version: 66.13
glider: 133
mission: 5
dive: 6
start: 3 4 117 12 15 31
data:
$ID,133
$MISSION,5
$DIVE,6
$N_DIVES,8
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,450
$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,120
$T_MISSION,145
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,54382
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00174
$HD_B,0.0054000001
$HD_C,2.24e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,578.71039
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,105
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,2880
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,20
$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,-18.083
$PRESSURE_SLOPE,0.00011564888
$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,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.090000004
$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,0.0043768995
$SEABIRD_T_H,0.00063528348
$SEABIRD_T_I,2.4782157e-05
$SEABIRD_T_J,2.6511516e-06
$SEABIRD_C_G,-9.8739452
$SEABIRD_C_H,1.0990992
$SEABIRD_C_I,-0.0013875214
$SEABIRD_C_J,0.00019236583
$GPS1,040317,121056,1339.5448,6123.4585,43,0.9,46,-0.8,0.6,294.5,7,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.9
$GPS2,040317,121451,1339.5381,6123.4077,16,0.9,19,-0.8,0.3,289.8,8,8.6
$SPEED_LIMITS,0.173,0.318
$TGT_NAME,N
$TGT_LATLONG,1000.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,172.7,434111,-13.1,-10.000,-17.47,2042
$D_GRID,1000
$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,-1.05,-146.0,133,2631,471,574,0.0,0.0,0,86,0.00,0.00,-77.07,0.000,16386,0.000,0.000,133,2631,3283,3331,3235,0,0,0,0,0,0,15.12,28.83,15.14
$GC,88,-1.05,-146.0,134,2631,3330,3235,3.5,-6.7,13,114,13.50,2.35,-3.10,0.000,18980,0.422,2.043,2940,1246,3479,3507,3452,0,0,0,0,0,0,14.68,14.00,14.84
$GC,231,-1.05,-146.0,2940,1246,3507,3453,28.4,-14.0,40,238,0.00,2.10,0.00,0.000,1030,0.000,0.047,2935,2579,3479,3506,3453,0,0,0,0,0,0,14.96,14.89,14.97
$GC,545,-1.01,-146.0,2934,2579,3506,3453,69.9,-13.1,87,549,0.00,2.05,0.00,0.000,644,0.000,0.034,2934,1241,3479,3506,3453,0,0,0,0,0,0,15.19,14.98,15.21
$GC,575,-1.01,-146.0,2934,1239,3506,3453,73.8,-13.2,93,580,0.12,2.15,0.00,0.000,3078,0.282,0.048,2951,2601,3479,3506,3453,0,0,0,0,0,0,14.84,14.97,15.01
$GC,880,-1.01,-146.0,2951,2601,3506,3453,114.7,-14.0,124,884,0.00,1.98,0.00,0.000,260,0.000,0.073,2945,3813,3479,3506,3452,0,0,0,0,0,0,15.23,14.99,15.25
$GC,940,-1.01,-146.0,2945,3813,3506,3453,123.3,-14.5,136,944,0.00,1.75,0.00,0.000,1030,0.000,0.033,2945,2624,3479,3506,3453,0,0,0,0,0,0,15.09,15.06,15.10
$GC,1251,-1.04,-146.0,2945,2623,3506,3453,165.1,-12.1,168,1255,0.00,1.95,0.00,0.000,388,0.000,0.071,2940,3814,3479,3506,3453,0,0,0,0,0,0,15.25,15.01,15.27
