version: 66.13
glider: 133
mission: 5
dive: 23
start: 3 7 117 11 35 39
data:
$ID,133
$MISSION,5
$DIVE,23
$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,360
$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,280
$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,90
$R_STBD_OVSHOOT,50
$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
$GPS1,070317,113038,1350.6835,6111.2739,41,1.1,44,-0.7,0.4,304.8,7,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.3
$GPS2,070317,113503,1350.7087,6111.2568,17,0.9,20,-0.7,0.0,325.0,8,9.5
$SPEED_LIMITS,0.159,0.304
$TGT_NAME,HEADING
$TGT_LATLONG,1352.584,6100.302
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,269.9,20000,-12.0,-9.167,-16.78,2167
$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,-0.98,-146.0,141,2607,989,1089,0.0,0.0,0,70,0.00,0.00,-60.75,0.000,16386,0.000,0.000,141,2607,3167,3217,3118,0,0,0,0,0,0,15.00,28.83,15.02
$GC,72,-0.98,-146.0,140,2607,3217,3119,3.2,-5.9,10,99,13.95,2.38,-5.43,0.000,18980,0.432,2.060,2954,1222,3479,3501,3457,0,0,0,0,0,0,14.57,14.00,14.81
$GC,271,-0.95,-146.0,2954,1221,3500,3459,31.5,-13.3,48,277,0.00,2.15,0.00,0.000,1158,0.000,0.041,2950,2589,3480,3500,3460,0,0,0,0,0,0,14.87,14.81,14.88
$GC,584,-0.90,-146.0,2950,2590,3500,3459,72.7,-12.9,93,586,0.12,0.00,0.00,0.000,2182,0.306,0.000,2973,2590,3479,3500,3459,0,0,0,0,0,0,14.76,14.95,14.91
$GC,885,-0.90,-146.0,2973,2590,3500,3460,103.6,-9.0,123,888,0.00,2.10,0.00,0.000,548,0.000,0.031,2974,1235,3480,3501,3460,0,0,0,0,0,0,15.14,14.95,15.15
$GC,935,-0.90,-146.0,2973,1223,3500,3460,107.9,-9.2,133,939,0.00,2.17,0.00,0.000,1030,0.000,0.041,2971,2604,3480,3500,3460,0,0,0,0,0,0,15.00,14.92,15.00
$GC,1247,-0.90,-146.0,2970,2603,3501,3461,137.8,-9.1,165,1251,0.00,1.95,0.00,0.000,292,0.000,0.065,2964,3808,3481,3501,3461,0,0,0,0,0,0,15.16,14.95,15.18
$GC,1352,-0.94,-146.0,2964,3807,3500,3461,144.7,-4.2,186,1359,0.00,1.77,0.00,0.000,1190,0.000,0.026,2964,2566,3481,3500,3462,0,0,0,0,0,0,15.04,15.01,15.05
$GC,1659,-0.98,-146.0,2964,2566,3500,3462,164.0,-8.2,217,1663,0.00,2.00,0.00,0.000,676,0.000,0.030,2964,1245,3481,3501,3462,0,0,0,0,0,0,15.19,15.00,15.21
$GC,1720,-1.02,-146.0,2964,1245,3501,3462,169.7,-9.7,229,1724,0.00,2.12,0.00,0.000,1158,0.000,0.040,2963,2609,3481,3501,3462,0,0,0,0,0,0,15.04,14.98,15.05
$GC,2031,-1.06,-146.0,2962,2609,3501,3463,202.6,-13.0,261,2036,0.10,1.95,0.00,0.000,4484,0.163,0.060,2901,3816,3482,3500,3464,0,0,0,0,0,0,14.98,14.98,15.04
$GC,2113,-0.99,-146.0,2901,3816,3501,3464,215.3,-14.8,277,2118,0.22,1.75,0.00,0.000,3206,0.233,0.026,2956,2600,3482,3500,3464,0,0,0,0,0,0,14.88,15.04,15.02
