version: 66.13
glider: 133
mission: 5
dive: 20
start: 3 6 117 19 18 5
data:
$ID,133
$MISSION,5
$DIVE,20
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$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,360
$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,300
$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,450
$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,91
$R_STBD_OVSHOOT,44
$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
$GPS1,060317,191253,1345.6356,6119.7607,29,1.0,45,-0.8,0.0,61.4,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-66.8
$GPS2,060317,191727,1345.6252,6119.7456,17,1.0,20,-0.8,0.0,0.0,9,9.4
$SPEED_LIMITS,0.173,0.318
$TGT_NAME,HEADING
$TGT_LATLONG,1351.025,6110.113
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,301.5,20000,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.05,-146.0,140,2597,993,1094,0.0,0.0,0,74,0.00,0.00,-65.80,0.000,16386,0.000,0.000,140,2598,3350,3401,3300,0,0,0,0,0,0,14.99,28.83,15.01
$GC,76,-1.05,-146.0,140,2598,3400,3300,3.8,-7.4,11,98,13.52,2.20,-2.03,0.000,18724,0.422,2.100,2930,3803,3479,3511,3448,0,0,0,0,0,0,14.59,13.98,14.81
$GC,220,-0.99,-146.0,2930,3804,3511,3453,31.8,-15.5,38,228,0.12,1.83,0.00,0.000,3206,0.269,0.028,2954,2582,3482,3511,3453,0,0,0,0,0,0,14.66,14.85,14.83
$GC,535,-0.99,-146.0,2955,2581,3511,3454,71.5,-11.2,82,539,0.00,2.08,0.00,0.000,516,0.000,0.031,2956,1235,3482,3511,3454,0,0,0,0,0,0,15.08,14.89,15.10
$GC,608,-0.99,-146.0,2955,1225,3511,3454,79.2,-10.6,97,616,0.00,2.20,0.00,0.000,1030,0.000,0.041,2951,2595,3482,3510,3454,0,0,0,0,0,0,14.90,14.87,14.94
$GC,915,-0.99,-146.0,2950,2595,3511,3455,116.2,-13.2,128,919,0.00,2.00,0.00,0.000,260,0.000,0.066,2942,3819,3483,3511,3455,0,0,0,0,0,0,15.13,14.91,15.15
$GC,946,-0.99,-146.0,2941,3819,3510,3455,120.3,-13.6,134,950,0.00,1.80,0.00,0.000,1030,0.000,0.027,2942,2589,3482,3510,3455,0,0,0,0,0,0,15.01,14.98,15.02
$GC,1257,-0.99,-146.0,2941,2589,3510,3457,156.1,-8.6,166,1258,0.00,0.00,0.00,0.000,38,0.000,0.000,2942,2589,3484,3511,3457,0,0,0,0,0,0,15.16,15.19,15.18
$GC,1558,-1.02,-146.0,2941,2589,3511,3459,181.9,-8.0,196,1562,0.00,2.00,0.00,0.000,420,0.000,0.064,2936,3818,3484,3510,3459,0,0,0,0,0,0,15.18,14.96,15.20
$GC,1679,-1.07,-146.0,2935,3818,3510,3460,194.4,-10.6,220,1683,0.00,1.77,0.00,0.000,1158,0.000,0.025,2936,2593,3485,3511,3459,0,0,0,0,0,0,15.05,15.03,15.07
$GC,1991,-1.11,-146.0,2935,2593,3511,3461,227.5,-8.2,252,1994,0.00,2.05,0.00,0.000,676,0.000,0.029,2936,1239,3485,3510,3461,0,0,0,0,0,0,15.20,15.00,15.21
