version: 66.13
glider: 137
mission: 5
dive: 372
start: 5 24 117 3 17 56
data:
$ID,137
$MISSION,5
$DIVE,372
$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,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,180
$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,573.99261
$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,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,1960
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2597
$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,10
$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
$GPS1,240517,031206,1213.7865,6305.4902,41,0.9,46,-1.1,0.7,23.1,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-69.3
$GPS2,240517,031720,1213.8601,6305.5664,15,0.9,24,-1.1,0.4,33.7,9,9.5
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,133.6,865478,-21.5,-10.000,-28.12,2673
$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,-1.65,-175.2,96,1998,333,566,0.0,0.0,0,88,0.00,0.00,-78.40,0.000,16386,0.000,0.000,96,1998,2575,2505,2645,0,0,0,0,0,0,14.85,28.83,14.87
$GC,91,-1.65,-175.2,96,1998,2506,2644,4.2,-4.6,13,125,13.18,2.62,-14.62,0.000,18724,0.379,2.010,2799,3331,3314,3187,3442,0,0,0,0,0,0,14.00,12.85,14.26
$GC,218,-1.70,-175.2,2799,3331,3188,3442,25.7,-14.6,36,224,0.00,2.28,0.00,0.000,1158,0.000,0.034,2800,1947,3315,3189,3442,0,0,0,0,0,0,14.66,14.59,14.68
$GC,533,-1.76,-175.2,2799,1947,3189,3442,67.3,-12.6,85,537,0.00,2.35,0.00,0.000,388,0.000,0.052,2789,3344,3315,3189,3442,0,0,0,0,0,0,14.98,14.62,15.00
$GC,598,-1.87,-175.2,2789,3344,3189,3442,76.0,-12.6,98,605,0.00,2.28,0.00,0.000,1158,0.000,0.034,2790,1949,3315,3189,3442,0,0,0,0,0,0,14.74,14.67,14.76
$GC,906,-1.96,-175.2,2790,1949,3190,3442,113.0,-12.2,129,912,0.12,2.33,0.00,0.000,4740,0.140,0.053,2730,549,3316,3190,3442,0,0,0,0,0,0,14.70,14.64,14.73
$GC,999,-1.96,-175.2,2730,549,3191,3442,126.1,-13.6,147,1004,0.08,2.20,0.00,0.000,3078,0.228,0.031,2740,1940,3316,3190,3442,0,0,0,0,0,0,14.38,14.69,14.52
$GC,1312,-2.00,-175.2,2740,1940,3192,3442,158.6,-9.4,179,1321,0.00,2.33,0.00,0.000,420,0.000,0.050,2731,3361,3317,3192,3442,0,0,0,0,0,0,15.05,14.68,15.07
$GC,1414,-2.06,-175.2,2731,3361,3192,3442,169.3,-10.8,199,1423,0.00,2.28,0.00,0.000,1158,0.000,0.033,2731,1952,3316,3191,3442,0,0,0,0,0,0,14.80,14.73,14.81
$GC,1725,-2.11,-175.2,2731,1952,3193,3442,201.9,-9.9,231,1726,0.00,0.00,0.00,0.000,166,0.000,0.000,2731,1952,3317,3193,3442,0,0,0,0,0,0,15.04,15.06,15.05
$GC,2025,-2.17,-175.2,2731,1952,3193,3442,229.9,-9.3,261,2031,0.12,2.35,0.00,0.000,4516,0.145,0.047,2676,3373,3317,3193,3442,0,0,0,0,0,0,14.67,14.68,14.72
