version: 66.13
glider: 137
mission: 5
dive: 588
start: 8 11 117 6 36 54
data:
$ID,137
$MISSION,5
$DIVE,588
$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,60
$R_STBD_OVSHOOT,39
$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
$GPS1,110817,063045,920.3096,6650.0586,50,0.9,64,-1.9,0.8,150.8,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-67.1
$GPS2,110817,063616,920.3222,6650.0537,14,0.9,26,-1.9,0.4,242.6,9,9.8
$SPEED_LIMITS,0.173,0.176
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,141.7,342854,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-2.12,-155.7,82,1767,642,849,0.0,0.0,0,74,0.00,0.00,-64.50,0.000,16386,0.000,0.000,82,1763,2465,2379,2551,0,0,0,0,0,0,14.84,28.83,14.86
$GC,78,-2.12,-155.7,82,1764,2380,2551,4.2,-6.1,11,115,13.02,2.75,-16.55,0.000,18724,0.392,2.012,2623,3204,3226,3107,3346,0,0,0,0,0,0,13.97,13.10,14.38
$GC,230,-2.04,-155.7,2623,3204,3109,3345,35.4,-21.2,39,238,0.15,2.30,0.00,0.000,3206,0.266,0.030,2652,1797,3227,3109,3346,0,0,0,0,0,0,14.04,14.51,14.34
$GC,542,-1.98,-155.7,2652,1797,3110,3346,99.2,-18.2,76,550,0.00,2.30,0.00,0.000,644,0.000,0.049,2653,417,3227,3109,3345,0,0,0,0,0,0,14.95,14.31,14.97
$GC,568,-1.93,-155.7,2653,417,3110,3345,103.8,-16.2,81,575,0.15,2.30,0.00,0.000,3206,0.265,0.028,2675,1823,3227,3109,3345,0,0,0,0,0,0,14.04,14.54,14.33
$GC,874,-1.93,-155.7,2674,1824,3112,3345,147.7,-14.3,112,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1824,3228,3112,3345,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1175,-1.93,-155.7,2674,1824,3115,3345,190.3,-13.3,142,1179,0.00,2.28,0.00,0.000,260,0.000,0.047,2666,3197,3230,3115,3345,0,0,0,0,0,0,14.97,14.47,14.99
$GC,1294,-1.93,-155.7,2666,3197,3115,3345,205.2,-12.1,165,1302,0.00,2.30,0.00,0.000,1030,0.000,0.031,2666,1795,3230,3115,3345,0,0,0,0,0,0,14.59,14.53,14.62
$GC,1601,-1.93,-155.7,2666,1796,3114,3345,243.0,-12.1,196,1606,0.00,2.35,0.00,0.000,516,0.000,0.052,2666,402,3230,3115,3345,0,0,0,0,0,0,14.93,14.41,14.95
$GC,1668,-1.93,-155.7,2666,402,3115,3346,252.0,-13.5,208,1675,0.10,2.30,0.00,0.000,3078,0.287,0.028,2673,1808,3230,3115,3345,0,0,0,0,0,0,14.13,14.54,14.36
$GC,2005,-1.98,-155.7,2673,1808,3114,3345,296.9,-13.6,224,2010,0.00,2.42,0.00,0.000,644,0.000,0.055,2674,411,3230,3115,3345,0,0,0,0,0,0,14.94,14.40,14.96
$GC,2040,-1.98,-155.7,2674,410,3115,3345,301.8,-14.6,230,2046,0.00,2.30,0.00,0.000,1030,0.000,0.031,2665,1797,3229,3114,3345,0,0,0,0,0,0,14.59,14.53,14.62