$GC,1286,-1.08,-146.0,2939,3814,3506,3453,169.1,-10.8,175,1292,0.00,1.80,0.00,0.000,1158,0.000,0.033,2940,2591,3478,3505,3452,0,0,0,0,0,0,15.11,15.07,15.12
$GC,1592,-1.12,-146.0,2940,2590,3506,3453,198.3,-8.6,206,1597,0.00,2.05,0.00,0.000,676,0.000,0.034,2940,1222,3479,3506,3453,0,0,0,0,0,0,15.26,15.05,15.28
$GC,1674,-1.17,-146.0,2939,1221,3506,3453,205.5,-8.4,222,1680,0.10,2.17,0.00,0.000,5286,0.158,0.046,2881,2604,3479,3506,3453,0,0,0,0,0,0,15.02,15.03,15.10
$GC,1987,-1.11,-146.0,2880,2604,3506,3453,241.0,-10.8,254,1992,0.17,1.95,0.00,0.000,2436,0.234,0.069,2921,3818,3479,3506,3453,0,0,0,0,0,0,14.92,15.02,15.02
$GC,2142,-1.15,-146.0,2920,3818,3506,3453,259.5,-13.4,285,2146,0.00,1.80,0.00,0.000,1158,0.000,0.031,2921,2591,3479,3505,3453,0,0,0,0,0,0,15.13,15.09,15.14
$GC,2469,-1.18,-146.0,2920,2590,3503,3453,298.4,-11.1,300,2473,0.00,2.05,0.00,0.000,644,0.000,0.034,2921,1226,3478,3503,3453,0,0,0,0,0,0,15.28,15.07,15.30
$GC,2538,-1.22,-146.0,2920,1224,3503,3453,305.2,-10.2,314,2543,0.00,2.15,0.00,0.000,1158,0.000,0.047,2914,2601,3477,3502,3453,0,0,0,0,0,0,15.11,15.05,15.14
$GC,2860,-1.25,-146.0,2914,2601,3500,3453,330.1,-7.3,328,2864,0.00,2.10,0.00,0.000,676,0.000,0.035,2914,1226,3476,3500,3453,0,0,0,0,0,0,15.28,15.08,15.30
$GC,2891,-1.28,-146.0,2914,1215,3500,3453,332.4,-7.9,334,2896,0.00,2.17,0.00,0.000,1190,0.000,0.047,2910,2607,3476,3500,3453,0,0,0,0,0,0,15.12,15.05,15.14
$STATE,3191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3191,begin apogee
$GC,3195,-0.33,0.0,2910,2381,3497,3453,360.4,-10.2,349,3322,0.65,0.00,123.80,1.111,10246,0.192,0.000,3102,2381,2878,2847,2909,0,0,0,0,0,0,14.96,14.57,14.12
$STATE,3323,end apogee,CONTROL_FINISHED_OK
$STATE,3323,begin climb
$GC,3324,1.05,146.0,3102,2381,2841,2903,362.5,0.0,353,3465,0.93,2.22,126.93,1.085,10756,0.129,0.041,3411,1036,2273,2221,2326,0,0,0,0,0,0,14.51,14.47,14.02
$GC,3497,0.93,146.0,3411,1036,2220,2320,343.5,16.0,389,3502,0.17,2.20,0.00,0.000,5254,0.285,0.043,3376,2408,2268,2218,2319,0,0,0,0,0,0,14.47,14.61,14.65
$GC,3824,0.86,146.0,3376,2408,2212,2315,298.8,12.2,404,3825,0.00,0.00,0.00,0.000,134,0.000,0.000,3376,2409,2263,2211,2315,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4124,0.79,146.0,3376,2408,2210,2313,266.8,10.5,414,4129,0.12,2.10,0.00,0.000,4740,0.306,0.038,3349,1042,2262,2211,2313,0,0,0,0,0,0,14.85,14.97,14.95
$GC,4209,0.79,146.0,3349,1042,2210,2311,258.3,10.5,431,4216,0.00,2.15,0.00,0.000,1030,0.000,0.043,3349,2412,2260,2210,2311,0,0,0,0,0,0,15.04,14.98,15.07
$GC,4516,0.80,156.8,3349,2412,2209,2309,230.6,9.5,456,4526,0.00,0.00,3.12,0.662,8230,0.000,0.000,3350,2412,2239,2188,2291,0,0,0,0,0,0,15.22,14.99,14.37
