version: 66.13
glider: 137
mission: 5
dive: 587
start: 8 11 117 1 47 35
data:
$ID,137
$MISSION,5
$DIVE,587
$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,63
$R_STBD_OVSHOOT,53
$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
$GPS1,110817,014104,921.2000,6648.3506,78,0.8,81,-1.9,0.5,163.3,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-67.0
$GPS2,110817,014656,921.2123,6648.3315,10,0.8,19,-1.9,0.6,278.6,11,8.9
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,134.4,346376,-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,-155.7,82,1825,641,849,0.0,0.0,0,82,0.00,0.00,-71.38,0.000,16386,0.000,0.000,82,1825,2638,2559,2718,0,0,0,0,0,0,14.84,28.83,14.86
$GC,85,-2.12,-155.7,82,1825,2558,2718,4.4,-5.0,12,117,13.43,2.60,-11.68,0.000,18724,0.406,2.015,2623,3186,3225,3105,3346,0,0,0,0,0,0,13.95,13.10,14.38
$GC,226,-2.04,-155.7,2622,3186,3107,3347,35.9,-20.6,38,235,0.15,2.30,0.00,0.000,3206,0.272,0.040,2651,1806,3227,3107,3347,0,0,0,0,0,0,14.04,14.48,14.35
$GC,539,-1.97,-155.7,2651,1805,3108,3347,97.2,-18.2,75,548,0.00,2.38,0.00,0.000,644,0.000,0.057,2651,405,3227,3108,3347,0,0,0,0,0,0,14.95,14.29,14.97
$GC,591,-1.93,-155.7,2651,405,3109,3347,106.1,-16.2,85,601,0.15,2.30,0.00,0.000,3206,0.268,0.033,2679,1804,3228,3109,3347,0,0,0,0,0,0,13.94,14.52,14.09
$GC,900,-1.93,-155.7,2678,1805,3110,3347,150.7,-13.9,117,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1805,3228,3110,3347,0,0,0,0,0,0,14.98,15.01,15.00
$GC,1202,-1.93,-155.7,2678,1805,3113,3347,189.9,-13.8,147,1211,0.00,2.30,0.00,0.000,260,0.000,0.050,2670,3200,3230,3113,3347,0,0,0,0,0,0,14.97,14.37,15.00
$GC,1255,-1.93,-155.7,2670,3200,3113,3346,197.0,-13.7,157,1264,0.00,2.30,0.00,0.000,1030,0.000,0.036,2670,1805,3230,3113,3347,0,0,0,0,0,0,14.43,14.40,14.47
$GC,1565,-1.93,-155.7,2670,1804,3113,3347,237.0,-13.5,189,1569,0.00,2.35,0.00,0.000,260,0.000,0.047,2661,3198,3230,3113,3347,0,0,0,0,0,0,14.94,14.47,14.96
$GC,1599,-1.96,-155.7,2661,3198,3113,3346,241.5,-13.0,195,1604,0.00,2.35,0.00,0.000,1158,0.000,0.037,2661,1790,3229,3113,3346,0,0,0,0,0,0,14.57,14.48,14.60
$GC,1934,-1.96,-155.7,2660,1790,3113,3346,289.5,-14.4,211,1939,0.00,2.38,0.00,0.000,516,0.000,0.059,2661,396,3229,3113,3346,0,0,0,0,0,0,14.97,14.41,14.99
$GC,1988,-1.96,-155.7,2660,395,3113,3346,298.2,-16.3,221,1996,0.12,2.33,0.00,0.000,3078,0.275,0.035,2674,1798,3230,3113,3347,0,0,0,0,0,0,14.07,14.52,14.33
$GC,2305,-2.01,-155.7,2674,1798,3112,3346,342.2,-13.8,233,2312,0.00,2.35,0.00,0.000,388,0.000,0.054,2665,3201,3229,3112,3347,0,0,0,0,0,0,14.95,14.44,14.97