$GC,2375,-2.03,-155.7,2665,1798,3113,3345,347.1,-13.5,246,2376,0.00,0.00,0.00,0.000,134,0.000,0.000,2665,1798,3229,3113,3345,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2679,-2.08,-155.7,2665,1798,3111,3345,387.7,-13.4,256,2684,0.00,2.45,0.00,0.000,644,0.000,0.063,2665,406,3228,3111,3345,0,0,0,0,0,0,14.95,14.37,14.97
$GC,2745,-2.08,-155.7,2665,407,3110,3345,397.9,-13.1,269,2750,0.00,2.33,0.00,0.000,1030,0.000,0.034,2655,1800,3227,3110,3345,0,0,0,0,0,0,14.56,14.48,14.59
$GC,3076,-2.12,-155.7,2654,1799,3108,3345,440.6,-13.0,284,3080,0.00,2.45,0.00,0.000,644,0.000,0.060,2655,408,3227,3109,3345,0,0,0,0,0,0,14.95,14.34,14.98
$GC,3118,-2.12,-155.7,2654,408,3108,3345,446.8,-13.9,292,3123,0.00,2.35,0.00,0.000,1030,0.000,0.035,2644,1806,3226,3108,3345,0,0,0,0,0,0,14.55,14.47,14.57
$GC,3442,-2.12,-155.7,2644,1806,3105,3345,487.8,-12.5,306,3449,0.00,2.47,0.00,0.000,516,0.000,0.063,2644,410,3225,3105,3345,0,0,0,0,0,0,14.93,14.33,14.95
$GC,3495,-2.12,-155.7,2644,409,3105,3345,494.8,-13.7,315,3500,0.00,2.35,0.00,0.000,1030,0.000,0.037,2635,1798,3225,3105,3345,0,0,0,0,0,0,14.53,14.44,14.56
$GC,3815,-2.12,-155.7,2635,1798,3103,3342,536.4,-13.0,328,3819,0.00,2.45,0.00,0.000,516,0.000,0.062,2634,413,3222,3103,3342,0,0,0,0,0,0,14.92,14.32,14.95
$GC,3864,-2.12,-155.7,2634,413,3103,3342,543.7,-13.9,337,3871,0.00,2.35,0.00,0.000,1030,0.000,0.038,2624,1799,3222,3102,3342,0,0,0,0,0,0,14.52,14.42,14.54
$GC,4186,-2.12,-155.7,2624,1799,3101,3339,587.5,-13.9,350,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1799,3220,3101,3339,0,0,0,0,0,0,14.95,14.97,14.97
$GC,4486,-2.12,-155.7,2624,1799,3099,3337,629.8,-14.1,360,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1799,3218,3099,3337,0,0,0,0,0,0,14.92,14.95,14.94
$GC,4787,-2.12,-155.7,2624,1800,3097,3336,673.6,-14.7,370,4794,0.00,2.47,0.00,0.000,516,0.000,0.064,2625,412,3216,3097,3336,0,0,0,0,0,0,14.91,14.28,14.93
$GC,4823,-2.07,-155.7,2624,412,3097,3335,679.5,-15.5,376,4829,0.15,2.35,0.00,0.000,3206,0.262,0.037,2649,1810,3216,3097,3335,0,0,0,0,0,0,13.85,14.42,14.01
$GC,5158,-2.11,-155.7,2649,1809,3095,3334,725.6,-13.6,392,5163,0.00,2.40,0.00,0.000,388,0.000,0.056,2640,3201,3214,3095,3334,0,0,0,0,0,0,14.93,14.33,14.95
$GC,5204,-2.15,-155.7,2640,3201,3095,3333,731.9,-14.1,400,5209,0.00,2.38,0.00,0.000,1158,0.000,0.042,2640,1815,3214,3095,3333,0,0,0,0,0,0,14.45,14.36,14.49
$GC,5529,-2.15,-155.7,2640,1815,3093,3332,775.2,-13.2,414,5535,0.00,2.50,0.00,0.000,516,0.000,0.064,2640,386,3212,3093,3332,0,0,0,0,0,0,14.93,14.24,14.95
$GC,5609,-2.15,-155.7,2640,386,3093,3332,786.7,-13.6,429,5614,0.00,2.38,0.00,0.000,1030,0.000,0.032,2631,1797,3212,3093,3332,0,0,0,0,0,0,14.50,14.42,14.52
