version: 66.13
glider: 137
mission: 5
dive: 599
start: 8 13 117 12 18 8
data:
$ID,137
$MISSION,5
$DIVE,599
$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,46
$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
$GPS1,130817,121209,910.0771,6705.8301,34,0.8,42,-2.0,0.0,25.9,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-68.3
$GPS2,130817,121730,910.1313,6705.8271,14,0.8,26,-2.0,0.8,15.4,9,9.8
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,135.8,308356,-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,-155.7,88,1765,647,851,0.0,0.0,0,77,0.00,0.00,-66.00,0.000,16386,0.000,0.000,88,1768,2476,2393,2559,0,0,0,0,0,0,14.84,28.83,14.86
$GC,80,-2.12,-155.7,87,1768,2394,2559,4.0,-3.7,11,118,13.05,2.75,-16.85,0.000,18724,0.396,2.017,2622,3200,3226,3106,3346,0,0,0,0,0,0,13.97,13.12,14.38
$GC,207,-2.04,-155.7,2622,3200,3108,3346,28.2,-20.0,34,214,0.15,2.35,0.00,0.000,3206,0.265,0.037,2652,1788,3227,3108,3346,0,0,0,0,0,0,14.05,14.48,14.35
$GC,523,-1.98,-155.7,2652,1788,3109,3346,87.1,-19.1,76,533,0.00,2.40,0.00,0.000,388,0.000,0.049,2643,3201,3228,3110,3346,0,0,0,0,0,0,14.94,14.28,14.96
$GC,606,-1.94,-155.7,2643,3201,3109,3346,102.0,-17.3,92,617,0.12,2.35,0.00,0.000,3206,0.273,0.039,2671,1791,3227,3109,3346,0,0,0,0,0,0,13.91,14.46,14.05
$GC,916,-1.94,-155.7,2670,1791,3112,3346,147.5,-13.2,124,925,0.00,2.40,0.00,0.000,260,0.000,0.049,2663,3202,3228,3111,3346,0,0,0,0,0,0,14.98,14.42,15.00
$GC,978,-1.94,-155.7,2662,3202,3112,3346,155.8,-14.1,136,988,0.00,2.38,0.00,0.000,1030,0.000,0.041,2663,1795,3229,3112,3346,0,0,0,0,0,0,14.54,14.46,14.57
$GC,1288,-1.94,-155.7,2662,1795,3114,3346,193.8,-13.2,168,1298,0.00,2.40,0.00,0.000,516,0.000,0.060,2663,391,3230,3114,3346,0,0,0,0,0,0,14.99,14.38,15.00
$GC,1345,-1.90,-155.7,2662,391,3114,3346,201.9,-13.6,179,1353,0.15,2.33,0.00,0.000,3206,0.274,0.031,2681,1801,3230,3114,3346,0,0,0,0,0,0,13.97,14.50,14.26
$GC,1654,-1.95,-155.7,2681,1801,3114,3346,240.7,-12.8,210,1661,0.00,0.00,0.00,0.000,134,0.000,0.000,2681,1801,3230,3114,3346,0,0,0,0,0,0,14.92,14.95,14.95
$GC,1973,-2.01,-155.7,2681,1801,3114,3346,280.0,-11.8,226,1974,0.00,0.00,0.00,0.000,134,0.000,0.000,2681,1801,3230,3114,3346,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2276,-2.07,-155.7,2681,1801,3114,3346,317.0,-12.7,236,2282,0.12,2.45,0.00,0.000,4740,0.157,0.059,2631,401,3229,3113,3346,0,0,0,0,0,0,14.49,14.29,14.52
$GC,2325,-2.01,-155.7,2631,401,3112,3346,324.9,-15.5,245,2334,0.15,2.35,0.00,0.000,3206,0.266,0.034,2656,1812,3229,3112,3346,0,0,0,0,0,0,13.93,14.47,14.08