$GC,2042,-1.16,-146.0,2935,1237,3511,3462,232.4,-9.5,262,2051,0.00,2.15,0.00,0.000,1190,0.000,0.041,2934,2607,3485,3510,3461,0,0,0,0,0,0,15.04,14.99,15.07
$GC,2362,-1.20,-146.0,2934,2607,3511,3462,264.8,-9.5,285,2367,0.10,1.92,0.00,0.000,4516,0.151,0.060,2874,3811,3486,3511,3462,0,0,0,0,0,0,15.01,15.00,15.06
$GC,2514,-1.14,-146.0,2874,3812,3511,3462,284.4,-11.8,315,2519,0.20,1.75,0.00,0.000,3206,0.242,0.027,2924,2607,3486,3511,3462,0,0,0,0,0,0,14.88,15.05,15.04
$GC,2847,-1.18,-146.0,2923,2607,3510,3462,307.4,-5.5,331,2850,0.00,2.08,0.00,0.000,676,0.000,0.030,2924,1235,3486,3510,3462,0,0,0,0,0,0,15.23,15.04,15.24
$GC,2877,-1.22,-146.0,2924,1222,3511,3462,309.3,-6.7,337,2882,0.00,2.17,0.00,0.000,1190,0.000,0.041,2924,2607,3485,3510,3460,0,0,0,0,0,0,15.08,15.02,15.09
$GC,3209,-1.27,-146.0,2923,2608,3508,3462,339.7,-11.6,353,3213,0.12,1.95,0.00,0.000,4484,0.130,0.061,2843,3811,3484,3508,3461,0,0,0,0,0,0,15.04,15.02,15.07
$GC,3236,-1.18,-146.0,2843,3812,3508,3461,343.7,-15.4,358,3243,0.28,1.77,0.00,0.000,3206,0.249,0.028,2912,2603,3484,3508,3461,0,0,0,0,0,0,14.90,15.07,15.06
$GC,3541,-1.22,-146.0,2911,2603,3506,3462,376.5,-8.7,369,3545,0.00,1.98,0.00,0.000,420,0.000,0.065,2905,3812,3484,3506,3462,0,0,0,0,0,0,15.24,15.02,15.26
$GC,3606,-1.22,-146.0,2905,3812,3506,3461,382.4,-9.6,382,3609,0.00,1.80,0.00,0.000,1062,0.000,0.028,2906,2587,3484,3506,3462,0,0,0,0,0,0,15.11,15.08,15.11
$GC,3933,-1.26,-146.0,2905,2587,3502,3461,413.6,-9.8,397,3937,0.00,2.05,0.00,0.000,676,0.000,0.031,2906,1234,3482,3502,3462,0,0,0,0,0,0,15.23,15.05,15.26
$GC,4028,-1.30,-146.0,2906,1234,3502,3461,422.6,-9.3,416,4032,0.00,2.15,0.00,0.000,1190,0.000,0.041,2900,2601,3481,3502,3461,0,0,0,0,0,0,15.09,15.03,15.11
$GC,4349,-1.30,-146.0,2900,2601,3499,3460,449.8,-8.2,430,4353,0.00,1.95,0.00,0.000,292,0.000,0.065,2891,3816,3480,3499,3461,0,0,0,0,0,0,15.25,15.02,15.26
$GC,4423,-1.30,-146.0,2891,3816,3498,3461,456.2,-8.1,445,4428,0.00,1.80,0.00,0.000,1062,0.000,0.027,2891,2606,3480,3499,3461,0,0,0,0,0,0,15.09,15.07,15.10
$GC,4741,-1.30,-146.0,2891,2605,3496,3461,479.8,-6.9,458,4745,0.00,2.10,0.00,0.000,548,0.000,0.031,2891,1238,3478,3496,3461,0,0,0,0,0,0,15.24,15.06,15.26
$GC,4855,-1.30,-146.0,2891,1226,3496,3459,487.7,-6.7,481,4863,0.00,2.17,0.00,0.000,1062,0.000,0.041,2886,2601,3477,3496,3459,0,0,0,0,0,0,15.09,15.04,15.11
$GC,5161,-1.30,-146.0,2886,2601,3493,3459,510.7,-8.0,492,5163,0.00,0.00,0.00,0.000,38,0.000,0.000,2886,2600,3476,3494,3459,0,0,0,0,0,0,15.24,15.27,15.26
$GC,5462,-1.30,-146.0,2886,2601,3492,3458,539.6,-10.6,502,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2601,3475,3492,3458,0,0,0,0,0,0,15.25,15.27,15.27
