version: 66.13
glider: 137
mission: 5
dive: 6
start: 3 4 117 13 16 9
data:
$ID,137
$MISSION,5
$DIVE,6
$N_DIVES,8
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,600
$D_ABORT,750
$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,200
$T_MISSION,250
$T_ABORT,720
$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,150
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,563.99261
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$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,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$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,2140
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$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,20
$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
$GPS1,040317,131208,1337.9918,6123.4565,38,0.7,45,-0.7,0.7,242.0,11,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.0
$GPS2,040317,131534,1337.9858,6123.4165,9,0.7,22,-0.7,0.5,251.2,11,9.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,N
$TGT_LATLONG,1000.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,156.3,431426,-18.2,-10.000,-21.02,2236
$D_GRID,600
$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,7,-1.40,-146.0,98,2146,377,600,0.0,0.0,0,119,0.00,0.00,-108.78,0.000,16390,0.000,0.000,98,2148,3387,3307,3467,0,0,0,0,0,0,15.01,13.95,15.02
$GC,120,-1.40,-146.0,98,2148,3307,3467,5.0,-12.1,19,146,18.23,2.40,0.00,0.000,2564,0.542,0.060,2868,720,3387,3307,3468,0,0,0,0,0,0,14.52,14.76,14.78
$GC,238,-1.28,-146.0,2867,720,3307,3468,38.2,-18.6,41,247,0.17,2.35,0.00,0.000,3206,0.315,0.057,2895,2135,3387,3307,3468,0,0,0,0,0,0,14.66,14.81,14.84
$GC,549,-1.23,-146.0,2895,2136,3308,3468,83.6,-15.3,79,557,0.00,2.40,0.00,0.000,644,0.000,0.077,2897,718,3388,3307,3469,0,0,0,0,0,0,15.11,14.87,15.13
$GC,582,-1.20,-146.0,2896,717,3308,3468,89.2,-15.6,86,590,0.12,2.40,0.00,0.000,3206,0.295,0.058,2913,2148,3388,3307,3469,0,0,0,0,0,0,14.77,14.88,14.93
$GC,889,-1.27,-146.0,2913,2148,3308,3469,128.7,-11.5,117,894,0.00,2.40,0.00,0.000,644,0.000,0.073,2914,726,3388,3307,3469,0,0,0,0,0,0,15.15,14.91,15.17
$GC,984,-1.34,-146.0,2914,726,3308,3469,139.6,-11.4,136,991,0.00,2.35,0.00,0.000,1158,0.000,0.058,2905,2148,3388,3308,3469,0,0,0,0,0,0,15.00,14.93,15.02
$GC,1291,-1.43,-146.0,2905,2148,3307,3469,170.1,-8.4,167,1301,0.12,2.35,0.00,0.000,4516,0.160,0.076,2847,3554,3388,3307,3469,0,0,0,0,0,0,14.92,14.93,14.98
$GC,1386,-1.43,-146.0,2847,3553,3308,3470,181.6,-12.9,186,1393,0.00,2.33,0.00,0.000,1030,0.000,0.051,2847,2134,3389,3308,3470,0,0,0,0,0,0,15.03,14.95,15.04
