version: 66.13
glider: 137
mission: 5
dive: 774
start: 10 28 117 18 9 51
data:
$ID,137
$MISSION,5
$DIVE,774
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,800
$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,290
$T_MISSION,1920
$T_ABORT,2000
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,86400
$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,140
$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,400
$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,54
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2520
$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,1500
$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
$GPS1,281017,180500,714.6047,7041.7515,4,0.9,13,-2.5,0.0,16.7,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-68.8
$GPS2,281017,180911,714.6013,7041.7490,8,0.9,15,-2.5,0.4,210.6,11,9.9
$SPEED_LIMITS,0.159,0.161
$TGT_NAME,MALDIVE1
$TGT_LATLONG,430.000,7230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,167.2,364518,-23.0,-9.195,-29.68,2263
$D_GRID,800
$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,5,begin dive
$GC,8,-2.09,-136.3,100,1785,314,565,0.0,0.0,0,90,0.00,0.00,-80.45,0.000,16386,0.000,0.000,100,1785,2618,2535,2702,0,0,0,0,0,0,14.57,28.83,14.59
$GC,94,-2.09,-136.3,100,1785,2536,2702,4.5,-2.5,4,123,12.70,2.80,-9.32,0.000,18948,0.387,1.972,2641,423,3078,2952,3204,0,0,0,0,0,0,13.88,12.23,14.23
$GC,301,-1.94,-136.3,2640,423,2953,3204,53.6,-23.2,46,311,0.15,2.33,0.00,0.000,3206,0.248,0.034,2668,1796,3078,2953,3204,0,0,0,0,0,0,13.39,13.90,13.59
$GC,612,-1.89,-136.3,2668,1796,2954,3204,103.6,-14.1,63,618,0.00,2.50,0.00,0.000,644,0.000,0.066,2669,423,3079,2954,3204,0,0,0,0,0,0,14.74,13.85,14.76
$GC,661,-1.84,-136.3,2669,422,2955,3204,110.9,-14.0,73,667,0.17,2.38,0.00,0.000,3206,0.278,0.038,2694,1797,3079,2955,3204,0,0,0,0,0,0,13.42,14.00,13.76
$GC,975,-1.84,-136.3,2694,1797,2957,3204,152.8,-14.3,90,981,0.00,2.47,0.00,0.000,260,0.000,0.057,2686,3199,3080,2957,3204,0,0,0,0,0,0,14.76,13.88,14.78
$GC,995,-1.84,-136.3,2686,3199,2957,3204,155.7,-14.4,94,1001,0.00,2.40,0.00,0.000,1030,0.000,0.044,2686,1817,3080,2957,3204,0,0,0,0,0,0,13.96,13.91,14.01
$GC,1316,-1.84,-136.3,2686,1817,2957,3204,197.8,-11.6,113,1320,0.00,2.55,0.00,0.000,516,0.000,0.062,2687,395,3080,2957,3204,0,0,0,0,0,0,14.76,13.85,14.78
$GC,1383,-1.84,-136.3,2686,395,2957,3205,206.3,-12.1,126,1389,0.00,2.45,0.00,0.000,1030,0.000,0.037,2678,1806,3080,2957,3204,0,0,0,0,0,0,14.06,14.00,14.07
$GC,1705,-1.84,-136.3,2678,1806,2957,3204,244.8,-12.4,144,1710,0.10,2.60,0.00,0.000,2564,0.288,0.065,2695,397,3080,2957,3204,0,0,0,0,0,0,13.88,13.66,13.94