$GC,2650,-2.04,-155.7,2656,1813,3109,3346,367.5,-13.2,258,2654,0.00,2.35,0.00,0.000,388,0.000,0.054,2647,3198,3227,3109,3346,0,0,0,0,0,0,14.95,14.36,14.97
$GC,2672,-2.08,-155.7,2647,3199,3109,3346,371.0,-13.6,262,2677,0.00,2.40,0.00,0.000,1158,0.000,0.044,2647,1792,3227,3109,3346,0,0,0,0,0,0,14.50,14.40,14.54
$GC,2986,-2.08,-155.7,2647,1792,3107,3346,412.3,-13.2,274,2991,0.00,2.45,0.00,0.000,516,0.000,0.064,2647,386,3226,3107,3346,0,0,0,0,0,0,14.94,14.31,14.96
$GC,3043,-2.08,-155.7,2647,386,3107,3346,420.1,-13.9,284,3048,0.00,2.38,0.00,0.000,1030,0.000,0.035,2637,1795,3226,3107,3346,0,0,0,0,0,0,14.51,14.42,14.54
$GC,3359,-2.08,-155.7,2637,1794,3104,3346,461.6,-13.2,296,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1795,3225,3104,3346,0,0,0,0,0,0,14.94,14.96,14.96
$GC,3658,-2.08,-155.7,2637,1795,3102,3346,500.4,-13.0,306,3663,0.00,2.47,0.00,0.000,516,0.000,0.064,2637,395,3224,3102,3346,0,0,0,0,0,0,14.92,14.25,14.95
$GC,3686,-2.08,-155.7,2637,395,3102,3346,504.6,-14.4,311,3696,0.00,2.40,0.00,0.000,1030,0.000,0.039,2627,1797,3224,3102,3346,0,0,0,0,0,0,14.47,14.38,14.51
$GC,3992,-2.08,-155.7,2627,1797,3099,3346,545.7,-13.7,322,3998,0.10,2.50,0.00,0.000,2564,0.297,0.067,2644,402,3222,3099,3346,0,0,0,0,0,0,14.24,14.16,14.36
$GC,4029,-2.08,-155.7,2644,402,3099,3345,550.6,-14.0,328,4034,0.00,2.40,0.00,0.000,1030,0.000,0.038,2635,1809,3221,3098,3345,0,0,0,0,0,0,14.47,14.38,14.50
$GC,4364,-2.08,-155.7,2635,1809,3097,3344,598.2,-14.6,344,4369,0.00,2.53,0.00,0.000,516,0.000,0.066,2636,394,3220,3096,3344,0,0,0,0,0,0,14.93,14.20,14.95
$GC,4429,-2.08,-155.7,2635,394,3096,3343,608.6,-14.8,356,4435,0.10,2.40,0.00,0.000,3078,0.287,0.038,2647,1811,3219,3095,3343,0,0,0,0,0,0,13.90,14.38,14.04
$GC,4764,-2.11,-155.7,2647,1812,3094,3341,656.3,-14.3,372,4769,0.00,2.53,0.00,0.000,644,0.000,0.067,2648,393,3217,3094,3341,0,0,0,0,0,0,14.92,14.17,14.95
$GC,4803,-2.11,-155.7,2648,393,3094,3340,662.5,-15.6,379,4808,0.00,2.40,0.00,0.000,1030,0.000,0.038,2639,1802,3217,3094,3340,0,0,0,0,0,0,14.46,14.38,14.49
$GC,5133,-2.11,-155.7,2639,1802,3092,3339,707.7,-13.4,394,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1802,3215,3092,3339,0,0,0,0,0,0,14.94,14.96,14.96
$GC,5434,-2.11,-155.7,2639,1802,3091,3337,744.5,-12.0,404,5439,0.00,2.53,0.00,0.000,516,0.000,0.067,2639,397,3214,3091,3337,0,0,0,0,0,0,14.90,14.14,14.92
$GC,5495,-2.11,-155.7,2639,397,3091,3337,753.1,-12.9,415,5503,0.00,2.42,0.00,0.000,1030,0.000,0.043,2629,1795,3214,3091,3337,0,0,0,0,0,0,14.40,14.31,14.44