$GC,1693,-1.43,-146.0,2847,2134,3308,3469,222.8,-13.3,217,1697,0.00,2.33,0.00,0.000,516,0.000,0.075,2847,729,3388,3307,3470,0,0,0,0,0,0,15.19,14.95,15.21
$GC,1847,-1.43,-146.0,2847,728,3307,3470,246.0,-14.9,248,1855,0.12,2.35,0.00,0.000,3078,0.298,0.060,2862,2149,3388,3308,3469,0,0,0,0,0,0,14.85,14.96,15.01
$GC,2156,-1.50,-146.0,2862,2149,3307,3469,282.2,-10.8,261,2160,0.00,2.40,0.00,0.000,644,0.000,0.080,2862,732,3388,3307,3469,0,0,0,0,0,0,15.19,14.96,15.21
$GC,2231,-1.54,-146.0,2862,732,3307,3469,290.7,-10.5,276,2235,0.00,2.35,0.00,0.000,1158,0.000,0.063,2854,2149,3387,3306,3469,0,0,0,0,0,0,15.05,14.98,15.07
$GC,2549,-1.59,-146.0,2854,2149,3303,3470,322.1,-9.9,289,2554,0.10,2.42,0.00,0.000,4772,0.163,0.078,2820,727,3386,3304,3469,0,0,0,0,0,0,14.99,14.97,15.05
$GC,2635,-1.59,-146.0,2820,727,3303,3469,333.2,-12.7,306,2641,0.00,2.33,0.00,0.000,1030,0.000,0.060,2810,2140,3386,3303,3469,0,0,0,0,0,0,15.06,14.99,15.08
$GC,2941,-1.59,-146.0,2810,2141,3299,3469,370.4,-12.2,317,2945,0.00,2.40,0.00,0.000,516,0.000,0.076,2810,724,3385,3300,3470,0,0,0,0,0,0,15.22,14.97,15.24
$GC,3016,-1.55,-146.0,2810,724,3299,3470,380.3,-12.5,332,3021,0.17,2.35,0.00,0.000,3206,0.286,0.066,2839,2139,3384,3299,3469,0,0,0,0,0,0,14.87,14.99,15.04
$GC,3329,-1.58,-146.0,2838,2139,3296,3469,410.3,-9.5,344,3336,0.00,2.40,0.00,0.000,676,0.000,0.080,2839,719,3382,3296,3469,0,0,0,0,0,0,15.22,14.97,15.24
$GC,3377,-1.58,-146.0,2839,719,3295,3469,415.8,-11.3,354,3381,0.00,2.38,0.00,0.000,1030,0.000,0.065,2831,2146,3382,3295,3469,0,0,0,0,0,0,15.07,14.99,15.08
$GC,3683,-1.58,-146.0,2831,2146,3295,3469,450.4,-11.8,365,3688,0.00,2.42,0.00,0.000,516,0.000,0.078,2831,723,3381,3294,3469,0,0,0,0,0,0,15.22,14.97,15.24
$GC,3744,-1.58,-146.0,2831,723,3294,3469,458.0,-11.6,377,3749,0.00,2.35,0.00,0.000,1030,0.000,0.064,2822,2139,3381,3294,3469,0,0,0,0,0,0,15.07,14.99,15.09
$GC,4075,-1.58,-146.0,2821,2139,3292,3470,496.1,-11.3,393,4080,0.00,2.40,0.00,0.000,516,0.000,0.080,2822,722,3381,3292,3470,0,0,0,0,0,0,15.23,14.97,15.25
$GC,4160,-1.58,-146.0,2821,722,3291,3469,506.6,-11.9,410,4167,0.00,2.38,0.00,0.000,1030,0.000,0.067,2812,2142,3380,3291,3469,0,0,0,0,0,0,15.07,14.99,15.08
$GC,4467,-1.58,-146.0,2812,2142,3290,3469,543.2,-12.1,421,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2142,3379,3290,3469,0,0,0,0,0,0,15.20,15.22,15.22
$GC,4767,-1.58,-146.0,2811,2142,3290,3469,579.1,-11.8,431,4771,0.00,2.42,0.00,0.000,516,0.000,0.082,2812,726,3379,3289,3469,0,0,0,0,0,0,15.22,14.97,15.25
$GC,4856,-1.58,-146.0,2811,726,3289,3469,590.8,-12.8,449,4861,0.12,2.38,0.00,0.000,3078,0.310,0.066,2826,2148,3379,3289,3469,0,0,0,0,0,0,14.85,14.99,15.04