$GC,5761,-1.30,-146.0,2886,2601,3490,3456,572.7,-11.2,512,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2601,3473,3490,3456,0,0,0,0,0,0,15.25,15.28,15.27
$GC,6062,-1.30,-146.0,2886,2601,3489,3455,604.6,-10.0,522,6066,0.00,2.10,0.00,0.000,548,0.000,0.031,2887,1232,3472,3489,3455,0,0,0,0,0,0,15.25,15.06,15.27
$GC,6126,-1.30,-146.0,2886,1232,3489,3454,610.9,-9.4,535,6130,0.00,2.17,0.00,0.000,1062,0.000,0.043,2883,2607,3471,3489,3454,0,0,0,0,0,0,15.10,15.04,15.11
$GC,6454,-1.30,-146.0,2883,2606,3487,3454,637.0,-7.7,550,6457,0.00,2.12,0.00,0.000,548,0.000,0.031,2883,1240,3470,3487,3453,0,0,0,0,0,0,15.25,15.06,15.27
$GC,6498,-1.30,-146.0,2883,1225,3487,3453,640.6,-8.2,559,6502,0.00,2.15,0.00,0.000,1062,0.000,0.043,2878,2601,3470,3487,3453,0,0,0,0,0,0,15.10,15.04,15.11
$GC,6809,-1.30,-146.0,2878,2601,3484,3453,668.8,-9.5,571,6813,0.00,1.98,0.00,0.000,292,0.000,0.066,2870,3813,3468,3485,3452,0,0,0,0,0,0,15.25,15.03,15.27
$GC,6843,-1.30,-146.0,2870,3813,3485,3452,672.6,-11.1,578,6847,0.00,1.80,0.00,0.000,1030,0.000,0.028,2870,2589,3468,3485,3452,0,0,0,0,0,0,15.11,15.09,15.13
$GC,7170,-1.30,-146.0,2870,2588,3484,3451,705.9,-10.3,593,7174,0.00,2.08,0.00,0.000,516,0.000,0.031,2870,1224,3467,3484,3450,0,0,0,0,0,0,15.25,15.05,15.27
$GC,7195,-1.30,-146.0,2870,1224,3484,3450,708.6,-10.3,598,7201,0.00,2.20,0.00,0.000,1030,0.000,0.042,2867,2610,3467,3484,3450,0,0,0,0,0,0,15.10,15.04,15.11
$GC,7501,-1.30,-146.0,2867,2609,3482,3450,740.9,-10.7,609,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2609,3466,3482,3450,0,0,0,0,0,0,15.25,15.27,15.27
$GC,7801,-1.30,-146.0,2866,2609,3481,3448,773.6,-11.0,619,7805,0.00,1.95,0.00,0.000,260,0.000,0.066,2857,3809,3464,3481,3448,0,0,0,0,0,0,15.25,15.03,15.27
$GC,7855,-1.26,-146.0,2857,3809,3481,3448,780.2,-11.8,630,7863,0.17,1.80,0.00,0.000,3206,0.247,0.030,2898,2599,3464,3481,3448,0,0,0,0,0,0,14.91,15.09,15.07
$GC,8162,-1.31,-146.0,2898,2598,3481,3448,810.2,-9.4,641,8163,0.00,0.00,0.00,0.000,166,0.000,0.000,2898,2599,3464,3480,3448,0,0,0,0,0,0,15.25,15.27,15.27
$GC,8462,-1.36,-146.0,2897,2599,3480,3446,837.2,-8.8,651,8469,0.12,2.10,0.00,0.000,4772,0.134,0.028,2826,1224,3462,3480,3445,0,0,0,0,0,0,15.06,15.06,15.08
$GC,8511,-1.27,-146.0,2825,1224,3480,3445,842.8,-11.1,661,8517,0.30,2.17,0.00,0.000,3206,0.262,0.041,2892,2606,3462,3480,3445,0,0,0,0,0,0,14.91,15.03,15.07
$GC,8824,-1.32,-146.0,2892,2606,3478,3445,870.3,-8.4,673,8828,0.00,1.98,0.00,0.000,420,0.000,0.066,2887,3818,3461,3478,3445,0,0,0,0,0,0,15.24,15.02,15.26
$GC,8859,-1.32,-146.0,2886,3818,3478,3445,873.4,-8.9,680,8863,0.00,1.80,0.00,0.000,1062,0.000,0.029,2886,2597,3461,3478,3445,0,0,0,0,0,0,15.11,15.08,15.12
