version: 66.13
glider: 133
mission: 5
dive: 58
start: 3 15 117 8 41 20
data:
$ID,133
$MISSION,5
$DIVE,58
$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,420
$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,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$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,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,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,2310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,93
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3101
$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
$GPS1,150317,083537,1410.7816,6057.5464,38,0.8,40,-0.6,0.2,0.0,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.6
$GPS2,150317,084033,1410.7736,6057.5469,19,0.9,22,-0.6,0.2,133.9,8,8.9
$SPEED_LIMITS,0.159,0.279
$TGT_NAME,SG133_TGT
$TGT_LATLONG,1408.526,6057.449
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,186.7,4166,-15.7,-9.167,-18.56,2335
$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,-1.22,-139.4,141,2615,1213,1305,0.0,0.0,0,75,0.00,0.00,-65.97,0.000,16386,0.000,0.000,141,2615,3624,3669,3579,0,0,0,0,0,0,14.96,28.83,14.98
$GC,77,-1.23,-146.0,141,2615,3669,3581,3.4,-6.1,11,99,13.55,2.38,-1.05,0.000,18980,0.426,2.063,2908,1230,3701,3728,3675,0,0,0,0,0,0,14.55,13.94,14.78
$GC,211,-1.27,-146.0,2907,1230,3729,3678,27.7,-10.7,36,217,0.00,2.15,0.00,0.000,1158,0.000,0.038,2900,2588,3703,3728,3678,0,0,0,0,0,0,14.83,14.76,14.84
$GC,524,-1.27,-146.0,2900,2589,3728,3680,67.5,-13.3,85,529,0.00,1.98,0.00,0.000,260,0.000,0.060,2891,3812,3704,3728,3680,0,0,0,0,0,0,15.05,14.84,15.07
$GC,558,-1.27,-146.0,2891,3812,3729,3680,72.4,-13.5,92,566,0.00,1.85,0.00,0.000,1030,0.000,0.023,2891,2557,3704,3728,3680,0,0,0,0,0,0,14.91,14.90,14.92
$GC,865,-1.27,-146.0,2891,2557,3728,3681,106.5,-11.5,123,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2557,3705,3729,3681,0,0,0,0,0,0,15.11,15.13,15.13
$GC,1167,-1.32,-146.0,2891,2557,3728,3683,135.2,-8.0,153,1171,0.00,2.03,0.00,0.000,420,0.000,0.057,2885,3813,3706,3729,3684,0,0,0,0,0,0,15.14,14.92,15.16
$GC,1193,-1.36,-146.0,2885,3813,3728,3683,137.5,-8.2,158,1201,0.00,1.73,0.00,0.000,1190,0.000,0.023,2885,2597,3706,3729,3683,0,0,0,0,0,0,15.01,14.98,15.02
$GC,1498,-1.42,-146.0,2885,2597,3729,3685,168.3,-9.9,189,1503,0.10,1.95,0.00,0.000,4484,0.150,0.054,2817,3813,3706,3728,3685,0,0,0,0,0,0,14.95,14.94,15.00
$GC,1700,-1.36,-146.0,2816,3813,3729,3685,195.5,-12.7,229,1706,0.22,1.73,0.00,0.000,3206,0.256,0.023,2873,2597,3707,3728,3686,0,0,0,0,0,0,14.83,15.01,15.00
$GC,2013,-1.44,-146.0,2872,2597,3729,3686,228.4,-10.5,261,2017,0.00,1.95,0.00,0.000,388,0.000,0.057,2867,3813,3707,3728,3686,0,0,0,0,0,0,15.17,14.97,15.19