$STATE,4943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4943,begin apogee
$GC,4947,-0.33,0.0,2827,1788,3289,3469,600.4,-11.1,456,5096,1.02,0.00,144.95,1.922,10246,0.271,0.000,3100,1788,2788,2671,2906,0,0,0,0,0,0,14.83,14.19,13.52
$STATE,5097,end apogee,CONTROL_FINISHED_OK
$STATE,5097,begin climb
$GC,5098,1.40,146.0,3099,1788,2664,2903,603.3,0.0,461,5237,1.27,0.00,134.57,1.917,10758,0.171,0.000,3478,1788,2193,2051,2336,0,0,0,0,0,0,14.15,14.14,13.46
$GC,5514,1.31,146.0,3477,1788,2023,2329,554.6,14.2,480,5520,0.00,2.45,0.00,0.000,644,0.000,0.094,3487,390,2176,2023,2329,0,0,0,0,0,0,14.92,14.68,14.95
$GC,5544,1.19,146.0,3487,390,2023,2329,550.2,14.9,486,5549,0.25,2.45,0.00,0.000,5254,0.320,0.067,3433,1803,2176,2023,2329,0,0,0,0,0,0,14.57,14.71,14.78
$GC,5876,1.19,146.0,3432,1803,2019,2329,513.1,10.5,502,5880,0.00,2.40,0.00,0.000,260,0.000,0.085,3432,3210,2174,2019,2329,0,0,0,0,0,0,15.06,14.82,15.08
$GC,5915,1.16,146.0,3432,3210,2019,2328,508.6,11.7,510,5920,0.00,2.40,0.00,0.000,1158,0.000,0.074,3436,1807,2173,2018,2328,0,0,0,0,0,0,14.92,14.83,14.94
$GC,6237,1.16,146.0,3436,1806,2017,2327,474.4,10.5,524,6241,0.00,2.45,0.00,0.000,260,0.000,0.085,3436,3220,2173,2018,2328,0,0,0,0,0,0,15.11,14.88,15.14
$GC,6286,1.12,146.0,3436,3220,2017,2328,468.5,11.7,534,6294,0.00,2.40,0.00,0.000,1158,0.000,0.067,3436,1796,2172,2017,2328,0,0,0,0,0,0,14.97,14.89,14.99
$GC,6593,1.12,146.0,3436,1796,2015,2328,435.8,10.3,545,6598,0.00,2.40,0.00,0.000,516,0.000,0.090,3437,380,2171,2015,2328,0,0,0,0,0,0,15.14,14.90,15.17
$GC,6634,1.12,146.0,3436,380,2014,2328,431.2,11.3,553,6638,0.00,2.40,0.00,0.000,1030,0.000,0.063,3435,1816,2171,2014,2328,0,0,0,0,0,0,15.00,14.92,15.02
$GC,6950,1.12,146.0,3435,1816,2014,2328,396.6,11.5,566,6955,0.00,2.38,0.00,0.000,260,0.000,0.087,3436,3206,2170,2014,2327,0,0,0,0,0,0,15.16,14.92,15.19
$GC,7000,1.09,146.0,3435,3206,2014,2328,390.4,12.2,576,7005,0.12,2.40,0.00,0.000,5254,0.381,0.069,3415,1792,2171,2014,2328,0,0,0,0,0,0,14.76,14.93,15.00
$GC,7311,1.09,146.0,3415,1792,2013,2327,353.4,12.2,588,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1792,2170,2013,2327,0,0,0,0,0,0,15.18,15.21,15.21
$GC,7611,1.09,146.0,3415,1792,2012,2328,319.9,10.4,598,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1792,2169,2012,2327,0,0,0,0,0,0,15.19,15.22,15.21
$GC,7912,1.15,201.0,3415,1792,2012,2328,295.7,7.5,608,7972,0.00,2.58,49.40,1.618,8484,0.000,0.088,3412,3208,1962,1811,2114,0,0,0,0,0,0,15.20,14.56,14.00
$GC,8004,1.19,201.0,3411,3208,1809,2110,287.7,10.3,626,8009,0.00,2.42,0.00,0.000,1158,0.000,0.072,3419,1802,1959,1809,2110,0,0,0,0,0,0,14.70,14.62,14.72