$GC,2351,-2.08,-155.7,2665,3201,3112,3346,348.5,-13.5,241,2358,0.00,2.35,0.00,0.000,1158,0.000,0.040,2665,1803,3228,3111,3346,0,0,0,0,0,0,14.55,14.46,14.59
$GC,2679,-2.13,-155.7,2666,1803,3109,3346,389.7,-12.0,255,2685,0.12,2.42,0.00,0.000,4740,0.157,0.062,2620,397,3228,3109,3347,0,0,0,0,0,0,14.50,14.32,14.54
$GC,2715,-2.06,-155.7,2619,397,3109,3347,394.7,-14.5,261,2723,0.15,2.35,0.00,0.000,3206,0.274,0.037,2643,1803,3227,3109,3346,0,0,0,0,0,0,13.95,14.50,14.12
$GC,3051,-2.06,-155.7,2643,1803,3106,3346,438.1,-13.0,277,3056,0.00,2.35,0.00,0.000,260,0.000,0.050,2635,3203,3226,3106,3346,0,0,0,0,0,0,14.94,14.42,14.96
$GC,3091,-2.10,-155.7,2634,3203,3106,3347,443.5,-13.3,284,3095,0.00,2.38,0.00,0.000,1158,0.000,0.037,2634,1791,3226,3106,3346,0,0,0,0,0,0,14.54,14.46,14.57
$GC,3421,-2.10,-155.7,2634,1791,3104,3346,487.8,-13.5,299,3426,0.00,2.42,0.00,0.000,516,0.000,0.063,2635,397,3225,3104,3346,0,0,0,0,0,0,14.96,14.33,14.98
$GC,3448,-2.10,-155.7,2634,397,3104,3346,492.2,-14.7,304,3456,0.00,2.38,0.00,0.000,1030,0.000,0.035,2625,1804,3225,3104,3346,0,0,0,0,0,0,14.54,14.46,14.57
$GC,3757,-2.10,-155.7,2624,1803,3101,3346,534.2,-13.8,315,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1804,3223,3101,3346,0,0,0,0,0,0,14.95,14.97,14.97
$GC,4056,-2.10,-155.7,2624,1803,3098,3345,575.1,-13.5,325,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1804,3221,3098,3345,0,0,0,0,0,0,14.92,14.95,14.95
$GC,4357,-2.10,-155.7,2624,1804,3097,3342,616.7,-14.1,335,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1804,3220,3098,3342,0,0,0,0,0,0,14.92,14.95,14.95
$GC,4657,-2.10,-155.7,2624,1804,3095,3340,660.9,-15.0,345,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1804,3217,3095,3340,0,0,0,0,0,0,14.94,14.96,14.96
$GC,4957,-2.10,-155.7,2625,1804,3093,3338,704.1,-14.1,355,4962,0.00,2.50,0.00,0.000,516,0.000,0.059,2625,383,3215,3093,3338,0,0,0,0,0,0,14.92,14.29,14.94
$GC,5016,-2.04,-155.7,2624,383,3093,3338,713.6,-14.2,366,5026,0.17,2.42,0.00,0.000,3206,0.263,0.036,2650,1817,3215,3092,3338,0,0,0,0,0,0,13.85,14.42,14.16
$GC,5325,-2.08,-155.7,2650,1817,3090,3337,753.5,-13.1,377,5330,0.00,2.38,0.00,0.000,388,0.000,0.057,2642,3196,3213,3090,3337,0,0,0,0,0,0,14.95,14.33,14.97
$GC,5400,-2.13,-155.7,2642,3197,3090,3336,763.8,-13.0,391,5407,0.00,2.40,0.00,0.000,1158,0.000,0.042,2642,1794,3213,3090,3336,0,0,0,0,0,0,14.47,14.38,14.50
$GC,5729,-2.13,-155.7,2641,1794,3089,3335,808.0,-13.6,405,5734,0.00,2.45,0.00,0.000,516,0.000,0.063,2642,397,3212,3089,3335,0,0,0,0,0,0,14.93,14.26,14.95