$GC,2058,-1.51,-146.0,2866,3813,3728,3686,233.6,-11.0,270,2065,0.10,1.73,0.00,0.000,5254,0.142,0.023,2807,2595,3707,3728,3686,0,0,0,0,0,0,14.97,15.02,15.03
$GC,2384,-1.51,-146.0,2807,2596,3728,3686,269.4,-10.6,291,2389,0.12,2.03,0.00,0.000,2564,0.264,0.024,2840,1243,3707,3728,3686,0,0,0,0,0,0,14.86,15.01,14.97
$GC,2472,-1.54,-146.0,2840,1243,3728,3686,278.6,-9.9,308,2478,0.00,2.10,0.00,0.000,1158,0.000,0.036,2832,2605,3706,3727,3686,0,0,0,0,0,0,15.04,14.99,15.06
$GC,2801,-1.54,-146.0,2832,2605,3723,3686,312.8,-10.4,324,2804,0.00,1.92,0.00,0.000,260,0.000,0.057,2824,3810,3705,3724,3686,0,0,0,0,0,0,15.21,15.00,15.23
$GC,2861,-1.54,-146.0,2823,3810,3723,3686,319.3,-10.8,336,2865,0.00,1.73,0.00,0.000,1030,0.000,0.024,2824,2594,3704,3722,3686,0,0,0,0,0,0,15.07,15.05,15.09
$GC,3192,-1.54,-146.0,2823,2594,3720,3686,353.6,-10.3,352,3195,0.00,2.03,0.00,0.000,516,0.000,0.027,2824,1244,3702,3719,3686,0,0,0,0,0,0,15.21,15.03,15.23
$GC,3245,-1.54,-146.0,2823,1240,3719,3686,359.3,-10.6,363,3252,0.00,2.15,0.00,0.000,1030,0.000,0.036,2815,2595,3702,3719,3686,0,0,0,0,0,0,15.07,15.00,15.09
$GC,3553,-1.54,-146.0,2814,2596,3715,3686,387.9,-8.9,374,3557,0.00,1.95,0.00,0.000,292,0.000,0.057,2806,3814,3700,3715,3686,0,0,0,0,0,0,15.21,15.00,15.23
$GC,3617,-1.54,-146.0,2805,3814,3714,3686,394.4,-9.7,387,3622,0.10,1.77,0.00,0.000,3078,0.259,0.024,2832,2603,3700,3714,3686,0,0,0,0,0,0,14.87,15.03,14.98
$GC,3945,-1.59,-146.0,2832,2603,3711,3686,423.9,-9.4,402,3948,0.00,2.05,0.00,0.000,644,0.000,0.027,2832,1247,3698,3710,3686,0,0,0,0,0,0,15.22,15.04,15.24
$GC,3978,-1.64,-146.0,2832,1239,3710,3685,427.4,-10.0,409,3983,0.00,2.15,0.00,0.000,1158,0.000,0.036,2828,2593,3697,3710,3685,0,0,0,0,0,0,15.04,15.01,15.07
$GC,4305,-1.67,-146.0,2828,2592,3708,3683,460.4,-10.3,424,4307,0.10,0.00,0.00,0.000,4230,0.148,0.000,2780,2593,3695,3707,3683,0,0,0,0,0,0,15.02,15.09,15.08
$GC,4606,-1.64,-146.0,2780,2593,3706,3681,497.8,-12.5,434,4610,0.12,1.95,0.00,0.000,2436,0.275,0.054,2803,3810,3694,3707,3681,0,0,0,0,0,0,14.88,15.02,15.00
$GC,4640,-1.64,-146.0,2802,3810,3706,3681,502.4,-12.3,441,4645,0.00,1.77,0.00,0.000,1030,0.000,0.024,2803,2602,3693,3706,3681,0,0,0,0,0,0,15.07,15.06,15.09
$GC,4967,-1.64,-146.0,2802,2602,3705,3679,538.3,-10.7,456,4971,0.00,2.05,0.00,0.000,516,0.000,0.028,2802,1248,3691,3705,3678,0,0,0,0,0,0,15.22,15.04,15.24
$GC,5000,-1.64,-146.0,2802,1241,3705,3678,542.1,-10.9,463,5005,0.00,2.15,0.00,0.000,1030,0.000,0.035,2794,2594,3691,3705,3678,0,0,0,0,0,0,15.05,15.02,15.07