$GC,5928,-2.15,-155.7,2630,1797,3091,3331,826.3,-12.2,442,5933,0.00,2.50,0.00,0.000,516,0.000,0.063,2630,393,3211,3092,3331,0,0,0,0,0,0,14.91,14.21,14.94
$GC,5986,-2.11,-155.7,2630,393,3091,3331,833.7,-13.0,452,5991,0.00,2.38,0.00,0.000,1158,0.000,0.034,2620,1798,3211,3091,3331,0,0,0,0,0,0,14.47,14.39,14.50
$GC,6301,-2.11,-155.7,2620,1798,3090,3329,874.3,-13.2,464,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1798,3209,3090,3329,0,0,0,0,0,0,14.93,14.96,14.95
$GC,6602,-2.11,-155.7,2621,1798,3088,3329,915.2,-13.8,474,6607,0.00,2.50,0.00,0.000,516,0.000,0.062,2620,395,3208,3089,3328,0,0,0,0,0,0,14.90,14.19,14.92
$GC,6641,-2.06,-155.7,2620,395,3089,3328,921.6,-15.2,481,6646,0.15,2.40,0.00,0.000,3206,0.265,0.037,2644,1806,3208,3089,3328,0,0,0,0,0,0,13.73,14.35,13.90
$GC,6971,-2.06,-155.7,2643,1808,3087,3327,964.0,-13.1,496,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1808,3207,3087,3327,0,0,0,0,0,0,14.92,14.95,14.95
$STATE,7178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7178,begin apogee
$GC,7185,-0.42,0.0,2644,1886,3087,3326,991.6,-13.2,503,7335,1.52,0.00,145.32,2.746,10246,0.272,0.000,3003,1889,2589,2465,2713,0,0,0,0,0,0,13.59,13.88,12.46
$STATE,7336,end apogee,CONTROL_FINISHED_OK
$STATE,7336,begin climb
$GC,7338,2.12,155.7,3003,1889,2461,2712,996.9,0.0,508,7499,1.95,2.47,146.85,2.723,10500,0.173,0.057,3557,3245,1950,1818,2083,0,0,0,0,0,0,13.93,13.94,12.46
$GC,7512,1.92,155.7,3556,3245,1818,2080,982.6,14.1,544,7519,0.17,2.42,0.00,0.000,5254,0.315,0.050,3525,1874,1948,1818,2079,0,0,0,0,0,0,13.90,14.22,14.09
$GC,7842,1.80,155.7,3524,1874,1808,2079,936.8,14.0,560,7849,0.15,2.45,0.00,0.000,4740,0.373,0.064,3503,467,1943,1807,2079,0,0,0,0,0,0,13.90,14.31,14.16
$GC,7897,1.69,155.7,3502,467,1805,2079,929.4,13.6,571,7904,0.17,2.35,0.00,0.000,5254,0.341,0.040,3472,1855,1942,1805,2079,0,0,0,0,0,0,13.91,14.50,14.36
$GC,8202,1.65,155.7,3472,1854,1803,2079,894.0,11.3,582,8207,0.00,2.47,0.00,0.000,388,0.000,0.062,3466,3270,1941,1803,2079,0,0,0,0,0,0,14.95,14.42,14.97
$GC,8236,1.59,155.7,3466,3270,1803,2079,890.1,12.0,588,8243,0.10,2.40,0.00,0.000,5254,0.327,0.048,3452,1865,1941,1804,2079,0,0,0,0,0,0,13.88,14.43,14.12
$GC,8565,1.59,155.7,3452,1865,1801,2079,854.1,11.0,604,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1865,1940,1801,2079,0,0,0,0,0,0,14.96,15.00,14.99
$GC,8865,1.59,155.7,3452,1866,1800,2079,820.8,11.0,614,8870,0.00,2.50,0.00,0.000,260,0.000,0.066,3442,3264,1939,1800,2079,0,0,0,0,0,0,14.97,14.36,15.00