$GC,5804,-2.11,-155.7,2629,1795,3089,3335,789.7,-12.1,426,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1795,3212,3089,3335,0,0,0,0,0,0,14.93,14.95,14.95
$GC,6105,-2.11,-155.7,2629,1795,3088,3334,827.4,-12.6,436,6110,0.00,2.53,0.00,0.000,516,0.000,0.068,2629,394,3211,3088,3334,0,0,0,0,0,0,14.89,14.11,14.90
$GC,6215,-2.07,-155.7,2629,394,3087,3333,843.4,-14.4,456,6220,0.10,2.45,0.00,0.000,3206,0.246,0.044,2643,1809,3210,3088,3333,0,0,0,0,0,0,13.76,14.27,13.90
$GC,6541,-2.07,-155.7,2643,1809,3087,3331,886.0,-13.5,470,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1809,3209,3087,3331,0,0,0,0,0,0,14.92,14.95,14.95
$GC,6841,-2.07,-155.7,2643,1809,3086,3330,927.2,-13.8,480,6846,0.00,2.55,0.00,0.000,516,0.000,0.068,2644,397,3208,3086,3330,0,0,0,0,0,0,14.88,14.08,14.90
$GC,6902,-2.07,-155.7,2643,397,3085,3329,936.5,-14.5,491,6910,0.00,2.45,0.00,0.000,1030,0.000,0.043,2635,1802,3207,3086,3329,0,0,0,0,0,0,14.35,14.25,14.40
$GC,7211,-2.07,-155.7,2635,1802,3085,3328,977.8,-13.5,502,7215,0.00,2.53,0.00,0.000,516,0.000,0.067,2635,404,3206,3085,3328,0,0,0,0,0,0,14.92,14.06,14.94
$GC,7290,-2.04,-155.7,2635,402,3084,3328,989.3,-14.2,517,7296,0.10,2.45,0.00,0.000,3206,0.246,0.045,2648,1811,3206,3084,3328,0,0,0,0,0,0,13.69,14.23,13.83
$STATE,7300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7300,begin apogee
$GC,7307,-0.42,0.0,2648,1885,3084,3328,991.4,-14.0,519,7457,1.50,0.00,145.77,2.742,10246,0.269,0.000,3005,1888,2589,2465,2713,0,0,0,0,0,0,13.73,13.88,12.47
$STATE,7458,end apogee,CONTROL_FINISHED_OK
$STATE,7458,begin climb
$GC,7461,2.12,155.7,3005,1888,2460,2712,995.8,0.0,524,7618,1.95,0.00,152.45,2.678,10246,0.165,0.000,3560,1889,1954,1823,2086,0,0,0,0,0,0,13.94,13.88,12.52
$GC,7906,1.94,155.7,3560,1889,1805,2083,938.8,15.8,539,7913,0.17,2.53,0.00,0.000,4740,0.309,0.068,3532,470,1944,1804,2084,0,0,0,0,0,0,13.97,14.32,14.19
$GC,7967,1.78,155.7,3532,470,1802,2084,929.4,15.9,551,7973,0.15,2.35,0.00,0.000,5254,0.383,0.045,3493,1855,1943,1802,2084,0,0,0,0,0,0,13.76,14.40,14.06
$GC,8297,1.71,155.7,3493,1854,1800,2083,887.6,12.1,567,8303,0.12,2.53,0.00,0.000,4484,0.410,0.074,3470,3271,1942,1800,2084,0,0,0,0,0,0,13.79,14.22,14.05
$GC,8321,1.64,155.7,3470,3271,1800,2083,884.6,11.7,572,8327,0.00,2.42,0.00,0.000,1158,0.000,0.047,3479,1871,1941,1800,2083,0,0,0,0,0,0,14.55,14.47,14.59
$GC,8627,1.58,155.7,3478,1870,1798,2083,848.9,11.7,583,8633,0.15,2.50,0.00,0.000,4484,0.344,0.069,3440,3262,1940,1798,2083,0,0,0,0,0,0,13.77,14.18,14.02