$GC,9186,-1.35,-146.0,2887,2597,3477,3445,900.6,-8.5,695,9189,0.00,1.98,0.00,0.000,420,0.000,0.065,2883,3815,3461,3477,3445,0,0,0,0,0,0,15.24,15.02,15.26
$GC,9240,-1.35,-146.0,2882,3814,3477,3445,906.0,-9.6,706,9247,0.00,1.80,0.00,0.000,1062,0.000,0.030,2882,2598,3461,3477,3445,0,0,0,0,0,0,15.11,15.08,15.11
$GC,9546,-1.35,-146.0,2882,2598,3476,3444,933.2,-8.6,717,9548,0.00,0.00,0.00,0.000,38,0.000,0.000,2882,2598,3460,3476,3444,0,0,0,0,0,0,15.23,15.26,15.26
$GC,9847,-1.39,-146.0,2882,2598,3475,3442,958.8,-8.6,727,9851,0.00,2.08,0.00,0.000,676,0.000,0.031,2882,1237,3459,3476,3442,0,0,0,0,0,0,15.24,15.05,15.26
$GC,9896,-1.39,-146.0,2882,1228,3476,3442,963.4,-9.0,737,9900,0.00,2.17,0.00,0.000,1062,0.000,0.041,2878,2611,3459,3476,3442,0,0,0,0,0,0,15.09,15.03,15.11
$STATE,10206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10206,begin apogee
$GC,10210,-0.33,0.0,2878,2388,3474,3442,992.2,-9.7,749,10389,0.77,0.00,174.05,1.462,10246,0.208,0.000,3100,2388,2877,2852,2902,0,0,0,0,0,0,14.92,14.23,13.71
$STATE,10390,end apogee,CONTROL_FINISHED_OK
$STATE,10390,begin climb
$GC,10391,1.05,146.0,3101,2387,2847,2898,995.9,0.0,755,10539,0.95,2.22,137.45,1.526,10756,0.119,0.039,3411,1058,2273,2222,2324,0,0,0,0,0,0,14.21,14.16,13.60
$GC,10574,0.89,146.0,3411,1058,2219,2314,977.2,14.6,792,10579,0.17,2.25,0.00,0.000,5254,0.287,0.041,3363,2402,2265,2218,2313,0,0,0,0,0,0,14.21,14.35,14.39
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$STATE,19147,end climb,SURFACE_DEPTH_REACHED
$STATE,19147,begin surface coast
$FINISH,0.4,1.023989
$STATE,19168,end surface coast,CONTROL_FINISHED_OK
$STATE,19168,begin surface
$SM_CCo,19184,75.10,0.080,0,0,1044,450.12
$SM_GC,1.51,9.27,0.30,75.10,0.080,0.079,0.080,142,2606,1044,-13.86,-1.30,450.12,0,0,0,0,0,0,14.90,14.96,14.88
$IRIDIUM_FIX,1340.85,6121.95,060317,152641
$TT8_MAMPS,0.023968,0.203728
$HUMID,45.55
$INTERNAL_PRESSURE,8.98261
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.60,5.623
$10V_AH,13.73,0.000
$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,27.075,171.225,426.475,75.100,0.000,0.000,0.000,192.275,0.000,0.000,21.480,2883.235,13619.426,650.214,2295.347,103.409,0.000,2015.250,0.000,2057.934,0.000,0.550,0.000
$DEVICE_MAMPS,422.280,2099.925,1526.175,80.325,0.000,0.000,0.000,155.295,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,194736
$DATA_FILE_SIZE,60019,1444
$CAP_FILE_SIZE,179953,0
$CFSIZE,260034560,257667072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,25.07,1
$GPS,070317,004010,1347.842,6116.928,27,1.4,31,-0.7,0.4,33.9,5,9.8