$GC,5783,-2.13,-155.7,2641,397,3089,3334,816.4,-15.8,415,5791,0.00,2.38,0.00,0.000,1030,0.000,0.035,2632,1801,3211,3089,3334,0,0,0,0,0,0,14.49,14.40,14.52
$GC,6099,-2.13,-155.7,2632,1801,3088,3333,860.6,-14.0,427,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1801,3211,3088,3334,0,0,0,0,0,0,14.92,14.95,14.95
$GC,6402,-2.13,-155.7,2632,1801,3087,3332,902.4,-13.8,437,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1801,3209,3087,3332,0,0,0,0,0,0,14.92,14.95,14.95
$GC,6702,-2.13,-155.7,2632,1801,3086,3331,942.8,-13.2,447,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1801,3208,3085,3331,0,0,0,0,0,0,14.91,14.93,14.93
$GC,7001,-2.13,-155.7,2632,1801,3085,3329,982.2,-13.3,457,7007,0.00,2.47,0.00,0.000,516,0.000,0.060,2632,394,3207,3085,3329,0,0,0,0,0,0,14.90,14.20,14.92
$GC,7049,-2.10,-155.7,2632,394,3085,3329,989.3,-13.9,465,7054,0.00,2.40,0.00,0.000,1158,0.000,0.040,2622,1796,3207,3085,3329,0,0,0,0,0,0,14.42,14.34,14.46
$STATE,7058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7058,begin apogee
$GC,7065,-0.42,0.0,2621,1879,3085,3329,991.0,-13.8,467,7215,1.65,0.00,145.73,2.740,10246,0.279,0.000,3007,1883,2589,2464,2715,0,0,0,0,0,0,13.71,13.90,12.46
$STATE,7216,end apogee,CONTROL_FINISHED_OK
$STATE,7216,begin climb
$GC,7219,2.12,155.7,3007,1883,2460,2714,995.3,0.0,472,7373,1.95,0.00,149.23,2.726,10246,0.166,0.000,3564,1884,1954,1820,2088,0,0,0,0,0,0,13.98,13.90,12.50
$GC,7664,1.93,155.7,3564,1883,1803,2085,937.1,16.0,487,7670,0.17,2.47,0.00,0.000,4740,0.330,0.066,3536,475,1943,1802,2085,0,0,0,0,0,0,13.94,14.33,14.19
$GC,7725,1.76,155.7,3536,475,1801,2085,927.4,16.1,499,7731,0.20,2.35,0.00,0.000,5254,0.343,0.039,3487,1879,1942,1800,2085,0,0,0,0,0,0,13.89,14.46,14.15
$GC,8055,1.70,155.7,3487,1879,1799,2085,885.5,12.4,515,8061,0.00,2.42,0.00,0.000,388,0.000,0.069,3483,3262,1941,1798,2085,0,0,0,0,0,0,14.95,14.38,14.97
$GC,8086,1.62,155.7,3482,3262,1798,2085,881.5,13.2,521,8093,0.15,2.35,0.00,0.000,5254,0.336,0.042,3458,1868,1941,1798,2084,0,0,0,0,0,0,13.82,14.47,14.08
$GC,8416,1.62,155.7,3458,1868,1797,2083,843.7,11.2,537,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1869,1940,1797,2084,0,0,0,0,0,0,14.97,15.00,15.00
$GC,8716,1.62,155.7,3458,1868,1796,2083,809.9,11.3,547,8722,0.00,2.47,0.00,0.000,260,0.000,0.067,3449,3259,1940,1796,2084,0,0,0,0,0,0,14.97,14.31,15.00
$GC,8747,1.62,155.7,3449,3259,1796,2082,806.4,12.2,553,8754,0.00,2.38,0.00,0.000,1030,0.000,0.050,3457,1879,1939,1796,2082,0,0,0,0,0,0,14.45,14.40,14.49