$GC,8336,1.23,201.0,3419,1802,1803,2110,251.3,11.2,642,8341,0.10,2.45,0.00,0.000,2692,0.149,0.094,3460,388,1956,1803,2110,0,0,0,0,0,0,14.82,14.78,14.88
$GC,8356,1.23,201.0,3460,388,1802,2110,248.6,11.7,646,8361,0.00,2.42,0.00,0.000,1030,0.000,0.067,3453,1803,1956,1803,2110,0,0,0,0,0,0,14.89,14.81,14.90
$GC,8668,1.23,201.0,3452,1803,1801,2110,213.6,10.9,678,8672,0.00,2.42,0.00,0.000,260,0.000,0.089,3453,3214,1955,1801,2110,0,0,0,0,0,0,15.09,14.85,15.11
$GC,8732,1.23,201.0,3453,3214,1801,2110,205.7,12.4,691,8739,0.00,2.42,0.00,0.000,1030,0.000,0.073,3460,1790,1956,1802,2110,0,0,0,0,0,0,14.95,14.86,14.97
$GC,9039,1.23,201.0,3460,1790,1801,2110,166.9,13.0,722,9043,0.00,2.42,0.00,0.000,516,0.000,0.099,3469,383,1955,1801,2110,0,0,0,0,0,0,15.12,14.87,15.14
$GC,9114,1.20,201.0,3469,383,1800,2110,157.6,12.0,737,9121,0.15,2.42,0.00,0.000,5254,0.299,0.065,3435,1808,1955,1800,2110,0,0,0,0,0,0,14.76,14.90,14.96
$GC,9421,1.27,215.2,3435,1808,1800,2110,129.4,9.3,768,9441,0.00,2.42,11.55,1.368,8612,0.000,0.081,3434,3210,1904,1752,2056,0,0,0,0,0,0,15.14,14.82,14.27
$GC,9666,1.35,224.6,3433,3210,1751,2052,103.0,9.6,817,9685,0.10,2.42,7.97,1.271,11430,0.148,0.068,3477,1788,1867,1716,2019,0,0,0,0,0,0,14.86,14.86,14.24
$GC,9983,1.37,239.5,3477,1788,1712,2019,70.4,9.3,850,10002,0.00,0.00,12.90,1.232,8230,0.000,0.000,3477,1788,1806,1652,1961,0,0,0,0,0,0,15.09,14.81,14.27
$GC,10303,1.37,239.5,3477,1788,1648,1960,33.5,12.5,895,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,1788,1804,1648,1960,0,0,0,0,0,0,15.07,15.09,15.09
$STATE,10565,end climb,SURFACE_DEPTH_REACHED
$STATE,10565,begin surface coast
$FINISH,0.8,1.010754
$STATE,10591,end surface coast,CONTROL_FINISHED_OK
$STATE,10591,begin surface
$SM_CCo,10607,144.70,0.080,0,0,489,564.18
$SM_GC,1.67,10.15,0.62,144.70,0.114,0.062,0.080,96,2163,489,-14.12,-0.57,564.18,0,0,0,0,0,0,14.81,14.89,14.80
$IRIDIUM_FIX,1329.75,6126.03,040317,111855
$TT8_MAMPS,0.023968,0.128828
$HUMID,47.87
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.20
$XPDR_PINGS,12
$24V_AH,13.46,4.784
$10V_AH,13.40,0.000
$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,32.350,106.975,361.350,144.700,0.000,0.000,0.000,133.500,8.250,0.000,23.442,1895.384,6779.269,701.137,1546.771,61.877,0.000,1598.640,0.000,1362.530,0.000,36.071,0.000
$DEVICE_MAMPS,541.620,108.630,1921.680,80.325,0.000,0.000,0.000,178.245,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,223588
$DATA_FILE_SIZE,40097,952
$CAP_FILE_SIZE,112008,0
$CFSIZE,260034560,258756608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,6592.93,0x233daa,1,24
$CURRENT,0.142,304.06,1
$GPS,040317,161636,1337.207,6123.614,24,0.9,40,-0.7,0.0,265.4,9,9.3