version: 66.13
glider: 133
mission: 5
dive: 75
start: 3 19 117 4 21 51
data:
$ID,133
$MISSION,5
$DIVE,75
$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,98
$R_STBD_OVSHOOT,52
$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
$GPS1,190317,041639,1405.1313,6048.3022,26,1.1,29,-0.6,0.0,0.0,7,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.2
$GPS2,190317,042118,1405.1302,6048.3086,14,1.0,19,-0.6,0.0,0.0,8,9.0
$SPEED_LIMITS,0.159,0.279
$TGT_NAME,SG133_TGT
$TGT_LATLONG,1408.177,6049.520
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,26.6,6047,-15.3,-9.167,-18.21,2446
$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,-1.20,-146.0,143,2615,1216,1307,0.0,0.0,0,74,0.00,0.00,-64.90,0.000,16386,0.000,0.000,143,2615,3618,3664,3573,0,0,0,0,0,0,14.95,28.83,14.97
$GC,76,-1.20,-146.0,143,2615,3664,3573,3.7,-7.9,11,98,14.35,2.38,-1.08,0.000,18980,0.451,2.053,2914,1224,3701,3729,3674,1,0,0,0,0,0,14.51,13.92,14.77
$GC,119,-0.89,-146.0,2914,1224,3729,3677,19.1,-25.7,18,127,0.30,2.17,0.00,0.000,3206,0.270,0.037,2975,2594,3703,3730,3677,0,0,0,0,0,0,14.58,14.72,14.75
$GC,429,-1.05,-146.0,2975,2594,3729,3679,44.4,-7.5,79,437,0.12,1.98,0.00,0.000,4516,0.138,0.055,2913,3814,3704,3729,3679,0,0,0,0,0,0,14.80,14.81,14.84
$GC,507,-1.10,-146.0,2913,3814,3729,3679,52.8,-10.4,94,514,0.00,1.80,0.00,0.000,1158,0.000,0.022,2913,2557,3704,3729,3679,0,0,0,0,0,0,14.92,14.89,14.92
$GC,814,-1.10,-146.0,2913,2557,3729,3680,86.5,-11.1,125,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2556,3704,3729,3679,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1115,-1.15,-146.0,2913,2557,3729,3681,117.4,-9.1,155,1116,0.00,0.00,0.00,0.000,166,0.000,0.000,2913,2557,3705,3729,3681,0,0,0,0,0,0,15.13,15.14,15.14
$GC,1415,-1.23,-146.0,2913,2557,3729,3683,144.8,-11.8,185,1416,0.00,0.00,0.00,0.000,134,0.000,0.000,2913,2557,3706,3729,3683,0,0,0,0,0,0,15.14,15.17,15.17
$GC,1716,-1.33,-146.0,2913,2557,3729,3686,178.0,-9.4,215,1726,0.12,2.03,0.00,0.000,4484,0.131,0.053,2837,3818,3707,3729,3686,0,0,0,0,0,0,14.97,14.95,15.00
$GC,1758,-1.28,-146.0,2837,3819,3729,3686,182.9,-11.6,223,1762,0.22,1.73,0.00,0.000,3206,0.226,0.022,2895,2597,3707,3729,3686,0,0,0,0,0,0,14.85,15.02,15.00
$GC,2070,-1.36,-146.0,2894,2597,3729,3686,212.4,-9.5,255,2073,0.00,2.03,0.00,0.000,644,0.000,0.027,2895,1248,3707,3729,3686,0,0,0,0,0,0,15.17,15.00,15.19
$GC,2131,-1.44,-146.0,2895,1245,3729,3686,217.5,-8.3,267,2141,0.15,2.10,0.00,0.000,5286,0.106,0.035,2806,2607,3707,3729,3686,0,0,0,0,0,0,15.00,14.97,15.04