$GC,2426,-1.03,-146.0,2956,2600,3500,3464,238.5,-7.6,309,2430,0.00,1.98,0.00,0.000,420,0.000,0.063,2951,3812,3482,3501,3464,0,0,0,0,0,0,15.21,14.99,15.23
$GC,2520,-1.09,-146.0,2950,3812,3501,3464,247.1,-8.7,328,2527,0.00,1.75,0.00,0.000,1190,0.000,0.025,2951,2593,3482,3500,3464,0,0,0,0,0,0,15.08,15.05,15.09
$GC,2838,-1.15,-146.0,2950,2593,3500,3464,270.8,-7.1,342,2842,0.12,2.03,0.00,0.000,4772,0.139,0.026,2876,1244,3482,3500,3464,0,0,0,0,0,0,15.03,15.04,15.06
$GC,2960,-1.07,-146.0,2875,1243,3500,3464,283.6,-12.0,366,2967,0.28,2.12,0.00,0.000,3206,0.256,0.038,2938,2606,3482,3500,3464,0,0,0,0,0,0,14.90,15.02,15.05
$GC,3290,-1.11,-146.0,2937,2607,3500,3463,306.3,-5.3,382,3294,0.00,1.92,0.00,0.000,420,0.000,0.064,2933,3812,3480,3498,3463,0,0,0,0,0,0,15.23,15.02,15.25
$GC,3399,-1.11,-146.0,2932,3812,3498,3464,313.2,-6.5,404,3403,0.00,1.77,0.00,0.000,1062,0.000,0.027,2932,2610,3480,3498,3463,0,0,0,0,0,0,15.07,15.07,15.09
$GC,3712,-1.15,-146.0,2932,2610,3496,3463,340.2,-8.8,416,3715,0.00,2.08,0.00,0.000,676,0.000,0.029,2932,1240,3479,3496,3463,0,0,0,0,0,0,15.24,15.05,15.26
$GC,3871,-1.18,-146.0,2932,1229,3494,3463,354.1,-8.6,448,3875,0.00,2.12,0.00,0.000,1190,0.000,0.040,2928,2602,3479,3494,3464,0,0,0,0,0,0,15.09,15.03,15.11
$GC,4188,-1.21,-146.0,2927,2603,3491,3463,380.5,-7.5,461,4193,0.10,2.08,0.00,0.000,4772,0.154,0.026,2875,1226,3477,3491,3463,0,0,0,0,0,0,15.04,15.06,15.09
$GC,4243,-1.15,-146.0,2874,1226,3491,3462,385.0,-8.1,472,4250,0.20,2.15,0.00,0.000,3238,0.251,0.040,2918,2600,3476,3491,3462,0,0,0,0,0,0,14.93,15.04,15.07
$GC,4549,-1.15,-146.0,2918,2600,3489,3461,410.4,-9.4,483,4553,0.00,1.95,0.00,0.000,260,0.000,0.064,2912,3808,3474,3488,3461,0,0,0,0,0,0,15.24,15.03,15.26
$GC,4593,-1.15,-146.0,2911,3808,3489,3461,415.0,-10.8,492,4597,0.00,1.77,0.00,0.000,1030,0.000,0.026,2911,2604,3474,3488,3461,0,0,0,0,0,0,15.09,15.07,15.11
$GC,4910,-1.15,-146.0,2911,2604,3486,3459,443.0,-8.7,505,4914,0.00,2.08,0.00,0.000,548,0.000,0.030,2911,1233,3472,3486,3459,0,0,0,0,0,0,15.25,15.06,15.26
$GC,4989,-1.15,-146.0,2911,1233,3486,3458,450.7,-10.1,521,4994,0.00,2.17,0.00,0.000,1030,0.000,0.041,2907,2601,3472,3486,3459,0,0,0,0,0,0,15.07,15.03,15.09
$GC,5301,-1.15,-146.0,2906,2601,3484,3458,478.2,-8.4,533,5306,0.00,1.95,0.00,0.000,292,0.000,0.064,2898,3811,3471,3484,3458,0,0,0,0,0,0,15.25,15.03,15.26
$GC,5335,-1.15,-146.0,2898,3811,3484,3457,481.2,-8.7,540,5340,0.08,1.80,0.00,0.000,3110,0.220,0.026,2919,2595,3470,3484,3457,0,0,0,0,0,0,14.92,15.07,15.02