$GC,5328,-1.64,-146.0,2794,2594,3702,3677,578.1,-11.0,478,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2594,3689,3702,3677,0,0,0,0,0,0,15.23,15.25,15.24
$GC,5628,-1.64,-146.0,2793,2594,3701,3675,610.4,-10.7,488,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2594,3688,3701,3676,0,0,0,0,0,0,15.23,15.25,15.25
$GC,5928,-1.64,-146.0,2794,2594,3700,3674,641.9,-10.5,498,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2594,3687,3700,3674,0,0,0,0,0,0,15.23,15.26,15.25
$GC,6228,-1.64,-146.0,2794,2594,3699,3673,673.2,-10.3,508,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2594,3686,3699,3673,0,0,0,0,0,0,15.23,15.26,15.25
$GC,6528,-1.64,-146.0,2794,2594,3698,3671,703.7,-10.2,518,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2594,3685,3698,3672,0,0,0,0,0,0,15.23,15.26,15.25
$GC,6828,-1.64,-146.0,2794,2594,3696,3671,734.3,-10.2,528,6831,0.00,2.05,0.00,0.000,516,0.000,0.028,2794,1250,3683,3696,3671,0,0,0,0,0,0,15.23,15.04,15.25
$GC,6877,-1.64,-146.0,2794,1243,3696,3671,739.3,-9.9,538,6881,0.12,2.12,0.00,0.000,3078,0.292,0.037,2812,2604,3683,3695,3671,0,0,0,0,0,0,14.89,15.03,15.05
$GC,7189,-1.67,-146.0,2812,2604,3694,3670,768.2,-9.4,550,7193,0.00,1.92,0.00,0.000,388,0.000,0.058,2806,3808,3682,3694,3670,0,0,0,0,0,0,15.23,15.01,15.24
$GC,7223,-1.67,-146.0,2805,3808,3694,3669,771.9,-10.3,557,7228,0.00,1.77,0.00,0.000,1030,0.000,0.025,2806,2610,3681,3694,3669,0,0,0,0,0,0,15.07,15.05,15.08
$GC,7549,-1.67,-146.0,2805,2610,3692,3668,803.9,-9.9,572,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2610,3680,3692,3668,0,0,0,0,0,0,15.23,15.25,15.24
$GC,7851,-1.67,-146.0,2806,2610,3691,3667,832.0,-9.1,582,7852,0.00,0.00,0.00,0.000,38,0.000,0.000,2806,2610,3679,3691,3667,0,0,0,0,0,0,15.23,15.25,15.24
$GC,8150,-1.67,-146.0,2806,2610,3691,3666,857.0,-8.0,592,8151,0.00,0.00,0.00,0.000,38,0.000,0.000,2806,2610,3678,3691,3666,0,0,0,0,0,0,15.23,15.25,15.24
$GC,8450,-1.67,-146.0,2805,2610,3690,3666,882.0,-8.5,602,8451,0.00,0.00,0.00,0.000,38,0.000,0.000,2806,2610,3677,3688,3666,0,0,0,0,0,0,15.23,15.25,15.25
$GC,8750,-1.67,-146.0,2805,2610,3688,3665,908.4,-8.7,612,8751,0.00,0.00,0.00,0.000,38,0.000,0.000,2806,2610,3676,3688,3665,0,0,0,0,0,0,15.22,15.25,15.25
$GC,9051,-1.70,-146.0,2805,2610,3687,3664,935.3,-9.1,622,9054,0.00,1.95,0.00,0.000,420,0.000,0.058,2797,3815,3675,3687,3663,0,0,0,0,0,0,15.23,15.01,15.25
$GC,9111,-1.70,-146.0,2797,3814,3687,3663,941.2,-10.1,634,9115,0.00,1.77,0.00,0.000,1030,0.000,0.025,2797,2587,3675,3687,3663,0,0,0,0,0,0,15.09,15.07,15.10
$GC,9443,-1.70,-146.0,2797,2585,3686,3663,971.0,-8.8,650,9447,0.00,2.05,0.00,0.000,548,0.000,0.029,2797,1245,3674,3686,3662,0,0,0,0,0,0,15.22,15.03,15.23
