version: 66.13
glider: 133
mission: 5
dive: 129
start: 3 31 117 15 8 51
data:
$ID,133
$MISSION,5
$DIVE,129
$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,42
$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
$GPS1,310317,150309,1338.0338,6105.1089,32,1.0,36,-0.8,0.0,16.5,6,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.1
$GPS2,310317,150817,1338.0637,6105.1108,16,1.0,21,-0.8,0.4,41.0,6,9.3
$SPEED_LIMITS,0.159,0.279
$TGT_NAME,SG133_TGT
$TGT_LATLONG,1340.624,6102.555
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,318.6,6606,-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,-146.0,137,2599,1216,1302,0.0,0.0,0,70,0.00,0.00,-60.22,0.000,16386,0.000,0.000,138,2599,3439,3490,3389,0,0,0,0,0,0,14.91,28.83,14.93
$GC,72,-1.20,-146.0,138,2599,3490,3390,3.3,-6.5,10,99,14.15,2.12,-3.50,0.000,18724,0.438,2.069,2898,3808,3698,3720,3677,0,0,0,0,0,0,14.44,13.87,14.72
$GC,186,-1.25,-146.0,2898,3808,3720,3681,25.4,-11.1,31,192,0.00,1.80,0.00,0.000,1158,0.000,0.022,2898,2560,3700,3720,3681,0,0,0,0,0,0,14.78,14.76,14.79
$GC,499,-1.25,-146.0,2898,2560,3720,3683,53.9,-9.3,89,504,0.00,1.98,0.00,0.000,516,0.000,0.026,2898,1252,3701,3720,3682,0,0,0,0,0,0,15.02,14.83,15.03
$GC,581,-1.29,-146.0,2898,1251,3720,3683,62.3,-10.8,105,585,0.00,2.12,0.00,0.000,1158,0.000,0.035,2891,2614,3701,3720,3683,0,0,0,0,0,0,14.88,14.82,14.90
$GC,892,-1.29,-146.0,2891,2614,3720,3684,97.1,-11.8,137,897,0.00,1.92,0.00,0.000,260,0.000,0.056,2884,3813,3702,3720,3684,0,0,0,0,0,0,15.08,14.85,15.10
$GC,923,-1.29,-146.0,2884,3813,3720,3684,100.7,-12.2,143,927,0.00,1.73,0.00,0.000,1030,0.000,0.022,2884,2590,3702,3720,3684,0,0,0,0,0,0,14.95,14.92,14.96
$GC,1234,-1.29,-146.0,2884,2588,3720,3687,131.4,-7.7,175,1238,0.00,2.00,0.00,0.000,548,0.000,0.025,2884,1252,3703,3720,3687,0,0,0,0,0,0,15.11,14.93,15.13
$GC,1376,-1.33,-146.0,2884,1249,3720,3687,140.8,-7.9,203,1385,0.00,2.10,0.00,0.000,1190,0.000,0.034,2878,2606,3703,3720,3687,0,0,0,0,0,0,14.97,14.91,14.98
$GC,1685,-1.33,-146.0,2878,2606,3720,3688,168.3,-8.5,235,1689,0.00,1.92,0.00,0.000,292,0.000,0.057,2870,3810,3704,3720,3688,0,0,0,0,0,0,15.14,14.91,15.16
$GC,1800,-1.33,-146.0,2870,3810,3720,3688,178.6,-9.1,258,1807,0.00,1.70,0.00,0.000,1062,0.000,0.022,2871,2597,3704,3720,3688,0,0,0,0,0,0,15.01,14.98,15.02
$GC,2106,-1.36,-146.0,2870,2597,3720,3688,207.1,-10.7,289,2110,0.00,2.00,0.00,0.000,644,0.000,0.026,2871,1259,3704,3720,3689,0,0,0,0,0,0,15.16,14.96,15.17
$GC,2198,-1.43,-146.0,2870,1258,3720,3688,216.3,-9.7,307,2202,0.00,2.10,0.00,0.000,1158,0.000,0.034,2870,2603,3703,3719,3688,0,0,0,0,0,0,15.00,14.94,15.01
