version: 66.13
glider: 137
mission: 5
dive: 598
start: 8 13 117 7 23 44
data:
$ID,137
$MISSION,5
$DIVE,598
$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,41
$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
$GPS1,130817,071748,911.0980,6704.3628,34,1.2,51,-2.0,0.9,336.4,7,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-68.5
$GPS2,130817,072306,911.1520,6704.3662,14,0.7,27,-2.0,0.5,73.1,11,9.9
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,144.1,311636,-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,-155.7,90,1788,638,858,0.0,0.0,0,81,0.00,0.00,-70.65,0.000,16386,0.000,0.000,90,1782,2609,2536,2683,0,0,0,0,0,0,14.84,28.83,14.87
$GC,85,-2.12,-155.7,90,1782,2537,2684,4.0,-3.1,12,117,13.30,2.78,-12.98,0.000,18724,0.403,2.017,2621,3195,3226,3110,3343,0,0,0,0,0,0,13.93,12.78,14.18
$GC,222,-2.03,-155.7,2621,3195,3112,3343,32.7,-20.0,37,230,0.17,2.35,0.00,0.000,3206,0.265,0.041,2657,1796,3229,3114,3344,0,0,0,0,0,0,14.01,14.46,14.32
$GC,534,-1.98,-155.7,2657,1796,3114,3343,92.0,-17.8,76,544,0.00,2.38,0.00,0.000,388,0.000,0.051,2648,3195,3228,3114,3343,0,0,0,0,0,0,14.95,14.29,14.97
$GC,588,-1.94,-155.7,2648,3195,3114,3343,101.6,-18.5,86,597,0.10,2.33,0.00,0.000,3206,0.248,0.038,2673,1789,3228,3114,3343,0,0,0,0,0,0,13.88,14.32,14.04
$GC,898,-1.94,-155.7,2672,1789,3116,3343,148.3,-13.7,118,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1789,3229,3116,3343,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1198,-1.94,-155.7,2672,1789,3120,3343,188.0,-12.5,148,1207,0.00,2.35,0.00,0.000,516,0.000,0.058,2674,405,3231,3119,3343,0,0,0,0,0,0,14.97,14.25,15.00
$GC,1223,-1.94,-155.7,2674,405,3120,3343,191.7,-12.7,153,1231,0.00,2.33,0.00,0.000,1030,0.000,0.031,2665,1810,3231,3119,3343,0,0,0,0,0,0,14.57,14.50,14.59
$GC,1532,-1.94,-155.7,2665,1811,3119,3343,232.8,-13.7,184,1537,0.00,2.47,0.00,0.000,516,0.000,0.059,2666,382,3231,3120,3343,0,0,0,0,0,0,14.92,14.33,14.94
$GC,1582,-1.94,-155.7,2665,382,3120,3343,240.2,-14.9,193,1591,0.10,2.35,0.00,0.000,3078,0.287,0.032,2672,1805,3231,3119,3343,0,0,0,0,0,0,14.09,14.49,14.33
$GC,1902,-1.99,-155.7,2672,1805,3120,3343,282.4,-13.0,209,1903,0.00,0.00,0.00,0.000,134,0.000,0.000,2672,1805,3231,3120,3343,0,0,0,0,0,0,14.95,14.98,14.97
$GC,2203,-2.04,-155.7,2672,1805,3119,3343,320.9,-12.7,219,2209,0.00,2.45,0.00,0.000,644,0.000,0.062,2673,408,3231,3119,3343,0,0,0,0,0,0,14.93,14.26,14.95