$GC,1756,-1.87,-136.3,2695,397,2957,3204,251.3,-11.4,153,1764,0.00,2.45,0.00,0.000,1158,0.000,0.037,2687,1805,3080,2957,3204,0,0,0,0,0,0,14.05,13.99,14.07
$GC,2080,-1.91,-136.3,2686,1805,2955,3204,290.4,-12.5,161,2086,0.00,2.60,0.00,0.000,644,0.000,0.066,2687,395,3079,2955,3204,0,0,0,0,0,0,14.61,13.72,14.63
$GC,2140,-1.91,-136.3,2686,395,2954,3204,299.1,-13.6,172,2148,0.00,2.45,0.00,0.000,1030,0.000,0.037,2677,1796,3079,2954,3204,0,0,0,0,0,0,14.06,13.97,14.09
$GC,2450,-1.95,-136.3,2677,1796,2953,3204,339.8,-13.5,178,2455,0.00,2.58,0.00,0.000,644,0.000,0.064,2677,396,3078,2953,3204,0,0,0,0,0,0,14.64,13.71,14.66
$GC,2487,-1.95,-136.3,2677,395,2952,3204,345.9,-14.9,185,2493,0.00,2.47,0.00,0.000,1030,0.000,0.041,2667,1808,3078,2952,3204,0,0,0,0,0,0,13.95,13.92,13.98
$GC,2820,-1.95,-136.3,2667,1808,2951,3201,389.3,-12.9,195,2825,0.00,2.60,0.00,0.000,516,0.000,0.066,2667,398,3075,2950,3201,0,0,0,0,0,0,14.60,13.67,14.62
$GC,2904,-1.95,-136.3,2666,398,2949,3201,401.4,-14.1,211,2909,0.00,2.47,0.00,0.000,1030,0.000,0.037,2657,1819,3075,2949,3201,0,0,0,0,0,0,13.95,13.91,13.97
$GC,3247,-1.95,-136.3,2656,1819,2947,3198,445.5,-12.9,224,3252,0.00,2.62,0.00,0.000,516,0.000,0.067,2657,402,3072,2947,3198,0,0,0,0,0,0,14.61,13.66,14.62
$GC,3354,-1.95,-136.3,2656,402,2945,3198,460.4,-13.7,244,3359,0.10,2.47,0.00,0.000,3078,0.243,0.038,2670,1811,3071,2945,3198,0,0,0,0,0,0,13.35,13.91,13.50
$GC,3679,-1.98,-136.3,2669,1811,2944,3195,499.9,-12.3,253,3684,0.00,2.65,0.00,0.000,644,0.000,0.070,2671,397,3070,2945,3195,0,0,0,0,0,0,14.62,13.58,14.64
$GC,3729,-1.98,-136.3,2670,396,2944,3195,506.7,-13.6,262,3736,0.00,2.47,0.00,0.000,1030,0.000,0.040,2662,1801,3069,2944,3195,0,0,0,0,0,0,13.90,13.88,13.93
$GC,4053,-1.98,-136.3,2661,1802,2943,3192,547.1,-12.6,270,4058,0.00,2.60,0.00,0.000,516,0.000,0.065,2662,402,3068,2943,3193,0,0,0,0,0,0,14.60,13.66,14.62
$GC,4108,-1.98,-136.3,2661,402,2942,3192,555.0,-14.0,280,4113,0.00,2.47,0.00,0.000,1030,0.000,0.041,2651,1807,3067,2942,3192,0,0,0,0,0,0,13.90,13.87,13.93
$GC,4423,-1.98,-136.3,2652,1807,2940,3190,597.6,-13.7,287,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1807,3065,2940,3190,0,0,0,0,0,0,14.59,14.61,14.61
$GC,4722,-1.98,-136.3,2651,1807,2939,3189,637.6,-13.2,292,4727,0.00,2.62,0.00,0.000,516,0.000,0.067,2651,398,3064,2939,3189,0,0,0,0,0,0,14.60,13.57,14.62
$GC,4793,-1.94,-136.3,2651,398,2939,3189,647.6,-13.7,305,4803,0.12,2.50,0.00,0.000,3206,0.250,0.044,2670,1809,3063,2938,3189,0,0,0,0,0,0,13.24,13.77,13.43
$GC,5160,-1.98,-136.3,2670,1809,2936,3187,688.3,-11.1,321,5166,0.00,2.65,0.00,0.000,644,0.000,0.071,2671,401,3061,2936,3187,0,0,0,0,0,0,14.60,13.55,14.62