$GC,5664,-1.18,-146.0,2918,2596,3481,3457,503.0,-6.3,555,5665,0.00,0.00,0.00,0.000,166,0.000,0.000,2918,2596,3469,3481,3457,0,0,0,0,0,0,15.24,15.27,15.26
$GC,5963,-1.21,-146.0,2918,2596,3480,3455,523.6,-7.4,565,5964,0.00,0.00,0.00,0.000,166,0.000,0.000,2918,2596,3466,3479,3454,0,0,0,0,0,0,15.25,15.28,15.26
$GC,6263,-1.26,-146.0,2918,2596,3478,3454,547.7,-8.2,575,6265,0.10,0.00,0.00,0.000,4262,0.156,0.000,2869,2596,3466,3479,3454,0,0,0,0,0,0,15.04,15.12,15.11
$GC,6563,-1.21,-146.0,2868,2596,3477,3453,580.7,-11.8,585,6565,0.17,0.00,0.00,0.000,2182,0.222,0.000,2910,2594,3465,3477,3453,0,0,0,0,0,0,14.94,15.11,15.08
$GC,6863,-1.21,-146.0,2909,2595,3476,3452,606.6,-7.4,595,6866,0.00,2.05,0.00,0.000,548,0.000,0.031,2910,1240,3463,3476,3451,0,0,0,0,0,0,15.26,15.07,15.27
$GC,6896,-1.21,-146.0,2910,1233,3476,3451,608.9,-6.3,602,6901,0.00,2.15,0.00,0.000,1062,0.000,0.040,2908,2603,3463,3476,3450,0,0,0,0,0,0,15.11,15.05,15.12
$GC,7223,-1.21,-146.0,2908,2602,3474,3450,628.7,-6.1,617,7228,0.00,1.92,0.00,0.000,292,0.000,0.063,2901,3808,3462,3474,3450,0,0,0,0,0,0,15.25,15.04,15.27
$GC,7268,-1.21,-146.0,2900,3808,3474,3449,631.9,-7.3,626,7272,0.00,1.77,0.00,0.000,1062,0.000,0.028,2900,2600,3461,3474,3449,0,0,0,0,0,0,15.12,15.09,15.13
$GC,7585,-1.21,-146.0,2900,2600,3472,3448,655.8,-8.5,639,7586,0.00,0.00,0.00,0.000,38,0.000,0.000,2900,2600,3460,3472,3448,0,0,0,0,0,0,15.25,15.27,15.27
$GC,7884,-1.21,-146.0,2899,2600,3471,3448,686.2,-10.3,649,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2600,3459,3471,3448,0,0,0,0,0,0,15.26,15.27,15.28
$GC,8185,-1.21,-146.0,2900,2600,3470,3446,714.2,-8.8,659,8188,0.00,2.08,0.00,0.000,548,0.000,0.030,2900,1235,3458,3470,3446,0,0,0,0,0,0,15.26,15.06,15.27
$GC,8233,-1.21,-146.0,2900,1224,3471,3445,718.9,-8.6,669,8238,0.00,2.15,0.00,0.000,1062,0.000,0.040,2896,2604,3457,3470,3445,0,0,0,0,0,0,15.11,15.04,15.12
$GC,8545,-1.21,-146.0,2896,2604,3469,3445,745.7,-8.4,681,8547,0.00,0.00,0.00,0.000,38,0.000,0.000,2896,2603,3457,3469,3446,0,0,0,0,0,0,15.25,15.27,15.27
$GC,8846,-1.21,-146.0,2896,2604,3468,3444,768.8,-7.4,691,8849,0.00,1.95,0.00,0.000,292,0.000,0.063,2887,3808,3456,3468,3444,0,0,0,0,0,0,15.24,15.04,15.26
$GC,8894,-1.21,-146.0,2887,3807,3468,3443,772.7,-8.1,701,8899,0.00,1.80,0.00,0.000,1062,0.000,0.028,2887,2603,3455,3468,3443,0,0,0,0,0,0,15.09,15.07,15.10
$GC,9206,-1.21,-146.0,2886,2603,3467,3442,796.5,-7.7,713,9211,0.00,2.10,0.00,0.000,548,0.000,0.030,2887,1231,3454,3467,3442,0,0,0,0,0,0,15.24,15.06,15.26
$GC,9261,-1.21,-146.0,2886,1230,3467,3441,801.3,-8.7,724,9268,0.12,2.17,0.00,0.000,3110,0.271,0.041,2909,2606,3454,3467,3442,0,0,0,0,0,0,14.92,15.04,15.07