$GC,2260,-2.04,-155.7,2673,408,3117,3343,329.0,-14.9,229,2266,0.00,2.33,0.00,0.000,1030,0.000,0.033,2664,1803,3230,3118,3343,0,0,0,0,0,0,14.55,14.47,14.57
$GC,2576,-2.08,-155.7,2664,1804,3114,3343,370.5,-13.3,241,2582,0.00,2.47,0.00,0.000,644,0.000,0.063,2664,403,3228,3114,3343,0,0,0,0,0,0,14.95,14.32,14.97
$GC,2604,-2.08,-155.7,2664,404,3115,3343,374.9,-14.0,246,2612,0.00,2.35,0.00,0.000,1030,0.000,0.035,2654,1802,3228,3114,3343,0,0,0,0,0,0,14.54,14.46,14.56
$GC,2912,-2.12,-155.7,2654,1802,3112,3343,412.8,-12.0,257,2918,0.00,2.50,0.00,0.000,644,0.000,0.067,2654,390,3227,3111,3343,0,0,0,0,0,0,14.95,14.25,14.97
$GC,2963,-2.12,-155.7,2654,390,3111,3343,419.2,-12.9,266,2967,0.00,2.38,0.00,0.000,1030,0.000,0.034,2644,1805,3227,3111,3343,0,0,0,0,0,0,14.53,14.46,14.56
$GC,3281,-2.12,-155.7,2643,1806,3109,3343,456.6,-11.7,279,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1806,3226,3109,3343,0,0,0,0,0,0,14.92,14.95,14.95
$GC,3585,-2.12,-155.7,2643,1806,3107,3343,493.9,-12.8,289,3590,0.00,2.50,0.00,0.000,516,0.000,0.067,2644,400,3225,3107,3343,0,0,0,0,0,0,14.92,14.23,14.95
$GC,3686,-2.12,-155.7,2643,400,3106,3343,508.7,-13.8,308,3691,0.00,2.38,0.00,0.000,1030,0.000,0.037,2633,1801,3224,3106,3343,0,0,0,0,0,0,14.49,14.41,14.52
$GC,4015,-2.12,-155.7,2633,1801,3104,3342,554.9,-14.2,323,4022,0.00,2.50,0.00,0.000,516,0.000,0.065,2633,395,3222,3104,3341,0,0,0,0,0,0,14.91,14.22,14.93
$GC,4067,-2.12,-155.7,2633,395,3104,3341,562.9,-15.6,332,4072,0.00,2.40,0.00,0.000,1030,0.000,0.037,2623,1809,3222,3104,3341,0,0,0,0,0,0,14.48,14.39,14.51
$GC,4385,-2.12,-155.7,2623,1809,3101,3340,608.5,-14.2,345,4391,0.00,2.50,0.00,0.000,516,0.000,0.063,2623,401,3220,3101,3340,0,0,0,0,0,0,14.92,14.21,14.94
$GC,4452,-2.08,-155.7,2623,400,3101,3339,618.4,-14.0,357,4459,0.15,2.40,0.00,0.000,3206,0.260,0.037,2646,1805,3219,3100,3339,0,0,0,0,0,0,13.85,14.37,14.00
$GC,4787,-2.08,-155.7,2645,1806,3098,3338,661.4,-12.7,373,4793,0.00,2.50,0.00,0.000,516,0.000,0.066,2646,402,3217,3098,3337,0,0,0,0,0,0,14.92,14.20,14.94
$GC,4832,-2.08,-155.7,2646,402,3097,3337,667.7,-13.6,381,4838,0.00,2.38,0.00,0.000,1030,0.000,0.037,2637,1795,3217,3097,3337,0,0,0,0,0,0,14.45,14.36,14.48
$GC,5159,-2.08,-155.7,2637,1795,3096,3335,710.1,-13.0,395,5164,0.00,2.45,0.00,0.000,260,0.000,0.062,2627,3204,3215,3096,3335,0,0,0,0,0,0,14.92,14.26,14.95
$GC,5192,-2.08,-155.7,2627,3204,3096,3335,714.8,-12.6,401,5200,0.00,2.42,0.00,0.000,1030,0.000,0.046,2627,1799,3215,3096,3335,0,0,0,0,0,0,14.42,14.33,14.46