$GC,2441,-1.38,-146.0,2805,2607,3729,3686,247.9,-8.5,299,2451,0.22,1.92,0.00,0.000,2468,0.252,0.054,2860,3812,3707,3729,3686,0,0,0,0,0,0,14.84,14.97,14.95
$GC,2504,-1.41,-146.0,2860,3812,3729,3686,252.0,-6.0,311,2507,0.00,1.73,0.00,0.000,1190,0.000,0.023,2861,2590,3707,3729,3686,0,0,0,0,0,0,15.06,15.03,15.07
$GC,2835,-1.46,-146.0,2860,2590,3727,3686,275.4,-7.9,327,2839,0.00,2.03,0.00,0.000,676,0.000,0.027,2860,1249,3706,3727,3686,0,0,0,0,0,0,15.19,15.02,15.22
$GC,2869,-1.51,-146.0,2860,1242,3727,3686,278.4,-7.8,334,2873,0.00,2.10,0.00,0.000,1190,0.000,0.035,2857,2598,3706,3727,3686,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3196,-1.56,-146.0,2857,2598,3723,3686,306.3,-8.5,349,3201,0.12,1.92,0.00,0.000,4516,0.129,0.052,2778,3809,3704,3722,3686,0,0,0,0,0,0,15.02,14.99,15.04
$GC,3228,-1.46,-146.0,2777,3809,3722,3686,309.6,-11.5,355,3232,0.30,1.73,0.00,0.000,3206,0.261,0.022,2854,2587,3703,3721,3686,0,0,0,0,0,0,14.85,15.06,15.02
$GC,3560,-1.51,-146.0,2854,2587,3719,3686,338.4,-8.4,371,3564,0.00,2.00,0.00,0.000,676,0.000,0.026,2855,1257,3702,3719,3686,0,0,0,0,0,0,15.21,15.03,15.23
$GC,3584,-1.58,-146.0,2855,1254,3719,3686,340.9,-9.9,376,3592,0.10,2.10,0.00,0.000,5254,0.144,0.036,2789,2603,3702,3718,3686,0,0,0,0,0,0,15.01,15.01,15.07
$GC,3891,-1.53,-146.0,2789,2603,3715,3686,378.8,-12.7,387,3899,0.17,1.92,0.00,0.000,2436,0.255,0.054,2828,3809,3700,3715,3686,0,0,0,0,0,0,14.87,15.00,14.99
$GC,3984,-1.53,-146.0,2827,3809,3714,3686,389.9,-11.3,406,3988,0.00,1.77,0.00,0.000,1030,0.000,0.022,2827,2588,3700,3714,3686,0,0,0,0,0,0,15.07,15.05,15.07
$GC,4311,-1.53,-146.0,2828,2588,3710,3686,422.9,-9.8,421,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2588,3698,3710,3686,0,0,0,0,0,0,15.21,15.24,15.23
$GC,4610,-1.53,-146.0,2828,2588,3708,3684,451.4,-9.3,431,4614,0.00,2.00,0.00,0.000,516,0.000,0.026,2828,1260,3695,3707,3683,0,0,0,0,0,0,15.22,15.04,15.24
$GC,4634,-1.53,-146.0,2828,1256,3707,3683,453.9,-9.3,436,4642,0.00,2.12,0.00,0.000,1030,0.000,0.035,2820,2593,3695,3708,3683,0,0,0,0,0,0,15.09,15.02,15.10
$GC,4941,-1.53,-146.0,2820,2593,3706,3682,483.0,-9.5,447,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2593,3694,3706,3682,0,0,0,0,0,0,15.22,15.24,15.24
$GC,5241,-1.53,-146.0,2820,2593,3706,3680,511.0,-9.4,457,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2593,3692,3705,3680,0,0,0,0,0,0,15.23,15.25,15.24
$GC,5541,-1.53,-146.0,2820,2593,3703,3678,539.3,-9.4,467,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2593,3689,3702,3677,0,0,0,0,0,0,15.23,15.25,15.25
$GC,5842,-1.53,-146.0,2820,2593,3701,3677,568.0,-9.4,477,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2593,3689,3701,3677,0,0,0,0,0,0,15.23,15.25,15.25
