version: 66.13
glider: 137
mission: 5
dive: 600
start: 8 13 117 17 17 2
data:
$ID,137
$MISSION,5
$DIVE,600
$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,35
$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
$GPS1,130817,170811,909.2245,6707.3701,31,0.8,41,-2.0,0.4,97.0,9,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-69.4
$GPS2,130817,171625,909.2912,6707.3701,12,0.7,22,-2.0,0.0,79.6,10,9.8
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,141.7,305158,-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,-155.7,94,1822,646,852,0.0,0.0,0,82,0.00,0.00,-71.38,0.000,16386,0.000,0.000,94,1823,2642,2566,2719,0,0,0,0,0,0,14.83,28.83,14.86
$GC,86,-2.12,-155.7,94,1823,2566,2721,4.3,-4.0,12,118,13.23,2.65,-11.77,0.000,18724,0.400,2.018,2623,3203,3225,3105,3346,0,0,0,0,0,0,13.90,13.12,14.16
$GC,193,-2.03,-155.7,2623,3203,3107,3346,26.8,-20.4,31,200,0.15,2.35,0.00,0.000,3206,0.266,0.038,2653,1790,3226,3107,3346,0,0,0,0,0,0,14.06,14.47,14.35
$GC,510,-1.97,-155.7,2652,1790,3108,3346,87.9,-17.0,73,515,0.00,2.38,0.00,0.000,644,0.000,0.058,2653,404,3227,3108,3346,0,0,0,0,0,0,14.94,14.36,14.96
$GC,634,-1.91,-155.7,2653,404,3109,3346,111.0,-16.9,97,639,0.17,2.33,0.00,0.000,3206,0.274,0.032,2680,1819,3227,3109,3346,0,0,0,0,0,0,13.93,14.50,14.25
$GC,949,-1.91,-155.7,2680,1819,3111,3346,157.1,-12.3,129,953,0.00,2.30,0.00,0.000,260,0.000,0.052,2672,3192,3228,3111,3346,0,0,0,0,0,0,14.97,14.40,14.99
$GC,1036,-1.91,-155.7,2672,3191,3111,3346,168.0,-12.5,146,1042,0.00,2.35,0.00,0.000,1030,0.000,0.043,2672,1802,3228,3111,3346,0,0,0,0,0,0,14.53,14.44,14.56
$GC,1342,-1.91,-155.7,2671,1802,3113,3346,205.3,-13.8,177,1349,0.00,2.38,0.00,0.000,260,0.000,0.050,2662,3201,3229,3113,3346,0,0,0,0,0,0,14.92,14.42,14.95
$GC,1357,-1.91,-155.7,2662,3201,3113,3346,207.4,-14.0,179,1363,0.10,2.35,0.00,0.000,3078,0.273,0.039,2679,1793,3229,3113,3346,0,0,0,0,0,0,14.10,14.46,14.33
$GC,1674,-1.95,-155.7,2678,1793,3113,3346,246.3,-12.7,211,1681,0.00,0.00,0.00,0.000,134,0.000,0.000,2678,1793,3229,3113,3346,0,0,0,0,0,0,14.94,14.96,14.96
$GC,2003,-2.01,-155.7,2678,1793,3113,3346,288.1,-12.4,224,2004,0.00,0.00,0.00,0.000,134,0.000,0.000,2678,1794,3229,3113,3346,0,0,0,0,0,0,14.93,14.96,14.95
$GC,2304,-2.07,-155.7,2678,1793,3111,3346,323.8,-11.7,234,2312,0.12,2.38,0.00,0.000,4740,0.145,0.057,2630,404,3228,3111,3346,0,0,0,0,0,0,14.50,14.31,14.53
$GC,2367,-2.03,-155.7,2629,404,3110,3346,333.0,-13.8,245,2378,0.17,2.33,0.00,0.000,3206,0.261,0.032,2655,1806,3227,3109,3346,0,0,0,0,0,0,13.93,14.48,14.22