$GC,5530,-2.08,-155.7,2627,1797,3095,3333,758.7,-12.9,417,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1798,3215,3096,3334,0,0,0,0,0,0,14.90,14.92,14.92
$GC,5832,-2.08,-155.7,2627,1798,3093,3332,797.3,-13.0,427,5837,0.00,2.50,0.00,0.000,516,0.000,0.068,2627,384,3212,3093,3332,0,0,0,0,0,0,14.92,14.15,14.94
$GC,5887,-2.04,-155.7,2627,384,3093,3332,805.5,-14.9,437,5896,0.12,2.42,0.00,0.000,3206,0.238,0.036,2648,1820,3212,3092,3332,0,0,0,0,0,0,13.74,14.35,13.86
$GC,6206,-2.07,-155.7,2648,1820,3091,3331,846.2,-12.9,449,6213,0.00,2.58,0.00,0.000,644,0.000,0.070,2648,394,3211,3091,3331,0,0,0,0,0,0,14.90,14.07,14.92
$GC,6245,-2.07,-155.7,2648,394,3091,3331,852.1,-13.5,456,6252,0.00,2.40,0.00,0.000,1030,0.000,0.039,2640,1791,3211,3091,3331,0,0,0,0,0,0,14.40,14.31,14.44
$GC,6575,-2.07,-155.7,2640,1791,3090,3329,897.5,-14.0,471,6580,0.00,2.50,0.00,0.000,516,0.000,0.068,2640,400,3209,3090,3328,0,0,0,0,0,0,14.90,14.09,14.92
$GC,6625,-2.07,-155.7,2640,400,3090,3328,905.2,-15.6,480,6632,0.00,2.42,0.00,0.000,1030,0.000,0.040,2630,1804,3209,3090,3328,0,0,0,0,0,0,14.38,14.28,14.39
$GC,6947,-2.07,-155.7,2630,1804,3089,3327,951.8,-14.6,493,6953,0.00,2.53,0.00,0.000,516,0.000,0.066,2630,398,3208,3089,3327,0,0,0,0,0,0,14.92,14.09,14.94
$GC,7003,-2.03,-155.7,2630,398,3089,3327,960.4,-15.9,503,7010,0.12,2.45,0.00,0.000,3206,0.234,0.044,2651,1810,3207,3089,3326,0,0,0,0,0,0,13.66,14.24,13.79
$STATE,7227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7227,begin apogee
$GC,7234,-0.42,0.0,2652,1899,3088,3326,990.6,-13.1,512,7385,1.48,0.00,146.45,2.733,10246,0.266,0.000,3002,1903,2589,2465,2714,0,0,0,0,0,0,13.69,13.89,12.48
$STATE,7386,end apogee,CONTROL_FINISHED_OK
$STATE,7386,begin climb
$GC,7388,2.12,155.7,3002,1903,2461,2712,995.6,0.0,517,7542,1.98,0.00,148.52,2.724,10502,0.174,0.000,3562,1904,1954,1824,2084,0,0,0,0,0,0,13.89,13.87,12.47
$GC,7829,1.94,155.7,3561,1904,1806,2083,938.3,15.7,542,7834,0.17,2.55,0.00,0.000,4740,0.334,0.063,3534,468,1944,1805,2083,0,0,0,0,0,0,13.93,14.31,14.16
$GC,7871,1.77,155.7,3534,468,1803,2083,931.3,16.3,550,7876,0.20,2.38,0.00,0.000,5254,0.359,0.044,3490,1854,1943,1803,2083,0,0,0,0,0,0,13.82,14.45,14.32
$GC,8194,1.70,155.7,3490,1854,1800,2083,890.2,12.6,564,8200,0.00,2.53,0.00,0.000,388,0.000,0.076,3490,3274,1941,1800,2083,0,0,0,0,0,0,14.94,14.30,14.97
$GC,8233,1.61,155.7,3490,3275,1800,2082,885.2,13.0,572,8241,0.25,2.45,0.00,0.000,5254,0.354,0.052,3452,1862,1941,1800,2082,0,0,0,0,0,0,13.77,14.46,14.26
