0.00,2.50,0.00,0.000,516,0.000,0.067,3464,465,1938,1790,2086,0,0,0,0,0,0,14.96,14.25,14.99
$GC,9403,1.58,155.7,3464,466,1789,2086,741.1,12.7,598,9407,0.00,2.45,0.00,0.000,1030,0.000,0.048,3456,1874,1937,1789,2086,0,0,0,0,0,0,14.47,14.35,14.52
$GC,9720,1.58,155.7,3456,1874,1789,2086,706.1,10.9,611,9726,0.00,2.53,0.00,0.000,260,0.000,0.072,3456,3288,1937,1789,2086,0,0,0,0,0,0,14.97,14.28,15.00
$GC,9764,1.58,155.7,3455,3288,1789,2084,701.0,11.2,620,9768,0.00,2.47,0.00,0.000,1030,0.000,0.047,3464,1862,1936,1789,2084,0,0,0,0,0,0,14.48,14.38,14.52
$GC,10076,1.58,155.7,3464,1862,1789,2084,667.3,11.0,632,10083,0.00,2.47,0.00,0.000,516,0.000,0.068,3474,471,1936,1789,2084,0,0,0,0,0,0,14.97,14.23,15.00
$GC,10115,1.53,155.7,3474,471,1788,2085,663.0,11.3,640,10120,0.17,2.42,0.00,0.000,5254,0.283,0.037,3434,1900,1936,1788,2084,0,0,0,0,0,0,13.77,14.40,14.16
$GC,10434,1.57,155.7,3434,1900,1788,2084,631.8,9.8,653,10439,0.00,2.58,0.00,0.000,644,0.000,0.063,3444,463,1936,1788,2084,0,0,0,0,0,0,14.97,14.26,14.99
$GC,10481,1.57,155.7,3443,463,1788,2084,626.9,10.2,662,10485,0.00,2.42,0.00,0.000,1030,0.000,0.043,3437,1867,1936,1788,2084,0,0,0,0,0,0,14.43,14.32,14.48
$GC,10794,1.60,155.7,3437,1867,1788,2084,596.2,9.9,674,10795,0.00,0.00,0.00,0.000,134,0.000,0.000,3438,1867,1936,1788,2084,0,0,0,0,0,0,14.97,15.00,15.00
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$STATE,17039,end climb,SURFACE_DEPTH_REACHED
$STATE,17039,begin surface coast
$FINISH,1.8,1.009618
$STATE,17072,end surface coast,CONTROL_FINISHED_OK
$STATE,17072,begin surface
$SM_CCo,17093,87.90,0.078,0,0,754,450.12
$SM_GC,2.83,10.38,0.10,87.90,0.073,0.138,0.078,92,1791,754,-13.76,1.02,450.12,0,0,0,0,0,0,14.38,14.57,14.38
$IRIDIUM_FIX,912.33,6657.26,120817,064923
$TT8_MAMPS,0.024717,0.159537
$HUMID,52.91
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.60
$XPDR_PINGS,5
$24V_AH,12.45,228.384
$10V_AH,13.17,0.000
$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
$DEVICE_SECS,29.175,152.275,374.050,87.900,0.000,0.000,0.000,205.200,82.250,0.000,19.260,2661.573,11672.120,668.963,2165.837,339.263,0.000,1882.010,0.000,1714.117,0.000,551.663,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.671,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225472
$DATA_FILE_SIZE,53340,1203
$CAP_FILE_SIZE,182004,0
$CFSIZE,260034560,206491648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.028,19.71,1
$GPS,120817,163430,913.347,6659.945,47,1.0,58,-1.9,0.8,297.7,6,9.7