$GC,5227,-1.98,-136.3,2670,401,2936,3187,696.0,-11.4,333,5233,0.00,2.47,0.00,0.000,1030,0.000,0.041,2662,1796,3061,2936,3187,0,0,0,0,0,0,13.87,13.83,13.90
$GC,5595,-1.98,-136.3,2662,1796,2935,3186,737.4,-11.3,350,5600,0.00,2.62,0.00,0.000,516,0.000,0.067,2662,397,3060,2935,3185,0,0,0,0,0,0,14.61,13.59,14.63
$GC,5724,-1.98,-136.3,2662,396,2934,3185,753.7,-11.9,374,5728,0.00,2.50,0.00,0.000,1030,0.000,0.044,2651,1796,3059,2934,3185,0,0,0,0,0,0,13.83,13.79,13.87
$STATE,6088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6088,begin apogee
$GC,6095,-0.42,0.0,2651,1891,2933,3184,800.5,-13.0,391,6230,1.48,0.00,131.25,2.507,10246,0.248,0.000,3004,1895,2519,2388,2650,0,0,0,0,0,0,13.42,12.89,11.67
$STATE,6231,end apogee,CONTROL_FINISHED_OK
$STATE,6231,begin loiter
$GC,6570,-0.42,0.0,3004,1895,2378,2647,813.7,-2.1,396,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1895,2512,2377,2647,0,0,0,0,0,0,14.31,14.33,14.32
$GC,7170,-0.98,0.0,3004,1895,2374,2644,823.5,-1.6,401,7172,0.43,0.00,0.00,0.000,4230,0.112,0.000,2878,1895,2509,2374,2644,0,0,0,0,0,0,13.59,13.84,13.78
$GC,7770,-1.30,0.0,2877,1895,2372,2641,828.8,-0.8,406,7772,0.22,0.00,0.00,0.000,4230,0.120,0.000,2811,1895,2506,2372,2641,0,0,0,0,0,0,13.93,14.01,13.98
$GC,8372,-1.48,0.0,2810,1895,2371,2637,835.6,-1.2,411,8374,0.15,0.00,0.00,0.000,4230,0.175,0.000,2768,1895,2504,2371,2637,0,0,0,0,0,0,13.93,14.00,13.98
$GC,8970,-1.59,0.0,2768,1895,2370,2634,844.9,-1.6,416,8971,0.00,0.00,0.00,0.000,134,0.000,0.000,2769,1895,2502,2371,2634,0,0,0,0,0,0,14.62,14.64,14.64
$GC,9570,-1.70,0.0,2768,1895,2370,2634,850.1,-0.8,421,9572,0.15,0.00,0.00,0.000,4230,0.143,0.000,2721,1895,2502,2370,2634,0,0,0,0,0,0,13.97,14.02,14.01
$GC,10170,-1.70,0.0,2720,1895,2369,2632,856.1,-1.0,426,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1895,2501,2370,2632,0,0,0,0,0,0,14.59,14.61,14.61
$GC,10771,-1.73,0.0,2720,1895,2369,2631,865.2,-1.6,431,10772,0.00,0.00,0.00,0.000,134,0.000,0.000,2720,1895,2500,2369,2631,0,0,0,0,0,0,14.61,14.64,14.63
$GC,11370,-1.76,0.0,2720,1895,2369,2630,876.1,-1.8,436,11371,0.00,0.00,0.00,0.000,134,0.000,0.000,2721,1895,2499,2368,2630,0,0,0,0,0,0,14.59,14.62,14.62
$GC,11970,-1.79,0.0,2720,1895,2368,2629,882.1,-0.9,441,11971,0.00,0.00,0.00,0.000,134,0.000,0.000,2721,1895,2499,2368,2630,0,0,0,0,0,0,14.59,14.62,14.62
$GC,12570,-1.79,0.0,2720,1895,2368,2629,888.8,-1.1,446,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1895,2498,2367,2629,0,0,0,0,0,0,14.57,14.59,14.59
$GC,13170,-1.79,0.0,2720,1895,2367,2628,901.0,-2.1,451,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1895,2497,2367,2628,0,0,0,0,0,0,14.59,14.62,14.62