$GC,2673,-2.03,-155.7,2654,1806,3107,3346,370.4,-12.5,256,2678,0.00,2.47,0.00,0.000,516,0.000,0.063,2656,401,3226,3107,3346,0,0,0,0,0,0,14.92,14.33,14.95
$GC,2741,-2.03,-155.7,2655,401,3107,3346,379.8,-13.4,268,2746,0.00,2.33,0.00,0.000,1030,0.000,0.033,2647,1796,3226,3107,3346,0,0,0,0,0,0,14.54,14.47,14.57
$GC,3075,-2.03,-155.7,2646,1795,3105,3346,425.4,-13.9,284,3080,0.00,2.47,0.00,0.000,516,0.000,0.065,2647,405,3225,3105,3346,0,0,0,0,0,0,14.92,14.28,14.95
$GC,3133,-2.03,-155.7,2647,405,3104,3346,433.7,-15.4,294,3140,0.08,2.33,0.00,0.000,3078,0.248,0.036,2655,1804,3225,3104,3346,0,0,0,0,0,0,13.94,14.36,14.08
$GC,3450,-2.06,-155.7,2654,1804,3101,3346,475.2,-12.8,306,3452,0.00,0.00,0.00,0.000,134,0.000,0.000,2654,1804,3224,3102,3346,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3751,-2.10,-155.7,2654,1804,3099,3346,512.7,-12.5,316,3756,0.00,2.50,0.00,0.000,644,0.000,0.067,2655,401,3222,3099,3346,0,0,0,0,0,0,14.92,14.21,14.94
$GC,3829,-2.10,-155.7,2655,401,3098,3346,523.9,-14.4,330,3834,0.00,2.38,0.00,0.000,1030,0.000,0.037,2646,1796,3222,3098,3346,0,0,0,0,0,0,14.47,14.38,14.51
$GC,4153,-2.10,-155.7,2646,1796,3096,3343,564.1,-12.3,344,4158,0.00,2.50,0.00,0.000,516,0.000,0.065,2646,391,3219,3096,3343,0,0,0,0,0,0,14.92,14.22,14.94
$GC,4211,-2.10,-155.7,2646,391,3096,3343,571.7,-14.4,354,4216,0.00,2.40,0.00,0.000,1030,0.000,0.039,2636,1799,3219,3096,3342,0,0,0,0,0,0,14.46,14.37,14.50
$GC,4527,-2.10,-155.7,2636,1799,3094,3340,612.1,-12.7,366,4532,0.00,2.50,0.00,0.000,516,0.000,0.066,2636,400,3217,3094,3340,0,0,0,0,0,0,14.93,14.20,14.95
$GC,4594,-2.10,-155.7,2636,400,3093,3340,622.0,-13.2,379,4599,0.00,2.40,0.00,0.000,1030,0.000,0.041,2626,1798,3216,3093,3340,0,0,0,0,0,0,14.44,14.34,14.47
$GC,4924,-2.10,-155.7,2626,1798,3091,3339,665.8,-13.7,394,4929,0.00,2.47,0.00,0.000,516,0.000,0.067,2626,409,3215,3092,3338,0,0,0,0,0,0,14.94,14.19,14.96
$GC,4983,-2.06,-155.7,2626,409,3091,3338,674.7,-15.2,405,4992,0.15,2.40,0.00,0.000,3206,0.265,0.041,2646,1804,3214,3091,3338,0,0,0,0,0,0,13.81,14.32,14.12
$GC,5289,-2.06,-155.7,2645,1804,3090,3337,715.0,-13.1,416,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1804,3213,3090,3337,0,0,0,0,0,0,14.91,14.93,14.93
$GC,5593,-2.06,-155.7,2645,1804,3089,3335,753.9,-12.9,426,5598,0.00,2.50,0.00,0.000,516,0.000,0.066,2646,405,3212,3089,3335,0,0,0,0,0,0,14.92,14.16,14.94
$GC,5631,-2.06,-155.7,2646,405,3089,3335,759.8,-13.1,433,5637,0.00,2.40,0.00,0.000,1030,0.000,0.042,2638,1795,3212,3089,3335,0,0,0,0,0,0,14.40,14.30,14.44