$GC,2509,-1.47,-146.0,2870,2603,3720,3688,244.1,-9.5,339,2512,0.00,1.92,0.00,0.000,388,0.000,0.056,2861,3809,3704,3720,3688,0,0,0,0,0,0,15.16,14.92,15.18
$GC,2544,-1.51,-146.0,2861,3809,3720,3688,247.5,-9.1,346,2550,0.00,1.70,0.00,0.000,1190,0.000,0.021,2861,2599,3704,3720,3688,0,0,0,0,0,0,15.02,15.00,15.04
$GC,2870,-1.55,-146.0,2861,2599,3718,3688,279.6,-9.7,359,2876,0.12,2.03,0.00,0.000,4740,0.132,0.022,2790,1250,3702,3717,3688,0,0,0,0,0,0,14.97,14.98,15.00
$GC,2918,-1.49,-146.0,2789,1250,3718,3688,285.3,-11.7,369,2923,0.25,2.10,0.00,0.000,3206,0.276,0.034,2848,2603,3702,3717,3688,0,0,0,0,0,0,14.76,14.96,14.97
$GC,3230,-1.49,-146.0,2847,2603,3715,3688,317.5,-10.0,381,3235,0.00,2.05,0.00,0.000,516,0.000,0.026,2848,1251,3701,3715,3688,0,0,0,0,0,0,15.19,14.99,15.20
$GC,3265,-1.54,-146.0,2848,1251,3714,3688,321.1,-9.9,388,3270,0.00,2.10,0.00,0.000,1158,0.000,0.034,2845,2599,3701,3714,3688,0,0,0,0,0,0,15.02,14.97,15.04
$GC,3592,-1.54,-146.0,2845,2599,3710,3688,349.7,-8.0,403,3596,0.00,2.03,0.00,0.000,548,0.000,0.025,2845,1265,3699,3710,3688,0,0,0,0,0,0,15.19,15.00,15.21
$GC,3637,-1.58,-146.0,2845,1258,3709,3688,353.1,-6.7,412,3641,0.00,2.10,0.00,0.000,1190,0.000,0.035,2842,2610,3698,3709,3688,0,0,0,0,0,0,15.02,14.97,15.04
$GC,3948,-1.58,-146.0,2842,2610,3706,3687,373.7,-6.8,424,3949,0.00,0.00,0.00,0.000,38,0.000,0.000,2842,2610,3696,3706,3687,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4249,-1.58,-146.0,2842,2610,3705,3686,399.5,-9.1,434,4253,0.00,1.92,0.00,0.000,292,0.000,0.056,2833,3809,3695,3705,3686,0,0,0,0,0,0,15.19,14.95,15.21
$GC,4283,-1.58,-146.0,2832,3809,3705,3686,403.0,-10.5,441,4288,0.00,1.77,0.00,0.000,1030,0.000,0.023,2832,2610,3695,3705,3685,0,0,0,0,0,0,15.02,15.00,15.04
$GC,4610,-1.58,-146.0,2832,2610,3702,3683,437.0,-10.6,456,4614,0.00,2.08,0.00,0.000,516,0.000,0.025,2833,1237,3692,3702,3683,0,0,0,0,0,0,15.20,15.00,15.21
$GC,4689,-1.62,-146.0,2832,1237,3702,3682,445.3,-10.1,472,4693,0.00,2.12,0.00,0.000,1158,0.000,0.035,2829,2600,3692,3702,3682,0,0,0,0,0,0,15.03,14.97,15.04
$GC,4996,-1.62,-146.0,2830,2599,3700,3681,473.4,-8.5,483,4997,0.00,0.00,0.00,0.000,38,0.000,0.000,2830,2600,3690,3700,3681,0,0,0,0,0,0,15.19,15.21,15.21
$GC,5296,-1.62,-146.0,2830,2600,3699,3679,496.2,-7.5,493,5300,0.00,2.08,0.00,0.000,548,0.000,0.026,2830,1237,3689,3699,3679,0,0,0,0,0,0,15.19,14.99,15.21
$GC,5331,-1.65,-146.0,2830,1237,3699,3678,498.9,-7.3,500,5335,0.00,2.15,0.00,0.000,1190,0.000,0.036,2828,2608,3688,3699,3678,0,0,0,0,0,0,15.02,14.97,15.04