$GC,2088,-2.17,-175.2,2676,3373,3193,3442,237.1,-11.2,272,2096,0.12,2.30,0.00,0.000,3078,0.291,0.034,2699,1950,3317,3193,3442,0,0,0,0,0,0,14.33,14.73,14.62
$GC,2397,-2.17,-175.2,2699,1950,3193,3442,268.7,-10.1,291,2402,0.00,2.30,0.00,0.000,516,0.000,0.055,2700,562,3317,3193,3442,0,0,0,0,0,0,15.04,14.67,15.07
$GC,2445,-2.17,-175.2,2700,561,3193,3442,274.1,-10.9,300,2450,0.00,2.25,0.00,0.000,1030,0.000,0.031,2692,1960,3317,3193,3442,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2763,-2.17,-175.2,2692,1960,3193,3442,308.4,-10.8,313,2771,0.00,2.38,0.00,0.000,516,0.000,0.057,2692,558,3317,3193,3442,0,0,0,0,0,0,15.04,14.66,15.06
$GC,2818,-2.17,-175.2,2692,558,3193,3442,314.6,-11.7,323,2824,0.10,2.28,0.00,0.000,3078,0.286,0.032,2699,1965,3317,3193,3442,0,0,0,0,0,0,14.42,14.74,14.66
$GC,3133,-2.17,-175.2,2699,1966,3193,3441,344.1,-9.4,335,3134,0.00,0.00,0.00,0.000,38,0.000,0.000,2699,1966,3317,3193,3441,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3433,-2.17,-175.2,2699,1966,3192,3441,374.6,-10.5,345,3441,0.00,2.40,0.00,0.000,516,0.000,0.060,2700,563,3317,3192,3442,0,0,0,0,0,0,15.04,14.65,15.06
$GC,3486,-2.17,-175.2,2700,563,3192,3442,380.5,-11.4,354,3491,0.00,2.28,0.00,0.000,1030,0.000,0.035,2692,1956,3317,3192,3442,0,0,0,0,0,0,14.80,14.73,14.83
$GC,3804,-2.17,-175.2,2691,1956,3190,3440,414.1,-10.5,367,3809,0.00,2.38,0.00,0.000,516,0.000,0.062,2694,570,3315,3190,3440,0,0,0,0,0,0,15.04,14.64,15.06
$GC,3842,-2.17,-175.2,2694,568,3190,3440,418.5,-11.2,374,3847,0.00,2.30,0.00,0.000,1030,0.000,0.037,2686,1968,3314,3189,3440,0,0,0,0,0,0,14.79,14.72,14.81
$GC,4172,-2.17,-175.2,2686,1968,3188,3438,452.7,-10.4,389,4177,0.00,2.42,0.00,0.000,516,0.000,0.068,2686,570,3313,3188,3438,0,0,0,0,0,0,15.04,14.62,15.07
$GC,4225,-2.17,-175.2,2686,569,3187,3437,458.7,-11.3,399,4232,0.12,2.30,0.00,0.000,3078,0.279,0.041,2702,1961,3312,3187,3437,0,0,0,0,0,0,14.33,14.70,14.60
$GC,4541,-2.20,-175.2,2701,1962,3185,3436,490.4,-10.4,411,4542,0.00,0.00,0.00,0.000,134,0.000,0.000,2702,1962,3310,3185,3436,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4843,-2.23,-175.2,2701,1962,3183,3433,521.8,-10.5,421,4849,0.00,2.42,0.00,0.000,644,0.000,0.068,2702,567,3308,3183,3433,0,0,0,0,0,0,15.04,14.60,15.07
$GC,4878,-2.23,-175.2,2702,567,3182,3433,525.9,-11.2,427,4885,0.00,2.33,0.00,0.000,1030,0.000,0.041,2694,1961,3307,3182,3433,0,0,0,0,0,0,14.77,14.69,14.80
$GC,5213,-2.23,-175.2,2694,1961,3182,3430,560.6,-10.2,443,5218,0.00,2.42,0.00,0.000,516,0.000,0.067,2699,567,3306,3182,3430,0,0,0,0,0,0,15.03,14.59,15.05