$GC,8670,1.58,155.7,3440,3262,1798,2083,844.1,11.0,592,8674,0.00,2.42,0.00,0.000,1030,0.000,0.051,3447,1873,1940,1798,2083,0,0,0,0,0,0,14.52,14.42,14.56
$GC,8983,1.58,155.7,3446,1873,1797,2083,811.2,10.7,604,8987,0.00,2.50,0.00,0.000,516,0.000,0.067,3457,464,1940,1797,2084,0,0,0,0,0,0,14.96,14.32,14.98
$GC,9008,1.58,155.7,3457,464,1796,2083,808.1,11.8,609,9015,0.00,2.40,0.00,0.000,1030,0.000,0.037,3448,1876,1939,1796,2083,0,0,0,0,0,0,14.52,14.44,14.57
$GC,9315,1.58,155.7,3448,1876,1795,2083,773.4,11.5,620,9322,0.00,2.55,0.00,0.000,516,0.000,0.070,3456,467,1939,1795,2083,0,0,0,0,0,0,14.97,14.27,15.00
$GC,9354,1.58,155.7,3457,468,1794,2083,768.7,12.1,628,9358,0.00,2.40,0.00,0.000,1030,0.000,0.039,3448,1873,1939,1795,2083,0,0,0,0,0,0,14.50,14.40,14.54
$GC,9671,1.58,155.7,3448,1874,1794,2083,734.2,10.6,641,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1874,1938,1794,2083,0,0,0,0,0,0,14.97,15.00,15.00
$GC,9971,1.58,155.7,3448,1874,1793,2083,704.3,9.8,651,9977,0.00,2.55,0.00,0.000,516,0.000,0.073,3457,468,1938,1793,2083,0,0,0,0,0,0,14.97,14.21,15.00
$GC,10015,1.58,155.7,3457,468,1792,2083,699.7,10.3,660,10019,0.00,2.42,0.00,0.000,1030,0.000,0.041,3449,1879,1938,1792,2084,0,0,0,0,0,0,14.46,14.36,14.50
$GC,10327,1.58,155.7,3448,1879,1792,2083,670.2,9.5,672,10334,0.00,2.58,0.00,0.000,516,0.000,0.073,3457,470,1937,1791,2083,0,0,0,0,0,0,14.97,14.18,15.00
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$STATE,17207,end climb,SURFACE_DEPTH_REACHED
$STATE,17208,begin surface coast
$FINISH,1.9,1.023173
$STATE,17229,end surface coast,CONTROL_FINISHED_OK
$STATE,17229,begin surface
$SM_CCo,17252,69.50,0.080,0,0,755,450.12
$SM_GC,2.80,10.32,2.33,69.50,0.066,0.038,0.080,96,1804,755,-13.75,-0.96,450.12,0,0,0,0,0,0,14.34,14.41,14.36
$IRIDIUM_FIX,905.77,6704.15,130817,071940
$TT8_MAMPS,0.023968,0.158039
$HUMID,53.74
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,24.40
$XPDR_PINGS,5
$24V_AH,12.47,230.143
$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,28.725,182.475,412.600,69.500,0.000,0.000,0.000,195.175,87.000,0.000,28.678,2697.458,11608.300,729.807,2243.659,367.070,0.000,1981.163,0.000,1778.109,0.000,581.697,0.000
$DEVICE_MAMPS,410.040,2016.540,2741.760,79.560,0.000,0.000,0.000,187.425,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56689,1248
$CAP_FILE_SIZE,190617,0
$CFSIZE,260034560,206073856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.041,56.09,1
$GPS,130817,170811,909.224,6707.370,31,0.8,41,-2.0,0.4,97.0,9,9.6