$GC,9568,-1.25,-146.0,2908,2606,3466,3442,823.8,-7.5,735,9569,0.00,0.00,0.00,0.000,166,0.000,0.000,2909,2606,3454,3466,3442,0,0,0,0,0,0,15.24,15.26,15.26
$GC,9868,-1.28,-146.0,2909,2606,3465,3441,846.7,-7.5,745,9869,0.00,0.00,0.00,0.000,166,0.000,0.000,2909,2606,3453,3465,3441,0,0,0,0,0,0,15.24,15.27,15.26
$GC,10168,-1.32,-146.0,2909,2607,3464,3440,868.0,-6.7,755,10170,0.12,0.00,0.00,0.000,4262,0.136,0.000,2844,2606,3452,3464,3440,0,0,0,0,0,0,15.04,15.11,15.10
$GC,10468,-1.24,-146.0,2843,2607,3463,3439,892.7,-8.0,765,10473,0.20,2.10,0.00,0.000,2724,0.246,0.028,2897,1225,3451,3463,3439,0,0,0,0,0,0,14.92,15.05,15.02
$GC,10530,-1.24,-146.0,2896,1225,3463,3439,896.8,-6.2,777,10534,0.00,2.17,0.00,0.000,1062,0.000,0.040,2896,2605,3451,3464,3439,0,0,0,0,0,0,15.09,15.04,15.11
$STATE,10830,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10830,begin apogee
$GC,10834,-0.33,0.0,2896,2380,3463,3439,914.9,-6.0,792,10964,0.70,0.00,126.45,1.614,10246,0.208,0.000,3097,2380,2879,2852,2906,0,0,0,0,0,0,14.93,14.28,13.71
$STATE,10965,end apogee,CONTROL_FINISHED_OK
$STATE,10965,begin climb
$GC,10966,0.98,146.0,3097,2380,2847,2900,914.3,0.0,796,11110,0.90,2.25,134.50,1.571,10756,0.119,0.037,3397,1055,2275,2223,2328,0,0,0,0,0,0,14.26,14.16,13.60
$GC,11146,0.81,146.0,3396,1055,2221,2318,892.2,16.4,835,11151,0.25,2.22,0.00,0.000,5254,0.298,0.038,3344,2400,2268,2220,2317,0,0,0,0,0,0,14.21,14.35,14.39
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$STATE,19305,end climb,SURFACE_DEPTH_REACHED
$STATE,19305,begin surface coast
$FINISH,0.5,1.005363
$STATE,19327,end surface coast,CONTROL_FINISHED_OK
$STATE,19327,begin surface
$SM_CCo,19343,48.47,0.080,0,0,1045,450.12
$SM_GC,1.50,9.35,0.30,48.47,0.075,0.078,0.080,146,2606,1045,-13.85,-1.22,450.12,0,0,0,0,0,0,14.88,14.94,14.88
$IRIDIUM_FIX,1343.07,6113.98,070317,060338
$TT8_MAMPS,0.024717,0.205226
$HUMID,46.14
$INTERNAL_PRESSURE,8.99238
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,13.60,6.348
$10V_AH,13.74,0.000
$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,28.050,155.025,429.150,48.475,0.000,0.000,0.000,174.725,0.000,0.000,21.431,2879.859,13812.610,599.018,2272.014,101.020,0.000,1934.216,0.000,2049.710,0.000,0.550,0.000
$DEVICE_MAMPS,432.225,2060.145,1614.150,80.325,0.000,0.000,0.000,166.770,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,194676
$DATA_FILE_SIZE,59955,1438
$CAP_FILE_SIZE,178269,0
$CFSIZE,260034560,257425408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,54.98,1
$GPS,070317,170007,1351.059,6108.001,40,0.8,42,-0.7,0.2,0.0,11,9.4