$GC,5256,-2.23,-175.2,2698,566,3182,3430,565.5,-11.3,451,5261,0.00,2.33,0.00,0.000,1030,0.000,0.041,2690,1965,3306,3182,3430,0,0,0,0,0,0,14.76,14.69,14.79
$GC,5581,-2.23,-175.2,2690,1965,3181,3428,597.1,-9.7,465,5587,0.00,2.42,0.00,0.000,548,0.000,0.067,2690,572,3304,3181,3428,0,0,0,0,0,0,15.04,14.58,15.07
$GC,5623,-2.23,-175.2,2690,572,3180,3428,601.8,-10.6,473,5629,0.00,2.33,0.00,0.000,1030,0.000,0.041,2681,1969,3304,3180,3428,0,0,0,0,0,0,14.76,14.68,14.78
$GC,5947,-2.23,-175.2,2681,1969,3178,3426,633.3,-9.9,487,5954,0.00,2.42,0.00,0.000,548,0.000,0.065,2683,571,3302,3178,3426,0,0,0,0,0,0,15.04,14.58,15.06
$GC,5977,-2.23,-175.2,2683,571,3178,3426,636.7,-10.6,492,5984,0.00,2.33,0.00,0.000,1030,0.000,0.041,2675,1966,3301,3177,3426,0,0,0,0,0,0,14.75,14.67,14.78
$GC,6284,-2.23,-175.2,2675,1967,3177,3424,668.1,-10.5,503,6289,0.00,2.38,0.00,0.000,260,0.000,0.063,2664,3371,3300,3177,3424,0,0,0,0,0,0,15.04,14.59,15.06
$GC,6305,-2.23,-175.2,2664,3371,3177,3423,670.7,-11.0,507,6311,0.12,2.33,0.00,0.000,3078,0.275,0.041,2687,1969,3300,3177,3423,0,0,0,0,0,0,14.26,14.66,14.57
$GC,6619,-2.23,-175.2,2687,1969,3175,3422,703.4,-10.7,519,6625,0.00,2.40,0.00,0.000,516,0.000,0.064,2689,555,3298,3175,3422,0,0,0,0,0,0,15.02,14.52,15.05
$GC,6679,-2.23,-175.2,2688,554,3174,3422,710.4,-10.5,530,6687,0.00,2.35,0.00,0.000,1030,0.000,0.039,2681,1965,3298,3174,3422,0,0,0,0,0,0,14.74,14.66,14.76
$GC,6988,-2.23,-175.2,2680,1965,3173,3420,744.1,-11.2,541,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1965,3296,3173,3420,0,0,0,0,0,0,15.03,15.06,15.05
$GC,7287,-2.23,-175.2,2680,1965,3171,3419,777.8,-11.2,551,7292,0.00,2.45,0.00,0.000,516,0.000,0.066,2681,562,3295,3171,3419,0,0,0,0,0,0,15.02,14.55,15.04
$GC,7353,-2.23,-175.2,2681,562,3171,3419,785.5,-10.8,563,7358,0.00,2.35,0.00,0.000,1030,0.000,0.041,2672,1961,3295,3171,3420,0,0,0,0,0,0,14.73,14.64,14.76
$GC,7687,-2.23,-175.2,2672,1961,3170,3417,822.2,-10.9,579,7692,0.00,2.45,0.00,0.000,516,0.000,0.065,2672,556,3293,3170,3417,0,0,0,0,0,0,15.02,14.54,15.04
$GC,7731,-2.20,-175.2,2672,556,3170,3417,827.5,-11.5,587,7736,0.15,2.35,0.00,0.000,3206,0.291,0.042,2691,1965,3293,3170,3417,0,0,0,0,0,0,14.14,14.64,14.42
$GC,8056,-2.20,-175.2,2690,1965,3169,3417,860.0,-10.1,601,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1965,3293,3169,3417,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8356,-2.20,-175.2,2690,1965,3169,3416,890.4,-10.2,611,8361,0.00,2.47,0.00,0.000,516,0.000,0.067,2692,549,3292,3168,3416,0,0,0,0,0,0,15.01,14.53,15.04
$GC,8394,-2.20,-175.2,2692,548,3168,3416,894.7,-10.5,618,8399,0.00,2.38,0.00,0.000,1030,0.000,0.042,2684,1965,3292,3168,3416,0,0,0,0,0,0,14.71,14.62,14.73