$GC,5658,-1.65,-146.0,2828,2608,3697,3677,525.2,-8.4,515,5659,0.00,0.00,0.00,0.000,38,0.000,0.000,2828,2608,3687,3696,3678,0,0,0,0,0,0,15.19,15.21,15.21
$GC,5958,-1.65,-146.0,2828,2608,3695,3676,549.5,-8.1,525,5959,0.00,0.00,0.00,0.000,38,0.000,0.000,2828,2608,3685,3695,3676,0,0,0,0,0,0,15.20,15.21,15.21
$GC,6258,-1.65,-146.0,2828,2608,3694,3675,575.0,-9.0,535,6262,0.00,2.08,0.00,0.000,548,0.000,0.026,2828,1254,3683,3693,3674,0,0,0,0,0,0,15.19,14.99,15.21
$GC,6288,-1.65,-146.0,2828,1242,3693,3674,577.9,-9.8,541,6293,0.00,2.12,0.00,0.000,1030,0.000,0.035,2820,2603,3683,3693,3674,0,0,0,0,0,0,15.02,14.97,15.04
$GC,6620,-1.65,-146.0,2820,2602,3691,3673,610.7,-10.3,557,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2602,3682,3692,3673,0,0,0,0,0,0,15.19,15.22,15.21
$GC,6920,-1.65,-146.0,2820,2602,3691,3672,643.2,-11.1,567,6924,0.00,2.08,0.00,0.000,516,0.000,0.026,2821,1258,3681,3691,3672,0,0,0,0,0,0,15.19,14.99,15.21
$GC,6983,-1.68,-146.0,2820,1243,3691,3671,650.7,-10.9,580,6988,0.00,2.17,0.00,0.000,1158,0.000,0.035,2817,2601,3681,3691,3671,0,0,0,0,0,0,14.97,14.94,15.04
$GC,7311,-1.68,-146.0,2817,2601,3690,3671,686.6,-10.8,595,7314,0.00,1.95,0.00,0.000,260,0.000,0.056,2807,3810,3680,3690,3671,0,0,0,0,0,0,15.19,14.94,15.21
$GC,7341,-1.68,-146.0,2807,3810,3690,3670,690.1,-11.2,601,7346,0.00,1.75,0.00,0.000,1030,0.000,0.024,2807,2597,3680,3690,3670,0,0,0,0,0,0,15.04,15.02,15.05
$GC,7672,-1.68,-146.0,2807,2597,3689,3669,724.9,-10.1,617,7677,0.00,2.08,0.00,0.000,516,0.000,0.028,2807,1236,3678,3689,3668,0,0,0,0,0,0,15.19,14.98,15.21
$GC,7722,-1.68,-146.0,2807,1236,3689,3668,729.9,-9.8,627,7726,0.00,2.15,0.00,0.000,1030,0.000,0.036,2802,2604,3678,3689,3668,0,0,0,0,0,0,15.02,14.95,15.03
$GC,8033,-1.68,-146.0,2802,2604,3687,3668,758.6,-9.2,639,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2604,3677,3687,3668,0,0,0,0,0,0,15.19,15.21,15.21
$GC,8334,-1.68,-146.0,2802,2604,3686,3667,786.7,-9.5,649,8338,0.00,2.10,0.00,0.000,516,0.000,0.028,2802,1237,3676,3686,3667,0,0,0,0,0,0,15.19,14.97,15.21
$GC,8399,-1.68,-146.0,2802,1237,3685,3666,793.2,-10.0,662,8403,0.00,2.15,0.00,0.000,1030,0.000,0.037,2796,2602,3676,3686,3666,0,0,0,0,0,0,15.01,14.95,15.03
$GC,8720,-1.68,-146.0,2796,2602,3684,3666,825.1,-10.0,676,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2602,3675,3684,3666,0,0,0,0,0,0,15.19,15.21,15.21
$GC,9020,-1.68,-146.0,2796,2602,3683,3665,854.4,-9.5,686,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2602,3674,3684,3665,0,0,0,0,0,0,15.19,15.21,15.21