$GC,5961,-2.06,-155.7,2637,1795,3087,3333,802.1,-12.8,448,5966,0.00,2.50,0.00,0.000,516,0.000,0.067,2638,401,3210,3087,3333,0,0,0,0,0,0,14.90,14.13,14.92
$GC,6040,-2.06,-155.7,2637,401,3087,3333,813.1,-14.0,462,6045,0.08,2.42,0.00,0.000,3078,0.304,0.044,2644,1804,3210,3087,3333,0,0,0,0,0,0,13.88,14.27,14.00
$GC,6365,-2.06,-155.7,2643,1804,3085,3332,855.2,-13.1,476,6370,0.00,2.50,0.00,0.000,516,0.000,0.066,2644,408,3208,3085,3332,0,0,0,0,0,0,14.89,14.11,14.91
$GC,6392,-2.06,-155.7,2644,407,3085,3331,859.5,-15.1,481,6403,0.00,2.42,0.00,0.000,1030,0.000,0.044,2635,1805,3208,3085,3331,0,0,0,0,0,0,14.39,14.29,14.42
$GC,6699,-2.06,-155.7,2635,1805,3085,3329,901.7,-13.9,492,6703,0.00,2.53,0.00,0.000,516,0.000,0.067,2635,401,3207,3085,3329,0,0,0,0,0,0,14.90,14.07,14.92
$GC,6756,-2.06,-155.7,2635,401,3085,3329,909.9,-15.0,502,6762,0.10,2.42,0.00,0.000,3078,0.283,0.044,2644,1798,3207,3085,3329,0,0,0,0,0,0,13.81,14.25,13.94
$GC,7072,-2.06,-155.7,2644,1799,3083,3327,950.4,-12.5,514,7077,0.00,2.50,0.00,0.000,516,0.000,0.067,2644,408,3205,3083,3327,0,0,0,0,0,0,14.92,14.09,14.95
$GC,7115,-2.06,-155.7,2644,408,3084,3327,956.6,-13.5,522,7121,0.00,2.40,0.00,0.000,1030,0.000,0.043,2636,1798,3205,3084,3327,0,0,0,0,0,0,14.21,14.15,14.24
$STATE,7407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7407,begin apogee
$GC,7414,-0.42,0.0,2636,1892,3083,3326,993.1,-12.4,535,7564,1.58,0.00,145.95,2.761,10246,0.278,0.000,3002,1898,2589,2465,2714,0,0,0,0,0,0,13.67,13.88,12.47
$STATE,7565,end apogee,CONTROL_FINISHED_OK
$STATE,7565,begin climb
$GC,7568,2.12,155.7,3002,1897,2461,2712,997.0,0.0,540,7729,1.98,2.53,147.45,2.739,10500,0.177,0.067,3557,3261,1951,1819,2083,0,0,0,0,0,0,13.86,13.91,12.45
$GC,7742,1.93,155.7,3556,3261,1819,2079,981.1,15.3,576,7750,0.17,2.45,0.00,0.000,5254,0.322,0.057,3526,1884,1948,1818,2079,0,0,0,0,0,0,13.85,14.17,14.05
$GC,8074,1.81,155.7,3525,1884,1809,2079,932.9,14.3,592,8081,0.15,2.45,0.00,0.000,4740,0.414,0.060,3506,462,1943,1807,2079,0,0,0,0,0,0,13.78,14.25,14.08
$GC,8108,1.69,155.7,3506,461,1806,2079,927.7,14.6,599,8113,0.20,2.40,0.00,0.000,5254,0.399,0.041,3469,1875,1942,1806,2079,0,0,0,0,0,0,13.75,14.47,14.29
$GC,8433,1.65,155.7,3468,1875,1804,2079,888.3,12.1,613,8437,0.00,2.47,0.00,0.000,388,0.000,0.070,3469,3272,1941,1804,2079,0,0,0,0,0,0,14.93,14.35,14.95
$GC,8455,1.60,155.7,3468,3272,1804,2079,885.4,12.5,617,8461,0.15,2.45,0.00,0.000,5254,0.353,0.049,3451,1854,1941,1804,2079,0,0,0,0,0,0,13.78,14.47,14.27