$GC,8724,-2.20,-175.2,2683,1965,3167,3416,929.3,-10.7,633,8730,0.00,2.45,0.00,0.000,516,0.000,0.061,2685,553,3291,3167,3416,0,0,0,0,0,0,15.02,14.54,15.04
$GC,8767,-2.20,-175.2,2684,553,3167,3415,934.6,-11.3,641,8772,0.00,2.38,0.00,0.000,1030,0.000,0.044,2677,1965,3291,3166,3416,0,0,0,0,0,0,14.70,14.62,14.73
$GC,9090,-2.20,-175.2,2676,1965,3166,3414,969.4,-10.8,655,9097,0.00,2.45,0.00,0.000,516,0.000,0.063,2676,560,3290,3167,3414,0,0,0,0,0,0,15.01,14.51,15.03
$GC,9129,-2.20,-175.2,2676,560,3167,3414,974.0,-11.8,662,9136,0.15,2.38,0.00,0.000,3078,0.295,0.044,2698,1969,3290,3166,3414,0,0,0,0,0,0,14.04,14.60,14.24
$STATE,9309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9309,begin apogee
$GC,9314,-0.33,0.0,2699,1836,3166,3413,991.8,-10.0,672,9480,1.60,0.00,161.62,2.712,10246,0.265,0.000,3095,1833,2596,2474,2718,0,0,0,0,0,0,13.93,13.91,12.52
$STATE,9481,end apogee,CONTROL_FINISHED_OK
$STATE,9481,begin climb
$GC,9483,1.65,175.2,3095,1833,2471,2716,997.1,0.0,677,9657,1.48,2.58,163.38,2.717,10756,0.148,0.072,3543,467,1878,1744,2013,0,0,0,0,0,0,13.93,13.80,12.45
$GC,9693,1.47,175.2,3543,467,1736,2013,978.7,13.2,724,9700,0.22,2.42,0.00,0.000,5254,0.356,0.044,3500,1857,1874,1735,2013,0,0,0,0,0,0,13.87,14.16,14.19
$GC,10001,1.37,175.2,3500,1857,1729,2013,941.3,12.2,735,10007,0.12,2.45,0.00,0.000,4740,0.399,0.070,3484,456,1870,1728,2013,0,0,0,0,0,0,14.17,14.52,14.42
$GC,10024,1.29,175.2,3484,456,1727,2013,938.3,12.4,740,10030,0.00,2.35,0.00,0.000,1158,0.000,0.044,3477,1852,1870,1727,2013,0,0,0,0,0,0,14.69,14.61,14.71
$GC,10331,1.24,175.2,3476,1852,1726,2013,903.5,11.5,751,10338,0.12,2.42,0.00,0.000,4740,0.345,0.069,3458,463,1869,1726,2013,0,0,0,0,0,0,14.23,14.56,14.46
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$STATE,19165,end climb,SURFACE_DEPTH_REACHED
$STATE,19165,begin surface coast
$FINISH,1.6,1.008136
$STATE,19198,end surface coast,CONTROL_FINISHED_OK
$STATE,19198,begin surface
$SM_CCo,19217,64.72,0.079,0,0,449,526.65
$SM_CCo,19285,-0.17,0.000,0,0,451,526.65
$SM_CCo,19289,0.40,0.103,0,0,449,526.65
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$IRIDIUM_FIX,1210.12,6305.37,230517,215302
$TT8_MAMPS,0.023968,0.160286
$HUMID,51.29
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.50
$XPDR_PINGS,8
$24V_AH,12.45,146.046
$10V_AH,12.67,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225652
$DATA_FILE_SIZE,69940,1552
$CAP_FILE_SIZE,231016,0
$CFSIZE,260034560,225927168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,18834.85,0x233daa,1,24
$CURRENT,0.061,289.62,1
$GPS,240517,084100,1213.032,6306.029,50,1.0,55,-1.1,0.6,54.5,8,9.7