$GC,9077,1.62,155.7,3457,1878,1795,2082,769.1,11.2,569,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1878,1938,1795,2082,0,0,0,0,0,0,14.98,15.01,15.00
$GC,9377,1.62,155.7,3457,1878,1795,2082,736.2,10.8,579,9383,0.00,2.47,0.00,0.000,260,0.000,0.069,3449,3253,1938,1794,2082,0,0,0,0,0,0,14.98,14.22,15.00
$GC,9438,1.62,155.7,3449,3253,1794,2082,729.7,11.2,591,9444,0.00,2.40,0.00,0.000,1030,0.000,0.053,3457,1877,1938,1794,2082,0,0,0,0,0,0,14.38,14.31,14.42
$GC,9767,1.62,155.7,3457,1877,1793,2082,693.7,11.2,607,9773,0.00,2.47,0.00,0.000,260,0.000,0.063,3449,3262,1937,1793,2082,0,0,0,0,0,0,14.98,14.23,15.00
$GC,9836,1.62,155.7,3449,3262,1793,2080,686.1,11.4,621,9840,0.00,2.45,0.00,0.000,1030,0.000,0.053,3457,1867,1936,1793,2080,0,0,0,0,0,0,14.47,14.35,14.52
$GC,10153,1.62,155.7,3457,1867,1793,2080,651.2,11.0,634,10157,0.00,2.50,0.00,0.000,260,0.000,0.061,3449,3261,1936,1793,2080,0,0,0,0,0,0,14.98,14.28,15.00
$GC,10200,1.62,155.7,3449,3261,1793,2080,645.8,11.7,643,10206,0.00,2.45,0.00,0.000,1030,0.000,0.052,3458,1864,1936,1793,2080,0,0,0,0,0,0,14.46,14.35,14.50
$GC,10516,1.62,155.7,3457,1864,1793,2080,610.2,11.1,656,10522,0.00,2.53,0.00,0.000,260,0.000,0.061,3449,3259,1936,1793,2080,0,0,0,0,0,0,14.97,14.26,15.00
$GC,10594,1.62,155.7,3449,3259,1793,2079,601.4,11.2,672,10598,0.00,2.45,0.00,0.000,1030,0.000,0.050,3457,1864,1936,1793,2079,0,0,0,0,0,0,14.44,14.33,14.49
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$STATE,16760,end climb,SURFACE_DEPTH_REACHED
$STATE,16760,begin surface coast
$FINISH,1.9,1.015220
$STATE,16788,end surface coast,CONTROL_FINISHED_OK
$STATE,16788,begin surface
$SM_CCo,16809,75.72,0.079,0,0,754,450.12
$SM_GC,2.63,10.50,0.15,75.72,0.083,0.088,0.079,91,1773,754,-13.78,1.05,450.12,0,0,0,0,0,0,14.28,14.59,14.37
$IRIDIUM_FIX,916.70,6649.52,100817,204612
$TT8_MAMPS,0.023968,0.158788
$HUMID,53.66
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.50
$XPDR_PINGS,5
$24V_AH,12.46,225.906
$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,29.125,160.050,398.700,75.725,0.000,0.000,0.000,233.100,78.000,0.000,21.298,2661.715,11331.651,691.723,2202.305,354.027,0.000,1946.535,0.000,1734.364,0.000,521.823,0.000
$DEVICE_MAMPS,406.215,2015.010,2740.230,78.795,0.000,0.000,0.000,179.010,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53384,1217
$CAP_FILE_SIZE,181547,0
$CFSIZE,260034560,207052800
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,7003.49,0x233daa,0,24
$INTR,1,14082.82,0x233daa,1,24
$CURRENT,0.045,63.07,1
$GPS,110817,063045,920.310,6650.059,50,0.9,64,-1.9,0.8,150.8,9,9.9