$STATE,13647,end loiter,LOITER_COMPLETE
$STATE,13647,begin climb
$GC,13650,2.09,136.3,2720,1895,2367,2628,911.6,0.0,455,13807,3.47,2.75,141.98,2.674,10500,0.257,0.066,3542,3257,1961,1832,2091,0,0,0,0,0,0,13.40,12.43,11.37
$GC,13930,1.89,136.3,3542,3257,1832,2078,885.1,13.0,510,13936,0.20,2.75,0.00,0.000,5254,0.279,0.060,3513,1882,1954,1832,2077,0,0,0,0,0,0,12.47,12.88,12.85
$GC,14256,1.78,136.3,3512,1882,1826,2077,843.3,12.9,519,14263,0.12,2.70,0.00,0.000,4740,0.370,0.070,3499,463,1951,1826,2077,0,0,0,0,0,0,12.75,13.10,12.95
$GC,14277,1.68,136.3,3498,463,1824,2077,840.5,12.3,523,14283,0.10,2.60,0.00,0.000,5254,0.337,0.048,3471,1869,1951,1824,2078,0,0,0,0,0,0,12.89,13.41,13.15
$GC,14617,1.64,136.3,3470,1869,1822,2077,800.3,11.9,536,14623,0.00,2.60,0.00,0.000,388,0.000,0.068,3462,3267,1949,1822,2077,0,0,0,0,0,0,14.37,13.71,14.39
$GC,14670,1.58,136.3,3462,3267,1822,2078,793.9,12.3,547,14678,0.15,2.60,0.00,0.000,5254,0.318,0.050,3446,1855,1949,1822,2077,0,0,0,0,0,0,13.26,13.80,13.69
$GC,14976,1.58,136.3,3445,1855,1821,2077,760.9,10.7,553,14977,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1854,1949,1821,2077,0,0,0,0,0,0,14.50,14.53,14.53
$GC,15277,1.58,136.3,3445,1855,1820,2077,728.2,10.9,558,15282,0.00,2.67,0.00,0.000,260,0.000,0.066,3442,3270,1948,1820,2077,0,0,0,0,0,0,14.54,13.83,14.57
$GC,15308,1.58,136.3,3442,3270,1820,2077,724.4,11.2,564,15313,0.00,2.58,0.00,0.000,1030,0.000,0.052,3450,1873,1948,1820,2077,0,0,0,0,0,0,13.95,13.83,14.01
$GC,15636,1.58,136.3,3449,1872,1819,2077,688.2,11.0,574,15641,0.00,2.65,0.00,0.000,516,0.000,0.072,3460,460,1948,1819,2077,0,0,0,0,0,0,14.57,13.75,14.59
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$STATE,23025,end climb,SURFACE_DEPTH_REACHED
$STATE,23025,begin surface coast
$FINISH,2.0,1.009442
$STATE,23049,end surface coast,CONTROL_FINISHED_OK
$STATE,23049,begin surface
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$TT8_MAMPS,0.023968,0.161035
$HUMID,57.91
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.00
$XPDR_PINGS,148
$24V_AH,11.37,286.055
$10V_AH,11.70,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.100,180.475,375.450,63.950,0.000,0.000,0.000,0.000,106.000,0.000,16.360,1812.948,18744.658,621.819,1690.696,356.530,0.000,1551.545,0.000,1465.882,0.000,471.309,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225356
$DATA_FILE_SIZE,43391,1028
$CAP_FILE_SIZE,183088,0
$CFSIZE,260034560,191991808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,133.06,1
$GPS,291017,003702,713.099,7042.953,48,0.8,55,-2.5,0.0,19.6,9,9.7