$GC,9320,-1.68,-146.0,2795,2602,3683,3665,880.8,-8.5,696,9324,0.00,2.10,0.00,0.000,548,0.000,0.028,2796,1253,3673,3683,3664,0,0,0,0,0,0,15.19,14.97,15.21
$GC,9354,-1.68,-146.0,2795,1236,3683,3664,883.7,-8.5,703,9358,0.00,2.20,0.00,0.000,1062,0.000,0.037,2789,2602,3673,3682,3664,0,0,0,0,0,0,15.02,14.92,15.03
$GC,9682,-1.68,-146.0,2789,2602,3682,3663,912.0,-8.9,718,9683,0.00,0.00,0.00,0.000,38,0.000,0.000,2789,2603,3672,3682,3663,0,0,0,0,0,0,15.19,15.21,15.21
$GC,9981,-1.68,-146.0,2789,2602,3681,3663,940.6,-9.8,728,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2602,3671,3681,3662,0,0,0,0,0,0,15.19,15.20,15.21
$GC,10281,-1.68,-146.0,2789,2602,3680,3662,971.1,-10.3,738,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2602,3671,3680,3662,0,0,0,0,0,0,15.19,15.21,15.21
$STATE,10489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10489,begin apogee
$GC,10494,-0.33,0.0,2789,2287,3679,3661,992.5,-10.1,745,10632,1.10,0.00,133.88,2.065,10246,0.231,0.000,3096,2288,3099,3080,3119,0,0,0,0,0,0,14.73,14.16,13.50
$STATE,10633,end apogee,CONTROL_FINISHED_OK
$STATE,10633,begin climb
$GC,10634,1.20,146.0,3096,2287,3076,3117,994.8,0.0,749,10787,1.05,2.15,143.12,2.013,10756,0.103,0.033,3446,997,2499,2449,2549,0,0,0,0,0,0,14.17,13.93,13.40
$GC,10823,0.99,146.0,3445,997,2445,2539,982.9,13.0,791,10828,0.28,2.17,0.00,0.000,5254,0.285,0.034,3386,2317,2492,2445,2539,0,0,0,0,0,0,14.14,14.28,14.32
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$STATE,20762,end climb,SURFACE_DEPTH_REACHED
$STATE,20762,begin surface coast
$FINISH,0.3,0.999525
$STATE,20794,end surface coast,CONTROL_FINISHED_OK
$STATE,20794,begin surface
$SM_CCo,20810,25.10,0.082,0,0,1266,450.12
$SM_GC,1.66,9.38,0.45,25.10,0.070,0.062,0.082,145,2606,1266,-13.85,-1.16,450.12,0,0,0,0,0,0,14.79,14.85,14.79
$IRIDIUM_FIX,1331.97,6108.14,310317,091500
$TT8_MAMPS,0.024717,0.205226
$HUMID,49.44
$INTERNAL_PRESSURE,8.95332
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.40,34.989
$10V_AH,13.36,0.000
$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,27.425,178.375,506.450,25.100,0.000,0.000,0.000,207.725,0.000,0.000,22.456,3079.110,14817.966,672.160,2421.041,154.853,0.000,2146.546,0.000,2171.381,0.000,0.549,0.000
$DEVICE_MAMPS,437.580,2068.560,2064.735,81.855,0.000,0.000,0.000,166.770,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.306,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66718,1527
$CAP_FILE_SIZE,187793,0
$CFSIZE,260034560,248799232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,165.79,1
$GPS,310317,205726,1339.494,6102.928,41,0.9,44,-0.7,0.0,162.6,9,8.8