$GC,6141,-1.53,-146.0,2820,2593,3700,3675,596.9,-9.7,487,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2593,3687,3700,3675,0,0,0,0,0,0,15.23,15.25,15.25
$GC,6441,-1.53,-146.0,2820,2593,3699,3674,625.9,-9.5,497,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2593,3686,3699,3674,0,0,0,0,0,0,15.23,15.25,15.25
$GC,6741,-1.53,-146.0,2820,2593,3698,3672,654.0,-9.5,507,6745,0.00,1.98,0.00,0.000,260,0.000,0.058,2811,3810,3685,3698,3672,0,0,0,0,0,0,15.23,15.01,15.25
$GC,6780,-1.53,-146.0,2811,3810,3698,3672,658.1,-10.1,515,6785,0.08,1.77,0.00,0.000,3078,0.265,0.024,2830,2617,3685,3698,3672,0,0,0,0,0,0,14.85,15.05,14.98
$GC,7103,-1.57,-146.0,2830,2617,3695,3671,689.1,-9.9,529,7107,0.00,2.10,0.00,0.000,644,0.000,0.028,2831,1236,3683,3695,3671,0,0,0,0,0,0,15.22,15.04,15.24
$GC,7137,-1.62,-146.0,2830,1235,3695,3671,693.3,-11.5,536,7142,0.00,2.12,0.00,0.000,1158,0.000,0.037,2829,2600,3683,3695,3671,0,0,0,0,0,0,15.07,15.02,15.09
$GC,7464,-1.66,-146.0,2828,2600,3694,3670,730.8,-11.9,551,7465,0.00,0.00,0.00,0.000,134,0.000,0.000,2828,2599,3682,3694,3670,0,0,0,0,0,0,15.22,15.24,15.24
$GC,7764,-1.70,-146.0,2828,2600,3693,3669,764.6,-11.0,561,7771,0.12,2.08,0.00,0.000,4740,0.130,0.024,2762,1239,3680,3693,3668,0,0,0,0,0,0,15.02,15.04,15.06
$GC,7797,-1.62,-146.0,2763,1239,3693,3669,768.9,-13.1,568,7803,0.25,2.12,0.00,0.000,3206,0.273,0.036,2815,2602,3680,3693,3668,0,0,0,0,0,0,14.86,15.02,15.04
$GC,8124,-1.62,-146.0,2815,2602,3691,3668,801.9,-9.5,583,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2602,3679,3691,3668,0,0,0,0,0,0,15.22,15.24,15.23
$GC,8425,-1.62,-146.0,2815,2602,3690,3667,828.8,-8.9,593,8429,0.00,1.95,0.00,0.000,292,0.000,0.057,2809,3814,3679,3691,3667,0,0,0,0,0,0,15.22,15.00,15.24
$GC,8487,-1.62,-146.0,2808,3814,3690,3666,834.2,-8.9,605,8490,0.00,1.77,0.00,0.000,1062,0.000,0.024,2808,2583,3678,3691,3666,0,0,0,0,0,0,15.09,15.06,15.10
$GC,8818,-1.62,-146.0,2808,2580,3688,3666,862.1,-8.4,621,8822,0.00,2.00,0.00,0.000,292,0.000,0.056,2800,3817,3677,3688,3666,0,0,0,0,0,0,15.22,15.00,15.23
$GC,8858,-1.62,-146.0,2800,3817,3688,3665,865.7,-8.3,629,8862,0.00,1.75,0.00,0.000,1062,0.000,0.025,2800,2601,3677,3688,3666,0,0,0,0,0,0,15.09,15.05,15.09
$GC,9179,-1.62,-146.0,2800,2601,3687,3665,891.6,-8.0,643,9183,0.00,2.08,0.00,0.000,548,0.000,0.029,2801,1252,3676,3687,3665,0,0,0,0,0,0,15.21,15.03,15.23
$GC,9233,-1.62,-146.0,2800,1240,3687,3664,896.2,-8.0,654,9240,0.12,2.12,0.00,0.000,3110,0.282,0.037,2816,2602,3675,3687,3664,0,0,0,0,0,0,14.85,15.01,15.03