$GC,4826,0.80,156.8,3349,2412,2188,2294,198.0,10.2,487,4830,0.00,2.25,0.00,0.000,260,0.000,0.070,3349,3797,2241,2189,2294,0,0,0,0,0,0,15.23,15.00,15.26
$GC,4922,0.74,156.8,3349,3797,2189,2294,187.6,11.2,506,4927,0.12,2.08,0.00,0.000,5254,0.274,0.032,3332,2409,2241,2189,2294,0,0,0,0,0,0,14.89,15.06,15.04
$GC,5235,0.97,313.4,3332,2409,2189,2294,170.1,2.1,538,5376,0.15,2.28,133.27,0.962,10916,0.116,0.042,3417,1028,1592,1526,1658,0,0,0,0,0,0,15.04,14.56,14.16
$GC,5399,0.93,313.4,3416,1027,1523,1647,150.4,18.6,570,5404,0.20,2.20,0.00,0.000,5254,0.258,0.044,3372,2399,1584,1522,1646,0,0,0,0,0,0,14.50,14.63,14.67
$GC,5711,0.93,313.4,3372,2398,1516,1643,102.2,12.7,602,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2398,1579,1516,1643,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6012,0.97,313.4,3372,2398,1516,1643,64.6,12.2,632,6015,0.00,2.15,0.00,0.000,644,0.000,0.041,3379,1039,1580,1517,1643,0,0,0,0,0,0,15.16,14.96,15.19
$GC,6065,1.03,313.4,3378,1033,1516,1642,57.9,12.1,643,6072,0.00,2.15,0.00,0.000,1158,0.000,0.043,3379,2411,1579,1516,1643,0,0,0,0,0,0,15.02,14.96,15.04
$GC,6373,1.06,313.4,3378,2410,1517,1642,20.4,13.0,697,6379,0.00,2.15,0.00,0.000,644,0.000,0.041,3386,1029,1579,1516,1643,0,0,0,0,0,0,15.19,14.99,15.21
$GC,6447,1.11,313.4,3386,1028,1517,1642,11.1,11.7,711,6454,0.10,2.12,0.00,0.000,3206,0.161,0.041,3441,2401,1580,1517,1643,0,0,0,0,0,0,14.95,14.98,15.04
$STATE,6500,end climb,SURFACE_DEPTH_REACHED
$STATE,6500,begin surface coast
$FINISH,0.4,1.023937
$STATE,6516,end surface coast,CONTROL_FINISHED_OK
$STATE,6516,begin surface
$SM_CCo,6532,113.18,0.079,0,0,519,578.90
$SM_GC,1.34,9.35,0.30,113.18,0.076,0.078,0.079,139,2602,519,-13.86,-1.39,578.90,0,0,0,0,0,0,14.95,15.00,14.90
$IRIDIUM_FIX,1331.97,6127.98,040317,105231
$TT8_MAMPS,0.024717,0.152047
$HUMID,46.73
$INTERNAL_PRESSURE,9.05098
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,14.00,3.085
$10V_AH,14.06,0.000
$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,25.700,59.875,387.125,113.175,0.000,0.000,0.000,168.625,0.000,0.000,20.444,1503.070,3567.876,567.522,1234.872,38.821,0.000,1335.468,0.000,1040.312,0.000,0.552,0.000
$DEVICE_MAMPS,422.280,2043.315,1110.780,78.795,0.000,0.000,0.000,139.995,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.811,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,192244
$DATA_FILE_SIZE,30049,724
$CAP_FILE_SIZE,80949,0
$CFSIZE,260034560,258752512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,5279.63,0x233da8,1,24
$CURRENT,0.202,295.05,1
$GPS,040317,140734,1338.805,6122.773,40,0.9,45,-0.8,0.7,267.0,8,9.1