$GC,8769,1.60,155.7,3451,1854,1802,2079,848.7,11.7,629,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1853,1940,1802,2079,0,0,0,0,0,0,14.95,14.98,14.97
$GC,9068,1.60,155.7,3451,1854,1801,2079,812.9,11.9,639,9075,0.00,2.42,0.00,0.000,516,0.000,0.065,3460,472,1939,1800,2079,0,0,0,0,0,0,14.97,14.33,15.00
$GC,9093,1.60,155.7,3459,472,1800,2079,810.0,12.2,644,9100,0.00,2.40,0.00,0.000,1030,0.000,0.040,3455,1879,1939,1800,2079,0,0,0,0,0,0,14.52,14.42,14.56
$GC,9399,1.60,155.7,3455,1879,1799,2079,774.2,11.7,655,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1879,1939,1799,2079,0,0,0,0,0,0,14.97,15.00,15.00
$GC,9699,1.60,155.7,3455,1879,1798,2079,739.9,11.3,665,9704,0.00,2.53,0.00,0.000,516,0.000,0.063,3463,466,1938,1798,2079,0,0,0,0,0,0,14.96,14.28,14.99
$GC,9720,1.60,155.7,3463,465,1797,2079,737.3,11.3,669,9725,0.00,2.42,0.00,0.000,1030,0.000,0.039,3456,1874,1938,1797,2079,0,0,0,0,0,0,14.47,14.38,14.52
$GC,10033,1.60,155.7,3456,1874,1797,2079,704.0,10.4,681,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1874,1938,1797,2079,0,0,0,0,0,0,14.97,15.00,15.00
$GC,10334,1.60,155.7,3456,1874,1796,2079,675.2,9.1,691,10340,0.00,2.50,0.00,0.000,516,0.000,0.064,3464,474,1937,1796,2079,0,0,0,0,0,0,14.96,14.16,14.99
$GC,10363,1.57,155.7,3465,474,1795,2079,672.2,10.0,697,10368,0.00,2.40,0.00,0.000,1158,0.000,0.040,3457,1874,1937,1796,2079,0,0,0,0,0,0,14.45,14.35,14.49
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$STATE,17551,end climb,SURFACE_DEPTH_REACHED
$STATE,17551,begin surface coast
$FINISH,1.8,1.002167
$STATE,17582,end surface coast,CONTROL_FINISHED_OK
$STATE,17582,begin surface
$SM_CCo,17606,84.30,0.078,0,0,754,450.12
$SM_GC,2.80,10.60,2.58,84.30,0.089,0.042,0.078,89,1796,754,-13.78,1.10,450.12,0,0,0,0,0,0,14.31,14.42,14.38
$IRIDIUM_FIX,903.59,6707.01,130817,121400
$TT8_MAMPS,0.023968,0.158039
$HUMID,52.71
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.70
$XPDR_PINGS,4
$24V_AH,12.45,230.494
$10V_AH,12.45,0.000
$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
$DEVICE_SECS,29.925,186.650,378.750,84.300,0.000,0.000,0.000,251.800,91.500,0.000,23.958,2838.015,11903.227,653.649,2410.973,382.438,0.000,2023.970,0.000,1879.529,0.000,615.370,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,638.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56682,1320
$CAP_FILE_SIZE,199842,0
$CFSIZE,260034560,205983744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.036,54.14,1
$GPS,130817,221317,908.331,6708.951,29,1.1,45,-2.0,0.0,306.9,6,9.1