$GC,9541,-1.65,-146.0,2816,2602,3686,3664,918.5,-7.3,665,9545,0.00,1.95,0.00,0.000,420,0.000,0.057,2809,3815,3675,3686,3664,0,0,0,0,0,0,15.21,15.00,15.23
$GC,9590,-1.65,-146.0,2809,3814,3686,3663,922.6,-7.9,675,9594,0.00,1.80,0.00,0.000,1062,0.000,0.025,2809,2573,3674,3686,3663,0,0,0,0,0,0,15.07,15.04,15.09
$GC,9902,-1.65,-146.0,2809,2573,3685,3663,947.3,-8.3,687,9903,0.00,0.00,0.00,0.000,38,0.000,0.000,2809,2573,3673,3685,3662,0,0,0,0,0,0,15.21,15.23,15.23
$GC,10202,-1.65,-146.0,2809,2573,3684,3662,974.5,-9.4,697,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2574,3673,3684,3662,0,0,0,0,0,0,15.21,15.23,15.23
$STATE,10380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10380,begin apogee
$GC,10384,-0.33,0.0,2809,2299,3684,3661,992.2,-9.9,703,10524,1.02,0.00,136.30,2.012,10246,0.230,0.000,3098,2299,3100,3080,3120,0,0,0,0,0,0,14.86,14.17,13.51
$STATE,10525,end apogee,CONTROL_FINISHED_OK
$STATE,10526,begin climb
$GC,10527,1.20,146.0,3098,2299,3074,3115,995.3,0.0,707,10683,1.05,2.28,141.98,2.021,10756,0.111,0.036,3441,985,2496,2447,2545,0,0,0,0,0,0,14.16,14.08,13.42
$GC,10799,1.02,146.0,3441,985,2441,2532,976.2,11.4,766,10806,0.25,2.15,0.00,0.000,5254,0.291,0.034,3388,2314,2486,2441,2532,0,0,0,0,0,0,14.35,14.49,14.52
$GC,11105,0.90,146.0,3388,2314,2437,2530,944.9,10.4,777,11107,0.00,0.00,0.00,0.000,134,0.000,0.000,3388,2314,2483,2436,2530,0,0,0,0,0,0,14.92,14.95,14.95
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$STATE,20659,end climb,SURFACE_DEPTH_REACHED
$STATE,20660,begin surface coast
$FINISH,0.5,1.007536
$STATE,20691,end surface coast,CONTROL_FINISHED_OK
$STATE,20691,begin surface
$SM_CCo,20707,42.80,0.082,0,0,1265,450.12
$SM_GC,1.44,9.35,0.45,42.80,0.076,0.057,0.082,145,2614,1265,-13.86,-1.22,450.12,0,0,0,0,0,0,14.79,14.88,14.81
$IRIDIUM_FIX,1403.06,6047.87,180317,223029
$TT8_MAMPS,0.024717,0.205226
$HUMID,47.28
$INTERNAL_PRESSURE,8.98261
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.42,19.315
$10V_AH,13.35,0.000
$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,29.550,164.525,469.175,42.800,0.000,0.000,0.000,185.300,0.000,0.000,20.730,3062.546,14816.644,655.319,2364.509,132.767,0.000,2080.460,0.000,2135.480,0.000,0.548,0.000
$DEVICE_MAMPS,450.585,2053.260,2021.130,81.855,0.000,0.000,0.000,164.475,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,758.974,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,193880
$DATA_FILE_SIZE,63171,1502
$CAP_FILE_SIZE,187212,0
$CFSIZE,260034560,253210624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.032,14.97,1
$GPS,190317,100856,1408.214,6049.915,37,0.9,40,-0.6,0.0,0.0,8,9.7