$GC,8907,1.59,155.7,3442,3264,1800,2079,816.1,11.5,622,8912,0.00,2.42,0.00,0.000,1030,0.000,0.051,3451,1873,1939,1800,2079,0,0,0,0,0,0,14.53,14.43,14.57
$GC,9229,1.59,155.7,3450,1872,1799,2079,780.7,11.0,636,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1872,1939,1799,2079,0,0,0,0,0,0,14.97,15.00,15.00
$GC,9529,1.59,155.7,3451,1872,1797,2079,748.3,10.8,646,9534,0.00,2.50,0.00,0.000,260,0.000,0.067,3443,3257,1938,1797,2079,0,0,0,0,0,0,14.97,14.30,15.00
$GC,9571,1.59,155.7,3442,3256,1798,2079,744.1,10.2,654,9576,0.00,2.45,0.00,0.000,1030,0.000,0.057,3451,1872,1938,1797,2079,0,0,0,0,0,0,14.48,14.37,14.53
$GC,9894,1.59,155.7,3451,1872,1797,2079,710.5,10.5,668,9898,0.00,2.53,0.00,0.000,260,0.000,0.069,3442,3261,1937,1796,2079,0,0,0,0,0,0,14.98,14.30,15.00
$GC,9934,1.59,155.7,3442,3260,1797,2079,706.2,10.4,676,9938,0.00,2.45,0.00,0.000,1030,0.000,0.051,3451,1863,1938,1797,2079,0,0,0,0,0,0,14.47,14.36,14.52
$GC,10251,1.59,155.7,3451,1863,1796,2079,673.1,10.5,689,10258,0.00,2.47,0.00,0.000,260,0.000,0.059,3443,3255,1937,1796,2079,0,0,0,0,0,0,14.97,14.21,15.00
$GC,10300,1.59,155.7,3442,3255,1796,2079,667.9,10.0,699,10304,0.00,2.45,0.00,0.000,1030,0.000,0.051,3451,1860,1937,1796,2078,0,0,0,0,0,0,14.45,14.35,14.50
$GC,10606,1.59,155.7,3451,1860,1796,2078,636.8,10.4,710,10611,0.00,2.53,0.00,0.000,260,0.000,0.059,3442,3269,1937,1796,2078,0,0,0,0,0,0,14.98,14.27,15.00
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$STATE,17124,end climb,SURFACE_DEPTH_REACHED
$STATE,17124,begin surface coast
$FINISH,1.9,1.009500
$STATE,17151,end surface coast,CONTROL_FINISHED_OK
$STATE,17151,begin surface
$SM_CCo,17172,70.88,0.080,0,0,755,450.12
$SM_GC,2.74,10.45,0.12,70.88,0.083,0.101,0.080,97,1754,755,-13.75,1.13,450.12,0,0,0,0,0,0,14.31,14.59,14.36
$IRIDIUM_FIX,918.88,6736.60,110817,014319
$TT8_MAMPS,0.023968,0.15729
$HUMID,54.21
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.40
$XPDR_PINGS,7
$24V_AH,12.46,226.260
$10V_AH,12.47,0.000
$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,28.450,174.825,403.000,70.875,0.000,0.000,0.000,207.325,88.500,0.000,27.546,2722.546,11548.493,632.256,2318.172,358.147,0.000,1933.809,0.000,1837.424,0.000,587.275,0.000
$DEVICE_MAMPS,392.445,2011.950,2746.350,79.560,0.000,0.000,0.000,184.365,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56697,1290
$CAP_FILE_SIZE,191064,0
$CFSIZE,260034560,206966784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,115.73,1
$GPS,110817,112539,918.925,6651.427,34,0.7,42,-1.9,0.5,84.5,12,8.3