$GC,9497,-1.70,-146.0,2797,1239,3686,3662,976.0,-9.0,661,9505,0.00,2.15,0.00,0.000,1062,0.000,0.037,2788,2605,3674,3686,3662,0,0,0,0,0,0,15.07,15.01,15.09
$STATE,9652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9652,begin apogee
$GC,9656,-0.33,0.0,2789,2285,3685,3662,990.0,-9.1,667,9793,1.08,0.00,132.65,1.982,10246,0.223,0.000,3094,2284,3100,3081,3120,0,0,0,0,0,0,14.88,14.17,13.52
$STATE,9794,end apogee,CONTROL_FINISHED_OK
$STATE,9794,begin climb
$GC,9795,1.23,146.0,3095,2283,3075,3117,990.5,0.0,671,9944,1.08,2.15,140.12,1.942,10756,0.109,0.033,3448,989,2500,2451,2549,0,0,0,0,0,0,14.16,13.96,13.45
$GC,9982,1.05,146.0,3448,989,2446,2538,974.9,14.5,712,9988,0.22,2.17,0.00,0.000,5254,0.289,0.035,3401,2317,2491,2445,2538,0,0,0,0,0,0,14.17,14.31,14.35
$GC,10312,0.93,146.0,3401,2317,2440,2531,932.8,12.5,728,10314,0.15,0.00,0.00,0.000,4230,0.326,0.000,3370,2317,2485,2440,2531,0,0,0,0,0,0,14.57,14.77,14.75
$GC,10612,0.86,146.0,3370,2317,2437,2528,902.1,9.6,738,10613,0.00,0.00,0.00,0.000,134,0.000,0.000,3371,2317,2483,2438,2528,0,0,0,0,0,0,15.01,15.03,15.03
$GC,10912,0.79,146.0,3370,2317,2437,2526,874.1,9.2,748,10919,0.12,2.28,0.00,0.000,4516,0.315,0.055,3339,3713,2481,2437,2526,0,0,0,0,0,0,14.73,14.85,14.85
$GC,10965,0.73,146.0,3339,3713,2436,2526,869.0,9.4,759,10972,0.00,2.05,0.00,0.000,1158,0.000,0.027,3346,2342,2481,2436,2526,0,0,0,0,0,0,14.95,14.91,14.96
$GC,11272,0.73,146.6,3346,2341,2436,2526,841.5,9.1,770,11276,0.00,2.20,0.00,0.000,548,0.000,0.037,3357,950,2480,2435,2526,0,0,0,0,0,0,15.10,14.91,15.13
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$STATE,19427,end climb,SURFACE_DEPTH_REACHED
$STATE,19427,begin surface coast
$FINISH,0.4,1.009574
$STATE,19454,end surface coast,CONTROL_FINISHED_OK
$STATE,19454,begin surface
$SM_CCo,19470,51.58,0.081,0,0,1265,450.12
$SM_GC,1.18,9.38,0.47,51.58,0.075,0.057,0.081,143,2612,1265,-13.86,-1.10,450.12,0,0,0,0,0,0,14.84,14.90,14.83
$IRIDIUM_FIX,1358.61,6058.88,150317,025751
$TT8_MAMPS,0.023968,0.206724
$HUMID,46.45
$INTERNAL_PRESSURE,8.97285
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.45,14.714
$10V_AH,13.31,0.000
$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,27.700,147.350,447.800,51.575,0.000,0.000,0.000,203.200,0.000,0.000,23.719,2872.254,13949.262,635.155,2259.426,121.845,0.000,1996.873,0.000,2014.921,0.000,0.548,0.000
$DEVICE_MAMPS,426.105,2063.205,1982.115,81.090,0.000,0.000,0.000,159.120,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,193796
$DATA_FILE_SIZE,60022,1416
$CAP_FILE_SIZE,172299,0
$CFSIZE,260034560,254615552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,304.32,1
$GPS,150317,140801,1408.003,6056.979,42,0.9,44,-0.7,0.4,192.0,9,8.6