$GC,8554,1.61,155.7,3452,1862,1799,2082,850.4,10.8,586,8559,0.00,2.45,0.00,0.000,516,0.000,0.069,3461,474,1940,1798,2082,0,0,0,0,0,0,14.96,14.35,14.98
$GC,8574,1.61,155.7,3460,473,1797,2082,848.1,10.2,590,8580,0.00,2.42,0.00,0.000,1030,0.000,0.047,3455,1871,1939,1797,2082,0,0,0,0,0,0,14.51,14.40,14.56
$GC,8887,1.61,155.7,3455,1871,1796,2082,814.3,10.6,602,8892,0.00,2.53,0.00,0.000,260,0.000,0.076,3456,3277,1939,1797,2082,0,0,0,0,0,0,14.97,14.28,14.99
$GC,8908,1.61,155.7,3455,3277,1797,2082,811.8,11.1,606,8913,0.00,2.45,0.00,0.000,1030,0.000,0.048,3464,1862,1939,1797,2082,0,0,0,0,0,0,14.52,14.43,14.57
$GC,9220,1.61,155.7,3464,1861,1795,2083,776.6,11.3,618,9225,0.00,2.55,0.00,0.000,260,0.000,0.067,3455,3278,1939,1796,2082,0,0,0,0,0,0,14.97,14.31,15.00
$GC,9272,1.57,155.7,3455,3277,1795,2082,770.5,11.5,628,9282,0.12,2.45,0.00,0.000,5254,0.302,0.050,3442,1873,1938,1795,2082,0,0,0,0,0,0,13.91,14.40,14.26
$GC,9583,1.57,155.7,3442,1872,1794,2082,738.9,10.1,640,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1873,1938,1794,2082,0,0,0,0,0,0,14.97,15.00,15.00
$GC,9883,1.57,155.7,3442,1873,1794,2082,707.6,10.6,650,9887,0.00,2.55,0.00,0.000,260,0.000,0.070,3432,3277,1938,1794,2082,0,0,0,0,0,0,14.97,14.25,15.00
$GC,9919,1.57,155.7,3432,3277,1793,2082,703.8,11.3,657,9923,0.00,2.47,0.00,0.000,1030,0.000,0.052,3441,1875,1937,1793,2082,0,0,0,0,0,0,14.43,14.32,14.48
$GC,10242,1.57,155.7,3441,1874,1793,2082,668.9,11.0,671,10247,0.00,2.53,0.00,0.000,260,0.000,0.064,3432,3278,1937,1793,2082,0,0,0,0,0,0,14.97,14.15,14.99
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$STATE,17094,end climb,SURFACE_DEPTH_REACHED
$STATE,17094,begin surface coast
$FINISH,1.7,1.022655
$STATE,17125,end surface coast,CONTROL_FINISHED_OK
$STATE,17125,begin surface
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$IRIDIUM_FIX,905.77,6704.15,130817,021834
$TT8_MAMPS,0.023968,0.158039
$HUMID,54.21
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.50
$XPDR_PINGS,7
$24V_AH,12.47,229.784
$10V_AH,12.46,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.075,182.925,396.925,75.850,0.000,0.000,0.000,189.725,90.000,0.000,30.020,2726.576,11467.858,701.162,2276.505,371.471,0.000,1962.725,0.000,1804.818,0.000,599.491,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56592,1267
$CAP_FILE_SIZE,192315,0
$CFSIZE,260034560,206155776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,10962.35,0x233daa,1,24
$CURRENT,0.024,64.87,1
$GPS,130817,121209,910.077,6705.830,34,0.8,42,-2.0,0.0,25.9,9,9.9